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Author SHA1 Message Date
Erwin Coumans
9bfca83a8f rename tiny_obj_loader.h namespace to bt_tinyobj to avoid conflicts 2022-02-24 08:32:34 -08:00
Erwin Coumans
256fe2ec70 update pybullet quickstart guide pdf 2022-02-12 16:24:46 -08:00
Erwin Coumans
6906198132 Implement joint limit for btMultiBody spherical joint. In URDF, add 
<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
effort is max force/impulse
lower = swing range in X
upper = swing range in Y
twist = twist range around Z
(ranges all in radians)
lower, upper, twist and effort need to be > 0, otherwise no limit is created

See examples/pybullet/examples/spherical_joint_limit.py and
    examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
 2022-01-30 13:04:24 -08:00
Erwin Coumans
5cd8160086 add spherical_joint_limit.py example 2022-01-30 13:00:52 -08:00
Erwin Coumans
b602045665 Implement joint limit for btMultiBody spherical joint. In URDF, add 
<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
effort is max force/impulse
lower = swing range in X
upper = swing range in Y
twist = twist range around Z
(ranges all in radians)
lower, upper, twist and effort need to be > 0, otherwise no limit is created

See examples/pybullet/examples/spherical_joint_limit.py and
    examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
 2022-01-30 13:00:11 -08:00
Erwin Coumans
6cc267f84b fix cmake build 
see also https://github.com/MicrosoftDocs/cpp-docs/issues/2378
 2022-01-29 16:52:03 -08:00
erwincoumans
478da7469a
Merge pull request #4116 from jamesbraza/fixing-imaging-examples 
Fixing pybullet example on getting a point cloud
 2022-01-11 22:15:24 -08:00
erwincoumans
dc72081eb1
Merge pull request #4119 from erwincoumans/master 
move the mutex lock to include the 'getNewManifold', dealing with Iss…
 2022-01-03 16:13:27 -08:00
Erwin Coumans
5d1c8a2ece move the mutex lock to include the 'getNewManifold', dealing with Issue #4117 2022-01-02 21:05:07 -08:00
James Braza
51a5aa8026 Added forgotten capitalization of code tag 2022-01-02 15:30:23 -05:00
James Braza
0e114e9f9b Added comment about why H x W differ from expected 2022-01-02 15:20:30 -05:00
James Braza
72dc1bb4dd Added numpy reshapings to raw image 2022-01-02 15:11:17 -05:00
James Braza
878e3d57f6 Added comment giving confidence in the changing w x h orderings 2022-01-02 15:08:16 -05:00
erwincoumans
f84b523c05
Merge pull request #4100 from erwincoumans/master 
fix texture coordinates for aliengo trunk
 2021-12-10 17:27:43 -08:00
Erwin Coumans
0ab3b9d9f7 fix texture coordinates for aliengo trunk 2021-12-10 17:25:39 -08:00
erwincoumans
0fac8209c9
Merge pull request #4099 from erwincoumans/master 
replace mpl licensed meshes by hand-made textured ones
 2021-12-10 16:16:08 -08:00
Erwin Coumans
610fb2c117 prettify aliengo trunk a bit 2021-12-10 16:12:41 -08:00
Erwin Coumans
0aecbb9cdc delete MPL licensed meshes, replace by manual textured meshes. 2021-12-10 15:51:25 -08:00
erwincoumans
6a59241074
Merge pull request #4060 from erwincoumans/master 
bump up PyBullet to version 3.21
 2021-12-01 10:29:58 -08:00
Erwin Coumans
9c380f18f6 bump up PyBullet to version 3.21 2021-12-01 10:28:20 -08:00
erwincoumans
fa50f195e6
Merge pull request #4048 from priority-kew/aliengo_reduced_meshes 
Import Aliengo URDF
 2021-11-24 13:59:22 -08:00
Chase Kew
adf75169d8 Import Aliengo URDF 
from github.com/unitreerobotics/unitree_pybullet. Reduced all meshes by
50% due to concerns about the size of pybullet_data. Also renamed some
links and joints in the URDF to match conventions and added an example
script.
 2021-11-24 10:30:13 -08:00
erwincoumans
946d500c8e
Merge pull request #3848 from nekomatata/heightmap-early-exit 
Fix early exit in heightfield raycast
 2021-11-18 19:45:26 -08:00
erwincoumans
10f72b9b5d
Merge pull request #3921 from ayzaan/patch-1 
Create URDF for white xarm
 2021-11-13 22:41:05 -08:00
erwincoumans
ccafe333d1
Merge pull request #3979 from johbrust/deformableForces 
Add deformable contact forces info
 2021-11-13 22:32:43 -08:00
erwincoumans
691ad46baa
Merge pull request #4024 from BlGene/egl_device_selection 
EGL device selection by environment variable
 2021-11-13 22:20:13 -08:00
erwincoumans
a9a103fc8c
Merge pull request #4010 from erwincoumans/master 
add missing bunny.obj to pybullet_data
 2021-11-12 05:38:24 +00:00
erwincoumans
40aeecb72e
Merge pull request #4020 from QiaodongCui/master 
Fix btCollisionDispatcherMt compound compound bugs
 2021-11-12 05:29:27 +00:00
erwincoumans
88c04a8eae
Merge pull request #4016 from stephentu/patch-1 
Fix bug in server handling of inverse dynamics
 2021-11-12 05:28:32 +00:00
Erwin Coumans
a3005879bb use mainthread on __APPLE__ 
remove duplicate SimpleCamera.cpp from cmakelists.txt
 2021-11-11 21:18:57 -08:00
Erwin Coumans
e3b98615f1 add Eigen-3.4 2021-11-11 21:06:39 -08:00
Erwin Coumans
a84071ee67 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2021-11-05 21:08:36 -07:00
Erwin Coumans
6088293149 update to Eigen 3.4.0, to fix Issue 4013 2021-11-05 21:08:24 -07:00
erwincoumans
98254b51a9
Merge pull request #4021 from fuchuyuan/userData 
add user data to deformable urdf
 2021-11-03 19:23:09 +00:00
Chuyuan Fu
a2aada62ae add user data to deformable urdf 2021-10-29 17:46:03 -07:00
erwincoumans
a62fb187a5
Create cmake.yml 2021-10-29 12:57:37 -07:00
erwincoumans
1dd3d8408e
Delete .travis.yml 2021-10-29 12:57:07 -07:00
QiaodongCui
a672536f43
Update btCollisionDispatcherMt.cpp 2021-10-29 13:26:02 -04:00
QiaodongCui
e9d40d0726
Update btCollisionDispatcherMt.h 2021-10-29 13:25:03 -04:00
Stephen Tu
63446558cd
Fix bug in server handling of inverse dynamics 
The current implementation of processInverseDynamicsCommand has two issues:

1. For floating bases, the handler is not properly copying over the position and orientation from the client inputs.
2. For floating bases, the handler is ignoring the position of the joint angles from the client inputs. 

This CL fixes both issues. While the fix for (2) is straightforward, I am not sure whether or not the right pybullet API convention is to have (x, y, z, orn) passed in, or instead (orn, x, y, z). The former makes more sense to me and is what I implemented.
 2021-10-28 12:52:15 -07:00
erwincoumans
ac3c283842
Merge pull request #4012 from RanTig/master 
Adds a request body info command for the physics direct command.
 2021-10-28 15:49:18 +00:00
Tigran Gasparian
740d2b9783 Adds a request body info command for the physics direct command. This is 
useful to incrementally sync the body state in the physics clients of
plugins (e.g. in response to a Body Added notification).
 2021-10-26 18:31:33 +02:00
Erwin Coumans
1a670681f7 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-10-25 09:44:29 -07:00
Erwin Coumans
e1ac14b23d add missing bunny.obj 2021-10-25 09:44:10 -07:00
erwincoumans
e4a450a53d
Merge pull request #3980 from akien-mga/patch-1 
SoftBody: Fix local variable shadowing warning
 2021-10-25 09:10:29 -07:00
erwincoumans
33cceed500
Merge pull request #3982 from RedTachyon/patch-1 
Explicitly state the datatypes in creating action/obs spaces
 2021-10-25 09:09:47 -07:00
erwincoumans
d4598bf1cf
Merge pull request #3981 from akien-mga/patch-2 
btSerializer: Remove unused but set variable
 2021-10-25 09:08:53 -07:00
erwincoumans
f79463b699
Merge pull request #3991 from akien-mga/uwp-disable-processor-information 
LinearMath: Fix TaskScheduler build on UWP by disabling `getProcessorInformation`
 2021-10-25 09:08:18 -07:00
erwincoumans
aef54fed64
Merge pull request #3994 from VincentYu68/master 
Add a visual-locomotion configuration: Laikago with two cameras walking over stepstone
 2021-10-25 09:06:08 -07:00
Max Argus
3c4cb80157 EGL device selection by env param. 2021-10-22 09:26:59 +02:00