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9c37ca5185
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1416 Commits

Author SHA1 Message Date
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
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
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
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
erwin coumans
7ac95be8cd add training and run/eval scripts to train envs_v2 Laikago pmtg 2021-08-17 08:56:30 -07:00
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
Antonin Raffin
13f3778c22 Fix SB3 comment 2021-07-29 15:24:46 +02:00
Antonin Raffin
2f8b44c702 Migrate to Stable-Baselines3 2021-07-29 15:21:49 +02:00
erwincoumans
a435fb7a41
Merge pull request #3819 from cadop/bullet-client-subprocess-safety 
Fix for bullet_client to be used from a class instance during multiprocessing
 2021-05-12 13:54:00 -07:00
erwin coumans
e952ac6f63 Add pybullet.configureDebugVisualizer(rgbBackground=[red,green,blue]) (each component a float in the range [0,1]) 
This is an alternative to passing options="--background_color_red=red --background_color_green=green --background_color_blue=blue" in the connect method.
 2021-05-06 18:08:22 -07:00
erwin coumans
8e85dedaa9 PyUnicode_AsUTF8 breaks python 2.x compatibility 2021-05-06 10:19:15 -07:00
cadop
ace34c4d08 check the process id before disconnecting 2021-04-27 19:33:37 -04:00
Erwin Coumans
fc2992b75a Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-22 20:41:45 -07:00
Erwin Coumans
184b7816d0 LICENSE should have no txt extension 2021-04-22 16:45:29 -07:00
Erwin Coumans
c915e82d49 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-22 16:20:31 -07:00
Erwin Coumans
83a5fe2d31 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-21 22:14:38 -07:00
Erwin Coumans
9f91e6837a remove type annotations 
bump up pybullet version
 2021-04-20 15:50:12 -07:00
erwin coumans
e58e5bdf95 PyBullet: 
expose pybullet.changeDynamics(sleepThreshold), default 0.05, for both useMaximalCoordinates=False and True
When the dot(vel,vel) < sleepThreshold for longer than 2 seconds (this timeout is hard coded) objects that have the ACTIVATION_STATE_ENABLE_SLEEPING enabled with be deactivated
Example:
p.changeDynamics(ob, -1, activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING, sleepThreshold=0.05)
 2021-04-20 11:29:27 -07:00
erwin coumans
84a63cf221 allow to use the useMultiBody argument for loadMJCF command 
note that for dynamic and static objects (without joints) it is best to set useMultiBody=False
 2021-04-19 20:37:26 -07:00
Erwin Coumans
973d8c128f Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-07 22:13:18 -07:00
jaraujo98
dcf9c8d6a5
Replace xrange with range 
The xrange function was deprecated in Python 3. Removing it for compatibility.
 2021-04-06 11:26:39 -07:00
erwincoumans
21d1b8fc71
Merge pull request #3339 from erwincoumans/master 
add pybullet_examples, fix pybullet_envs.minitaur.envs_v2, bump up pybullet 3.1.2
 2021-04-05 19:53:38 -07:00
Erwin Coumans
5205dafcc2 add __init__.py 2021-04-05 19:51:38 -07:00
Erwin Coumans
29f388a5d8 add selected examples under pybullet_examples 2021-04-05 19:50:46 -07:00
Erwin Coumans
513e3a7db4 add more __init__.py files 2021-04-05 18:07:39 -07:00
Erwin Coumans
674c82db89 bump up pybullet version to 3.1.2 
add missing __init__.py files
 2021-04-05 17:58:25 -07:00
erwincoumans
2c3318f86d
Merge pull request #3331 from erwincoumans/master 
add performCollisionDetection (stepSimulation also calls this, but do…
 2021-04-05 12:54:39 -07:00
erwin coumans
8b8c1af6a4 Cleaned-up/fixed version of this Pull Request #3239, thanks to Wenlong Lu 2021-04-05 11:40:45 -07:00
erwin coumans
4d34ba7310 add updated Laikago envs_v2, with PMTG and MPC examples. 
python -m pybullet_envs.minitaur.envs_v2.locomotion_gym_env_test
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_mpc_wrapper_example
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_static_gait_example
python -m pybullet_envs.minitaur.agents.baseline_controller.locomotion_controller_example
PMTG example, not well tuned:
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_pmtg_example
 2021-04-05 11:35:19 -07:00
Erwin Coumans
58d47935a3 Merge remote-tracking branch 'bp/master' 2021-03-26 11:53:37 -07:00
erwin coumans
d1c4c41b9a add performCollisionDetection (stepSimulation also calls this, but does more, including solving constraints and integration) 2021-03-26 10:31:13 -07:00
erwincoumans
93be7e6440
Merge pull request #3311 from erwincoumans/master 
allow to compile pybullet using btDiscreteDynamicsWorld (no btMultiBody, no btSoftBody, no btDeformableBody)
 2021-03-26 10:29:04 -07:00
erwin coumans
546212b158 add mug obj 2021-03-22 16:53:17 -07:00
erwincoumans
395e17c7bf
Merge pull request #3238 from yycho0108/add-link-names-to-createmultibody 
Add linkNames argument to CreateMultibody
 2021-03-15 22:48:33 -07:00
erwin coumans
5cf8ee3360 Allow to compile pybullet using btDiscreteDynamicsWorld (no multibodies and no deformables), this allows to create Jacobian and Mass matrix (and A=J*M-1*J_transpose) with MLCP solvers 
Add examples/pybullet/gym/pybullet_utils/readwriteurdf.py, this allows to read a URDF and write the URDF with more reasonable inertia tensors (based on mass and collision volumes)
 2021-03-15 22:44:55 -07:00
erwincoumans
0c7ea68709
Merge pull request #3246 from Danfoa/master 
Fix Stable-PD Control bug on First Order Taylor approximation of next `q` state
 2021-03-07 08:19:37 -08:00
Erwin Coumans
adcaa75777 enable v-hacd in cmake for BulletRobotics and pybullet build (use cmake -DENABLE_VHACD=OFF .. to disable) 
cmake: enable stable PD plugin (-DDSTATIC_LINK_SPD_PLUGIN)
btMultibody, make some args const in mulMatrix
 2021-03-01 14:03:48 -08:00
Erwin Coumans
97add36b9f update bullet_client.py to accept options 
p.connect(p.GUI, options="--background_color_red=1 --background_color_blue=1 --background_color_green=1")

If you use bullet_client.py, you can use:
p = bc.BulletClient(connection_mode=pybullet.GUI,options="--background_color_red=1 --background_color_blue=1 --background_color_green=1")
--mouse_move_multiplier=0.4
--mouse_wheel_multiplier=0.01
--mp4=moviename.mp4
 2021-02-25 16:32:39 -08:00
daniel.ordonez
f719c27b04 Fix Stable PD bug on First Order Taylor approximation of next q state 2021-01-27 21:59:49 -05:00
yycho0108
c0d9553d65 add link names args to CreateMultibody 2021-01-20 15:53:24 +09:00
erwincoumans
de8f04f819
Update pybullet.c 2021-01-17 23:42:28 -08:00
Erwin Coumans
21bc93a084 disable cone friction in example 2021-01-15 14:42:12 -08:00
Erwin Coumans
10020baa71 fix memory leak in calculateInverseKinematics2, reported here: 
https://github.com/bulletphysics/bullet3/issues/3228
Thanks jcoholich for the report and repro case!
 2021-01-15 14:38:48 -08:00
Erwin Coumans
3f9d0197ec allow to specify hostName 2020-12-22 20:13:03 -08:00
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
ec55878a82 remove some files, wheels are exceeding 100MB on pypi... 2020-11-26 15:06:51 -08:00
erwincoumans
a72ce295b4
Merge pull request #2840 from mahyaret/master 
KukaCamGymEnv
 2020-11-13 10:44:26 -08:00