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2787 Commits

Author SHA1 Message Date
Xuchen Han
786b0436ec fixed gravity issue in rigid body and deformable body contact solve 2019-08-02 13:12:27 -07:00
Xuchen Han
32836b0694 set up deformable world and solver (does not support contact or friction yet) 2019-08-02 13:10:17 -07:00
erwincoumans
3ac4959e95
Update DeepMimic_Optimizer.py 2019-08-02 07:08:51 -07:00
erwincoumans
4a4c807381
Update DeepMimic_Optimizer.py 
remove timing
 2019-08-01 21:24:28 -07:00
Erwin Coumans
6d844e5df1 pybullet: more detailed nested timings 2019-08-01 19:15:02 -07:00
Erwin Coumans
7263439c4b improved for inserting profile timings from Python, to analyzer performance of pybullet programs. 
See examples/pybullet/examples/profileTiming.py for an example. Note that python and c++ is properly interleaved.
Open a timings with a name, close the timing without a name. Note that timings can be recursive, added/popped as a stack.
 2019-08-01 19:12:16 -07:00
Erwin Coumans
397767cb60 Merge remote-tracking branch 'bp/master' 2019-07-31 17:54:29 -07:00
Erwin Coumans
10153b3b3a add texture support for cube, when using createCollisionShape(GEOM_BOX) 2019-07-31 14:49:49 -07:00
erwincoumans
789769eac9
Update BulletMJCFImporter.cpp 
add default for unhandled geoms
 2019-07-31 09:18:38 -07:00
erwincoumans
a8e1be3b33
Update TinyRenderer.cpp 
create a cube using x,y,z not x,y,y
 2019-07-30 17:48:59 -07:00
erwincoumans
1feb186204
Update PhysicsClientC_API.cpp 
use B3_PI definition
 2019-07-30 17:43:24 -07:00
Erwin Coumans
4429c6dc9e avoid Mac OSX bus error -> no large static arrays 2019-07-29 22:20:45 -07:00
Erwin Coumans
38d56a42de Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-29 20:29:29 -07:00
Erwin Coumans
d58a85fec4 export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU) 
fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
 2019-07-29 20:29:07 -07:00
Erwin Coumans
51fba6f78d export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU) 
fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
 2019-07-29 20:23:38 -07:00
Erwin Coumans
4bb5d07e3e pybullet_envs.deep_mimic: add pretrained spinkick model (only trained for 20 million steps, may need more for nicer mimic) 2019-07-29 08:22:57 -07:00
Erwin Coumans
cc2d15cd89 pybullet_envs.deep_mimic add pretrained jump weights 2019-07-29 08:11:15 -07:00
Erwin Coumans
3ba34f45b7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-28 18:13:48 -07:00
Erwin Coumans
020e569ece pybullet_envs.deep_mimic add pretrained crawl policy 2019-07-28 18:01:37 -07:00
Erwin Coumans
09bea429f7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-28 17:24:37 -07:00
Erwin Coumans
1e21000d07 pybullet_envs.deep_mimic: update humanoid3d_cartwheel pretrained policy 2019-07-28 17:23:54 -07:00
Erwin Coumans
45c393e86e Merge remote-tracking branch 'bp/master' 2019-07-27 10:25:31 -07:00
erwincoumans
d2665d3d80
Merge pull request #2305 from BartMoyaers/parse_contact_bodies 
parse fall contact bodies
 2019-07-27 10:09:36 -07:00
Erwin Coumans
36f3adc03f copy/move heightfield files around (part of pybullet_data) 
prepare for heightfield support in pybullet (first step, needs a bit more)
 2019-07-25 13:01:26 -07:00
Erwin Coumans
3eedb2a6f2 fix rotational friction between btMultiBody and btRigidBody 2019-07-24 22:07:16 -07:00
Erwin Coumans
654a91057b remove temp file 2019-07-23 18:15:15 -07:00
Erwin Coumans
a0b7b2a47c add friction_anchor to microtaur.urdf 2019-07-23 18:13:54 -07:00
Erwin Coumans
a42acfbe31 btHeightFieldTerrainShape, init new member 
instead height of example terrain
 2019-07-23 15:23:11 -07:00
Erwin Coumans
ebde9926a8 add example loading heightfield from image and csv, using assets from DeepLoco (thanks to Jason Peng) and 
from this Blender tutorial https://www.beamng.com/threads/tutorial-adding-heightmap-roads-using-blender.16356/
 2019-07-23 11:26:31 -07:00
Erwin Coumans
bd9fe7afc0 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-23 07:27:55 -07:00
Erwin Coumans
2e85490b6b deep_mimic: replace retrained backflip policy 2019-07-23 07:27:17 -07:00
Erwin Coumans
bb962bdb6f remove some left-over debugging from deep_mimic 
pybullet bump up to 2.5.3
 2019-07-22 17:47:02 -07:00
Erwin Coumans
b9d4206053 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-22 17:19:33 -07:00
Erwin Coumans
b433e07d33 pybullet_envs.deep_mimic: use getLinkStates for faster 'getReward' 
pybullet_envs.deep_mimic: add profile timers for each thread to optimize training
 2019-07-22 17:18:41 -07:00
Erwin Coumans
0630c245c8 update walk policy trained using latest PyBullet 2.5.2. Still need to update backflip policy. 2019-07-22 14:00:19 -07:00
Erwin Coumans
bf3696e5b4 fix a leak in previous commit 2019-07-22 09:28:27 -07:00
Erwin Coumans
b2825724d4 only if SPD is enabled 2019-07-21 22:03:23 -07:00
Erwin Coumans
8f220c1b23 fix memory leak in previous commit 2019-07-21 21:48:51 -07:00
Erwin Coumans
d82c2043f0 enable useArray for deep_mimic reward 2019-07-21 13:56:10 -07:00
Erwin Coumans
602f736640 Merge remote-tracking branch 'bp/master' 2019-07-21 13:13:52 -07:00
Erwin Coumans
0cf6685041 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-21 13:13:25 -07:00
Erwin Coumans
39a4e8dcd9 Implement faster array versions of PyBullet: getJointStatesMultiDof, getLinkStates, setJointMotorControlMultiDofArray, resetJointStatesMultiDof, 
Implement StablePD in C++ through setJointMotorControlMultiDofArray method for pybullet_envs.deep_mimic, see testHumanoid.py and examples/pybullet/examples/humanoidMotionCapture.py
Minor fix in ChromeTraceUtil in case startTime>endTime (why would it happen?)
 2019-07-21 13:08:22 -07:00
erwincoumans
1e6af4261e
Update HeightfieldExample.cpp 2019-07-19 14:02:08 -07:00
Erwin Coumans
4732acfcb1 remove tabs from urdf 2019-07-17 12:57:44 -07:00
Erwin Coumans
ac0bfb0bfa remove trailing whitespace 2019-07-17 12:55:13 -07:00
Erwin Coumans
dff277ad7b add laikago urdf with toes (for inverse kinematics, and control over stiffness/damping to model rubber) 2019-07-17 12:30:49 -07:00
Erwin Coumans
31688ffb34 fix in multi-endeffector IK, calculate jacobian uses dofs without base, fix premake build of some projects 2019-07-11 22:22:35 -07:00
erwincoumans
8cc13efd2b
Merge pull request #2323 from erwincoumans/master 
fix issue in previous commit (need to reserve instead of resize)
 2019-07-10 20:53:22 -07:00
Erwin Coumans
7a7f944e39 fix issue in previous commit (need to reserve instead of resize) 2019-07-10 20:52:45 -07:00
erwincoumans
d220101c5a
Merge pull request #2322 from erwincoumans/master 
PyBullet.calculateInverseKinematics2 for IK with multiple end-effector locations
 2019-07-10 19:58:17 -07:00
Erwin Coumans
ee9575167d expose PyBullet.calculateInverseKinematics2 that allows to specify multiple IK end effector locations (not multiple orientations) 
usage example:
jointPoses = p.calculateInverseKinematics2(bodyUniqueId, [endEffectorLinkIndices], [endEffectorTargetWorldPositions])
 2019-07-10 17:21:18 -07:00
erwincoumans
9ac2261557
Update PhysicsServerCommandProcessor.cpp 
set alpha default to 1, just in case.
 2019-07-09 08:42:52 -07:00
erwincoumans
bc3969d6ec
Merge pull request #2316 from macandy13/fix-memory-init 
Fix MSAN error
 2019-07-09 08:41:28 -07:00
erwincoumans
96031789dd
Merge pull request #2315 from nbelakovski/nbelakovski/fix_mac_opengl 
Call drawRect on Mac to fix OpenGL issue
 2019-07-09 08:39:41 -07:00
Andreas Christiansen
8c8a7fa0c9 Fix memory sanitizer warning on potential reading of uninitialized memory. This can happen for the RGB values that are only conditionally set in TinyRendererVisualShapeConverter::addVisualShape. 2019-07-09 11:52:42 +02:00
nbelakovski
3b4831089b
Call drawRect on Mac to fix OpenGL issue 
This fixes an issue on Mac where an OpenGL window doesn't show anything until it is resized.
 2019-07-06 20:34:22 -07:00
Erwin Coumans
bb8f621bf9 revert SHARED_MEMORY_GUI test 2019-07-03 12:10:24 -07:00
Erwin Coumans
9db6acd97d support changeVisualShape(rgbaColor) through GraphicsServer/Client 
support getCameraInfo through GraphicsServer/Client
 2019-07-02 09:48:34 -07:00
Chuyuan Fu
d5e028c673 take out unused variable 2019-07-01 13:31:00 -07:00
Chuyuan Fu
4da456054c Update PhysicsServerCommandProcessor and plugins to support render 2019-06-25 17:59:15 -07:00
Bart Moyaers
2e2169690c parse fall contact bodies 2019-06-24 15:52:27 +02:00
Erwin Coumans
240e839600 Merge remote-tracking branch 'bp/master' 2019-06-19 12:09:04 -07:00
Erwin Coumans
d4aac235fc Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-19 12:08:52 -07:00
Erwin Coumans
16542aa740 tweak Mini Cheetah URDF/MTL 
use /tmp/timings on Linux/Mac as default location to save profile timings (when you press 'p' in example browser)
fix in Graphics Server Example when rendering is disabled
 2019-06-19 12:07:26 -07:00
erwincoumans
9e28737b57
Merge pull request #2298 from erwincoumans/master 
configureDebugVisualizer: expose lightPosition, shadowMapResolution (texture resolution) and shadowMapWorldSize
 2019-06-19 11:48:25 -07:00
Erwin Coumans
ed4515ae17 for the GraphicsServer, expose a sync transform interval: only synchronize the transform once the stepSimulation exceeds this time interval. 
(for example, run the simulation at 1kHz but sync the graphics transforms to remove graphics server at 30Hz)
 2019-06-19 09:45:29 -07:00
erwincoumans
d762bc4e84
Merge pull request #2266 from devnexen/shader_example_build_fix 
Fix shader example build / spotted by clang
 2019-06-19 09:16:25 -07:00
Erwin Coumans
c3b7f39aaf expose shadowMapResolution (texture resolution) and shadowMapWorldSize (size in meters in world space) 
expose pybullet.ConfigureOpenGLVisualizerRequest(lightPosition=[x,y,z], shadowMapWorldSize=10.5, shadowMapResolution=16384)
See examples/pybullet/examples/configureDebugVisualizer.py for an example.
This reimplements https://github.com/bulletphysics/bullet3/pull/2295 but without creating a new command/status and explicitly referring to the debug visualizer
(since the 'getCameraImage' also has a lightPosition)
 2019-06-19 09:01:16 -07:00
Steven
b1444f34cf fix the issue of converting the double to single. 2019-06-19 21:15:47 +08:00
Erwin Coumans
7e76ee0ad7 make pybullet.getMeshData work for softbody 2019-06-17 21:43:38 -07:00
Erwin Coumans
20d9ad5f24 Merge remote-tracking branch 'bp/master' 2019-06-17 20:37:34 -07:00
Chuyuan Fu
229e87c3c9 get mesh data api 
fix compile

fix typo
 2019-06-17 19:00:53 -07:00
Erwin Coumans
d888c50f15 avoid getting stuck in RemoteGUIHelper when graphics server isn't started first. 2019-06-17 18:30:39 -07:00
Erwin Coumans
9d21deb712 use GUI mode in IK example 2019-06-15 12:58:02 -07:00
Erwin Coumans
e286fbd9f2 fixes for RemoteGUIHelper 2019-06-15 10:30:48 -07:00
Erwin Coumans
ee3680765e fixes for RemoteGUIHelper 2019-06-14 14:34:56 -07:00
Erwin Coumans
ced65ce3e3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-14 08:19:46 -07:00
Erwin Coumans
708f66ac42 add RemoteGUIHelper to communicate between graphics client/server 2019-06-14 08:06:21 -07:00
Erwin Coumans
4318221d6d Merge remote-tracking branch 'bp/master' 2019-06-14 07:51:09 -07:00
erwincoumans
e1326adff5
Revert "C api refactor build" 2019-06-14 07:49:24 -07:00
Erwin Coumans
95a79800ec Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-13 23:24:42 -07:00
Erwin Coumans
6160b52fd7 graphicsServer to workaround OpenGL issues on some servers. 2019-06-13 23:24:22 -07:00
Erwin Coumans
8f9fac99bd add kinematic version that also updates the base position/orientation from the base 2019-06-13 13:26:52 -07:00
bla
3e32cf94e7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-06 21:54:47 +00:00
bla
6ab09fe06e fix testlaikago and pd_controller_stable 2019-06-06 21:54:22 +00:00
erwincoumans
d7c0c9c017 update ExampleBrowser InverseKinematics example to track 4 end effectors at once. 2019-06-01 19:43:27 -07:00
erwincoumans
36896db828 Merge remote-tracking branch 'bp/master' 2019-06-01 07:29:31 -07:00
erwincoumans
5e1d645a09
Merge pull request #2221 from goretkin/c_api_refactor_build 
C api refactor build
 2019-05-31 19:06:18 -07:00
Erwin Coumans
4247104050 add toes to Mini Cheetah 2019-05-31 15:04:53 -07:00
Erwin Coumans
3c74ae8366 Add approximate Mini Cheetah URDF and example in pybullet 
Thanks to Sangbae Kim and Donghyun Kim at the MIT Biomimetics Robotics Lab
 2019-05-31 14:21:10 -07:00
Erwin Coumans
9d2a527d87 fix issue in MJCF importer due to previous commit 2019-05-30 16:13:03 -07:00
Erwin Coumans
1933661124 change quadruped, remove old files 2019-05-30 14:55:47 -07:00
Erwin Coumans
63e13d32cb remove unused var 2019-05-30 10:34:48 -07:00
Erwin Coumans
6b9b30786f simplify previous commit do/while -> while 2019-05-30 10:30:08 -07:00
erwincoumans
7a7652fd43
Merge pull request #2265 from akien-mga/dos2unix 
Convert DOS (CRLF) source files to Unix (LF) line endings
 2019-05-30 09:41:35 -07:00
Erwin Coumans
411ac4fcc3 fix loadMJCF/BulletMJCFImporter to load from fileIO 2019-05-29 19:26:27 -07:00
David Carlier
66c4e20fd2 Fix shader example build / spotted by clang 2019-05-23 20:40:29 +01:00
Erwin Coumans
093986f1ee revert to previous leg style of Microtaur 2019-05-22 23:42:32 -04:00
Erwin Coumans
e13df4ce48 add toe endeffectors for IK of Microtaur 2019-05-22 22:08:45 -04:00
Erwin Coumans
d7e863e51a update microtaur URDF and example, to be compatible with minitaur_rainbow_dash 2019-05-22 10:59:20 -04:00
Rémi Verschelde
d85b800702 Convert DOS (CRLF) source files to Unix (LF) line endings 
Excluded `examples/pybullet/gym/pybullet_data/` which has many (3000+)
CRLF data files (obj, mtl, urdf), and `docs/pybullet_quickstart_guide`
which has generated .js and .htm files with CRLF line endings too.
 2019-05-22 10:01:32 +02:00
Erwin Coumans
af5bfb4089 added Microtaur URDF file, with basic system identification 
See https://www.youtube.com/watch?v=UmGnLgpEVTE
 2019-05-21 22:33:16 -04:00
Erwin Coumans
2b9bece2c8 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-05-08 12:03:46 -07:00
Erwin Coumans
577dd16299 fix test compilation 2019-05-08 12:03:23 -07:00
erwincoumans
1ae63d097d
Merge pull request #2244 from erwincoumans/master 
add minitaur extended to pybullet_envs
 2019-05-08 10:36:51 -07:00
Erwin Coumans
36ed4419bf Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-05-07 19:43:33 -07:00
Erwin Coumans
de8013ff75 add minitaur extended to pybullet_envs 2019-05-07 19:43:02 -07:00
mbennice
1d2a1c093d Update GRPC conversion of SDF and State Update 2019-05-07 11:18:11 -07:00
mbennice
cf16c5c51f Reduces wait in the gRPC plugin, fix state bug. 
Updates the gRPC plugin to gather messages in its own thread, and
corrects the state details not being correctly added to shared memory.
 2019-05-07 11:11:01 -07:00
Erwin Coumans
defa172d39 improve grpc support 2019-05-07 08:13:27 -07:00
erwincoumans
5734035094
Merge pull request #2239 from erwincoumans/master 
fix CallData::CallStatus
 2019-05-06 19:55:50 -07:00
Erwin Coumans
e6918b9cd4 fix CallData::CallStatus 2019-05-06 17:30:07 -07:00
erwincoumans
9f28a27323
Merge pull request #2238 from erwincoumans/master 
fix exceeding shared memory usage, return of member of deleted class.
 2019-05-06 17:15:13 -07:00
Erwin Coumans
688df2c60b fix exceeding shared memory usage, return of member of deleted class. 2019-05-06 17:13:42 -07:00
Tigran Gasparian
ee99abfc45 Fixes bug in getNumUserData in the physics Direct client. This was inconsistent with the shared memory client 2019-05-06 16:26:46 +02:00
Gustavo Goretkin
cde9be4697 Always link against OpenGL 2019-05-03 15:48:16 -04:00
Chuyuan Fu
3be2ce0adf set softbody start position and orientation in pybullet 2019-05-03 11:56:13 -07:00
Chuyuan Fu
ee10d47b17 fix space 
fix space
 2019-05-02 14:15:18 -07:00
Chuyuan Fu
3fb0a7c19b add set starting position and orientation to softbody 2019-05-01 16:56:40 -07:00
Chuyuan Fu
55f9f1eb89 add LoadSoftbody C API 2019-05-01 16:56:40 -07:00
Gustavo Goretkin
b6a18c5a30 Copy installation commands from other bullet libs 2019-04-29 12:57:37 -04:00
Gustavo Goretkin
e4f637c2e3 Install C API 2019-04-29 11:58:53 -04:00
Gustavo Goretkin
aff54a2397 Refactor C API part of pybullet out 2019-04-29 11:28:17 -04:00
Gustavo Goretkin
76b27cf410 Copy from pybullet 2019-04-29 11:04:33 -04:00
Gustavo Goretkin
9009ca914e Run cmake-format 
cmake-format --command-case upper --dangle-parens true CMakeLists.txt
 2019-04-29 11:03:41 -04:00
Erwin Coumans
a1f0685271 Merge remote-tracking branch 'bp/master' 2019-04-27 14:54:44 -07:00
erwincoumans
39a1e8f0f7
Update BlockSolverExample.cpp 2019-04-27 14:30:10 -07:00
erwincoumans
f71aea0b66
Update PhysicsServerCommandProcessor.cpp 2019-04-27 14:24:01 -07:00
Erwin Coumans
61c099460c apply yapf 2019-04-27 14:22:02 -07:00
Erwin Coumans
efe73670ef Merge remote-tracking branch 'bp/master' 2019-04-27 14:19:58 -07:00
erwincoumans
62e01c7a33
Update PhysicsServerCommandProcessor.cpp 2019-04-27 12:21:45 -07:00
erwincoumans
d0737dfa4c
Update BlockSolverExample.cpp 2019-04-27 12:19:38 -07:00
Erwin Coumans
ef9570c315 add yapf style and apply yapf to format all Python files 
This recreates pull request #2192
 2019-04-27 07:31:15 -07:00
erwincoumans
1da207efaa
Merge pull request #2209 from YungKC/patch-2 
Should sort best directions that gives the highest rewards
 2019-04-26 16:43:32 +02:00
Chuyuan Fu
5b5307cf14 load softbody API 
update warning message

format
 2019-04-25 15:40:15 -07:00
Erwin Coumans
72c6ed9abe fix file caching issue 2019-04-25 07:04:22 -07:00
Erwin Coumans
0d4392af58 rename laikago_walk.json -> txt 2019-04-18 14:18:34 -07:00
YungKC
61987dea85
Should sort best directions that gives the highest rewards 
Found bug where the sort order would incorporate the lowest N rewards, instead of the highest. With this fix, one can now use fewer best directions instead.
 2019-04-16 12:20:08 -07:00
erwincoumans
a8d1c121fd allow Z as up-axis for raycast acceleration in btHeightfieldTerrainShape 2019-04-16 10:34:59 -07:00
Erwin Coumans
6912290080 fix one more warning in HeightfieldExample 2019-04-16 09:26:33 -07:00
Erwin Coumans
a7e1c5b681 fix warnings in HeightfieldExample 2019-04-16 09:14:00 -07:00
erwincoumans
bf0eb4703d
Merge pull request #2200 from YungKC/patch-1 
Fix render issue in server render mode (e.g., docker)
 2019-04-16 06:31:58 -07:00
erwincoumans
2a9bfbdb1c
Merge pull request #2204 from erwincoumans/master 
add raycast accelerator for btHeightfieldTerrainShape, thanks to Marc…
 2019-04-15 22:20:06 -07:00
erwincoumans
f28fd91e4f add raycast accelerator for btHeightfieldTerrainShape, thanks to Marc Zylann, see https://github.com/bulletphysics/bullet3/pull/2062 
it can be disabled by setting the flag cb.m_flags |= btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator;
acceleration is disabled for z axis up.
add btHeightfieldTerrainShape example to example browser
 2019-04-15 21:55:29 -07:00
erwincoumans
a929e8f2e5
Merge pull request #2203 from erwincoumans/master 
implement stablePD control version of testLaikago,  fix getCameraImage in VR,  only report solver analytics if enabled using setPhysicsEngineParameter
 2019-04-15 08:52:03 -07:00
erwincoumans
e97a7d77af only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1) 2019-04-14 18:20:20 -07:00
erwincoumans
219970c09e fix getCameraImage in VR server using renderer=pybullet.ER_BULLET_HARDWARE_OPENGL 2019-04-14 14:08:35 -07:00
YungKC
8f9ff5e674
Fix render issue in server render mode (e.g., docker) 
px is an 1D array, and cause a runtime error when trying to strip the color channels into RGB. I fixed this by first reshape the px array into am image compatible format first.
 2019-04-12 17:42:26 -07:00
erwincoumans
154c65ae4d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-04-11 22:19:12 -07:00
erwincoumans
5ff52e47d9 report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error. 2019-04-11 22:19:02 -07:00
Jannik Vogel
4ca8b997f9 Reduce visibility of Bullet symbols in PyBullet 
Avoids version conflicts in programs using PyBullet, which also link against Bullet libraries
 2019-04-08 02:59:24 +02:00
Erwin Coumans
4ae24083ee implement stablePD control version of testLaikago, in preparation for quadruped DeepMimic 2019-04-05 16:45:33 -07:00
erwincoumans
024af08320 Added laikago mocap data for a DeepMimic compatible walk cycle 
Added testLaikago.py script to test this mocap data.
 2019-04-04 19:40:21 -07:00
erwincoumans
76918ca26d Merge remote-tracking branch 'bp/master' 2019-04-03 20:08:05 -07:00
erwincoumans
6951aaf26a implement PyBullet removeState command. Fixes Issue #2163 
https://github.com/bulletphysics/bullet3/issues/2163
 2019-04-03 20:06:40 -07:00
erwincoumans
4d3f2e5b17
Merge branch 'master' into SIblock 2019-03-27 16:18:36 -07:00
erwincoumans
d88a281802
Merge pull request #2177 from crewmatt/master 
Initializes simulation timestamp to 0 explicitly.
 2019-03-26 19:51:43 -07:00
mbennice
fed1a878d7 Replaces ; with , 2019-03-26 18:14:07 -07:00
Erwin Coumans
c033c8b22f add missing m_numDofs 2019-03-26 18:13:04 -07:00
Erwin Coumans
4898887265 temporary disable experimental BulletRobotics examples 2019-03-26 15:07:55 -07:00
mbennice
8a96dc67cc Initializes simulation timestamp to 0 explicitly. 2019-03-26 14:39:01 -07:00
Erwin Coumans
2ba8c22397 add actuatornet code 2019-03-26 10:05:45 -07:00
Chuyuan Fu
7223e51dc4 fix compile 2019-03-25 17:32:53 -07:00
Chuyuan Fu
c44c7f2891 add files 2019-03-25 14:55:02 -07:00
Chuyuan Fu
7aba1f9e8a Use two SI solvers as blocks in block solver. 
In the btBlockSolver we are experimenting with, we have SI for both multibody and rigid body. I'm currently replacing rigid body SI solver with two smaller SI solvers. The two examples provided by RigidBodyBoxes.h should have the same behavior.
 2019-03-25 14:41:58 -07:00
erwincoumans
922b27fb87
Merge pull request #2171 from iory/pybullet-envs 
[pybullet/gym/pybullet_envs] Modified register's timestep_limit to max_episode_steps for gym
 2019-03-25 14:25:11 -07:00
Chuyuan Fu
19f3ec8b80 fix conflut 2019-03-25 14:12:00 -07:00
Erwin Coumans
0409478152 use certain methods from std namespace 2019-03-23 12:45:59 -07:00
iory
a8146024fd [pybullet/gym/pybullet_envs] Modified register's timestep_limit to max_episode_steps for gym 2019-03-24 03:32:20 +09:00
Erwin Coumans
94d8ee74f7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-03-20 15:11:03 -07:00
Erwin Coumans
f725d1201d fix memory leak in PyBullet.calculateInverseKinematics when joint limits are provided 
Fixes Issue #2164
 2019-03-20 15:09:48 -07:00
erwincoumans
28148eb1ed Merge remote-tracking branch 'bp/master' 2019-03-18 10:12:55 -07:00
erwincoumans
2e81714e7a
Merge pull request #2161 from crewmatt/master 
Adds a timestamp as a physics parameter.
 2019-03-17 16:13:48 -07:00
mbennice
8fcb8d0694 Update to bullet formatting 2019-03-17 11:52:56 -07:00
Erwin Coumans
3acac372da add vision 60 urdf (from Ghost Robotics) and zipped random urdfs 2019-03-15 13:19:59 -07:00
Erwin Coumans
a0aa963e28 fix premake and cmake for ExampleBrowser 2019-03-15 04:04:51 +00:00
erwincoumans
17d2b318bf
Merge pull request #2159 from bulletphysics/erwincoumans-glob 
Update kuka_diverse_object_gym_env.py
 2019-03-14 18:28:14 -07:00
Erwin Coumans
150a6a0880 Qualify calls to certain functions from the cmath library. 2019-03-14 16:57:50 -07:00
mbennice
d41e449d6f Adds a timestamp as a physics parameter. 2019-03-14 15:32:45 -07:00
erwincoumans
9662ae4ba0
Update kuka_diverse_object_gym_env.py 
Fix issue in glob to separate training/test data pattern. See https://github.com/bulletphysics/bullet3/issues/2158
Thank to @TomoyaFukui
 2019-03-14 09:33:48 -07:00
Erwin Coumans
1161a04c56 Merge remote-tracking branch 'bp/master' 2019-03-13 09:52:38 -07:00
erwincoumans
18918389d3
Merge pull request #2145 from fuchuyuan/addExample 
Add example
 2019-03-12 11:06:53 -07:00
erwincoumans
46e43e0051 Merge remote-tracking branch 'bp/master' 2019-03-12 09:13:51 -07:00
Erwin Coumans
0caf51a54e btBlockSolver use m_data2 instead of m_data 2019-03-11 17:52:55 -07:00
Chuyuan Fu
bea2f6e65a Turn off self-collision for FixJointBoxes example 2019-03-11 13:12:49 -07:00
Damian Bemben
2ca6172f1a Fixing issue where mass of motors is uneven 
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
 2019-03-11 10:12:38 -07:00
erwincoumans
550f4c4785 expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890 
bump up PyBullet to version 2.4.8
 2019-03-11 10:12:38 -07:00
erwincoumans
ce531e6015 allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies 
change snake.py to use useMaximalCoordinate = True by default
 2019-03-11 10:12:38 -07:00
Erwin Coumans
53979b1b7b tweak mouse wheel multiplier 2019-03-11 10:12:38 -07:00
erwincoumans
a1f15ae01a Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! 
Visit http://www.snakerobots.com to see one of these in the wild
 2019-03-11 10:12:38 -07:00
erwincoumans
0b41fe1a49 use b3RobotJointInfo instead of b3JointInfo, so it is initialized. 
don't reset the camera in SharedMemoryInProcessPhysicsC_API
 2019-03-11 10:12:38 -07:00
Damian Bemben
b027bc92df
Fixing issue where mass of motors is uneven 
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
 2019-03-10 22:41:40 +00:00
erwincoumans
4ea907aacf expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890 
bump up PyBullet to version 2.4.8
 2019-03-09 09:23:16 -08:00
Chuyuan Fu
81ab8cd1c6 another fix 2019-03-08 14:21:18 -08:00
Chuyuan Fu
fa2368c6d6 Try to fix tests 2019-03-08 13:50:12 -08:00
erwincoumans
32e93d9f91 allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies 
change snake.py to use useMaximalCoordinate = True by default
 2019-03-08 09:20:32 -08:00
Erwin Coumans
58c638d5ee tweak mouse wheel multiplier 2019-03-08 07:43:50 -08:00
erwincoumans
9408e4f2d0 Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! 
Visit http://www.snakerobots.com to see one of these in the wild
 2019-03-07 21:13:00 -08:00
fuchuyuan
2908bd9641
Merge branch 'master' into addExample 2019-03-07 19:59:48 -08:00
erwincoumans
d7b54b0265 use b3RobotJointInfo instead of b3JointInfo, so it is initialized. 
don't reset the camera in SharedMemoryInProcessPhysicsC_API
 2019-03-07 17:55:45 -08:00