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3234 Commits

Author SHA1 Message Date
erwincoumans
f7577863a2
Merge pull request #2736 from erwincoumans/master 
remove old unused methods from btMultiBody.
 2020-04-13 08:59:50 -07:00
Erwin Coumans
b45d697d28 always use python release version (not debug) on Windows, similar hack as pybind11 2020-04-10 09:19:51 -07:00
Xuchen Han
5498c575c8 add guard agaist non-manifold geometry in vtk files 2020-04-09 11:16:28 -07:00
Chuyuan Fu
59ddea6fa4 bodyUniqueId can be 0 2020-04-07 13:38:26 -07:00
Max Argus
5bd9e4ec9b improve EGL context creation 2020-04-07 20:38:41 +02:00
erwincoumans
9d1a2c4c57
Merge pull request #2711 from fuchuyuan/loadURDF 
Load urdf
 2020-04-06 20:31:28 -07:00
stolk
4c2eb79f29 Fix compiler warning. 2020-04-03 09:47:28 -07:00
Chuyuan Fu
f51c76f0c9 fix space 2020-04-01 21:34:12 -07:00
Chuyuan Fu
3829887ced twin torus 2020-04-01 21:27:48 -07:00
Chuyuan Fu
c2ea0293d8 fix mesh finding and notification 2020-04-01 20:48:09 -07:00
erwincoumans
ec2b6dd920
Merge pull request #2704 from stolk/master 
Compiler warnings.
 2020-04-01 19:19:37 -07:00
erwincoumans
c661179554
Merge pull request #2709 from xhan0619/master 
Tune deformable collision parameters for more stable deformable vs. d…
 2020-04-01 19:14:51 -07:00
Erwin Coumans
d2ffab8905 fix previous leak fix 2020-04-01 18:32:58 -07:00
Xuchen Han
80aa523825 Tune deformable collision parameters for more stable deformable vs. deformable contact 2020-04-01 17:46:37 -07:00
stolk
f4d8f5d6de Don't go out of bounds. 2020-04-01 11:28:50 -07:00
Chuyuan Fu
3c46e6a584 load deformable object from URDF files 2020-03-31 20:55:47 -07:00
Erwin Coumans
05efff3c4f move pickup.zip inside pickup2.zip 2020-03-30 14:59:41 -07:00
Erwin Coumans
d725b3fd0e add pickup2.zip (that contains pickup.zip) 2020-03-30 14:35:28 -07:00
Erwin Coumans
762c21601f cache zipfile, and also allow to read zipfile from memory 
this allows zipfiles to be stored anywhere in already registed fileIO (such as zipfiles inside other zipfiles)
see Bullet/examples/pybullet/examples/fileIOPlugin.py
enable vhacd, fileIO and zipFileIO in premake version of PyBullet
fix potential memory leak in mtl loading
 2020-03-30 14:24:20 -07:00
Erwin Coumans
e20b858a28 add pybullet_utils.transformations from ROS geometry: 
https://github.com/ros/geometry/blob/melodic-devel/tf/src/tf/transformations.py
 2020-03-24 10:34:02 -07:00
erwincoumans
dd2f2e3128
Merge pull request #2682 from xhan0619/master 
Add support for getPose for deformable objects and separate deformable vs. rigid face contact and deformable vs. multibody face contact for flexibility.
 2020-03-22 18:44:18 -07:00
erwincoumans
eab851635e
Merge pull request #2679 from erwincoumans/master 
Embed TCP remote graphics server in PyBullet (enable WFH), fixes for compilation on Visual C++ for Python 9.0
 2020-03-22 14:04:35 -07:00
Erwin Coumans
bd8c537c86 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-03-22 20:12:21 -07:00
Erwin Coumans
7d499c4e2d fix userDataTest.py 2020-03-22 20:12:07 -07:00
Erwin Coumans
0b6457d318 fix cmake/premake builds 2020-03-22 11:58:39 -07:00
Erwin Coumans
377069bfa5 add laikago/xarm in pybullet_robots 2020-03-22 11:37:08 -07:00
Antonin RAFFIN
a6314958a6 Add CheckpointCallback and load best automatically 2020-03-22 13:44:05 +01:00
Erwin Coumans
e09dc74bd8 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-03-21 18:52:30 -07:00
Erwin Coumans
d71a787481 more tcp networking stuff (remove shared memory from tcp example) 2020-03-21 18:47:55 -07:00
Erwin Coumans
663c7ddc54 more TCP remote fixes 2020-03-20 21:12:45 -07:00
Erwin Coumans
1e3bc22483 linux fixes 2020-03-20 20:19:15 -07:00
Erwin Coumans
c4898ed3e3 more tcp tuning 2020-03-20 18:46:10 -07:00
Erwin Coumans
6cedf26f24 more tcp fixes 2020-03-20 17:47:13 -07:00
Erwin Coumans
4cbc8c2a8d set tcp timeouts for send/receive 2020-03-20 16:58:18 -07:00
Erwin Coumans
99c7c32b10 tcp fixes and allow to run graphics server on mainloop (for Mac) 2020-03-20 16:50:44 -07:00
Erwin Coumans
911355fe62 fixes for Mac OSX 2020-03-20 15:57:19 -07:00
Erwin Coumans
344bd629ee embed TCP graphics server in PyBullet for easier working-from-home 
This allows to render at a different machine, sending all assets across the TCP network, using port 6667 by default.
You can use ssh port forwarding to get this working:
ssh -R 6667:localhost:6667 username@remotehost.com -v

python3 -m pybullet_utils.graphicsServer
python3 -m pybullet_utils.graphicsClient

Note that there are still some tcp networking issues that can cause a hang, just restart graphics server and graphics client if it hangs.
 2020-03-20 15:43:52 -07:00
Erwin Coumans
c06859723b Embed graphics server (shared memory) in PyBullet. Use pybullet.connect(pybullet.GRAPHICS_SERVER) to enable it. 
TODO: enable for Mac OSX on mainloop, add tcp bridges from and to shared memory.
 2020-03-19 14:18:35 -07:00
Xuchen Han
5d26efd988 formatting and minor bug fix 2020-03-19 12:29:00 -07:00
Xuchen Han
19ed1c952a separate face contact between deformable and rigid and multibodies 2020-03-18 17:58:46 -07:00
Xuchen Han
cab8b84a8f Support get body state for deformable objects so that it retrieves the best fit rigid transform 2020-03-18 17:11:20 -07:00
Erwin Coumans
d3fdf434ed few more fixes in pybullet setup.py 2020-03-17 10:38:51 -07:00
Erwin Coumans
88ce0be26b fix int64_t 2020-03-17 17:20:57 -07:00
Erwin Coumans
d31c248751 fixes for compilation on Visual C++ for Python 9.0 
bump up to PyBullet 2.6.9
 2020-03-17 17:10:47 -07:00
Erwin Coumans
fde6cffecc create BulletRoboticsGUI CMake target, pybullet links against it 
fix BulletRobotics header install
 2020-03-16 23:15:18 -07:00
Erwin Coumans
1640eef937 pybullet: enable getMeshData for multibody/rigid body (and filter on collisionShapeIndex for compound shapes) 2020-03-17 00:38:12 -07:00
Erwin Coumans
7991012f9d pybullet: fixes in polyhedral feature generation 2020-03-16 23:32:26 -07:00
Erwin Coumans
27fbbfee7f pybullet removeAllParameters (sliders, buttons) 
pybullet addUserDebugParameter adds button instead of slider, if min > max.
 2020-03-16 21:29:30 -07:00
erwincoumans
07b9194e15
Merge pull request #2667 from xhan0619/teleport 
Teleport deformables
 2020-03-15 21:12:26 -07:00
Xuchen Han
27d2cdaef0 Merge remote-tracking branch 'xuchen/master' into teleport 2020-03-15 19:29:06 -07:00
erwincoumans
e8c873a5cd
Merge pull request #2672 from erwincoumans/master 
embed V-HACD directly into PyBullet
 2020-03-15 19:18:11 -07:00
Erwin Coumans
17c6839a77 add example of using vhacd in pybullet 2020-03-15 18:15:14 -07:00
Erwin Coumans
f0528db5e9 embed V-HACD directly into Pybullet to make it easier to use: 
pip3 install pybulle
import pybullet as p
p.connect(p.DIRECT)
p.vhacd("teddy.obj", "teddy_large_newout.obj", "newlog.txt", depth=2,resolution=1000000)
 2020-03-16 00:38:52 -07:00
erwincoumans
8721482e7b
Merge pull request #2670 from erwincoumans/master 
convert upper/lower limits in urdfEditor.py
 2020-03-15 12:53:54 -07:00
Erwin Coumans
2d5e8ea1f3 convert upper/lower limits in urdfEditor.py 2020-03-13 20:49:39 -07:00
Xuchen Han
0a66818841 Use latest mouse position for picking force 2020-03-13 14:52:13 -07:00
Xuchen Han
4730dab4bb Address PR comments 2020-03-13 14:52:13 -07:00
Chuyuan Fu
f43c40f694 fix space 2020-03-13 14:52:13 -07:00
Chuyuan Fu
b4bfe4fa99 fix rigidbody activation 2020-03-13 14:52:13 -07:00
Erwin Coumans
4d0d8a189c increase the number of steps from 1000 to 2000, to mimic multiple cycles 2020-03-13 14:52:13 -07:00
Erwin Coumans
ca5061fac3 set correct reward for deep_mimic gymenv (max episode = 1000 steps, 1 reward at each step) 
terminate testrl.py at 1000, show reward
 2020-03-13 14:52:12 -07:00
Erwin Coumans
9ecd0884d9 Connect deep_mimic_env.py to internal pybullet_deep_mimic_env.py 
This adds two untested Gym environments to pybullet_envs. todo: train using PPO2 etc
HumanoidDeepMimicBackflipBulletEnv-v1
HumanoidDeepMimicWalkBulletEnv-v1
 2020-03-13 14:52:12 -07:00
Erwin Coumans
812c675d4c prepare towards HumanoidDeepMimicBackflipBulletEnv-v1 and HumanoidDeepMimicWalkBulletEnv-v1 
remove unused SubprocVecEnv from stable_baselines/enjoy.py
 2020-03-13 14:52:12 -07:00
Erwin Coumans
55de20b945 add flag to assure deterministicOverlappingPairs 2020-03-13 14:52:12 -07:00
Erwin Coumans
91df837a79 use PyBullet's own visualizer for enjoy script, + add a time.sleep since it is way too fast (1000FPS for cart pole) 2020-03-13 14:52:12 -07:00
Xuchen Han
4b35af3830 change deformable teleport to absolute pose 2020-03-12 16:40:25 -07:00
Xuchen Han
6e97302610 activate deformable after teleporting 2020-03-12 16:39:28 -07:00
Xuchen Han
cbf282fb2f Add support for teleporting deformables 2020-03-12 16:39:28 -07:00
Xuchen Han
7dfef92267 Add support for picking deformable with mouse 2020-03-09 11:19:08 -07:00
Xuchen Han
41ca8b9e59 More parameter tuning for cloth-like behavior 2020-03-06 16:29:32 -08:00
Xuchen Han
ec0e9892b5 add slider demo 2020-03-06 16:04:34 -08:00
Chuyuan Fu
d02989cc96 fix space 2020-03-05 10:50:54 -08:00
Chuyuan Fu
b37448278a fix rigidbody activation 2020-03-05 10:48:56 -08:00
Xuchen Han
4efc983ca5 bug fixes and parameter tuning 2020-03-04 17:22:46 -08:00
erwincoumans
8a3e2e9fa6
Merge pull request #2653 from xhan0619/master 
Bug fix in barycentric weight calculation
 2020-03-03 11:53:22 -08:00
Xuchen Han
1cb9a0630f bug fix in barycentric weight calculation 2020-03-02 22:48:25 -08:00
erwincoumans
acb7f7ee8a
Merge pull request #2652 from xhan0619/master 
Support separate render and simulation obj & fix sleeping issue for deformable.
 2020-03-02 17:06:37 -08:00
erwincoumans
2b1e27834b
Merge pull request #2649 from erwincoumans/master 
use PyBullet's own visualizer for enjoy script, + add a time.sleep si…
 2020-03-02 16:43:21 -08:00
Xuchen Han
62537436f2 more Motor->NonContactInner 2020-03-02 16:03:27 -08:00
Xuchen Han
4f36e09747 Motor->NonContactInner 2020-03-02 16:00:40 -08:00
Xuchen Han
c86da93d58 fix type error 2020-03-02 13:29:59 -08:00
Erwin Coumans
1f3c0057e5 increase the number of steps from 1000 to 2000, to mimic multiple cycles 2020-03-02 12:52:14 -08:00
Xuchen Han
a6bc125945 formatting 2020-03-02 12:12:04 -08:00
Xuchen Han
dbf2050269 extrapolate render mesh 2020-03-02 12:12:04 -08:00
erwincoumans
44ddb17c0c
Merge pull request #2645 from xhan0619/master 
Separate motor constraint iterations and expose API.
 2020-03-01 21:48:22 -08:00
Erwin Coumans
6b393dffca set correct reward for deep_mimic gymenv (max episode = 1000 steps, 1 reward at each step) 
terminate testrl.py at 1000, show reward
 2020-03-01 21:27:30 -08:00
Erwin Coumans
81c1daacbb Connect deep_mimic_env.py to internal pybullet_deep_mimic_env.py 
This adds two untested Gym environments to pybullet_envs. todo: train using PPO2 etc
HumanoidDeepMimicBackflipBulletEnv-v1
HumanoidDeepMimicWalkBulletEnv-v1
 2020-03-01 21:13:10 -08:00
Erwin Coumans
7c5073d3ab prepare towards HumanoidDeepMimicBackflipBulletEnv-v1 and HumanoidDeepMimicWalkBulletEnv-v1 
remove unused SubprocVecEnv from stable_baselines/enjoy.py
 2020-03-01 13:11:47 -08:00
Erwin Coumans
7ecb769a9c add flag to assure deterministicOverlappingPairs 2020-03-01 12:22:47 -08:00
Erwin Coumans
da5ac61baa use PyBullet's own visualizer for enjoy script, + add a time.sleep since it is way too fast (1000FPS for cart pole) 2020-02-29 22:02:01 -08:00
Erwin Coumans
8e8955571f workaround for Tensorflow 2.x breaking API: 
try:
  import tensorflow.compat.v1 as tf
except Exception:
  import tensorflow as tf
 2020-02-29 20:35:05 -08:00
Xuchen Han
7ad19fde6f formatting 2020-02-26 14:16:51 -08:00
Xuchen Han
84117b8440 separate motor constraint iterations and expose API 2020-02-26 14:11:41 -08:00
Erwin Coumans
36738b7676 release memory of m_deformableBodySolver in ClothFriction demo. 2020-02-22 10:40:31 -08:00
erwincoumans
279a5c19d5
Merge pull request #2640 from erwincoumans/master 
PyBullet: add option to merge fixed links in URDF file, capsule field init
 2020-02-21 17:49:51 -08:00
erwincoumans
3f4299d588
Merge pull request #2630 from vabr-g/vabr-g-dlerror-patch 
Include dlerror() in handling of failed dlopen()
 2020-02-21 17:26:13 -08:00
erwincoumans
e78eb2706d
Merge pull request #2627 from araffin/feat/sb-enjoy 
Add enjoy script for Stable Baselines
 2020-02-21 17:25:39 -08:00
erwincoumans
49960d18df
Update UrdfParser.cpp 
fix cast
 2020-02-21 16:49:05 -08:00
Erwin Coumans
0fd8598ca3 fix pybullet constants in previous commit 2020-02-21 16:16:13 -08:00
Erwin Coumans
f5afe9a1d1 Merge remote-tracking branch 'bp/master' 2020-02-21 15:12:17 -08:00
Erwin Coumans
e29ba9fe5c add option to merge fixed links in URDF file (improves performance, can handle URDF files with many fixed links) 
add option to ignore visual and collision shapes in URDF file
 2020-02-21 15:04:26 -08:00
Erwin Coumans
6910fc9229 initialize capsule from_to field 2020-02-21 02:05:01 -08:00
erwincoumans
bfba4ac2b6
Merge pull request #2637 from drigz/tf-compat 
Replace tensorflow with tf.compat.v1
 2020-02-20 10:56:21 -08:00
Rodrigo Queiro
d18531cc6a Replace tensorflow with tf.compat.v1 
This means they won't break when using TensorFlow 2.0.
 2020-02-19 17:35:48 +01:00
Antonin RAFFIN
21efd84c18 Add enjoy script for Stable Baselines 2020-02-15 21:06:10 +01:00
Erwin Coumans
0617f4f3cd expose computeDofCount to pybullet 
expose computeDofCount and calculateMassMatrix to BulletRobotics C++ API
(all untested)
 2020-02-14 19:58:32 -08:00
Erwin Coumans
56e6893ed9 Merge remote-tracking branch 'bp/master' 2020-02-14 17:37:18 -08:00
Erwin Coumans
6afa0a463d unsupported: expose collisionMargin to changeDynamics/getDynamicsInfo. 
add cube_convex.urdf for testing this collisionMargin. Test script:
import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane_implicit.urdf")
cube = p.loadURDF("cube_convex.urdf",[0,0,1])
p.setGravity(0,0,-10)
while (1):
	p.stepSimulation()
	pts = p.getContactPoints()
	p.changeDynamics(plane,-1,collisionMargin=0.3)
	p.changeDynamics(cube,-1,collisionMargin=0.3)
	print("===================")
	print("cube pos=", p.getBasePositionAndOrientation(cube)[0])
	print("margin=", p.getDynamicsInfo(plane,-1)[11])
	#time.sleep(1./10.)
 2020-02-14 17:36:40 -08:00
erwincoumans
665c04fbed
Merge pull request #2622 from marcel303/NoGL-fixes 
NoGL fixes
 2020-02-14 14:54:14 -08:00
erwincoumans
f80806db49
Merge pull request #2623 from marcel303/TinyRender-namespace2 
Put TinyRender functions and classes inside a TinyRender namespace.
 2020-02-14 14:53:33 -08:00
vabr-g
dd8fcad6d8
Include dlerror() in handling of failed dlopen() 
X11OpenGLWindow::X11OpenGLWindow() ends up calling dlopen() to get libX11.
When this fails, it only reports that it failed, and what filename it was looking for.
This commit adds dlerror() to the error message, which makes investigating failures easier.
 2020-02-14 15:32:40 +01:00
Marcel Smit
bdb0cc2f3e LuaDemo compile fix. 2020-02-14 12:07:39 +01:00
Marcel Smit
40e44caedd Put TinyRender functions and classes inside a TinyRender namespace. The TinyRender library defines some classes with very generic names, such as vec, Matrix, Model, which in my case, when compiling the example browser using a different library for graphics, is giving me name clashes. 2020-02-14 11:54:25 +01:00
Marcel Smit
3b0f5812c9 NoGL: double to btScalar. 2020-02-14 11:30:45 +01:00
Marcel Smit
04f03d78af NoGL: Update ExampleBrowserInterface and EmptyBrowser, with interface methods added to the OpenGL example browser, but didn't get added to the interface and empty interface. Required to compile the in-process example browser without OpenGL dependency. 2020-02-14 11:23:28 +01:00
Marcel Smit
df0910e5a8 NoGL: Cleanup inverse kinematics example. It was still including an OpenGL-related header file, even though not using any OpenGL. 2020-02-14 11:12:47 +01:00
erwincoumans
b06cdd5fc1
Merge pull request #2612 from xhan0619/master 
Improve intra-deformable collision and deformable self collision
 2020-02-12 19:30:46 -08:00
Erwin Coumans
b3ff3ebcb1 add pendulum of 5 links 2020-02-12 13:05:51 -08:00
Erwin Coumans
e7ad8a9d67 add urdf file for testing 2020-02-11 15:10:22 -08:00
Xuchen Han
b9c0456d85 fix split impulse demo 2020-02-07 13:22:41 -08:00
Xuchen Han
3bc701c487 Improve intra-deformable collision and deformable self collision 2020-02-06 17:01:20 -08:00
Erwin Coumans
6195f40c02 fix compile issue in pybullet.c 2020-02-06 09:11:18 -08:00
erwincoumans
b809cdef5b
Merge pull request #2608 from erwincoumans/master 
implement b3RobotSimulatorClientAPI_NoDirect::createVisualShape
 2020-02-06 09:00:05 -08:00
Erwin Coumans
d0f895fbbd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-02-04 20:59:26 -08:00
Erwin Coumans
401abd9ebc implement b3RobotSimulatorClientAPI_NoDirect::createVisualShape 2020-02-04 20:58:15 -08:00
Tigran Gasparian
19075f75b2 Only clear the user data cache when a full user data sync is requested. 2020-02-03 15:24:12 +01:00
erwincoumans
7380a55ba7
Merge pull request #2594 from RanTig/SyncSingleBodyUserData 
Adds an option to syncUserData to specify the bodies for which to sync.
 2020-01-29 19:23:44 -08:00
erwincoumans
9ac1dd6194
Merge pull request #2597 from erwincoumans/master 
made char* in addUserDebugParameter const
 2020-01-24 09:45:35 -08:00
Erwin Coumans
4c6e3daf5e made char* in addUserDebugParameter const 2020-01-24 08:43:20 -08:00
Tigran Gasparian
2403a22ebf Bump up shared memory magic number. 2020-01-23 16:58:32 +01:00
Tigran Gasparian
34db76d263 Adds an option to syncUserData to specify the bodies for which to sync. 2020-01-23 14:46:33 +01:00
Tigran Gasparian
899d53ee29 Added null check. 2020-01-21 19:40:22 +01:00
Tigran Gasparian
a88ffea416 . 2020-01-17 13:30:26 +01:00
Tigran Gasparian
68d3fb28e0 Adds support for loading user data from URDF files. 2020-01-17 11:55:42 +01:00
Erwin Coumans
1be6a1d16b fix loadpanda video generation 
remove duplicate code (formerly Windows ffpmeg needed different settings?)
 2020-01-12 08:07:54 -08:00
Erwin Coumans
84e2ea918c add xarm, modify loadpanda to work with pybullet_robots module 2020-01-12 07:20:32 -08:00
Erwin Coumans
fb15aea414 add example robots in pybullet_robots module 2020-01-12 07:11:57 -08:00
Erwin Coumans
3ca233193f : 2020-01-12 07:03:38 -08:00
Erwin Coumans
2f08938110 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-01-11 16:52:01 -08:00
erwincoumans
66ffa329c8
Merge pull request #2577 from xhan0619/master 
Add position error into deformable vs. rigid contact
 2020-01-11 16:05:15 -08:00
erwincoumans
a9615258d3
Merge pull request #2580 from erwincoumans/master 
add --mp4fps=30 command line parameter for ExampleBrowser, various other fixes
 2020-01-11 15:14:11 -08:00
Erwin Coumans
d328406cfa Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-01-11 13:17:00 -08:00
Erwin Coumans
8b578093a3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-01-11 13:16:47 -08:00
Erwin Coumans
eee7bcbc14 remove debug/profile tag 2020-01-11 13:16:12 -08:00
Erwin Coumans
3f11b03255 add friction anchors for Panda gripper (prevents/reduces sliding objects out of gripper) 2020-01-11 13:13:28 -08:00
Erwin Coumans
8f8bbbee3b example how to create a video using PyBullet using GUI mode with ffmpeg, synchronizing video with stepSimulation at specific frame rate (240 Hz for example) 2020-01-11 13:06:45 -08:00
Erwin Coumans
2336dfcb9e Remove a temporary global static work matrix in the BussIK, since it conflicts with multithreaded applications. 
Instead, let the user pass it in explicitly.
 2020-01-11 12:43:27 -08:00
Erwin Coumans
83bdef8254 add --mp4fps=30 command line parameter for ExampleBrowser (and using pybullet.connect(p.GUI, options="--mp4fps=30 --mp4=\"testvideo.mp4\"") 2020-01-11 12:19:42 -08:00
erwincoumans
88826da6b5
Merge pull request #2576 from dmcconachie/DeformableGravity 
[BUGFIX] Update existing deformable gravity forces on gravity change.
 2020-01-09 21:30:48 -08:00
Erwin Coumans
8ebdf7862c fix b3RobotSimulatorClientAPI_NoDirect::changeConstraint API 2020-01-09 17:56:21 -08:00
Dale McConachie
b526c01bec Update existing deformable gravity forces on gravity change. 2020-01-09 16:24:32 -05:00
Erwin Coumans
5cd4647943 fix submitProfileTiming API in b3RobotSimulatorClientAPI_NoDirect 2020-01-09 10:40:14 -08:00
erwincoumans
c85e8f038b
Merge pull request #2574 from erwincoumans/master 
fix indexing issue removing graphics shape in tinyrenderer plugin (us…
 2020-01-08 21:20:52 -08:00
Erwin Coumans
07cdae8c6e also apply TinyRenderer remove shape fix for rigid body and soft body/deformable 2020-01-08 14:02:32 -08:00
Erwin Coumans
6fde189735 fix indexing issue removing graphics shape in tinyrenderer plugin (use getUserIndex3 instead of broadphase uid) 2020-01-08 13:49:41 -08:00
erwincoumans
2dcb372080
Merge pull request #2565 from araffin/feat/sb-example 
Add Stable-Baselines example with SAC and TD3
 2020-01-08 11:51:35 -08:00
Xuchen Han
ee2a811c09 parameter tweaks after testing on robot 2020-01-04 19:29:52 -08:00
Erwin Coumans
3cdbc4cc29 fix CartPoleBulletEnv-v1 and add CartPoleContinuousBulletEnv-v0 (continuous version) 2020-01-02 19:33:57 -08:00
Erwin Coumans
3c8cf390d4 one more fix in previous commit related to bullet_client.py 2020-01-02 14:45:42 -08:00
Antonin RAFFIN
adad4dc402 Update buffer size 2020-01-02 14:47:30 +01:00
Antonin RAFFIN
59c61a46bb Simplify imports 2020-01-02 11:12:45 +01:00
Antonin RAFFIN
da0483b03a Add colab notebook 2020-01-02 11:06:39 +01:00
Antonin RAFFIN
9c969614bc Add Stable-Baselines example with SAC and TD3 2020-01-02 11:00:45 +01:00
Erwin Coumans
c39afa61cb revert bullet_client.py 2020-01-01 20:27:27 -08:00
Erwin Coumans
a9455ce891 add 'runServer.py' script in pybullet_utils, this will run a GUI server 
that accepts SHARED_MEMORY connections. Handy if you run a pybullet_envs Gym environment
and want to visualize it. By default, bullet_client will try to connect to a shared memory connection first.
 2020-01-01 18:53:32 -08:00
Erwin Coumans
b6dea7ba64 fix a few pybullet Gym environments for rendering in stable_baselines 
if PYBULLET_EGL environment is set, try to enable EGL for faster rendering
bump up pybullet to 2.6.2
 2020-01-01 18:47:46 -08:00
Xuchen Han
a274bcbfa3 add position error into deformable vs. rigid solve 2019-12-31 19:18:37 -08:00
Erwin Coumans
528bd28e34 increase plane from 30 to 200 (to allow quadrupeds to run further, not fall off cliff) 
fix issue with gym.wrappers in pybullet_envs.agents.visualize_ppo.py
 2019-12-31 18:13:49 -08:00
Xuchen Han
78a8ddb466 change default damping model for mass spring to the angular momentum conserving one 2019-12-31 14:08:21 -08:00
Xuchen Han
4ab550d358 update deformable demos 2019-12-31 14:05:45 -08:00
Xuchen Han
442047a862 more bug fixes 2019-12-27 13:16:31 -08:00
Erwin Coumans
ffc76fbf6d add xarm 6 example with inverse kinematics (IK) that runs about 150 microseconds (Ryzen 3900x) 2019-12-22 17:17:37 -08:00
erwincoumans
830f0a9565
Merge pull request #2550 from xhan0619/master 
Group deformable constraint solves by islands
 2019-12-20 16:26:32 -08:00
Xuchen Han
6a8973d2f4 address PR comment and tune parameters for cloth 2019-12-19 21:51:54 -08:00
Erwin Coumans
7a4023430a fix pybullet.submitProfileTiming 2019-12-19 18:05:41 -08:00
Erwin Coumans
9c7e6d6a48 enable programmatic creation of spherical joint 2019-12-19 16:56:09 -08:00
Xuchen Han
4ab0387262 Merge remote-tracking branch 'origin/master' 
merge origin/master
 2019-12-18 23:18:16 -08:00
erwincoumans
7584847f33
Merge pull request #2537 from erwincoumans/master 
fix pybullet_envs path, pybullet version to 2.6.0, allow clang-cl on Windows
 2019-12-17 19:06:11 -08:00
Xuchen Han
f65a8b03c0 separate deformable contact solve by islands WIP 2019-12-17 18:27:23 -08:00
Chuyuan Fu
0f477e27ae add link index to setdamping C APIs. If link index is not set, the command is igored for rigidbody 2019-12-17 13:48:34 -08:00
Xuchen Han
d38ea87027 add gripper with deformable cloth demo 2019-12-13 14:33:54 -08:00
Erwin Coumans
7241fe19b9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-12-13 09:21:00 -08:00
Erwin Coumans
30b42a14f0 add single-link arm urdf files for debugging 2019-12-13 09:20:46 -08:00
Erwin Coumans
3668bc5e2a tweak premake4 default batch file. 
add manual control for joint angles in XArm6 example.
 2019-12-12 07:02:27 -08:00
Erwin Coumans
1a245f4e11 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-12-11 16:49:04 -08:00
Erwin Coumans
2f6eb59e16 add z-up version of Laikago, centered along the chassis center of mass 2019-12-11 16:47:52 -08:00
erwincoumans
08321b96ba
Update main_opengl_single_example.cpp 
Apply fix from PR #2526 manually, thanks to  Andrew Meadows
 2019-12-11 13:59:44 -08:00
Erwin Coumans
202cf18995 allow to compile using clang-cl on visual studio (disable SSE) 2019-12-11 13:07:53 -08:00
Erwin Coumans
d254b65fee Merge remote-tracking branch 'bp/master' 2019-12-10 15:48:24 -08:00
Erwin Coumans
e7778502e7 fix pybullet_envs path 2019-12-10 15:48:07 -08:00
erwincoumans
6c722f8f94
Merge pull request #2528 from jackson-waschura/master 
Actually use self collisions when specified
 2019-12-09 09:35:06 -08:00
erwincoumans
880faef997
Merge pull request #2535 from erwincoumans/master 
Googley colors for xarm (debugging) and tweak example with table etc.…
 2019-12-09 09:26:47 -08:00
Erwin Coumans
1a491dc700 Googley colors for xarm (debugging) and tweak example with table etc. Add missing link6_vhacd.obj 2019-12-09 09:25:15 -08:00
erwincoumans
e0a43fb116
Merge pull request #2534 from erwincoumans/master 
remove duplicate xarm6.urdf
 2019-12-09 08:57:00 -08:00
Erwin Coumans
0a8ade5233 remove duplicate xarm6.urdf 2019-12-09 08:54:56 -08:00
erwincoumans
1b8d7be2b6
Merge pull request #2533 from erwincoumans/master 
also enable simplified convex decomposition collision meshes for xarm…
 2019-12-09 08:53:27 -08:00
Erwin Coumans
67905efd0f also enable simplified convex decomposition collision meshes for xarm6_robot.urdf 2019-12-09 08:51:02 -08:00
David Rusu
dd3bdf0da1 Use pybullet_utils.bullet_client for all our BulletClient needs 2019-12-08 20:10:12 -05:00
jackson-waschura
0b33d940e4 Actually use self collisions when specified 2019-12-08 13:54:38 +01:00
Erwin Coumans
70329ca2ad added Apache 2 license for Panda Franka URDF 2019-12-08 00:40:10 -08:00
Erwin Coumans
4cfd30f19c add Franka Panda URDF and example (python3 -m pybullet_envs.examples.loadpanda) 
add XArm6 URDF with optimized collision meshes and example (XArm gripper needs more work) python3 -m pybullet_envs.examples.xarm
 2019-12-08 00:38:49 -08:00
Erwin Coumans
146a751eb4 enable intermediate log for walk, so you can restart if stuck in local maximum 2019-12-05 08:34:34 -08:00
erwincoumans
c74b88b436
Merge pull request #2522 from erwincoumans/master 
update Laikago robot with textures, and a version with toes to enable…
 2019-12-04 21:14:21 -08:00
Erwin Coumans
91328f9280 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-12-04 15:49:30 -08:00
Erwin Coumans
7f3059c7a9 increase max number of parameters (to around 300) in debug GUI 2019-12-04 15:49:06 -08:00
Erwin Coumans
7c5796b67d update Laikago robot with textures, and a version with toes to enable inverse kinematics. 2019-12-04 14:48:28 -08:00
erwincoumans
ef08e9b415
Merge pull request #2517 from erwincoumans/master 
enable self-collision for deep_mimic pybullet_envs, fix Mac Catalina pybullet pip build
 2019-12-04 08:56:42 -08:00
erwincoumans
44f21e462a
Merge pull request #2509 from xhan0619/separate-bending-stiffness 
Separate in-plane and bending stiffness for mass spring model
 2019-12-04 07:34:28 -08:00
Erwin Coumans
763e25dd37 fix Mac Catalina pybullet build (setup.py) 2019-12-03 20:49:08 -08:00
Erwin Coumans
7f9f514b7e enable self-collision for deep_mimic pybullet_envs and make it easier to try it out: 
python3 -m pybullet_envs.deep_mimic.testrl
 2019-11-30 13:19:28 -08:00
Erwin Coumans
cf67e7af0a Merge remote-tracking branch 'bp/master' 2019-11-29 08:06:53 -08:00
Erwin Coumans
56d0b7a09a deep_mimic, read velocity from poseInterpolator, not kinematic model 
This fixes issue #2401
 2019-11-29 08:05:54 -08:00
Xuchen Han
8fde74ecea update SHARED_MEMORY_MAGIC_NUMBER 2019-11-28 12:14:40 -08:00
Xuchen Han
7bce5d61f4 separate in-plane and bending stiffness for mass spring model for easier parameter tuning 2019-11-27 11:40:10 -08:00
Xuchen Han
39df98465e set a smaller dt for deformable_ball.py for stability and typo fix 2019-11-25 17:07:00 -08:00
Xuchen Han
abd7a556e1 Merge remote-tracking branch 'origin/master' 2019-11-25 15:29:25 -08:00
Erwin Coumans
d9ab536682 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-11-21 19:37:11 -08:00
Erwin Coumans
824fd6410f Use -> Set in API 2019-11-21 19:07:11 -08:00
erwincoumans
574343405d
Merge pull request #2499 from xhan0619/fix-render-mesh 
Fix render mesh
 2019-11-21 16:38:54 -08:00
Xuchen Han
f237a40621 add a pybullet example to compare the result of soft body and deformable body 2019-11-21 00:09:32 -08:00
Xuchen Han
fa7cb25c95 revert the default world to SOFT_MULTIBODY_WORLD 2019-11-20 23:47:15 -08:00
Erwin Coumans
46a7fbe92f fix old threading examples 2019-11-20 17:06:05 -08:00
Chuyuan Fu
593fc872ab get correct AABB for softbody 2019-11-20 16:42:04 -08:00
Xuchen Han
edffb0cc55 update pybullet examples 2019-11-19 23:10:13 -08:00
Xuchen Han
00add5490f fix separate render and sim mesh 2019-11-19 23:10:08 -08:00
Xuchen Han
64e5e007e3 load render mesh from command 2019-11-19 21:07:26 -08:00
Erwin Coumans
66951ac102 fix Mac version of deformable_anchor.py 2019-11-19 19:35:28 -08:00
Erwin Coumans
96deb42aa5 pybullet.createSoftBodyAnchor 2019-11-19 19:20:08 -08:00
Erwin Coumans
d42cf2d0ca enable compilation without deformables/soft bodies (for some unit tests 
in premake)
 2019-11-19 12:20:33 -08:00
Xuchen Han
6c34c91ca7 load render mesh from command 2019-11-18 23:37:23 -08:00
Xuchen Han
f5400b40d2 Add faces to volumetric objects in deformable demos 2019-11-18 23:37:23 -08:00
Erwin Coumans
e5ed15c3b2 fix memory issues in btSparseSDF.h 
(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
 2019-11-18 23:37:23 -08:00
Xuchen Han
6268911a43 enable real time simulation 2019-11-18 23:37:22 -08:00
Xuchen Han
22fb2cfb5e add python binding to allow loading deformable objects 2019-11-18 23:37:22 -08:00
Erwin Coumans
655981c6ad fix load_soft_body.py example. 
add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
 2019-11-18 23:37:22 -08:00
Erwin Coumans
dc26d2e360 PyBullet: fix memory leak in changeTexture command 
Fixes #2481
 2019-11-18 23:37:22 -08:00
Erwin Coumans
8f16332708 expose the double sided flag 2019-11-18 23:37:22 -08:00
Erwin Coumans
920b253e87 Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering. 2019-11-18 23:37:22 -08:00
erwincoumans
d26752b232
Merge pull request #2496 from xhan0619/add-deformable-faces 
Add faces to volumetric objects in deformable demos
 2019-11-18 16:07:07 -08:00
Xuchen Han
c4e73ec8a7 Add faces to volumetric objects in deformable demos 2019-11-18 14:47:57 -08:00
Erwin Coumans
1f6d504e44 fix memory issues in btSparseSDF.h 
(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
 2019-11-18 10:22:56 -08:00
Xuchen Han
bca87426f4 enable real time simulation 2019-11-15 22:38:47 -08:00
Xuchen Han
a86710c5b6 add python binding to allow loading deformable objects 2019-11-15 21:25:11 -08:00
Erwin Coumans
72e0e7c223 fix load_soft_body.py example. 
add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
 2019-11-14 21:20:42 -08:00
Erwin Coumans
24a76614f8 PyBullet: fix memory leak in changeTexture command 
Fixes #2481
 2019-11-14 17:07:08 -08:00
Erwin Coumans
cabef63b1c expose the double sided flag 2019-11-12 20:36:20 -08:00
Erwin Coumans
9ca957387f Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering. 2019-11-12 20:08:49 -08:00
Xuchen Han
2edd94c722 add option to approximate face contact with collision quadrature points 2019-11-12 17:10:39 -08:00
Xuchen Han
794614f269 change collision detection between deformables to from continuous to discrete 2019-11-11 13:58:03 -08:00
erwincoumans
b25d806b14
Merge pull request #2475 from xhan0619/fix-issue-#2473 
Fix issue #2473
 2019-11-08 20:45:05 -08:00