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3614 Commits

Author SHA1 Message Date
erwincoumans
87b633bb76
Update pybullet.c 
send output to stderr (pybullet build message), helps towards Issue #3131
 2020-12-08 17:38:47 -08:00
Erwin Coumans
3e16c616d5 cmake OPTION(USE_OPENVR OFF) so only compile OpenVR VR examples when explicitly set to ON 
to avoid breaking builds
 2020-12-04 08:52:28 -08:00
Erwin Coumans
0f05edf1ae fix #ifdef in clsocket 2020-12-02 18:01:02 -08:00
Erwin Coumans
ec55878a82 remove some files, wheels are exceeding 100MB on pypi... 2020-11-26 15:06:51 -08:00
erwincoumans
272c7099d3
Merge pull request #3090 from ErikGartner/master 
Revert 32277c
 2020-11-25 09:25:46 -08:00
WenlongLu
ddbe6f7a5a remove duplicated cpp file in premake4.lua 2020-11-19 15:41:27 -08:00
erwincoumans
875a6a4446
Merge pull request #3153 from WenlongLu/kinematic_multibody_interface 
SharedMemory interface to set and get dynamic types
 2020-11-18 11:05:03 -08:00
Erwin Coumans
ccf4e70a63 Merge remote-tracking branch 'bp/master' into master 2020-11-17 23:21:02 -08:00
erwincoumans
05b5d2ee04
Merge pull request #3145 from WenlongLu/kinematic_multibody_link 
Kinematic Multibody Joint/Link
 2020-11-17 15:20:52 -08:00
Erwin Coumans
76fbbcd37e fix premake build 2020-11-13 17:36:19 -08:00
WenlongLu
8ccd67727f Add KinematicMultiBodyExample to premake4.lua 2020-11-13 15:56:09 -08:00
WenlongLu
c32e721262 Add KinematicMultiBodyExample to premake4.lua 2020-11-13 15:39:54 -08:00
erwincoumans
a72ce295b4
Merge pull request #2840 from mahyaret/master 
KukaCamGymEnv
 2020-11-13 10:44:26 -08:00
erwincoumans
464bbc4ddd
Merge pull request #3089 from Steven89Liu/fixDOF 
we should use the m_jointMotorForceMultiDof which is indexed by degree
 2020-11-13 10:06:52 -08:00
erwincoumans
9344606e5d
Merge pull request #3086 from ManifoldFR/urdfparser-patch 
UrdfParser: make unspecifed axis warning print single line
 2020-11-13 10:04:33 -08:00
erwincoumans
2a0f811c3b
Merge pull request #3076 from tfederico/master 
Add multiclip loading and reward
 2020-11-13 10:02:49 -08:00
erwincoumans
63f5dbf97b
Merge pull request #3132 from WenlongLu/kinematic_multibody_base 
Kinematic Multibody Base
 2020-11-13 10:02:10 -08:00
Shayekh Bin Islam
91c002232f
Sutton's url shifted 
The site hosting the c code pole.c has been changed.
 2020-11-13 11:26:09 +06:00
WenlongLu
21836afb97 Add share memory commands for user to change object dynamic types 2020-11-11 22:41:33 -08:00
WenlongLu
56b42925d8 Support kinematic multibody joints/links 2020-11-11 22:14:07 -08:00
WenlongLu
5a1977b176 Remove the uninitialized child link in the example 2020-11-11 14:12:47 -08:00
erwincoumans
20c6178329
Merge pull request #3125 from erwincoumans/master 
improvement in b3PluginManager, hashing the postfix if available
 2020-11-03 12:48:48 -08:00
erwincoumans
da28ca734a
Update b3PluginManager.cpp 2020-11-03 09:47:38 -08:00
WenlongLu
2fc72577f1 minor example cleanup 2020-10-29 23:35:42 -07:00
WenlongLu
b95f9d3afb Add kinematic multibody base example 2020-10-29 23:34:53 -07:00
erwincoumans
edbce66542
Update b3PluginManager.cpp 2020-10-29 17:06:18 -07:00
Erwin Coumans
e21c6c9f46 fix compile issues 2020-10-28 19:18:33 -07:00
r-a-sattarov
c4073179a2 X11: added define for MCST e2k (Elbrus 2000) architecture 2020-10-28 22:01:40 +03:00
Erwin Coumans
e3dc3761a0 Merge remote-tracking branch 'bp/master' 2020-10-28 11:07:59 -07:00
Erwin Coumans
49be2cffaa improvement in b3PluginManager, hashing the postfix if available 
(allows to load a plugin in the current executable instead of from disk)
 2020-10-28 11:06:26 -07:00
erwincoumans
62684840bd
Merge pull request #3120 from erwincoumans/master 
add kinematic rigid body ground example.
 2020-10-28 07:43:39 -07:00
erwincoumans
e3274d7fc1
Update model.cpp 
fix uv wrapping, thanks to Marek
 2020-10-27 13:38:01 -07:00
Erwin Coumans
a67681aee5 add kinematic rigid body ground example. 2020-10-22 11:25:08 -07:00
erwincoumans
4c46f9ce39
Merge pull request #3087 from davidcavazos/patch-1 
Add documentation to notebook
 2020-10-14 11:54:30 -07:00
David Cavazos
656a1e7472
Removed notice on slow installation 2020-10-13 15:34:33 -07:00
erwincoumans
fea468d241
Update RBDModel.h 
destructor needs to be virtual
 2020-10-08 14:10:08 -07:00
Erwin Coumans
ad0994022d allow streaming of data 2020-10-07 10:12:02 -07:00
Erwin Coumans
bc51ac3f0f Support getCachedReturnData for PhysicsLoopBack 
re-use existing code path for streaming plugin return data (work-in-progress)
 2020-10-07 08:24:33 -07:00
Erwin Coumans
954ceff2ec Add an option for a plugin to report return data after calling executePluginCommand. Also add python binding. 
Currently the return data has to fit in shared memory, 8MB (Linux, Windows) or 1MB (Apple)
Preparation for streaming is added (to allow unlimited return data, see CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA)

New C-API: b3GetStatusPluginCommandReturnData
PyBullet reports return data if available, in pybullet_executePluginCommand

For the plugin developer:
plugin can provide additional return data for executePluginCommand in the b3PluginContext, during executePluginCommand.
Lifetime of this m_returnData pointer is minimum of next call to the next executePluginCommand or plugin termination.
 2020-10-06 20:19:39 -07:00
Erwin Coumans
7a6c90409f Merge remote-tracking branch 'bp/master' into master 2020-10-06 13:56:06 -07:00
Yuxiang Yang
82182e1ba7
Add <inertia> for missing links in a1.urdf 
Currently a few collision frames in a1.urdf ("{FL/FR/RL/RR}_upper_shoulder") do not have <inertia> defined, and pybullet loads as if they have 1kg mass. This leads to inaccurate simulation results.
 2020-10-06 00:28:24 -07:00
Erwin Coumans
6b91ecc0c5 allow to set changeDynamics(body, link, contactProcessingThreshold) for multibodies 
(set to 0 if restitution is important)
 2020-10-05 16:33:41 -07:00
Erik Gärtner
777ab5a5ab Revert "in case of substeps use the compensated delta time / numSubSteps to convert between force and impulse." 
This reverts commit 32277c7bd5.
 2020-10-02 15:49:23 +02:00
Steven89Liu
104789ca99 we should use the m_jointMotorForceMultiDof which is indexed by degree 
of freedom.
 2020-10-01 15:58:45 +08:00
David Cavazos
e78d31171b
Fix Colab link 2020-09-29 08:32:48 -07:00
David Cavazos
9c2313f5c8
Add documentation 
Adds documentation to explain each step and have links to useful pages to improve the onboarding experience.
 2020-09-29 08:30:36 -07:00
ManifoldFR
6a9cd4615c fix typo 2020-09-29 12:02:35 +02:00
ManifoldFR
281e7df2ec UrdfParser: make axis warning print single line 2020-09-29 12:00:05 +02:00
tfederico
be27283a8e add pretrained policies and remove extra motion file 2020-09-25 12:16:51 +01:00
Erwin Coumans
3d220888fa disable cone friction 2020-09-24 09:19:51 -07:00
tfederico
91cb40c5ba add plotting utility 2020-09-23 16:18:51 +01:00
tfederico
61df6d2ff4 remove comments and unused code 2020-09-23 16:15:30 +01:00
Erwin Coumans
cfd3c99f0e add spirit40 urdf file, compatible with 
https://github.com/google-research/motion_imitation/pull/26
 2020-09-21 17:44:07 -07:00
Erwin Coumans
e6c4305fa5 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2020-09-21 16:12:07 -07:00
Erwin Coumans
2e1b84487b Add a soccerball obj/urdf, hand-modeled in Blender, using guidance from https://www.youtube.com/watch?v=N93n6hPsqkI (but using texture mapping so the export to OBJ works in PyBullet) 2020-09-21 16:11:52 -07:00
Erwin Coumans
d0dc96aa05 Merge remote-tracking branch 'bp/master' 2020-09-20 16:36:45 -07:00
Erwin Coumans
1bd82e7d81 allow rendering of (textured) heightfield in TinyRenderer and EGL. 
Also update normals, if heightfield is updated.
 2020-09-20 16:03:56 -07:00
erwincoumans
7f4fdb16b3
Merge pull request #3061 from fuchuyuan/addAttributes 
add configurable parameters to urdf
 2020-09-18 16:59:43 -07:00
tfederico
ab8d927845 Add files for multiclip reward 2020-09-17 18:04:41 +01:00
Erwin Coumans
4f8f28233c allow alternative deformable indexing (internal use/testing) 2020-09-17 03:15:44 -07:00
erwincoumans
5ce97ffdb1
Merge pull request #3066 from erwincoumans/master 
allow alternative deformable indexing (internal use/testing)
 2020-09-16 20:16:35 -07:00
Chuyuan Fu
7d8379bad4 add configurable parameters to urdf 2020-09-14 12:34:21 -07:00
r-a-sattarov
73599ba199 E2K: fixed build by MCST lcc compiler when using BUILD_EXTRAS=ON option 2020-09-14 22:22:45 +03:00
Erwin Coumans
e9f486eebb narrow from double to float please 2020-09-13 18:32:52 -07:00
Erwin Coumans
0c2a54193c fixes in cached textures (pointer re-use) 2020-09-13 16:49:13 -07:00
Erwin Coumans
f9a96442d1 disable texture caching in some place, due to pointer re-use issue 2020-09-13 16:24:42 -07:00
Erwin Coumans
f8288e029e fix color for deformables, if texture is not specified 2020-09-13 16:07:42 -07:00
Erwin Coumans
9ae41971bc re-enable pybullet.getVisualShapeData for deformables 
(was broken in previous commit)
 2020-09-13 15:08:42 -07:00
Erwin Coumans
bd1bd36bc6 allow to change texture for deformables 2020-09-12 20:12:46 -07:00
Erwin Coumans
fcdfee2f12 deformable_torus.py: position camera better 2020-09-12 19:47:54 -07:00
Erwin Coumans
c58a54174e allow to set color of deformables for debug visualizer 
don't render deformables for TinyRenderer/EGL if p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
Fix segmentation mask in tinyrenderer for deformables
 2020-09-12 19:41:10 -07:00
Erwin Coumans
e00691e132 more deformable rendering fixes, egl and tinyrenderer 2020-09-12 18:15:51 -07:00
Erwin Coumans
1452cae641 * add textured models of ball.vtk (obj/mtl) and torus (obj/mtl) and cloth. 
1) allow to render deformables in 'getCameraImage', for TinyRenderer (tested OK) and EGL (untested)
2) allow to have textures for deformables. See deformable_ball.py, deformable_anchor.py and deformable_torus.py for examples
3) deformables: allow to request simulation mesh data (even if there is a render mesh) See deformable_anchor.py for an example usage
   data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH)
4) fix deletion of deformables, thanks to Fychuyan, https://github.com/bulletphysics/bullet3/pull/3048
5) allow to enable and disable double-sided rendering, p.changeVisualShape(objectUid, linkIndex, flags=p.VISUAL_SHAPE_DOUBLE_SIDED)
6) fix GripperGraspExample, model not found
7) Fix deformable anchor not attaching to multibody with object unique id of 0
8) Fix issue with assignment of unique ids in TinyRenderer/EGL renderer (always use broadphase uid)
9) Avoid crash/issue of simulation with pinned vertices (mass 0) in btDeformableBackwardEulerObjective::applyExplicitForce
10) Store uv/normal in btSoftBody::RenderNode to allow textured meshes
11) (uncomment in btSoftBodyHelpers.cpp): dump vertices and indices in obj wavefront format, when loading a VTK file, for quicker creation of a (textured) surface mesh
12) allow interpolateRenderMesh also for old position-based soft bodies (not only the shiny new FEM deformables)
13) fix a few premake targets
14) update build_visual_studio_vr_pybullet_double_cmake.bat so it suits c:\python37 and installs locally
    for local install of Bullet, see also this example https://github.com/erwincoumans/hello_bullet_cmake
 2020-09-12 01:03:04 -07:00
Erwin Coumans
448dd1a244 Synchronize 'resetDebugVisualizeCamera' using GUI critical section instead of waiting for the render thread, to avoid slow-down 
Fixes issue https://github.com/bulletphysics/bullet3/issues/3045
 2020-09-09 09:45:38 -07:00
Erwin Coumans
1190a1901c fix mipmap rendering from previous commit, making Macbook really slow 2020-09-08 13:04:50 -07:00
Erwin Coumans
3ba9f6c395 Add rudimentary Gazebo world parser, loading sdf files and shifting objects based on the world file pose. 
See an example here:
https://github.com/erwincoumans/aws-robomaker-racetrack-world
https://twitter.com/erwincoumans/status/1303084517263994880
 2020-09-07 17:30:34 -07:00
Erwin Coumans
ccdec68b1d expose shadowmap intensity to PyBullet API 2020-09-07 16:52:14 -07:00
Erwin Coumans
75351f3682 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-09-07 15:26:34 -07:00
Erwin Coumans
fc2378dda7 enable multisampling and mipmapping 
ignore file:// as well as model:// and package://
add newline as additional delimiter for COLLADA DAE loader
 2020-09-07 15:26:11 -07:00
Erwin Coumans
07a2648123 Merge remote-tracking branch 'bp/master' 2020-09-04 15:44:13 -07:00
Erwin Coumans
caf671890a Merge branch 'master' of github.com:erwincoumans/bullet3 2020-09-04 14:22:21 -07:00
Erwin Coumans
67061cf98c update a1 urdf to match naming for our software 
update test a1.py script
 2020-09-04 14:21:53 -07:00
Erwin Coumans
224eceb75b add test script for spirit40 2020-09-03 21:16:39 -07:00
Erwin Coumans
c4f4692b68 add xiURDF for Ghost Robotics Spirit40 and Unitree A1 quadruped 2020-09-03 17:30:07 -07:00
Steven
8a16ed5009 fix the issue "Inconsistency between rayTest and rayTestBatch of pybullet #2887" 
we should initialize these variables otherwise these will be random.
 2020-09-03 20:30:14 +08:00
Erwin Coumans
913dad4787 fix windows pip build 2020-09-02 02:33:30 -07:00
Erwin Coumans
5b4cf02e70 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-09-02 02:23:15 -07:00
Erwin Coumans
b63e15d15c fix example 2020-09-02 02:23:04 -07:00
erwincoumans
47b0259b97
Merge pull request #3030 from erwincoumans/master 
bump up pybullet version, fix win32 pip build
 2020-09-01 19:34:39 -07:00
erwincoumans
ce81073ac3
Merge pull request #3020 from fuchuyuan/fixsegfault 
Fixsegfault
 2020-09-01 16:54:16 -07:00
erwincoumans
8fab756efd
Merge pull request #3026 from erwincoumans/master 
PyBullet: fix cases where contact point objects are swapped, reported, attempt to fix travis python detection
 2020-09-01 09:29:03 -07:00
Erwin Coumans
f9abae073b PyBullet: fix cases where contact point objects are swapped, reported here 
https://github.com/bulletphysics/bullet3/issues/3023
Thanks to ichumuh for the report and reproduction!
 2020-09-01 09:27:05 -07:00
erwincoumans
bb1da5b5f5
try to fix travis, update inertia for Laikago, reset camera at the right time (#3021) 
* laikago_toes_zup.urdf: fill in inertia values, computed as PyBullet does internally (from mass and collision volumes)

* reset camera in the rendering thread to avoid artifacts

* reset camera in the rendering thread to avoid artifacts

* try to fix travis error
 2020-08-31 13:35:03 -07:00
Chuyuan Fu
25f62e853c add and remove deformable object example 2020-08-31 11:38:38 -07:00
erwincoumans
0ebc43b21e
Update deep_mimic_env.py 
fix errors
 2020-08-31 11:36:15 -07:00
Florian Golemo
58708f6bea
Update gzguts.h (#3012) 
Adding this makes the library build successfully on Mac Catalina with Miniconda 3.7 on the latest CLANG. Otherwise you get errors that in C99 the functions "write", "close", and "read" aren't defined.
 2020-08-27 14:34:31 -07:00
David CARLIER
cbff4a0a06
Fix openglwindows example build on netbsd. (#3008) 
not support for pthread_getconcurrency.
 2020-08-27 06:55:50 -07:00
Erwin Coumans
55451b6bfc Merge remote-tracking branch 'bp/master' 2020-08-20 17:16:07 -07:00
Erwin Coumans
9888e7b5a5 reset camera in the rendering thread to avoid artifacts 2020-08-20 09:08:37 -07:00
Erwin Coumans
bbb66370c6 reset camera in the rendering thread to avoid artifacts 2020-08-20 08:35:24 -07:00
Erwin Coumans
d8d81f9ca4 laikago_toes_zup.urdf: fill in inertia values, computed as PyBullet does internally (from mass and collision volumes) 2020-08-17 16:22:31 -07:00
erwincoumans
2c9a55da54
Update PhysicsServerCommandProcessor.cpp 
fix potential crash, if user doesn't provide valid body unique id in pybullet.setCollisionFilterGroupMask
 2020-08-14 16:59:56 -07:00
Erwin Coumans
8b42b90393 Merge remote-tracking branch 'bp/master' 2020-08-13 19:38:36 -07:00
erwincoumans
76a9b51993
Merge pull request #2931 from AiRuiChen/fix-minitaur-logging 
Fix minitaur_logging proto and import
 2020-08-13 19:35:11 -07:00
erwincoumans
15041841a5
Merge pull request #2933 from AiRuiChen/fix-pybullet-gym-envs 
Fix pybullet gym envs
 2020-08-13 19:33:21 -07:00
Erwin Coumans
16efd7b288 fix memory leak in pybullet.calculateJacobian 2020-08-13 17:02:54 -07:00
Erwin Coumans
8504384b63 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-08-13 16:41:33 -07:00
Erwin Coumans
306245d68b fix potential memory leak in createMultiBody, reported by Fei Xia here (thanks for report/repro!) 
https://github.com/bulletphysics/bullet3/issues/2898
 2020-08-13 16:40:37 -07:00
Erwin Coumans
82493e9fbb fix copy/paste bug in pybullet.c related to collisionShapeOrientationAObj (missing Obj) 
this would lead to the collisionShapeOrientationA not being considered.
 2020-08-12 21:26:43 -07:00
erwincoumans
e52a30de68
Update TinyRendererVisualShapeConverter.cpp 
only create a texture for a plane, not sphere (backward compatibility tests break)
 2020-08-12 10:12:45 -07:00
erwincoumans
17d373db55
Merge pull request #2937 from addy1997/master 
prev keyword removed
 2020-08-11 08:30:55 -07:00
erwincoumans
19dfc6754a
Merge pull request #2971 from WilliamTambellini/fixWarning 
Fix warning in examples/Utils/ChromeTraceUtil.cpp
 2020-08-11 08:29:35 -07:00
erwincoumans
b2a473da19
Merge pull request #2980 from sippeyxp/find_file_logic 
Simplify logic for searching files in UrdfFindMeshFile and prioritize…
 2020-08-11 08:28:08 -07:00
Peng Xu
20667bd7d0 Pybullet fast numpy input support for rayTestBatch. 2020-08-11 02:19:23 -07:00
Peng Xu
fc676c02c9 Simplify logic for searching files in UrdfFindMeshFile and prioritize path without prefix. 2020-08-11 01:48:55 -07:00
Erwin Coumans
ff229baf1e TinyRenderer: support plane shape (creating similar textured plane to OpenGL renderer) 
TinyRenderer: perform clipping in double precision to improve accuracy
 2020-08-10 20:19:00 -07:00
Erwin Coumans
038cc196e1 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-08-10 17:02:06 -07:00
Erwin Coumans
7d9bcafda8 when using stablePDPlugin, approximate inertia by box for unsupported shapes. 2020-08-10 17:00:19 -07:00
William Tambellini
3726c72d11 Fix warning in examples/Utils/ChromeTraceUtil.cpp 
Fix warning in examples/Utils/ChromeTraceUtil.cpp :
bullet3/examples/Utils/ChromeTraceUtil.cpp:122:62: warning:
format ‘%lu’ expects argument of type ‘long unsigned int’,
but argument 4 has type ‘long long unsigned int’ [-Wformat=]:
for startTimeDiv1000, ...
Tested:
- examples/ExampleBrowser/App_ExampleBrowser --tracing
- press the P key to write the profiler json file
- head /tmp/timings_0.json
- open /tmp/timings_0.json with chrome://tracing
 2020-08-07 17:38:42 -07:00
Erwin Coumans
a17df118f1 re-add constraints.py I wanted to delete the changes, not the file! 
(confusing github UI!)
 2020-08-07 09:32:30 -07:00
erwincoumans
d1505e187a
Merge pull request #2950 from DarioUrbina/develop_dario 
Inverted Pendulum Actuated by Tendons
 2020-08-07 09:30:32 -07:00
erwincoumans
2bc3d87d8d
Delete constraint.py 2020-08-07 09:29:39 -07:00
Xuchen Han
eef0d647cd Tune parameters to effectively reduce the stiffness of the picking force. 2020-08-03 23:05:08 -07:00
erwincoumans
b623f5d123
Merge pull request #2967 from erwincoumans/master 
fix raycast filter masks, they can be negative
 2020-08-03 13:18:27 -07:00
erwincoumans
eb32f48000
Merge pull request #2958 from buoyancy99/patch-1 
fix bug of using undefined name p
 2020-08-03 11:37:19 -07:00
Erwin Coumans
d12d886e13 raycast filter masks can be negative, always apply the mask (-1 default). Thanks to Tingnan for reporting/reproduction case. 2020-08-03 11:00:14 -07:00
Erwin Coumans
51aed38377 fix import 2020-07-31 15:30:53 -07:00
buoyancy99
1edb8d17f9
fix bug of using undefined name p 2020-07-29 23:51:40 -07:00
Xuchen Han
fa0d452651 Initialize proper collision margin for deformable_ball.py 2020-07-28 21:00:27 -07:00
Erwin Coumans
1e8f39b492 improve premake4 build in case X11 headers are missing 
improve video_sync_mp4.py example
allow to create a heightfield from file or programmatically in C++ robotics api. Example:

{
		b3RobotSimulatorCreateCollisionShapeArgs shapeArgs;
		shapeArgs.m_shapeType = GEOM_HEIGHTFIELD;
		bool useFile = true;
		if (useFile)
		{
			shapeArgs.m_fileName = "D:/dev/bullet3/data/heightmaps/gimp_overlay_out.png";
			shapeArgs.m_meshScale.setValue(.05, .05, 1);
		}
		else
		{
			shapeArgs.m_numHeightfieldColumns = 256;
			shapeArgs.m_numHeightfieldRows = 256;
			shapeArgs.m_meshScale.setValue(.05, .05, 1);
			shapeArgs.m_heightfieldData.resize(shapeArgs.m_numHeightfieldRows * shapeArgs.m_numHeightfieldColumns);
			double heightPerturbationRange = 0.05;
			for (int j = 0; j<int(shapeArgs.m_numHeightfieldColumns / 2); j++)
			{
				for (int i = 0; i < (int(shapeArgs.m_numHeightfieldRows / 2)); i++)
				{
					double height = ((double)rand() / (RAND_MAX)) * heightPerturbationRange;
					shapeArgs.m_heightfieldData[2 * i + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + 1 + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + 1 + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
				}
			}
		}
		int shape = sim->createCollisionShape(shapeArgs.m_shapeType, shapeArgs);
		b3RobotSimulatorCreateMultiBodyArgs bodyArgs;
		bodyArgs.m_baseCollisionShapeIndex = shape;
		int groundId = sim->createMultiBody(bodyArgs);
		int texId = sim->loadTexture(shapeArgs.m_fileName);
		b3RobotSimulatorChangeVisualShapeArgs args;
		args.m_objectUniqueId = groundId;
		args.m_linkIndex = -1;
		args.m_textureUniqueId = texId;
		sim->changeVisualShape(args);
	}
 2020-07-24 18:09:13 -07:00
Darío Urbina
370b2f72ff valerolab 2020-07-23 09:32:46 -07:00
Darío Urbina
5081ac5b34 Inverted Pendulum Tendon Actutation 2020-07-22 11:19:10 -07:00
Erwin Coumans
1de2269b6e add removeState in C++ API, see also Issue https://github.com/bulletphysics/bullet3/issues/2935 2020-07-17 15:04:54 -07:00
CuriousCAT
9c62c3f1f1
prev keyword removed 2020-07-16 11:46:49 +05:30
Eric Yihan Chen
3a6a279b9a Fix pybullet gym envs 2020-07-14 21:08:51 -07:00
Eric Yihan Chen
6b38a4cfdb Fix minitaur logging proto and import 2020-07-14 17:16:29 -07:00
Erwin Coumans
c9ca9cb6c6 disable Center of Mass tracking reward by default, since resulting policies don't work well. 
See also https://github.com/bulletphysics/bullet3/issues/2928#issuecomment-658349531
 2020-07-14 12:10:15 -07:00
Erwin Coumans
f22d88d6ff fix build 2020-07-13 14:45:23 -07:00
Erwin Coumans
fc024f00f9 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-07-13 14:28:00 -07:00
Erwin Coumans
caa8b26ce5 Fixes in TinyAudio, play sound on collision impact, can be configured in URDF/SDF file. 
Requires a modified setup.py (or use premake4 to compile)

Example script:
import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane_with_collision_audio.urdf")
box = p.loadURDF("cube.urdf",[0,0,1])
p.setGravity(0,0,-10)
while (1):
  p.stepSimulation()
  time.sleep(1./240.)
 2020-07-13 14:07:58 -07:00
Darío Urbina
01d74be777 Seeing the relatonship and understanding of the creation of two contraints 2020-07-13 12:22:49 -07:00
erwincoumans
d19cd89b4a
Merge pull request #2912 from ManifoldFR/deepmimic-gym-fixes 
DeepMimic: add COM reward
 2020-07-08 10:54:20 -07:00
ManifoldFR
1f6ae38040 DeepMimic: add retrained walk motion with COM 2020-07-08 17:03:46 +02:00
Erwin Coumans
d88d0e92ef also update m_jointLowerLimit/m_jointUpperLimit in multibody link. 2020-07-07 19:49:29 -07:00
Erwin Coumans
c517c434e6 pybullet allow to enable/change joint limits: 
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLowerLimit=..., jointUpperLimit=...) # jointLowerLimit <= jointUpperLimit

and joint limit max force:
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLimitForce=...)

For example:
p.changeDynamics(sphereUid,linkIndex, jointLowerLimit=1, jointUpperLimit=3, jointLimitForce=10.5)

add b3ChangeDynamicsInfoSetJointLimit/b3ChangeDynamicsInfoSetJointLimitForce
add getConstraintType for btMultiBodyConstraint
 2020-07-07 19:42:23 -07:00
ManifoldFR
5901caa207 Merge branch 'master' into deepmimic-gym-fixes 2020-07-08 00:51:26 +02:00
Erwin Coumans
9de78ab6b3 fix array size in inverse kinematics orientation command 
bump up shared memory version, since this was a potentially incompatible change
 2020-07-06 22:57:03 -07:00
ManifoldFR
a3810d15ef fix setting useComReward=false 2020-07-06 16:56:24 +02:00
ManifoldFR
2fe3fe945d DeepMimic: Make COM reward optional 2020-07-06 16:47:22 +02:00
ManifoldFR
53a3af8918 Merge branch 'master' into deepmimic-gym-fixes 2020-07-02 10:12:06 +02:00
ManifoldFR
b200bf59e0 DeepMimic: add COM reward 2020-07-01 19:15:21 +02:00
erwincoumans
63e1d7d840
Merge pull request #2888 from AiRuiChen/change-env-name 
Ensure naming consistency in gym registry
 2020-06-30 19:06:53 -07:00
Erwin Coumans
9a61abde37 Merge remote-tracking branch 'bp/master' 2020-06-30 16:41:23 -07:00
Erwin Coumans
4c63a5019e fix removeConstraint for deformables, thanks to Daniel Seita for reporting the issue. 2020-06-30 16:39:15 -07:00
ManifoldFR
0dadbd9849 Merge branch 'master' into deepmimic-gym-fixes 2020-06-30 10:59:20 +02:00
Eric Yihan Chen
0f05cdba18 Add missing names in pybullet_envs.getList() 2020-06-29 11:29:43 -07:00
erwincoumans
d8c7f97dbb
Merge pull request #2872 from xhan0619/implicit-contact 
Corotated Linear Elasticity
 2020-06-29 10:05:14 -07:00
ManifoldFR
45b061c879 variable timestep for deepmimic env 2020-06-29 10:30:09 +02:00
ManifoldFR
d0838d3bcb variable timestep for deepmimic env 2020-06-29 10:26:08 +02:00
Eric Yihan Chen
6cdebabd2b rename bullet envs for consistency 2020-06-27 15:10:20 -07:00
Xuchen Han
c9a0ebb24e reduce the picking force in self-collision demo 2020-06-26 14:19:50 -07:00
Xuchen Han
70a0ef65d8 fix bug in deformable replulsion force and adjust parameter in deformable self collision 2020-06-26 14:19:44 -07:00
ManifoldFR
04350bc9ab add COM reward to DeepMimic 2020-06-25 15:59:13 +02:00
ManifoldFR
b925988821 DeepMimic Gym enhancements 
* fix render() camera up axis
* make render() camera track character
* increase render resolution
* add option to restart mocap clip at t=0 at reset (default=random time)
* Gym env: option for "test mode" (episode starts at mocap clip start)
* Gym env: option to offset/rescale actions and obs (like original code)
 2020-06-25 12:03:30 +02:00
Xuchen Han
bf8cf19665 support implicit integration in picking force 2020-06-24 17:48:43 -07:00
Erwin Coumans
b4624ad237 fix pybullet_utils import 2020-06-23 16:14:18 -07:00
Xuchen Han
e0b554787f Merge remote-tracking branch 'origin/master' into implicit-contact 2020-06-19 15:05:34 -07:00
Xuchen Han
b969f14d21 run clang format 2020-06-19 14:52:44 -07:00
Xuchen Han
43d256633e allow for larger range of stiffness values in implicit demos 2020-06-19 14:51:31 -07:00
Xuchen Han
3fd743a069 add a colliding demo to for easier implcit contact testing 2020-06-19 14:50:56 -07:00
erwincoumans
036e51c637
Merge pull request #2870 from erwincoumans/master 
Fix applyExternalForce command for multibody links. Thanks to Avik fo…
 2020-06-18 20:52:47 -07:00
Erwin Coumans
ebef331bbf Fix applyExternalForce command for multibody links. Thanks to Avik for the report. 2020-06-19 03:37:30 -07:00
erwincoumans
01bfdc643c
Merge pull request #2858 from CGJiaxiLiu/fix_softbody 
Fix potential undefined softbody member in PhysicsServerCommandProcessor
 2020-06-18 20:45:59 -07:00
Xuchen Han
92f2f56b3d add mass damping into damping model 2020-06-18 16:43:53 -07:00
Xuchen Han
abaf278c2d add extreme deformation demo 2020-06-17 18:49:09 -07:00
Xuchen Han
f23e745666 clang format PhysicsServerCommandProcessor and BulletSoftBody 2020-06-17 17:20:39 -07:00
Erwin Coumans
4786ca1df2 Merge remote-tracking branch 'bp/master' 2020-06-16 16:20:17 -07:00
Xuchen Han
9cfe16abb4 add corotated linear elasticity 2020-06-16 15:57:58 -07:00
Erwin Coumans
a7b8b54c44 implement mouse picking for deformable objects in PyBullet (the one using p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD), not position based dynamics version) 2020-06-16 11:54:50 -07:00
Jiaxi
daaea3a4fb Fix potentially send data to invalid port 2020-06-14 21:57:43 -04:00
Jiaxi
f034e64cc6 Check for availability of soft body 2020-06-14 21:42:32 -04:00
Jiaxi
a848c1d6e9 Check for availability of soft body 2020-06-14 21:26:54 -04:00
erwincoumans
da50438c3c
Merge pull request #2826 from xhan0619/grav-factor 
Deformable gravity factor
 2020-06-05 10:07:27 -07:00
Erwin Coumans
a2cdadb9b4 add check to avoid crash, if link is out of bounds. 2020-06-04 00:24:51 -07:00
Erwin Coumans
e82a4ecc6d Apply patch to apply force at softbody nodes, thanks to Robert Lee, see 
https://github.com/bulletphysics/bullet3/issues/2699#issuecomment-610734583
 2020-06-04 00:09:11 -07:00
Erwin Coumans
c09007e005 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-06-04 00:00:44 -07:00
Erwin Coumans
e6a0206d47 Allow to remove soft body anchors, using pybullet.removeConstraint (untested). 
Usage example:
anchors = []
anchors.append(p.createSoftBodyAnchor(clothId  ,0,-1,-1))
anchors.append(p.createSoftBodyAnchor(clothId ,3,boxId,-1, [0.5,-0.5,0]))
for a in anchors:
  p.removeConstraint(a)
 2020-06-04 00:00:19 -07:00
U-CAMELTRAIN\home
828020c91c fix render racecar 
fix render racecar

fix render racecar
 2020-06-02 18:26:36 -04:00
Erwin Coumans
d1ded7d704 use pybullet.URDF_GOOGLEY_UNDEFINED_COLORS for standard gym envs 2020-06-01 23:38:59 -07:00
erwincoumans
a1522b3891
Merge pull request #2822 from ManifoldFR/patch-1 
Modify DeepMimic Gym env step() to query policy at 30Hz
 2020-06-01 17:23:25 -07:00
erwincoumans
50af23e487
Merge pull request #2832 from xhan0619/pybullet-api 
Set numNonContactInnerIterations from Pybullet
 2020-06-01 17:19:45 -07:00
erwincoumans
eea724bc02
Merge pull request #2837 from erwincoumans/master 
also allow reportHitNumber for single pybullet.rayTest, better mtl/urdf color selection
 2020-06-01 17:18:24 -07:00
Erwin Coumans
84cb577622 Improve link color choice: 
1) use URDF when available, unless URDF_USE_MATERIAL_COLORS_FROM_MTL and MTL color is available.
2) if URDF color is not specified, use MTL color if available
3) otherwise use white, unless URDF_GOOGLEY_UNDEFINED_COLORS flag is set (if set, semi-randomly pick one of the 4 Google colors)
 2020-06-01 10:28:07 -07:00
Daniele Reda
409b0eaa39 fix double humanoid instantiation 2020-05-31 21:38:38 -07:00
Xuchen Han
a33a9412fa add numNonContactInnerIterations to getPhysicsParameters 2020-05-29 08:28:52 -07:00
Xuchen Han
e6fdaebea9 add api for setting non contact iteration for pybullet 2020-05-28 17:58:21 -07:00
Xuchen Han
8c0192d639 turn on deformable rigid face contact 2020-05-26 16:52:40 -07:00
Xuchen Han
8a189763df support configuring gravity factor from client 2020-05-26 16:51:45 -07:00
Wilson
829475c38a
Set DeepMimic Gym env to query policy at 30Hz 
Addresses issue #2821
 2020-05-24 16:30:47 +02:00
Erwin Coumans
a3c4b2995e also allow reportHitNumber for single pybullet.rayTest (not just rayTestBatch) 2020-05-22 15:13:56 -07:00
erwincoumans
5233b72160
Merge pull request #2800 from xhan0619/splitImpulseMulti 
Stability improvements for deformable.
 2020-05-21 09:47:33 -07:00
Xuchen Han
04efc9124d tune exampleBrowser demo parameters 2020-05-20 17:56:41 -07:00
Erwin Coumans
7d61b3514c use memcpy instead of manual copy, alignment issue? 2020-05-20 07:19:26 -07:00
Erwin Coumans
32277c7bd5 in case of substeps use the compensated delta time / numSubSteps to convert between force and impulse. 2020-05-19 11:00:53 -07:00
erwincoumans
d4c7687b29
Merge pull request #2809 from erwincoumans/master 
add pybullet.unsupportedChangeScaling feature for some small experime…
 2020-05-17 19:22:40 -07:00
erwincoumans
fee2eb53bf
Merge pull request #2795 from RanTig/fixUrdfUserdataLink 
Fixes bug where user data from a URDF link wasn't being applied on the correct link.
 2020-05-17 14:10:48 -07:00
Erwin Coumans
3f0b8c938b fix for https://github.com/bulletphysics/bullet3/pull/2797 2020-05-17 14:09:42 -07:00
Erwin Coumans
8ba6a6932c Merge remote-tracking branch 'bp/master' 2020-05-17 14:04:39 -07:00
Erwin Coumans
754dbd5fda add pybullet.unsupportedChangeScaling feature for some small experiments, this is not general and has many limitations that are not likely are going to be resolved, 
so unless it does what you want, ignore this api, it is unsupported!
 2020-05-17 13:46:11 -07:00
Chuyuan Fu
c87cda15b7 fix space 2020-05-15 14:21:06 -07:00
Chuyuan Fu
bad085554c set collision margin for implicit cynlinder 2020-05-15 14:19:23 -07:00
Xuchen Han
fb751361a6 tune deformable_torus.py so the tori don't sink into each other 2020-05-11 18:51:32 -07:00
Xuchen Han
adf9e74dcb match API in pybullet.c 2020-05-11 18:51:26 -07:00
Xuchen Han
b75dd02f68 make cloth in deformable anchor come to stop 2020-05-11 17:41:32 -07:00
Xuchen Han
f07042723c bug fix in damping mode 2020-05-11 17:40:00 -07:00
Xuchen Han
ce237ec7ec fix API for different damping modes for mass spring 2020-05-11 17:08:33 -07:00
Xuchen Han
644fd5f311 add API for two different damping modes for mass spring 2020-05-11 16:42:17 -07:00
Xuchen Han
15f3e144f6 Merge remote-tracking branch 'origin/master' into splitImpulseMulti 2020-05-11 15:55:32 -07:00
Xuchen Han
5f2ac5e922 parameter tuning 2020-05-11 15:54:15 -07:00
Xuchen Han
3054cc01a1 demo parameter tune 2020-05-11 12:05:35 -07:00
Tigran Gasparian
faa708db49 Fixes bug where user data defined in a URDF link wasn't being applied on 
the correct link.
 2020-05-11 19:27:04 +02:00
Erwin Coumans
53b65b795f add fractionEpsilon to filter rays with similar hit fraction 
remove debug printf
 2020-05-09 02:42:47 -07:00
erwincoumans
959b3e8258
Merge pull request #2790 from erwincoumans/master 
add reportHitNumber to allow reporting a specific ray intersection hit
 2020-05-08 12:59:06 -07:00
Erwin Coumans
f0cccf0faa add collisionFilterMask to rayTestBatch and rayTest 
This will allow to exclude (filter) certain bodies.
By default, static bodies have collision group 2, and dynamic (mass=1) bodies have collision group 1.
As long as mask & group != 0, a raytest will be performed.
 2020-05-08 11:57:25 -07:00
Erwin Coumans
8f380b3fd2 use white as default undefined color instead of the googley colors. 
use loadURDF(..., flags = pybullet.URDF_GOOGLEY_UNDEFINED_COLORS) to get Googley colors when colors are undefined.
 2020-05-08 10:44:39 -07:00
Erwin Coumans
daa0a27403 add reportHitNumber to allow reporting a specific ray intersection hit 
(by default, pybullet.rayTestBatch reports the closest hit, so you can report 2nd closest or 3rd closest hit etc)
Fix pybullet.createCollisionShape, in some cases (concave trimesh, convex mesh) two instances were created.
 2020-05-07 23:23:24 -07:00
Erwin Coumans
5fd11fe90b add crossguid 2020-05-07 23:20:55 +00:00
NiranthS
620e899e28
Update externalTorqueControlledSphere.py 2020-05-07 22:44:32 +05:30
erwincoumans
f92ad9a33d
Update base64.h 2020-05-06 17:58:22 -07:00
Erwin Coumans
0883aa06f3 fix OpenGL issue on Mac OSX, requiring a resize before drawing works ok. 2020-05-06 17:39:41 -07:00
Erwin Coumans
298ee24f0e add cpp_base64 2020-05-06 22:49:09 +00:00
erwincoumans
4ab592dab1
Merge pull request #2776 from stephengold/master 
extend BVH and GImpact algorithms to accept meshes with PHY_UCHAR indices
 2020-05-06 14:59:48 -07:00
Erwin Coumans
d479ca712c allow to call getDebugVisualizerCamera in DIRECT mode (returns all 0) 2020-05-05 03:15:26 +00:00
Erwin Coumans
8719ac6c95 soft body is not enabled in the test 2020-05-05 02:46:19 +00:00
Xuchen Han
9a35ccfd5f demo changes 2020-05-03 00:51:53 -07:00
erwincoumans
ca50714996
Merge pull request #2775 from xhan0619/splitImpulse 
Split impulse
 2020-04-29 20:00:00 -07:00
Xuchen Han
84f028a5e6 move the position of physicsclientid in the list of argument to be the last 2020-04-29 16:40:06 -07:00
Stephen Gold
5ec86e9f9a extend BVH and GImpact algorithms to accept meshes with UCHAR indices 2020-04-28 00:00:07 -07:00
Xuchen Han
eefec255cf Merge remote-tracking branch 'origin/master' into splitImpulse 2020-04-27 20:29:06 -07:00
Chuyuan Fu
4e1fa56104 updateVisualShape for softbody 
fix

fix space
 2020-04-27 20:08:32 -07:00
Xuchen Han
5f1260199a set appropriate repulsion stiffness for pybullet torus demo 2020-04-27 20:05:16 -07:00
Xuchen Han
ae3526254d add API for setting repulsion stiffness 2020-04-27 17:42:45 -07:00
Xuchen Han
301cad8a09 tune parameters in deformable demos 2020-04-27 17:30:46 -07:00
erwincoumans
ddc47f9328
Merge pull request #2769 from NiranthS/master 
Changed "eglrendertest.py":Windows Error
 2020-04-26 11:55:31 -07:00
Erwin Coumans
847eeda76d fix pybullet_envs locomotion camera issues: camera lagging behind over time, also follow cam in 'GUI' mode, allow user to change disance/yaw/pitch 2020-04-25 22:32:01 -07:00
Erwin Coumans
a721f1cdb3 Merge remote-tracking branch 'bp/master' 2020-04-25 20:34:44 -07:00
sgillen
3563509b27 Revert "Revert "Bugfix for camera_adjust and move_and_look_at"" 
oh boy..

This reverts commit a6e0f752b9.
 2020-04-24 20:48:54 -07:00
sgillen
a6e0f752b9 Revert "Bugfix for camera_adjust and move_and_look_at" 
... To do a sanity check that my changes are what's causing the travis build to fail.

This reverts commit e5d1cb768c.
 2020-04-24 19:50:23 -07:00
sgillen
e5d1cb768c Bugfix for camera_adjust and move_and_look_at 2020-04-24 17:59:27 -07:00
Erwin Coumans
6268c5d105 conditionally compile btSoftBody only if not SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD 2020-04-23 16:24:03 -07:00