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2822 Commits

Author SHA1 Message Date
Gustavo Goretkin
cde9be4697 Always link against OpenGL 2019-05-03 15:48:16 -04:00
Chuyuan Fu
3be2ce0adf set softbody start position and orientation in pybullet 2019-05-03 11:56:13 -07:00
Chuyuan Fu
ee10d47b17 fix space 
fix space
 2019-05-02 14:15:18 -07:00
Chuyuan Fu
3fb0a7c19b add set starting position and orientation to softbody 2019-05-01 16:56:40 -07:00
Chuyuan Fu
55f9f1eb89 add LoadSoftbody C API 2019-05-01 16:56:40 -07:00
Gustavo Goretkin
b6a18c5a30 Copy installation commands from other bullet libs 2019-04-29 12:57:37 -04:00
Gustavo Goretkin
e4f637c2e3 Install C API 2019-04-29 11:58:53 -04:00
Gustavo Goretkin
aff54a2397 Refactor C API part of pybullet out 2019-04-29 11:28:17 -04:00
Gustavo Goretkin
76b27cf410 Copy from pybullet 2019-04-29 11:04:33 -04:00
Gustavo Goretkin
9009ca914e Run cmake-format 
cmake-format --command-case upper --dangle-parens true CMakeLists.txt
 2019-04-29 11:03:41 -04:00
Erwin Coumans
a1f0685271 Merge remote-tracking branch 'bp/master' 2019-04-27 14:54:44 -07:00
erwincoumans
39a1e8f0f7
Update BlockSolverExample.cpp 2019-04-27 14:30:10 -07:00
erwincoumans
f71aea0b66
Update PhysicsServerCommandProcessor.cpp 2019-04-27 14:24:01 -07:00
Erwin Coumans
61c099460c apply yapf 2019-04-27 14:22:02 -07:00
Erwin Coumans
efe73670ef Merge remote-tracking branch 'bp/master' 2019-04-27 14:19:58 -07:00
erwincoumans
62e01c7a33
Update PhysicsServerCommandProcessor.cpp 2019-04-27 12:21:45 -07:00
erwincoumans
d0737dfa4c
Update BlockSolverExample.cpp 2019-04-27 12:19:38 -07:00
Erwin Coumans
ef9570c315 add yapf style and apply yapf to format all Python files 
This recreates pull request #2192
 2019-04-27 07:31:15 -07:00
erwincoumans
1da207efaa
Merge pull request #2209 from YungKC/patch-2 
Should sort best directions that gives the highest rewards
 2019-04-26 16:43:32 +02:00
Chuyuan Fu
5b5307cf14 load softbody API 
update warning message

format
 2019-04-25 15:40:15 -07:00
Erwin Coumans
72c6ed9abe fix file caching issue 2019-04-25 07:04:22 -07:00
Erwin Coumans
0d4392af58 rename laikago_walk.json -> txt 2019-04-18 14:18:34 -07:00
YungKC
61987dea85
Should sort best directions that gives the highest rewards 
Found bug where the sort order would incorporate the lowest N rewards, instead of the highest. With this fix, one can now use fewer best directions instead.
 2019-04-16 12:20:08 -07:00
erwincoumans
a8d1c121fd allow Z as up-axis for raycast acceleration in btHeightfieldTerrainShape 2019-04-16 10:34:59 -07:00
Erwin Coumans
6912290080 fix one more warning in HeightfieldExample 2019-04-16 09:26:33 -07:00
Erwin Coumans
a7e1c5b681 fix warnings in HeightfieldExample 2019-04-16 09:14:00 -07:00
erwincoumans
bf0eb4703d
Merge pull request #2200 from YungKC/patch-1 
Fix render issue in server render mode (e.g., docker)
 2019-04-16 06:31:58 -07:00
erwincoumans
2a9bfbdb1c
Merge pull request #2204 from erwincoumans/master 
add raycast accelerator for btHeightfieldTerrainShape, thanks to Marc…
 2019-04-15 22:20:06 -07:00
erwincoumans
f28fd91e4f add raycast accelerator for btHeightfieldTerrainShape, thanks to Marc Zylann, see https://github.com/bulletphysics/bullet3/pull/2062 
it can be disabled by setting the flag cb.m_flags |= btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator;
acceleration is disabled for z axis up.
add btHeightfieldTerrainShape example to example browser
 2019-04-15 21:55:29 -07:00
erwincoumans
a929e8f2e5
Merge pull request #2203 from erwincoumans/master 
implement stablePD control version of testLaikago,  fix getCameraImage in VR,  only report solver analytics if enabled using setPhysicsEngineParameter
 2019-04-15 08:52:03 -07:00
erwincoumans
e97a7d77af only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1) 2019-04-14 18:20:20 -07:00
erwincoumans
219970c09e fix getCameraImage in VR server using renderer=pybullet.ER_BULLET_HARDWARE_OPENGL 2019-04-14 14:08:35 -07:00
YungKC
8f9ff5e674
Fix render issue in server render mode (e.g., docker) 
px is an 1D array, and cause a runtime error when trying to strip the color channels into RGB. I fixed this by first reshape the px array into am image compatible format first.
 2019-04-12 17:42:26 -07:00
erwincoumans
154c65ae4d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-04-11 22:19:12 -07:00
erwincoumans
5ff52e47d9 report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error. 2019-04-11 22:19:02 -07:00
Jannik Vogel
4ca8b997f9 Reduce visibility of Bullet symbols in PyBullet 
Avoids version conflicts in programs using PyBullet, which also link against Bullet libraries
 2019-04-08 02:59:24 +02:00
Erwin Coumans
4ae24083ee implement stablePD control version of testLaikago, in preparation for quadruped DeepMimic 2019-04-05 16:45:33 -07:00
erwincoumans
024af08320 Added laikago mocap data for a DeepMimic compatible walk cycle 
Added testLaikago.py script to test this mocap data.
 2019-04-04 19:40:21 -07:00
erwincoumans
76918ca26d Merge remote-tracking branch 'bp/master' 2019-04-03 20:08:05 -07:00
erwincoumans
6951aaf26a implement PyBullet removeState command. Fixes Issue #2163 
https://github.com/bulletphysics/bullet3/issues/2163
 2019-04-03 20:06:40 -07:00
erwincoumans
4d3f2e5b17
Merge branch 'master' into SIblock 2019-03-27 16:18:36 -07:00
erwincoumans
d88a281802
Merge pull request #2177 from crewmatt/master 
Initializes simulation timestamp to 0 explicitly.
 2019-03-26 19:51:43 -07:00
mbennice
fed1a878d7 Replaces ; with , 2019-03-26 18:14:07 -07:00
Erwin Coumans
c033c8b22f add missing m_numDofs 2019-03-26 18:13:04 -07:00
Erwin Coumans
4898887265 temporary disable experimental BulletRobotics examples 2019-03-26 15:07:55 -07:00
mbennice
8a96dc67cc Initializes simulation timestamp to 0 explicitly. 2019-03-26 14:39:01 -07:00
Erwin Coumans
2ba8c22397 add actuatornet code 2019-03-26 10:05:45 -07:00
Chuyuan Fu
7223e51dc4 fix compile 2019-03-25 17:32:53 -07:00
Chuyuan Fu
c44c7f2891 add files 2019-03-25 14:55:02 -07:00
Chuyuan Fu
7aba1f9e8a Use two SI solvers as blocks in block solver. 
In the btBlockSolver we are experimenting with, we have SI for both multibody and rigid body. I'm currently replacing rigid body SI solver with two smaller SI solvers. The two examples provided by RigidBodyBoxes.h should have the same behavior.
 2019-03-25 14:41:58 -07:00
erwincoumans
922b27fb87
Merge pull request #2171 from iory/pybullet-envs 
[pybullet/gym/pybullet_envs] Modified register's timestep_limit to max_episode_steps for gym
 2019-03-25 14:25:11 -07:00
Chuyuan Fu
19f3ec8b80 fix conflut 2019-03-25 14:12:00 -07:00
Erwin Coumans
0409478152 use certain methods from std namespace 2019-03-23 12:45:59 -07:00
iory
a8146024fd [pybullet/gym/pybullet_envs] Modified register's timestep_limit to max_episode_steps for gym 2019-03-24 03:32:20 +09:00
Erwin Coumans
94d8ee74f7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-03-20 15:11:03 -07:00
Erwin Coumans
f725d1201d fix memory leak in PyBullet.calculateInverseKinematics when joint limits are provided 
Fixes Issue #2164
 2019-03-20 15:09:48 -07:00
erwincoumans
28148eb1ed Merge remote-tracking branch 'bp/master' 2019-03-18 10:12:55 -07:00
erwincoumans
2e81714e7a
Merge pull request #2161 from crewmatt/master 
Adds a timestamp as a physics parameter.
 2019-03-17 16:13:48 -07:00
mbennice
8fcb8d0694 Update to bullet formatting 2019-03-17 11:52:56 -07:00
Erwin Coumans
3acac372da add vision 60 urdf (from Ghost Robotics) and zipped random urdfs 2019-03-15 13:19:59 -07:00
Erwin Coumans
a0aa963e28 fix premake and cmake for ExampleBrowser 2019-03-15 04:04:51 +00:00
erwincoumans
17d2b318bf
Merge pull request #2159 from bulletphysics/erwincoumans-glob 
Update kuka_diverse_object_gym_env.py
 2019-03-14 18:28:14 -07:00
Erwin Coumans
150a6a0880 Qualify calls to certain functions from the cmath library. 2019-03-14 16:57:50 -07:00
mbennice
d41e449d6f Adds a timestamp as a physics parameter. 2019-03-14 15:32:45 -07:00
erwincoumans
9662ae4ba0
Update kuka_diverse_object_gym_env.py 
Fix issue in glob to separate training/test data pattern. See https://github.com/bulletphysics/bullet3/issues/2158
Thank to @TomoyaFukui
 2019-03-14 09:33:48 -07:00
Erwin Coumans
1161a04c56 Merge remote-tracking branch 'bp/master' 2019-03-13 09:52:38 -07:00
erwincoumans
18918389d3
Merge pull request #2145 from fuchuyuan/addExample 
Add example
 2019-03-12 11:06:53 -07:00
erwincoumans
46e43e0051 Merge remote-tracking branch 'bp/master' 2019-03-12 09:13:51 -07:00
Erwin Coumans
0caf51a54e btBlockSolver use m_data2 instead of m_data 2019-03-11 17:52:55 -07:00
Chuyuan Fu
bea2f6e65a Turn off self-collision for FixJointBoxes example 2019-03-11 13:12:49 -07:00
Damian Bemben
2ca6172f1a Fixing issue where mass of motors is uneven 
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
 2019-03-11 10:12:38 -07:00
erwincoumans
550f4c4785 expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890 
bump up PyBullet to version 2.4.8
 2019-03-11 10:12:38 -07:00
erwincoumans
ce531e6015 allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies 
change snake.py to use useMaximalCoordinate = True by default
 2019-03-11 10:12:38 -07:00
Erwin Coumans
53979b1b7b tweak mouse wheel multiplier 2019-03-11 10:12:38 -07:00
erwincoumans
a1f15ae01a Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! 
Visit http://www.snakerobots.com to see one of these in the wild
 2019-03-11 10:12:38 -07:00
erwincoumans
0b41fe1a49 use b3RobotJointInfo instead of b3JointInfo, so it is initialized. 
don't reset the camera in SharedMemoryInProcessPhysicsC_API
 2019-03-11 10:12:38 -07:00
Damian Bemben
b027bc92df
Fixing issue where mass of motors is uneven 
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
 2019-03-10 22:41:40 +00:00
erwincoumans
4ea907aacf expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890 
bump up PyBullet to version 2.4.8
 2019-03-09 09:23:16 -08:00
Chuyuan Fu
81ab8cd1c6 another fix 2019-03-08 14:21:18 -08:00
Chuyuan Fu
fa2368c6d6 Try to fix tests 2019-03-08 13:50:12 -08:00
erwincoumans
32e93d9f91 allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies 
change snake.py to use useMaximalCoordinate = True by default
 2019-03-08 09:20:32 -08:00
Erwin Coumans
58c638d5ee tweak mouse wheel multiplier 2019-03-08 07:43:50 -08:00
erwincoumans
9408e4f2d0 Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! 
Visit http://www.snakerobots.com to see one of these in the wild
 2019-03-07 21:13:00 -08:00
fuchuyuan
2908bd9641
Merge branch 'master' into addExample 2019-03-07 19:59:48 -08:00
erwincoumans
d7b54b0265 use b3RobotJointInfo instead of b3JointInfo, so it is initialized. 
don't reset the camera in SharedMemoryInProcessPhysicsC_API
 2019-03-07 17:55:45 -08:00
Chuyuan Fu
1660957f75 Untrack Grasp box example for now. This example needs more adjustment. 
fix compile
 2019-03-07 17:10:16 -08:00
Chuyuan Fu
e818452494 Add grasp box example and fixjoint boxes example. 
tmp

gripper is working?

fix joint example
 2019-03-07 17:10:16 -08:00
Chuyuan Fu
9141caf67e Add joint limit example. 
The demo artifically exceeds joint limit due to numerical errors caused
by large ratio.
 2019-03-07 17:09:32 -08:00
Chuyuan Fu
5d60c274c4 Add an example of a stack of boxes of large mass ratio. The default 
solver cannot solve it effectively.
 2019-03-07 17:08:16 -08:00
erwincoumans
b94a55ee5f Merge remote-tracking branch 'bp/master' 2019-03-06 23:29:29 -08:00
erwincoumans
0af0f193ee reduce size of SharedMemoryStatus by moving state details into shared memory streaming block. 2019-03-06 23:27:59 -08:00
erwincoumans
4d39b7caca
Merge pull request #2142 from fuchuyuan/fixedJoint 
Fixed joint
 2019-03-06 22:03:00 -08:00
erwincoumans
a9e350b0fb
Merge pull request #2141 from erwincoumans/blocksolver 
solver experiment
 2019-03-06 22:02:44 -08:00
Chuyuan Fu
8b5a238b2f Add boxes joint by fixed joint example\n Onlyp2p joint works 2019-03-06 13:47:49 -08:00
erwincoumans
d07c86842c fix regression in MJCF import for TinyRenderer 
Fixes Issue 2119
https://github.com/bulletphysics/bullet3/issues/2119
 2019-03-03 12:01:49 -08:00
erwincoumans
23dd0b50f9 apply mouse move multiplier 2019-03-03 11:35:30 -08:00
Erwin Coumans
bd0501d3fc fix example meshScale 2019-03-02 12:11:59 -08:00
Erwin Coumans
3997ac2b61 fix issue with retina scale and picking in createVisualShape.py example 2019-03-02 12:08:25 -08:00
erwincoumans
1bac759a43
Update fileIOPlugin.cpp 
fix check for (zip) file filename
 2019-03-01 07:43:06 -08:00
erwincoumans
f51555d1ab
Merge pull request #2134 from erwincoumans/physx_clean 
PhysX backend update
 2019-02-28 22:49:43 -08:00
erwincoumans
4d711ed411 Merge remote-tracking branch 'origin/physx' into physx_clean 2019-02-28 17:52:59 -08:00
erwincoumans
2ae6404d1e
Update UrdfParser.cpp 
update warning to be more verbose
 2019-02-28 17:29:12 -08:00
erwincoumans
893b46ce14 apply mouse_move_multiplier and mouse_wheel_multiplier 2019-02-28 17:13:51 -08:00
Pandhariix
4801425910 Use the correct structure in the PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand method 2019-02-28 18:24:32 +01:00
erwincoumans
36a9dcf368 remove src/BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.cpp and examples/ConstraintSolvers/* code 
revert changes to btMultiBodyConstraintSolver/btSequentialImpulseConstraintSolver related to btMultiBodyBlockConstraintSolver
 2019-02-27 17:10:17 -08:00
erwincoumans
dfa66864a3
Merge pull request #2130 from erwincoumans/master 
Expose motor drive torque reporting for motors in spherical joints
 2019-02-27 11:53:06 -08:00
erwincoumans
2ae03f50b1 revert to original humanoidMotionCapture.py example. Add a showJointMotorTorques variable (false by default) 2019-02-27 10:01:54 -08:00
erwincoumans
8e1c1448ab Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof. 2019-02-27 09:54:12 -08:00
erwincoumans
d7e087de16 prepare small experiment with block solver 2019-02-26 23:27:05 -08:00
erwincoumans
c44471c38c preparation for block solver btRigidBody. 2019-02-26 20:24:15 -08:00
erwincoumans
ebc079c32c
Merge pull request #1902 from cloudwu/fixmingwbuild 
fix mingw build
 2019-02-26 10:20:06 -08:00
Erwin Coumans
03e897d1f5 replace deep_mimic policies by versions trained using PyBullet, backflip works better now. 2019-02-24 20:12:18 -08:00
erwincoumans
a9996088c8 Implement PyBullet.getCameraImage for PhysX backend. 
PhysX backend, allow arbitrary plane normal, a few other fixes.
 2019-02-24 14:09:42 -08:00
erwincoumans
9ecc1cc485 Implement CustomProfilerCallback, hooking up to Bullet profiling 
test dominoes
 2019-02-22 09:17:55 -08:00
erwincoumans
71b1191947 texture caching and geometry caching (PhysX) for much faster loading of many same objects, helps benchmarking/comparison. 
add command-line args for PhysX (numCores=..., solver=tgs, )
 2019-02-21 19:24:18 -08:00
erwincoumans
3bf27cf8f2 implement rudimentary contact callback. Does PhysX have a way to report ALL contact points, every frame, so we can update contact forces etc, and report all contacts? 2019-02-20 21:38:37 -08:00
erwincoumans
adf31c8f64 remove PhysXClient.*, it was not needed (use PhysicsDirect instead) 2019-02-20 19:57:10 -08:00
erwincoumans
6d224996ef update to latest PhysX version. 
fix handling commands that are not implemented yet
 2019-02-20 19:43:23 -08:00
Erwin Coumans
6d2ed912f5 Merge remote-tracking branch 'bp/master' 2019-02-18 19:11:03 -08:00
erwincoumans
33619893c7 fixed failed git merge 2019-02-18 18:34:11 -08:00
erwincoumans
7e5ac33cf1
Merge pull request #2105 from Somedaywilldo/master 
Add Human3.6M Support for deep_mimic Environment
 2019-02-18 18:07:47 -08:00
erwincoumans
bdf9b10246 more work on pybullet_envs.deep_mimic. 
allow btMultiBody to not wakeup (for some RL experiments)
move deep_mimic motion files to data/motions folder, so we can use the args files unmodified.
 2019-02-18 17:57:02 -08:00
erwincoumans
dc8a40f7dc PyBullet: fix issue with setCollisionFilterGroupMask 2019-02-17 12:02:52 -08:00
Erwin Coumans
80ef56cfca add missing header 2019-02-15 08:10:24 -08:00
Erwin Coumans
f166ca88ea Merge remote-tracking branch 'bp/master' 2019-02-13 17:09:27 -08:00
erwincoumans
a38093ad61 deal properly with resize/retina in eglPlugin/eglRendererVisualShapeConverter 2019-02-13 14:43:39 -08:00
erwincoumans
b410e44137 fix path issue with URDF2PhysX.cpp/h 2019-02-13 13:21:50 -08:00
erwincoumans
79a273f644 deep_mimic: add option for spherical joint drive motor, next to stable PD control 
(existing policies won't work with those motors, needs tuning and re-training)
 2019-02-12 20:42:05 -08:00
erwincoumans
e7e46154bb
Merge pull request #2106 from erwincoumans/master 
fast createMultiBody batch creation, more deep_mimic work
 2019-02-12 12:10:10 -08:00
erwincoumans
85ee4c2934 allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example. 
expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals.
allow a maximum of 128k objects
fix meshScale for PyBullet.createCollisionShape for custom mesh
expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)
 2019-02-12 10:36:01 -08:00
Somedaywilldo
59d58ce430 add Human3.6M support for deep_mimic env 2019-02-13 00:13:56 +08:00
Tigran Gasparian
d9e36935e6 Adds extra information about the UserData in the notifications. 
When using the USER_DATA_ADDED and USER_DATA_REMOVED notifications, some
more information is necessary than just the user data id, especially
when a user data entry has been removed.
 2019-02-12 12:02:20 +01:00
bla
a94a24959f add deep_mimic pre-trained policies 2019-02-11 11:06:15 -08:00
Erwin Coumans
aaae366a21 towards python 2.x support for deep_mimic (still issue with Logger.print2) 2019-02-11 10:03:26 -08:00
Erwin Coumans
786ddec076 disable GUI in deep_mimic, it slows down too much on Mac OSX 2019-02-11 09:44:59 -08:00
Erwin Coumans
30290dfba1 add missing __init__.py for pip 2019-02-11 09:20:44 -08:00
Erwin Coumans
2728294c53 more fixes in deep_mimic env 2019-02-11 09:15:42 -08:00
Erwin Coumans
1bd201eb43 fixes in PyBullet deep_mimic to allow running in pip version 2019-02-11 08:51:07 -08:00
erwincoumans
12e6478689
Merge pull request #2103 from erwincoumans/master 
PyBullet deep_mimic backflip re-using original DeepMimic policy from Jason Peng
 2019-02-11 05:45:21 -08:00
erwincoumans
d4292fdac3 PyBullet deep_mimic fix computeAngVelRel 2019-02-10 21:37:34 -08:00
erwincoumans
bb15800964 add pre-trained backflip policy thanks to Jason Peng from https://github.com/xbpeng/DeepMimic 2019-02-10 21:06:00 -08:00
erwincoumans
be20ed6aa2 remove obsolete deep_mimic files (use the one in deep_mimic/env) 
add plane_implicit.urdf
 2019-02-10 21:04:28 -08:00
erwincoumans
9bddca873c allow pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt to perform a backflip. Can only backflip twice, then drops on ground. 
this deepmimic is still very slow, due to slow mass matrix/inverse dynamics computation. once spherical motor drive is enabled, it should be fast(er)
move pd_controller_stable to pybullet_utils for easier re-use
add plane_transparent.urdf to pybullet_data
allow spacebar in keyboardEvents (Windows for now)
 2019-02-10 20:56:31 -08:00
erwincoumans
b574a360f5
Merge pull request #2055 from xantares/pybullet 
Pybullet enhancements
 2019-02-10 20:25:47 -08:00
erwincoumans
28c9ea3aad PyBullet: add domino asset and example 2019-02-10 19:44:39 -08:00
erwincoumans
054c0b8e58 PyBullet+PhysX backend: expose getJointState reading link position/velocity 2019-02-05 10:24:41 -08:00
erwincoumans
42369aa47d PyBullet.changeDynamics: expose jointDamping 
PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
 2019-02-04 21:06:43 -08:00
Erwin Coumans
2eace2f715 update mpi usage 2019-02-01 19:20:08 -08:00
Erwin Coumans
176edeff1e add mpi_run version (not working yet) 2019-02-01 17:57:31 -08:00
Erwin Coumans
6c42cd3e1b add policy 2019-02-01 17:45:50 -08:00
Erwin Coumans
1cef924973 deepmimic fix: reference initialization wasn't spread over all frames 2019-02-01 17:18:13 -08:00
Erwin Coumans
7cc2685faf enable deepmimic training on mac 2019-02-01 16:24:48 -08:00
erwincoumans
63e781b88b PyBullet env for DeepMimic (preliminary work-in-progress) 2019-01-31 21:32:51 -08:00
erwincoumans
5d871806eb enable stable PD plugin in premake4.lua PyBullet 
add a normalize in the setRotation axis/angle to be sure.
Add more code from the DeepMimic project, training doesn't work yet.
 2019-01-31 21:31:26 -08:00
erwincoumans
014c68388e fix createVisualShape.py ray vertical/horizontal and retina scale, fixes Issue 2085 
fix memory leak in removeBody, fixes issue 2086
 2019-01-30 15:29:43 -08:00
Erwin Coumans
b257bd731b PyBullet: allow createVisualShape to pass vertices, indices, normals and uv coordinates. This can be combined with changeVisualShape to set the texture. 2019-01-29 12:03:11 -08:00
Erwin Coumans
63683e8f02 fix Issue 2039 2019-01-28 16:24:44 -08:00
Erwin Coumans
0818112ede fix some gym envs 2019-01-28 16:21:52 -08:00
erwincoumans
c97d1041ed
Merge pull request #2037 from araffin/update-gym 
Update gym envs
 2019-01-28 10:14:09 -08:00
Erwin Coumans
0e4d6b0376 tweak premake files for ExampleBrowser, allow non-GUI mode for humanoidMotionCapture 2019-01-28 07:35:57 -08:00
erwincoumans
505cb15600 proto2csv 2019-01-27 12:11:40 -08:00
erwincoumans
6c2568bf5e PyBullet Minitaur: Fix Minitaur logging (binary file) 
PyBullet Minitaur: Add minitaur_raibert_controller_example.py
 2019-01-27 11:37:35 -08:00
erwincoumans
52c8e14646 deal with 1-DOF and 3-DOF joints separately in resetJointState, fixes Issue 2076 2019-01-26 17:53:10 -08:00
erwincoumans
a6244d714e more PyBullet PhysX preliminary work. 2019-01-25 10:14:54 -08:00
Erwin Coumans
7df6adb9f8 fix compilation, make travis CI happy 2019-01-23 19:58:19 -08:00
erwincoumans
43d3cdfa38 make Travis CI pass 2019-01-23 19:34:21 -08:00
erwincoumans
66f4b276ec fix compile issue 2019-01-23 19:25:12 -08:00
erwincoumans
587500dc16 remove auto (no C++11) 2019-01-23 18:23:09 -08:00
erwincoumans
899e3274e8 fix more compile issues 2019-01-23 17:44:49 -08:00
erwincoumans
5da375b93c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-01-23 17:35:55 -08:00
erwincoumans
e637b24237 remove Rand.* and <random> (no C++11) 2019-01-23 17:35:45 -08:00
erwincoumans
03549ca7c6 pass force as array instead of value 2019-01-23 17:24:10 -08:00
Erwin Coumans
a174b42c02 fix compile issues 2019-01-23 16:33:06 -08:00
Erwin Coumans
7b99810e4e fix case sensitive include header name 2019-01-23 12:50:44 -08:00
erwincoumans
225db2e385 Merge remote-tracking branch 'bp/master' 2019-01-23 08:55:38 -08:00
erwincoumans
e02f82f172 fix some memory leaks in PyBullet.resetJointStateMultiDof and setJointMotorControlMultiDof 
Fixes Issue 2065
 2019-01-23 08:54:17 -08:00
Maxime Busy
b4eca192fb Parse physicsClientId before calling getPhysicsClient 2019-01-23 12:02:17 +01:00
erwincoumans
ae8e83988b Add preliminary PhysX 4.0 backend for PyBullet 
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
 2019-01-22 21:08:37 -08:00
xantares
e793bd22bb
Cancel built time print changes 2019-01-15 10:24:11 +01:00
Michel Zou
fd40544637 On OSX link with dynamic_lookup 2019-01-12 11:36:28 +01:00
Michel Zou
e9112a9f5f Install examples lib 2019-01-12 11:06:06 +01:00
Michel Zou
46e2d280a8 Print build time only in debug mode 2019-01-11 21:57:41 +01:00
Michel Zou
ea515048e9 OSX Python extension is .so 2019-01-11 21:57:41 +01:00
Michel Zou
04d3b6aee7 Add pybullet install rule 2019-01-11 21:57:38 +01:00
erwincoumans
101429e6a3
Merge pull request #2041 from gsp-27/gsp-27-patch-1 
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 
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 
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 
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
Antonin RAFFIN
f9fdf89c06 Fix indentation 2018-12-31 12:52:43 +01:00
Antonin RAFFIN
1c61b629e3 Fix formating issues 2018-12-31 12:48:42 +01:00
Antonin RAFFIN
0df3527884 Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
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 
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 
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) 
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. 
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 
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, 
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 
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 
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. 
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 
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. 
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, 
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. 
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. 
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 
(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. 
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
Erwin Coumans
9e58a21732 more aesthetic wireframe, pure visual improvement (no impact on simulation/performance) 
fixes https://github.com/bulletphysics/bullet3/issues/1970
Issue 1970
 2018-10-31 21:50:49 -07:00
Erwin Coumans
131535a99f remove debug stats 2018-10-31 21:24:44 -07:00
Erwin Coumans
8e82de1b00 add rudimentary MuJoCo mjcf xml to ROS URDF file, based on 
pybullet_utils.urdfEditor
 2018-10-31 11:02:19 -07:00
Erwin Coumans
47b8b98a64 PyBullet: call the right method (although equivalent at the moment) 2018-10-30 22:16:13 -07:00
Erwin Coumans
44976780fa remove ARS files 2018-10-29 19:23:54 -07:00
Erwin Coumans
c2b9dc9361 update to CartPoleBulletEnv-v1 and check with latest baselines v0.1.5, works fine. 
(make it more similar to classical control cartpole)
 2018-10-29 16:44:12 -07:00
Erwin Coumans
2fa0ae9349 fix sprintf using nullptr string 2018-10-29 13:45:42 -07:00
erwincoumans
c80e2816ad PyBullet: Use fileIOPlugin in processRestoreStateCommand 
PyBullet: Report debug information in case of failure in restoreState.
 2018-10-29 12:08:34 -07:00
erwincoumans
35790c36c2 fix renamed variable m_rootPath->m_pathPrefix 2018-10-29 10:56:55 -07:00
erwincoumans
078887c4d7 PyBullet fileIOPlugin: don't add equal fileIO interface twice (based on identical fileIOType and pathPrefix) 
loadBullet goes through fileIOPlugin
 2018-10-29 10:25:40 -07:00
erwincoumans
ee76873689 eglPlugin: remove visual shape for removeBody. 2018-10-28 21:08:57 -07:00
erwincoumans
df9b4fb005 remove printf from demo 2018-10-27 11:56:04 -07:00
Erwin Coumans
bebe12d6d8 tweak tensorflow humanoid_running.py demo to be more robust against mouse dragging 
(mouse dragging adds energy in the system that can cause explosions/instability):
use solverResidualThreshold and increase number of sub steps, also clamp the max force.
 2018-10-27 11:48:21 -07:00
erwincoumans
a4cab78dd0 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-27 11:38:56 -07:00
erwincoumans
bdda7af8d7 Use the kF_UseGjkConvexCastRaytest for more accurate picking 
fix upAxis in some demos
 2018-10-27 11:38:38 -07:00
Erwin Coumans
0511a36a67 add Laikago quadruped model, thanks to Unitree for the cad meshes. 
If you use the Laikago URDF, please add a citation to PyBullet:

@MISC{coumans2018,
author =   {Erwin Coumans and Yunfei Bai},
title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
howpublished = {\url{http://pybullet.org}},
year = {2016--2018}
}
 2018-10-26 18:49:58 -07:00
erwincoumans
a44df2b0a6 PyBullet: allow to pass vertices (for convex) and vertices+indices (for concave) to createCollisionShape 
See createObstacleCourse.py for an example use. At the moment a limit of 1024 vertices and 1024 indices.
Will be lifted once we implement the streaming version (soon).
 2018-10-26 10:18:51 -07:00
erwincoumans
707bac9c3d fix sphere sdf parsing 2018-10-22 16:01:58 -07:00
Erwin Coumans
84870739af Merge remote-tracking branch 'bp/master' 2018-10-22 08:03:47 -07:00
Erwin Coumans
a198459b09 reduce back to 128, some internal build has too limited stack size. 2018-10-22 07:40:45 -07:00
Tigran Gasparian
6512a67422 Uses btCollisionBody::isActive instead of btMultiBody::isAwake to 
determine whether to send transform changed notifications.
 2018-10-22 14:06:58 +02:00
erwincoumans
c291fe5584 PyBullet/BulletRobotics: increase max #degree of freedom from 128 to 256. 2018-10-21 20:05:29 -07:00
erwincoumans
04101565bc
Merge pull request #1944 from erwincoumans/master 
revert backward compabitility in API
 2018-10-20 20:45:48 -07:00
Erwin Coumans
2d224cf319 revert backward compabitility in API 2018-10-20 19:44:39 -07:00
erwincoumans
df0889a450
Merge pull request #1943 from erwincoumans/master 
fix PyBullet.changeVisualShape to allow clearing a texture (use -1 for textureUniqueId)
 2018-10-20 17:45:20 -07:00
erwincoumans
01a8a36933 fix example 2018-10-20 16:13:48 -07:00
erwincoumans
ed49edc1af PyBullet change API (since it was broken): pybullet_changeVisualShape with textureUniqueId ==-1 will clear the texture 
b3InitUpdateVisualShape doesn't take textureUniqueId by default. new API b3UpdateVisualShapeTexture to change texture (-1 will clear texture)
PyBullet/BulletRobotics: allow to reset the textureUniqueId to -1, to clear a texture
PyBullet/BulletRobotics: save all texture handles
 2018-10-20 15:56:56 -07:00
Erwin Coumans
9a9386b6a7 allow empty filename in CNS fileIO 2018-10-20 14:16:31 -07:00
erwincoumans
3d01a8c098
Merge pull request #1942 from erwincoumans/master 
add missing file in MANIFEST.in,  fix potential memory leak in InMemoryFileIO, bump up PyBullet version
 2018-10-20 12:25:50 -07:00
erwincoumans
63784dab5f
Update NN3DWalkersTimeWarpBase.h 
Fix issue #1940, see https://github.com/bulletphysics/bullet3/issues/1940
 2018-10-17 20:08:06 -07:00
erwincoumans
399ff55153 fix typo in previous commit 2018-10-16 19:02:12 -07:00
erwincoumans
8825b39f6c fix potential memory leak in previous commit related to InMemoryFileIO class. 2018-10-16 18:31:17 -07:00
erwincoumans
b0a3b1b962 add missing header <string.h> 2018-10-14 15:12:53 -07:00
erwincoumans
b5e475aec3 enable planar reflection in MinitaurGymEnv 
enable follow cam in other Gym locomotion environments
add testing assets for multi-material obj files -> sdf conversion.
Also use ER_NO_SEGMENTATION_MASK flag for TinyRenderer/EGL plugin renderer
 2018-10-14 15:10:19 -07:00
erwincoumans
c1e20c448f Implement InMemoryFile for memory caching for fileIO plugin. 
Support SDF loading through fileIO plugin.
Replace strcspn by C code (not crossplatform)
Add flag for loadURDF to use color from MTL file (instead from URDF link material)
pybullet.URDF_USE_MATERIAL_COLORS_FROM_MTL and pybullet.URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL
 2018-10-14 12:54:34 -07:00
erwincoumans
3309ce8f6a strip \r \n from line 2018-10-13 16:23:58 -07:00
Erwin Coumans
fd3d292fcf tinyRenderer, remove both \r and \n, not just \n 2018-10-13 11:46:46 -07:00
erwincoumans
ad10da57c5 more initial work on fileIOPlugin 2018-10-11 17:00:17 -07:00
erwincoumans
a24c1436af state 2 of FileIO plugin: adding/removing FileIO types, search through all registered FileIO types. 
(not enabled by default yet)
Example:
fileIO = p.loadPlugin("fileIOPlugin")
print("fileIO=",fileIO)
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/plane.zip", [p.AddFileIOAction,p.ZipFileIO])
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/test2.zip", [p.AddFileIOAction,p.ZipFileIO])
planeId = p.loadURDF("plane.urdf")
duckId = p.loadURDF("duck_vhacd.urdf",[0,0,1])
 2018-10-11 14:39:31 -07:00
erwincoumans
f792a5951a move zipfFileIO into own header 
route loadTextureFile from fileIO plugin
fix B3_ENABLE_FILEIO_PLUGIN logic
 2018-10-11 10:58:14 -07:00
erwincoumans
bb305c6ebc allow to provide rayCastBatch in local 'from'/'to' with a parent/link index, b3RaycastBatchSetParentObject 
If parentObjectUniqueId provided, convert local from/to into world space coordinates
AddUserDebugLins: don't block when replacing an item
Fix examples/pybullet/examples/inverse_kinematics.py
 2018-10-10 23:31:50 -07:00
Erwin Coumans
32b5c88d4b close the fileIO for urdf loading 2018-10-09 20:45:17 -07:00
Erwin Coumans
5f954e2496 backward compatibility fix 2018-10-09 16:25:32 -07:00
Erwin Coumans
74fca2418b fix egl plugin build, with fileIO changes 2018-10-09 08:00:31 -07:00
Erwin Coumans
295732149f add missing stdio.h 2018-10-09 07:01:02 -07:00
erwincoumans
dba239fe8d First pass of load files through an interface (to allow loading from memory, zip file etc). So instead of posix fopen/fread, using CommonFileIOInterface. 
A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory.
Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h
Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
 2018-10-08 21:27:08 -07:00
erwincoumans
a1543714f1
Merge pull request #1919 from erwincoumans/master 
btMultiBody: fix indexing issue causing wrong friction to be reported, remove obsolete BT_PYBULLET_GRPC and PYBULLET_EGL
 2018-10-06 19:02:09 -07:00
erwincoumans
c2486bb1a6 add contactFriction.py example 2018-10-06 15:27:56 -07:00
erwincoumans
c0e38cd921
Merge pull request #1896 from jviereck/jviereck_add_lateral_contact_info 
Adding support for lateral friction to getContactPoints()
 2018-10-06 15:27:14 -07:00
Erwin Coumans
da2ee638ef remove obsolete BT_PYBULLET_GRPC and PYBULLET_EGL 2018-10-05 21:47:13 -07:00
bla
83c3094086 Merge remote-tracking branch 'bp/master' 2018-10-05 19:42:26 -07:00
Erwin Coumans
90f002e07d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-05 19:41:10 -07:00
Erwin Coumans
8a0d96edce tweaks in pybullet/examples for Mac OSX 2018-10-05 19:40:52 -07:00
erwincoumans
9a7cc7bcd7 add getCameraImageTest.py to compare GUI (with OpenGL3 GLInstancingRenderer), TinyRenderer and DIRECT+eglPlugin (with OpenGL3 GLInstancingRenderer) 2018-10-05 19:31:03 -07:00
erwincoumans
2c13e70d1a make projective textures work in DIRECT+eglPlugin (see examples/pybullet/examples/projective_texture.py) 2018-10-05 19:24:44 -07:00
erwincoumans
111ffc784d Use 2560x2048 as default window/framebuffer size for eglPlugin. 2018-10-05 18:28:37 -07:00
erwincoumans
40d7e292f2 fix depth image for eglPlugin, also fix setRGBA color for eglPlugin. 2018-10-05 18:25:51 -07:00
erwincoumans
67954a873e
Merge pull request #1917 from erwincoumans/master 
reverse ER_SEGMENTATION_MASK to ER_NO_SEGMENTATION_MASK so segmentation
 2018-10-04 18:41:16 -07:00
Erwin Coumans
24ca5afe95 reverse ER_SEGMENTATION_MASK to ER_NO_SEGMENTATION_MASK so segmentation 
mask is rendered by default
 2018-10-04 14:14:24 -07:00
Wenlong Lu
24f5b819cf fix a memory leak 2018-10-02 10:58:23 -07:00
erwincoumans
8aff1fbd49 removed flags from loadURDF command. The flags are already available in m_data->m_flags in BulletUrdfImporter.cpp 2018-10-02 08:39:47 -07:00
bla
0f8b8388a6 eglPlugin, one more fix, remove graphics instances at resetAll 2018-10-02 08:13:51 -07:00
erwincoumans
da37f1d559 add glViewport after call to startRendering (some renderers call glViewport) 2018-10-02 07:49:13 -07:00
erwincoumans
c9bd997acf
Merge pull request #1910 from WenlongLu/create_status 
Two minor updates for PhysicsServerCommandProcessor
 2018-10-01 18:53:13 -07:00
bla
7cd962467e fix EGL issue related to glViewport in startRender method 2018-10-01 18:51:02 -07:00
Wenlong Lu
085984f003 update complete status for removing collision shape 2018-10-01 17:54:23 -07:00
Wenlong Lu
167520a5e6 pass plane constant 2018-10-01 17:38:24 -07:00
erwincoumans
bfafd9b0ae Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-30 20:02:32 -07:00
erwincoumans
6d89413336 scaling striding is 4 (scaling+object uid) instead of 3, also for transparent objects 2018-09-30 20:02:12 -07:00
erwincoumans
0ffa9a97bd scaling striding is 4 (scaling+object uid) instead of 3, also for transparent objects 2018-09-30 19:52:19 -07:00
Erwin Coumans
42ae4e81a8 apply clang-format (on Mac, slightly different than running it on Windows) 2018-09-30 11:43:57 -07:00
erwincoumans
5bcd43711a PyBullet OpenGL/EGL hardware getCameraImage: use glViewport to reduce the glReadPixels calling cost dramatically for small images 
PyBullet Allow OpenGL/EGL hardware to render segmentation mask. Use pybullet.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX or pybullet.ER_SEGMENTATION_MASK
PyBullet.removeBody fix indexing bug (use foundIndex, not i)
PyBullet bump up version to 2.2.3
 2018-09-30 07:10:40 -07:00
erwincoumans
254edb61cb Merge remote-tracking branch 'bp/master' 2018-09-29 10:35:01 -07:00
erwincoumans
00ed0dce24
Merge pull request #1900 from crewmatt/master 
Update URDF Importer to process Sensor elements.
 2018-09-28 17:06:27 -07:00
erwincoumans
39bca74041 Merge remote-tracking branch 'bp/master' 2018-09-28 10:14:45 -07:00
mbennice
6655bd60c8 Update stb_image.h import 2018-09-27 14:09:00 -07:00
mbennice
99dbedab6e Update import 2018-09-27 12:49:39 -07:00
mbennice
7485999254 Clang Format Change 2018-09-27 10:00:39 -07:00
mbennice
30d4c4136a Piping through the flag to parse sensors 2018-09-27 09:49:59 -07:00
Cloud Wu
8ff4b5187a fix mingw build 2018-09-27 11:48:12 +08:00
Wenlong Lu
8cdb514ffb missed one 2018-09-26 17:46:39 -07:00
Wenlong Lu
2681f5cd9f add const qualifiers to all double* inputs in PhysicsClientC_API 2018-09-26 17:24:40 -07:00
mbennice
173cc2538f Correct header update 
Revert the header update change.
 2018-09-26 16:38:59 -07:00
mbennice
f79b04357f Update URDF Importer to process sensor elements. 
Update the URDF Importer to add sensors as 0 mass 0 inertia elements
attached by a fixed joint. This way their states can be read as links.
 2018-09-26 16:35:22 -07:00
Wenlong Lu
3c0e57e025 add const qualifier to double [] inputs 2018-09-26 15:02:22 -07:00
Erwin Coumans
cd2f111a10 update pybullet version, include *.* from OpenGLWindow 2018-09-25 17:06:32 -07:00
Erwin Coumans
f20b7bb07c tweak pole IK demo 2018-09-25 06:22:06 +00:00
erwincoumans
c1ba89a01c Fix eglPlugin 2018-09-24 08:06:28 -07:00
Julian Viereck
219dfc757a Adding support for lateral friction to getContactPoints() 2018-09-24 10:03:43 -04:00
erwincoumans
ab8f16961e Code-style consistency improvement: 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
 2018-09-23 14:17:31 -07:00
erwincoumans
b73b05e9fb add getClosestPoints.py example. 
allow to perform a getClosestPoints query with a collisionShape and world transform (position, orientation) that isn't part of the world.
(use createCollisionShape to create it)
add optional removeCollisionShape, for collision shapes only used in a query (and not used to create a body)
 2018-09-22 14:18:21 -07:00
erwincoumans
cdf8c908ad add getClosestPoints.py example. 
allow to perform a getClosestPoints query with a collisionShape and world transform (position, orientation) that isn't part of the world.
(use createCollisionShape to create it)
 2018-09-22 13:17:09 -07:00
erwincoumans
64a7a3d82f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-21 17:33:31 -07:00
erwincoumans
278454ae17 allow to disable self-collision for a link-pair 2018-09-21 17:33:13 -07:00
Erwin Coumans
350adb5c7c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-21 09:56:25 -07:00
Erwin Coumans
47efe66017 disable eglPlugin from setup.py / pip pybullet on Windows and Mac (only enable on Linux) 2018-09-21 09:55:57 -07:00
erwincoumans
1ec616362c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-20 09:08:46 -07:00
erwincoumans
616192f80a use grpc port -1 by default in PyBullet. add grpcClient.py and grpcServer.py 2018-09-20 09:07:47 -07:00
Erwin Coumans
0de99f224a fix compilation on ARM (Ubuntu 18.04, NVIDIA Xavier) 2018-09-19 16:18:06 -07:00
erwincoumans
0b08881ab8 wait until a frame is rendered, when using the COV_ENABLE_SINGLE_STEP_RENDERING command (Windows and Linux only) 2018-09-15 14:22:31 -07:00
erwincoumans
81f6a63490 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-14 17:17:20 -07:00
erwincoumans
e6d74580c1 add single step rendering feature: 
while (1):
    stepSimulation()
    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SINGLE_STEP_RENDERING, 1)

disable single step using
pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SINGLE_STEP_RENDERING, 0)
 2018-09-14 17:17:11 -07:00
Erwin Coumans
b0971b4beb fix our internal build 2018-09-13 10:20:38 -07:00
Erwin Coumans
d909448ee3 bump up pybullet version again 2018-09-12 21:03:07 -07:00
erwincoumans
9553892770 PyBullet / BulletRobotics: 
Implement collisionFilterPlugin, use setCollisionFilterPair to enable or disable collision detection between specific pairs of objects.
Also, expose setCollisionFilterGroupMask as PyBullet API and in urdf using the tag <collision group="1" mask="2"/>.
See examples/pybullet/examples/collisionFilter.py for an example.
PyBullet default: Lower the warmstarting factor, for maximal coordinates rigid bodies for more stable simulation.
Add btCollisionWorld::refreshBroadphaseProxy to easier recreate the broadphase proxy without adding/removing objects to the world.
 2018-09-12 19:30:49 -07:00
erwincoumans
bf3399d0e3 Merge remote-tracking branch 'bp/master' 2018-09-12 09:18:25 -07:00
Erwin Coumans
1efee29c27 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-12 08:20:03 -07:00
Erwin Coumans
c83fa30daa use numpy to reshape image data to matplotlib compatible format 
fixes issue #1871
 2018-09-12 08:19:30 -07:00
erwincoumans
2a3a60ac64
Merge pull request #1874 from erwincoumans/master 
more egl plugin fixes, create stb_image_write.cpp (instead of magic defines in various source files)
 2018-09-11 14:14:40 -07:00
Erwin Coumans
23ecbab7b3 fix setup.py and pybullet to work better with eglPlugin on Linux 2018-09-11 13:24:35 -07:00
Tigran Gasparian
58699258dd Change b3GetLinkState to use numLinks in status handle 
Changes the b3GetLinkState function to use numLinks from the
SharedMemoryStatus returned from RequestActualState instead of the
cached number of link value returned by b3GetNumJoints.

The cached value can be outdated when a new body is added and
SyncBodyInfo isn't used, while using the value in the status is always
up-to-date.
 2018-09-11 14:44:06 +02:00
erwincoumans
5b1588fc3f fix createProtobufs.bat script 2018-09-10 23:32:51 -07:00
Erwin Coumans
9fa3e44539 fixes related to egl plugin 2018-09-10 23:31:54 -07:00
Erwin Coumans
3b0a44e1be fix createProtobufs.sh script 2018-09-10 23:24:00 -07:00