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252 Commits

Author SHA1 Message Date
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
d3fdf434ed few more fixes in pybullet setup.py 2020-03-17 10:38:51 -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
d0c0c9584d pybullet -> 2.6.8 2020-03-16 18:08:02 -07:00
Erwin Coumans
661ffe8820 bump up PyBullet to 2.6.7 2020-03-15 19:16:57 -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
Erwin Coumans
6e18cd0fd7 bump up pybullet version to 2.6.6 2020-02-21 15:05:37 -08:00
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
Xuchen Han
60f73963a8 add poly34.cpp to setup.py 2020-02-08 21:21:43 -08:00
Erwin Coumans
6195f40c02 fix compile issue in pybullet.c 2020-02-06 09:11:18 -08:00
Erwin Coumans
e73de6ea00 bump up pybullet version to 2.6.4 2020-01-11 16:06:14 -08:00
Erwin Coumans
02d48d743f add Python version 3.7 and 3.8 to setup.py 2020-01-02 21:31:48 -08:00
Erwin Coumans
ea3857c2c4 bump up version, fix due to regression in bullet_client 2020-01-02 14:51:26 -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
Erwin Coumans
9afe9757be bump up pybullet to version 2.6.1 2019-12-20 16:27:50 -08:00
Erwin Coumans
9a981f4736 bump up pybullet to 2.6.0 2019-12-10 15:49:31 -08:00
Erwin Coumans
6502409b26 bump up pybullet version 2019-11-21 19:36:46 -08:00
Erwin Coumans
9f44d76b67 fix issue in BulletClient (pybullet_utils.bullet_client) that may disconnect multiple times, causing issues when repeatedly creating a gym env 
bump up pybullet to version 2.5.7
 2019-11-07 10:47:56 -08:00
Erwin Coumans
9a6c6a3fb4 Merge remote-tracking branch 'bp/master' 2019-10-02 22:39:51 -07:00
Erwin Coumans
b6e5609f90 fix mac osx compilation 2019-09-30 14:08:22 -07:00
Erwin Coumans
1d123b6ceb bump up PyBullet version to 2.5.6 2019-09-30 09:09:26 -07:00
Xuchen Han
132f7fe751 update pybullet binding 2019-09-28 14:44:42 -07:00
Xuchen Han
899bf9afd1 update setup.py 2019-09-04 18:55:16 -07:00
Erwin Coumans
648844e898 minor fixes, bump up pybullet to 2.5.5 2019-08-14 21:30:10 -07:00
Erwin Coumans
c7fa8bfc58 bump up pybullet to version 2.5.4 2019-08-11 17:20:38 -07:00
Erwin Coumans
bb962bdb6f remove some left-over debugging from deep_mimic 
pybullet bump up to 2.5.3
 2019-07-22 17:47:02 -07:00
Erwin Coumans
213ae06e1f bump up version 2019-07-22 10:01:30 -07:00
Erwin Coumans
8936c8483f bump up pybullet to 2.5.1 2019-06-19 15:58:08 -07:00
Erwin Coumans
ee3680765e fixes for RemoteGUIHelper 2019-06-14 14:34:56 -07:00
Erwin Coumans
f598aad3d4 update pybullet version 2019-05-08 14:07:31 -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
Erwin Coumans
1c6aa4b67e bump up PyBullet to 2.4.9 2019-04-25 08:07:36 -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
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
Erwin Coumans
b072f2fdc8 bump up PyBullet version to 2.4.7 2019-03-07 22:05:15 -08:00
Dave Jones
7b5f81958a Limit compilation parallelism 
On smaller platforms like the Raspberry Pi, which have a deficit of
physical memory, the default algorithm for determining compilation
parallelism is far too optimistic and usually results in crashing the
platform.

This modification limits the number of parallel jobs to the size of RAM
in Gb. On a mid-size PC (e.g. quad-core with 8+Gb of RAM), this will
make no difference. On a Pi (quad-core with 1Gb of RAM), this will limit
it to 1 job at a time (which is ideal).
 2019-02-20 22:52:29 +01:00
Erwin Coumans
127cde6ec7 bump up to PyBullet 2.4.5 2019-02-18 19:11:42 -08:00
Erwin Coumans
225d823e4d bump up pybullet version 2019-02-13 17:10:01 -08:00
Erwin Coumans
9392b05d53 bump up to PyBullet 2.4.3 2019-01-29 12:05:15 -08:00
Erwin Coumans
be7ebe22a0 PyBullet: fix for Mac OSX not finding standard libraries 2019-01-28 10:02:53 -08:00
Erwin Coumans
77a9a77b60 create some 'Unity Build' cpp files, to work-around setuptools on Windows creating >32k command-line 
see 'won't fix' in https://bugs.python.org/issue1539295
 2019-01-24 10:32:15 -08:00
erwincoumans
dbf93b7129 remove Rand.cpp from setup.py 2019-01-23 17:36:30 -08:00
Erwin Coumans
2f5c93a0f4 PyBullet: enable DeepMimic code as 'plugin' for stable PD control of spherical joints 
enabling STATIC_LINK_SPD_PLUGIN
 2019-01-23 10:42:59 -08:00
Erwin Coumans
a23cfd0782 bump up pybullet version to 2.4.0 2018-11-29 16:50:37 -08:00
erwincoumans
8c0b4d9e12 bump up pybullet version to 2.3.9 2018-11-17 14:12:10 -08:00
Erwin Coumans
ccc26260b6 bump up pybullet version to 2.3.8 2018-11-13 15:39:54 -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
Erwin Coumans
036d75bc04 fix issue that cause hanging/stallig setup.py due to monkey-patch, 
see also https://github.com/bulletphysics/bullet3/issues/1956
 2018-11-08 11:33:45 -08:00
Erwin Coumans
6e169ada80 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-11-06 12:33:53 -08:00
Erwin Coumans
5d20b2d346 bump up pybullet version 2018-11-06 12:33:46 -08:00
erwincoumans
f34aec941b
Merge pull request #1960 from BlGene/pip-egl 
pip egl install: added btThreads.cpp
 2018-10-28 19:54:38 -07:00
Max Argus
fc4d531e3c pip egl install: added btThreads.cpp 2018-10-27 21:54:33 +02:00
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
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
Erwin Coumans
f1ac24cc60 make pybullet setup.py use threadsafe version by default 2018-10-26 18:37:28 -07:00
Erwin Coumans
eb490351ec bump up PyBullet version to 2.3.2 2018-10-16 19:04:49 -07:00
Erwin Coumans
e776408c19 add missing file to MANIFEST.in, bump up PyBullet version 2018-10-16 19:03:24 -07:00
Erwin Coumans
c441a9469c enable fileIOPlugin and loading from zipfile in PyBullet, 
bump up to version 2.3.0
 2018-10-11 17:44:54 -07:00
Erwin Coumans
8a0d96edce tweaks in pybullet/examples for Mac OSX 2018-10-05 19:40:52 -07:00
bla
0f8b8388a6 eglPlugin, one more fix, remove graphics instances at resetAll 2018-10-02 08:13:51 -07:00
bla
ae93c0878d bump up pybullet version to 2.2.7 (fixing egl/segmask took a few iterations) 2018-10-02 07:51:09 -07:00
bla
1609f7da4c bump up pybullet version again 2018-10-01 18:54:35 -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
Erwin Coumans
cd2f111a10 update pybullet version, include *.* from OpenGLWindow 2018-09-25 17:06:32 -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
bla
3de295ca41 add missing files to MANIFEST.in for pybullet pip version 2018-09-19 08:43:55 -07:00
Erwin Coumans
d909448ee3 bump up pybullet version again 2018-09-12 21:03:07 -07:00
Erwin Coumans
c8fe0f7fbc bump up pybullet version to 2.1.5 2018-09-12 20:33:52 -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
bla
36c900e384 linux fixes related to egl 2018-09-10 23:52:53 -07:00
erwincoumans
684a9f6a99 move stb_image/stb_image_write.cpp into a cpp file instead of random files with the magic 'STB_IMAGE_WRITE_IMPLEMENTATION' define 
move setup.py back to eglRenderer extension, use pkgutil.get_loader('eglRenderer').get_filename()
disable dlmopen by default, unless B3_USE_DLMOPEN is defined.
 2018-09-10 23:18:34 -07:00
bla
8f711462e0 fix setup.py to work better on Windows and Linux (with default eglPlugin static built-in, 
just use pybullet.loadPlugin("eglRendererPlugin") before loading/creating any objects.
use end/startRendering (swap buffers) before the rendering in the eglPlugin
 2018-09-09 22:58:08 -07:00
erwincoumans
9698c3d600 PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). 
postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread.
When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
 2018-09-09 21:08:47 -07:00
erwincoumans
7369005402 pybullet, use eglPlugin statically instead of dynamic loading an Extension -DSTATIC_EGLRENDERER_PLUGIN 
Fix compile errors of pybullet on Windows.
 2018-09-09 15:23:26 -07:00
erwincoumans
233a7083d1
Merge pull request #1790 from BlGene/egl-plugin 
OpenGL render plugin
 2018-09-09 09:27:15 -07:00
Erwin Coumans
bc0a201bd1 update quickstart guide from https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3 
bump up pybullet version to 2.1.4
 2018-09-08 12:48:26 -07:00
Max Argus
425ab144bb fix setup.py 2018-08-30 13:24:25 +02:00
Max Argus
4d6c610682 enable egl by default for pybullet SimpleOpenGL3App 2018-08-30 13:24:25 +02:00
Max Argus
e15fb0866c rendertest + parallel pip + no debug for plugin 2018-08-30 13:24:25 +02:00
Max Argus
05f82e8867 egl plugin working 2018-08-30 13:24:25 +02:00
Max Argus
f80f0c76a4 added egl plugin commit 2018-08-30 13:24:25 +02:00
Max Argus
9328d0bb5f fix build 2018-08-30 13:24:25 +02:00
Max Argus
f0e7f266ef switched to new glad2 2018-08-30 13:24:25 +02:00
Max Argus
6e828688e7 activate EGL + add rendertest.py 2018-08-30 13:24:25 +02:00
a
3d499c8a7a pybullet: added EGL render device and window_backend option. 
EGL review.
EGL dynamic loading, windowType to int
moved to glad2
Require GL 3.3 as GLInstancingRenderer.cpp uses glVertexAttribDivisor
glad2 update with dynamic X11 added
removed old file
build fix
fix mac/win
EGL w/o c++11, off by default
fix premake
fixup: premake fix 2
 2018-08-30 13:24:25 +02:00
Erwin Coumans
61b7591b8e expose choice of contraint solver in PyBullet, with switchConstraintSolver example 2018-08-23 23:04:17 -07:00
Erwin Coumans
90e08b41a5 bump up pybullet version 2018-08-09 16:53:11 -07:00
Erwin Coumans
56e7333941 bump up pybullet version 2018-08-04 09:58:15 -07:00
Erwin Coumans
2cab56d6ef prepare build system(s) for collisionFilterPlugin 2018-07-27 15:48:24 +02:00
Erwin Coumans
2c881d0b74 bump up pybullet version to 2.0.9 2018-06-23 11:53:12 -07:00
Erwin Coumans
9326fff75a PyBullet: bump up version to 2.0.8 2018-06-16 11:02:04 -07:00
Erwin Coumans
0080cf7ed1 bump up pybullet version to 2.0.7 2018-06-13 22:36:12 -07:00
Erwin Coumans
033835a0fa bump up pybullet version 2018-06-05 17:17:10 -07:00
erwincoumans
b6f5cb4c34 enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp) 
add pdControl.py example, make pdControlPlugin functional
reduce memory usage
fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
 2018-06-05 15:59:01 -07:00
Erwin Coumans
f75e22e37d bump up PyBullet version to 2.0.3 2018-06-01 22:54:43 -07:00
erwincoumans
7653ddbeba bump up pybullet version (for fixed ik) 2018-05-31 21:17:39 -07:00
erwincoumans
2819ff4a00 bump up version 2018-05-29 21:05:12 -07:00
Erwin Coumans
3d6c8f0fae PyBullet: include the pre-trained policy files in data 2018-05-26 08:49:23 +10:00
Erwin Coumans
da73556ca7 bump up pybullet version to 2.0.0 2018-05-25 08:26:09 +10:00
Erwin Coumans
2ac8c7009d bump up pybullet version to 1.9.9 2018-05-20 15:03:58 +10:00