2435 Commits

Author	SHA1	Message	Date
Erwin Coumans	a0e72b2ae3	Merge branch 'master' of https://github.com/erwincoumans/bullet3 ... # Conflicts: # examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py	2018-05-09 10:29:20 -07:00
Erwin Coumans	414b3ef9bb	PyBullet urdfEditor improvements: saveUrdf mesh scale, fix incorrect index, add getCameraImage in examples/combineUrdf.py	2018-05-09 10:28:12 -07:00
Erwin Coumans	be7c6ac967	PyBullet add getCameraImage to debug urdfEditor/createMultiBody	2018-05-08 23:23:53 -07:00
Erwin Coumans	1e51e2b859	tweaks in urdfEditor.py and combineUrdf.py, put KUKA on top of Husky as test.	2018-05-08 23:14:39 -07:00
Erwin Coumans	2d1689cba5	add example to joint two URDF files, using the urdfEditor (combineUrdf.py)	2018-05-08 17:18:58 -07:00
Erwin Coumans	d436be1d79	add __init__.py for pybullet_utils examples	2018-05-08 13:31:30 -07:00
Erwin Coumans	ad43de285c	add bullet_client.py to pybullet_utils, with simple example	2018-05-08 10:12:19 -07:00
Erwin Coumans	3a4d1799d8	remove "DO NOT SUBMIT" comments, it blocks commits in google3	2018-05-07 17:35:55 -07:00
Erwin Coumans	0b5785421b	PyBullet: re-add API to header	2018-05-07 16:59:06 -07:00
Erwin Coumans	7bc85c7d43	PyBullet.SHARED_MEMORY_SERVER, use secondary key for server	2018-05-07 16:01:38 -07:00
Erwin Coumans	7383843b24	expose PyBullet.SHARED_MEMORY_SERVER ... connect from 1 different PyBullet client using PyBullet.SHARED_MEMORY) (don't use more than 1 other client to submit commands in parallel)	2018-05-07 15:57:36 -07:00
erwincoumans	ab4b663800	Merge pull request #1671 from erwincoumans/master ... don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA …	2018-05-03 14:52:09 -07:00
Erwin Coumans	84b20bda80	don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA is set, not for the diagonal and also not for the inertial frame shift.	2018-05-03 14:24:16 -07:00
YunfeiBai	e5036fbc3a	Merge remote-tracking branch 'upstream/master'	2018-05-03 10:48:55 -07:00
YunfeiBai	aa6b8f66e9	Fixed a bug in projective texture shader.	2018-05-03 10:46:59 -07:00
Erwin Coumans	0c706eb08a	fix some incompatibilities between google3/third_party/GL,EGL, glad	2018-05-03 09:06:30 -07:00
Erwin Coumans	4a8ad1a54e	fix posix memory release issues ... fix compile problems on Mac OSX reduce shared memory size on Mac (>512*1024 fails to allocate)	2018-05-02 15:39:16 -07:00
erwincoumans	1f6afcda30	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-05-02 14:32:59 -07:00
erwincoumans	3a5f778b70	expose lsMemory destroy function to release thread memory	2018-05-02 14:32:43 -07:00
erwincoumans	cee3ecde2b	Merge pull request #1664 from erwincoumans/master ... PyBullet: fix some memory leaks	2018-05-02 13:54:07 -07:00
erwincoumans	9d66d95b18	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-05-02 13:18:17 -07:00
erwincoumans	790deb2d54	fix memory leak in PyBullet.getJointStates, fixes issue #1661	2018-05-02 13:12:25 -07:00
Erwin Coumans	2b5f86a593	fix memory leak	2018-05-02 12:49:35 -07:00
erwincoumans	d7e81590b5	fix a memory leak	2018-05-02 12:24:31 -07:00
erwincoumans	78629e1c6c	Merge pull request #1637 from erwincoumans/master ... PyBullet: add signed distance field support, with example/signedDista…	2018-05-02 09:20:04 -07:00
Erwin Coumans	dde3140987	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-05-01 13:02:51 -07:00
erwincoumans	c7d9afac1e	fix SoftDemo crash, due to changes in OpenGLGuiHelper rendering ... fixes Issue #1655	2018-05-01 09:23:08 -07:00
Erwin Coumans	85db288a95	App_PhysicsServer_SharedMemory_VR: expose max_num_object_capacity and max_shape_capacity_in_bytes (and shared_memory_key) ... Default values are: int maxNumObjectCapacity = 128 * 1024; int maxShapeCapacityInBytes = 128 * 1024 * 1024; int shared_memory_key = -1	2018-04-30 23:01:15 +02:00
erwincoumans	d32e3e51f6	Merge pull request #1650 from JanMatas/fix-softbody-leak ... Fix Large memory leak in bullet Softbody	2018-04-30 22:16:39 +02:00
Jie Tan	20dd3d265b	update README.md to include paper link in Arxiv.	2018-04-30 11:09:59 -07:00
Jan Matas	b1f85268f0	Check for null	2018-04-30 19:01:53 +01:00
Jie Tan	26cebc9aa5	rewrite the README file.	2018-04-26 21:26:08 -07:00
Jan Matas	21418934e0	Reset sparsesdf to free memory.	2018-04-25 16:17:28 +01:00
Jie	a375a349ce	make sure that the pre-trained galloping and trotting policies work for the minitaur_reactive_env and minitaur_trotting_env environments.	2018-04-24 21:48:27 -07:00
Erwin Coumans	552cb5852a	PyBullet: add signed distance field support, with example/signedDistanceField.py ... See also data\toys\concave_box.urdf and data\toys\concave_box.cdf data\toys\concave_box.cdf was generated from concave_box.obj using //GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj //SDF is based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid	2018-04-16 22:57:43 +02:00
Erwin Coumans	fcce77fe49	fix spaces/tab issue in urdfEditor.py	2018-04-12 14:01:17 -07:00
erwincoumans	391b0e4061	Merge pull request #1588 from GaborPuhr/Fix-#1582 ... Fix for #1582	2018-04-12 13:32:51 -07:00
erwincoumans	be46d73ef8	Merge pull request #1617 from haudren/topic/fixJacobian ... Add a few jacobian tests	2018-04-12 13:30:04 -07:00
erwincoumans	25cb37a0d7	Merge remote-tracking branch 'bp/master'	2018-04-12 12:48:37 -07:00
erwincoumans	dbb0318782	fixes related to tinyxml2	2018-04-12 12:46:43 -07:00
erwincoumans	9c5d757879	PyBullet: fix memory leak in setJointMotorControlArray ... Fixes issue #1633	2018-04-12 12:43:29 -07:00
Erwin Coumans	11008d8110	fixes, backwards compatibility	2018-04-12 09:28:30 -07:00
Erwin Coumans	719c352216	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-04-12 07:49:23 -07:00
erwincoumans	b0d421fa11	Merge pull request #1632 from erwincoumans/master ... upgrade from tinyxml to tinyxml2	2018-04-12 07:30:05 -07:00
erwincoumans	9c77e07494	upgrade from tinyxml to tinyxml2	2018-04-12 00:09:44 -07:00
erwincoumans	b53facfc25	Merge pull request #1629 from erwincoumans/master ... Preparation to add signed distance field collision detection.	2018-04-12 00:02:25 -07:00
Erwin Coumans	bd0aed3e36	add ARS to train/eval Minitaur	2018-04-11 18:14:56 -07:00
Erwin Coumans	40b285ebfd	fixes in minitaur leg mapping	2018-04-11 18:13:46 -07:00
erwincoumans	2bc246b0b1	fixes in relative imports	2018-04-11 18:00:43 -07:00
erwincoumans	b18d407ca4	screenshot frame counter start at 0 (instead of 100)	2018-04-11 17:17:35 -07:00
Erwin Coumans	ad75ea35b3	fix new minitaur envs for newer Gym (_step -> step etc), ... add extra sleep to sync Minitaur walk with RTC clock	2018-04-11 13:22:25 -07:00
erwincoumans	ac945df07a	remote 'render' arg	2018-04-11 10:14:24 -07:00
erwincoumans	698b20938f	fix a number of issues in a series of new Minitaur environments ... add them to pybullet_envs through __init__.py id='MinitaurReactiveEnv-v0', id='MinitaurTrottingEnv-v0', id='MinitaurBallGymEnv-v0', id='MinitaurStandGymEnv-v0', id='MinitaurAlternatingLegsEnv-v0', id='MinitaurFourLegStandEnv-v0', disable reflection of minitaur_four_leg_stand_env, since the floor changes orientation (reflection is a fixed plane with [0,0,1] normal) from pybullet_envs.minitaur.envs.minitaur_alternating_legs_env import MinitaurAlternatingLegsEnv from pybullet_envs.minitaur.envs.minitaur_ball_gym_env import MinitaurBallGymEnv from pybullet_envs.minitaur.envs.minitaur_randomize_terrain_gym_env import MinitaurRandomizeTerrainGymEnv from pybullet_envs.minitaur.envs.minitaur_reactive_env import MinitaurReactiveEnv from pybullet_envs.minitaur.envs.minitaur_stand_gym_env import MinitaurStandGymEnv from pybullet_envs.minitaur.envs.minitaur_trotting_env import MinitaurTrottingEnv from pybullet_envs.minitaur.envs.minitaur_four_leg_stand_env import MinitaurFourLegStandEnv	2018-04-11 10:09:03 -07:00
erwincoumans	c2869e0a3c	enable planar reflection in minitaur_gym_env.py and locomotion scenes	2018-04-11 08:50:29 -07:00
erwincoumans	ffc808784b	PyBullet: add planar reflection example, ... See examples/pybullet/examples/addPlanarReflection.py	2018-04-11 01:03:36 -07:00
Hervé Audren	6f90216dd0	Remove numpy dependency	2018-04-11 16:58:58 +09:00
erwincoumans	39edcf699c	bump up pybullet version, add missing sdf file	2018-04-10 22:59:53 -07:00
Erwin Coumans	7fa5e91cbd	replace green stadium with blue checkered Bullet plane ... add missing files to pybullet setup.pu	2018-04-10 19:55:26 -07:00
Erwin Coumans	0832d3fd22	disable velocity clamp (maxVelocity) in velocity control mode, ... remove some warnings	2018-04-10 17:21:14 -07:00
erwincoumans	78a90719b0	Merge pull request #1630 from YunfeiBai/master ... Update the projective texture shader to solve the texture interpolati…	2018-04-09 20:55:37 -07:00
YunfeiBai	b032a1fd60	Update the projective texture shader to solve the texture interpolation artifact.	2018-04-09 17:15:42 -07:00
erwincoumans	698836d54e	Preparation to add signed distance field collision detection. ... btMiniSDF is based on https://github.com/InteractiveComputerGraphics/Discregrid	2018-04-08 21:10:03 -07:00
erwincoumans	db4960b1ac	Merge pull request #1624 from ikalevatykh/master ... Add VR/OpenVR support on Linux	2018-04-05 09:55:03 -07:00
Erwin Coumans	380e59be6a	explicit cast from double to float in TinyRendererVisualShapeConverter plugin	2018-04-04 16:34:28 -07:00
Igor Kalevatykh	7c163f2163	Add VR/OpenVR support on Linux	2018-04-05 00:14:08 +02:00
erwincoumans	5ff2a1d6c8	Update env_bases.py	2018-04-02 22:31:22 -07:00
erwincoumans	507d024f25	add example of a free moving sphere controlled by external torque ... add some toy shape sorter cube (not finished yet)	2018-04-01 15:55:32 -07:00
erwincoumans	14d37ecb43	first pass of updated minitaur quadruped environment	2018-03-31 21:15:27 -07:00
erwincoumans	ec68290497	PyBullet createVisualShape/createVisualShapeArray: postpone visual shape conversion until we know the link inertial transform	2018-03-28 19:08:18 -07:00
Hervé Audren	c547555848	Add a few jacobian tests	2018-03-28 10:40:55 +09:00
Erwin Coumans	aae19514ac	make the method not pure virtual (it breaks some internal code)	2018-03-27 10:18:00 -07:00
erwincoumans	094fa53440	Merge pull request #1611 from alantrrs/master ... Fix simple cloth example. Closes #1606	2018-03-26 17:17:45 -07:00
erwincoumans	fafa939d33	Merge pull request #1579 from lunkhound/parallel-solver-wip3 ... Multithreaded constraint solver	2018-03-26 17:11:05 -07:00
erwincoumans	31ab72a0ed	Merge pull request #1609 from YunfeiBai/master ... Add PyBullet API to set projective texture.	2018-03-26 16:27:14 -07:00
Hervé Audren	a2e9ecd957	Fix jacobian computation	2018-03-26 18:40:42 +09:00
alantrrs	c4f7b5eddf	Fix simple cloth example. Closes #1606	2018-03-21 18:52:59 -07:00
yunfeibai	6b97e1e604	Expose API to set projective texture instead of using global.	2018-03-20 21:28:47 -07:00
yunfeibai	e42a934e16	Fix compiling error.	2018-03-19 10:23:17 -07:00
yunfeibai	37696dd87e	Add Bullet C API and pybullet API to set projective texture matrices.	2018-03-18 18:45:54 -07:00
yunfeibai	fd7aa8d0e1	Expose using projective texture as a flag in pybullet getCameraImage API.	2018-03-18 17:01:23 -07:00
erwincoumans	73d6624da3	Merge pull request #1603 from erwincoumans/master ... add missing implementation of b3RobotSimulatorClientAPI_NoGUI::getCam…	2018-03-15 07:34:46 -07:00
jietan	f4ca3f5963	Fix a bug that createVisualShape(Array) does not have the correct color. Add urdfEditor.py to pybullet_utils. Remove all unnecessary changes of white spaces.	2018-03-14 21:14:44 -07:00
jietan	d91a58e050	Merge remote-tracking branch 'bp/master' into pullRequest	2018-03-14 20:19:31 -07:00
erwincoumans	90b6befe3d	add missing implementation of b3RobotSimulatorClientAPI_NoGUI::getCameraImage ... Fixes Issue 1602	2018-03-14 17:33:51 -07:00
jietan	413be3547b	fix a bug that createVisualShape(Array) does not have the correct color. Add urdfEditor.py to pybullet_utils.	2018-03-12 21:06:19 -07:00
erwincoumans	b62501d04d	fix loadTexture for tinyrenderer	2018-03-12 19:40:13 -07:00
Erwin Coumans	f5d7e5bed3	example for Issue #1586	2018-03-10 19:49:30 -08:00
erwincoumans	cce41a62ef	Merge pull request #1594 from erwincoumans/master ... PyBullet: explicit sync transform right before hardware OpenGL getCam…	2018-03-09 18:33:28 -08:00
Erwin Coumans	69d343386d	PyBullet/C-API: implement createVisualShapeArray, with multiple visual shapes (require 1 texture max, since visual shapes are merged)	2018-03-09 18:02:06 -08:00
Erwin Coumans	159fef5818	PyBullet: explicit sync transform right before hardware OpenGL getCameraImage	2018-03-09 09:56:03 -08:00
erwincoumans	d69fefd7e9	Merge pull request #1559 from shubhtuls/patch-1 ... minor bugfix in image reshaping in kukaGymEnv.py	2018-03-08 15:16:30 -08:00
Erwin Coumans	b578361acf	Use kF_UseGjkConvexCastRaytest by default for raycast in PyBullet (it is more robust/accurate, but a bit slower) ... Use 10*EPSILON, as suggested in Gino's paper: http://www.continuousphysics.com/ftp/pub/test/files/physics/papers/jgt04raycast.pdf	2018-03-07 14:51:51 -08:00
Erwin Coumans	07f116610f	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-03-07 09:48:10 -08:00
Erwin Coumans	e134dcdb0b	increase shared memory block size ( to reduce image copy steps) ... reduce vertices in r2d2 finger stl files bump up pybullet vesion	2018-03-07 09:47:28 -08:00
Lunkhound	45fd4acf6e	dynamicsWorldMt: make island mgr aware of whether a parallel solver is present and make handoff from parallel solver to solver-pool more explicit	2018-03-05 20:05:38 -08:00
a	2348c6ba0a	Fix for #1582	2018-03-05 23:05:22 +01:00
erwincoumans	6d326a79c8	Merge pull request #1575 from erwincoumans/master ... fix minor sdf warning in kiva_shelf/model.sdf	2018-03-04 12:34:21 -08:00
Erwin Coumans	283d646e57	add random_urfs individually	2018-03-04 12:33:31 -08:00
Lunkhound	b8720f2161	parallel solver: various changes ... - threading: adding btSequentialImpulseConstraintSolverMt - task scheduler: added parallelSum so that parallel solver can compute residuals - CommonRigidBodyMTBase: add slider for solver least squares residual and allow multithreading without needing OpenMP, TBB, or PPL - taskScheduler: don't wait for workers to sleep/signal at the end of each parallel block - parallel solver: convertContacts split into an allocContactConstraints and setupContactConstraints stage, the latter of which is done in parallel - parallel solver: rolling friction is now interleaved along with normal friction - parallel solver: batchified split impulse solving + some cleanup - parallel solver: sorting batches from largest to smallest - parallel solver: added parallel batch creation - parallel solver: added warmstartingWriteBackContacts func + other cleanup - task scheduler: truncate low bits to preserve determinism with parallelSum - parallel solver: reducing dynamic mem allocs and trying to parallelize more of the batch setup - parallel solver: parallelize updating constraint batch ids for merging - parallel solver: adding debug visualization - task scheduler: make TBB task scheduler parallelSum deterministic - parallel solver: split batch gen code into separate file; allow selection of batch gen method - task scheduler: add sleepWorkerThreadsHint() at end of simulation - parallel solver: added grain size per phase - task Scheduler: fix for strange threading issue; also no need for main thread to wait for workers to sleep - base constraint solver: break out joint setup into separate function for profiling/overriding - parallel solver: allow different batching method for contacts vs joints - base constraint solver: add convertJoint and convertBodies to make it possible to parallelize joint and body conversion - parallel solver: convert joints and bodies in parallel now - parallel solver: speed up batch creation with run-length encoding - parallel solver: batch gen: run-length expansion in parallel; collect constraint info in parallel - parallel solver: adding spatial grid batching method - parallel solver: enhancements to spatial grid batching - sequential solver: moving code for writing back into functions that derived classes can call - parallel solver: do write back of bodies and joints in parallel - parallel solver: removed all batching methods except for spatial grid (others were ineffective) - parallel solver: added 2D or 3D grid batching options; and a bit of cleanup - move btDefaultTaskScheduler into LinearMath project	2018-02-26 22:47:33 -08:00
Erwin Coumans	4d6e2c1905	update imgui test	2018-02-24 14:57:49 -08:00
Erwin Coumans	34e0c4b62f	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-02-23 18:56:25 -08:00
Erwin Coumans	5688477bfb	fix sdf warning	2018-02-23 18:56:11 -08:00
erwincoumans	94bc897067	Merge pull request #1574 from erwincoumans/master ... fix glx include	2018-02-22 09:41:01 -08:00
Erwin Coumans	05b02d6b3e	fix glx include	2018-02-22 09:08:10 -08:00
erwincoumans	90b34680b0	Merge pull request #1572 from erwincoumans/master ... explicitly remove textures during resetSimulation	2018-02-22 08:37:03 -08:00
erwincoumans	c632fea48d	PyBullet: remove VisualLeakDetector	2018-02-21 23:44:57 -08:00
erwincoumans	73a4334e30	explicitly remove textures during resetSimulation ... move glViewport to Win32Window	2018-02-21 23:22:16 -08:00
erwincoumans	91f77dfb39	Merge pull request #1571 from erwincoumans/master ... fix __init__.py	2018-02-21 12:42:37 -08:00
Erwin Coumans	15c46a0237	bump up pybullet version, add missing glad file(s) to MANIFEST.in	2018-02-21 11:46:53 -08:00
Erwin Coumans	8ba9644e78	fix __init__.py	2018-02-21 10:47:24 -08:00
Erwin Coumans	67318f3323	fix __init__.py	2018-02-21 10:45:06 -08:00
erwincoumans	3508a4523b	Merge pull request #1560 from YunfeiBai/master ... Add shader and example for projective texture.	2018-02-21 10:23:18 -08:00
Erwin Coumans	a3c2ce1cef	add __init__.py for pybullet_envs.prediction	2018-02-21 10:06:46 -08:00
erwincoumans	0e0b7cb9f8	glew->glad	2018-02-21 08:59:06 -08:00
erwincoumans	f341acc44a	glew->glad	2018-02-21 08:50:47 -08:00
erwincoumans	4343d041da	more work towards glew->glad	2018-02-21 08:36:53 -08:00
erwincoumans	5679802c24	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-02-21 08:20:01 -08:00
erwincoumans	483f017613	fix VR build	2018-02-21 08:19:49 -08:00
Erwin Coumans	9288ea9c6a	fix mac osx build	2018-02-21 08:16:00 -08:00
Erwin Coumans	c2b59776ed	CMakeLists glew to glad	2018-02-20 21:09:31 -08:00
Erwin Coumans	d583269430	fix glad_glx on linux	2018-02-20 20:57:55 -08:00
Erwin Coumans	850b8b0493	add glad_glx files	2018-02-20 20:15:26 -08:00
Erwin Coumans	dacafda88a	use glad instead of glew in mac build and pybullet setup.py	2018-02-20 20:09:12 -08:00
Erwin Coumans	b0984de046	preparation to replace glew by glad	2018-02-20 19:44:02 -08:00
yunfeibai	5494aa72fa	Set the perspective projection for projective texture mapping. Change the demo to two bears with the same view projection matrix for the camera and the projector.	2018-02-20 18:32:09 -08:00
Erwin Coumans	8bb40b632b	allow to build GLFW version of Bullet examples on Linux (use premake4_linux --enable_glfw gmake)	2018-02-20 16:21:22 -08:00
erwincoumans	01f58f8f02	PyBullet: soft bodies are rendered, so we don't need to also render wireframes in regular mode. ... Use glBufferSubData instead of glMapBuffer/glUnmapBuffer, much faster soft body vertex sync. Don't use a separate btSoftBodyWorldInfo, use the existing one in btSoftMultiBodyDynamicsWorld.	2018-02-18 11:09:42 -08:00
erwincoumans	a6849de99c	Merge pull request #1555 from JanMatas/softBody-opengl-rendering ... Implemented support for softbodies in OpenGL renderer	2018-02-18 10:48:46 -08:00
erwincoumans	ddf304ca78	PyBullet: expose internal edge utility, to adjust edge normals to prevent object penetrating along triangle edges of concave triangle meshes ... (due to local convex-triangle collisions causing opposite contact normals, use the pre-computed edge normal) PyBullet: expose experimental continuous collision detection for maximal coordinate rigid bodies, to prevent tunneling.	2018-02-16 19:44:33 -08:00
yunfeibai	ef0ae4935b	Minor change.	2018-02-15 18:37:23 -08:00
yunfeibai	fb6907aa1b	Merge remote-tracking branch 'upstream/master'	2018-02-15 18:19:29 -08:00
yunfeibai	36dcabbaf5	Merge remote-tracking branch 'upstream/master'	2018-02-15 14:31:34 -08:00
yunfeibai	cf4a0a3503	Add improvement/fix in SortableTransparentInstance back.	2018-02-15 13:19:41 -08:00
erwincoumans	d3fe21ef17	Add option GUI_MAIN_THREAD for running OpenGL in the main thread (Python thread). This already happens on Mac OSX by default. ... Pass all argc/argc from options to InProcessPhysicsClientSharedMemoryMainThread	2018-02-14 16:49:44 -08:00
erwincoumans	5e08d6d334	small test to create / simulate random box stacks	2018-02-14 15:37:50 -08:00
yunfeibai	7dbc5626fb	Add the shader files.	2018-02-12 18:19:05 -08:00
Jan Matas	817fb40fb5	Revert "Create a new pointer in btCollisionShape instead of just using userPtr." ... This reverts commit d2d987a5ed. After discussion, we decided to use userPtr.	2018-02-12 11:26:39 +00:00
Shubham Tulsiani	5fdd7ed3b4	minor bugfix in image reshaping in kukaGymEnv ... Reshaped image array should be of size (RENDER_HEIGHT, RENDER_WIDTH, 4) instead of (RENDER_WIDTH, RENDER_HEIGHT, 4).	2018-02-11 21:47:57 -08:00
yunfeibai	2947cd54ce	Add shader for projective texture.	2018-02-11 21:29:02 -08:00
yunfeibai	08548e1ef0	Add example for projective texture.	2018-02-11 13:50:45 -08:00
Erwin Coumans	68559426cd	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-02-11 06:59:19 -08:00
Erwin Coumans	c143c90c11	add HelloPyBullet notebook	2018-02-11 06:58:45 -08:00
Erwin Coumans	c0781fa9f1	fix cmake build	2018-02-09 19:06:00 -08:00
Erwin Coumans	508550c5e9	fix premake build for linux, thanks to @consultit ... See also issue #1538	2018-02-09 18:46:26 -08:00
Jan Matas	d2d987a5ed	Create a new pointer in btCollisionShape instead of just using userPtr.	2018-02-08 13:49:36 +00:00
Jan Matas	82214eb99f	Implemented support for softbodies in OpenGL renderer	2018-02-08 13:31:40 +00:00
Erwin Coumans	be5e58772e	fix include	2018-02-06 11:52:45 -08:00
erwincoumans	19231434c2	gym env backward compatibility due to gym 0.9.6 breaking changes	2018-02-06 10:20:41 -08:00
erwincoumans	82fae36ab9	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-02-06 08:59:58 -08:00
erwincoumans	3fb26e4835	fix issue with plugin manager (store plugin uid instead of pointer)	2018-02-06 08:56:24 -08:00
Erwin Coumans	dcdec2236f	PyBullet/rendering: improve sorting of transparent objects	2018-02-05 23:48:39 -08:00
Sam Wenke	ad3c236bfd	pybullet support for gym.Env, including v0.9.x	2018-02-04 11:35:47 -05:00
erwincoumans	d4b834b9f0	fix #3	2018-02-04 11:35:47 -05:00
erwincoumans	9b9a0c5992	fix #2 for pthread/dl	2018-02-04 11:35:46 -05:00
erwincoumans	b15ac0c5f6	add pthread/DL to App_RobotSimulator_NoGUI for Linux (not Win32/Apple)	2018-02-04 11:35:46 -05:00
erwincoumans	433f8449f4	refactor b3RobotSimulatorClientAPI into a main part without GUI dependencies (no OpenGL, gwen, glew etc) ... so that App_RobotSimulator_NoGUI can link against BulletRobotics and App_RobotSimulator links against BulletRobotics and some extra files.	2018-02-04 11:35:46 -05:00
erwincoumans	7f535367ef	Add new methods for b3RobotSimulatorClientAPI, thanks to John F. Canny for the contribution!	2018-02-04 11:35:46 -05:00
erwincoumans	b692ec87f7	fix #3	2018-02-02 20:22:53 -08:00
erwincoumans	f119cff516	fix #2 for pthread/dl	2018-02-02 19:38:39 -08:00
erwincoumans	64a505ec19	add pthread/DL to App_RobotSimulator_NoGUI for Linux (not Win32/Apple)	2018-02-02 19:12:02 -08:00
erwincoumans	df0305462d	refactor b3RobotSimulatorClientAPI into a main part without GUI dependencies (no OpenGL, gwen, glew etc) ... so that App_RobotSimulator_NoGUI can link against BulletRobotics and App_RobotSimulator links against BulletRobotics and some extra files.	2018-02-02 18:33:29 -08:00
erwincoumans	b30401c1f7	Add new methods for b3RobotSimulatorClientAPI, thanks to John F. Canny for the contribution!	2018-02-02 16:19:53 -08:00
erwincoumans	a576fd38cd	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-01-31 22:17:39 -08:00
erwincoumans	13d67e8fc3	add bicycle resources and testBike.py script (use python -m pybullet_envs.examples.testBike after pip install pybullet) ... center shadow around camera target	2018-01-31 22:17:15 -08:00
Erwin Coumans	e88dca3152	update autogenerated NativeMethods.cs from latest PhysicsClientC_Api.h	2018-01-31 09:07:31 -08:00
erwincoumans	40482e0925	fix urdfEditor.py	2018-01-29 19:19:34 -08:00
Erwin Coumans	5776f61a73	fix issue that prevents p/invoke c# generation from PhysicsClientC_API.h	2018-01-29 19:16:01 -08:00
Erwin Coumans	cb0e740422	fix error in __init__.py	2018-01-27 10:25:26 -08:00
Erwin Coumans	2b5be5ca8a	Merge remote-tracking branch 'bp/master'	2018-01-26 17:36:45 -08:00
erwincoumans	688d750d8a	Merge pull request #1531 from AndreaIncertiDelmonte/issue-1525 ... Override of the reset() public funciton in child classes	2018-01-26 13:10:47 -08:00
cedspam	3011cf1130	avoid errors in some ide docs system ... there are some error linked to repeated import of this module in spyder, an env with the same id cannot be registered again	2018-01-26 09:29:39 +00:00
AndreaIncertiDelmonte	b908b147a6	Overwrite of the reset() public funciton in child classes	2018-01-26 10:09:14 +01:00
Erwin Coumans	bddbb3f9dd	TinyRenderer color pick: fix out-of-bounds issue	2018-01-25 16:02:47 -08:00
erwincoumans	0ce40b70c0	Merge pull request #1523 from kimhc6028/master ... [fixed] gym_manipulator_envs typo	2018-01-25 13:36:42 -08:00
Erwin Coumans	c6fefb1018	remove useless gym env	2018-01-25 12:11:22 -08:00
Erwin Coumans	c4a046f16c	remove baselines dependency (not needed, since it is a random policy)	2018-01-25 07:34:00 -08:00
erwincoumans	5d45fd5ca5	PyBullet: register KukaDiverseObjectGrasping-v0 to Gym.	2018-01-24 18:27:03 -08:00
erwincoumans	4ea406c73c	PyBullet: improve examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py ... (thanks to Deirdre Quillen for the environment) Extend repeat, so gripper reaches the tray bottom. Fix near plane so Z-Buffer is visible. Add sleep in return motion, in gui mode.	2018-01-24 18:21:59 -08:00
erwincoumans	72ec3effe6	Merge remote-tracking branch 'bp/master'	2018-01-24 18:11:33 -08:00
erwincoumans	1ec0543deb	add random urdf zipfile for KUKA grasping env, thanks to Deirdre Quillen	2018-01-24 18:10:55 -08:00
erwincoumans	583b23ea40	PyBullet Humanoid Flagrun Harder: disable collision on target red sphere	2018-01-24 18:02:24 -08:00
erwincoumans	aba4671358	Humanoid Flagrun Harder, PyBullet version (request from Danijar) ... Fix duplicate ground in all Roboschool converted scenes. Fix bug in all PyBullet-Roboschool converted Humanoid environments (action needs to be clipped to [-1,1] range)	2018-01-24 17:53:40 -08:00
Erwin Coumans	b8362fff94	PyBullet pybullet_envs: fix issue with Humanoid environments (excessive forces, due to lack of action clamping) ... PyBullet pybullet_envs: use 1./60 sleep, add enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py	2018-01-24 16:02:19 -08:00
kimhc6028	0d07ae03b7	[fixed] gym_manipulator_envs typo	2018-01-23 18:22:53 +09:00
erwincoumans	a92423b6f7	minor clarification in UrdfRenderingInterface	2018-01-21 11:15:35 -08:00
Erwin Coumans	69007dcc61	fix MJCF loading (use self-collision)	2018-01-20 12:07:35 -08:00
deq2	e30f2624f9	Added kuka environment with multiple diverse objects. (#1508) ... * Added new diverse object environment	2018-01-18 08:49:00 -08:00
erwincoumans	1661f25fd8	minor indentation fix	2018-01-17 13:11:02 -08:00
erwincoumans	ccde28eb9f	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-01-17 13:07:05 -08:00
erwincoumans	c781e98de4	add a little bit of documentation to the UrdfRenderingInterface	2018-01-17 13:06:44 -08:00
erwincoumans	3073d60845	Update tinyRendererPlugin.cpp	2018-01-17 12:53:00 -08:00
erwincoumans	585f858842	PyBullet: bump up API version due to move of tinyrenderer into a plugin	2018-01-17 12:51:19 -08:00
erwincoumans	012f4534fd	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-01-17 12:49:27 -08:00
erwincoumans	329a1f5a74	PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.	2018-01-17 12:48:48 -08:00
Erwin Coumans	c6a350b807	BulletInverseDynaimcs: re-applied fix ... PyBullet: increase humanoid training from 30 to 300M (need to figure out the right hyperparameters...)	2018-01-16 21:54:46 -08:00
erwincoumans	df89ce6f92	small refactor of LinkVisualShapesConverter / TinyRendererVisualShapeConverter, it allows to use it in a Python module and in a PyBullet plugin.	2018-01-16 17:58:19 -08:00
erwincoumans	32d615565d	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2018-01-16 13:39:54 -08:00
erwincoumans	68c2253f82	reduce dependency: PhysicsServerCommandProcessor -> PhysicsCommandProcessorInterface	2018-01-16 13:39:37 -08:00
erwincoumans	055930817e	apply a maximum velocity for the KUKA arm, otherwise motion can become very unrealistic	2018-01-16 10:17:57 -08:00
Erwin Coumans	af43e6465d	fix wrong enum type	2018-01-15 15:13:11 -08:00
erwincoumans	851ca5bfb3	Improve PyBullet ports of Roboschool envs: fix reset (it kept adding stadium objects, causing slowdown), now reset uses saveState/restoreState and reset becomes a few orders of magnitude faster. ... Use python -m pybullet_envs.examples.testEnv --env AntBulletEnv-v0 --render=1 --steps 1000 --resetbenchmark=1 Added environments: HumanoidFlagrunBulletEnv-v0, HumanoidFlagrunHarderBulletEnv-v0, StrikerBulletEnv-v0, ThrowerBulletEnv-v0, PusherBulletEnv-v0, ReacherBulletEnv-v0, CartPoleBulletEnv-v0 and register them to OpenAI Gym. Allow numpy/humanoid_running.py to use abtch or non-batch update (setJointMotorControl2/setJointMotorControlArray)	2018-01-15 12:48:32 -08:00
erwincoumans	9ffb05eb3b	fix double->float issue by cast, fixes issue #1510 ... fix possible out-of-bounds access in btMultiBody	2018-01-15 11:59:00 -08:00
erwincoumans	9d405fde67	PyBullet: free cached textures ... PyBullet: bool PhysicsServerCommandProcessor::pickBody, disable collision filtering to allow picking of all objects	2018-01-15 08:36:08 -08:00
erwincoumans	387d3f16db	PyBullet: fix memory leak in case connection to shared memory cannot be made ... PyBullet: allow setJointMotorControl2 to use maxVelocity in combination with obsolete 'bodyIndex'	2018-01-15 08:33:19 -08:00
erwincoumans	3c770e56fb	PyBullet/C-API: only free handle if we found it	2018-01-14 12:35:40 -08:00
erwincoumans	0919ce0f30	PyBullet: fix issue when picking an object while it is remove using PyBullet.removeBody	2018-01-14 11:01:57 -08:00
erwincoumans	ed890f23e6	add implicit plane_implicit.urdf and use it in humanoid_running.py (numpy version)	2018-01-13 13:47:28 -08:00
erwincoumans	e961800278	parse plane geom for URDF files (not just SDF)	2018-01-13 13:41:46 -08:00
erwincoumans	1b569c0701	Add humanoid_running.py using just numpy (no tensorflow, no gym) for testing	2018-01-13 13:39:57 -08:00
Erwin Coumans	79051b7611	allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE ... fix quadruped.py example. add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]	2018-01-11 21:04:08 -08:00
erwincoumans	22b4809891	leave m_useGlobalVelocities to false, until enabled, for backward compatibility ... use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF. fix robot_bases.py due to new fields in getJointInfo. backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.	2018-01-10 11:16:50 -08:00
erwincoumans	c4b1b84687	Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis ... https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section) Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto	2018-01-09 22:47:56 -08:00
Erwin Coumans	164d3e62c3	remove testing getToeForces	2018-01-09 18:13:34 -08:00
erwincoumans	616d3358bd	update MinitaurSetup.cpp/h to allow switching between different minitaurs. add getToeForces, thanks to Avik (requires 8 toes!)	2018-01-09 17:38:51 -08:00
erwincoumans	15a429f1bf	premake build system fixes	2018-01-09 12:23:25 -08:00
erwincoumans	e138e85bca	allow to enable/disable implicit cylinder conversion through an API ... p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER) allow to enable/disable deterministicOverlappingPairs through an API p.setPhysicsEngineParameter(deterministicOverlappingPairs = False)	2018-01-09 10:10:36 -08:00
erwincoumans	bf6d805228	fix compile issues on Windows after recent softbody patch	2018-01-09 08:43:00 -08:00
YunfeiBai	de3b8bf3c9	Merge branch 'master' into master	2018-01-08 18:13:03 -08:00
yunfeibai	0e0d3da2b5	Add python binding and a pybullet example for loading softbody from obj.	2018-01-08 18:10:28 -08:00
Erwin Coumans	90c5d66e1b	fix for Python 2.x	2018-01-08 16:15:54 -08:00
Erwin Coumans	e97b751781	further work on urdfEditor.py, fix some serialization issues	2018-01-08 12:25:56 -08:00
yunfeibai	d3bc98e245	Add filename as an argument in the softbody loading function.	2018-01-07 19:56:46 -08:00
yunfeibai	d077bdec07	Change the API names for loading softbody.	2018-01-07 19:24:37 -08:00
yunfeibai	e3e9546960	Load the deformable object through obj file. Modify the demo for two way coupling between multibody and softbody.	2018-01-07 19:06:09 -08:00
Erwin Coumans	a85a4f387b	more work on UrdfEditor.py	2018-01-06 15:00:20 -08:00
Erwin Coumans	9a9aa5e9e7	example of joint motor with friction	2018-01-06 13:43:07 -08:00
Erwin Coumans	9523df2519	warning fix (param name different in header/cpp)	2018-01-04 15:48:59 -08:00
Erwin Coumans	c59a3763e5	tweak ImportMJCFSetup.cpp example MJCF humanoid a bit, clamp target positions to be within joint limits to avoid solver problems (conflicting constraints) ... add humanoid_manual_control.py PyBullet example which is similar to ImportMJCFSetup.cpp	2018-01-04 13:14:11 -08:00
Erwin Coumans	4743d2770a	fix recently introduced crashing bug in MJCF reader ... due to https://github.com/bulletphysics/bullet3/pull/1484 (Issue 1484)	2018-01-03 21:47:58 -08:00
Erwin Coumans	36c258fd3d	fix PhysicsLoopBack	2018-01-03 21:38:09 -08:00
Erwin Coumans	79d78a325a	Start of a urdfEditor.py, limited support to extract a URDF from a PyBullet body. ... Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape. Implement PyBullet.getCollisionShapeData Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!) Extend PyBullet.getJointInfo: add parentIndex	2018-01-03 19:17:28 -08:00
erwincoumans	a1492f50fc	Merge pull request #1492 from erwincoumans/master ... implement pybullet.saveState command, for in-memory storage of state.	2017-12-31 19:19:35 -08:00
Erwin Coumans	35b44f8a85	implement pybullet.saveState command, for in-memory storage of state. ... bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010	2017-12-31 15:37:16 -08:00
erwincoumans	515aa9ee9b	Merge pull request #1491 from erwincoumans/master ... some progress in saving and restoring the state	2017-12-31 13:39:27 -08:00
Erwin Coumans	20e00d11d8	further work on saveRestoreState.py	2017-12-30 21:57:42 -08:00
Erwin Coumans	9c55b61315	pybullet.createVisualShape: process sphere radius, box half extents, capsule+cylinder radius/length ... fixes issue #1427, https://github.com/bulletphysics/bullet3/issues/1427	2017-12-30 17:42:13 -08:00
Erwin Coumans	0326fa93a8	made some progress in saving and restoring the state during the simulation, with identical results. ... Option to de/serialize btPersistentContactManifolds and fix lossy conversion during btMultiBody de/serialization of base world transform (serialize the quaternion, not the converted 3x3 matrix) There are still several caches not taken into account, and btMultiBody links/constraints are not deserialized yet etc. See examples\pybullet\examples\saveRestoreState.py for an example.	2017-12-30 14:19:13 -08:00
erwincoumans	e3a85493e8	Merge pull request #1484 from rhaps0dy/MJCFImporter ... Support for reading <inertial> elements from MJCF	2017-12-29 10:58:08 -08:00
Erwin Coumans	29cfac096b	compile fix in pybullet.c	2017-12-28 12:57:49 -08:00
Erwin Coumans	5517cbc4e0	add segmask_linkindex.py example using p.getCameraImage(320,200,flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX) ... to extract object unique id and link index from segmentation mask in getCameraImage	2017-12-28 12:37:07 -08:00
Erwin Coumans	afd1066c50	pybullet.getCameraImage: preparation to expose link index in segmentation mask buffer	2017-12-28 10:18:35 -08:00
Erwin Coumans	97547eda0d	preliminary work towards saveState/restoreState and saveRestoreState.py example (not implemented yet) ... allow multiple options in connect, for example: p.connect(p.GUI, options="--width=640, --height=480")	2017-12-28 10:05:51 -08:00
Adrià Garriga	cb2fcfd032	Skipping calculateLocalInertia is unnecessary	2017-12-23 17:56:47 +01:00
Adrià Garriga	4d70d54d19	Support for reading <inertial> elements from MJCF	2017-12-23 08:53:10 +01:00
Erwin Coumans	799d030874	restore multibody world transform and joint angles/velocities from a .bullet file.	2017-12-22 14:45:36 -08:00
erwincoumans	41f9bb89e5	expose API to change the local inertia diagonal, pybullet.ChangeDynamics(objectUid, linkIndex, localInertiaDiagonal=[xx,yy,zz])	2017-12-20 16:56:31 -08:00
erwincoumans	eb35cba740	expose local inertia diagonal in C-API, PyBullet, through the 'getDynamicsInfo' ... render the inertia boxes in examples/pybullet/examples/quadruped.py and examples/pybullet/examples/reset_dynamic_info.py fix an issue where the original margin (0.04) was used to compute the inertia, instead of latest margin	2017-12-20 14:54:32 -08:00
erwincoumans	e0bb359804	report the camera target in the ExampleBrowser StatusBarMessage ... (so the parameters reported are compatible with the resetDebugVisualizerCamera API)	2017-12-14 09:36:36 -08:00
Erwin Coumans	8c0913d96b	Merge remote-tracking branch 'bp/master'	2017-12-01 10:25:43 -08:00
Erwin Coumans	c556ad651d	expose pybullet 'enableConeFriction' to switch between pyramid and cone friction model.	2017-12-01 10:07:07 -08:00
erwincoumans	5cada6a78d	Merge pull request #1464 from erwincoumans/master ... add pybullet unittests.py with travis support	2017-11-29 10:38:36 -08:00
Erwin Coumans	ec0a182a12	add pybullet unittests.py with travis support	2017-11-28 21:53:26 -08:00
erwincoumans	e76804173a	Merge pull request #1463 from erwincoumans/master ... fixes related to torsional friction, due to recent cone friction update.	2017-11-28 21:18:57 -08:00
erwincoumans	8ff75e11cd	fixes related to torsional friction, due to recent cone friction update.	2017-11-28 20:09:56 -08:00
Avik De	fd24219f36	Added note that license is same as bullet3	2017-11-27 09:50:18 -05:00
Avik De	29d72a9fee	Hopefully fixed compile on gcc/clang	2017-11-27 09:44:54 -05:00
Avik De	a6d527cca9	added including for cstring... strange that it compiled in VS without it	2017-11-26 21:39:42 -05:00
Avik De	863292fa3d	replaced C++11 code	2017-11-26 21:09:57 -05:00
Avik De	5a1c4b7946	added TwoJoint example	2017-11-26 20:38:50 -05:00
Erwin Coumans	6baf82d6d8	improve testrender/np to render faster/interactive on Mac with matplotlib	2017-11-24 18:57:16 -08:00
erwincoumans	c5f79fe979	pybullet testrender.py/testrender_np.py examples, improve matplotlib rendering performance (headless DIRECT and OpenGL/GUI)	2017-11-24 18:09:20 -08:00
erwincoumans	b1c2bdc72a	pybullet: fix numpy compile issue on Windows, another fix	2017-11-24 16:50:36 -08:00
Erwin Coumans	82b51ac78d	pybullet: fix Windows numpy build	2017-11-24 14:33:24 -08:00
erwincoumans	9936a1cc92	friction cone test	2017-11-23 18:14:29 -08:00
erwincoumans	874d764051	add missing file in CMakeLists.txt	2017-11-23 09:32:31 -08:00
erwincoumans	29aa9cb789	Bullet bump up to version 2.88 ... add preliminary support to import btMultiBody from a .bullet file (will help save/restore state) fix some Windows char/widechar issues	2017-11-22 18:12:02 -08:00
erwincoumans	76772fd301	reduce stack usage	2017-11-22 15:30:56 -08:00
erwincoumans	ab843b26f0	expose a maximum velocity due to the joint motor in position control. ... see also pybullet/examples/motorMaxVelocity.py this fixes issue 1444	2017-11-21 17:05:28 -08:00
Erwin Coumans	3e17f3387a	reduce MAX_SDF_BODIES to 512, it causes stack overflow failures in some internal tests	2017-11-20 11:05:31 -08:00
Erwin Coumans	88289c032e	fix canvas issues from previous commit	2017-11-18 17:20:21 -08:00
Erwin Coumans	c88132b80f	fix issue in pybullet_envs.agents ... bump up to pybullet 1.6.9	2017-11-18 17:07:27 -08:00
erwincoumans	099a6f65f3	tweak zbuffer visualization, show targetpos in example browser	2017-11-18 15:18:46 -08:00
erwincoumans	81146a4090	pybullet: move RGB,depth, segmentation mask preview windows to the right ... remove some dead code from PhysicsServerCommandProcessor.cpp	2017-11-18 13:21:20 -08:00
erwincoumans	b2a1eeb754	Merge remote-tracking branch 'bp/master'	2017-11-17 16:21:09 -08:00
erwincoumans	a9b59b4511	Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. ... Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)	2017-11-17 16:14:18 -08:00
erwincoumans	848be4710e	Merge pull request #1440 from erwincoumans/master ... remove obsolete 'register' from BussIK	2017-11-17 14:13:16 -08:00
erwincoumans	e2d29d4048	also enable depth and segmentation mask preview window in example browser/pybullet ... You can disable/enable all preview windows using: p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW,0/1) p.configureDebugVisualizer(p.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0/1) p.configureDebugVisualizer(p.COV_ENABLE_SEGMENTATION_MASK_PREVIEW,0/1)	2017-11-17 13:33:27 -08:00
Erwin Coumans	e35b0c5643	remove obsolete 'register' from BussIK	2017-11-17 12:09:21 -08:00
erwincoumans	f31f552ee3	Merge pull request #1439 from mbreyer/bugfix-TinyRenderer ... Fix wrong depth values returned by TinyRenderer	2017-11-17 09:39:55 -08:00
Michel Breyer	f7e593f8e9	Simplify the depth value transformations to reduce the number of operations	2017-11-17 15:15:11 +01:00
Michel Breyer	bb2ee12b86	Initialize TinyRenderer's depth buffer properly.	2017-11-17 14:59:24 +01:00
Michel Breyer	8257429964	Fix error discarding fragments in our_gl	2017-11-17 14:49:12 +01:00
Michel Breyer	5138fe2c55	Fix wrong depth values returned by TinyRenderer	2017-11-17 14:48:41 +01:00
Erwin Coumans	f483ccd8ef	remote org configs	2017-11-16 16:49:25 +00:00
Erwin Coumans	7b030426c1	add a temp copy of TF agents (until the API stops changing or configs.py are included)	2017-11-16 16:47:14 +00:00
erwincoumans	e982efc18a	fix in previous commit related to pybullet.c changeUserConstraint / pybullet_internalSetMatrix	2017-11-12 21:53:14 -08:00
erwincoumans	6be7e34dd6	pybullet vr_kuka_setup.py: add a gear joint, to keep the gripper centered, ... vr_kuka_control.py: control all joints, use analogue button to close gripper remove some debug warnings/prints pybullet, avoid crash in changeUserConstraint if not passing a [list] allow some gym environments (pybullet_pendulum and locomotors) to re-use an existing physics client connection.	2017-11-12 10:36:30 -08:00
erwincoumans	b5bf70cb80	fix potential memory leak when manually loading a texture (pybullet.loadTexture), due to URDF/SDF texture caching (manually loading textures are not cached)	2017-11-09 11:09:07 -08:00
Erwin Coumans	d570730b8e	fix pybullet and bump up version to 1.6.4	2017-11-07 21:11:16 -08:00
Erwin Coumans	344005a8f0	catch invalid mass/inertia instead of division by zero/nan. also, avoid indexing <0	2017-11-07 19:25:14 -08:00
erwincoumans	493d7bc94d	obj2sdf, add option to merge shapes with same materials, add support for transparent objects ... tiny_obj_loader, load the "d" and "Tr" transparant tag	2017-11-04 19:17:20 -07:00
Erwin Coumans	5701b5b152	expose COV_ENABLE_Y_AXIS_UP to pybullet ... increase MAX_SDF_BODIES from 512 to 1024 (botlab needs it)	2017-11-04 12:51:13 -07:00
Erwin Coumans	4798d66f19	fixes in kuka/racecar environment. kuka still doesn't train well, work-in-progress	2017-11-01 18:06:47 -07:00
Erwin Coumans	e4f58ddc33	fix typo, add train_ppo kuka task	2017-10-31 16:33:13 -07:00
Erwin Coumans	3709e68645	fix discrete versions of kuka grasping environment ... should fix issue 1386	2017-10-31 16:14:20 -07:00
Erwin Coumans	33d32d7ab4	add continuous version of kuka cam gym env test	2017-10-31 16:10:02 -07:00
Erwin Coumans	4e2dfbe58e	add minitaur duck environment ... see also https://www.youtube.com/watch?v=SLwUCMZdKLo and evolution strategies (hardmaru): https://twitter.com/hardmaru/status/925074585984237568	2017-10-31 16:05:52 -07:00
Erwin Coumans	55f5e52ecd	add continuous versions of kukaGymEnv, kukaCamGymEnv, racecarZEDGymEnv etc. ... should be trainable with PPO or evolution strategies (ES) now	2017-10-31 15:50:34 -07:00
Erwin Coumans	32312e60a8	Merge remote-tracking branch 'bp/master'	2017-10-29 12:28:00 -07:00
d3x0r	8e75d4375b	Fix missing DWORD variable (lost in merge port)	2017-10-28 14:50:44 -07:00
d3x0r	88b49947b5	Composite of fixed code for mingw64(on windows) and general fixes for msvc. ... 1) (win32window) don't convert char to wide, use char direct to window. 2) (CMakeLists) Don't link one library as static CPPLIB and no others (mismatched allocations) 3) (macros) Fix Gwen macros for mingw64 on windows build. (changes are by compiler(msc_ver) not platform) 4) (FileUtils) sprintf_s reference by platform, not compiler (mingw64 support) 5) (b3OpenCLUtils) fix bad define name _MSVC_VER->_MSC_VER 6) (compoundCollision) remove unused variables, simplify operation. 7) (impulseconstraint) remove duplicated code block	2017-10-28 14:42:38 -07:00
Erwin Coumans	48f0f29812	add integrate.py example	2017-10-27 18:26:32 -07:00
erwincoumans	c042c8f9b6	premake pybullet, use enable_static_vr_plugin ... add examples\pybullet\examples\vr_kitchen_setup_vrSyncPython.py (doesn't work well, need C++ sync and some optimizations)	2017-10-25 10:20:34 -07:00
erwincoumans	6a9300809d	premake4 add option --enable_static_vr_plugin to statically link the VR sync plugin ... fix texture caching from previous commit (what happened there?)	2017-10-25 10:00:45 -07:00
Erwin Coumans	9385f36505	add cartpole_bullet, should fix issue 1403	2017-10-25 08:37:01 -07:00
erwincoumans	7524e37124	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-10-25 08:15:14 -07:00
erwincoumans	ed8de36ffa	pybullet: allow to replace existing text, to avoid flickering (remove/add) ... allow texture caching (disable using the disable file caching)	2017-10-25 08:15:01 -07:00
erwincoumans	c1ba04a580	Merge pull request #1404 from erwincoumans/master ... perform IK in local body-fixed frame , add jointFrictionDamping.py example	2017-10-25 00:52:16 +00:00
Erwin Coumans	7a1dbf2e59	allow IK on a floating base, see video: ... add inverse_kinematics_husky_kuka.py example fix spacing in inverse_dynamics.py	2017-10-25 00:32:47 -07:00
Erwin Coumans	41a1362bc5	perform IK in local body-fixed frame ... For now, Jacobian, mass matrix and inverse dynamics return results in local coordinates of the tree.	2017-10-24 21:06:44 -07:00
Erwin Coumans	1998a62785	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-10-23 12:25:34 -07:00
Erwin Coumans	ca7d599838	add jointFrictionDamping.py example ... modify testrender.py to add shadow for tiny renderer	2017-10-23 12:25:04 -07:00
Jonathan Tompson	cbc2732cbd	Also added fix for Direct.	2017-10-22 16:07:00 -07:00
Jonathan Tompson	03b2cfe991	Added gear info to getConstraintInfo return. ... Fixed bug in GEAR constraint update.	2017-10-22 15:01:13 -07:00
erwincoumans	c149840264	Merge pull request #1396 from erwincoumans/master ... API changes in TensorFlow Agents	2017-10-20 20:46:56 -07:00
Erwin Coumans	d18bfec1a9	API changes in TensorFlow Agents ... See 164f620326 (diff-82bda908f176861c20aadc1d017c2527)	2017-10-20 20:32:49 -07:00
erwincoumans	28ea41bfe6	Merge pull request #1393 from YunfeiBai/master ... Expose IK solver options: DLS and SDLS.	2017-10-20 13:22:56 -07:00
yunfeibai	b67bccc575	Add inverse kinematics example for pole, which has a prismatic joint.	2017-10-19 14:30:37 -07:00
yunfeibai	dda1b05f4a	Expose IK solver options including DLS and SDLS.	2017-10-19 14:00:53 -07:00
erwincoumans	723c206d0f	Merge pull request #1390 from erwincoumans/master ... fix the pybullet.changeDynamics linear/angular damping	2017-10-18 19:48:35 -07:00
Erwin Coumans	c178c101a8	fix the pybullet.changeDynamics linear/angular damping ... expose pybullet.getConstraintState	2017-10-18 19:15:35 -07:00
Julien Schueller	9a9054728f	Windows case sentitive fs build fix	2017-10-15 02:05:01 +02:00
Julien Schueller	764d4a01de	Windows case sentitive fs build fix	2017-10-14 18:01:44 +02:00
Erwin Coumans	8750d49082	fix blocking plot.show() never terminating properly	2017-10-13 14:51:06 -07:00
erwincoumans	cb23e6c102	Fix pybullet.calculateInverseDynamics in the case where #dof != #joints (fixed joints). We still don't handle spherical joints in pybullet (even though the underlying inverse dynamics and forward dynamics support it) ... Also, add a inverse_dynamics.py example, with URDF files. Thanks to Michiel Lutter for the report and repro case! This fixes issue #1379 https://github.com/bulletphysics/bullet3/issues/1379	2017-10-13 14:19:25 -07:00
Erwin Coumans	10527e12eb	fix Mac OSX build, openvr 32bit/64bit was not selected, library out-of-date	2017-10-11 17:20:26 -07:00
Erwin Coumans	f2c64fdf40	bump up openvr to 1.0.10 for Linux and Mac	2017-10-10 22:25:36 -07:00
erwincoumans	254fd330f8	bump up ThirdPartyLibs/openvr to latest 1.0.10 from https://github.com/ValveSoftware/openvr ... (Windows only, Linux/Mac will follow in next commit)	2017-10-10 22:13:04 -07:00
erwincoumans	de44e4811a	fix pybullet.addUserDebugText borders around letters ... bump up pybullet version In a few pybullet examples, first connect to SHARED_MEMORY, if not connected use GUI mode	2017-10-10 22:11:32 -07:00
erwincoumans	c155e105a5	unlock thread at exitPhysics ... pybullet: don't crash in inverse kinematic if #dofs don't match due to free base C-API: don't crash if status/statusHandle = 0	2017-10-10 11:10:42 -07:00
erwincoumans	e5d4c73c40	fix very rare threading issue, let main thread compute the UID for user debug items ... add collision model to cartpole.urdf	2017-10-09 22:40:53 -07:00
erwincoumans	6b4f69f733	Merge remote-tracking branch 'bp/master'	2017-10-09 21:09:23 -07:00
yunfeibai	55b60e90f7	Modify inverse kinematics to also support robot model with fixed joint.	2017-10-09 18:28:52 -07:00
Erwin Coumans	d48e2a20af	fix a string check issue	2017-10-09 12:28:39 -07:00
Erwin Coumans	91e08ec986	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-10-09 12:28:07 -07:00
erwincoumans	7c7b9735c4	Merge pull request #1373 from jonathantompson/save_world_fix ... quick update to SAVE_WORLD for JOINT_GEAR.	2017-10-09 11:38:15 -07:00
erwincoumans	49a2771522	Implement the pybullet/Python equivalent of vr_kuka_setup_vrSyncPlugin.py ... In vr_kuka_setup_vrSyncPython.py, the vr controller is synced in Python, introducing a small lag Invr_kuka_setup_vrSyncPlugin.py, the vr controller is synced in C++ at the same frequency as the physics time step (240 Hz by default)	2017-10-09 10:52:25 -07:00
Jonathan Tompson	2dee1638f4	quick update to SAVE_WORLD for JOINT_GEAR.	2017-10-09 10:48:03 -07:00
Erwin Coumans	91d164d886	remove obsolete CartPoleBulletEnv	2017-10-09 09:44:54 -07:00
erwincoumans	7d7f5ee7d4	Merge pull request #1371 from jonathantompson/userConstraintResultArgs_fix ... Fixed setting of m_userConstraintResultArgs.	2017-10-08 22:56:56 -07:00
Jonathan Tompson	a57c7e7fcf	Fixed setting of m_userConstraintResultArgs (not sure how it ever worked for anyone). It was filling up the userConstraintData with stale memory.	2017-10-08 21:31:29 -07:00
erwincoumans	2f2f070ab5	allow changeVisualShape (rgbaColor, specularColor and texture) for maximal coordinates rigid body (btRigidBody) ... Make the examples\pybullet\examples\createVisualShape.py a bit more interesting	2017-10-08 11:34:42 -07:00
erwincoumans	b2edd81ef6	touch up createVisualShape.py example	2017-10-07 19:00:44 -07:00
erwincoumans	3826dddc83	fix asset paths, createVisualShape.py and duck.obj	2017-10-07 18:52:22 -07:00
erwincoumans	cec8da3d85	Implement first draft of pybullet.createVisualShape and add createVisualShape.py example ... add normals to duck.obj for nicer appearance fix plane100.urdf (so collision shape matches visual shape size)	2017-10-07 18:50:23 -07:00
Erwin Coumans	1034c7e720	reorder initializer	2017-10-06 17:30:10 -07:00
Erwin Coumans	93810d50e2	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-10-06 17:19:26 -07:00
Erwin Coumans	dbd82f26ba	fix TinyRenderer activateShapeTexture	2017-10-06 17:19:14 -07:00
Erwin Coumans	127982ab88	fix more bugs, introduced in previous recent commits	2017-10-06 16:00:33 -07:00
Erwin Coumans	027178ae6f	fix some compile issues/bugs	2017-10-06 15:34:25 -07:00
Erwin Coumans	4d803c104b	#include <string.h> // for memcpy	2017-10-06 14:04:43 -07:00
Erwin Coumans	26d32f2aa8	improve loading performance of large textures: ... option to disable tinyrenderer, use p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0) also make sure to use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loadURDF, and enable rendering afterwards using p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) reorder 2 loops, making the flip texels twice as fast (cache coherency), single memcpy of entire texture in tinyrenderer, instead of per-pixel copy (memory layout is the same) add lots of B3_PROFILE timings, to see where time is going	2017-10-06 13:46:24 -07:00
erwincoumans	b572fe43f9	fix signal handling in ExampleBrowser on linux/mac on termination ... expose all analogue axes from OpenVR (5 controllers, each x,y -> 10 floats) in pybullet.getVREvents(allAnalogAxes=1)	2017-10-05 12:59:58 -07:00
erwincoumans	822ff077c7	expose some parameters through pybullet.getPhysicsEngineParameters (C-API: b3InitRequestPhysicsParamCommand + b3GetStatusPhysicsSimulationParameters)	2017-10-05 11:43:14 -07:00
erwincoumans	1262adeaec	build a named tuple for 'getConnectionInfo' ... remove debug code	2017-10-05 09:57:17 -07:00
erwincoumans	9303891468	Allow to configure Y=up, default is Z=up, using pybullet.configureDebugVisualizer(COV_ENABLE_Y_AXIS_UP,0/1) ... Implement pybullet.getConnectionInfo, returns [isConnected, connectionMethod], where isConnected=0 or 1	2017-10-05 09:02:33 -07:00
erwincoumans	f467f325f7	store mass matrix in streaming part of shared memory (no support for unlimited mass matrix sizes at the moment)	2017-10-05 08:23:10 -07:00
erwincoumans	a2d6a2e822	Merge pull request #1350 from bingjeff/add_mass_matrix ... [pybullet] Add calculateMassMatrix.	2017-10-05 07:45:30 -07:00
erwincoumans	05b71a521d	update unity3d/examples/NewBehaviourScript.cs to load a plane and cube, synchronize the world transform ... added debug rendering from CjLib (with DrawLine from my fork here: https://github.com/erwincoumans/unity-cj-lib)	2017-10-04 12:21:52 -07:00
erwincoumans	1b03871b4d	use explicit size for name, to avoid issue converting/marshalling data to C# ... example to call b3VisualShapeInformation from C# and marshall b3VisualShapeData (after loadURDF) See examples\pybullet\unity3d\examples\NewBehaviourScript.cs	2017-10-03 18:01:53 -07:00
erwincoumans	9577875fe9	remove debug printf	2017-10-03 16:16:09 -07:00
Erwin Coumans	acbe457d31	add option to statically link a plugin, select the postFix (to avoid naming conflict of multiple plugins functions ('initPlugin' becomes initPlugin_postFix) ... pass events (keyboard, mouse, vr controllers etc) to the plugin, and clear them after the tick callback, so that it doesn't interfere with Python 'getEvents'	2017-10-03 15:00:52 -07:00
Erwin Coumans	0be9dde36c	Merge remote-tracking branch 'bp/master'	2017-10-03 09:09:56 -07:00
Srajan Garg	05ad68015d	add new example for btCompoundShape	2017-10-03 01:38:20 +05:30
Erwin Coumans	cd88614a22	search for the controller, instead of using a hard-coded number.	2017-10-02 12:22:46 -07:00
Jeffrey Bingham	e04820af73	Add calculateMassMatrix to pybullet.c	2017-09-30 20:39:56 -07:00
Jeffrey Bingham	d9782f953d	Add calculateMassMatrix to physics server command processor.	2017-09-30 13:56:40 -07:00
Jeffrey Bingham	7dfed65287	Add calculateMass to shared memory interface.	2017-09-30 13:39:11 -07:00
Jeffrey Bingham	31ee8bf8bc	Fix small typo in b3PluginArguments.	2017-09-30 13:17:48 -07:00
erwincoumans	a632b6c6a4	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-09-29 08:01:11 -07:00
erwincoumans	e0dbd25cb7	remove some unneeded/debug BT_PROFILE markers	2017-09-29 07:50:48 -07:00
erwincoumans	dd2c7af2b2	Update pybullet autogenerated C# bindings, with very basic example script that runs inside Unity 3D	2017-09-29 07:47:31 -07:00
Erwin Coumans	0948ce5984	import missing functools	2017-09-28 10:42:02 -07:00
Erwin Coumans	345836d670	revert to original agents train/visualize scripts, but using pybullet envs in configs.py (agents lacks a convenient way to extend environments)	2017-09-28 10:19:41 -07:00
Jeffrey Bingham	cd231c030e	more formatting.	2017-09-27 22:35:02 -07:00
Jeffrey Bingham	d49fade704	fix some formatting.	2017-09-27 22:30:32 -07:00
Jeffrey Bingham	d8b80bce40	Fix the translation jacobian.	2017-09-27 22:25:39 -07:00
Jeffrey Bingham	6da931d0bd	Adjust jacobian.py to show mismatch between joint state and link state.	2017-09-27 22:25:39 -07:00
Jeffrey Bingham	0b239e8bc0	[pybullet] Add an example for jacobian.	2017-09-27 22:25:39 -07:00
yunfeibai	54eada7579	Fix memory leak.	2017-09-27 16:42:29 -07:00
yunfeibai	85be3b43dd	Merge remote-tracking branch 'upstream/master'	2017-09-27 15:20:11 -07:00
yunfeibai	113e103bc2	Modify the joint damping input check, and output error message when it doesn't pass the size check. Modify the kuka grasping example accordingly. Setting joint damping in this example was a no-op before.	2017-09-27 15:18:08 -07:00
yunfeibai	adcece7927	Adjust the IK setup to address the inverse kinematics issues mentioned in #1249.	2017-09-27 14:14:57 -07:00
Erwin Coumans	4dca5b3ef5	fix typos in agents config	2017-09-27 12:17:59 -07:00
Erwin Coumans	a716752915	add __init__.py file in agents folder	2017-09-27 10:30:05 -07:00
Erwin Coumans	5082d6af15	bump up pybullet version, instruction to visualize agents ppo: ... python -m pybullet_envs.agents.visualize_ppo -config=pybullet_pendulum --logdir=pendulum/20170927T101514-pybullet_pendulum/ --outdir=vid tensorboard --logdir=20170927T101514-pybullet_pendulum --port=2222	2017-09-27 10:26:45 -07:00
Erwin Coumans	e4a3b3fe38	add TensorFlow Agents PPO training script for various pybullet environments: ... example: python -m pybullet_envs.agents.train_ppo --config=pybullet_pendulum --logdir=pendulum	2017-09-27 10:20:38 -07:00
Erwin Coumans	c37919604f	add minitaur environment randomizer, enable it by default ... this improves PPO training ( more stable)	2017-09-27 09:07:21 -07:00
erwincoumans	12f28c5f76	fix compile issue on MSVC	2017-09-26 19:58:24 -07:00
erwincoumans	e72ebc95de	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-09-26 19:54:57 -07:00
erwincoumans	8a265b8af2	expose gear erp/relative position target to C-API/pybullet ... finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py	2017-09-26 19:54:36 -07:00
Erwin Coumans	b03e5dec5f	return -1 for debugDrawItems in DIRECT mode, instead of failing the API	2017-09-26 11:40:38 -07:00
erwincoumans	b1f8eb74a4	bump up shared memory version number ... add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency	2017-09-26 10:05:17 -07:00
erwincoumans	270a036cd7	add experimental vrSyncPlugin, that syncs the position/orientation of a vr controller to a gripper (through a constraint) ... This is in C++ and the sync runs at the simulation speed (240 Hz), so there is less lag than in Python. Modify the pybullet/examples/vr_kuka_setup.py at the end to do this: plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll") controllerId = 3 p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid],[50])	2017-09-25 18:14:50 -07:00
erwincoumans	6d68a67c79	fix a bug in a changeVisualShape/texture selection, out-of-bounds check was using the wrong array. ... May fix some internal texture mug bug.	2017-09-25 11:11:48 -07:00
erwincoumans	0f30c95734	fix a compile error on Windows (variables need to be declared together at the start of a block in C)	2017-09-25 07:38:00 -07:00
Erwin Coumans	d3d1b51c3a	fix compile warnings	2017-09-24 23:26:06 -07:00
Erwin Coumans	705a59ea73	Merge remote-tracking branch 'bp/master'	2017-09-24 22:50:55 -07:00
erwincoumans	27674e5289	Update b3PluginManager.cpp ... pre/post tick were wrong order in initializer list	2017-09-24 22:39:20 -07:00
Erwin Coumans	2d91e13886	tweak pybullet examples a bit (mac OSX OpenGL runs in mainloop, with python interpreter, ... so it needs some 'ping' command bump up pybullet to version 1.4.6	2017-09-24 21:37:31 -07:00
Jeffrey Bingham	ee30ca93c5	[sharedmemory] Fill-out calculateJacobian command. ... The server command processor actually didn't do anything with the local point that was passed along with the calculateJacobian command. Added in the necessary bit of math to return the corresponding jacobian. Also, fixed a typo in pybullet that was returning the same jacobian for translation and rotation.	2017-09-24 18:57:48 -07:00
Erwin Coumans	97509dc9d0	add some missing files for premake, thanks to Jeff Bingham for the report	2017-09-24 16:10:14 -07:00
Erwin Coumans	70364445b8	Merge remote-tracking branch 'bp/master'	2017-09-24 09:49:53 -07:00
erwincoumans	b1d6f58981	Update pybullet.c ... fix compile issue	2017-09-24 09:16:54 -07:00
Erwin Coumans	63ee841bea	trigger build system	2017-09-23 21:01:56 -07:00
Jeffrey Bingham	1727e47beb	[pybullet] Add calculateJacobian. ... * Add the calculateJacobian method to the pybullet API. * Adjust the shared memory interface to handle fixed/floating bases in the calculateJacobian method. * Fix a few comments.	2017-09-23 19:58:59 -07:00
erwincoumans	8e496036c6	More work on the C/C++ plugin system for pybullet/C-API: ... Add preTickPluginCallback/postTickPluginCallback User pointer for b3PluginContext, to store objects (class/struct instances) Pass ints and floats as optional argument for plugin executePluginCommand	2017-09-23 18:05:23 -07:00
erwincoumans	5373ca39e1	add example snippet for the testPlugin/testplugin.cpp	2017-09-23 09:26:51 -07:00
erwincoumans	815a56c9bc	Allow to load a urdf file in the testplugin.cpp, as first quick test, example pybullet script: ... import pybullet as p p.connect(p.GUI) pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll") commandUid = 0 argument = "plane.urdf" p.executePluginCommand(pluginUid,commandUid,argument) p.unloadPlugin(pluginUid)	2017-09-23 09:25:00 -07:00
erwincoumans	37cfce99b2	add arguments to plugin system	2017-09-23 07:52:10 -07:00
erwincoumans	240fff575d	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-09-23 07:22:50 -07:00
Erwin Coumans	3783dccaa3	create a C/C++ plugin system for pybullet / C-API.	2017-09-22 19:17:57 -07:00
erwincoumans	312e35964f	make some code const correct.	2017-09-22 07:53:21 -07:00
Erwin Coumans	b9b1b2dbca	add B3_SHARED_API to the remaining PhysicsClientC_API APIs	2017-09-21 16:40:19 -07:00
Erwin Coumans	37253443f9	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-09-21 14:24:44 -07:00
Erwin Coumans	cc0c46c4b0	re-update the VR camera	2017-09-21 14:24:22 -07:00
Erwin Coumans	176c2512de	add B3_SHARED_API definition for Mac / Linux / gcc	2017-09-21 08:37:00 -07:00
erwincoumans	6a7efac4c3	Quick first prototype/test to integrate pybullet into Unity, ... see readme.txt for details.	2017-09-20 23:18:18 -07:00
Erwin Coumans	ae8f12e8ba	more fixes for retina + glfw + opengl2 fallback	2017-09-20 13:09:18 -07:00
Erwin Coumans	fb05763093	support retina / scale factor between pixel size and screen coordinate size	2017-09-20 10:07:18 -07:00
Erwin Coumans	3e0b72b632	allow to configure glfw on Mac OSX, disabled by default	2017-09-20 08:12:59 -07:00
erwincoumans	b079277d51	minor fixes in GLFWOpenGLWindow	2017-09-19 21:40:17 -07:00
erwincoumans	cadce37141	add GLFWOpenGLWindow and glad (replacement for glew)	2017-09-19 21:16:24 -07:00
erwincoumans	390f111547	enable option to use GLFW, instead of our own cross-platform X11/Cocoa/Windows OpenGLWindow classes	2017-09-19 21:10:54 -07:00
erwincoumans	2919e51d9d	fix loading of empty file (after header) ... remove debug printf	2017-09-17 15:44:14 -07:00
Erwin Coumans	f4b28dddce	fix rendering ("rgb_array") for pendulums/pendula	2017-09-15 16:33:22 -07:00
erwincoumans	1881f6679a	fix issue with rendering of certain capsules from MJCF files.	2017-09-15 15:38:24 -07:00
Erwin Coumans	81bf709ad7	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-09-15 13:12:06 -07:00
Erwin Coumans	3d7ee317db	fix pybullet gym environments: InvertedDoublePendulumBulletEnv-v0, ... InvertedPendulumBulletEnv-v0, InvertedPendulumSwingupBulletEnv-v0 motors were not disabled, extra gains applied etc.	2017-09-15 13:09:05 -07:00
Erwin Coumans	2e7c0cef38	pybullet/C-API: fix width/height when getCameraImage has a fallback from OpenGL hardware ... to TinyRenderer	2017-09-14 15:39:22 -07:00
erwincoumans	ffb05d74da	Merge pull request #1308 from benelot/fix-gyms ... Fix gyms to make them work just like robotschool	2017-09-14 07:40:51 -07:00
Benelot	3f57fb655a	Enable randomized reset for Humanoid.	2017-09-14 12:53:12 +02:00
Benelot	2e8a86462f	Remove tweaks added by me but not part of roboschool.	2017-09-14 12:52:21 +02:00
Erwin Coumans	74475479cf	fix pybullet, checked wrong type after connection	2017-09-13 17:05:23 -07:00
Erwin Coumans	7e0ca070e0	fix return values in pybullet to be Pythonic.	2017-09-13 16:08:30 -07:00
Erwin Coumans	6942a9f8ef	remove a debug printf	2017-09-13 13:48:37 -07:00
Erwin Coumans	c220513757	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-09-13 13:31:56 -07:00
Erwin Coumans	340a8f4704	add sigaction handler to Example Browser, to always shutdown shared memory ... make GUI_SERVER more reliable next attempt to connect to SHARED_MEMORY in Gym envs, if available, before DIRECT/GUI allow software rendering fallback, even if ER_BULLET_HARDWARE_OPENGL is chosen in getCameraImage	2017-09-13 13:30:16 -07:00
Erwin Coumans	97a62b33c0	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-09-13 12:07:59 -07:00
Erwin Coumans	2eaac410b5	remove memory of loadTexture.	2017-09-13 12:07:19 -07:00
Erwin Coumans	c250a5f0b9	re-enable shared memory connection for pybullet Gym envs (with fallback to GUI or DIRECT) ... suppress shared memory connection warnings add fallback from ER_BULLET_HARDWARE_OPENGL to TinyRenderer if not available	2017-09-13 09:56:39 -07:00
erwincoumans	cc9995d44b	fix uninitialized camera position in 'VR' / 'camera rendering' mode (causing broken specular reflections in VR) ... use debug visualizer camera viewmatrix/projection matrix if not provided, in ER_BULLET_HARDWARE_OPENGL mode. fix broken changeRGBAColor implementation, thanks to Laura for the report!	2017-09-12 22:14:00 -07:00
erwincoumans	9d804cfb97	avoid crash if swRenderInstances are not available	2017-09-12 17:27:18 -07:00
Erwin Coumans	19057c2004	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-09-11 21:49:58 -07:00
Erwin Coumans	3d3e391b6a	Support SDF capsule and cylinder.	2017-09-11 21:49:39 -07:00
Erwin Coumans	ec25f663c2	fix getAABB.py on mac osx ... fix humanoid_benchmark.py and explain how to read/interpret that file in Google Chrome	2017-09-11 19:46:54 -07:00
Erwin Coumans	3891602784	enable continuous action space for racecarZEDGymEnv ... disable SHARED_MEMORY connection (it was just some debug test)	2017-09-11 17:34:06 -07:00
Erwin Coumans	20f97f78b8	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-09-11 09:39:20 -07:00
Erwin Coumans	105c2c948f	add simple 'runServer.py' script, that lets you run a GUI shared memory server to connect to	2017-09-11 09:38:55 -07:00
Erwin Coumans	416c29daf7	fix with shared memory connection while disabling rendering	2017-09-11 09:30:39 -07:00
Erwin Coumans	f38b2cf14d	use SHARED_MEMORY as first connection attempt, to make visualization/OpenGL rendering easier	2017-09-11 09:23:14 -07:00
erwincoumans	6f51d81cbb	Revert "Export targets in CMake and add include directories to target properties"	2017-09-10 21:20:54 -07:00
Erwin Coumans	ee082396d1	fixes in libdl/DL cmake ... minor tweaks in pybullet OpenAI gym locomotion envs (connect to shared memory before going GUI/DIRECT) bump up pybullet version to 1.3.6	2017-09-10 16:22:45 -07:00
Markus Rickert	fbffb246fe	Export targets in CMake and add include directories to target properties	2017-09-10 23:43:50 +02:00
Erwin Coumans	466c853489	add testMJCF.py script, to visualize MJCF file	2017-09-10 10:45:38 -07:00
Erwin Coumans	7c15767452	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-09-10 07:48:59 -07:00
Erwin Coumans	ec18adbf0a	fix MJCF visual shape capsule conversion code (fromto case)	2017-09-10 07:48:43 -07:00
Erwin Coumans	125380ce15	revert feet related reward in ant	2017-09-09 22:35:48 -07:00
Erwin Coumans	de28334a70	tweak to testEnv.py, sample usage: ... python testEnv.py --rgb=1 --render=1 --step=100000 --env="HumanoidBulletEnv-v0"	2017-09-09 16:36:42 -07:00
Erwin Coumans	ce64aff7af	ant env, fix feet_collision reward issue	2017-09-09 16:00:03 -07:00
Erwin Coumans	666c824b81	enable pybullet_env Ant Gym rendering, tinyRenderer has some issue with the ant.xml file though	2017-09-09 15:27:10 -07:00
Erwin Coumans	c895bd244f	track down DL/dl issue	2017-09-09 13:05:45 -07:00
Erwin Coumans	4f47a223ef	more fixes in Gym Ant to make reward the same as Roboschool, ... apparently feet_collision_cost is not properly updated in Roboschool, for now, disable it in pybullet too: see https://github.com/openai/roboschool/issues/63	2017-09-09 12:36:53 -07:00
Erwin Coumans	c144d9c045	add simple script to test some of the pybullet gym environments (work-in-progress/experimental)	2017-09-08 15:25:16 -07:00
Erwin Coumans	86840bf50d	trigger travis	2017-09-07 17:24:17 -07:00
Erwin Coumans	cbe0d0aff2	pybullet fix: accidently enable self-collision	2017-09-07 14:27:00 -07:00
Erwin Coumans	9ecd345783	backwards compatibility...	2017-09-07 11:40:11 -07:00
Erwin Coumans	c30e9aea92	revert minitaur.urdf to previous (backward compatibility) and add _v1 for better version.	2017-09-07 11:23:41 -07:00
Erwin Coumans	b0e50d0d5a	pybullet Gym envs: add more sleep in the enjoy functions to see what's happening.	2017-09-07 11:17:38 -07:00
Erwin Coumans	3d702879c5	pybullet: improvements in Gym Ant environment (work-in-progress)	2017-09-07 11:06:42 -07:00
Erwin Coumans	cfc07565ac	fix dumpLog.py	2017-09-06 14:34:10 -07:00
Erwin Coumans	c82131d16e	cmake fixes	2017-09-06 14:18:35 -07:00
Erwin Coumans	7878f7ace9	Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake ... Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)	2017-09-06 13:18:39 -07:00
Erwin Coumans	ff0cd65346	fix __init__.py, add stadium without collision for testing	2017-09-05 21:47:35 -07:00
Erwin Coumans	a985d441bd	Re-enable Physics Server (Logging) and Physics Server (Replay Log)	2017-09-04 19:00:50 -07:00
Erwin Coumans	3f21e528f0	revert name 'v' -> 'u' (backward compatibility) and 'u' -> 't' ... make vr_kuka_setup.py load faster, by disabling rendering during loading allow to setRealTimeSimulation(0) in VR	2017-09-02 11:35:54 -07:00
erwincoumans	8319fa0380	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-09-02 01:06:47 -07:00
erwincoumans	1221c6d91d	quadruped.py test, use generalized coordinates (not maximal coordinates) by default	2017-09-02 01:06:33 -07:00
erwincoumans	eb97e06280	fix minitaur.urdf: move lower-leg inertia to center, add missing collision for one of the motors, add contact parameters for friction_anchor, spinning friction, compliance (stiffness/damping) ... fix in indexing for maximal coordinates (unused by default, still experimental, requires many iterations for Minitaur due to extreme mass-ratio, hence use of reduces/generalized coordinates) modify quadruped.py to test maximal coordinates wrap angular servo (positional) target within [-PI,PI] in btGeneric6DofSpring2Constraint add 'j' key to show body frames in wireframe/debug mode	2017-09-02 01:05:42 -07:00
Erwin Coumans	6d940d7a02	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-08-31 10:00:24 -07:00
Erwin Coumans	6d0e2cd527	update pybullet docs, add getList to pybullet_envs	2017-08-31 09:59:40 -07:00
erwincoumans	ee30479a28	add option to log joint torques (due to user applied torques and/or motor torques) ... See quadruped.py for an example: p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES) Thanks to JulianYG, in pull request https://github.com/bulletphysics/bullet3/pull/1273	2017-08-30 19:41:15 -07:00
erwincoumans	8dfa76e924	implement pybullet.createUserConstraint for maximalCoordinates (fixed, p2p, gear) ... maximalCoordinates, make sure parent is bodyA, child is BodyB	2017-08-30 09:54:38 -07:00
Erwin Coumans	9d404f5316	bump up pybullet version, pre-sort visual shapes	2017-08-29 21:36:56 -07:00
erwincoumans	1f7db4519e	enable motor control for maximal coordinates robots (btRigidBody, btTypedConstraint) for force, velocity, position control.	2017-08-29 19:14:27 -07:00
erwincoumans	4ff6befc6d	avoid flickering in visualizer window, when doing pybullet.getCameraImage	2017-08-29 12:13:21 -07:00
Erwin Coumans	029b4debad	fix in minitaur.py and add render function in minitaur_gym_env.py	2017-08-28 19:28:20 -07:00
Erwin Coumans	1900966805	small rename	2017-08-27 19:54:20 -07:00
Erwin Coumans	3f00c7bd49	small tweak in vr_kuka_setup.py example	2017-08-27 19:53:38 -07:00
Erwin Coumans	c8cb0a5f42	add missing sphere_small.urdf, add vr_kuka_setup.py example.	2017-08-27 19:41:40 -07:00
Erwin Coumans	1569f3845c	more fixes in pybullet_gym envs/data. ... implement pybullet.setAdditionalSearchPath	2017-08-27 19:34:00 -07:00
Erwin Coumans	d9faea8c1c	add more URDF files to pybullet_data	2017-08-27 19:26:53 -07:00
Erwin Coumans	793904fc89	fix windows 64bit openvr/lib/win64/openvr_api.lib to find openvr64pi.dll (different name from 32bit version, to co-exist)	2017-08-27 18:30:12 -07:00
Erwin Coumans	659e869b86	pybullet a bit more refactoring, moving around files. ... pybullet: move data to pybullet_data package, with getDataPath() method	2017-08-27 18:08:46 -07:00
Erwin Coumans	e267f5c3d2	move pybullet.connect into the Gym environment. ... If you like to enable rendering, call the env.render(mode="human") before calling the first env.reset	2017-08-26 14:58:48 -07:00
Erwin Coumans	51b7e1040f	more fixes in the pybullet gym environments: use main instead of demo_run, ... add missing main to some eaxmples. pip install pybullet train: python -m pybullet_envs.examples.train_pybullet_cartpole enjoy: python -m pybullet_envs.examples.enjoy_pybullet_cartpole enjoy pretrained environments: python -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may python -m pybullet_envs.examples.enjoy_TF_HalfCheetahBulletEnv_v0_2017may python -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may python -m pybullet_envs.examples.enjoy_TF_HopperBulletEnv_v0_2017may python -m pybullet_envs.examples.enjoy_TF_HumanoidBulletEnv_v0_2017may python -m pybullet_envs.examples.enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may python -m pybullet_envs.examples.enjoy_TF_InvertedPendulumBulletEnv_v0_2017may python -m pybullet_envs.examples.enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may python -m pybullet_envs.examples.enjoy_TF_Walker2DBulletEnv_v0_2017may Run some gym environment test: python -m pybullet_envs.examples.racecarGymEnvTest Create/Import a specific Gym environment: python import pybullet_envs env = gym.make("AntBulletEnv-v0") env = gym.make("HalfCheetahBulletEnv-v0") env = gym.make("HopperBulletEnv-v0") env = gym.make("HumanoidBulletEnv-v0") env = gym.make("Walker2DBulletEnv-v0") env = gym.make("InvertedDoublePendulumBulletEnv-v0") env = gym.make("InvertedPendulumBulletEnv-v0") env = gym.make("MinitaurBulletEnv-v0") env = gym.make("RacecarBulletEnv-v0") env = gym.make("KukaBulletEnv-v0") env = gym.make("CartPoleBulletEnv-v0")	2017-08-26 13:13:53 -07:00
Erwin Coumans	bcc60224f0	all methods (except connect, obviously) have the physicsClientId argument, even if they don't use it. This makes it easier to create a wrapper API to store the physics client. This allows easier multi-threaded versions with multiple Bullet DIRECT instances (or SHARED_MEMORY, TCP, UDP etc). ... See for example https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py and https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur.py	2017-08-25 14:04:45 -07:00
Erwin Coumans	0d0caa7cbc	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-08-24 22:02:34 -07:00
Erwin Coumans	1fc148d5d0	fixes in racecarGymEnv: implement 'render' rgb image, fix in naming, ... fix in observation bounds.	2017-08-24 22:01:45 -07:00
Jonathan Tompson	29acd99d25	changed exit(0) to exit(EXIT_FAILURE) for OpenGLWindow functions, and changed printf to fprintf(stderr for error string printing.	2017-08-24 15:18:43 -07:00
Erwin Coumans	a975d094c3	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-08-24 13:33:58 -07:00
Erwin Coumans	cb6914fa4c	use better defauls values for minitaur	2017-08-24 13:33:45 -07:00
Erwin Coumans	5c5993edcb	fix potential memory leaks for concave triangle meshes (<concave=true> or createCollisionShape with flags=1)	2017-08-24 09:16:11 -07:00
Erwin Coumans	f0c32b84c0	allow continuous control for MIT racecar gym environment, use differential drive version	2017-08-23 23:12:26 -07:00
Erwin Coumans	8a4f51baa4	Merge branch 'master' of https://github.com/erwincoumans/bullet3	2017-08-23 21:45:05 -07:00
Erwin Coumans	ff4270a517	fix pybullet racecarGymEnv to use thread-safe pybullet	2017-08-23 18:22:20 -07:00
Erwin Coumans	75231d63e8	use name MinitaurBulletEnv	2017-08-23 17:45:41 -07:00
Erwin Coumans	0851b45f39	update minitaur gym env	2017-08-23 17:41:34 -07:00
Erwin Coumans	8866840712	Clarify in naming that the environment uses MJCF xml files with Bullet, it doesn't use MuJoCo.	2017-08-23 15:03:57 -07:00
Erwin Coumans	f19f28b5ed	more fixes in pybullet/resources, moved enjoy/train/test in 'examples' folder.	2017-08-22 10:07:47 -07:00
Erwin Coumans	21ca6a90f0	more fixes for pybullet	2017-08-22 09:32:16 -07:00
Erwin Coumans	dd4cc5f4ef	add minitaur quadruped	2017-08-22 09:00:46 -07:00
Erwin Coumans	e064d4b837	more fixes in pybullet_envs: fix path, add missing data resources	2017-08-22 08:59:39 -07:00
Erwin Coumans	21f9d1b816	refactor pybullet/gym to allow instantiating environments directly from a pybullet install: ... work-in-progress (need to add missing data files, fix paths etc) example: pip install pybullet pip install gym python import gym import pybullet import pybullet_envs env = gym.make("HumanoidBulletEnv-v0")	2017-08-22 00:42:02 -07:00
Erwin Coumans	c06ea72a4c	improve the new pybullet gym environments, follow camera, disable 2D GUI, disable rendering during loading (makes it faster) ... disable vsync on Mac fix setup.py file	2017-08-20 18:11:53 -07:00
Erwin Coumans	c4112ec5cc	Merge remote-tracking branch 'bp/master'	2017-08-19 16:16:56 -07:00
Erwin Coumans	b80a387a1e	upgrade to latest OpenVR 1.0.9 (https://github.com/ValveSoftware/openvr) ... enable experimental Mac OSX OpenVR, tested using Apple External Graphics Development Kit.	2017-08-19 09:48:32 -07:00
erwincoumans	a4f28e1589	Merge pull request #1219 from lunkhound/pr-nncg ... NNCG solver: apply rolling friction consistently	2017-08-18 13:31:54 -07:00
erwincoumans	b940a83797	Merge pull request #1257 from erwincoumans/master ... bump up pybullet setup.py version, make B3_NO_PYTHON_FRAMEWORK defaul…	2017-08-18 13:30:03 -07:00
erwincoumans	c0984b80e5	Merge pull request #1231 from benelot/bullet-gym ... Add nearly all gym environments using pybullet together with the…	2017-08-18 13:29:43 -07:00
Erwin Coumans	226aaedc46	bump up pybullet setup.py version, make B3_NO_PYTHON_FRAMEWORK default on Mac ... minor fixes (arg name in header/cpp the same)	2017-08-18 08:53:46 -07:00
Benelot	3191291748	Split pendula robot from the pendula envs due to changes in the underlying mujoco xml base env.	2017-08-17 00:25:16 +02:00
Benelot	9f20e40541	Rename old humanoid gym to simple humanoid gym.	2017-08-17 00:06:01 +02:00
Benelot	f74a9299a8	Unversion manipulators for now. They come back as they are ready.	2017-08-16 22:43:40 +02:00
Erwin Coumans	a66576f034	revert API to be backward compatible, add b3CreateInProcessPhysicsServerAndConnectSharedMemory ... same for BulletURDFImporter constructor	2017-08-16 12:33:25 -07:00
Benelot	68106d66dd	Split locomotion environments.	2017-08-16 08:08:24 +02:00
erwincoumans	2e0a987750	pybullet only allow one GUI/GUI_SERVER instance. ... Fix LINK_FRAME/WORLD_FRAME coordinate issue in pybullet applyExternalForce	2017-08-15 14:15:30 -07:00
Erwin Coumans	99beb44625	fix build issues in previous commit	2017-08-15 10:46:09 -07:00
erwincoumans	9d0f875c5b	fix compile issues due to API change (additional argument)	2017-08-15 09:34:44 -07:00
Benelot	cab3de35e4	Remove duplicate assets and use other assets. Rename classes appropriately for robot-scene-env split refactoring.	2017-08-15 15:31:24 +02:00
Erwin Coumans	60b60ef9fd	add pybullet.connect(pybullet.GUI_SERVER) option. This allows shared memory connections, acting as a physics server. You can connect using SHARED_MEMORY to this GUI_SERVER.	2017-08-14 17:02:20 -07:00
Erwin Coumans	aafaa7e33e	Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations. ... Fix two_cubes.sdf (was lacking collision shape for second cube)	2017-08-14 14:59:41 -07:00
erwincoumans	dfaa717fed	Merge pull request #1252 from erwincoumans/master ... fix pybullet GUI performance issue on Mac OSX, fix potential memory leak in loadSDF when visuals have the same name.	2017-08-11 18:11:53 -07:00
erwincoumans	457312f94f	fix leak in loadSDF in case of visuals with duplicate/identical names that have a material. ... fix GUI performance issue on Mac OSX fix issue introduced in previous commit (in btConvexHullComputer.cpp)	2017-08-11 17:14:52 -07:00
Benelot	4771bae9fa	Merge branch 'master' into bullet-gym	2017-08-10 22:50:12 +02:00
erwincoumans	0eb3898c76	Merge pull request #1244 from erwincoumans/master ... add 'createObstacleCourse.py' example, helps reproducing	2017-07-29 13:20:14 +02:00
Erwin Coumans	d28dd2f80a	add 'createObstacleCourse.py' example, helps reproducing ... Parkour paper: https://arxiv.org/abs/1707.02286	2017-07-29 13:18:49 +02:00
yunfeibai	cfc7917586	Add init function and module for pybullet with EGL.	2017-07-18 13:52:29 -07:00
Erwin Coumans	c9b41737c0	add example of faster URDF/SDF loading in VR/GUI mode, ... by temporary disabling rendering	2017-07-14 23:32:53 +01:00
Erwin Coumans	0df8887990	improve pybullet performance of loadURDF/SDF/MJCF and 'createCollisionShape'/'createMultiBody' for GUI/VR/SHARED_MEMORY, ... use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loading and p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) afterwards	2017-07-14 23:12:16 +01:00
Benjamin Ellenberger	a6aade2e21	Add nearly all gym environments using pybullet together with the latest tf model from the roboschool model zoo.	2017-07-14 23:38:15 +02:00
Lunkhound	e85e2ee127	MultiThreadedDemo: make it possible to dial in a single large island, and ... tilt the ground and adjust rolling friction	2017-07-02 21:05:51 -07:00
Erwin Coumans	5178ad4abc	add proper pointer casts	2017-07-01 10:28:28 -07:00
Erwin Coumans	9cf747b35b	a few compile/warning fixes	2017-07-01 10:01:55 -07:00
Erwin Coumans	c17625a4d0	texture check fix	2017-07-01 09:15:00 -07:00
Erwin Coumans	88897cc744	implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added) ... See also examples\pybullet\examples\changeTexture.py	2017-06-30 19:11:43 -07:00
Erwin Coumans	dd3d55610b	fixes in pybullet.loadTexture, changeVisualShape replacing texture. ... (also works for OpenGL3 renderer now)	2017-06-30 13:35:07 -07:00
Erwin Coumans	dcaaed9238	also generate TinyRendererVisualShapeConverter for programmatically generated collision shapes ... use similar random colors for TinyRenderer (if rgba colors are not specified)	2017-06-29 22:06:27 -07:00
Erwin Coumans	bf800e30d5	Added manually converted widowx.urdf from https://github.com/RobotnikAutomation/widowx_arm ... Added simple pybullet file in Bullet/examples/pybullet/examples/widows.py (preliminary, both URDF and py file needs more work to be useful) https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml See also http://www.trossenrobotics.com/widowxrobotarm	2017-06-29 17:54:04 -07:00
erwincoumans	d5fe67cf57	Add pybullet transparent.py example, transparency with global per-object sort in GLInstancingRenderer	2017-06-24 19:38:31 -07:00