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8666 Commits

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Author SHA1 Message Date
Erwin Coumans
f22d88d6ff fix build 2020-07-13 14:45:23 -07:00
Erwin Coumans
fc024f00f9 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-07-13 14:28:00 -07:00
Erwin Coumans
caa8b26ce5 Fixes in TinyAudio, play sound on collision impact, can be configured in URDF/SDF file. 
Requires a modified setup.py (or use premake4 to compile)

Example script:
import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane_with_collision_audio.urdf")
box = p.loadURDF("cube.urdf",[0,0,1])
p.setGravity(0,0,-10)
while (1):
  p.stepSimulation()
  time.sleep(1./240.)
 2020-07-13 14:07:58 -07:00
Darío Urbina
01d74be777 Seeing the relatonship and understanding of the creation of two contraints 2020-07-13 12:22:49 -07:00
erwincoumans
6b6cfa6f03
Merge pull request #2921 from erwincoumans/master 
bump up pybullet version to 2.8.4
 2020-07-08 11:18:59 -07:00
Erwin Coumans
53e1365884 bump up pybullet version to 2.8.4 2020-07-08 11:17:03 -07:00
erwincoumans
d19cd89b4a
Merge pull request #2912 from ManifoldFR/deepmimic-gym-fixes 
DeepMimic: add COM reward
 2020-07-08 10:54:20 -07:00
erwincoumans
0dad934515
Merge pull request #2919 from erwincoumans/master 
pybullet allow to enable/change joint limits:
 2020-07-08 09:59:04 -07:00
ManifoldFR
1f6ae38040 DeepMimic: add retrained walk motion with COM 2020-07-08 17:03:46 +02:00
Erwin Coumans
d88d0e92ef also update m_jointLowerLimit/m_jointUpperLimit in multibody link. 2020-07-07 19:49:29 -07:00
Erwin Coumans
c517c434e6 pybullet allow to enable/change joint limits: 
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLowerLimit=..., jointUpperLimit=...) # jointLowerLimit <= jointUpperLimit

and joint limit max force:
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLimitForce=...)

For example:
p.changeDynamics(sphereUid,linkIndex, jointLowerLimit=1, jointUpperLimit=3, jointLimitForce=10.5)

add b3ChangeDynamicsInfoSetJointLimit/b3ChangeDynamicsInfoSetJointLimitForce
add getConstraintType for btMultiBodyConstraint
 2020-07-07 19:42:23 -07:00
ManifoldFR
5901caa207 Merge branch 'master' into deepmimic-gym-fixes 2020-07-08 00:51:26 +02:00
erwincoumans
73fffd1449
Merge pull request #2894 from sinbad/dynamic-runtime 
Add --dynamic-runtime option to compile with /MD[d] in MSVC for compat
 2020-07-07 15:11:43 -07:00
erwincoumans
298a9fd73e
Merge pull request #2904 from sinbad/release-crt-in-debug 
Add USE_MSVC_RELEASE_RUNTIME_ALWAYS to use Release CRT even in Debug
 2020-07-07 15:10:37 -07:00
erwincoumans
d671fcad2f
Merge pull request #2914 from erwincoumans/master 
fix array size in inverse kinematics orientation command
 2020-07-06 22:58:45 -07:00
Erwin Coumans
9de78ab6b3 fix array size in inverse kinematics orientation command 
bump up shared memory version, since this was a potentially incompatible change
 2020-07-06 22:57:03 -07:00
ManifoldFR
a3810d15ef fix setting useComReward=false 2020-07-06 16:56:24 +02:00
ManifoldFR
2fe3fe945d DeepMimic: Make COM reward optional 2020-07-06 16:47:22 +02:00
ManifoldFR
53a3af8918 Merge branch 'master' into deepmimic-gym-fixes 2020-07-02 10:12:06 +02:00
ManifoldFR
b200bf59e0 DeepMimic: add COM reward 2020-07-01 19:15:21 +02:00
Steve Streeting
a877acd07f Add USE_MSVC_RELEASE_RUNTIME_ALWAYS to use Release CRT even in Debug builds 2020-07-01 18:13:08 +01:00
erwincoumans
63e1d7d840
Merge pull request #2888 from AiRuiChen/change-env-name 
Ensure naming consistency in gym registry
 2020-06-30 19:06:53 -07:00
erwincoumans
8dae05b012
Merge pull request #2896 from erwincoumans/master 
bump up pybullet version to 2.8.3
 2020-06-30 16:46:31 -07:00
Erwin Coumans
ef66ec4a6c bump up pybullet version to 2.8.3 2020-06-30 16:45:35 -07:00
erwincoumans
232cc232ee
Merge pull request #2895 from erwincoumans/master 
fix removeConstraint for deformables
 2020-06-30 16:42:59 -07:00
Erwin Coumans
9a61abde37 Merge remote-tracking branch 'bp/master' 2020-06-30 16:41:23 -07:00
Erwin Coumans
4c63a5019e fix removeConstraint for deformables, thanks to Daniel Seita for reporting the issue. 2020-06-30 16:39:15 -07:00
Steve Streeting
4182c8ca9c Add --dynamic-runtime option to compile with /MD[d] in MSVC for compat 2020-06-30 17:12:11 +01:00
ManifoldFR
0dadbd9849 Merge branch 'master' into deepmimic-gym-fixes 2020-06-30 10:59:20 +02:00
Eric Yihan Chen
0f05cdba18 Add missing names in pybullet_envs.getList() 2020-06-29 11:29:43 -07:00
erwincoumans
d8c7f97dbb
Merge pull request #2872 from xhan0619/implicit-contact 
Corotated Linear Elasticity
 2020-06-29 10:05:14 -07:00
erwincoumans
f437d881ad
Merge pull request #2883 from ManifoldFR/master 
DeepMimic Gym enhancements
 2020-06-29 10:04:53 -07:00
ManifoldFR
45b061c879 variable timestep for deepmimic env 2020-06-29 10:30:09 +02:00
ManifoldFR
d0838d3bcb variable timestep for deepmimic env 2020-06-29 10:26:08 +02:00
Eric Yihan Chen
6cdebabd2b rename bullet envs for consistency 2020-06-27 15:10:20 -07:00
Xuchen Han
c9a0ebb24e reduce the picking force in self-collision demo 2020-06-26 14:19:50 -07:00
Xuchen Han
70a0ef65d8 fix bug in deformable replulsion force and adjust parameter in deformable self collision 2020-06-26 14:19:44 -07:00
Xuchen Han
4317ddc285 change dynamic_cast to static_cast 2020-06-26 11:47:40 -07:00
Erwin Coumans
40e71d8ef6 vs2019 2020-06-25 16:31:29 -07:00
ManifoldFR
04350bc9ab add COM reward to DeepMimic 2020-06-25 15:59:13 +02:00
ManifoldFR
b925988821 DeepMimic Gym enhancements 
* fix render() camera up axis
* make render() camera track character
* increase render resolution
* add option to restart mocap clip at t=0 at reset (default=random time)
* Gym env: option for "test mode" (episode starts at mocap clip start)
* Gym env: option to offset/rescale actions and obs (like original code)
 2020-06-25 12:03:30 +02:00
Xuchen Han
bf8cf19665 support implicit integration in picking force 2020-06-24 17:48:43 -07:00
Xuchen Han
7523861bf5 fix picking issue in Deformable Self Collision demo 2020-06-24 17:48:11 -07:00
erwincoumans
fa218725ec
Merge pull request #2882 from erwincoumans/master 
fix pybullet_utils import, bump up pybullet version
 2020-06-24 15:59:13 -07:00
Erwin Coumans
b4624ad237 fix pybullet_utils import 2020-06-23 16:14:18 -07:00
erwincoumans
03b55f3374
Merge pull request #2873 from roboticslibrary/patch-cmake-config-definitions 
Add compiler definitions for double precision to CMake config
 2020-06-22 10:12:47 -07:00
Markus Rickert
a5678b0b45 Add compiler definitions for double precision to CMake config 2020-06-21 21:18:11 +02:00
Xuchen Han
3f34b6920f revert the max number of solver iteration to previous value 300 2020-06-19 17:26:03 -07:00
Xuchen Han
bfaaca81be bug fix in implicit predict motion 2020-06-19 17:04:02 -07:00
Xuchen Han
41210ca37f restore CMakelist and premake.lua 2020-06-19 17:02:36 -07:00