NiranthS
23e67a9733
Update createMultiBodyBatch.py
2020-04-23 22:55:42 +05:30
NiranthS
f2e7d026da
Update createMesh.py
2020-04-23 22:52:17 +05:30
NiranthS
5e23b8f2b8
Update contactFriction.py
2020-04-23 22:49:30 +05:30
NiranthS
1c2493a031
Update constraint.py
2020-04-23 22:45:29 +05:30
NiranthS
ade9056de2
Update configureDebugVisualizer.py
2020-04-23 22:44:56 +05:30
NiranthS
faa59f3799
Update commandLogAndPlayback.py
2020-04-23 22:43:53 +05:30
NiranthS
97bfc4d5be
Update collisionFilter.py
2020-04-23 22:42:14 +05:30
NiranthS
cf4441cdbd
Update changeTexture.py
2020-04-23 22:40:02 +05:30
NiranthS
06e6350aa8
Update changeDynamicsMass.py
2020-04-23 22:37:12 +05:30
NiranthS
15e29e4b86
Update biped2d_pybullet.py
2020-04-23 22:36:00 +05:30
NiranthS
584a052f9a
Update batchRayCast.py
2020-04-23 15:58:11 +05:30
NiranthS
fa6713328d
Update addPlanarReflection.py
2020-04-23 15:57:31 +05:30
erwincoumans
f13629bf48
Update __init__.py
2020-04-22 21:02:49 -07:00
Erwin Coumans
89a7907f45
add vesion of laikago with limits.
2020-04-14 13:39:43 -07:00
Erwin Coumans
b45d697d28
always use python release version (not debug) on Windows, similar hack as pybind11
2020-04-10 09:19:51 -07:00
Chuyuan Fu
3829887ced
twin torus
2020-04-01 21:27:48 -07:00
Erwin Coumans
05efff3c4f
move pickup.zip inside pickup2.zip
2020-03-30 14:59:41 -07:00
Erwin Coumans
d725b3fd0e
add pickup2.zip (that contains pickup.zip)
2020-03-30 14:35:28 -07:00
Erwin Coumans
762c21601f
cache zipfile, and also allow to read zipfile from memory
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this allows zipfiles to be stored anywhere in already registed fileIO (such as zipfiles inside other zipfiles)
see Bullet/examples/pybullet/examples/fileIOPlugin.py
enable vhacd, fileIO and zipFileIO in premake version of PyBullet
fix potential memory leak in mtl loading
2020-03-30 14:24:20 -07:00
Erwin Coumans
e20b858a28
add pybullet_utils.transformations from ROS geometry:
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https://github.com/ros/geometry/blob/melodic-devel/tf/src/tf/transformations.py
2020-03-24 10:34:02 -07:00
erwincoumans
eab851635e
Merge pull request #2679 from erwincoumans/master
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Embed TCP remote graphics server in PyBullet (enable WFH), fixes for compilation on Visual C++ for Python 9.0
2020-03-22 14:04:35 -07:00
Erwin Coumans
0b6457d318
fix cmake/premake builds
2020-03-22 11:58:39 -07:00
Erwin Coumans
377069bfa5
add laikago/xarm in pybullet_robots
2020-03-22 11:37:08 -07:00
Antonin RAFFIN
a6314958a6
Add CheckpointCallback and load best automatically
2020-03-22 13:44:05 +01:00
Erwin Coumans
99c7c32b10
tcp fixes and allow to run graphics server on mainloop (for Mac)
2020-03-20 16:50:44 -07:00
Erwin Coumans
911355fe62
fixes for Mac OSX
2020-03-20 15:57:19 -07:00
Erwin Coumans
344bd629ee
embed TCP graphics server in PyBullet for easier working-from-home
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This allows to render at a different machine, sending all assets across the TCP network, using port 6667 by default.
You can use ssh port forwarding to get this working:
ssh -R 6667:localhost:6667 username@remotehost.com -v
python3 -m pybullet_utils.graphicsServer
python3 -m pybullet_utils.graphicsClient
Note that there are still some tcp networking issues that can cause a hang, just restart graphics server and graphics client if it hangs.
2020-03-20 15:43:52 -07:00
Erwin Coumans
c06859723b
Embed graphics server (shared memory) in PyBullet. Use pybullet.connect(pybullet.GRAPHICS_SERVER) to enable it.
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TODO: enable for Mac OSX on mainloop, add tcp bridges from and to shared memory.
2020-03-19 14:18:35 -07:00
Erwin Coumans
fde6cffecc
create BulletRoboticsGUI CMake target, pybullet links against it
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fix BulletRobotics header install
2020-03-16 23:15:18 -07:00
Erwin Coumans
1640eef937
pybullet: enable getMeshData for multibody/rigid body (and filter on collisionShapeIndex for compound shapes)
2020-03-17 00:38:12 -07:00
Erwin Coumans
27fbbfee7f
pybullet removeAllParameters (sliders, buttons)
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pybullet addUserDebugParameter adds button instead of slider, if min > max.
2020-03-16 21:29:30 -07:00
Erwin Coumans
17c6839a77
add example of using vhacd in pybullet
2020-03-15 18:15:14 -07:00
Erwin Coumans
f0528db5e9
embed V-HACD directly into Pybullet to make it easier to use:
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pip3 install pybulle
import pybullet as p
p.connect(p.DIRECT)
p.vhacd("teddy.obj", "teddy_large_newout.obj", "newlog.txt", depth=2,resolution=1000000)
2020-03-16 00:38:52 -07:00
Erwin Coumans
2d5e8ea1f3
convert upper/lower limits in urdfEditor.py
2020-03-13 20:49:39 -07:00
Erwin Coumans
1f3c0057e5
increase the number of steps from 1000 to 2000, to mimic multiple cycles
2020-03-02 12:52:14 -08:00
Erwin Coumans
6b393dffca
set correct reward for deep_mimic gymenv (max episode = 1000 steps, 1 reward at each step)
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terminate testrl.py at 1000, show reward
2020-03-01 21:27:30 -08:00
Erwin Coumans
81c1daacbb
Connect deep_mimic_env.py to internal pybullet_deep_mimic_env.py
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This adds two untested Gym environments to pybullet_envs. todo: train using PPO2 etc
HumanoidDeepMimicBackflipBulletEnv-v1
HumanoidDeepMimicWalkBulletEnv-v1
2020-03-01 21:13:10 -08:00
Erwin Coumans
7c5073d3ab
prepare towards HumanoidDeepMimicBackflipBulletEnv-v1 and HumanoidDeepMimicWalkBulletEnv-v1
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remove unused SubprocVecEnv from stable_baselines/enjoy.py
2020-03-01 13:11:47 -08:00
Erwin Coumans
7ecb769a9c
add flag to assure deterministicOverlappingPairs
2020-03-01 12:22:47 -08:00
Erwin Coumans
da5ac61baa
use PyBullet's own visualizer for enjoy script, + add a time.sleep since it is way too fast (1000FPS for cart pole)
2020-02-29 22:02:01 -08:00
Erwin Coumans
8e8955571f
workaround for Tensorflow 2.x breaking API:
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try:
import tensorflow.compat.v1 as tf
except Exception:
import tensorflow as tf
2020-02-29 20:35:05 -08:00
erwincoumans
279a5c19d5
Merge pull request #2640 from erwincoumans/master
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PyBullet: add option to merge fixed links in URDF file, capsule field init
2020-02-21 17:49:51 -08:00
erwincoumans
e78eb2706d
Merge pull request #2627 from araffin/feat/sb-enjoy
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Add enjoy script for Stable Baselines
2020-02-21 17:25:39 -08:00
Erwin Coumans
0fd8598ca3
fix pybullet constants in previous commit
2020-02-21 16:16:13 -08:00
Erwin Coumans
f5afe9a1d1
Merge remote-tracking branch 'bp/master'
2020-02-21 15:12:17 -08:00
Erwin Coumans
e29ba9fe5c
add option to merge fixed links in URDF file (improves performance, can handle URDF files with many fixed links)
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add option to ignore visual and collision shapes in URDF file
2020-02-21 15:04:26 -08:00
erwincoumans
bfba4ac2b6
Merge pull request #2637 from drigz/tf-compat
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Replace tensorflow with tf.compat.v1
2020-02-20 10:56:21 -08:00
Rodrigo Queiro
d18531cc6a
Replace tensorflow with tf.compat.v1
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This means they won't break when using TensorFlow 2.0.
2020-02-19 17:35:48 +01:00
Antonin RAFFIN
21efd84c18
Add enjoy script for Stable Baselines
2020-02-15 21:06:10 +01:00
Erwin Coumans
0617f4f3cd
expose computeDofCount to pybullet
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expose computeDofCount and calculateMassMatrix to BulletRobotics C++ API
(all untested)
2020-02-14 19:58:32 -08:00
Erwin Coumans
6afa0a463d
unsupported: expose collisionMargin to changeDynamics/getDynamicsInfo.
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add cube_convex.urdf for testing this collisionMargin. Test script:
import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane_implicit.urdf")
cube = p.loadURDF("cube_convex.urdf",[0,0,1])
p.setGravity(0,0,-10)
while (1):
p.stepSimulation()
pts = p.getContactPoints()
p.changeDynamics(plane,-1,collisionMargin=0.3)
p.changeDynamics(cube,-1,collisionMargin=0.3)
print("===================")
print("cube pos=", p.getBasePositionAndOrientation(cube)[0])
print("margin=", p.getDynamicsInfo(plane,-1)[11])
#time.sleep(1./10.)
2020-02-14 17:36:40 -08:00
Erwin Coumans
b3ff3ebcb1
add pendulum of 5 links
2020-02-12 13:05:51 -08:00
Erwin Coumans
e7ad8a9d67
add urdf file for testing
2020-02-11 15:10:22 -08:00
Erwin Coumans
6195f40c02
fix compile issue in pybullet.c
2020-02-06 09:11:18 -08:00
Tigran Gasparian
34db76d263
Adds an option to syncUserData to specify the bodies for which to sync.
2020-01-23 14:46:33 +01:00
Tigran Gasparian
a88ffea416
.
2020-01-17 13:30:26 +01:00
Tigran Gasparian
68d3fb28e0
Adds support for loading user data from URDF files.
2020-01-17 11:55:42 +01:00
Erwin Coumans
1be6a1d16b
fix loadpanda video generation
...
remove duplicate code (formerly Windows ffpmeg needed different settings?)
2020-01-12 08:07:54 -08:00
Erwin Coumans
84e2ea918c
add xarm, modify loadpanda to work with pybullet_robots module
2020-01-12 07:20:32 -08:00
Erwin Coumans
fb15aea414
add example robots in pybullet_robots module
2020-01-12 07:11:57 -08:00
Erwin Coumans
3ca233193f
:
2020-01-12 07:03:38 -08:00
Erwin Coumans
2f08938110
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2020-01-11 16:52:01 -08:00
erwincoumans
a9615258d3
Merge pull request #2580 from erwincoumans/master
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add --mp4fps=30 command line parameter for ExampleBrowser, various other fixes
2020-01-11 15:14:11 -08:00
Erwin Coumans
3f11b03255
add friction anchors for Panda gripper (prevents/reduces sliding objects out of gripper)
2020-01-11 13:13:28 -08:00
Erwin Coumans
8f8bbbee3b
example how to create a video using PyBullet using GUI mode with ffmpeg, synchronizing video with stepSimulation at specific frame rate (240 Hz for example)
2020-01-11 13:06:45 -08:00
erwincoumans
2dcb372080
Merge pull request #2565 from araffin/feat/sb-example
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Add Stable-Baselines example with SAC and TD3
2020-01-08 11:51:35 -08:00
Erwin Coumans
3cdbc4cc29
fix CartPoleBulletEnv-v1 and add CartPoleContinuousBulletEnv-v0 (continuous version)
2020-01-02 19:33:57 -08:00
Erwin Coumans
3c8cf390d4
one more fix in previous commit related to bullet_client.py
2020-01-02 14:45:42 -08:00
Antonin RAFFIN
adad4dc402
Update buffer size
2020-01-02 14:47:30 +01:00
Antonin RAFFIN
59c61a46bb
Simplify imports
2020-01-02 11:12:45 +01:00
Antonin RAFFIN
da0483b03a
Add colab notebook
2020-01-02 11:06:39 +01:00
Antonin RAFFIN
9c969614bc
Add Stable-Baselines example with SAC and TD3
2020-01-02 11:00:45 +01:00
Erwin Coumans
c39afa61cb
revert bullet_client.py
2020-01-01 20:27:27 -08:00
Erwin Coumans
a9455ce891
add 'runServer.py' script in pybullet_utils, this will run a GUI server
...
that accepts SHARED_MEMORY connections. Handy if you run a pybullet_envs Gym environment
and want to visualize it. By default, bullet_client will try to connect to a shared memory connection first.
2020-01-01 18:53:32 -08:00
Erwin Coumans
b6dea7ba64
fix a few pybullet Gym environments for rendering in stable_baselines
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if PYBULLET_EGL environment is set, try to enable EGL for faster rendering
bump up pybullet to 2.6.2
2020-01-01 18:47:46 -08:00
Erwin Coumans
528bd28e34
increase plane from 30 to 200 (to allow quadrupeds to run further, not fall off cliff)
...
fix issue with gym.wrappers in pybullet_envs.agents.visualize_ppo.py
2019-12-31 18:13:49 -08:00
Erwin Coumans
ffc76fbf6d
add xarm 6 example with inverse kinematics (IK) that runs about 150 microseconds (Ryzen 3900x)
2019-12-22 17:17:37 -08:00
Erwin Coumans
7241fe19b9
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-12-13 09:21:00 -08:00
Erwin Coumans
30b42a14f0
add single-link arm urdf files for debugging
2019-12-13 09:20:46 -08:00
Erwin Coumans
3668bc5e2a
tweak premake4 default batch file.
...
add manual control for joint angles in XArm6 example.
2019-12-12 07:02:27 -08:00
Erwin Coumans
1a245f4e11
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-12-11 16:49:04 -08:00
Erwin Coumans
2f6eb59e16
add z-up version of Laikago, centered along the chassis center of mass
2019-12-11 16:47:52 -08:00
Erwin Coumans
202cf18995
allow to compile using clang-cl on visual studio (disable SSE)
2019-12-11 13:07:53 -08:00
Erwin Coumans
d254b65fee
Merge remote-tracking branch 'bp/master'
2019-12-10 15:48:24 -08:00
Erwin Coumans
e7778502e7
fix pybullet_envs path
2019-12-10 15:48:07 -08:00
erwincoumans
6c722f8f94
Merge pull request #2528 from jackson-waschura/master
...
Actually use self collisions when specified
2019-12-09 09:35:06 -08:00
erwincoumans
880faef997
Merge pull request #2535 from erwincoumans/master
...
Googley colors for xarm (debugging) and tweak example with table etc.…
2019-12-09 09:26:47 -08:00
Erwin Coumans
1a491dc700
Googley colors for xarm (debugging) and tweak example with table etc. Add missing link6_vhacd.obj
2019-12-09 09:25:15 -08:00
erwincoumans
e0a43fb116
Merge pull request #2534 from erwincoumans/master
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remove duplicate xarm6.urdf
2019-12-09 08:57:00 -08:00
Erwin Coumans
0a8ade5233
remove duplicate xarm6.urdf
2019-12-09 08:54:56 -08:00
erwincoumans
1b8d7be2b6
Merge pull request #2533 from erwincoumans/master
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also enable simplified convex decomposition collision meshes for xarm…
2019-12-09 08:53:27 -08:00
Erwin Coumans
67905efd0f
also enable simplified convex decomposition collision meshes for xarm6_robot.urdf
2019-12-09 08:51:02 -08:00
David Rusu
dd3bdf0da1
Use pybullet_utils.bullet_client for all our BulletClient needs
2019-12-08 20:10:12 -05:00
jackson-waschura
0b33d940e4
Actually use self collisions when specified
2019-12-08 13:54:38 +01:00
Erwin Coumans
70329ca2ad
added Apache 2 license for Panda Franka URDF
2019-12-08 00:40:10 -08:00
Erwin Coumans
4cfd30f19c
add Franka Panda URDF and example (python3 -m pybullet_envs.examples.loadpanda)
...
add XArm6 URDF with optimized collision meshes and example (XArm gripper needs more work) python3 -m pybullet_envs.examples.xarm
2019-12-08 00:38:49 -08:00
Erwin Coumans
146a751eb4
enable intermediate log for walk, so you can restart if stuck in local maximum
2019-12-05 08:34:34 -08:00
erwincoumans
c74b88b436
Merge pull request #2522 from erwincoumans/master
...
update Laikago robot with textures, and a version with toes to enable…
2019-12-04 21:14:21 -08:00
Erwin Coumans
7c5796b67d
update Laikago robot with textures, and a version with toes to enable inverse kinematics.
2019-12-04 14:48:28 -08:00
erwincoumans
ef08e9b415
Merge pull request #2517 from erwincoumans/master
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enable self-collision for deep_mimic pybullet_envs, fix Mac Catalina pybullet pip build
2019-12-04 08:56:42 -08:00
erwincoumans
44f21e462a
Merge pull request #2509 from xhan0619/separate-bending-stiffness
...
Separate in-plane and bending stiffness for mass spring model
2019-12-04 07:34:28 -08:00
Erwin Coumans
7f9f514b7e
enable self-collision for deep_mimic pybullet_envs and make it easier to try it out:
...
python3 -m pybullet_envs.deep_mimic.testrl
2019-11-30 13:19:28 -08:00
Erwin Coumans
cf67e7af0a
Merge remote-tracking branch 'bp/master'
2019-11-29 08:06:53 -08:00
Erwin Coumans
56d0b7a09a
deep_mimic, read velocity from poseInterpolator, not kinematic model
...
This fixes issue #2401
2019-11-29 08:05:54 -08:00
Xuchen Han
7bce5d61f4
separate in-plane and bending stiffness for mass spring model for easier parameter tuning
2019-11-27 11:40:10 -08:00
Xuchen Han
39df98465e
set a smaller dt for deformable_ball.py for stability and typo fix
2019-11-25 17:07:00 -08:00
Xuchen Han
f237a40621
add a pybullet example to compare the result of soft body and deformable body
2019-11-21 00:09:32 -08:00
Xuchen Han
fa7cb25c95
revert the default world to SOFT_MULTIBODY_WORLD
2019-11-20 23:47:15 -08:00
Xuchen Han
edffb0cc55
update pybullet examples
2019-11-19 23:10:13 -08:00
Erwin Coumans
66951ac102
fix Mac version of deformable_anchor.py
2019-11-19 19:35:28 -08:00
Erwin Coumans
96deb42aa5
pybullet.createSoftBodyAnchor
2019-11-19 19:20:08 -08:00
Erwin Coumans
1f6d504e44
fix memory issues in btSparseSDF.h
...
(hash function on structure with uninitialized padding, and Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
2019-11-18 10:22:56 -08:00
Xuchen Han
bca87426f4
enable real time simulation
2019-11-15 22:38:47 -08:00
Xuchen Han
a86710c5b6
add python binding to allow loading deformable objects
2019-11-15 21:25:11 -08:00
Erwin Coumans
72e0e7c223
fix load_soft_body.py example.
...
add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
2019-11-14 21:20:42 -08:00
Erwin Coumans
24a76614f8
PyBullet: fix memory leak in changeTexture command
...
Fixes #2481
2019-11-14 17:07:08 -08:00
Erwin Coumans
9f44d76b67
fix issue in BulletClient (pybullet_utils.bullet_client) that may disconnect multiple times, causing issues when repeatedly creating a gym env
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bump up pybullet to version 2.5.7
2019-11-07 10:47:56 -08:00
Erwin Coumans
b5715c96cf
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-11-04 15:46:23 -08:00
Erwin Coumans
f1f04aef53
add simple sceneAABB example
2019-11-04 15:45:58 -08:00
Krishnan Srinivasan
0d4108f307
Fix call to convert_to_leg_model
...
Fix call to convert_to_leg_model which is defined as a static method without an underscore in MinitaurExtendedEnv
2019-10-29 16:00:55 -07:00
Chuyuan Fu
e74ffa2f65
add body type info to dynamics info
2019-09-28 14:43:40 -07:00
Erwin Coumans
95a7488310
PyBullet: fix createMultiBodyBatch.py example
2019-09-13 07:38:00 -07:00
Erwin Coumans
64ea8e9f27
PyBullet createMultiBody(Batch), return all body unique ids
...
PyBullet: fix crash: always check for existance m_multibodyWorld in ::render method
2019-09-09 16:41:25 -07:00
erwincoumans
9cf50846d6
Merge pull request #2393 from muupan/fix-typo-duration
...
Fix typo: s/duraction/duration/g
2019-09-04 09:37:57 -07:00
Chuyuan Fu
ecc28d6472
revert testing example
2019-09-03 14:35:33 -07:00
Chuyuan Fu
e4a5f9e06e
add body type info to dynamics info
2019-09-03 14:27:19 -07:00
muupan
4c209a4834
Fix typo: s/duraction/duration/g
2019-09-03 17:29:43 +09:00
Erwin Coumans
648844e898
minor fixes, bump up pybullet to 2.5.5
2019-08-14 21:30:10 -07:00
Erwin Coumans
88d1788ee5
PyBullet: allow to update an existing heightfield shape
...
Also, use flags = p.GEOM_CONCAVE_INTERNAL_EDGE to enable internal edge filtering for heightfield (disabled by default)
See https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py
2019-08-14 21:06:10 -07:00
Erwin Coumans
e0b642d730
pybullet: fix calculateInverseKinematics2
2019-08-11 17:02:16 -07:00
Erwin Coumans
f9b232b153
pybullet: allow programmatic creation of heightfield. See https://github.com/erwincoumans/bullet3/tree/master/examples/pybullet/examples/heightfield.py
...
premake4: allow to build example browser without C++11, re-enable stable PD control plugin using --enable_stable_pd=True
2019-08-11 13:59:24 -07:00
Artur Ryt
c39c842fe3
Fix examples\pybullet\premake4.lua parsing error
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There is missing } after previous edit (226819), which leads
to error when using build_visual_studio_vr_pybullet_double.bat
Adding it back fixed the error.
2019-08-09 13:58:36 +02:00
erwincoumans
fc95415c0e
Merge pull request #2359 from erwincoumans/master
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premake add enable_stable_pd option, so Bullet can be compiled withou…
2019-08-08 09:58:32 -07:00
erwincoumans
226819b839
premake add enable_stable_pd option, so Bullet can be compiled without C++11 (Visual Studio 2010 etc)
...
PyBullet: improve sleeping: if the base is static and all joints in the chain between this link and the base are fixed, then this link is static too (doesn't merge islands)
Fix PyBullet compilation of Visual Studion 2010
2019-08-07 21:57:05 -07:00
erwincoumans
666e1a8bad
Merge pull request #2357 from fuchuyuan/setWarmStartFactor
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API and pybullet bindings for setting warmstarting factor
2019-08-07 17:34:58 -07:00
erwincoumans
1981493a65
Merge pull request #2356 from erwincoumans/master
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sync graphics server at resetJointState, resetSimulation, load*
2019-08-06 15:54:43 -07:00
Chuyuan Fu
2e64b27a31
bindings for setting warmstarting factor
...
fix space
2019-08-06 15:53:31 -07:00
Erwin Coumans
bf90b6a1d5
update PyBullet quickstart guide pdf version
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tweak profileTiming example
2019-08-05 08:32:45 -07:00
erwincoumans
3ac4959e95
Update DeepMimic_Optimizer.py
2019-08-02 07:08:51 -07:00
erwincoumans
4a4c807381
Update DeepMimic_Optimizer.py
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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.
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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
38d56a42de
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-07-29 20:29:29 -07:00
Erwin Coumans
51fba6f78d
export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU)
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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
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parse fall contact bodies
2019-07-27 10:09:36 -07:00
Erwin Coumans
36f3adc03f
copy/move heightfield files around (part of pybullet_data)
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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
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
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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'
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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
d82c2043f0
enable useArray for deep_mimic reward
2019-07-21 13:56:10 -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,
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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
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
ee9575167d
expose PyBullet.calculateInverseKinematics2 that allows to specify multiple IK end effector locations (not multiple orientations)
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usage example:
jointPoses = p.calculateInverseKinematics2(bodyUniqueId, [endEffectorLinkIndices], [endEffectorTargetWorldPositions])
2019-07-10 17:21:18 -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
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support getCameraInfo through GraphicsServer/Client
2019-07-02 09:48:34 -07:00
Bart Moyaers
2e2169690c
parse fall contact bodies
2019-06-24 15:52:27 +02:00
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
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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
Erwin Coumans
ed4515ae17
for the GraphicsServer, expose a sync transform interval: only synchronize the transform once the stepSimulation exceeds this time interval.
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(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
Erwin Coumans
c3b7f39aaf
expose shadowMapResolution (texture resolution) and shadowMapWorldSize (size in meters in world space)
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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
Erwin Coumans
7e76ee0ad7
make pybullet.getMeshData work for softbody
2019-06-17 21:43:38 -07:00
Chuyuan Fu
229e87c3c9
get mesh data api
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fix compile
fix typo
2019-06-17 19:00:53 -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
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
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
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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
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Thanks to Sangbae Kim and Donghyun Kim at the MIT Biomimetics Robotics Lab
2019-05-31 14:21:10 -07:00
Erwin Coumans
1933661124
change quadruped, remove old files
2019-05-30 14:55:47 -07:00
erwincoumans
7a7652fd43
Merge pull request #2265 from akien-mga/dos2unix
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Convert DOS (CRLF) source files to Unix (LF) line endings
2019-05-30 09:41:35 -07:00
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
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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
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See https://www.youtube.com/watch?v=UmGnLgpEVTE
2019-05-21 22:33:16 -04:00
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
Chuyuan Fu
3be2ce0adf
set softbody start position and orientation in pybullet
2019-05-03 11:56:13 -07:00
Chuyuan Fu
3fb0a7c19b
add set starting position and orientation to softbody
2019-05-01 16:56:40 -07:00
Gustavo Goretkin
aff54a2397
Refactor C API part of pybullet out
2019-04-29 11:28:17 -04:00
Gustavo Goretkin
9009ca914e
Run cmake-format
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cmake-format --command-case upper --dangle-parens true CMakeLists.txt
2019-04-29 11:03:41 -04:00
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
Erwin Coumans
ef9570c315
add yapf style and apply yapf to format all Python files
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This recreates pull request #2192
2019-04-27 07:31:15 -07:00
erwincoumans
1da207efaa
Merge pull request #2209 from YungKC/patch-2
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Should sort best directions that gives the highest rewards
2019-04-26 16:43:32 +02:00
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
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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
bf0eb4703d
Merge pull request #2200 from YungKC/patch-1
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Fix render issue in server render mode (e.g., docker)
2019-04-16 06:31:58 -07:00
erwincoumans
a929e8f2e5
Merge pull request #2203 from erwincoumans/master
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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
YungKC
8f9ff5e674
Fix render issue in server render mode (e.g., docker)
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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
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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
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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
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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
Erwin Coumans
4898887265
temporary disable experimental BulletRobotics examples
2019-03-26 15:07:55 -07:00
Erwin Coumans
2ba8c22397
add actuatornet code
2019-03-26 10:05:45 -07:00
Chuyuan Fu
19f3ec8b80
fix conflut
2019-03-25 14:12:00 -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
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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
Erwin Coumans
3acac372da
add vision 60 urdf (from Ghost Robotics) and zipped random urdfs
2019-03-15 13:19:59 -07:00
erwincoumans
9662ae4ba0
Update kuka_diverse_object_gym_env.py
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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
Damian Bemben
2ca6172f1a
Fixing issue where mass of motors is uneven
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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
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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
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change snake.py to use useMaximalCoordinate = True by default
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!
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Visit http://www.snakerobots.com to see one of these in the wild
2019-03-11 10:12:38 -07:00
Damian Bemben
b027bc92df
Fixing issue where mass of motors is uneven
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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
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bump up PyBullet to version 2.4.8
2019-03-09 09:23:16 -08:00
erwincoumans
32e93d9f91
allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies
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change snake.py to use useMaximalCoordinate = True by default
2019-03-08 09:20:32 -08:00
erwincoumans
9408e4f2d0
Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok!
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Visit http://www.snakerobots.com to see one of these in the wild
2019-03-07 21:13:00 -08:00
Erwin Coumans
bd0501d3fc
fix example meshScale
2019-03-02 12:11:59 -08:00
Erwin Coumans
3997ac2b61
fix issue with retina scale and picking in createVisualShape.py example
2019-03-02 12:08:25 -08:00
erwincoumans
4d711ed411
Merge remote-tracking branch 'origin/physx' into physx_clean
2019-02-28 17:52:59 -08:00
erwincoumans
2ae03f50b1
revert to original humanoidMotionCapture.py example. Add a showJointMotorTorques variable (false by default)
2019-02-27 10:01:54 -08:00
erwincoumans
8e1c1448ab
Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof.
2019-02-27 09:54:12 -08:00
Erwin Coumans
03e897d1f5
replace deep_mimic policies by versions trained using PyBullet, backflip works better now.
2019-02-24 20:12:18 -08:00
erwincoumans
a9996088c8
Implement PyBullet.getCameraImage for PhysX backend.
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PhysX backend, allow arbitrary plane normal, a few other fixes.
2019-02-24 14:09:42 -08:00
erwincoumans
9ecc1cc485
Implement CustomProfilerCallback, hooking up to Bullet profiling
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test dominoes
2019-02-22 09:17:55 -08:00
erwincoumans
71b1191947
texture caching and geometry caching (PhysX) for much faster loading of many same objects, helps benchmarking/comparison.
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add command-line args for PhysX (numCores=..., solver=tgs, )
2019-02-21 19:24:18 -08:00
erwincoumans
3bf27cf8f2
implement rudimentary contact callback. Does PhysX have a way to report ALL contact points, every frame, so we can update contact forces etc, and report all contacts?
2019-02-20 21:38:37 -08:00
erwincoumans
adf31c8f64
remove PhysXClient.*, it was not needed (use PhysicsDirect instead)
2019-02-20 19:57:10 -08:00
Erwin Coumans
6d2ed912f5
Merge remote-tracking branch 'bp/master'
2019-02-18 19:11:03 -08:00
erwincoumans
7e5ac33cf1
Merge pull request #2105 from Somedaywilldo/master
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Add Human3.6M Support for deep_mimic Environment
2019-02-18 18:07:47 -08:00
erwincoumans
bdf9b10246
more work on pybullet_envs.deep_mimic.
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allow btMultiBody to not wakeup (for some RL experiments)
move deep_mimic motion files to data/motions folder, so we can use the args files unmodified.
2019-02-18 17:57:02 -08:00
erwincoumans
79a273f644
deep_mimic: add option for spherical joint drive motor, next to stable PD control
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(existing policies won't work with those motors, needs tuning and re-training)
2019-02-12 20:42:05 -08:00
erwincoumans
85ee4c2934
allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example.
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expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals.
allow a maximum of 128k objects
fix meshScale for PyBullet.createCollisionShape for custom mesh
expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)
2019-02-12 10:36:01 -08:00
Somedaywilldo
59d58ce430
add Human3.6M support for deep_mimic env
2019-02-13 00:13:56 +08:00
bla
a94a24959f
add deep_mimic pre-trained policies
2019-02-11 11:06:15 -08:00
Erwin Coumans
aaae366a21
towards python 2.x support for deep_mimic (still issue with Logger.print2)
2019-02-11 10:03:26 -08:00
Erwin Coumans
786ddec076
disable GUI in deep_mimic, it slows down too much on Mac OSX
2019-02-11 09:44:59 -08:00
Erwin Coumans
30290dfba1
add missing __init__.py for pip
2019-02-11 09:20:44 -08:00
Erwin Coumans
2728294c53
more fixes in deep_mimic env
2019-02-11 09:15:42 -08:00
Erwin Coumans
1bd201eb43
fixes in PyBullet deep_mimic to allow running in pip version
2019-02-11 08:51:07 -08:00
erwincoumans
12e6478689
Merge pull request #2103 from erwincoumans/master
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PyBullet deep_mimic backflip re-using original DeepMimic policy from Jason Peng
2019-02-11 05:45:21 -08:00
erwincoumans
d4292fdac3
PyBullet deep_mimic fix computeAngVelRel
2019-02-10 21:37:34 -08:00
erwincoumans
bb15800964
add pre-trained backflip policy thanks to Jason Peng from https://github.com/xbpeng/DeepMimic
2019-02-10 21:06:00 -08:00
erwincoumans
be20ed6aa2
remove obsolete deep_mimic files (use the one in deep_mimic/env)
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add plane_implicit.urdf
2019-02-10 21:04:28 -08:00
erwincoumans
9bddca873c
allow pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt to perform a backflip. Can only backflip twice, then drops on ground.
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this deepmimic is still very slow, due to slow mass matrix/inverse dynamics computation. once spherical motor drive is enabled, it should be fast(er)
move pd_controller_stable to pybullet_utils for easier re-use
add plane_transparent.urdf to pybullet_data
allow spacebar in keyboardEvents (Windows for now)
2019-02-10 20:56:31 -08:00
erwincoumans
b574a360f5
Merge pull request #2055 from xantares/pybullet
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Pybullet enhancements
2019-02-10 20:25:47 -08:00
erwincoumans
28c9ea3aad
PyBullet: add domino asset and example
2019-02-10 19:44:39 -08:00
erwincoumans
054c0b8e58
PyBullet+PhysX backend: expose getJointState reading link position/velocity
2019-02-05 10:24:41 -08:00
erwincoumans
42369aa47d
PyBullet.changeDynamics: expose jointDamping
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PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
2019-02-04 21:06:43 -08:00
Erwin Coumans
2eace2f715
update mpi usage
2019-02-01 19:20:08 -08:00
Erwin Coumans
176edeff1e
add mpi_run version (not working yet)
2019-02-01 17:57:31 -08:00
Erwin Coumans
6c42cd3e1b
add policy
2019-02-01 17:45:50 -08:00
Erwin Coumans
1cef924973
deepmimic fix: reference initialization wasn't spread over all frames
2019-02-01 17:18:13 -08:00
Erwin Coumans
7cc2685faf
enable deepmimic training on mac
2019-02-01 16:24:48 -08:00
erwincoumans
63e781b88b
PyBullet env for DeepMimic (preliminary work-in-progress)
2019-01-31 21:32:51 -08:00
erwincoumans
5d871806eb
enable stable PD plugin in premake4.lua PyBullet
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add a normalize in the setRotation axis/angle to be sure.
Add more code from the DeepMimic project, training doesn't work yet.
2019-01-31 21:31:26 -08:00
Erwin Coumans
b257bd731b
PyBullet: allow createVisualShape to pass vertices, indices, normals and uv coordinates. This can be combined with changeVisualShape to set the texture.
2019-01-29 12:03:11 -08:00
Erwin Coumans
63683e8f02
fix Issue 2039
2019-01-28 16:24:44 -08:00
Erwin Coumans
0818112ede
fix some gym envs
2019-01-28 16:21:52 -08:00
erwincoumans
c97d1041ed
Merge pull request #2037 from araffin/update-gym
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Update gym envs
2019-01-28 10:14:09 -08:00
Erwin Coumans
0e4d6b0376
tweak premake files for ExampleBrowser, allow non-GUI mode for humanoidMotionCapture
2019-01-28 07:35:57 -08:00
erwincoumans
505cb15600
proto2csv
2019-01-27 12:11:40 -08:00
erwincoumans
6c2568bf5e
PyBullet Minitaur: Fix Minitaur logging (binary file)
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PyBullet Minitaur: Add minitaur_raibert_controller_example.py
2019-01-27 11:37:35 -08:00
erwincoumans
a6244d714e
more PyBullet PhysX preliminary work.
2019-01-25 10:14:54 -08:00
erwincoumans
03549ca7c6
pass force as array instead of value
2019-01-23 17:24:10 -08:00
erwincoumans
225db2e385
Merge remote-tracking branch 'bp/master'
2019-01-23 08:55:38 -08:00
erwincoumans
e02f82f172
fix some memory leaks in PyBullet.resetJointStateMultiDof and setJointMotorControlMultiDof
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Fixes Issue 2065
2019-01-23 08:54:17 -08:00
Maxime Busy
b4eca192fb
Parse physicsClientId before calling getPhysicsClient
2019-01-23 12:02:17 +01:00
erwincoumans
ae8e83988b
Add preliminary PhysX 4.0 backend for PyBullet
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Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
2019-01-22 21:08:37 -08:00
xantares
e793bd22bb
Cancel built time print changes
2019-01-15 10:24:11 +01:00
Michel Zou
fd40544637
On OSX link with dynamic_lookup
2019-01-12 11:36:28 +01:00
Michel Zou
46e2d280a8
Print build time only in debug mode
2019-01-11 21:57:41 +01:00
Michel Zou
ea515048e9
OSX Python extension is .so
2019-01-11 21:57:41 +01:00
Michel Zou
04d3b6aee7
Add pybullet install rule
2019-01-11 21:57:38 +01:00
erwincoumans
101429e6a3
Merge pull request #2041 from gsp-27/gsp-27-patch-1
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Added code for issue #2036
2019-01-04 07:56:14 -08:00
Erwin Coumans
19aafd5221
PyBullet: handle the switch from fixed base to floating base when changing mass from zero to non-zero
2019-01-03 17:35:12 -08:00