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Author SHA1 Message Date
erwincoumans
11d8f069f0 Disable overlapping pair debug variables behind the BT_DEBUG_COLLISION_PAIRS preprocessor definition. 2018-05-29 17:06:35 -07:00
erwincoumans
7d0c8d18a6 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-29 16:49:21 -07:00
erwincoumans
ec4b3505a4 fix fixed constraint between btMultiBody and btRigidBody 2018-05-29 16:49:07 -07:00
Erwin Coumans
6fb8cc7fda Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-29 09:29:12 -07:00
Erwin Coumans
39808ddfdf allow to run minitaur environment examples from pip version, like this: 
python -m pybullet_envs.minitaur.envs.minitaur_trotting_env_example
python -m pybullet_envs.minitaur.envs.minitaur_reactive_env_example
 2018-05-29 09:28:31 -07:00
donghokang
325ccad258 getDynamicsInfo function now works. Changed to call b3GetDynamicsInfo in getDynamicsInfo. 2018-05-29 16:41:37 +02:00
donghokang
6bd7a52bf8 solverResidualThreshold now can be set. 2018-05-29 16:25:28 +02:00
donghokang
a3e4582bef getCollisionShapeData and getVisualShapeData were added to RobotSimulatorClinetAPI_NoGUI. b3RobotSimulatorJointMotorArrayArgs initialization bug fix. 2018-05-29 16:23:17 +02:00
erwincoumans
fc9a2f88ef
Merge pull request #1710 from erwincoumans/master 
Move from b3Vector3 to btVector3 to support double precision in examp…
 2018-05-27 11:25:40 +10:00
Erwin Coumans
dcc9c4d0d9 fix HelloBulletRobotics example from b3Vector3 -> btVector3 2018-05-27 10:55:53 +10:00
Erwin Coumans
57b3e0d221 Move from b3Vector3 to btVector3 to support double precision in examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI API. 2018-05-27 10:42:33 +10:00
erwincoumans
85478fc6ef
Merge pull request #1706 from erwincoumans/master 
add HelloBulletRobotics C++ example with similar API to PyBullet
 2018-05-26 16:35:38 +10:00
Erwin Coumans
e79ae13cde disable adhoc gjk terminarion heuristics by default 2018-05-26 08:52:52 +10:00
Erwin Coumans
d133c33d73 Use a very large default m_contactStiffness (so that if one object is a bit soft, the stiffness is properly combined) 2018-05-26 08:50:45 +10:00
Erwin Coumans
3d6c8f0fae PyBullet: include the pre-trained policy files in data 2018-05-26 08:49:23 +10:00
Erwin Coumans
efe9161670 fix cmake build 2018-05-26 08:46:12 +10:00
Erwin Coumans
bb696c66b7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-25 08:50:23 +10:00
Erwin Coumans
da73556ca7 bump up pybullet version to 2.0.0 2018-05-25 08:26:09 +10:00
Erwin Coumans
9a36d144c3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-25 08:25:27 +10:00
Erwin Coumans
a9ff5246c9 make gjk a bit more robust, try different initial guess vector if it fails to find a solution (happens for queries with large differences in shape size) 2018-05-25 08:18:12 +10:00
Erwin Coumans
5de53d7355 PyBullet: add ANYmal.py quadruped example, usage: 
pip install pybullet
python -m pybullet_envs.examples.ANYmal
 2018-05-25 07:54:38 +10:00
Erwin Coumans
ab7bbf4396 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-24 15:50:02 +10:00
Erwin Coumans
ff4d0b1777 add HelloBulletRobotics C++ example with similar API to PyBullet 
Add ANYmal quadruped robot URDF to pybullet_data
 2018-05-24 15:48:45 +10:00
erwincoumans
abeae7e1e7
Merge pull request #1701 from erwincoumans/master 
PyBullet: add option to cache graphics shapes for URDF files, handy f…
 2018-05-23 14:47:01 +10:00
Erwin Coumans
8ace9251aa pass by pointer instead of reference to satisy compiler 2018-05-23 14:22:22 +10:00
Erwin Coumans
94da262906 case sensitive header include 2018-05-23 13:51:51 +10:00
Erwin Coumans
77c332bd88 PyBullet: add option to cache graphics shapes for URDF files, handy for benchmarks with many duplicate robots 
See https://github.com/erwincoumans/pybullet_robots ANYmal.py for an example.
PyBullet: Expose p.setPhysicsEngineParameter(solverResidualThreshold=1e-2) (b3PhysicsParamSetSolverResidualThreshold), increases solver performance a lot
PyBullet: Expose p.setPhysicsEngineParameter(contactSlop) Set it to zero, to avoid issues with restitution.
PyBullet: Expose isNumpyEnabled, return True is PyBullet was compiled with NUMPY support for 'getCameraImage'.
PyBullet: Expose p.ChangeDynamics(objectUid, linkIndex, contactProcessingThreshold), to avoid issues of speculative/predictive contacts with restitution.
See also http://twvideo01.ubm-us.net/o1/vault/gdc2012/slides/Programming%20Track/Vincent_ROBERT_Track_ADifferentApproach.pdf
 2018-05-23 13:26:00 +10:00
erwincoumans
f1b4ffaf98
Merge pull request #1699 from benelot/fix-pendula-with-pbclient 
Fix pendulum & manipulator envs with pybullet client
 2018-05-23 08:20:40 +10:00
erwincoumans
57e02ae15a
Merge pull request #1698 from erwincoumans/master 
PyBullet: :wminor Gym fixes
 2018-05-23 08:19:47 +10:00
Benelot
4a16032820 Fix manipulators too. 2018-05-22 18:12:45 +02:00
Benelot
7b219e0ea6 Fix pendula to use the bullet-client. 2018-05-22 16:40:10 +02:00
Erwin Coumans
f5952a73e7 UrdfImporter: Collada DAE, rudimentary support for polylist (for ANYmal), assumes all polygons have 3 vertices 
remove obsolete env from __init__.py
 2018-05-23 00:28:49 +10:00
Erwin Coumans
9a706d9cfd PyBullet: fix Gym envs 2018-05-23 00:24:03 +10:00
Erwin Coumans
76561cbebd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-23 00:18:35 +10:00
Erwin Coumans
a0a1c9347c PyBullet: fix in Gym env 2018-05-23 00:18:17 +10:00
Benelot
ea850d1bf1 Merge remote-tracking branch 'upstream/master' 2018-05-22 15:44:10 +02:00
erwincoumans
f74110a4c0
Merge pull request #1695 from erwincoumans/master 
Fix Issue #1623, SphereTriangleDetector
 2018-05-22 16:40:45 +10:00
Erwin Coumans
62d58259bc Fix Issue #1623, SphereTriangleDetector for cases with positive contactBreakingThreshold and where sphere was intersecting with multiple edges 
(need to take the closest edge)

Thanks to Andrea Catania for the report and reproduction case!
 2018-05-22 08:36:00 +10:00
erwincoumans
c491141a1f
Merge pull request #1692 from erwincoumans/master 
fix HalfCheetahBulletEnv-v0, other PyBullet improvements
 2018-05-20 15:04:24 +10:00
Erwin Coumans
2ac8c7009d bump up pybullet version to 1.9.9 2018-05-20 15:03:58 +10:00
Erwin Coumans
a7a6e20d9c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-20 14:19:49 +10:00
Erwin Coumans
90939279f9 PyBullet: cmake build, enable DBUILD_PYBULLET_NUMPY=ON 
fix issue with HalfCheetahBulletEnv-v0 in previous commit
 2018-05-20 14:18:53 +10:00
Erwin Coumans
964f52f62d remove unsupported simpleHumanoid.py, use env = gym.make("HumanoidBulletEnv-v0") instead. 2018-05-20 12:35:33 +10:00
Erwin Coumans
0b2c9ea645 PyBullet: avoid a crash in SHARED_MEMORY_SERVER 2018-05-20 12:20:06 +10:00
erwincoumans
c8dc4dc756
Merge pull request #1690 from erwincoumans/master 
Fix for issue #1643, bump up PyBullet version to 1.9.8
 2018-05-18 17:29:59 -07:00
Erwin Coumans
ea10c59a3d bump up PyBullet version to 1.9.8 2018-05-18 16:26:45 -07:00
Erwin Coumans
bcd209fd93 Merge remote-tracking branch 'bp/master' 2018-05-18 16:25:40 -07:00
Erwin Coumans
701b50ec12 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-18 16:25:27 -07:00
Erwin Coumans
0abe4151e5 Fix for 1643, allow to instantiate multiple PyBullet Gym environments (Ant, Humanoid, Hopper, Pendula etc) in the same process (same or other thread). It uses the pybullet_utils.bullet_client to achieve this. 2018-05-18 16:23:54 -07:00
erwincoumans
f90bd1f713
Merge pull request #1688 from erwincoumans/master 
workaround for an out-of-date tinyxml2 version
 2018-05-17 13:49:49 -07:00