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Author SHA1 Message Date
erwincoumans b44a67b530 Merge pull request #1345 from bingjeff/fix_bugs_in_jacobian 
[pybullet] Fix bugs in calculateJacobian.
 2017-09-27 23:25:14 -07:00
erwincoumans bab3b20e65 Merge pull request #1344 from YunfeiBai/master 
Fix some IK related issues.
 2017-09-27 17:40:16 -07:00
erwincoumans 8e08a9ff16 Merge pull request #1343 from erwincoumans/master 
fix typos in agents config
 2017-09-27 13:53:50 -07:00
erwincoumans ca968916a1 Merge pull request #1342 from erwincoumans/master 
add minitaur environment randomizer, enabled by default for Minitaur gym environment
 2017-09-27 11:03:54 -07:00
erwincoumans 6ae7b859ae Merge pull request #1341 from erwincoumans/master 
improved custom C++ vrSyncPlugin, for pybullet/VR to sync controller at the same frequency as the physics loop (240Hz)
 2017-09-26 22:56:47 -07:00
erwincoumans 12f28c5f76 fix compile issue on MSVC 2017-09-26 19:58:24 -07:00
erwincoumans 6644157815 Merge remote-tracking branch 'bp/master' 2017-09-26 19:55:36 -07:00
erwincoumans e72ebc95de Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-26 19:54:57 -07:00
erwincoumans 8a265b8af2 expose gear erp/relative position target to C-API/pybullet 
finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
 2017-09-26 19:54:36 -07:00
erwincoumans 44fc48314e Merge pull request #1339 from erwincoumans/master 
add experimental vrSyncPlugin, that syncs the position/orientation of…
 2017-09-26 11:42:21 -07:00
Erwin Coumans b03e5dec5f return -1 for debugDrawItems in DIRECT mode, instead of failing the API 2017-09-26 11:40:38 -07:00
erwincoumans b1f8eb74a4 bump up shared memory version number 
add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency
 2017-09-26 10:05:17 -07:00
erwincoumans 270a036cd7 add experimental vrSyncPlugin, that syncs the position/orientation of a vr controller to a gripper (through a constraint) 
This is in C++ and the sync runs at the simulation speed (240 Hz), so there is less lag than in Python.
Modify the pybullet/examples/vr_kuka_setup.py at the end to do this:

plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll")
controllerId = 3
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid],[50])
 2017-09-25 18:14:50 -07:00
erwincoumans 4655e9d83c Merge pull request #1338 from erwincoumans/master 
pybullet changeVisualShape texture fix, MSVC compile error
 2017-09-25 12:21:45 -07:00
erwincoumans 6d68a67c79 fix a bug in a changeVisualShape/texture selection, out-of-bounds check was using the wrong array. 
May fix some internal texture mug bug.
 2017-09-25 11:11:48 -07:00
erwincoumans 3f68b2ebf7 Merge pull request #1337 from erwincoumans/master 
tweak pybullet examples, fix a few warnings
 2017-09-25 09:33:28 -07:00
erwincoumans 0f30c95734 fix a compile error on Windows (variables need to be declared together at the start of a block in C) 2017-09-25 07:38:00 -07:00
erwincoumans 27674e5289 Update b3PluginManager.cpp 
pre/post tick were wrong order in initializer list
 2017-09-24 22:39:20 -07:00
erwincoumans 83805da531 Merge pull request #1336 from bingjeff/fix_bugs_in_jacobian 
[sharedmemory] Fill-out calculateJacobian command.
 2017-09-24 21:15:42 -07:00
erwincoumans f88973f832 Merge pull request #1286 from mendsley/clean_vbt_allocations 
Optimize Dbvt trees in place
 2017-09-24 20:35:57 -07:00
erwincoumans 8eb69552d1 Merge pull request #1335 from erwincoumans/master 
manually apply pull request 457 PR #457
 2017-09-24 16:38:23 -07:00
erwincoumans 4ff22a710c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-24 11:41:46 -07:00
erwincoumans 70974c76da add a few more contributors (the list is far from complete though) 2017-09-24 11:41:24 -07:00
erwincoumans fcc093ecae Merge pull request #1332 from erwincoumans/master 
create a C/C++ plugin system for pybullet / C-API.
 2017-09-24 10:28:14 -07:00
erwincoumans 17709ae690 Merge pull request #1333 from bingjeff/add_jacobians 
[pybullet] Add calculateJacobian.
 2017-09-24 09:44:27 -07:00
erwincoumans b1d6f58981 Update pybullet.c 
fix compile issue
 2017-09-24 09:16:54 -07:00
erwincoumans d7704eca3d Merge pull request #1334 from bulletphysics/revert-1331-cmake 
Revert "Cmake pybullet fix"
 2017-09-23 21:23:10 -07:00
erwincoumans e95a15dabe Revert "Cmake pybullet fix" 2017-09-23 20:58:14 -07:00
erwincoumans 8e496036c6 More work on the C/C++ plugin system for pybullet/C-API: 
Add preTickPluginCallback/postTickPluginCallback
User pointer for b3PluginContext, to store objects (class/struct instances)
Pass ints and floats as optional argument for plugin executePluginCommand
 2017-09-23 18:05:23 -07:00
erwincoumans 5373ca39e1 add example snippet for the testPlugin/testplugin.cpp 2017-09-23 09:26:51 -07:00
erwincoumans 815a56c9bc Allow to load a urdf file in the testplugin.cpp, as first quick test, example pybullet script: 
import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)
 2017-09-23 09:25:00 -07:00
erwincoumans 37cfce99b2 add arguments to plugin system 2017-09-23 07:52:10 -07:00
erwincoumans 5f6cd6a42b link against DL for dlopen 2017-09-23 07:26:03 -07:00
erwincoumans 240fff575d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-23 07:22:50 -07:00
Erwin Coumans 3783dccaa3 create a C/C++ plugin system for pybullet / C-API. 2017-09-22 19:17:57 -07:00
erwincoumans 312e35964f make some code const correct. 2017-09-22 07:53:21 -07:00
erwincoumans a506879d6c Merge pull request #1327 from erwincoumans/master 
Quick first prototype/test to integrate pybullet into Unity,
 2017-09-21 21:16:47 -07:00
erwincoumans 2ee89797ad Merge pull request #1331 from ahundt/cmake 
Cmake pybullet fix
 2017-09-21 21:16:10 -07:00
Erwin Coumans b9b1b2dbca add B3_SHARED_API to the remaining PhysicsClientC_API APIs 2017-09-21 16:40:19 -07:00
Erwin Coumans 37253443f9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-21 14:24:44 -07:00
Erwin Coumans cc0c46c4b0 re-update the VR camera 2017-09-21 14:24:22 -07:00
erwincoumans 6a7efac4c3 Quick first prototype/test to integrate pybullet into Unity, 
see readme.txt for details.
 2017-09-20 23:18:18 -07:00
erwincoumans 4d0d9f9870 Merge pull request #1325 from erwincoumans/master 
enable option to use GLFW, disabled by default, premake has some option:
 2017-09-20 14:13:11 -07:00
erwincoumans b079277d51 minor fixes in GLFWOpenGLWindow 2017-09-19 21:40:17 -07:00
erwincoumans cadce37141 add GLFWOpenGLWindow and glad (replacement for glew) 2017-09-19 21:16:24 -07:00
erwincoumans f5e88a3e69 Merge pull request #1323 from erwincoumans/master 
attempt to re-enable pybullet in cmake
 2017-09-19 21:12:58 -07:00
erwincoumans aaf403c805 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-19 21:12:30 -07:00
erwincoumans 390f111547 enable option to use GLFW, instead of our own cross-platform X11/Cocoa/Windows OpenGLWindow classes 2017-09-19 21:10:54 -07:00
Erwin Coumans 739728c8af revert to FIND_PACKAGE(PythonLibs), the new solution doesn't work with Travis 2017-09-19 10:50:24 -07:00
Erwin Coumans 420042c628 try to re-enable continuous integration 2017-09-19 10:28:52 -07:00
erwincoumans de62dc6f4b Merge pull request #1318 from erwincoumans/master 
fix pybullet pendulums/pendula gym environments
 2017-09-17 18:18:56 -07:00
erwincoumans 2919e51d9d fix loading of empty file (after header) 
remove debug printf
 2017-09-17 15:44:14 -07:00
erwincoumans 1881f6679a fix issue with rendering of certain capsules from MJCF files. 2017-09-15 15:38:24 -07:00
erwincoumans fa85bdcf73 Merge pull request #1317 from erwincoumans/master 
remove some warning ,see also Pull Request #302, various other fixes.
 2017-09-14 17:16:58 -07:00
erwincoumans 4a6bc7c95f Merge pull request #1289 from lolengine/fix-one-sided-softbodies 
Fix one-sided soft bodies.
 2017-09-14 07:42:41 -07:00
erwincoumans ffb05d74da Merge pull request #1308 from benelot/fix-gyms 
Fix gyms to make them work just like robotschool
 2017-09-14 07:40:51 -07:00
erwincoumans d2d9e7750f Merge pull request #1315 from erwincoumans/master 
fix pybullet, checked wrong type after connection
 2017-09-14 07:37:11 -07:00
Erwin Coumans 74475479cf fix pybullet, checked wrong type after connection 2017-09-13 17:05:23 -07:00
erwincoumans 14b1588ca2 Merge pull request #1314 from erwincoumans/master 
fix return values in pybullet to be Pythonic.
 2017-09-13 16:09:22 -07:00
erwincoumans 354288c44d Merge pull request #1313 from erwincoumans/master 
pybullet: remove memory of loadTexture, more reliable shutdown of shared memory when CTRL-C is used in ExampleBrowser
 2017-09-13 15:12:25 -07:00
Erwin Coumans 97a62b33c0 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-13 12:07:59 -07:00
Erwin Coumans 2eaac410b5 remove memory of loadTexture. 2017-09-13 12:07:19 -07:00
erwincoumans cc4c18ba36 Merge pull request #1311 from erwincoumans/master 
avoid crash if swRenderInstances are not available
 2017-09-12 22:56:25 -07:00
erwincoumans cc9995d44b fix uninitialized camera position in 'VR' / 'camera rendering' mode (causing broken specular reflections in VR) 
use debug visualizer camera viewmatrix/projection matrix if not provided, in ER_BULLET_HARDWARE_OPENGL mode.
fix broken changeRGBAColor implementation, thanks to Laura for the report!
 2017-09-12 22:14:00 -07:00
erwincoumans 9d804cfb97 avoid crash if swRenderInstances are not available 2017-09-12 17:27:18 -07:00
erwincoumans 8c04bc9473 Merge pull request #1307 from erwincoumans/master 
fixes in libdl/DL, add testMJCF.py script, second try
 2017-09-11 22:32:17 -07:00
Erwin Coumans 19057c2004 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-11 21:49:58 -07:00
Erwin Coumans 3d3e391b6a Support SDF capsule and cylinder. 2017-09-11 21:49:39 -07:00
Erwin Coumans a2322f7e3e trigger appveyor/travis tests 2017-09-10 21:40:33 -07:00
erwincoumans c56c5d74e7 Merge pull request #1306 from bulletphysics/revert-1303-patch-targets 
Revert "Export targets in CMake and add include directories to target properties"
 2017-09-10 21:33:58 -07:00
erwincoumans 6f51d81cbb Revert "Export targets in CMake and add include directories to target properties" 2017-09-10 21:20:54 -07:00
erwincoumans 7fd29ac0fe Merge pull request #1303 from roboticslibrary/patch-targets 
Export targets in CMake and add include directories to target properties
 2017-09-10 20:31:59 -07:00
Erwin Coumans 466c853489 add testMJCF.py script, to visualize MJCF file 2017-09-10 10:45:38 -07:00
erwincoumans 5bc9d6696c Merge pull request #1302 from erwincoumans/master 
test travis2
 2017-09-10 09:53:49 -07:00
Erwin Coumans 7c15767452 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-10 07:48:59 -07:00
Erwin Coumans ec18adbf0a fix MJCF visual shape capsule conversion code (fromto case) 2017-09-10 07:48:43 -07:00
erwincoumans 514afc6ca3 Merge pull request #1299 from erwincoumans/master 
pybullet: improvements in Gym Ant environment, backwards compatibility fixes
 2017-09-07 14:41:45 -07:00
Erwin Coumans 2d3b1e8eaa bump up pybullet version 2017-09-07 14:27:23 -07:00
Erwin Coumans cbe0d0aff2 pybullet fix: accidently enable self-collision 2017-09-07 14:27:00 -07:00
Erwin Coumans 9ecd345783 backwards compatibility... 2017-09-07 11:40:11 -07:00
Erwin Coumans c30e9aea92 revert minitaur.urdf to previous (backward compatibility) and add _v1 for better version. 2017-09-07 11:23:41 -07:00
Erwin Coumans b0e50d0d5a pybullet Gym envs: add more sleep in the enjoy functions to see what's happening. 2017-09-07 11:17:38 -07:00
Erwin Coumans 3d702879c5 pybullet: improvements in Gym Ant environment (work-in-progress) 2017-09-07 11:06:42 -07:00
erwincoumans 920031c488 Merge pull request #1297 from erwincoumans/master 
Add Extras/BulletRobotics library for Roboschool, 	Re-enable Physics Server (Logging) and Physics Server (Replay Log), small fixes
 2017-09-06 23:01:15 -07:00
Erwin Coumans 7a2de3ea08 fix cmake logic for BUILD_EXTRA_LIBS 2017-09-06 15:59:34 -07:00
Erwin Coumans 7878f7ace9 Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake 
Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay))
Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
 2017-09-06 13:18:39 -07:00
Erwin Coumans a985d441bd Re-enable Physics Server (Logging) and Physics Server (Replay Log) 2017-09-04 19:00:50 -07:00
erwincoumans db8c0853b3 Merge pull request #1290 from lolengine/fix-const-removal 
Make btHashString const-correct by changing a target pointer type.
 2017-09-02 13:24:38 -07:00
erwincoumans ee64a39c7b Merge pull request #1291 from erwincoumans/master 
improve minitaur urdf and quadruped.py test
 2017-09-02 13:23:59 -07:00
Erwin Coumans 3f21e528f0 revert name 'v' -> 'u' (backward compatibility) and 'u' -> 't' 
make vr_kuka_setup.py load faster, by disabling rendering during loading
allow to setRealTimeSimulation(0) in VR
 2017-09-02 11:35:54 -07:00
erwincoumans 8319fa0380 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-02 01:06:47 -07:00
erwincoumans 1221c6d91d quadruped.py test, use generalized coordinates (not maximal coordinates) by default 2017-09-02 01:06:33 -07:00
erwincoumans eb97e06280 fix minitaur.urdf: move lower-leg inertia to center, add missing collision for one of the motors, add contact parameters for friction_anchor, spinning friction, compliance (stiffness/damping) 
fix in indexing for maximal coordinates (unused by default, still experimental, requires many iterations for Minitaur due to extreme mass-ratio, hence use of reduces/generalized coordinates)
modify quadruped.py to test maximal coordinates
wrap angular servo (positional) target within [-PI,PI] in btGeneric6DofSpring2Constraint
add 'j' key to show body frames in wireframe/debug mode
 2017-09-02 01:05:42 -07:00
erwincoumans 29271c53eb Merge pull request #1288 from erwincoumans/master 
add option to log joint torques (due to user applied torques and/or m…
 2017-08-30 20:45:56 -07:00
erwincoumans ee30479a28 add option to log joint torques (due to user applied torques and/or motor torques) 
See quadruped.py for an example:
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES)
Thanks to JulianYG, in pull request https://github.com/bulletphysics/bullet3/pull/1273
 2017-08-30 19:41:15 -07:00
erwincoumans c4c3bc6473 Merge pull request #1287 from erwincoumans/master 
implement pybullet.createUserConstraint for maximalCoordinates, bump up pybullet version to 1.3.0
 2017-08-30 12:14:58 -07:00
erwincoumans 8dfa76e924 implement pybullet.createUserConstraint for maximalCoordinates (fixed, p2p, gear) 
maximalCoordinates, make sure parent is bodyA, child is BodyB
 2017-08-30 09:54:38 -07:00
erwincoumans 22658da02a Merge pull request #1285 from erwincoumans/master 
enable motor control for maximal coordinates robots (btRigidBody, btT…
 2017-08-29 21:34:17 -07:00
erwincoumans 1f7db4519e enable motor control for maximal coordinates robots (btRigidBody, btTypedConstraint) for force, velocity, position control. 2017-08-29 19:14:27 -07:00
erwincoumans dc38ec5c99 Merge pull request #1284 from erwincoumans/master 
avoid flickering in visualizer window, when doing pybullet.getCameraI…
 2017-08-29 13:28:21 -07:00