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Author SHA1 Message Date
Antonin RAFFIN 0df3527884 Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
erwincoumans 8bc1c8e01b Merge pull request #2030 from erwincoumans/master 
some fixes in inverse dynamics, PyBullet example comparing explicit pd, stable pd control, position control (constraint)
 2018-12-22 16:17:26 -08:00
erwincoumans d477d18ad6 Expose subsimplexcast max iterations/epsilon 
Note that for best quality, always use BT_USE_DOUBLE_PRECISION
This fixes Issue 34
https://github.com/bulletphysics/bullet3/issues/34
 2018-12-22 12:44:29 -08:00
erwincoumans 5e08808e69 Fix issue 1883, OpenGL 2.x doesn't have glGenerateMipmap 2018-12-22 11:42:29 -08:00
erwincoumans fb2baa81d6 only use the mutex if using BT_THREADSAFE 2018-12-22 11:35:56 -08:00
erwincoumans 63ac2182ae fix degerenate case in btHingeConstraint, see Issue 2031 
https://github.com/bulletphysics/bullet3/issues/2031
 2018-12-22 11:19:15 -08:00
erwincoumans 875a5f6b0e append m_, fixes Issue 402 2018-12-22 11:07:08 -08:00
erwincoumans 7ce9ad23fb Use safeNormalize, in case a both objects have identical origin. 
Fixes Issue 2021
 2018-12-22 10:59:00 -08:00
erwincoumans 9c4136da16 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-12-19 20:15:40 -08:00
erwincoumans 8e8c3fb315 few fixes in inverse dynamics 2018-12-19 20:15:30 -08:00
erwincoumans 78de1f070f add example comparing explicit PD control (Python), explicit PD control (plugin), position constraint and stable PD control (Python) 2018-12-19 20:12:19 -08:00
erwincoumans 4a66d6c80b Merge pull request #2016 from GaborPuhr/Fix-for-#2000 
Fix for #2000
 2018-12-04 12:14:57 -08:00
erwincoumans a7c6c8f3a9 Merge pull request #2018 from erwincoumans/master 
PyBullet: fix some file leaks
 2018-12-04 12:07:21 -08:00
Erwin Coumans 74223ced56 disable per-thread tsan issue, todo: checkout why it fails 2018-12-04 20:00:05 +01:00
Erwin Coumans e3c03401c8 PyBullet: fixed a few more file leaks 2018-12-04 19:58:24 +01:00
Erwin Coumans d4db50f668 PyBullet: fix some file leaks. 2018-12-04 19:37:25 +01:00
a 9160d0aee1 Tangential velocity is now added to the linear velocity when the current velocity is calculated for the calculation of the damping force in btGeneric6DofSpring2Constraint. 
Better mass estimation while calculating spring forces in btGeneric6DofSpring2Constraint.
BT_6DOF_FLAGS_USE_INFINITE_ERROR flag has been removed as it's no longer needed.
 2018-12-01 12:19:18 +01:00
Erwin Coumans a23cfd0782 bump up pybullet version to 2.4.0 2018-11-29 16:50:37 -08:00
erwincoumans d9fd6bf134 Merge pull request #2013 from erwincoumans/master 
allow textured cube/sphere from URDF 'box' and 'sphere' visual primit…
 2018-11-29 16:49:42 -08:00
erwincoumans 69321a9ee6 allow textured cube/sphere from URDF 'box' and 'sphere' visual primitive, when using 
texUid = p.loadTexture("tex256.png")
p.changeVisualShape(cube ,-1, textureUniqueId = texUid)
See also https://github.com/bulletphysics/bullet3/issues/2012
 2018-11-29 15:41:32 -08:00
erwincoumans bce502f33c Merge pull request #2010 from erwincoumans/master 
ClangTidy
 2018-11-28 17:19:48 -08:00
Erwin Coumans 2d07fc1f64 ClangTidy 
clang-diagnostic-shift-sign-overflow
signed shift result (0x80000000) sets the sign bit of the shift expression's type ('int') and becomes negative
 2018-11-28 15:40:20 -08:00
erwincoumans 1be34588a9 Merge pull request #2007 from erwincoumans/master 
enable pybullet.calculateInverseDynamics for floating bodies
 2018-11-28 14:37:26 -08:00
erwincoumans dc642c6e65 fix previous commit related to dofcount in inverse dynamics 2018-11-27 19:38:19 -08:00
erwincoumans 49c8e738a4 propagate resultOut->m_closestPointDistanceThreshold properly for convex-convex (capsule, sphere) and convex vs plane 2018-11-27 17:31:18 -08:00
Erwin Coumans ecfe8de506 first part of adding spherical joint support in BulletInverseDynamics 2018-11-27 16:30:58 -08:00
erwincoumans 192d27743a enable pybullet.calculateInverseDynamics for floating bodies 
Using calculateInverseDynamics with zero target acceleration allows to compute the non-linear dynamics forces (coriolis/gyroscopic) and/or gravity force.
 2018-11-27 08:49:56 -08:00
erwincoumans 554208c98d Merge pull request #2001 from erwincoumans/master 
DeepMimic using PyBullet (work-in-progress)
 2018-11-26 14:44:08 -08:00
Erwin Coumans 2e30a9565b add humanoid_deepmimic_gym_env.py for HumanoidDeepMimicBulletEnv-v1 (still untested) 2018-11-25 15:33:28 -08:00
Erwin Coumans fbfa13894b Merge remote-tracking branch 'bp/master' 2018-11-25 12:58:22 -08:00
erwincoumans c41dc0bba2 Merge pull request #1999 from stolk/master 
Show btHinge2 oscillation.
 2018-11-24 14:46:12 -08:00
stolk cec71341ad Optionally enable infinite constraint error. 2018-11-24 12:56:23 -08:00
erwincoumans cf48697fcf PyBullet on Windows: disable harmless warning of not being able to connect to shared memory server. 2018-11-24 11:57:01 -08:00
erwincoumans bb6f4fb17c improve the ARS implementation: add multiprocessing Gym environment stepping, add command-line parameters to resume a policy, --render, --movie, --steps, --env 2018-11-24 11:54:36 -08:00
erwincoumans ca36a82c62 add deepmimic args file (for testing) 
implement deepmimic reward function (only joint angles/velocities for now)
fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp
 2018-11-23 18:32:23 -08:00
erwincoumans ccbd6e5fb7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-11-23 18:01:45 -08:00
erwincoumans 5f0dcb575f add DeepMimic helper utils 2018-11-23 18:01:39 -08:00
erwincoumans 7669fc92c5 add shiftCenterOfMass.py example. 2018-11-23 18:01:00 -08:00
Erwin Coumans 5bdfece800 Merge remote-tracking branch 'bp/master' 2018-11-21 16:44:04 -08:00
erwincoumans 121cdc91b0 more work on PyBullet implementation of DeepMimic humanoid mimic of motion capture. 
b3Quaternion, deal with zero-length axis (in axis,angle constructor)
 2018-11-21 11:09:10 -08:00
erwincoumans f93e4e4553 fix mjcf2urdf.py for Python 3 (utf) and don't export visuals (let it auto-convert from collision element) 2018-11-21 11:07:05 -08:00
erwincoumans 41e28e3587 Add link/joint names for DeepMimic humanoid urdf 2018-11-20 21:40:20 -08:00
stolk 5dfcbe9a33 Fix issue #2000 of oscillating constraints. 2018-11-20 10:46:27 -08:00
stolk 5e44dd0c1d Show btHinge2 oscillation. 2018-11-19 14:47:03 -08:00
Erwin Coumans bded2968ea add PyBullet.rotateVector method 
add missing walk humanoid3d_walk.txt
 2018-11-19 10:10:33 -08:00
erwincoumans f2a98777e7 Merge pull request #1994 from erwincoumans/master 
Preparation to replicate parts of DeepMimic in plain PyBullet
 2018-11-17 17:53:50 -08:00
erwincoumans 8c0b4d9e12 bump up pybullet version to 2.3.9 2018-11-17 14:12:10 -08:00
erwincoumans f9f8d0fbb0 example for fileIOPlugin.py loading SDF and its assets from a single zipfile, 
also show how to disable file caching (used in the fileIOPlugin)
 2018-11-17 14:11:01 -08:00
erwincoumans 70f94ddd81 Merge pull request #1993 from stolk/master 
Change confusing variable name in btDiscreteDynamicsWorldMT API.
 2018-11-16 17:31:27 -08:00
erwincoumans 9e99f5cdbc Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion 
Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic
Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py
Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py
Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
 2018-11-16 17:29:03 -08:00
stolk b39f47eab1 Change confusing variable name in btDiscreteDynamicsWorldMT API. 2018-11-15 14:48:43 -08:00
erwincoumans b13e84e43c Merge remote-tracking branch 'bp/master' 2018-11-14 12:29:09 -08:00
Erwin Coumans ccc26260b6 bump up pybullet version to 2.3.8 2018-11-13 15:39:54 -08:00
erwincoumans 9ad77a220e Merge pull request #1990 from erwincoumans/master 
If a convex has called 'initializePolyhedralFeatures', use those feat…
 2018-11-13 15:32:05 -08:00
erwincoumans 7c7235a8c5 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-11-13 14:32:38 -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
erwincoumans 75d60e1550 Merge pull request #1978 from stolk/master 
Added Benchmark Demo for packed convex shapes.
 2018-11-12 21:51:25 -08:00
erwincoumans 60b9551b38 If a convex has called 'initializePolyhedralFeatures', use those features also to create debug visualizer mesh, to avoid showing penetration. 
Avoid crash in InvertedPendulumPDControl, due to recent change in m_jointFeedbackInWorldSpace
 2018-11-12 21:46:11 -08:00
erwincoumans 38109dbd10 Merge pull request #1987 from erwincoumans/master 
make setJointPosMultiDof and setJointVelMultiDof argument const.
 2018-11-11 20:17:15 -08:00
erwincoumans a06b5de7b6 add converted humanoid from DeepMimic (https://github.com/xbpeng/DeepMimic, 
thanks to Jason Peng), and motion capture playback example.
See also https://www.youtube.com/watch?v=vw3EKnKrgqw
 2018-11-11 20:15:47 -08:00
erwincoumans 0b2142414d fix usage of btMultiBody::setJointPosMultiDof/setJointVelMultiDof 2018-11-11 19:04:07 -08:00
erwincoumans 17219f84c6 make setJointPosMultiDof and setJointVelMultiDof argument const. 
add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
 2018-11-10 14:26:31 -08:00
stolk 3af132ffd4 Fix compiler warning about shadowing int j variable. 2018-11-09 16:10:42 -08:00
stolk fe07b0da9d Merge remote-tracking branch 'upstream/master' 2018-11-09 16:05:25 -08:00
erwincoumans b03b2fa481 Merge pull request #1985 from erwincoumans/master 
fix setuptools 'monkey-patch' hang and 2 potential data race conditions.
 2018-11-09 08:48:59 -08:00
erwincoumans 642c6a71d2 fix 2 potential data race conditions. 2018-11-08 14:41:22 -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
erwincoumans f7237647fb Merge pull request #1984 from erwincoumans/master 
PyBullet: avoid calling syncBodies for each DOF in pdControl.
 2018-11-07 11:16:18 -08:00
erwincoumans 49b098854e PyBullet: avoid calling syncBodies for each DOF in pdControl. 
Allow PD_CONTROL in setJointMotorControlArray.
 2018-11-07 09:29:19 -08:00
erwincoumans 99f4d80204 Merge pull request #1983 from erwincoumans/master 
bump up pybullet version to 2.3.6
 2018-11-06 12:35:19 -08:00
Erwin Coumans d414224d96 Merge remote-tracking branch 'bp/master' 2018-11-06 12:34:14 -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 0b513c825d Merge pull request #1981 from erwincoumans/master 
fix some race conditions
 2018-11-05 18:12:52 -08:00
Erwin Coumans 882252f8c0 move global from btMultiBody into dynamicsWorld.getSolverInfo 2018-11-05 10:50:03 -08:00
Erwin Coumans ac18c95ea1 fix some race conditions 2018-11-05 10:04:19 -08:00
Erwin Coumans 3b18a67217 Merge remote-tracking branch 'bp/master' 2018-11-04 17:17:45 -08:00
Erwin Coumans f3e9f9b4e5 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-11-04 17:17:29 -08:00
erwincoumans 1cb8dc383f Merge pull request #1975 from erwincoumans/master 
fix a potential data race condition.
 2018-11-02 11:21:51 -07:00
Erwin Coumans 8b53e47fe8 add simpler ARS implementation, thanks to Alexis Jacq and Hadelin de Ponteves 
(will add save/restore of policy and rendering movies through command-line arguments soon)
 2018-11-02 11:19:46 -07:00
stolk 464100168f Added Benchmark Demo for packed convex shapes. 2018-11-02 10:13:08 -07:00
Erwin Coumans f6ea2a7379 fix a potential data race condition. 
remove createObstacleCourse programmatic creation part until we can steam vertices/indices.
 2018-11-01 10:20:54 -07:00
erwincoumans 9ed9ef2894 Merge pull request #1972 from erwincoumans/master 
fix some thread sanitizer (read/write integer, should be a harmless w…
 2018-11-01 08:47:43 -07:00
erwincoumans 750133694c Disable btQuickprof.h profiling by default. We use custom profiling functions, see b3ChromeUtilsStartTimings. 2018-11-01 08:19:50 -07:00
Erwin Coumans 336a4b65fe disable some internal statistics, reporting a race condition. 2018-11-01 07:41:35 -07:00
Erwin Coumans 438e082b33 PyBullet: remove a potential race condition 2018-11-01 07:27:37 -07:00
Erwin Coumans 9e58a21732 more aesthetic wireframe, pure visual improvement (no impact on simulation/performance) 
fixes https://github.com/bulletphysics/bullet3/issues/1970
Issue 1970
 2018-10-31 21:50:49 -07:00
Erwin Coumans 131535a99f remove debug stats 2018-10-31 21:24:44 -07:00
Erwin Coumans a48b6b9ca0 fix some thread sanitizer (read/write integer, should be a harmless warning) 2018-10-31 17:00:34 -07:00
erwincoumans 8e72b00c03 Merge pull request #1969 from erwincoumans/master 
PyBullet: call the right method internally, also rudimentary MuJoCo xml to PyBullet/ROS URDF converter.
 2018-10-31 12:14:33 -07:00
Erwin Coumans 933e826215 Merge remote-tracking branch 'bp/master' 2018-10-31 11:04:10 -07:00
Erwin Coumans 8e82de1b00 add rudimentary MuJoCo mjcf xml to ROS URDF file, based on 
pybullet_utils.urdfEditor
 2018-10-31 11:02:19 -07:00
Erwin Coumans 624212c641 add humanoid.urdf, converted from mjcf using pybullet_utils.urdfEditor.UrdfEditor() 2018-10-31 09:17:58 -07:00
Erwin Coumans 47b8b98a64 PyBullet: call the right method (although equivalent at the moment) 2018-10-30 22:16:13 -07:00
erwincoumans 44a4351339 Merge pull request #1967 from erwincoumans/master 
remove ARS files
 2018-10-30 19:46:46 -07:00
Erwin Coumans b0b8bb2023 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-29 19:24:27 -07:00
Erwin Coumans 44976780fa remove ARS files 2018-10-29 19:23:54 -07:00
erwincoumans 5fbc015ba6 Merge pull request #1951 from duckdoom5/patch-1 
Added missing extern declaration
 2018-10-29 17:00:35 -07:00
erwincoumans d9fa97dd5b Merge pull request #1962 from erwincoumans/master 
eglPlugin: remove visual shape for removeBody.
 2018-10-29 16:51:32 -07:00
Erwin Coumans c2b9dc9361 update to CartPoleBulletEnv-v1 and check with latest baselines v0.1.5, works fine. 
(make it more similar to classical control cartpole)
 2018-10-29 16:44:12 -07:00