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Author SHA1 Message Date
erwincoumans 024af08320 Added laikago mocap data for a DeepMimic compatible walk cycle 
Added testLaikago.py script to test this mocap data.
 2019-04-04 19:40:21 -07:00
erwincoumans 76918ca26d Merge remote-tracking branch 'bp/master' 2019-04-03 20:08:05 -07:00
erwincoumans 6951aaf26a implement PyBullet removeState command. Fixes Issue #2163 
https://github.com/bulletphysics/bullet3/issues/2163
 2019-04-03 20:06:40 -07:00
erwincoumans 62add41ab4 Merge pull request #2180 from stephengold/master 
in btSimpleBroadphase::destroyProxy(), remove pairs before freeing proxy
 2019-04-03 07:32:06 -07:00
erwincoumans 0e23257855 Merge pull request #2174 from fuchuyuan/SIblock 
Use two SI solvers as blocks in block solver.
 2019-03-29 07:32:17 -07:00
erwincoumans 4d3f2e5b17 Merge branch 'master' into SIblock 2019-03-27 16:18:36 -07:00
erwincoumans d88a281802 Merge pull request #2177 from crewmatt/master 
Initializes simulation timestamp to 0 explicitly.
 2019-03-26 19:51:43 -07:00
erwincoumans 4912f72886 Merge pull request #2178 from erwincoumans/master 
add actuatornet code,  temporary disable experimental BulletRobotics examples
 2019-03-26 19:22:23 -07:00
Erwin Coumans c033c8b22f add missing m_numDofs 2019-03-26 18:13:04 -07:00
Erwin Coumans 4898887265 temporary disable experimental BulletRobotics examples 2019-03-26 15:07:55 -07:00
Erwin Coumans 2ba8c22397 add actuatornet code 2019-03-26 10:05:45 -07:00
Chuyuan Fu 7223e51dc4 fix compile 2019-03-25 17:32:53 -07:00
Chuyuan Fu c44c7f2891 add files 2019-03-25 14:55:02 -07:00
Chuyuan Fu 7aba1f9e8a Use two SI solvers as blocks in block solver. 
In the btBlockSolver we are experimenting with, we have SI for both multibody and rigid body. I'm currently replacing rigid body SI solver with two smaller SI solvers. The two examples provided by RigidBodyBoxes.h should have the same behavior.
 2019-03-25 14:41:58 -07:00
erwincoumans 922b27fb87 Merge pull request #2171 from iory/pybullet-envs 
[pybullet/gym/pybullet_envs] Modified register's timestep_limit to max_episode_steps for gym
 2019-03-25 14:25:11 -07:00
erwincoumans 9617dac9ec Merge pull request #2172 from erwincoumans/master 
use certain methods from std namespace
 2019-03-25 14:24:45 -07:00
Chuyuan Fu 19f3ec8b80 fix conflut 2019-03-25 14:12:00 -07:00
Erwin Coumans 0409478152 use certain methods from std namespace 2019-03-23 12:45:59 -07:00
iory a8146024fd [pybullet/gym/pybullet_envs] Modified register's timestep_limit to max_episode_steps for gym 2019-03-24 03:32:20 +09:00
erwincoumans 3768bbcae3 Merge pull request #2167 from erwincoumans/master 
fix memleak in calculateInverseKinematics + joint limits.
 2019-03-21 14:28:57 -07:00
Erwin Coumans 94d8ee74f7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-03-20 15:11:03 -07:00
Erwin Coumans f725d1201d fix memory leak in PyBullet.calculateInverseKinematics when joint limits are provided 
Fixes Issue #2164
 2019-03-20 15:09:48 -07:00
erwincoumans 28148eb1ed Merge remote-tracking branch 'bp/master' 2019-03-18 10:12:55 -07:00
erwincoumans 2e81714e7a Merge pull request #2161 from crewmatt/master 
Adds a timestamp as a physics parameter.
 2019-03-17 16:13:48 -07:00
Erwin Coumans 3acac372da add vision 60 urdf (from Ghost Robotics) and zipped random urdfs 2019-03-15 13:19:59 -07:00
Erwin Coumans a0aa963e28 fix premake and cmake for ExampleBrowser 2019-03-15 04:04:51 +00:00
erwincoumans 17d2b318bf Merge pull request #2159 from bulletphysics/erwincoumans-glob 
Update kuka_diverse_object_gym_env.py
 2019-03-14 18:28:14 -07:00
erwincoumans ced17be7f3 Merge pull request #2162 from erwincoumans/cl_237962826 
Qualify calls to certain functions from the cmath library.
 2019-03-14 18:27:54 -07:00
Erwin Coumans 150a6a0880 Qualify calls to certain functions from the cmath library. 2019-03-14 16:57:50 -07:00
erwincoumans 9662ae4ba0 Update kuka_diverse_object_gym_env.py 
Fix issue in glob to separate training/test data pattern. See https://github.com/bulletphysics/bullet3/issues/2158
Thank to @TomoyaFukui
 2019-03-14 09:33:48 -07:00
Erwin Coumans 1161a04c56 Merge remote-tracking branch 'bp/master' 2019-03-13 09:52:38 -07:00
erwincoumans 18918389d3 Merge pull request #2145 from fuchuyuan/addExample 
Add example
 2019-03-12 11:06:53 -07:00
erwincoumans 46e43e0051 Merge remote-tracking branch 'bp/master' 2019-03-12 09:13:51 -07:00
Erwin Coumans 0caf51a54e btBlockSolver use m_data2 instead of m_data 2019-03-11 17:52:55 -07:00
Chuyuan Fu bea2f6e65a Turn off self-collision for FixJointBoxes example 2019-03-11 13:12:49 -07:00
Damian Bemben 2ca6172f1a Fixing issue where mass of motors is uneven 
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
 2019-03-11 10:12:38 -07:00
erwincoumans 550f4c4785 expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890 
bump up PyBullet to version 2.4.8
 2019-03-11 10:12:38 -07:00
erwincoumans ce531e6015 allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies 
change snake.py to use useMaximalCoordinate = True by default
 2019-03-11 10:12:38 -07:00
Erwin Coumans 53979b1b7b tweak mouse wheel multiplier 2019-03-11 10:12:38 -07:00
Erwin Coumans 84a7ceb416 bump up PyBullet version to 2.4.7 2019-03-11 10:12:38 -07:00
erwincoumans a1f15ae01a Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! 
Visit http://www.snakerobots.com to see one of these in the wild
 2019-03-11 10:12:38 -07:00
erwincoumans 0b41fe1a49 use b3RobotJointInfo instead of b3JointInfo, so it is initialized. 
don't reset the camera in SharedMemoryInProcessPhysicsC_API
 2019-03-11 10:12:38 -07:00
erwincoumans d56b136155 Merge pull request #2154 from dambem/patch-1 
Fixing issue where mass of motors is uneven
 2019-03-10 21:38:34 -07:00
Damian Bemben b027bc92df Fixing issue where mass of motors is uneven 
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
 2019-03-10 22:41:40 +00:00
erwincoumans 31ce4e0e57 Merge pull request #2153 from erwincoumans/master 
expose maxJointVelocity through PyBullet.changeDynamics, fix mouse wheel multiplier
 2019-03-09 09:25:05 -08:00
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
Chuyuan Fu 81ab8cd1c6 another fix 2019-03-08 14:21:18 -08:00
Chuyuan Fu fa2368c6d6 Try to fix tests 2019-03-08 13:50:12 -08:00
erwincoumans 32e93d9f91 allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies 
change snake.py to use useMaximalCoordinate = True by default
 2019-03-08 09:20:32 -08:00
Erwin Coumans b1465c8205 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-03-08 07:44:21 -08:00
Erwin Coumans 58c638d5ee tweak mouse wheel multiplier 2019-03-08 07:43:50 -08:00
Erwin Coumans b072f2fdc8 bump up PyBullet version to 2.4.7 2019-03-07 22:05:15 -08:00
erwincoumans 2b5eabef18 Merge pull request #2147 from erwincoumans/master 
Expose anisotropic friction, add snake demo. Simple snake slither loc…
 2019-03-07 22:04:28 -08:00
erwincoumans 9408e4f2d0 Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! 
Visit http://www.snakerobots.com to see one of these in the wild
 2019-03-07 21:13:00 -08:00
fuchuyuan 2908bd9641 Merge branch 'master' into addExample 2019-03-07 19:59:48 -08:00
erwincoumans c1e1a0f37b Merge pull request #2146 from erwincoumans/master 
use b3RobotJointInfo instead of b3JointInfo, so it is initialized.
 2019-03-07 17:56:54 -08:00
erwincoumans d7b54b0265 use b3RobotJointInfo instead of b3JointInfo, so it is initialized. 
don't reset the camera in SharedMemoryInProcessPhysicsC_API
 2019-03-07 17:55:45 -08:00
Chuyuan Fu 2fb12400ac Add urdf file for examples/BulletRobotics/JointLimit.cpp 2019-03-07 17:29:36 -08:00
Chuyuan Fu 1660957f75 Untrack Grasp box example for now. This example needs more adjustment. 
fix compile
 2019-03-07 17:10:16 -08:00
Chuyuan Fu e818452494 Add grasp box example and fixjoint boxes example. 
tmp

gripper is working?

fix joint example
 2019-03-07 17:10:16 -08:00
Chuyuan Fu 9141caf67e Add joint limit example. 
The demo artifically exceeds joint limit due to numerical errors caused
by large ratio.
 2019-03-07 17:09:32 -08:00
Chuyuan Fu 5d60c274c4 Add an example of a stack of boxes of large mass ratio. The default 
solver cannot solve it effectively.
 2019-03-07 17:08:16 -08:00
fuchuyuan b347d9f667 Merge pull request #2 from bulletphysics/master 
sync with upstream
 2019-03-07 17:03:33 -08:00
erwincoumans ba61c0911f Merge pull request #2144 from erwincoumans/master 
reduce size of SharedMemoryStatus
 2019-03-07 08:31:01 -08:00
erwincoumans b94a55ee5f Merge remote-tracking branch 'bp/master' 2019-03-06 23:29:29 -08:00
erwincoumans 0af0f193ee reduce size of SharedMemoryStatus by moving state details into shared memory streaming block. 2019-03-06 23:27:59 -08:00
erwincoumans 4d39b7caca Merge pull request #2142 from fuchuyuan/fixedJoint 
Fixed joint
 2019-03-06 22:03:00 -08:00
erwincoumans a9e350b0fb Merge pull request #2141 from erwincoumans/blocksolver 
solver experiment
 2019-03-06 22:02:44 -08:00
Chuyuan Fu 8b5a238b2f Add boxes joint by fixed joint example\n Onlyp2p joint works 2019-03-06 13:47:49 -08:00
fuchuyuan 1dbbccd4a9 Merge pull request #1 from bulletphysics/master 
update to upstream changes
 2019-03-04 13:32:13 -08:00
erwincoumans 4c37558805 Merge pull request #2138 from erwincoumans/master 
Implement 'cone friction' for the rolling friction, to avoid curved t…
 2019-03-03 20:56:12 -08:00
erwincoumans 04441a29cc Implement 'cone friction' for the rolling friction, to avoid curved trajectories for contact with rolling friction enabled. 
(and separate spinning friction from rolling friction)
Fixes Issue 2117
 2019-03-03 17:10:01 -08:00
erwincoumans 0c1faf18b8 Merge pull request #2137 from erwincoumans/master 
fix regression in MJCF import for TinyRenderer, apply mouse move multiplier
 2019-03-03 12:16:10 -08:00
erwincoumans d07c86842c fix regression in MJCF import for TinyRenderer 
Fixes Issue 2119
https://github.com/bulletphysics/bullet3/issues/2119
 2019-03-03 12:01:49 -08:00
erwincoumans 23dd0b50f9 apply mouse move multiplier 2019-03-03 11:35:30 -08:00
erwincoumans fb742e4530 Merge pull request #2136 from erwincoumans/master 
fix issue with retina scale and picking in createVisualShape.py example, meshScale issue
 2019-03-02 15:14:06 -08:00
Erwin Coumans bd0501d3fc fix example meshScale 2019-03-02 12:11:59 -08:00
Erwin Coumans 3997ac2b61 fix issue with retina scale and picking in createVisualShape.py example 2019-03-02 12:08:25 -08:00
erwincoumans 1bac759a43 Update fileIOPlugin.cpp 
fix check for (zip) file filename
 2019-03-01 07:43:06 -08:00
erwincoumans f51555d1ab Merge pull request #2134 from erwincoumans/physx_clean 
PhysX backend update
 2019-02-28 22:49:43 -08:00
erwincoumans ba6c1d68bf Merge pull request #2133 from bulletphysics/erwincoumans-patch-5 
Update UrdfParser.cpp
 2019-02-28 22:49:20 -08:00
erwincoumans 4d711ed411 Merge remote-tracking branch 'origin/physx' into physx_clean 2019-02-28 17:52:59 -08:00
erwincoumans 2ae6404d1e Update UrdfParser.cpp 
update warning to be more verbose
 2019-02-28 17:29:12 -08:00
erwincoumans 893b46ce14 apply mouse_move_multiplier and mouse_wheel_multiplier 2019-02-28 17:13:51 -08:00
erwincoumans 208b38c51f Merge pull request #2132 from Pandhariix/master 
Retrieve rayTestBatch data without having to display debug lines
 2019-02-28 10:20:59 -08:00
Pandhariix 4801425910 Use the correct structure in the PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand method 2019-02-28 18:24:32 +01:00
erwincoumans 36a9dcf368 remove src/BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.cpp and examples/ConstraintSolvers/* code 
revert changes to btMultiBodyConstraintSolver/btSequentialImpulseConstraintSolver related to btMultiBodyBlockConstraintSolver
 2019-02-27 17:10:17 -08:00
erwincoumans 48d84e7899 revert experiment not passing the constraint solver back down from btMultiBodyDynamicsWorld to btDiscreteDynamicsWorld. 2019-02-27 16:00:56 -08:00
erwincoumans ad4efa4265 Merge pull request #2129 from dictoon/master 
Fix crash in btGImpactMeshShape vs btBvhTriangleMeshShape
 2019-02-27 11:55:35 -08:00
erwincoumans dfa66864a3 Merge pull request #2130 from erwincoumans/master 
Expose motor drive torque reporting for motors in spherical joints
 2019-02-27 11:53:06 -08:00
erwincoumans 2ae03f50b1 revert to original humanoidMotionCapture.py example. Add a showJointMotorTorques variable (false by default) 2019-02-27 10:01:54 -08:00
erwincoumans 8e1c1448ab Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof. 2019-02-27 09:54:12 -08:00
Francois Beaune 649a7d0981 Fix crash in btGImpactMeshShape vs btBvhTriangleMeshShape 2019-02-27 10:41:54 +01:00
erwincoumans d7e087de16 prepare small experiment with block solver 2019-02-26 23:27:05 -08:00
erwincoumans c44471c38c preparation for block solver btRigidBody. 2019-02-26 20:24:15 -08:00
erwincoumans ebc079c32c Merge pull request #1902 from cloudwu/fixmingwbuild 
fix mingw build
 2019-02-26 10:20:06 -08:00
erwincoumans 09dbb8ba1b Merge pull request #2122 from waveform80/parallelism-for-the-memory-challenged 
Limit compilation parallelism
 2019-02-26 09:10:24 -08:00
erwincoumans 70a9d34dc1 Merge pull request #2126 from erwincoumans/master 
replace deep_mimic policies by versions trained using PyBullet, backf…
 2019-02-25 15:55:37 -08:00
Erwin Coumans 03e897d1f5 replace deep_mimic policies by versions trained using PyBullet, backflip works better now. 2019-02-24 20:12:18 -08:00
erwincoumans a9996088c8 Implement PyBullet.getCameraImage for PhysX backend. 
PhysX backend, allow arbitrary plane normal, a few other fixes.
 2019-02-24 14:09:42 -08:00