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2469 Commits

Author SHA1 Message Date
Pandhariix
4801425910 Use the correct structure in the PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand method 2019-02-28 18:24:32 +01:00
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
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
Erwin Coumans
03e897d1f5 replace deep_mimic policies by versions trained using PyBullet, backflip works better now. 2019-02-24 20:12:18 -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
Erwin Coumans
6d2ed912f5 Merge remote-tracking branch 'bp/master' 2019-02-18 19:11:03 -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
f166ca88ea Merge remote-tracking branch 'bp/master' 2019-02-13 17:09:27 -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
Somedaywilldo
59d58ce430 add Human3.6M support for deep_mimic env 2019-02-13 00:13:56 +08:00
Tigran Gasparian
d9e36935e6 Adds extra information about the UserData in the notifications. 
When using the USER_DATA_ADDED and USER_DATA_REMOVED notifications, some
more information is necessary than just the user data id, especially
when a user data entry has been removed.
 2019-02-12 12:02:20 +01:00
bla
a94a24959f add deep_mimic pre-trained policies 2019-02-11 11:06:15 -08:00
Erwin Coumans
aaae366a21 towards python 2.x support for deep_mimic (still issue with Logger.print2) 2019-02-11 10:03:26 -08:00
Erwin Coumans
786ddec076 disable GUI in deep_mimic, it slows down too much on Mac OSX 2019-02-11 09:44:59 -08:00
Erwin Coumans
30290dfba1 add missing __init__.py for pip 2019-02-11 09:20:44 -08:00
Erwin Coumans
2728294c53 more fixes in deep_mimic env 2019-02-11 09:15:42 -08:00
Erwin Coumans
1bd201eb43 fixes in PyBullet deep_mimic to allow running in pip version 2019-02-11 08:51:07 -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
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
Erwin Coumans
2eace2f715 update mpi usage 2019-02-01 19:20:08 -08:00
Erwin Coumans
176edeff1e add mpi_run version (not working yet) 2019-02-01 17:57:31 -08:00
Erwin Coumans
6c42cd3e1b add policy 2019-02-01 17:45:50 -08:00
Erwin Coumans
1cef924973 deepmimic fix: reference initialization wasn't spread over all frames 2019-02-01 17:18:13 -08:00
Erwin Coumans
7cc2685faf enable deepmimic training on mac 2019-02-01 16:24:48 -08:00
erwincoumans
63e781b88b PyBullet env for DeepMimic (preliminary work-in-progress) 2019-01-31 21:32:51 -08:00