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2202 Commits

Author SHA1 Message Date
Erwin Coumans
0abe4151e5 Fix for 1643, allow to instantiate multiple PyBullet Gym environments (Ant, Humanoid, Hopper, Pendula etc) in the same process (same or other thread). It uses the pybullet_utils.bullet_client to achieve this. 2018-05-18 16:23:54 -07:00
erwincoumans
f90bd1f713 Merge pull request #1688 from erwincoumans/master 
workaround for an out-of-date tinyxml2 version
 2018-05-17 13:49:49 -07:00
Erwin Coumans
ff646fbef2 workaround for an out-of-date tinyxml2 version 2018-05-17 12:18:17 -07:00
erwincoumans
8f4d1e722e Merge pull request #1686 from yuchenericwu2/master 
Expose CFM parameters
 2018-05-16 16:18:45 -07:00
erwincoumans
034dfba3ae fix VR controllers only visible in one eye (remove stray glClear for testing planar reflection) 
PyBullet: force both contactStiffness and contactDamping (report error otherwise)
 2018-05-16 14:24:12 -07:00
Yuchen Wu
f03ae5a857 Expose CFM parameters in PhysicsClient. 
Add b3PhysicsParamSetDefaultGlobalCFM() and
b3PhysicsParamSetDefaultFrictionCFM().
 2018-05-16 13:46:19 -07:00
erwincoumans
b432daed65 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-16 12:11:29 -07:00
erwincoumans
0ca2c5f925 use Bullet3Common/b3AlignedObjectArray.h instead of LinearMath version in SharedMemory/PhysicsClientSharedMemory 2018-05-16 12:10:34 -07:00
Erwin Coumans
28b86ba0a4 fix some tsan issues (thread sanitizer) 2018-05-16 08:32:21 -07:00
Erwin Coumans
d17d496f97 fix potential asan/tsan issue 2018-05-15 13:24:28 -07:00
erwincoumans
e5a9b42f9a expose PyBullet.setPhysicsEngineParameter(jointFeedbackMode) 
use p.JOINT_FEEDBACK_IN_JOINT_FRAME if you want the joint feedback expressed in joint frame (instead of link inertial frame)
use p.JOINT_FEEDBACK_IN_WORLD_SPACE if you want the joint feedback in world space coordinates, instead of local link/joint coordinates.
Example: p.setPhysicsEngineParameter(jointFeedbackMode=p.JOINT_FEEDBACK_IN_WORLD_SPACE+p.JOINT_FEEDBACK_IN_JOINT_FRAME)
 2018-05-11 19:52:06 -07:00
erwincoumans
1ec24a0853 fix PyBullet.applyExternalTorque for links (instead of base) 2018-05-11 19:35:27 -07:00
Erwin Coumans
e86d11f7b9 PyBullet combineUrdf, make createMultiBody much faster, by temporarily disabling rendering 2018-05-10 20:52:51 -07:00
erwincoumans
06a23ecd6d PyBullet TinyRenderer, fix cylinder (don't add caps like a capsule), also convert colors stored in visual shapes, if needed. 2018-05-10 18:37:48 -07:00
erwincoumans
e488603603 UrdfEditor: fix indentation, causing an issue when a link had no collision shape but visual shapes 2018-05-10 18:05:50 -07:00
erwincoumans
80bab22b9c urdfEditor: add euler -> quaternion conversions (otherwise orientations get silently ignored) 
urdfEditor: move combine code into UrdfEditor.joinUrdf
urdfEditor: Fix geom_length
 2018-05-10 15:08:00 -07:00
erwincoumans
3116cd82da fix MSVC 2010 compile issue 
urdfEditor: fix scale incorrectly saved in urdfEditor.saveUrdf
urdfEditor: fix linkMeshScaleArray in wrong location
 2018-05-10 12:04:13 -07:00
Erwin Coumans
a0e72b2ae3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py
 2018-05-09 10:29:20 -07:00
Erwin Coumans
414b3ef9bb PyBullet urdfEditor improvements: saveUrdf mesh scale, fix incorrect index, add getCameraImage in examples/combineUrdf.py 2018-05-09 10:28:12 -07:00
Erwin Coumans
be7c6ac967 PyBullet add getCameraImage to debug urdfEditor/createMultiBody 2018-05-08 23:23:53 -07:00
Erwin Coumans
1e51e2b859 tweaks in urdfEditor.py and combineUrdf.py, put KUKA on top of Husky as test. 2018-05-08 23:14:39 -07:00
Erwin Coumans
2d1689cba5 add example to joint two URDF files, using the urdfEditor (combineUrdf.py) 2018-05-08 17:18:58 -07:00
Erwin Coumans
d436be1d79 add __init__.py for pybullet_utils examples 2018-05-08 13:31:30 -07:00
Erwin Coumans
ad43de285c add bullet_client.py to pybullet_utils, with simple example 2018-05-08 10:12:19 -07:00
Erwin Coumans
3a4d1799d8 remove "DO NOT SUBMIT" comments, it blocks commits in google3 2018-05-07 17:35:55 -07:00
Erwin Coumans
0b5785421b PyBullet: re-add API to header 2018-05-07 16:59:06 -07:00
Erwin Coumans
7bc85c7d43 PyBullet.SHARED_MEMORY_SERVER, use secondary key for server 2018-05-07 16:01:38 -07:00
Erwin Coumans
7383843b24 expose PyBullet.SHARED_MEMORY_SERVER 
connect from 1 different PyBullet client using PyBullet.SHARED_MEMORY)
(don't use more than 1 other client to submit commands in parallel)
 2018-05-07 15:57:36 -07:00
erwincoumans
ab4b663800 Merge pull request #1671 from erwincoumans/master 
don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA …
 2018-05-03 14:52:09 -07:00
Erwin Coumans
84b20bda80 don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA is set, not for the diagonal and also not for the inertial frame shift. 2018-05-03 14:24:16 -07:00
YunfeiBai
e5036fbc3a Merge remote-tracking branch 'upstream/master' 2018-05-03 10:48:55 -07:00
YunfeiBai
aa6b8f66e9 Fixed a bug in projective texture shader. 2018-05-03 10:46:59 -07:00
Erwin Coumans
0c706eb08a fix some incompatibilities between google3/third_party/GL,EGL, glad 2018-05-03 09:06:30 -07:00
Erwin Coumans
4a8ad1a54e fix posix memory release issues 
fix compile problems on Mac OSX
reduce shared memory size on Mac (>512*1024 fails to allocate)
 2018-05-02 15:39:16 -07:00
erwincoumans
1f6afcda30 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-02 14:32:59 -07:00
erwincoumans
3a5f778b70 expose lsMemory destroy function to release thread memory 2018-05-02 14:32:43 -07:00
erwincoumans
cee3ecde2b Merge pull request #1664 from erwincoumans/master 
PyBullet: fix some memory leaks
 2018-05-02 13:54:07 -07:00
erwincoumans
9d66d95b18 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-02 13:18:17 -07:00
erwincoumans
790deb2d54 fix memory leak in PyBullet.getJointStates, fixes issue #1661 2018-05-02 13:12:25 -07:00
Erwin Coumans
2b5f86a593 fix memory leak 2018-05-02 12:49:35 -07:00
erwincoumans
d7e81590b5 fix a memory leak 2018-05-02 12:24:31 -07:00
erwincoumans
78629e1c6c Merge pull request #1637 from erwincoumans/master 
PyBullet: add signed distance field support, with example/signedDista…
 2018-05-02 09:20:04 -07:00
Erwin Coumans
dde3140987 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-01 13:02:51 -07:00
erwincoumans
c7d9afac1e fix SoftDemo crash, due to changes in OpenGLGuiHelper rendering 
fixes Issue #1655
 2018-05-01 09:23:08 -07:00
Erwin Coumans
85db288a95 App_PhysicsServer_SharedMemory_VR: expose max_num_object_capacity and max_shape_capacity_in_bytes (and shared_memory_key) 
Default values are:
int maxNumObjectCapacity = 128 * 1024;
int maxShapeCapacityInBytes = 128 * 1024 * 1024;
int shared_memory_key = -1
 2018-04-30 23:01:15 +02:00
erwincoumans
d32e3e51f6 Merge pull request #1650 from JanMatas/fix-softbody-leak 
Fix Large memory leak in bullet Softbody
 2018-04-30 22:16:39 +02:00
Jie Tan
20dd3d265b update README.md to include paper link in Arxiv. 2018-04-30 11:09:59 -07:00
Jan Matas
b1f85268f0 Check for null 2018-04-30 19:01:53 +01:00
Jie Tan
26cebc9aa5 rewrite the README file. 2018-04-26 21:26:08 -07:00
Jan Matas
21418934e0 Reset sparsesdf to free memory. 2018-04-25 16:17:28 +01:00