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1416 Commits

Author SHA1 Message Date
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
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
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
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
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
Eric Yihan Chen
0f05cdba18 Add missing names in pybullet_envs.getList() 2020-06-29 11:29:43 -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
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
Erwin Coumans
b4624ad237 fix pybullet_utils import 2020-06-23 16:14:18 -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
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
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
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
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
644fd5f311 add API for two different damping modes for mass spring 2020-05-11 16:42:17 -07:00
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
NiranthS
620e899e28
Update externalTorqueControlledSphere.py 2020-05-07 22:44:32 +05:30
Erwin Coumans
d479ca712c allow to call getDebugVisualizerCamera in DIRECT mode (returns all 0) 2020-05-05 03:15:26 +00:00
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
Xuchen Han
eefec255cf Merge remote-tracking branch 'origin/master' into splitImpulse 2020-04-27 20:29:06 -07:00
Xuchen Han
5f1260199a set appropriate repulsion stiffness for pybullet torus demo 2020-04-27 20:05:16 -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
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
NiranthS
011a4cc91e
Update eglRenderTest.py 2020-04-24 00:10:38 +05:30
NiranthS
cc49632589
Update eglRenderTest.py 2020-04-24 00:10:23 +05:30
NiranthS
4434a091c0
Update eglRenderTest.py 2020-04-24 00:07:44 +05:30
NiranthS
ae905d7bbb
Update rendertest.py 2020-04-23 23:42:58 +05:30
NiranthS
7a2732d92b
Update widows.py 2020-04-23 23:39:21 +05:30
NiranthS
0261494716
Update vrtracker.py 2020-04-23 23:39:14 +05:30
NiranthS
6e4af46a1b
Update vrminitaur.py 2020-04-23 23:38:55 +05:30
NiranthS
74977abdce
Update vrhand_vive_tracker.py 2020-04-23 23:38:36 +05:30
NiranthS
9c773edd0e
Update vrhand.py 2020-04-23 23:38:09 +05:30
NiranthS
f1fa54ebe3
Update vr_racecar_differential.py 2020-04-23 23:37:55 +05:30
NiranthS
0f6a605c38
Update vr_kuka_setup_vrSyncPython.py 2020-04-23 23:37:39 +05:30
NiranthS
d73d42dc84
Update vr_kuka_setup_vrSyncPlugin.py 2020-04-23 23:37:02 +05:30
NiranthS
e515c3d7dd
Update vr_kuka_setup.py 2020-04-23 23:36:46 +05:30
NiranthS
86fb6ca350
Update vr_kuka_pr2_move.py 2020-04-23 23:36:31 +05:30
NiranthS
ae5a4ae7ad
Update vr_kuka_control.py 2020-04-23 23:36:15 +05:30
NiranthS
058128e8bc
Update vr_kitchen_setup_vrSyncPython.py 2020-04-23 23:36:02 +05:30
NiranthS
ab48affbd0
Update vrEvent.py 2020-04-23 23:35:43 +05:30
NiranthS
fcc862dc34
Update video_sync_mp4.py 2020-04-23 23:35:18 +05:30
NiranthS
ac3357ee45
Update vhacd.py 2020-04-23 23:35:00 +05:30
NiranthS
ccf3426748
Update urdfEditor.py 2020-04-23 23:34:34 +05:30
NiranthS
7c0cfa24cf
Update transparent.py 2020-04-23 23:34:19 +05:30
NiranthS
64fe29987e
Update testrender_np.py 2020-04-23 23:34:12 +05:30
NiranthS
0215969ea2
Update testrender_egl.py 2020-04-23 23:33:46 +05:30
NiranthS
93f4accd3b
Update testrender.py 2020-04-23 23:33:17 +05:30
NiranthS
db1bdae32b
Update test_inertia.py 2020-04-23 23:32:59 +05:30
NiranthS
c8960af14d
Update testPlugin.py 2020-04-23 23:32:31 +05:30
NiranthS
e9a892ce50
Update switchConstraintSolver.py 2020-04-23 23:32:00 +05:30
NiranthS
ae7e441afb
Update snake.py 2020-04-23 23:31:36 +05:30
NiranthS
df81157f3c
Update sleeping.py 2020-04-23 23:31:31 +05:30
NiranthS
6233c07817
Update signedDistanceField.py 2020-04-23 23:31:27 +05:30
NiranthS
23a3fd08e8
Update shiftCenterOfMass.py 2020-04-23 23:31:23 +05:30
NiranthS
98397463c8
Update segmask_linkindex.py 2020-04-23 23:29:46 +05:30
NiranthS
4f076c0230
Update sceneAabb.py 2020-04-23 23:29:40 +05:30
NiranthS
74f1cc43e4
Update saveWorld.py 2020-04-23 23:29:35 +05:30
NiranthS
8ac528d477
Update saveRestoreState.py 2020-04-23 23:29:22 +05:30
NiranthS
95cc69c2e7
Update satCollision.py 2020-04-23 23:28:57 +05:30
NiranthS
4204f36ca5
Update rotationalFriction.py 2020-04-23 23:28:50 +05:30
NiranthS
5cf984b0b0
Update rollPitchYaw.py 2020-04-23 23:28:46 +05:30
NiranthS
23e06e5420
Update robotcontrol.py 2020-04-23 23:28:31 +05:30
NiranthS
3da0b375ac
Update restitution.py 2020-04-23 23:28:23 +05:30
NiranthS
668d6a6c04
Update reset_dynamic_info.py 2020-04-23 23:28:07 +05:30
NiranthS
1376d9507a
Update rendertest.py 2020-04-23 23:27:33 +05:30
NiranthS
02a804f733
Update renderPlugin.py 2020-04-23 23:26:49 +05:30
NiranthS
7943cd35ef
Update racecar_differential.py 2020-04-23 23:26:44 +05:30
NiranthS
c92f7f9008
Update quadruped_setup_playback.py 2020-04-23 23:26:16 +05:30
NiranthS
405c67ba15
Update quadruped_playback.py 2020-04-23 23:25:42 +05:30
NiranthS
c702f5ac4a
Update quadruped.py 2020-04-23 23:25:26 +05:30
NiranthS
598bb20674
Update projective_texture.py 2020-04-23 23:24:47 +05:30
NiranthS
75bbab6ccb
Update profileTiming.py 2020-04-23 23:24:31 +05:30
NiranthS
fcbd6d4501
Update pointCloudFromCameraImage.py 2020-04-23 23:24:29 +05:30
NiranthS
e29ca91fc0
Update pdControl.py 2020-04-23 23:24:08 +05:30
NiranthS
61c628e8df
Update otherPhysicsEngine.py 2020-04-23 23:24:04 +05:30
NiranthS
9aba00923a
Update motorMaxVelocity.py 2020-04-23 23:23:40 +05:30
NiranthS
24840ca71a
Update minitaur_test.py 2020-04-23 23:23:35 +05:30
NiranthS
72f4fa0e8d
Update mimicJointConstraint.py 2020-04-23 23:17:07 +05:30
NiranthS
67d9ce47e7
Update manyspheres.py 2020-04-23 23:16:51 +05:30
NiranthS
ccbffaad14
Update logMinitaur.py 2020-04-23 23:16:36 +05:30
NiranthS
cab2d9bb76
Update loadingBench.py 2020-04-23 23:16:19 +05:30
NiranthS
8c76b2ced2
Update load_soft_body.py 2020-04-23 23:16:14 +05:30
NiranthS
274dcbccb0
Update kuka_with_cube_playback.py 2020-04-23 23:14:46 +05:30
NiranthS
0a7579cdfc
Update kuka_with_cube.py 2020-04-23 23:14:35 +05:30
NiranthS
7135f565c9
Update kuka_grasp_block_playback.py 2020-04-23 23:14:31 +05:30
NiranthS
7b6dc8358c
Update jointFrictionDamping.py 2020-04-23 23:14:23 +05:30
NiranthS
822b866488
Update jointFrictionAndMotor.py 2020-04-23 23:14:18 +05:30
NiranthS
b3100b5bb5
Update jacobian.py 2020-04-23 23:14:12 +05:30
NiranthS
73e6f5fd20
Update inverse_kinematics_pole.py 2020-04-23 23:13:49 +05:30
NiranthS
cdf1e10671
Update inverse_kinematics_husky_kuka.py 2020-04-23 23:13:32 +05:30
NiranthS
b767c5c819
Update inverse_kinematics.py 2020-04-23 23:13:05 +05:30
NiranthS
a6f99317ed
Update internalEdge.py 2020-04-23 23:12:19 +05:30
NiranthS
4a4cdb44c5
Update integrate.py 2020-04-23 23:12:15 +05:30
NiranthS
abcdf44e97
Update ik_end_effector_orientation.py 2020-04-23 23:12:06 +05:30
NiranthS
451be44377
Update humanoid_manual_control.py 2020-04-23 23:12:05 +05:30
NiranthS
079d318965
Update humanoid_knee_position_control.py 2020-04-23 23:11:53 +05:30
NiranthS
02b62d858e
Update humanoid_benchmark.py 2020-04-23 23:11:29 +05:30
NiranthS
844c5b62f4
Update humanoidMotionCapture.py 2020-04-23 23:11:16 +05:30
NiranthS
e9163d0987
Update hello_pybullet.py 2020-04-23 23:10:49 +05:30
NiranthS
e27a8df07b
Update hand.py 2020-04-23 23:10:23 +05:30
NiranthS
168578245f
Update grpcServer.py 2020-04-23 23:09:52 +05:30
NiranthS
0500154739
Update grpcClient.py 2020-04-23 23:09:24 +05:30
NiranthS
cdb01e6354
Update getTextureUid.py 2020-04-23 23:08:41 +05:30
NiranthS
20d8be383f
Update getClosestPoints.py 2020-04-23 23:08:36 +05:30
NiranthS
2c6a5c5b96
Update getCameraImageTest.py 2020-04-23 23:08:29 +05:30
NiranthS
a747a035de
Update getAABB.py 2020-04-23 23:08:04 +05:30
NiranthS
d91369c345
Update frictionCone.py 2020-04-23 23:07:33 +05:30
NiranthS
a555fee4f6
Update forcetorquesensor.py 2020-04-23 23:07:26 +05:30
NiranthS
93cb25cb39
Update fileIOPlugin.py 2020-04-23 23:05:41 +05:30
NiranthS
a0e98e310d
Update externalTorqueControlledSphere.py 2020-04-23 23:05:32 +05:30
NiranthS
2c80ac1bb7
Update experimentalCcdSphereRadius.py 2020-04-23 23:05:24 +05:30
NiranthS
83f506ebef
Update eglRenderTest.py 2020-04-23 23:05:14 +05:30
NiranthS
0fba23d602
Update deformable_torus.py 2020-04-23 23:04:45 +05:30
NiranthS
3cd7cca8f8
Update deformable_ball.py 2020-04-23 23:04:18 +05:30
NiranthS
304700408a
Update deformable_anchor.py 2020-04-23 23:03:43 +05:30
NiranthS
19016528e6
Update debugDrawItems.py 2020-04-23 23:03:12 +05:30
NiranthS
09630941da
Update createVisualShapeArray.py 2020-04-23 23:02:45 +05:30