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Author SHA1 Message Date
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
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
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
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
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
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
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
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
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
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
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
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
erwincoumans 9ecc1cc485 Implement CustomProfilerCallback, hooking up to Bullet profiling 
test dominoes
 2019-02-22 09:17:55 -08:00
erwincoumans 71b1191947 texture caching and geometry caching (PhysX) for much faster loading of many same objects, helps benchmarking/comparison. 
add command-line args for PhysX (numCores=..., solver=tgs, )
 2019-02-21 19:24:18 -08:00
erwincoumans 3bf27cf8f2 implement rudimentary contact callback. Does PhysX have a way to report ALL contact points, every frame, so we can update contact forces etc, and report all contacts? 2019-02-20 21:38:37 -08:00
erwincoumans adf31c8f64 remove PhysXClient.*, it was not needed (use PhysicsDirect instead) 2019-02-20 19:57:10 -08:00
erwincoumans 6d224996ef update to latest PhysX version. 
fix handling commands that are not implemented yet
 2019-02-20 19:43:23 -08:00
erwincoumans fd161fa061 Merge pull request #2116 from erwincoumans/master 
various fixes
 2019-02-18 19:18:21 -08:00
erwincoumans 33619893c7 fixed failed git merge 2019-02-18 18:34:11 -08:00
erwincoumans 7e5ac33cf1 Merge pull request #2105 from Somedaywilldo/master 
Add Human3.6M Support for deep_mimic Environment
 2019-02-18 18:07:47 -08:00
erwincoumans bdf9b10246 more work on pybullet_envs.deep_mimic. 
allow btMultiBody to not wakeup (for some RL experiments)
move deep_mimic motion files to data/motions folder, so we can use the args files unmodified.
 2019-02-18 17:57:02 -08:00
erwincoumans dc8a40f7dc PyBullet: fix issue with setCollisionFilterGroupMask 2019-02-17 12:02:52 -08:00
Erwin Coumans 80ef56cfca add missing header 2019-02-15 08:10:24 -08:00
Erwin Coumans d533f19d54 add missing header 2019-02-13 15:11:34 -08:00
erwincoumans a38093ad61 deal properly with resize/retina in eglPlugin/eglRendererVisualShapeConverter 2019-02-13 14:43:39 -08:00
erwincoumans b410e44137 fix path issue with URDF2PhysX.cpp/h 2019-02-13 13:21:50 -08:00
erwincoumans 79a273f644 deep_mimic: add option for spherical joint drive motor, next to stable PD control 
(existing policies won't work with those motors, needs tuning and re-training)
 2019-02-12 20:42:05 -08:00
erwincoumans e7e46154bb Merge pull request #2106 from erwincoumans/master 
fast createMultiBody batch creation, more deep_mimic work
 2019-02-12 12:10:10 -08:00
erwincoumans 85ee4c2934 allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example. 
expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals.
allow a maximum of 128k objects
fix meshScale for PyBullet.createCollisionShape for custom mesh
expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)
 2019-02-12 10:36:01 -08:00
erwincoumans b5a707de1d Merge pull request #2104 from RanTig/user-data-info-in-notification 
Adds extra information about the UserData in the notifications.
 2019-02-12 07:29:14 -08:00
erwincoumans 12e6478689 Merge pull request #2103 from erwincoumans/master 
PyBullet deep_mimic backflip re-using original DeepMimic policy from Jason Peng
 2019-02-11 05:45:21 -08:00
erwincoumans d4292fdac3 PyBullet deep_mimic fix computeAngVelRel 2019-02-10 21:37:34 -08:00
erwincoumans bb15800964 add pre-trained backflip policy thanks to Jason Peng from https://github.com/xbpeng/DeepMimic 2019-02-10 21:06:00 -08:00
erwincoumans be20ed6aa2 remove obsolete deep_mimic files (use the one in deep_mimic/env) 
add plane_implicit.urdf
 2019-02-10 21:04:28 -08:00
erwincoumans 9bddca873c allow pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt to perform a backflip. Can only backflip twice, then drops on ground. 
this deepmimic is still very slow, due to slow mass matrix/inverse dynamics computation. once spherical motor drive is enabled, it should be fast(er)
move pd_controller_stable to pybullet_utils for easier re-use
add plane_transparent.urdf to pybullet_data
allow spacebar in keyboardEvents (Windows for now)
 2019-02-10 20:56:31 -08:00
erwincoumans b574a360f5 Merge pull request #2055 from xantares/pybullet 
Pybullet enhancements
 2019-02-10 20:25:47 -08:00
erwincoumans 28c9ea3aad PyBullet: add domino asset and example 2019-02-10 19:44:39 -08:00
erwincoumans 1118542d0e Merge pull request #2098 from erwincoumans/master 
bit more work on deep_mimic env and physx backend
 2019-02-05 15:19:17 -08:00
erwincoumans 054c0b8e58 PyBullet+PhysX backend: expose getJointState reading link position/velocity 2019-02-05 10:24:41 -08:00
erwincoumans 42369aa47d PyBullet.changeDynamics: expose jointDamping 
PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
 2019-02-04 21:06:43 -08:00
erwincoumans 63e781b88b PyBullet env for DeepMimic (preliminary work-in-progress) 2019-01-31 21:32:51 -08:00
erwincoumans 5d871806eb enable stable PD plugin in premake4.lua PyBullet 
add a normalize in the setRotation axis/angle to be sure.
Add more code from the DeepMimic project, training doesn't work yet.
 2019-01-31 21:31:26 -08:00
erwincoumans c5e6cbe2ed Merge pull request #2087 from erwincoumans/master 
fix pybullet removeBody memleak, fix createVisualShape.py ray vertical/horizontal and retina scale, fi…
 2019-01-30 16:39:06 -08:00
erwincoumans 014c68388e fix createVisualShape.py ray vertical/horizontal and retina scale, fixes Issue 2085 
fix memory leak in removeBody, fixes issue 2086
 2019-01-30 15:29:43 -08:00
erwincoumans c6cf5cb0c4 Merge pull request #2083 from erwincoumans/master 
some PyBullet gym env fixes
 2019-01-29 13:38:06 -08:00
Erwin Coumans b257bd731b PyBullet: allow createVisualShape to pass vertices, indices, normals and uv coordinates. This can be combined with changeVisualShape to set the texture. 2019-01-29 12:03:11 -08:00
erwincoumans c97d1041ed Merge pull request #2037 from araffin/update-gym 
Update gym envs
 2019-01-28 10:14:09 -08:00
erwincoumans e908003aaa Merge pull request #2082 from erwincoumans/master 
PyBullet, fix setup/pip not finding standard libraries,  tweak premake files for ExampleBrowser, allow non-GUI mode for humanoidMotionCapture
 2019-01-28 10:10:08 -08:00
Erwin Coumans 179225fbe1 Merge remote-tracking branch 'bp/master' 2019-01-28 10:04:01 -08:00
Erwin Coumans be7ebe22a0 PyBullet: fix for Mac OSX not finding standard libraries 2019-01-28 10:02:53 -08:00
erwincoumans 6dd97e44f3 Merge pull request #2079 from erwincoumans/master 
PyBullet Minitaur: Fix Minitaur logging (binary file), add Raibert controller
 2019-01-27 13:36:16 -08:00
erwincoumans 505cb15600 proto2csv 2019-01-27 12:11:40 -08:00
erwincoumans 6c2568bf5e PyBullet Minitaur: Fix Minitaur logging (binary file) 
PyBullet Minitaur: Add minitaur_raibert_controller_example.py
 2019-01-27 11:37:35 -08:00
erwincoumans 29eb5f1621 Merge pull request #2077 from erwincoumans/master 
fix regression in resetJointState for 1-DOF/3-DOF joints, more PyBullet-PhysX work
 2019-01-26 18:44:38 -08:00
erwincoumans 52c8e14646 deal with 1-DOF and 3-DOF joints separately in resetJointState, fixes Issue 2076 2019-01-26 17:53:10 -08:00
erwincoumans a6244d714e more PyBullet PhysX preliminary work. 2019-01-25 10:14:54 -08:00
erwincoumans 7fc551c856 Merge pull request #2075 from erwincoumans/master 
create some 'Unity Build' cpp files, to work-around setuptools on Win…
 2019-01-24 11:37:55 -08:00
erwincoumans 61928fdde3 Merge pull request #2074 from erwincoumans/master 
fix compile issues
 2019-01-23 21:48:21 -08:00
erwincoumans 43d3cdfa38 make Travis CI pass 2019-01-23 19:34:21 -08:00
erwincoumans 66f4b276ec fix compile issue 2019-01-23 19:25:12 -08:00
erwincoumans 587500dc16 remove auto (no C++11) 2019-01-23 18:23:09 -08:00
erwincoumans 899e3274e8 fix more compile issues 2019-01-23 17:44:49 -08:00
erwincoumans dbf93b7129 remove Rand.cpp from setup.py 2019-01-23 17:36:30 -08:00
erwincoumans 5da375b93c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-01-23 17:35:55 -08:00
erwincoumans e637b24237 remove Rand.* and <random> (no C++11) 2019-01-23 17:35:45 -08:00
erwincoumans 03549ca7c6 pass force as array instead of value 2019-01-23 17:24:10 -08:00
erwincoumans 301b3a0451 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-01-23 13:36:17 -08:00
erwincoumans 93087f36df avoid conflicts when using a unity build (single cpp file including many other cpp) 2019-01-23 13:35:58 -08:00
erwincoumans f90fe7ceac Merge pull request #2047 from erwincoumans/master 
Add humanoid stable PD control, preliminary optional PhysX 4.0 backend for Pybullet, various fixes
 2019-01-23 10:16:06 -08:00
erwincoumans 02c01c0191 Merge pull request #2063 from MaximilienNaveau/master 
Update the installation of the bullet_robotics package
 2019-01-23 09:40:08 -08:00
erwincoumans 225db2e385 Merge remote-tracking branch 'bp/master' 2019-01-23 08:55:38 -08:00
erwincoumans e02f82f172 fix some memory leaks in PyBullet.resetJointStateMultiDof and setJointMotorControlMultiDof 
Fixes Issue 2065
 2019-01-23 08:54:17 -08:00