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Author SHA1 Message Date
erwincoumans
63ac2182ae fix degerenate case in btHingeConstraint, see Issue 2031 
https://github.com/bulletphysics/bullet3/issues/2031
 2018-12-22 11:19:15 -08:00
erwincoumans
875a5f6b0e append m_, fixes Issue 402 2018-12-22 11:07:08 -08:00
erwincoumans
7ce9ad23fb Use safeNormalize, in case a both objects have identical origin. 
Fixes Issue 2021
 2018-12-22 10:59:00 -08:00
erwincoumans
9c4136da16 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-12-19 20:15:40 -08:00
erwincoumans
8e8c3fb315 few fixes in inverse dynamics 2018-12-19 20:15:30 -08:00
erwincoumans
78de1f070f add example comparing explicit PD control (Python), explicit PD control (plugin), position constraint and stable PD control (Python) 2018-12-19 20:12:19 -08:00
Erwin Coumans
74223ced56 disable per-thread tsan issue, todo: checkout why it fails 2018-12-04 20:00:05 +01:00
Erwin Coumans
e3c03401c8 PyBullet: fixed a few more file leaks 2018-12-04 19:58:24 +01:00
Erwin Coumans
d4db50f668 PyBullet: fix some file leaks. 2018-12-04 19:37:25 +01:00
Erwin Coumans
a23cfd0782 bump up pybullet version to 2.4.0 2018-11-29 16:50:37 -08:00
erwincoumans
69321a9ee6 allow textured cube/sphere from URDF 'box' and 'sphere' visual primitive, when using 
texUid = p.loadTexture("tex256.png")
p.changeVisualShape(cube ,-1, textureUniqueId = texUid)
See also https://github.com/bulletphysics/bullet3/issues/2012
 2018-11-29 15:41:32 -08:00
Erwin Coumans
2d07fc1f64 ClangTidy 
clang-diagnostic-shift-sign-overflow
signed shift result (0x80000000) sets the sign bit of the shift expression's type ('int') and becomes negative
 2018-11-28 15:40:20 -08:00
erwincoumans
dc642c6e65 fix previous commit related to dofcount in inverse dynamics 2018-11-27 19:38:19 -08:00
erwincoumans
49c8e738a4 propagate resultOut->m_closestPointDistanceThreshold properly for convex-convex (capsule, sphere) and convex vs plane 2018-11-27 17:31:18 -08:00
Erwin Coumans
ecfe8de506 first part of adding spherical joint support in BulletInverseDynamics 2018-11-27 16:30:58 -08:00
erwincoumans
192d27743a enable pybullet.calculateInverseDynamics for floating bodies 
Using calculateInverseDynamics with zero target acceleration allows to compute the non-linear dynamics forces (coriolis/gyroscopic) and/or gravity force.
 2018-11-27 08:49:56 -08:00
Erwin Coumans
2e30a9565b add humanoid_deepmimic_gym_env.py for HumanoidDeepMimicBulletEnv-v1 (still untested) 2018-11-25 15:33:28 -08:00
Erwin Coumans
fbfa13894b Merge remote-tracking branch 'bp/master' 2018-11-25 12:58:22 -08:00
erwincoumans
c41dc0bba2
Merge pull request #1999 from stolk/master 
Show btHinge2 oscillation.
 2018-11-24 14:46:12 -08:00
stolk
cec71341ad Optionally enable infinite constraint error. 2018-11-24 12:56:23 -08:00
erwincoumans
cf48697fcf PyBullet on Windows: disable harmless warning of not being able to connect to shared memory server. 2018-11-24 11:57:01 -08:00
erwincoumans
bb6f4fb17c improve the ARS implementation: add multiprocessing Gym environment stepping, add command-line parameters to resume a policy, --render, --movie, --steps, --env 2018-11-24 11:54:36 -08:00
erwincoumans
ca36a82c62 add deepmimic args file (for testing) 
implement deepmimic reward function (only joint angles/velocities for now)
fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp
 2018-11-23 18:32:23 -08:00
erwincoumans
ccbd6e5fb7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-11-23 18:01:45 -08:00
erwincoumans
5f0dcb575f add DeepMimic helper utils 2018-11-23 18:01:39 -08:00
erwincoumans
7669fc92c5 add shiftCenterOfMass.py example. 2018-11-23 18:01:00 -08:00
Erwin Coumans
5bdfece800 Merge remote-tracking branch 'bp/master' 2018-11-21 16:44:04 -08:00
erwincoumans
121cdc91b0 more work on PyBullet implementation of DeepMimic humanoid mimic of motion capture. 
b3Quaternion, deal with zero-length axis (in axis,angle constructor)
 2018-11-21 11:09:10 -08:00
erwincoumans
f93e4e4553 fix mjcf2urdf.py for Python 3 (utf) and don't export visuals (let it auto-convert from collision element) 2018-11-21 11:07:05 -08:00
erwincoumans
41e28e3587 Add link/joint names for DeepMimic humanoid urdf 2018-11-20 21:40:20 -08:00
stolk
5dfcbe9a33 Fix issue #2000 of oscillating constraints. 2018-11-20 10:46:27 -08:00
stolk
5e44dd0c1d Show btHinge2 oscillation. 2018-11-19 14:47:03 -08:00
Erwin Coumans
bded2968ea add PyBullet.rotateVector method 
add missing walk humanoid3d_walk.txt
 2018-11-19 10:10:33 -08:00
erwincoumans
f2a98777e7
Merge pull request #1994 from erwincoumans/master 
Preparation to replicate parts of DeepMimic in plain PyBullet
 2018-11-17 17:53:50 -08:00
erwincoumans
8c0b4d9e12 bump up pybullet version to 2.3.9 2018-11-17 14:12:10 -08:00
erwincoumans
f9f8d0fbb0 example for fileIOPlugin.py loading SDF and its assets from a single zipfile, 
also show how to disable file caching (used in the fileIOPlugin)
 2018-11-17 14:11:01 -08:00
erwincoumans
70f94ddd81
Merge pull request #1993 from stolk/master 
Change confusing variable name in btDiscreteDynamicsWorldMT API.
 2018-11-16 17:31:27 -08:00
erwincoumans
9e99f5cdbc Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion 
Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic
Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py
Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py
Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
 2018-11-16 17:29:03 -08:00
stolk
b39f47eab1 Change confusing variable name in btDiscreteDynamicsWorldMT API. 2018-11-15 14:48:43 -08:00
erwincoumans
b13e84e43c Merge remote-tracking branch 'bp/master' 2018-11-14 12:29:09 -08:00
Erwin Coumans
ccc26260b6 bump up pybullet version to 2.3.8 2018-11-13 15:39:54 -08:00
erwincoumans
9ad77a220e
Merge pull request #1990 from erwincoumans/master 
If a convex has called 'initializePolyhedralFeatures', use those feat…
 2018-11-13 15:32:05 -08:00
erwincoumans
7c7235a8c5 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-11-13 14:32:38 -08:00
erwincoumans
7dd524075c Implement btMultiBodySphericalJointMotor, able to track a quaternion position target. 
Expose this btMultiBodySphericalJointMotor through PyBullet.setJointMotorControlMultiDof
Expose PyBullet.getQuaternionSlerp
Improve PyBullet.setJointMotorControlMultiDof
Improve humanoidMotionCapture.py with slerp and using setJointMotorControlMultiDof
Expose  btMultiBody::spatialTransform
Fix btMultiBody::setupPlanar from DeepMimic codebase
Add support for multidof joints in btMultiBody::compTreeLinkVelocities, thanks to DeepMimic codebase @xbpeng
 2018-11-13 14:32:18 -08:00
erwincoumans
75d60e1550
Merge pull request #1978 from stolk/master 
Added Benchmark Demo for packed convex shapes.
 2018-11-12 21:51:25 -08:00
erwincoumans
60b9551b38 If a convex has called 'initializePolyhedralFeatures', use those features also to create debug visualizer mesh, to avoid showing penetration. 
Avoid crash in InvertedPendulumPDControl, due to recent change in m_jointFeedbackInWorldSpace
 2018-11-12 21:46:11 -08:00
erwincoumans
38109dbd10
Merge pull request #1987 from erwincoumans/master 
make setJointPosMultiDof and setJointVelMultiDof argument const.
 2018-11-11 20:17:15 -08:00
erwincoumans
a06b5de7b6 add converted humanoid from DeepMimic (https://github.com/xbpeng/DeepMimic, 
thanks to Jason Peng), and motion capture playback example.
See also https://www.youtube.com/watch?v=vw3EKnKrgqw
 2018-11-11 20:15:47 -08:00
erwincoumans
0b2142414d fix usage of btMultiBody::setJointPosMultiDof/setJointVelMultiDof 2018-11-11 19:04:07 -08:00
erwincoumans
17219f84c6 make setJointPosMultiDof and setJointVelMultiDof argument const. 
add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
 2018-11-10 14:26:31 -08:00