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Author SHA1 Message Date
erwincoumans 1661f25fd8 minor indentation fix 2018-01-17 13:11:02 -08:00
erwincoumans ccde28eb9f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-17 13:07:05 -08:00
erwincoumans c781e98de4 add a little bit of documentation to the UrdfRenderingInterface 2018-01-17 13:06:44 -08:00
erwincoumans 3073d60845 Update tinyRendererPlugin.cpp 2018-01-17 12:53:00 -08:00
erwincoumans 585f858842 PyBullet: bump up API version due to move of tinyrenderer into a plugin 2018-01-17 12:51:19 -08:00
erwincoumans 012f4534fd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-17 12:49:27 -08:00
erwincoumans 329a1f5a74 PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin. 2018-01-17 12:48:48 -08:00
Erwin Coumans c6a350b807 BulletInverseDynaimcs: re-applied fix 
PyBullet: increase humanoid training from 30 to 300M (need to figure out the right hyperparameters...)
 2018-01-16 21:54:46 -08:00
erwincoumans df89ce6f92 small refactor of LinkVisualShapesConverter / TinyRendererVisualShapeConverter, it allows to use it in a Python module and in a PyBullet plugin. 2018-01-16 17:58:19 -08:00
erwincoumans 32d615565d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-16 13:39:54 -08:00
erwincoumans 68c2253f82 reduce dependency: PhysicsServerCommandProcessor -> PhysicsCommandProcessorInterface 2018-01-16 13:39:37 -08:00
erwincoumans 603d674e74 Merge remote-tracking branch 'bp/master' 2018-01-16 10:20:37 -08:00
erwincoumans 173eec93fc Merge pull request #1513 from erwincoumans/master 
fix wrong enum type
 2018-01-16 10:20:14 -08:00
erwincoumans 055930817e apply a maximum velocity for the KUKA arm, otherwise motion can become very unrealistic 2018-01-16 10:17:57 -08:00
Erwin Coumans af43e6465d fix wrong enum type 2018-01-15 15:13:11 -08:00
erwincoumans 19ecca396a Merge pull request #1512 from erwincoumans/master 
Various  PyBullet fixes: slowdown of Roboschool ported Gym envs (reset), fix leaks, add more ported envs, thanks to Benjamin Ellenberger
 2018-01-15 14:55:45 -08:00
Erwin Coumans 18c83592f3 bump up PyBullet to version 1.8.2 2018-01-15 12:53:41 -08:00
erwincoumans 851ca5bfb3 Improve PyBullet ports of Roboschool envs: fix reset (it kept adding stadium objects, causing slowdown), now reset uses saveState/restoreState and reset becomes a few orders of magnitude faster. 
Use python -m pybullet_envs.examples.testEnv --env AntBulletEnv-v0 --render=1 --steps 1000 --resetbenchmark=1

Added environments: HumanoidFlagrunBulletEnv-v0, HumanoidFlagrunHarderBulletEnv-v0, StrikerBulletEnv-v0, ThrowerBulletEnv-v0, PusherBulletEnv-v0, ReacherBulletEnv-v0, CartPoleBulletEnv-v0 and register them to OpenAI Gym.
Allow numpy/humanoid_running.py to use abtch or non-batch update (setJointMotorControl2/setJointMotorControlArray)
 2018-01-15 12:48:32 -08:00
erwincoumans 9ffb05eb3b fix double->float issue by cast, fixes issue #1510 
fix possible out-of-bounds access in btMultiBody
 2018-01-15 11:59:00 -08:00
erwincoumans 9d405fde67 PyBullet: free cached textures 
PyBullet: bool PhysicsServerCommandProcessor::pickBody, disable collision filtering to allow picking of all objects
 2018-01-15 08:36:08 -08:00
erwincoumans 387d3f16db PyBullet: fix memory leak in case connection to shared memory cannot be made 
PyBullet: allow setJointMotorControl2 to use maxVelocity in combination with obsolete 'bodyIndex'
 2018-01-15 08:33:19 -08:00
erwincoumans 3c770e56fb PyBullet/C-API: only free handle if we found it 2018-01-14 12:35:40 -08:00
erwincoumans 0919ce0f30 PyBullet: fix issue when picking an object while it is remove using PyBullet.removeBody 2018-01-14 11:01:57 -08:00
erwincoumans d83cf58731 Merge pull request #1509 from erwincoumans/master 
Add humanoid_running.py using just numpy (no tensorflow, no gym) for testing
 2018-01-13 18:14:52 -08:00
erwincoumans ed890f23e6 add implicit plane_implicit.urdf and use it in humanoid_running.py (numpy version) 2018-01-13 13:47:28 -08:00
erwincoumans e961800278 parse plane geom for URDF files (not just SDF) 2018-01-13 13:41:46 -08:00
erwincoumans 1b569c0701 Add humanoid_running.py using just numpy (no tensorflow, no gym) for testing 2018-01-13 13:39:57 -08:00
erwincoumans c7a4222b58 Merge pull request #1506 from erwincoumans/master 
allow to use colors from MJCF file as option (default to random Googl…
 2018-01-12 09:02:51 -08:00
Erwin Coumans 1875652d8f add cup example, generated using vhacd 2018-01-12 09:01:16 -08:00
Erwin Coumans 0e41cc65c9 bump up pybullet version 2018-01-11 21:11:27 -08:00
Erwin Coumans f4cc95c0d8 Merge remote-tracking branch 'bp/master' 2018-01-11 21:10:48 -08:00
Erwin Coumans 79051b7611 allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE 
fix quadruped.py example.
add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
 2018-01-11 21:04:08 -08:00
erwincoumans cdbd93e519 Merge pull request #1503 from erwincoumans/master 
update MinitaurSetup.cpp/h to allow switching between different minit…
 2018-01-10 12:22:01 -08:00
erwincoumans 22b4809891 leave m_useGlobalVelocities to false, until enabled, for backward compatibility 
use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
 2018-01-10 11:16:50 -08:00
erwincoumans c4b1b84687 Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis 
https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section)
Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto
 2018-01-09 22:47:56 -08:00
Erwin Coumans 164d3e62c3 remove testing getToeForces 2018-01-09 18:13:34 -08:00
erwincoumans 616d3358bd update MinitaurSetup.cpp/h to allow switching between different minitaurs. add getToeForces, thanks to Avik (requires 8 toes!) 2018-01-09 17:38:51 -08:00
erwincoumans 8879ec38d6 Merge pull request #1501 from erwincoumans/master 
expose backward compatibility APIs (implicit cylinder conversion, deterministic overlapping pairs)
 2018-01-09 15:55:00 -08:00
erwincoumans 15a429f1bf premake build system fixes 2018-01-09 12:23:25 -08:00
erwincoumans e138e85bca allow to enable/disable implicit cylinder conversion through an API 
p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER)
allow to enable/disable deterministicOverlappingPairs through an API
p.setPhysicsEngineParameter(deterministicOverlappingPairs = False)
 2018-01-09 10:10:36 -08:00
erwincoumans bf6d805228 fix compile issues on Windows after recent softbody patch 2018-01-09 08:43:00 -08:00
erwincoumans e932583237 Merge pull request #1499 from wrosecrans/fix-nproc 
Tidy up cmake build script
 2018-01-09 07:42:12 -08:00
erwincoumans 7118470eb6 Merge pull request #1500 from YunfeiBai/master 
Load softbody from obj file.
 2018-01-09 07:40:20 -08:00
YunfeiBai de3b8bf3c9 Merge branch 'master' into master 2018-01-08 18:13:03 -08:00
yunfeibai 0e0d3da2b5 Add python binding and a pybullet example for loading softbody from obj. 2018-01-08 18:10:28 -08:00
erwincoumans 6a74f63604 Merge pull request #1498 from erwincoumans/master 
fix for python 2.x
 2018-01-08 16:45:28 -08:00
Erwin Coumans 61636038d8 bump up pybullet version 2018-01-08 16:16:59 -08:00
Erwin Coumans 90c5d66e1b fix for Python 2.x 2018-01-08 16:15:54 -08:00
Will Rosecrans a6e817756e Bail if cmake or make fails. PRint a friendly message if you make it to the end. 2018-01-08 15:07:14 -08:00
Will Rosecrans 6fa4945da0 ln to force mode to suppress message if target already exists. 2018-01-08 15:05:20 -08:00