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Author SHA1 Message Date
Erwin Coumans 3d702879c5 pybullet: improvements in Gym Ant environment (work-in-progress) 2017-09-07 11:06:42 -07:00
Erwin Coumans 7a2de3ea08 fix cmake logic for BUILD_EXTRA_LIBS 2017-09-06 15:59:34 -07:00
Erwin Coumans 7878f7ace9 Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake 
Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay))
Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
 2017-09-06 13:18:39 -07:00
Erwin Coumans a985d441bd Re-enable Physics Server (Logging) and Physics Server (Replay Log) 2017-09-04 19:00:50 -07:00
Erwin Coumans 3f21e528f0 revert name 'v' -> 'u' (backward compatibility) and 'u' -> 't' 
make vr_kuka_setup.py load faster, by disabling rendering during loading
allow to setRealTimeSimulation(0) in VR
 2017-09-02 11:35:54 -07:00
erwincoumans 8319fa0380 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-02 01:06:47 -07:00
erwincoumans 1221c6d91d quadruped.py test, use generalized coordinates (not maximal coordinates) by default 2017-09-02 01:06:33 -07:00
erwincoumans eb97e06280 fix minitaur.urdf: move lower-leg inertia to center, add missing collision for one of the motors, add contact parameters for friction_anchor, spinning friction, compliance (stiffness/damping) 
fix in indexing for maximal coordinates (unused by default, still experimental, requires many iterations for Minitaur due to extreme mass-ratio, hence use of reduces/generalized coordinates)
modify quadruped.py to test maximal coordinates
wrap angular servo (positional) target within [-PI,PI] in btGeneric6DofSpring2Constraint
add 'j' key to show body frames in wireframe/debug mode
 2017-09-02 01:05:42 -07:00
erwincoumans ee30479a28 add option to log joint torques (due to user applied torques and/or motor torques) 
See quadruped.py for an example:
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES)
Thanks to JulianYG, in pull request https://github.com/bulletphysics/bullet3/pull/1273
 2017-08-30 19:41:15 -07:00
erwincoumans 8dfa76e924 implement pybullet.createUserConstraint for maximalCoordinates (fixed, p2p, gear) 
maximalCoordinates, make sure parent is bodyA, child is BodyB
 2017-08-30 09:54:38 -07:00
erwincoumans 1f7db4519e enable motor control for maximal coordinates robots (btRigidBody, btTypedConstraint) for force, velocity, position control. 2017-08-29 19:14:27 -07:00
erwincoumans 4ff6befc6d avoid flickering in visualizer window, when doing pybullet.getCameraImage 2017-08-29 12:13:21 -07:00
erwincoumans 449c8afc11 Merge pull request #1280 from erwincoumans/master 
pybullet a bit more refactoring, moving around files.
 2017-08-27 21:58:19 -07:00
Erwin Coumans 1900966805 small rename 2017-08-27 19:54:20 -07:00
Erwin Coumans 3f00c7bd49 small tweak in vr_kuka_setup.py example 2017-08-27 19:53:38 -07:00
Erwin Coumans c8cb0a5f42 add missing sphere_small.urdf, add vr_kuka_setup.py example. 2017-08-27 19:41:40 -07:00
Erwin Coumans 1569f3845c more fixes in pybullet_gym envs/data. 
implement pybullet.setAdditionalSearchPath
 2017-08-27 19:34:00 -07:00
Erwin Coumans d9faea8c1c add more URDF files to pybullet_data 2017-08-27 19:26:53 -07:00
Erwin Coumans 793904fc89 fix windows 64bit openvr/lib/win64/openvr_api.lib to find openvr64pi.dll (different name from 32bit version, to co-exist) 2017-08-27 18:30:12 -07:00
Erwin Coumans 659e869b86 pybullet a bit more refactoring, moving around files. 
pybullet: move data to pybullet_data package, with getDataPath() method
 2017-08-27 18:08:46 -07:00
erwincoumans 079035d253 Merge pull request #1279 from erwincoumans/master 
more fixes in the pybullet gym environments
 2017-08-26 15:19:38 -07:00
erwincoumans dd9ecce79e Merge pull request #1274 from erwincoumans/master 
all methods (except connect, obviously) have the physicsClientId argu…
 2017-08-25 16:37:16 -07:00
Erwin Coumans bcc60224f0 all methods (except connect, obviously) have the physicsClientId argument, even if they don't use it. This makes it easier to create a wrapper API to store the physics client. This allows easier multi-threaded versions with multiple Bullet DIRECT instances (or SHARED_MEMORY, TCP, UDP etc). 
See for example https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py and https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur.py
 2017-08-25 14:04:45 -07:00
erwincoumans be7ddfcc5c Merge pull request #1221 from Wugand/patch-1 
Fix for memory leak at btCreateCompoundFromGimpactShape
 2017-08-25 08:30:07 -07:00
erwincoumans 983da08da8 Merge pull request #1271 from erwincoumans/master 
pybullet: remove 'data' from MANIFEST.in
 2017-08-24 22:38:24 -07:00
erwincoumans ee3bb1efc5 Merge pull request #1272 from jonathantompson/exit_0_fix 
OpenGL window error handling updates
 2017-08-24 15:44:38 -07:00
erwincoumans a119a77bc7 Merge pull request #1270 from erwincoumans/master 
pybullet fix leak for concave collision shapes.  Allow continuous control for MIT racecar gym environment
 2017-08-24 10:09:04 -07:00
Erwin Coumans 5c5993edcb fix potential memory leaks for concave triangle meshes (<concave=true> or createCollisionShape with flags=1) 2017-08-24 09:16:11 -07:00
Erwin Coumans f0c32b84c0 allow continuous control for MIT racecar gym environment, use differential drive version 2017-08-23 23:12:26 -07:00
Erwin Coumans 8a4f51baa4 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-08-23 21:45:05 -07:00
erwincoumans 83510f0652 Merge pull request #1268 from erwincoumans/master 
update minitaur gym env, 	fix pybullet racecarGymEnv to use thread-safe pybullet
 2017-08-23 18:41:56 -07:00
Erwin Coumans 8866840712 Clarify in naming that the environment uses MJCF xml files with Bullet, it doesn't use MuJoCo. 2017-08-23 15:03:57 -07:00
erwincoumans a9fb0033a4 Merge pull request #1265 from erwincoumans/master 
refactor pybullet/gym to allow instantiating environments directly fr…
 2017-08-23 10:07:36 -07:00
erwincoumans bd28b212e1 Merge pull request #1263 from erwincoumans/master 
improve the new pybullet gym environments, upgrade to OpenVR 1.0.9, add preliminary support for Mac OSX OpenVR
 2017-08-20 20:28:08 -07:00
erwincoumans a4f28e1589 Merge pull request #1219 from lunkhound/pr-nncg 
NNCG solver: apply rolling friction consistently
 2017-08-18 13:31:54 -07:00
erwincoumans b940a83797 Merge pull request #1257 from erwincoumans/master 
bump up pybullet setup.py version, make B3_NO_PYTHON_FRAMEWORK defaul…
 2017-08-18 13:30:03 -07:00
erwincoumans c0984b80e5 Merge pull request #1231 from benelot/bullet-gym 
Add nearly all gym environments using pybullet together with the…
 2017-08-18 13:29:43 -07:00
erwincoumans bc1a039d26 Merge pull request #1256 from erwincoumans/master 
revert API to be backward compatible, add b3CreateInProcessPhysicsSer…
 2017-08-16 14:02:53 -07:00
Erwin Coumans a66576f034 revert API to be backward compatible, add b3CreateInProcessPhysicsServerAndConnectSharedMemory 
same for BulletURDFImporter constructor
 2017-08-16 12:33:25 -07:00
erwincoumans b7579cbdda Merge pull request #1254 from erwincoumans/master 
Expose optional "globalScaling" factor to pybullet.loadURDF/SDF, and add pybullet.connect(p.GUI_SERVER option, that allows shared memory connections.
 2017-08-16 09:30:23 -07:00
erwincoumans 2e0a987750 pybullet only allow one GUI/GUI_SERVER instance. 
Fix LINK_FRAME/WORLD_FRAME coordinate issue in pybullet applyExternalForce
 2017-08-15 14:15:30 -07:00
erwincoumans 9d0f875c5b fix compile issues due to API change (additional argument) 2017-08-15 09:34:44 -07:00
Erwin Coumans 60b60ef9fd add pybullet.connect(pybullet.GUI_SERVER) option. This allows shared memory connections, acting as a physics server. You can connect using SHARED_MEMORY to this GUI_SERVER. 2017-08-14 17:02:20 -07:00
Erwin Coumans aafaa7e33e Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations. 
Fix two_cubes.sdf (was lacking collision shape for second cube)
 2017-08-14 14:59:41 -07:00
erwincoumans dfaa717fed Merge pull request #1252 from erwincoumans/master 
fix pybullet GUI performance issue on Mac OSX, fix potential memory leak in loadSDF when visuals have the same name.
 2017-08-11 18:11:53 -07:00
erwincoumans 457312f94f fix leak in loadSDF in case of visuals with duplicate/identical names that have a material. 
fix GUI performance issue on Mac OSX
fix issue introduced in previous commit (in btConvexHullComputer.cpp)
 2017-08-11 17:14:52 -07:00
erwincoumans 0eb3898c76 Merge pull request #1244 from erwincoumans/master 
add 'createObstacleCourse.py' example, helps reproducing
 2017-07-29 13:20:14 +02:00
erwincoumans 53808e70ff Merge pull request #1235 from YunfeiBai/master 
Add init function and module for pybullet with EGL.
 2017-07-21 18:08:04 +02:00
erwincoumans 63ef78afe1 Merge pull request #1232 from erwincoumans/master 
improve pybullet performance of loadURDF/SDF/MJCF and 'createCollisio…
 2017-07-16 11:29:02 +01:00
erwincoumans afd6db7c40 Merge pull request #1217 from erwincoumans/master 
texture check fix
 2017-07-01 12:37:09 -07:00
Erwin Coumans b63023c692 add transparent plane 2017-07-01 11:47:57 -07:00
Erwin Coumans 5178ad4abc add proper pointer casts 2017-07-01 10:28:28 -07:00
erwincoumans 743d69ef69 Merge pull request #1216 from erwincoumans/master 
implement pybullet.changeTexture, fix loadTexture for OpenGL
 2017-06-30 21:07:28 -07:00
Erwin Coumans 88897cc744 implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added) 
See also examples\pybullet\examples\changeTexture.py
 2017-06-30 19:11:43 -07:00
Erwin Coumans dd3d55610b fixes in pybullet.loadTexture, changeVisualShape replacing texture. 
(also works for OpenGL3 renderer now)
 2017-06-30 13:35:07 -07:00
Erwin Coumans dcaaed9238 also generate TinyRendererVisualShapeConverter for programmatically generated collision shapes 
use similar random colors for TinyRenderer (if rgba colors are not specified)
 2017-06-29 22:06:27 -07:00
erwincoumans 6dfb320b8f Merge pull request #1214 from erwincoumans/master 
Added manually converted widowx.urdf from https://github.com/Robotnik…
 2017-06-29 19:19:04 -07:00
Erwin Coumans bf800e30d5 Added manually converted widowx.urdf from https://github.com/RobotnikAutomation/widowx_arm 
Added simple pybullet file in Bullet/examples/pybullet/examples/widows.py (preliminary, both URDF and py file needs more work to be useful)
https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml
See also http://www.trossenrobotics.com/widowxrobotarm
 2017-06-29 17:54:04 -07:00
erwincoumans b4f21e77af Merge pull request #1206 from erwincoumans/master 
Allow to create concave collision meshes. Transparency (only OpenGL 3.x renderer, not tinyrenderer/gl2)
 2017-06-24 20:07:17 -07:00
erwincoumans d5fe67cf57 Add pybullet transparent.py example, transparency with global per-object sort in GLInstancingRenderer 2017-06-24 19:38:31 -07:00
erwincoumans a651cb9ab4 Implement first pass of transparent graphics object for GLInstancingRenderer 
remove 'enableBlend' from API, graphics instances use alpha component instead
fix forward axis for SimpleCamera
 2017-06-24 13:41:33 -07:00
erwincoumans c777e61d48 fix pybullet compilation on some WIN32 version of MSVC 2017-06-23 20:36:19 -07:00
Erwin Coumans 65e22ba3e9 allow auxilary link to be used for gear btMultiBodyGearConstraint. 2017-06-23 20:24:04 -07:00
Erwin Coumans 2ab56b4d62 Allow to create concave collision meshes. Note that this is only supported for static (mass 0) multibodies. 2017-06-23 14:43:28 -07:00
Erwin Coumans a136098120 add a few more discrete actions to cartpole_bullet.py so it trains faster + add option to train without rendering, enjoy with rendering. 2017-06-22 16:49:14 -07:00
erwincoumans 40dae99435 Merge pull request #1203 from erwincoumans/master 
add kukaCamGymEnv.py with camera observations (preliminary)
 2017-06-22 10:58:51 -07:00
Erwin Coumans fbff4c57ca update include after stb_image changes 2017-06-22 09:03:10 -07:00
Erwin Coumans 9e5e0da9f4 move stb_image/stb_truetype.h and stb_image/stb_image_write.h to ThirdPartyLibs/stb_image folder 2017-06-22 08:48:18 -07:00
Erwin Coumans 97f6a161f1 fix stb_image.h include path to be consistent. 2017-06-22 08:09:33 -07:00
Erwin Coumans 9213f944f1 add kukaCamGymEnv.py with camera observations (preliminary) 
show camera position in example browser
disable per-vertex and per-fragment profile timings
 2017-06-21 09:33:46 -07:00
erwincoumans e24d79a2c0 Merge pull request #1202 from erwincoumans/master 
reduce stack usage (cause some crashes in low-stack tests)
 2017-06-20 20:57:48 -07:00
Erwin Coumans 71170d6384 reduce stack usage (cause some crashes in low-stack tests) 
fix crashing bug in changeVisualShape
add differential gear version of racecar (only 2 back wheels are powered)
 2017-06-20 20:22:14 -07:00
erwincoumans c48f5b1546 Merge pull request #1182 from lunkhound/pr-fix-solver-simd 
SequentialImpulseConstraintSolver: fix bugs with SOLVER_SIMD flag
 2017-06-20 12:19:15 -07:00
erwincoumans 99d2ab7871 Merge pull request #1200 from erwincoumans/master 
also add baseInertialFramePositionObj and baseInertialFrameOrientatio…
 2017-06-19 17:36:18 -07:00
Erwin Coumans 61f27a5c72 also add baseInertialFramePositionObj and baseInertialFrameOrientationObj to pybullet.createMultiBody 
updated createMultiBodyLinks.py example.
 2017-06-19 17:13:20 -07:00
erwincoumans 4eb0aa7e60 Merge pull request #1198 from erwincoumans/master 
pybullet.createMultiBody with links, capsule, cylinder, plane, mesh
 2017-06-19 14:02:27 -07:00
Erwin Coumans 7441515c0e Preliminary version of pybullet.createMultiBody including links connected to parent by a joint. 
See createMultiBodyLinks.py example.
 2017-06-19 13:15:05 -07:00
Erwin Coumans f3c11b6f31 add capsule, cylinder, plane, mesh support for pybullet.createCollisionShape 
preparation to add links to pybullet.createMultiBody
 2017-06-19 10:14:26 -07:00
Erwin Coumans 5a8f12284a update pybullet_quickstartguide.pdf from https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA 2017-06-17 17:33:38 -07:00
erwincoumans ce972830ff Merge pull request #1196 from erwincoumans/master 
allow to disable/enable default keyboard shortcuts , pybullet.getMouseEvents, fix in obj2sdf, improve getCameraImage
 2017-06-17 17:10:21 -07:00
Erwin Coumans e5db5192f0 bump up pybullet version again 2017-06-17 13:34:03 -07:00
Erwin Coumans 2e6f8c271e allow to disable/enable default keyboard shortcuts ('w', 'd' 's' etc) and default mouse picking 
pybullet.getMouseEvents / b3RequestMouseEventsCommandInit
 2017-06-17 13:29:14 -07:00
Erwin Coumans 3a826a5997 getCameraImage: use debug visualizer camera viewmatrix/projection matrix if possible (only if view/proj matrix is not provided) 2017-06-17 11:21:10 -07:00
Erwin Coumans af0e1d58ef obj2sdf -> don't crash when no name is given, remind user of --fileName=... 2017-06-17 10:24:47 -07:00
erwincoumans 3c40474e55 Merge pull request #1193 from erwincoumans/master 
fix gym/envs/bullet/cartpole_bullet.py, 	improve getAABB.py
 2017-06-16 19:34:42 -07:00
Erwin Coumans 5ea4da87d7 improve getAABB.py drawing 2017-06-16 19:11:35 -07:00
Erwin Coumans 23b155a2b4 add getAABB.py example. 
fix getAABB / b3RequestCollisionInfoCommandInit to use less stack memory
 2017-06-16 18:10:10 -07:00
Erwin Coumans 40cb8006ee fix gym/envs/bullet/cartpole_bullet.py (velocity hyperparameter still needs to be tuned) 
add enjoy_pybullet_cartpole.py
 2017-06-16 17:06:11 -07:00
erwincoumans 37f5413a07 Merge pull request #1190 from erwincoumans/master 
pybullet.getAABB and getAPIVersion
 2017-06-15 21:53:41 -07:00
Erwin Coumans bb8cfe3c9a pybullet.getAABB and getAPIVersion 
fix btMultiBody::getLinkCollider
bump up Bullet C-API version
 2017-06-15 19:46:27 -07:00
erwincoumans 49c8683e49 Merge pull request #1189 from erwincoumans/master 
tune kuka grasp gym env
 2017-06-15 14:28:30 -07:00
erwincoumans c903bd8a49 tune kuka grasp gym env (make it a bit too easy) 2017-06-15 11:18:08 -07:00
erwincoumans 16f439d774 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-14 23:42:40 -07:00
erwincoumans a547c8f3fc hook up kuka grasping to OpenAI dqn 2017-06-14 23:42:14 -07:00
erwincoumans d2888f0884 add nicer meshes to kuka_with_gripper.sdf and add kuka_with_gripper2.sdf that can rotate without messing up IK 
fix tray/tray_textured4.obj and tray/tray.urdf
fix kuka_with_cube.py
allow both IK /end-effector control and joint-space control in kuka environment, use 1./240. sec. step and 150 solver iter
bump up pybullet to 1.1.7
 2017-06-14 19:34:33 -07:00
erwincoumans f8af33dc73 Merge pull request #1183 from lunkhound/pr-browser-gui 
example browser: GUI improvements for CommonRigidBodyMT based demos
 2017-06-14 08:12:37 -07:00
erwincoumans 3921ea88fa Merge pull request #1177 from YunfeiBai/master 
Bug fix. Only return friction coefficient when there is a valid link …
 2017-06-14 08:11:57 -07:00
erwincoumans ff7a2bbc3b Merge pull request #1180 from lunkhound/pr-remove-override 
fix a stray override keyword (C++11) that slipped in
 2017-06-14 08:11:15 -07:00
erwincoumans 1f6872552d Merge pull request #1187 from erwincoumans/master 
add humanoid and kuka gym environments (experimental)
 2017-06-14 08:10:50 -07:00
erwincoumans cc34ebab25 add humanoid and kuka gym environments (experimental) 2017-06-14 00:54:41 -07:00