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Author SHA1 Message Date
Johannes Brust
61d5bdb783 Fix bug due to missing swap 2021-10-21 17:38:13 +02:00
Wenhao Yu
af0bfc62ec
Merge branch 'bulletphysics:master' into master 2021-10-13 15:53:04 -07:00
Wenhao Yu
fd96062972 Add config for visual locomotion env with two cameras and random stepstone. 2021-10-13 15:48:47 -07:00
erwincoumans
48dc1c45da
Merge pull request #3992 from erwincoumans/master 
remove tensorflow requirement from pybullet.minitaur.envs_v2, tweak gear (mimic) constraint example
 2021-10-11 13:55:32 -07:00
Erwin Coumans
90e331a239 bump PyBullet version to 3.20 2021-10-11 13:52:13 -07:00
Erwin Coumans
a8f088d4d3 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2021-10-11 12:56:29 -07:00
Erwin Coumans
00567a5261 remote tensorflow requirement from envs_v2 2021-10-11 12:56:15 -07:00
erwincoumans
aa49e19385
Update README.md 
remote tensorflow requirement
 2021-10-11 12:14:45 -07:00
Rémi Verschelde
41f03e78a5
LinearMath: Fix TaskScheduler build on UWP by disabling getProcessorInformation 
Disables the feature that requires loading kernel32 dynamically.
 2021-10-06 07:47:44 +02:00
Erwin Coumans
6390db4bd6 Merge remote-tracking branch 'bp/master' 2021-10-04 15:37:12 -07:00
Erwin Coumans
931f93d266 Merge remote-tracking branch 'bp/master' into master 2021-10-03 15:19:58 -07:00
Erwin Coumans
9d211393e4 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2021-10-03 15:19:26 -07:00
Erwin Coumans
34d77242e5 tweak gear (mimic) constraint example, enable erp (to avoid positional relative drift) and position camera at the gears. 2021-10-03 15:18:40 -07:00
Ariel Kwiatkowski
496e614f77
Explicitly state the datatypes in creating action/obs spaces 
This should get rid of the annoying warnings that pop up whenever an environment is created. Numpy's default datatype is float64, gym's is float32, the env is actually float32, but the initialization doesn't make it explicit so it causes redundant warnings.
```
/path/lib/python3.9/site-packages/gym/logger.py:34: UserWarning: WARN: Box bound precision lowered by casting to float32 warnings.warn(colorize("%s: %s" % ("WARN", msg % args), "yellow"))
```
 2021-09-29 23:10:18 +02:00
Rémi Verschelde
364796d1e5
btSerializer: Remove unused but set variable 
Fixes a Clang/Emscripten warning.
 2021-09-29 16:32:14 +02:00
Rémi Verschelde
ba65e909bc
SoftBody: Fix local variable shadowing warning 2021-09-29 15:40:59 +02:00
Johannes Brust
5795bd676f Add deformable contact forces info 
- add contact information for collisions between rigid and soft bodies
- collisions between different soft bodies are not supported
- uses impulse acting on tetrahedral nodes for calculation of forces
- contact points are approximated by node positions
- multiple forces acting on identical nodes are accumulated
 2021-09-28 22:39:31 +02:00
erwincoumans
ce26271923
Merge pull request #3930 from ffontaine/master 
Extras/VHACD/inc/vhacdMutex.h: fix musl build
 2021-09-20 14:38:30 -07:00
erwincoumans
cc84887919
Merge pull request #3945 from craftablescience/master 
Fix: remove cmake policy 0115 errors
 2021-09-20 14:37:29 -07:00
erwincoumans
289a1b3f6e
Merge pull request #3931 from notrabs/bugfix/softbody-compound-crash 
Fix crash when btSoftBody collides with btCompoundShape
 2021-09-20 14:37:01 -07:00
erwincoumans
9c37ca5185
Merge pull request #3950 from bttner/fix_external_force_command 
Fix: reference frame issue of external force command processor (Physics Server)
 2021-09-20 14:34:52 -07:00
erwincoumans
c57d6f0163
Merge pull request #3964 from erwincoumans/master 
pybullet bump up to 3.19
 2021-09-20 13:29:39 -07:00
Erwin Coumans
143f87abcf pybullet bump up to 3.19 2021-09-20 13:16:13 -07:00
erwincoumans
47c3f5e994
Merge pull request #3963 from erwincoumans/master 
revert linkNames in createMultiBody, we cannot pass pointers pointing… …
 2021-09-20 13:07:30 -07:00
Erwin Coumans
87605ca4c8 revert linkNames in createMultiBody, we cannot pass pointers pointing to local memory (storing the string) around into shared memory or over the network. 2021-09-20 12:22:30 -07:00
Brendan L
9675e3d39b
Merge branch 'bulletphysics:master' into master 2021-09-18 21:37:53 -04:00
erwincoumans
101c98cfb8
Merge pull request #3954 from aaronfranke/url 
Update Bullet URL in copyright statements
 2021-09-15 14:56:18 -07:00
Aaron Franke
ad74cfe6c8
Update Bullet URL in copyright statements 2021-09-13 09:06:14 -05:00
Brendan Lewis
b1927a4f92
Merge branch 'bulletphysics:master' into master 2021-09-05 19:31:37 -04:00
Erwin Coumans
4e881118ef bump up pybullet/bullet version to 3.18 2021-09-03 17:06:01 -07:00
erwincoumans
b638300fe4
Merge pull request #3951 from erwincoumans/master 
implement resetMeshData for deformable bodies, fix tiny_renderer standalone example
 2021-09-02 18:03:23 -07:00
Erwin Coumans
b6df08b553 implement resetMeshData for deformable bodies, this allows better reset for reinforcement learning algorithms. 2021-09-02 17:27:05 -07:00
Felix Büttner
4b6ec20b30 External force and torque frame fix 2021-09-02 17:40:18 +02:00
erwin coumans
3577ef8108 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2021-09-01 15:00:10 -07:00
erwin coumans
7de63bdbc5 fix tiny_renderer standalone example 2021-09-01 15:00:01 -07:00
erwincoumans
3fee64fb95
Merge pull request #3949 from fuchuyuan/fixasan 
Fixasan
 2021-09-01 13:58:57 -07:00
Chuyuan Fu
9b3c8c8dbb fix format 2021-09-01 13:18:58 -07:00
Chuyuan Fu
b795243cc5 fix asan 2021-09-01 13:18:58 -07:00
erwincoumans
31b8841efc
Merge pull request #3948 from erwincoumans/master 
add low-resolution Laikago (for faster rendering in CPU renderer) and cleanup sdf files
 2021-08-30 13:01:15 -07:00
Erwin Coumans
68424feb2d don't use empty frame for pose in sdf files 
use hint for clang that if (0) is intentional
 2021-08-30 19:40:20 +00:00
erwincoumans
5ec0820c0e
Merge pull request #3920 from araffin/feat/sb3 
Migrate to Stable-Baselines3
 2021-08-29 15:01:27 -07:00
Brendan Lewis
090f8369f8
Fix: remove cmake policy 0115 errors 2021-08-24 21:39:12 -04:00
erwincoumans
41158a4be8
Merge pull request #3937 from fuchuyuan/deformableContact 
implement request deformable contact info
 2021-08-23 12:25:55 -07:00
Chuyuan Fu
107295db5f fix typo 2021-08-19 09:32:49 -07:00
Chuyuan Fu
e16c9bb1cc implement request deformable contact info 2021-08-18 18:48:35 -07:00
erwin coumans
7ac95be8cd add training and run/eval scripts to train envs_v2 Laikago pmtg 2021-08-17 08:56:30 -07:00
notrabs
b2fd9a492d Fix crash when btSoftBody collides with btBvhTriangleMeshShape inside a btCompoundShape 
- The triBody->getCollisionShape() returns the btCompoundShape again, which does not implement the btConcaveShape interface required
- The crash happens when processAllTriangles is called below
 2021-08-08 01:11:04 +02:00
Fabrice Fontaine
dd37b97e79 Extras/VHACD/inc/vhacdMutex.h: fix musl build 
Fix the following build failure on musl (which does not provide
PTHREAD_MUTEX_RECURSIVE_NP):

In file included from /tmp/instance-5/output-1/build/bullet-3.09/src/LinearMath/btScalar.h:289,
                 from /tmp/instance-5/output-1/build/bullet-3.09/src/LinearMath/btVector3.h:19,
                 from /tmp/instance-5/output-1/build/bullet-3.09/src/LinearMath/btConvexHullComputer.h:18,
                 from /tmp/instance-5/output-1/build/bullet-3.09/Extras/VHACD/src/VHACD.cpp:28:
/tmp/instance-5/output-1/build/bullet-3.09/Extras/BulletRobotics/../../Extras/VHACD/inc/vhacdMutex.h: In constructor 'VHACD::Mutex::Mutex()':
/tmp/instance-5/output-1/build/bullet-3.09/Extras/BulletRobotics/../../Extras/VHACD/inc/vhacdMutex.h:97:54: error: 'PTHREAD_MUTEX_RECURSIVE_NP' was not declared in this scope; did you mean 'PTHREAD_MUTEX_RECURSIVE'?
   97 |   VHACD_VERIFY(pthread_mutexattr_settype(&mutexAttr, PTHREAD_MUTEX_RECURSIVE_NP) == 0);
      |                                                      ^~~~~~~~~~~~~~~~~~~~~~~~~~

Fixes:
 - http://autobuild.buildroot.org/results/79cd2024b3dfc8d3e896cdacf67fb891df81ca6e

Signed-off-by: Fabrice Fontaine <fontaine.fabrice@gmail.com>
 2021-08-07 17:17:41 +02:00
erwin coumans
e399944982 add simplified Laikago model for faster CPU rendering (getCameraImage in direct mode using TinyRenderer) 2021-08-03 13:26:39 -07:00
Ayzaan Wahid
83fbd60d5b
Create URDF for white xarm 2021-07-29 17:08:50 -04:00