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Author SHA1 Message Date
erwincoumans
f5802df0d7
Merge pull request #2979 from erwincoumans/master 
TinyRenderer: support plane shape, stablePDPlugin: box fallback for inertia of unsupported shapes
 2020-08-10 23:09:22 -07:00
Erwin Coumans
ff229baf1e TinyRenderer: support plane shape (creating similar textured plane to OpenGL renderer) 
TinyRenderer: perform clipping in double precision to improve accuracy
 2020-08-10 20:19:00 -07:00
Erwin Coumans
038cc196e1 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-08-10 17:02:06 -07:00
Erwin Coumans
7d9bcafda8 when using stablePDPlugin, approximate inertia by box for unsupported shapes. 2020-08-10 17:00:19 -07:00
erwincoumans
04e3da3604
Merge pull request #2973 from erwincoumans/master 
re-add constraints.py, deleted due to confusing github UI
 2020-08-07 09:33:51 -07:00
Erwin Coumans
a17df118f1 re-add constraints.py I wanted to delete the changes, not the file! 
(confusing github UI!)
 2020-08-07 09:32:30 -07:00
Erwin Coumans
f1cca2eea4 Merge remote-tracking branch 'bp/master' 2020-08-07 09:32:16 -07:00
erwincoumans
d1505e187a
Merge pull request #2950 from DarioUrbina/develop_dario 
Inverted Pendulum Actuated by Tendons
 2020-08-07 09:30:32 -07:00
erwincoumans
2bc3d87d8d
Delete constraint.py 2020-08-07 09:29:39 -07:00
Erwin Coumans
39500cccaa Merge remote-tracking branch 'bp/master' 2020-08-06 17:35:46 -07:00
erwincoumans
b09f9eda1d
Merge pull request #2968 from xhan0619/implicit-picking 
Implicit picking
 2020-08-06 17:16:22 -07:00
Xuchen Han
eef0d647cd Tune parameters to effectively reduce the stiffness of the picking force. 2020-08-03 23:05:08 -07:00
Xuchen Han
ae9fb3ca8f Change picking force to implicit for all integration schemes. 2020-08-03 23:04:47 -07:00
Erwin Coumans
ba6117c4ed bump up pybullet to version 2.8.5 2020-08-03 14:00:39 -07:00
Erwin Coumans
e109a631b3 bump up pybullet version 2020-08-03 13:42:11 -07:00
erwincoumans
b623f5d123
Merge pull request #2967 from erwincoumans/master 
fix raycast filter masks, they can be negative
 2020-08-03 13:18:27 -07:00
erwincoumans
eb32f48000
Merge pull request #2958 from buoyancy99/patch-1 
fix bug of using undefined name p
 2020-08-03 11:37:19 -07:00
Erwin Coumans
d12d886e13 raycast filter masks can be negative, always apply the mask (-1 default). Thanks to Tingnan for reporting/reproduction case. 2020-08-03 11:00:14 -07:00
Erwin Coumans
51aed38377 fix import 2020-07-31 15:30:53 -07:00
erwincoumans
5143403681
Merge pull request #2956 from xhan0619/demo-fix 
Initialize proper collision margin for deformable_ball.py
 2020-07-30 11:34:39 -07:00
buoyancy99
1edb8d17f9
fix bug of using undefined name p 2020-07-29 23:51:40 -07:00
Xuchen Han
fa0d452651 Initialize proper collision margin for deformable_ball.py 2020-07-28 21:00:27 -07:00
erwincoumans
579115cf9f
Merge pull request #2953 from erwincoumans/master 
improve premake4 build in case X11 headers are missing
 2020-07-24 18:11:10 -07:00
erwincoumans
f5cdd6e015
Merge branch 'master' into master 2020-07-24 18:10:40 -07:00
Erwin Coumans
1e8f39b492 improve premake4 build in case X11 headers are missing 
improve video_sync_mp4.py example
allow to create a heightfield from file or programmatically in C++ robotics api. Example:

{
		b3RobotSimulatorCreateCollisionShapeArgs shapeArgs;
		shapeArgs.m_shapeType = GEOM_HEIGHTFIELD;
		bool useFile = true;
		if (useFile)
		{
			shapeArgs.m_fileName = "D:/dev/bullet3/data/heightmaps/gimp_overlay_out.png";
			shapeArgs.m_meshScale.setValue(.05, .05, 1);
		}
		else
		{
			shapeArgs.m_numHeightfieldColumns = 256;
			shapeArgs.m_numHeightfieldRows = 256;
			shapeArgs.m_meshScale.setValue(.05, .05, 1);
			shapeArgs.m_heightfieldData.resize(shapeArgs.m_numHeightfieldRows * shapeArgs.m_numHeightfieldColumns);
			double heightPerturbationRange = 0.05;
			for (int j = 0; j<int(shapeArgs.m_numHeightfieldColumns / 2); j++)
			{
				for (int i = 0; i < (int(shapeArgs.m_numHeightfieldRows / 2)); i++)
				{
					double height = ((double)rand() / (RAND_MAX)) * heightPerturbationRange;
					shapeArgs.m_heightfieldData[2 * i + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + 1 + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + 1 + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
				}
			}
		}
		int shape = sim->createCollisionShape(shapeArgs.m_shapeType, shapeArgs);
		b3RobotSimulatorCreateMultiBodyArgs bodyArgs;
		bodyArgs.m_baseCollisionShapeIndex = shape;
		int groundId = sim->createMultiBody(bodyArgs);
		int texId = sim->loadTexture(shapeArgs.m_fileName);
		b3RobotSimulatorChangeVisualShapeArgs args;
		args.m_objectUniqueId = groundId;
		args.m_linkIndex = -1;
		args.m_textureUniqueId = texId;
		sim->changeVisualShape(args);
	}
 2020-07-24 18:09:13 -07:00
Darío Urbina
370b2f72ff valerolab 2020-07-23 09:32:46 -07:00
Darío Urbina
5081ac5b34 Inverted Pendulum Tendon Actutation 2020-07-22 11:19:10 -07:00
root
1685aae597 Merge branch 'master' of github.com:bulletphysics/bullet3 2020-07-18 07:41:14 -07:00
root
6af885aa12 fix premake4 script when X11 is missing 2020-07-18 07:40:40 -07:00
erwincoumans
b67bf28f93
Merge pull request #2940 from erwincoumans/master 
add removeState in C++ API, see also Issue https://github.com/bulletp…
 2020-07-18 06:25:33 -07:00
Erwin Coumans
1de2269b6e add removeState in C++ API, see also Issue https://github.com/bulletphysics/bullet3/issues/2935 2020-07-17 15:04:54 -07:00
erwincoumans
89328def0f
Merge pull request #2930 from erwincoumans/master 
Fixes in TinyAudio, revert CoMreward to false for deep_mimic env
 2020-07-14 19:16:53 -07:00
Erwin Coumans
c9ca9cb6c6 disable Center of Mass tracking reward by default, since resulting policies don't work well. 
See also https://github.com/bulletphysics/bullet3/issues/2928#issuecomment-658349531
 2020-07-14 12:10:15 -07:00
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