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Author SHA1 Message Date
Erwin Coumans
70b3d4d0f4 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-31 18:16:57 -07:00
Erwin Coumans
76e88dddc5 add space to make conversion work 2018-05-31 18:16:40 -07:00
erwincoumans
bc8378cb87
Merge pull request #1723 from erwincoumans/master 
fix different arg name in header versus cpp
 2018-05-31 18:08:29 -07:00
erwincoumans
309a07c21b
Merge branch 'master' into master 2018-05-31 18:05:50 -07:00
Erwin Coumans
378de87286 Merge remote-tracking branch 'bp/master' 2018-05-31 18:03:56 -07:00
Erwin Coumans
93a51e19d9 fix different arg name in header versus cpp 2018-05-31 17:58:12 -07:00
erwincoumans
75eaaecf49
Merge pull request #1722 from erwincoumans/master 
implement accurate inverse kinematics in C++, exposed through PyBullet.calculateInverseKinematics
 2018-05-31 16:50:52 -07:00
erwincoumans
3463d0a879 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-31 16:06:33 -07:00
erwincoumans
edc70582dd implement accurate inverse kinematics in C++. PyBullet.calculateInverseKinematics gets "maxNumIterations=20", "residualThreshold=1.04" to tune 
allow to provide current joint positions in IK, overriding the body joint positions, also IK target will be in local coordinates.
expose b3ComputeDofCount in C-API
 2018-05-31 16:06:15 -07:00
erwincoumans
8567f6bb7c PyBullet: rename sleepObjectAutoDeactivation -> sleeping.py 
PyBullet: allow maximal coordinate rigid bodies to sleep/deactivate
 2018-05-30 21:14:35 -07:00
erwincoumans
292e198a57
Merge pull request #1719 from erwincoumans/master 
const char* for path, bump up pybullet version
 2018-05-30 19:48:25 -07:00
erwincoumans
150a0e050e Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-30 19:47:47 -07:00
Erwin Coumans
491ecf2a20 export object auto-deactivation (sleeping) to pybullet (needs some more testing/configuring) 2018-05-30 18:37:08 -07:00
Erwin Coumans
14c6dee6a3 const char* for path 2018-05-30 14:37:49 -07:00
erwincoumans
1dec33d44b move default linearslop to 0 2018-05-30 12:31:29 -07:00
erwincoumans
afa5ab25a6
Merge pull request #1715 from eastskykang/b3RobotAPI 
added functions to b3RobotSimulatorClientAPI_NoGUI
 2018-05-30 14:08:27 +10:00
erwincoumans
2819ff4a00 bump up version 2018-05-29 21:05:12 -07:00
erwincoumans
851459dbfe
Merge pull request #1716 from erwincoumans/master 
fix fixed constraint between btMultiBody and btRigidBody, fix minitaur examples when ran from pip version
 2018-05-30 12:02:34 +10:00
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