NiranthS
7943cd35ef
Update racecar_differential.py
2020-04-23 23:26:44 +05:30
NiranthS
c92f7f9008
Update quadruped_setup_playback.py
2020-04-23 23:26:16 +05:30
NiranthS
405c67ba15
Update quadruped_playback.py
2020-04-23 23:25:42 +05:30
NiranthS
c702f5ac4a
Update quadruped.py
2020-04-23 23:25:26 +05:30
NiranthS
598bb20674
Update projective_texture.py
2020-04-23 23:24:47 +05:30
NiranthS
75bbab6ccb
Update profileTiming.py
2020-04-23 23:24:31 +05:30
NiranthS
fcbd6d4501
Update pointCloudFromCameraImage.py
2020-04-23 23:24:29 +05:30
NiranthS
e29ca91fc0
Update pdControl.py
2020-04-23 23:24:08 +05:30
NiranthS
61c628e8df
Update otherPhysicsEngine.py
2020-04-23 23:24:04 +05:30
NiranthS
9aba00923a
Update motorMaxVelocity.py
2020-04-23 23:23:40 +05:30
NiranthS
24840ca71a
Update minitaur_test.py
2020-04-23 23:23:35 +05:30
NiranthS
72f4fa0e8d
Update mimicJointConstraint.py
2020-04-23 23:17:07 +05:30
NiranthS
67d9ce47e7
Update manyspheres.py
2020-04-23 23:16:51 +05:30
NiranthS
ccbffaad14
Update logMinitaur.py
2020-04-23 23:16:36 +05:30
NiranthS
cab2d9bb76
Update loadingBench.py
2020-04-23 23:16:19 +05:30
NiranthS
8c76b2ced2
Update load_soft_body.py
2020-04-23 23:16:14 +05:30
NiranthS
274dcbccb0
Update kuka_with_cube_playback.py
2020-04-23 23:14:46 +05:30
NiranthS
0a7579cdfc
Update kuka_with_cube.py
2020-04-23 23:14:35 +05:30
NiranthS
7135f565c9
Update kuka_grasp_block_playback.py
2020-04-23 23:14:31 +05:30
NiranthS
7b6dc8358c
Update jointFrictionDamping.py
2020-04-23 23:14:23 +05:30
NiranthS
822b866488
Update jointFrictionAndMotor.py
2020-04-23 23:14:18 +05:30
NiranthS
b3100b5bb5
Update jacobian.py
2020-04-23 23:14:12 +05:30
NiranthS
73e6f5fd20
Update inverse_kinematics_pole.py
2020-04-23 23:13:49 +05:30
NiranthS
cdf1e10671
Update inverse_kinematics_husky_kuka.py
2020-04-23 23:13:32 +05:30
NiranthS
b767c5c819
Update inverse_kinematics.py
2020-04-23 23:13:05 +05:30
NiranthS
a6f99317ed
Update internalEdge.py
2020-04-23 23:12:19 +05:30
NiranthS
4a4cdb44c5
Update integrate.py
2020-04-23 23:12:15 +05:30
NiranthS
abcdf44e97
Update ik_end_effector_orientation.py
2020-04-23 23:12:06 +05:30
NiranthS
451be44377
Update humanoid_manual_control.py
2020-04-23 23:12:05 +05:30
NiranthS
079d318965
Update humanoid_knee_position_control.py
2020-04-23 23:11:53 +05:30
NiranthS
02b62d858e
Update humanoid_benchmark.py
2020-04-23 23:11:29 +05:30
NiranthS
844c5b62f4
Update humanoidMotionCapture.py
2020-04-23 23:11:16 +05:30
NiranthS
e9163d0987
Update hello_pybullet.py
2020-04-23 23:10:49 +05:30
NiranthS
e27a8df07b
Update hand.py
2020-04-23 23:10:23 +05:30
NiranthS
168578245f
Update grpcServer.py
2020-04-23 23:09:52 +05:30
NiranthS
0500154739
Update grpcClient.py
2020-04-23 23:09:24 +05:30
NiranthS
cdb01e6354
Update getTextureUid.py
2020-04-23 23:08:41 +05:30
NiranthS
20d8be383f
Update getClosestPoints.py
2020-04-23 23:08:36 +05:30
NiranthS
2c6a5c5b96
Update getCameraImageTest.py
2020-04-23 23:08:29 +05:30
NiranthS
a747a035de
Update getAABB.py
2020-04-23 23:08:04 +05:30
NiranthS
d91369c345
Update frictionCone.py
2020-04-23 23:07:33 +05:30
NiranthS
a555fee4f6
Update forcetorquesensor.py
2020-04-23 23:07:26 +05:30
NiranthS
93cb25cb39
Update fileIOPlugin.py
2020-04-23 23:05:41 +05:30
NiranthS
a0e98e310d
Update externalTorqueControlledSphere.py
2020-04-23 23:05:32 +05:30
NiranthS
2c80ac1bb7
Update experimentalCcdSphereRadius.py
2020-04-23 23:05:24 +05:30
NiranthS
83f506ebef
Update eglRenderTest.py
2020-04-23 23:05:14 +05:30
NiranthS
0fba23d602
Update deformable_torus.py
2020-04-23 23:04:45 +05:30
NiranthS
3cd7cca8f8
Update deformable_ball.py
2020-04-23 23:04:18 +05:30
NiranthS
304700408a
Update deformable_anchor.py
2020-04-23 23:03:43 +05:30
NiranthS
19016528e6
Update debugDrawItems.py
2020-04-23 23:03:12 +05:30
NiranthS
09630941da
Update createVisualShapeArray.py
2020-04-23 23:02:45 +05:30
NiranthS
18ec4610be
Update createVisualShape.py
2020-04-23 23:02:12 +05:30
NiranthS
09ed4d54de
Update createTexturedMeshVisualShape.py
2020-04-23 23:01:42 +05:30
NiranthS
7807de7fa6
Update createSphereMultiBodies.py
2020-04-23 23:00:14 +05:30
NiranthS
bd33c7c43c
Update createObstacleCourse.py
2020-04-23 22:59:53 +05:30
NiranthS
f8ce0ebf08
Update createMultiBodyLinks.py
2020-04-23 22:57:05 +05:30
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
...
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:
...
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
...
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
...
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.
...
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
...
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)
...
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:
...
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)
...
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
...
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
...
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:
...
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
...
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
...
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)
...
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
...
Replace tensorflow with tf.compat.v1
2020-02-20 10:56:21 -08:00
Rodrigo Queiro
d18531cc6a
Replace tensorflow with tf.compat.v1
...
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
...
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.
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
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)
...
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
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
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,
...
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)
...
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
...
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
...
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.
...
(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)
...
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
...
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
...
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
1933661124
change quadruped, remove old files
2019-05-30 14:55:47 -07:00