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Author SHA1 Message Date
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
Erwin Coumans d328406cfa Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-01-11 13:17:00 -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 5bf6adcf9d Update btCollisionDispatcherMt.h 
add a space to fix compile errors
 2020-01-11 06:57:35 -08:00
Erwin Coumans 8ebdf7862c fix b3RobotSimulatorClientAPI_NoDirect::changeConstraint API 2020-01-09 17:56:21 -08:00
Erwin Coumans 5cd4647943 fix submitProfileTiming API in b3RobotSimulatorClientAPI_NoDirect 2020-01-09 10:40:14 -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
Erwin Coumans 3cdbc4cc29 fix CartPoleBulletEnv-v1 and add CartPoleContinuousBulletEnv-v0 (continuous version) 2020-01-02 19:33:57 -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 3c8cf390d4 one more fix in previous commit related to bullet_client.py 2020-01-02 14:45:42 -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
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
Erwin Coumans 386afaa2b7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-12-23 10:39:48 -08:00
Erwin Coumans c2d52750da enable rolling/spinning friction for all contacts 2019-12-23 10:39:39 -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
Erwin Coumans 3fa67ea7d4 fix memory leak in previous commit (delete m_solverDeformableBodyIslandCallback!) 2019-12-20 18:18:45 -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
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 082a1ddbfe remove bla 2019-12-11 17:08:59 -08:00
Erwin Coumans 2ced9c504a make it a one-liner, so clang-cl doesn't fail on Windows 2019-12-11 14:04:55 -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 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
Erwin Coumans 0a8ade5233 remove duplicate xarm6.urdf 2019-12-09 08:54:56 -08:00
Erwin Coumans 67905efd0f also enable simplified convex decomposition collision meshes for xarm6_robot.urdf 2019-12-09 08:51:02 -08:00
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 7c5796b67d update Laikago robot with textures, and a version with toes to enable inverse kinematics. 2019-12-04 14:48:28 -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
Erwin Coumans 46a7fbe92f fix old threading examples 2019-11-20 17:06:05 -08:00
Erwin Coumans 96deb42aa5 pybullet.createSoftBodyAnchor 2019-11-19 19:20:08 -08:00
Erwin Coumans 431a71ebad fix indexing in tetrahedra 2019-11-19 16:27:57 -08:00
Erwin Coumans bf7b107aec Merge remote-tracking branch 'bp/master' 2019-11-19 16:07:44 -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
Erwin Coumans 4ee788e2af update quickstart guide from https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA 2019-11-18 23:37:23 -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
Erwin Coumans 363dc8d431 tweak hash function (sdf) 2019-11-18 21:46:05 -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
Erwin Coumans 4527966ae1 update quickstart guide from https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA 2019-11-17 14:54:34 -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 8d56986206 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-11-14 17:07:19 -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
Erwin Coumans b2732b16be Merge remote-tracking branch 'bp/master' 2019-10-30 10:32:58 -07:00
Erwin Coumans 5a9b862ef5 bump up to Bullet version 2.89 and update serialization structures 2019-10-30 10:32:14 -07:00
Erwin Coumans 938ac51da7 return a value in a degenerate svd case 
re-disable svd by default
 2019-10-29 20:40:57 -07:00
Erwin Coumans 3a4159c793 fix slow full btMatrixX operator* (was not used) 2019-10-08 19:31:58 -07:00
Erwin Coumans 2caf4505f0 pybullet: suppress debug printf (obj texture coordinate out-of-range) 2019-10-03 09:25:54 -07:00
Erwin Coumans 9a6c6a3fb4 Merge remote-tracking branch 'bp/master' 2019-10-02 22:39:51 -07:00
Erwin Coumans 0549fd4ecc PyBullet eglPlugin: 
use -1 as default egl render device
clear m_cachedVisualShapes at reset
 2019-09-27 17:14:36 -07:00
Erwin Coumans 2e5455def1 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-09-25 09:10:44 -07:00
Erwin Coumans 677fe1a368 fix define SKIP_DEFORMABE_BODY -> SKIP_DEFORMABLE_BODY 2019-09-25 09:08:48 -07:00
Erwin Coumans 275a2aecb0 fix compile issues 2019-09-13 09:37:23 -07:00
Erwin Coumans 95a7488310 PyBullet: fix createMultiBodyBatch.py example 2019-09-13 07:38:00 -07:00
Erwin Coumans b86bf6c571 remove BlockSolver/* 2019-09-11 10:20:37 -07:00
Erwin Coumans 25c61a40b5 remove BlockSolver/* 2019-09-11 10:19:43 -07:00
Erwin Coumans dee463eaae Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-09-11 08:39:11 -07:00
Erwin Coumans 93810cb09a revert constraint solver changes to allow block solver, since it breaks the multithreaded solver. 
(re-enable if/when we can redo those changes without breaking multithreading)
 2019-09-11 08:39:05 -07:00
Erwin Coumans db9bc4f835 PyBullet: write body sync data to larger shared memory 2019-09-09 18:05:29 -07:00
Erwin Coumans 64ea8e9f27 PyBullet createMultiBody(Batch), return all body unique ids 
PyBullet: fix crash: always check for existance m_multibodyWorld in ::render method
 2019-09-09 16:41:25 -07:00
Erwin Coumans 5a3c60c709 PyBullet: Fix syncBodyInfo for over 512 bodies. 
PyBullet: Fix issue related to recent change in drawDebugDrawerLines (soft body)
 2019-09-09 14:56:26 -07:00
Erwin Coumans 648844e898 minor fixes, bump up pybullet to 2.5.5 2019-08-14 21:30:10 -07:00
Erwin Coumans f09cefabe8 Merge remote-tracking branch 'bp/master' 2019-08-14 21:14:56 -07:00
Erwin Coumans 88d1788ee5 PyBullet: allow to update an existing heightfield shape 
Also, use flags = p.GEOM_CONCAVE_INTERNAL_EDGE to enable internal edge filtering for heightfield (disabled by default)
See https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py
 2019-08-14 21:06:10 -07:00
Erwin Coumans e0b642d730 pybullet: fix calculateInverseKinematics2 2019-08-11 17:02:16 -07:00
Erwin Coumans f9b232b153 pybullet: allow programmatic creation of heightfield. See https://github.com/erwincoumans/bullet3/tree/master/examples/pybullet/examples/heightfield.py 
premake4: allow to build example browser without C++11, re-enable stable PD control plugin using --enable_stable_pd=True
 2019-08-11 13:59:24 -07:00
Erwin Coumans f5ae8bd1af Merge remote-tracking branch 'bp/master' 2019-08-09 10:17:57 -07:00
Erwin Coumans 54111f7023 PyBullet: add support for internal edge filtering for height field terrains 2019-08-09 10:14:14 -07:00
Erwin Coumans 046e036519 pybullet: restore internal edge filtering (see internalEdge.py example) 2019-08-08 19:36:23 -07:00
erwincoumans 226819b839 premake add enable_stable_pd option, so Bullet can be compiled without C++11 (Visual Studio 2010 etc) 
PyBullet: improve sleeping: if the base is static and all joints in the chain between this link and the base are fixed, then this link is static too (doesn't merge islands)
Fix PyBullet compilation of Visual Studion 2010
 2019-08-07 21:57:05 -07:00
Erwin Coumans 098cde55fd sync graphics server at resetSimulation, load* and resetJointState 2019-08-06 10:56:21 -07:00
Erwin Coumans 6d844e5df1 pybullet: more detailed nested timings 2019-08-01 19:15:02 -07:00
Erwin Coumans 7263439c4b improved for inserting profile timings from Python, to analyzer performance of pybullet programs. 
See examples/pybullet/examples/profileTiming.py for an example. Note that python and c++ is properly interleaved.
Open a timings with a name, close the timing without a name. Note that timings can be recursive, added/popped as a stack.
 2019-08-01 19:12:16 -07:00
Erwin Coumans 397767cb60 Merge remote-tracking branch 'bp/master' 2019-07-31 17:54:29 -07:00
Erwin Coumans 10153b3b3a add texture support for cube, when using createCollisionShape(GEOM_BOX) 2019-07-31 14:49:49 -07:00
Erwin Coumans 38d56a42de Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-29 20:29:29 -07:00
Erwin Coumans d58a85fec4 export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU) 
fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
 2019-07-29 20:29:07 -07:00
Erwin Coumans 51fba6f78d export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU) 
fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
 2019-07-29 20:23:38 -07:00
Erwin Coumans 36f3adc03f copy/move heightfield files around (part of pybullet_data) 
prepare for heightfield support in pybullet (first step, needs a bit more)
 2019-07-25 13:01:26 -07:00
Erwin Coumans ebde9926a8 add example loading heightfield from image and csv, using assets from DeepLoco (thanks to Jason Peng) and 
from this Blender tutorial https://www.beamng.com/threads/tutorial-adding-heightmap-roads-using-blender.16356/
 2019-07-23 11:26:31 -07:00
Erwin Coumans 96b76dd107 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-23 08:51:34 -07:00
Erwin Coumans 7ead9cf8ba fix a memory leak in previous commit, in pybullet_resetJointStatesMultiDof 2019-07-22 09:07:19 -07:00
Erwin Coumans b2825724d4 only if SPD is enabled 2019-07-21 22:03:23 -07:00