Maxime Busy
b4eca192fb
Parse physicsClientId before calling getPhysicsClient
2019-01-23 12:02:17 +01:00
erwincoumans
101429e6a3
Merge pull request #2041 from gsp-27/gsp-27-patch-1
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Added code for issue #2036
2019-01-04 07:56:14 -08:00
erwincoumans
32282fece0
Merge pull request #2043 from crashcover/NUM_USER_COLLISION_SHAPES
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initialize m_numUserCollisionShapes correctly for b3InitRemoveBodyCom…
2019-01-04 07:55:26 -08:00
Andreas Daeubler
0fe086cca2
initialize m_numUserCollisionShapes correctly for b3InitRemoveBodyCommand
2019-01-04 08:42:47 +01:00
Erwin Coumans
0963eb3597
malloc -> new
2019-01-03 17:41:21 -08:00
Erwin Coumans
19aafd5221
PyBullet: handle the switch from fixed base to floating base when changing mass from zero to non-zero
2019-01-03 17:35:12 -08:00
Erwin Coumans
bf9efffa4b
Increase mesh allocation for vertices/indices in PyBullet.createCollisionShape
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See createMesh.py for an example.
The data has to fit in shared memory, hence the limit on Mac is lower than Windows and Linux:
#ifdef __APPLE__
#define B3_MAX_NUM_VERTICES 8192
#define B3_MAX_NUM_INDICES 32768
#else
#define B3_MAX_NUM_VERTICES 131072
#define B3_MAX_NUM_INDICES 524288
#endif
2019-01-03 16:19:28 -08:00
gaurav pathak
7f73081a89
Added code for issue #2036
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Made necessary changes to ```humanoid_deep_mimic_env.py``` file, setting ```initial_frame``` to new position after simulation steps and setting ```SimTime``` using this new initial frame time
2019-01-03 18:17:08 -05:00
erwincoumans
5e08808e69
Fix issue 1883, OpenGL 2.x doesn't have glGenerateMipmap
2018-12-22 11:42:29 -08:00
erwincoumans
fb2baa81d6
only use the mutex if using BT_THREADSAFE
2018-12-22 11:35:56 -08:00
erwincoumans
9c4136da16
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2018-12-19 20:15:40 -08:00
erwincoumans
8e8c3fb315
few fixes in inverse dynamics
2018-12-19 20:15:30 -08:00
erwincoumans
78de1f070f
add example comparing explicit PD control (Python), explicit PD control (plugin), position constraint and stable PD control (Python)
2018-12-19 20:12:19 -08:00
Erwin Coumans
e3c03401c8
PyBullet: fixed a few more file leaks
2018-12-04 19:58:24 +01:00
Erwin Coumans
d4db50f668
PyBullet: fix some file leaks.
2018-12-04 19:37:25 +01:00
erwincoumans
69321a9ee6
allow textured cube/sphere from URDF 'box' and 'sphere' visual primitive, when using
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texUid = p.loadTexture("tex256.png")
p.changeVisualShape(cube ,-1, textureUniqueId = texUid)
See also https://github.com/bulletphysics/bullet3/issues/2012
2018-11-29 15:41:32 -08:00
erwincoumans
dc642c6e65
fix previous commit related to dofcount in inverse dynamics
2018-11-27 19:38:19 -08:00
erwincoumans
192d27743a
enable pybullet.calculateInverseDynamics for floating bodies
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Using calculateInverseDynamics with zero target acceleration allows to compute the non-linear dynamics forces (coriolis/gyroscopic) and/or gravity force.
2018-11-27 08:49:56 -08:00
Erwin Coumans
2e30a9565b
add humanoid_deepmimic_gym_env.py for HumanoidDeepMimicBulletEnv-v1 (still untested)
2018-11-25 15:33:28 -08:00
Erwin Coumans
fbfa13894b
Merge remote-tracking branch 'bp/master'
2018-11-25 12:58:22 -08:00
erwincoumans
cf48697fcf
PyBullet on Windows: disable harmless warning of not being able to connect to shared memory server.
2018-11-24 11:57:01 -08:00
erwincoumans
bb6f4fb17c
improve the ARS implementation: add multiprocessing Gym environment stepping, add command-line parameters to resume a policy, --render, --movie, --steps, --env
2018-11-24 11:54:36 -08:00
erwincoumans
ca36a82c62
add deepmimic args file (for testing)
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implement deepmimic reward function (only joint angles/velocities for now)
fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp
2018-11-23 18:32:23 -08:00
erwincoumans
5f0dcb575f
add DeepMimic helper utils
2018-11-23 18:01:39 -08:00
erwincoumans
7669fc92c5
add shiftCenterOfMass.py example.
2018-11-23 18:01:00 -08:00
erwincoumans
121cdc91b0
more work on PyBullet implementation of DeepMimic humanoid mimic of motion capture.
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b3Quaternion, deal with zero-length axis (in axis,angle constructor)
2018-11-21 11:09:10 -08:00
erwincoumans
f93e4e4553
fix mjcf2urdf.py for Python 3 (utf) and don't export visuals (let it auto-convert from collision element)
2018-11-21 11:07:05 -08:00
erwincoumans
41e28e3587
Add link/joint names for DeepMimic humanoid urdf
2018-11-20 21:40:20 -08:00
stolk
5e44dd0c1d
Show btHinge2 oscillation.
2018-11-19 14:47:03 -08:00
Erwin Coumans
bded2968ea
add PyBullet.rotateVector method
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add missing walk humanoid3d_walk.txt
2018-11-19 10:10:33 -08:00
erwincoumans
f9f8d0fbb0
example for fileIOPlugin.py loading SDF and its assets from a single zipfile,
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also show how to disable file caching (used in the fileIOPlugin)
2018-11-17 14:11:01 -08:00
erwincoumans
9e99f5cdbc
Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion
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Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic
Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py
Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py
Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
2018-11-16 17:29:03 -08:00
erwincoumans
9ad77a220e
Merge pull request #1990 from erwincoumans/master
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If a convex has called 'initializePolyhedralFeatures', use those feat…
2018-11-13 15:32:05 -08:00
erwincoumans
7c7235a8c5
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2018-11-13 14:32:38 -08:00
erwincoumans
7dd524075c
Implement btMultiBodySphericalJointMotor, able to track a quaternion position target.
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Expose this btMultiBodySphericalJointMotor through PyBullet.setJointMotorControlMultiDof
Expose PyBullet.getQuaternionSlerp
Improve PyBullet.setJointMotorControlMultiDof
Improve humanoidMotionCapture.py with slerp and using setJointMotorControlMultiDof
Expose btMultiBody::spatialTransform
Fix btMultiBody::setupPlanar from DeepMimic codebase
Add support for multidof joints in btMultiBody::compTreeLinkVelocities, thanks to DeepMimic codebase @xbpeng
2018-11-13 14:32:18 -08:00
erwincoumans
75d60e1550
Merge pull request #1978 from stolk/master
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Added Benchmark Demo for packed convex shapes.
2018-11-12 21:51:25 -08:00
erwincoumans
60b9551b38
If a convex has called 'initializePolyhedralFeatures', use those features also to create debug visualizer mesh, to avoid showing penetration.
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Avoid crash in InvertedPendulumPDControl, due to recent change in m_jointFeedbackInWorldSpace
2018-11-12 21:46:11 -08:00
erwincoumans
a06b5de7b6
add converted humanoid from DeepMimic ( https://github.com/xbpeng/DeepMimic ,
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thanks to Jason Peng), and motion capture playback example.
See also https://www.youtube.com/watch?v=vw3EKnKrgqw
2018-11-11 20:15:47 -08:00
erwincoumans
0b2142414d
fix usage of btMultiBody::setJointPosMultiDof/setJointVelMultiDof
2018-11-11 19:04:07 -08:00
erwincoumans
17219f84c6
make setJointPosMultiDof and setJointVelMultiDof argument const.
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add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
2018-11-10 14:26:31 -08:00
stolk
fe07b0da9d
Merge remote-tracking branch 'upstream/master'
2018-11-09 16:05:25 -08:00
erwincoumans
642c6a71d2
fix 2 potential data race conditions.
2018-11-08 14:41:22 -08:00
erwincoumans
49b098854e
PyBullet: avoid calling syncBodies for each DOF in pdControl.
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Allow PD_CONTROL in setJointMotorControlArray.
2018-11-07 09:29:19 -08:00
Erwin Coumans
882252f8c0
move global from btMultiBody into dynamicsWorld.getSolverInfo
2018-11-05 10:50:03 -08:00
Erwin Coumans
ac18c95ea1
fix some race conditions
2018-11-05 10:04:19 -08:00
Erwin Coumans
8b53e47fe8
add simpler ARS implementation, thanks to Alexis Jacq and Hadelin de Ponteves
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(will add save/restore of policy and rendering movies through command-line arguments soon)
2018-11-02 11:19:46 -07:00
stolk
464100168f
Added Benchmark Demo for packed convex shapes.
2018-11-02 10:13:08 -07:00
Erwin Coumans
f6ea2a7379
fix a potential data race condition.
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remove createObstacleCourse programmatic creation part until we can steam vertices/indices.
2018-11-01 10:20:54 -07:00
erwincoumans
750133694c
Disable btQuickprof.h profiling by default. We use custom profiling functions, see b3ChromeUtilsStartTimings.
2018-11-01 08:19:50 -07:00
Erwin Coumans
438e082b33
PyBullet: remove a potential race condition
2018-11-01 07:27:37 -07:00