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Author SHA1 Message Date
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
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
erwincoumans 7929ba2929 Merge pull request #1186 from erwincoumans/master 
add debug view for getCameraImage (RGB, depth, segmentation mask)
 2017-06-13 18:55:11 -07:00
Erwin Coumans a0ded43a69 use cnn_to_mlp to allow training of racecar using (extremely simplified) ZED camera pixel data using OpenAI baselines. 
add a red sphere to make training a bit easier for now.
 2017-06-13 18:33:32 -07:00
Erwin Coumans ee8fd56c5e prepare to train racecar using ZED camera pixels (CNN+DQN) 2017-06-13 16:04:50 -07:00
Erwin Coumans 0958e8f473 only show debug camera RGB pixels by default 2017-06-13 14:07:58 -07:00
Erwin Coumans d17faddff2 fix for b3RequestActualStateCommandComputeLinkVelocity/getLinkState link velocities for static links 2017-06-13 13:51:38 -07:00
Erwin Coumans ab6d5c9c53 Merge remote-tracking branch 'bp/master' 2017-06-13 11:06:12 -07:00
Erwin Coumans c84416d932 add debug view for getCameraImage (RGB, depth, segmentation mask) 2017-06-13 10:53:24 -07:00
erwincoumans 5692137554 Merge pull request #1185 from mbreyer/bugfix-uninitializedVariable 
fix uninitialized erp in pybullet_setPhysicsEngineParameter
 2017-06-13 08:28:24 -07:00
erwincoumans e24dbec146 Merge pull request #1184 from mbreyer/bugfix-pybulletGetCameraImage 
fix memcpy of depth and segmentation images to numpy arrays
 2017-06-12 14:15:30 -07:00
erwincoumans 00e85554fb Merge pull request #1181 from erwincoumans/master 
Implement OpenAI baselines dqn train/enjoy pybullet racecar
 2017-06-10 20:34:42 -07:00
erwincoumans 1752aa55ca train_pybullet_racecar.py works, self-driving car drives towards the ball using OpenAI baselines DQN :-) 
See https://www.youtube.com/watch?v=DZ5Px-ocelw for video and how-to-install.
 2017-06-10 18:46:36 -07:00
Erwin Coumans b361722500 Implement train_pybullet_racecar.py and enjoy_pybullet_racecar.py using OpenAI baselines DQN for the RacecarGymEnv. 2017-06-09 19:26:07 -07:00
erwincoumans dc8c2e4d5e Merge pull request #1179 from erwincoumans/master 
add mimic constraint for differential gears
 2017-06-09 15:02:59 -07:00
Erwin Coumans 82e3c553b9 bump up pybullet version (some memory leaks were fixed since 1.1.3) 2017-06-09 14:03:47 -07:00
erwincoumans b2a46a7edd mimicJointConstraint.py creates actual differential drive 
See https://www.youtube.com/watch?v=pK3PTPlRTGA  :-)
 2017-06-09 10:15:05 -07:00
Erwin Coumans 0aeb4d5058 add RacecarGymEnv as a gym experimentation environment 2017-06-08 19:45:48 -07:00
Erwin Coumans 7ee8126d66 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-08 14:28:42 -07:00
Erwin Coumans b325844b9a add missing 'wheel.urdf" and very simple procedural terrain generation (sine wave) 2017-06-08 14:28:33 -07:00
erwincoumans e5ce067cb9 Merge pull request #1176 from erwincoumans/master 
mimic joint, enable btGearConstraint for multibody, expose contact stiffness/damping, erp to pybullet etc.
 2017-06-08 10:20:22 -07:00
erwincoumans c1f6b7e9b8 fix memory leak in case a Wavefront .obj file had multiple shapes (texture was loaded multiple times, while only releasing one) 2017-06-08 09:21:32 -07:00
Erwin Coumans 9d422c9b08 bump up pybullet version 2017-06-07 19:02:23 -07:00
Erwin Coumans c1e32e6428 fix potential memory leaks 2017-06-07 19:00:44 -07:00
Erwin Coumans 46f2f3db4e implement 'mimic' joint constraint or 'gear' constraint for btMultiBody, add example in pybullet/examples/mimicJointConstraint.py 2017-06-07 16:22:02 -07:00
Erwin Coumans 60e3887456 enable btGearConstraint, expose 'changeDynamics' for gearRatio, only works for maximalCoordinates rigid bodies. 
See examples\pybullet\examples\mimicJointConstraint.py
 2017-06-07 13:44:34 -07:00
Erwin Coumans d08f3e5f91 expose pybullet non-contact erp, friction erp and frictionAnchor, b3PhysicsParamSetDefaultNonContactERP / b3PhysicsParamSetDefaultFrictionERP / b3ChangeDynamicsInfoSetFrictionAnchor 2017-06-07 09:37:28 -07:00
Erwin Coumans 0c3a3cc466 pybullet.changeDynamicsInfo/b3ChangeDynamicsInfoSetContactStiffnessAndDamping expose contactStiffness/contactDamping 2017-06-07 08:37:42 -07:00
erwincoumans 877e2cf9f9 Merge pull request #1174 from erwincoumans/master 
add MIT racecar and examples/python/examples/racecar.py, fix compile issue/warning
 2017-06-06 09:50:07 -07:00
erwincoumans 7e12034097 improve racecar visuals a little bit with a texture on the wheels 2017-06-06 09:45:06 -07:00
erwincoumans ae00c24a5c add MIT racecar URDF, meshes and racecar.py quick test 2017-06-06 09:23:40 -07:00
erwincoumans 7b56db9f97 fix compile issue/warning 2017-06-06 06:59:41 -07:00
erwincoumans fb6d623d24 Merge pull request #1171 from erwincoumans/master 
revert due to crashes on windows, when simulation speed is increased
 2017-06-05 16:49:22 -07:00
Erwin Coumans 91735acc7c also revert those 2 files 2017-06-05 14:19:28 -07:00
Erwin Coumans b5962ab148 revert due to crashes on windows, when simulation speed is increased 2017-06-05 14:15:51 -07:00
erwincoumans 444f206c7c Merge pull request #849 from benelot/3D-NN-walkers-example 
Improvements to 3DNNWalkers example
 2017-06-05 13:31:07 -07:00
erwincoumans be9384a01b Merge pull request #1168 from lunkhound/pr-fix-thread-index 
fix various multithreading issues with thread indexes
 2017-06-05 13:27:05 -07:00
erwincoumans 0d7232c661 Merge pull request #1170 from erwincoumans/master 
prepare for pybullet 1.1.2
 2017-06-05 09:33:50 -07:00
Erwin Coumans adb938f30f reduce memory usage 2017-06-05 08:01:11 -07:00
Erwin Coumans b6cf8ade07 prepare for pybullet 1.1.2 2017-06-04 22:54:04 -07:00
Erwin Coumans 14a128d122 Merge remote-tracking branch 'bp/master' 2017-06-04 22:53:26 -07:00
Erwin Coumans 351ea171c1 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-04 22:53:23 -07:00
erwincoumans 69642805ff Merge pull request #1166 from erwincoumans/master 
btThreadsAreRunning wasn't defined if BT_THREADSAFE was not defined, …
 2017-06-04 22:53:11 -07:00
Erwin Coumans 704269afe1 don't pass second parameter, pybullet func 2017-06-04 22:24:14 -07:00
Erwin Coumans 88c743b5ce Merge remote-tracking branch 'bp/master' 2017-06-04 22:12:42 -07:00
erwincoumans b01386077d Merge pull request #1169 from lunkhound/pr-gui-slider-fix 
example browser: fix 'clamp-to-integer' on GUI-sliders
 2017-06-04 22:08:47 -07:00
Erwin Coumans a7aed37632 work on pybullet/C-API createMultiBody (still preliminary, only sphere/box collision shapes, no links/hierarchies yet, soon) 
pybullet/C-API, expose linear/angular damping
fix some warnings (param name needs to be same in .h and .cpp)
fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread)
fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
 2017-06-04 22:04:16 -07:00
Erwin Coumans b23cb1dd2c pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface 
(still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
 2017-06-03 10:57:56 -07:00
Erwin Coumans ff695dd328 Merge remote-tracking branch 'bp/master' 2017-06-03 08:16:59 -07:00
erwincoumans 861766f1d5 Merge pull request #1167 from YunfeiBai/master 
Swap yaw and pitch, and use setEulerZYX in camera computation. Add camera yaw, pitch, distance, and target to getDebugVisualizerCamera. Add rgba color reset for TinyRender.
 2017-06-03 08:16:32 -07:00
Erwin Coumans 1d1c822d52 btThreadsAreRunning wasn't defined if BT_THREADSAFE was not defined, causing compile errors using premake 2017-06-02 16:25:28 -07:00