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92579f9196
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1997 Commits

Author SHA1 Message Date
erwincoumans
92579f9196 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2018-06-01 09:35:15 -07:00
erwincoumans
2d40a18315 picking shouldn't activate (wakeup) sleeping objects 2018-06-01 09:34:18 -07:00
Erwin Coumans
e74cd05e37 add space 2018-05-31 21:21:50 -07:00
erwincoumans
4c75e022c8 Use dofCount and not numJoints in PyBullet.calculateInverseKinematics, fixes null space demo 
See baxter_ik_demo at https://github.com/erwincoumans/pybullet_robots
 2018-05-31 21:07:04 -07:00
Erwin Coumans
70b3d4d0f4 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-31 18:16:57 -07:00
Erwin Coumans
76e88dddc5 add space to make conversion work 2018-05-31 18:16:40 -07:00
erwincoumans
309a07c21b
Merge branch 'master' into master 2018-05-31 18:05:50 -07:00
Erwin Coumans
378de87286 Merge remote-tracking branch 'bp/master' 2018-05-31 18:03:56 -07:00
Erwin Coumans
93a51e19d9 fix different arg name in header versus cpp 2018-05-31 17:58:12 -07:00
erwincoumans
75eaaecf49
Merge pull request #1722 from erwincoumans/master 
implement accurate inverse kinematics in C++, exposed through PyBullet.calculateInverseKinematics
 2018-05-31 16:50:52 -07:00
erwincoumans
3463d0a879 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-31 16:06:33 -07:00
erwincoumans
edc70582dd implement accurate inverse kinematics in C++. PyBullet.calculateInverseKinematics gets "maxNumIterations=20", "residualThreshold=1.04" to tune 
allow to provide current joint positions in IK, overriding the body joint positions, also IK target will be in local coordinates.
expose b3ComputeDofCount in C-API
 2018-05-31 16:06:15 -07:00
erwincoumans
8567f6bb7c PyBullet: rename sleepObjectAutoDeactivation -> sleeping.py 
PyBullet: allow maximal coordinate rigid bodies to sleep/deactivate
 2018-05-30 21:14:35 -07:00
erwincoumans
292e198a57
Merge pull request #1719 from erwincoumans/master 
const char* for path, bump up pybullet version
 2018-05-30 19:48:25 -07:00
erwincoumans
150a0e050e Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-30 19:47:47 -07:00
Erwin Coumans
491ecf2a20 export object auto-deactivation (sleeping) to pybullet (needs some more testing/configuring) 2018-05-30 18:37:08 -07:00
Erwin Coumans
14c6dee6a3 const char* for path 2018-05-30 14:37:49 -07:00
erwincoumans
1dec33d44b move default linearslop to 0 2018-05-30 12:31:29 -07:00
erwincoumans
afa5ab25a6
Merge pull request #1715 from eastskykang/b3RobotAPI 
added functions to b3RobotSimulatorClientAPI_NoGUI
 2018-05-30 14:08:27 +10:00
Erwin Coumans
39808ddfdf allow to run minitaur environment examples from pip version, like this: 
python -m pybullet_envs.minitaur.envs.minitaur_trotting_env_example
python -m pybullet_envs.minitaur.envs.minitaur_reactive_env_example
 2018-05-29 09:28:31 -07:00
donghokang
325ccad258 getDynamicsInfo function now works. Changed to call b3GetDynamicsInfo in getDynamicsInfo. 2018-05-29 16:41:37 +02:00
donghokang
6bd7a52bf8 solverResidualThreshold now can be set. 2018-05-29 16:25:28 +02:00
donghokang
a3e4582bef getCollisionShapeData and getVisualShapeData were added to RobotSimulatorClinetAPI_NoGUI. b3RobotSimulatorJointMotorArrayArgs initialization bug fix. 2018-05-29 16:23:17 +02:00
Erwin Coumans
dcc9c4d0d9 fix HelloBulletRobotics example from b3Vector3 -> btVector3 2018-05-27 10:55:53 +10:00
Erwin Coumans
57b3e0d221 Move from b3Vector3 to btVector3 to support double precision in examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI API. 2018-05-27 10:42:33 +10:00
Erwin Coumans
efe9161670 fix cmake build 2018-05-26 08:46:12 +10:00
Erwin Coumans
5de53d7355 PyBullet: add ANYmal.py quadruped example, usage: 
pip install pybullet
python -m pybullet_envs.examples.ANYmal
 2018-05-25 07:54:38 +10:00
Erwin Coumans
ab7bbf4396 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-24 15:50:02 +10:00
Erwin Coumans
ff4d0b1777 add HelloBulletRobotics C++ example with similar API to PyBullet 
Add ANYmal quadruped robot URDF to pybullet_data
 2018-05-24 15:48:45 +10:00
erwincoumans
abeae7e1e7
Merge pull request #1701 from erwincoumans/master 
PyBullet: add option to cache graphics shapes for URDF files, handy f…
 2018-05-23 14:47:01 +10:00
Erwin Coumans
8ace9251aa pass by pointer instead of reference to satisy compiler 2018-05-23 14:22:22 +10:00
Erwin Coumans
94da262906 case sensitive header include 2018-05-23 13:51:51 +10:00
Erwin Coumans
77c332bd88 PyBullet: add option to cache graphics shapes for URDF files, handy for benchmarks with many duplicate robots 
See https://github.com/erwincoumans/pybullet_robots ANYmal.py for an example.
PyBullet: Expose p.setPhysicsEngineParameter(solverResidualThreshold=1e-2) (b3PhysicsParamSetSolverResidualThreshold), increases solver performance a lot
PyBullet: Expose p.setPhysicsEngineParameter(contactSlop) Set it to zero, to avoid issues with restitution.
PyBullet: Expose isNumpyEnabled, return True is PyBullet was compiled with NUMPY support for 'getCameraImage'.
PyBullet: Expose p.ChangeDynamics(objectUid, linkIndex, contactProcessingThreshold), to avoid issues of speculative/predictive contacts with restitution.
See also http://twvideo01.ubm-us.net/o1/vault/gdc2012/slides/Programming%20Track/Vincent_ROBERT_Track_ADifferentApproach.pdf
 2018-05-23 13:26:00 +10:00
erwincoumans
f1b4ffaf98
Merge pull request #1699 from benelot/fix-pendula-with-pbclient 
Fix pendulum & manipulator envs with pybullet client
 2018-05-23 08:20:40 +10:00
Benelot
4a16032820 Fix manipulators too. 2018-05-22 18:12:45 +02:00
Benelot
7b219e0ea6 Fix pendula to use the bullet-client. 2018-05-22 16:40:10 +02:00
Erwin Coumans
f5952a73e7 UrdfImporter: Collada DAE, rudimentary support for polylist (for ANYmal), assumes all polygons have 3 vertices 
remove obsolete env from __init__.py
 2018-05-23 00:28:49 +10:00
Erwin Coumans
9a706d9cfd PyBullet: fix Gym envs 2018-05-23 00:24:03 +10:00
Erwin Coumans
a0a1c9347c PyBullet: fix in Gym env 2018-05-23 00:18:17 +10:00
Erwin Coumans
a7a6e20d9c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-20 14:19:49 +10:00
Erwin Coumans
90939279f9 PyBullet: cmake build, enable DBUILD_PYBULLET_NUMPY=ON 
fix issue with HalfCheetahBulletEnv-v0 in previous commit
 2018-05-20 14:18:53 +10:00
Erwin Coumans
964f52f62d remove unsupported simpleHumanoid.py, use env = gym.make("HumanoidBulletEnv-v0") instead. 2018-05-20 12:35:33 +10:00
Erwin Coumans
0b2c9ea645 PyBullet: avoid a crash in SHARED_MEMORY_SERVER 2018-05-20 12:20:06 +10:00
Erwin Coumans
bcd209fd93 Merge remote-tracking branch 'bp/master' 2018-05-18 16:25:40 -07:00
Erwin Coumans
701b50ec12 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-18 16:25:27 -07:00
Erwin Coumans
0abe4151e5 Fix for 1643, allow to instantiate multiple PyBullet Gym environments (Ant, Humanoid, Hopper, Pendula etc) in the same process (same or other thread). It uses the pybullet_utils.bullet_client to achieve this. 2018-05-18 16:23:54 -07:00
erwincoumans
f90bd1f713
Merge pull request #1688 from erwincoumans/master 
workaround for an out-of-date tinyxml2 version
 2018-05-17 13:49:49 -07:00
Erwin Coumans
ff646fbef2 workaround for an out-of-date tinyxml2 version 2018-05-17 12:18:17 -07:00
erwincoumans
8f4d1e722e
Merge pull request #1686 from yuchenericwu2/master 
Expose CFM parameters
 2018-05-16 16:18:45 -07:00
erwincoumans
034dfba3ae fix VR controllers only visible in one eye (remove stray glClear for testing planar reflection) 
PyBullet: force both contactStiffness and contactDamping (report error otherwise)
 2018-05-16 14:24:12 -07:00