Xuchen Han
f392d8ceb1
clean up memory when exiting
2019-09-04 18:49:43 -07:00
Xuchen Han
482458c9df
improve deformable objects loading
2019-09-04 18:49:43 -07:00
Xuchen Han
7d1b93cc17
contact solve for newton
2019-09-04 18:48:00 -07:00
Xuchen Han
c722630fc7
bug fix in neohookean force
2019-09-04 18:48:00 -07:00
Xuchen Han
7c39052163
clean up forces
2019-09-04 18:48:00 -07:00
Xuchen Han
0b391798b7
hook deformable world into the physics server
2019-09-04 18:48:00 -07:00
erwincoumans
9cf50846d6
Merge pull request #2393 from muupan/fix-typo-duration
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Fix typo: s/duraction/duration/g
2019-09-04 09:37:57 -07:00
erwincoumans
85ba3ba957
Merge pull request #2396 from fuchuyuan/bodytypeAPI
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Add body type to dynamics info
2019-09-04 09:37:31 -07:00
Michel Breyer
c374d01587
Deallocate importer in RestoreState
2019-09-04 13:10:34 +02:00
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
erwincoumans
25cc1fa386
Merge pull request #2373 from xhan0619/DeformableImprovement
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Deformable improvement
2019-08-24 18:09:47 -07:00
Xuchen Han
6beeac7065
refactor contact solve
2019-08-23 17:32:41 -07:00
erwincoumans
9a7b89c95a
Update PhysicsServerCommandProcessor.cpp
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also allow to extract collision info (pybullet. getCollisionShapeData ) for concave meshes. Thanks to Brent.
2019-08-22 07:38:23 -07:00
Xuchen Han
3fbd7a7edd
delete forces in exitPhysics
2019-08-21 23:00:18 -07:00
Xuchen Han
4e1c1a30a7
remove world dependency from btDeformableBodySolver,btDeformableBackwardEulerObjective, and btCGProjection; reduce invasion into multibody world, all chnages are cosmetic now
2019-08-21 22:17:46 -07:00
Xuchen Han
9af25430ac
update examples to include NeoHookean Model and new damping model
2019-08-19 12:04:10 -07:00
Xuchen Han
6d4e93d3bf
mods for compatibility with older compiler
2019-08-16 14:03:14 -07:00
Xuchen Han
bf215a3ce1
rename btDeformableRigidDynamicsWorld to btDeformableMultiBodyDynamicsWorld
2019-08-16 13:45:30 -07:00
Xuchen Han
c9ab033a8b
check in a good set of parameters for grasping deformable ball with nonlinear damping force (not as stable as linear damping)
2019-08-16 13:45:30 -07:00
Xuchen Han
b507fe77ca
check in a good set of parameters for grasping deformable ball
2019-08-16 13:45:29 -07:00
Xuchen Han
081497a812
reset dt to 1/240 for grasping demos
2019-08-16 13:45:29 -07:00
Xuchen Han
991be52681
add more volumetric meshes for grasping tests
2019-08-16 13:45:29 -07:00
Xuchen Han
f7cd1edf4a
code clean up
2019-08-16 13:45:29 -07:00
Xuchen Han
5b8df6a708
switch to Baraff style constraint
2019-08-16 13:45:08 -07:00
Xuchen Han
27492887bf
move files and update license
2019-08-16 13:45:08 -07:00
Xuchen Han
26983b05e2
modify constraint setup so that contact constraints are persistent in a single CG solve but motor constraints are applied only once
2019-08-16 13:45:05 -07:00
Xuchen Han
deb7c152c4
add corotated model to lagrangian forces
2019-08-16 13:45:05 -07:00
Xuchen Han
10e819db8e
add grasping with joint motor example
2019-08-16 13:45:05 -07:00
Xuchen Han
6d31c73216
style fix and remove unused variable
2019-08-16 13:44:59 -07:00
Erwin Coumans
648844e898
minor fixes, bump up pybullet to 2.5.5
2019-08-14 21:30:10 -07:00
Erwin Coumans
f09cefabe8
Merge remote-tracking branch 'bp/master'
2019-08-14 21:14:56 -07:00
erwincoumans
6feb1b25db
Merge pull request #2365 from fuchuyuan/updateLoadingSoftBody
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update loading softbody
2019-08-14 21:14:10 -07:00
erwincoumans
7fa70c3857
Merge pull request #2351 from xhan0619/Deformable
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Add deformable body world and solver
2019-08-14 21:13:41 -07:00
Erwin Coumans
88d1788ee5
PyBullet: allow to update an existing heightfield shape
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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
erwincoumans
75df77611a
Merge pull request #2366 from fuchuyuan/tinyObjUpdate
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update obj loader
2019-08-14 13:37:14 -07:00
Chuyuan Fu
eacebc80d5
fix compile
2019-08-14 11:01:48 -07:00
Chuyuan Fu
10108cd3ea
update obj loader
2019-08-13 16:53:51 -07:00
Chuyuan Fu
b90097803e
update loading softbody
2019-08-13 14:56:26 -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
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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
Xuchen Han
69a02302aa
fix gripper in pinch example
2019-08-10 12:12:59 -07:00
Erwin Coumans
f5ae8bd1af
Merge remote-tracking branch 'bp/master'
2019-08-09 10:17:57 -07:00
Xuchen Han
12653f9f19
add back files accidentally removed
2019-08-09 10:14:35 -07:00
Erwin Coumans
54111f7023
PyBullet: add support for internal edge filtering for height field terrains
2019-08-09 10:14:14 -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
Erwin Coumans
046e036519
pybullet: restore internal edge filtering (see internalEdge.py example)
2019-08-08 19:36:23 -07:00
Xuchen Han
7adb6fdff3
2016 -> 2019
2019-08-08 17:43:49 -07:00
Xuchen Han
817e64a769
remove one softbody array copy
2019-08-08 17:31:59 -07:00
Xuchen Han
9a7e30d09f
move deformable examples to a single folder and rename them; change license to google 2016
2019-08-08 15:00:55 -07:00
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
Tigran Gasparian
ebe6d2df86
Don't reset user data on SyncBodyInfo()
2019-08-08 13:20:44 +02:00
Tigran Gasparian
cf25b6183d
.
2019-08-08 10:53:23 +02:00
Tigran Gasparian
822c24e867
Clears body and user data caches when syncBodyInfo and syncUserData are called
2019-08-08 09:50:32 +02:00
erwincoumans
226819b839
premake add enable_stable_pd option, so Bullet can be compiled without C++11 (Visual Studio 2010 etc)
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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
cc7a450a3b
Merge pull request #2354 from fuchuyuan/loadRigidbody
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add support to load rigidbody
2019-08-07 17:30:46 -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
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fix space
2019-08-06 15:53:31 -07:00
Erwin Coumans
098cde55fd
sync graphics server at resetSimulation, load* and resetJointState
2019-08-06 10:56:21 -07:00
Xuchen Han
e5231b5cc5
restore behaviors of btSoftBody
2019-08-06 10:52:19 -07:00
Chuyuan Fu
1cb3655f71
add support to load rigidbody
2019-08-05 13:38:43 -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
Xuchen Han
c5d84c1a0b
get rid of nullptr and std::function
2019-08-03 00:12:34 -07:00
Xuchen Han
753b2d9f15
add new demos to CMakeList
2019-08-02 15:02:15 -07:00
Xuchen Han
8cc7cb59d7
clean up examples
2019-08-02 14:06:42 -07:00
Xuchen Han
ec403f790d
factor out force; now btDeformableLagrangianceForce can be specified at configuration time and to specific softbody
2019-08-02 13:15:06 -07:00
Xuchen Han
233a381e7c
add correct impulse matrix to multibody-deformable contact
2019-08-02 13:15:00 -07:00
Xuchen Han
243b9fc8c7
combat friction drift in positionCorrect by changing velocity and change it back (effectively only changing position)
2019-08-02 13:14:15 -07:00
Xuchen Han
dc10336d45
code clean up + check in examples
2019-08-02 13:12:59 -07:00
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
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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
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
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add default for unhandled geoms
2019-07-31 09:18:38 -07:00
erwincoumans
a8e1be3b33
Update TinyRenderer.cpp
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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
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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)
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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)
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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
a42acfbe31
btHeightFieldTerrainShape, init new member
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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
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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
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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
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,
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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
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
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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
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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)
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usage example:
jointPoses = p.calculateInverseKinematics2(bodyUniqueId, [endEffectorLinkIndices], [endEffectorTargetWorldPositions])
2019-07-10 17:21:18 -07:00
erwincoumans
9ac2261557
Update PhysicsServerCommandProcessor.cpp
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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
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Fix MSAN error
2019-07-09 08:41:28 -07:00
erwincoumans
96031789dd
Merge pull request #2315 from nbelakovski/nbelakovski/fix_mac_opengl
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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
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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
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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
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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
erwincoumans
9e28737b57
Merge pull request #2298 from erwincoumans/master
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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.
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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
erwincoumans
d762bc4e84
Merge pull request #2266 from devnexen/shader_example_build_fix
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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)
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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
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
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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
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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
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
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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
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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
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
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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.
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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
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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
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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
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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
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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
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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
Chuyuan Fu
5b5307cf14
load softbody API
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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
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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
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
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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
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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
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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
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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
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)
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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
erwincoumans
d88a281802
Merge pull request #2177 from crewmatt/master
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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.
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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
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[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
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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
erwincoumans
2e81714e7a
Merge pull request #2161 from crewmatt/master
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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
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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