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Author SHA1 Message Date
erwincoumans 49eb83c24e Avoid static multibody to activate/wake up sleeping objects. 
Couldn't reproduce an issue related to this.
 2018-06-05 12:20:42 -07:00
erwincoumans fa648a028e fix a few problems introduced in #1730 
https://github.com/bulletphysics/bullet3/pull/1730
 2018-06-05 09:16:00 -07:00
erwincoumans d7cbe8dd26 Merge remote-tracking branch 'bp/master' 2018-06-05 08:15:11 -07:00
erwincoumans 7d0e632fb3 Merge pull request #1730 from RanTig/master 
Adds unit tests for userData plus some bugfixes.
 2018-06-05 08:14:31 -07:00
Tigran Gasparian aefd5a9d66 Uses SHARED_MEMORY_SERVER instead of GUI_SERVER when starting a bullet server in the unit test. 2018-06-05 09:28:38 +02:00
Erwin Coumans dd745cbe2d Merge remote-tracking branch 'bp/master' 2018-06-05 11:42:49 +10:00
Erwin Coumans 7bd84740d7 PyBullet / BulletRobotics: prepare for pdControlPlugin and collisionFilterPlugin 
Split examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.* and move to examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp and examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
 2018-06-05 11:41:41 +10:00
Erwin Coumans e4cd88e24f PyBullet: allow to choose the shared memory key when starting SHARED_MEMORY_SERVER 2018-06-05 11:36:54 +10:00
Tigran Gasparian c49e060e81 Starts bullet server when testsuite is ran, uses pybullet_utils to manage clients. 2018-06-04 19:40:16 +02:00
Tigran Gasparian bb72a91080 Clears the user data cache when syncUserData is called. 
Adds unit test for the UserData functons.
Changes the char pointer in btHashString to std::string. There were
problems where the object owning the string memory would deallocate the
string, making the btHashString object invalid.
 2018-06-04 15:10:48 +02:00
erwincoumans e0667d8579 Merge pull request #1728 from erwincoumans/master 
PyBullet.addUserData (etc) and expose flags to createMultiBody
 2018-06-02 18:41:53 -07:00
erwincoumans 4997eb8da2 add new file related to PyBullet userData 2018-06-02 13:52:00 -07:00
erwincoumans b6120e760a PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo 
See examples/pybullet/examples/userData.py how to use it. TODO: add to PyBullet Quickstart Guide.
Thanks to Tigran Gasparian for the contribution!
 2018-06-02 13:40:08 -07:00
erwincoumans cb6b7a7c38 PyBullet: expose flags to createMultiBody 2018-06-02 11:37:14 -07:00
erwincoumans c77586a526 Merge pull request #1727 from erwincoumans/master 
PyBullet picking change, revert gjk test
 2018-06-02 00:13:43 -07:00
Erwin Coumans 39c9ffa4c3 PyBullet IK: backward compatible changes related to joint damping 2018-06-01 23:25:47 -07:00
Erwin Coumans f75e22e37d bump up PyBullet version to 2.0.3 2018-06-01 22:54:43 -07:00
erwincoumans 68ea22bfd0 undo git merge conflict mess-up with IK 2018-06-01 22:50:06 -07:00
erwincoumans a450600eb8 revert gjk test 2018-06-01 22:17:46 -07:00
erwincoumans e721a9cdf5 revert testing changes 2018-06-01 22:02:17 -07:00
erwincoumans 54ddbad29f remove printf 2018-06-01 21:56:34 -07:00
erwincoumans 92579f9196 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2018-06-01 09:35:15 -07:00
erwincoumans 2d40a18315 picking shouldn't activate (wakeup) sleeping objects 2018-06-01 09:34:18 -07:00
erwincoumans 00c8f8f68e Merge pull request #1725 from erwincoumans/master 
Use dofCount and not numJoints in PyBullet.calculateInverseKinematics…
 2018-06-01 07:31:09 -07:00
Erwin Coumans e74cd05e37 add space 2018-05-31 21:21:50 -07:00
Erwin Coumans 3ac01d57a5 Merge remote-tracking branch 'bp/master' 2018-05-31 21:21:43 -07:00
erwincoumans 7653ddbeba bump up pybullet version (for fixed ik) 2018-05-31 21:17:39 -07:00
erwincoumans 4c75e022c8 Use dofCount and not numJoints in PyBullet.calculateInverseKinematics, fixes null space demo 
See baxter_ik_demo at https://github.com/erwincoumans/pybullet_robots
 2018-05-31 21:07:04 -07:00
erwincoumans 1d53c48322 Merge pull request #1724 from erwincoumans/master 
test space
 2018-05-31 18:20:12 -07:00
Erwin Coumans 3720421e82 Merge remote-tracking branch 'bp/master' 2018-05-31 18:17:12 -07:00
Erwin Coumans 70b3d4d0f4 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-31 18:16:57 -07:00
Erwin Coumans 76e88dddc5 add space to make conversion work 2018-05-31 18:16:40 -07:00
erwincoumans bc8378cb87 Merge pull request #1723 from erwincoumans/master 
fix different arg name in header versus cpp
 2018-05-31 18:08:29 -07:00
erwincoumans 309a07c21b Merge branch 'master' into master 2018-05-31 18:05:50 -07:00
Erwin Coumans 378de87286 Merge remote-tracking branch 'bp/master' 2018-05-31 18:03:56 -07:00
Erwin Coumans 93a51e19d9 fix different arg name in header versus cpp 2018-05-31 17:58:12 -07:00
erwincoumans 75eaaecf49 Merge pull request #1722 from erwincoumans/master 
implement accurate inverse kinematics in C++, exposed through PyBullet.calculateInverseKinematics
 2018-05-31 16:50:52 -07:00
erwincoumans 3463d0a879 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-31 16:06:33 -07:00
erwincoumans edc70582dd implement accurate inverse kinematics in C++. PyBullet.calculateInverseKinematics gets "maxNumIterations=20", "residualThreshold=1.04" to tune 
allow to provide current joint positions in IK, overriding the body joint positions, also IK target will be in local coordinates.
expose b3ComputeDofCount in C-API
 2018-05-31 16:06:15 -07:00
erwincoumans 8567f6bb7c PyBullet: rename sleepObjectAutoDeactivation -> sleeping.py 
PyBullet: allow maximal coordinate rigid bodies to sleep/deactivate
 2018-05-30 21:14:35 -07:00
erwincoumans 292e198a57 Merge pull request #1719 from erwincoumans/master 
const char* for path, bump up pybullet version
 2018-05-30 19:48:25 -07:00
erwincoumans 150a0e050e Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-30 19:47:47 -07:00
Erwin Coumans 491ecf2a20 export object auto-deactivation (sleeping) to pybullet (needs some more testing/configuring) 2018-05-30 18:37:08 -07:00
Erwin Coumans 14c6dee6a3 const char* for path 2018-05-30 14:37:49 -07:00
erwincoumans 1dec33d44b move default linearslop to 0 2018-05-30 12:31:29 -07:00
erwincoumans afa5ab25a6 Merge pull request #1715 from eastskykang/b3RobotAPI 
added functions to b3RobotSimulatorClientAPI_NoGUI
 2018-05-30 14:08:27 +10:00
erwincoumans 2819ff4a00 bump up version 2018-05-29 21:05:12 -07:00
erwincoumans 851459dbfe Merge pull request #1716 from erwincoumans/master 
fix fixed constraint between btMultiBody and btRigidBody, fix minitaur examples when ran from pip version
 2018-05-30 12:02:34 +10:00
erwincoumans 11d8f069f0 Disable overlapping pair debug variables behind the BT_DEBUG_COLLISION_PAIRS preprocessor definition. 2018-05-29 17:06:35 -07:00
erwincoumans 7d0c8d18a6 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-29 16:49:21 -07:00
erwincoumans ec4b3505a4 fix fixed constraint between btMultiBody and btRigidBody 2018-05-29 16:49:07 -07:00
Erwin Coumans 6fb8cc7fda Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-29 09:29:12 -07:00
Erwin Coumans 39808ddfdf allow to run minitaur environment examples from pip version, like this: 
python -m pybullet_envs.minitaur.envs.minitaur_trotting_env_example
python -m pybullet_envs.minitaur.envs.minitaur_reactive_env_example
 2018-05-29 09:28:31 -07:00
donghokang 325ccad258 getDynamicsInfo function now works. Changed to call b3GetDynamicsInfo in getDynamicsInfo. 2018-05-29 16:41:37 +02:00
donghokang 6bd7a52bf8 solverResidualThreshold now can be set. 2018-05-29 16:25:28 +02:00
donghokang a3e4582bef getCollisionShapeData and getVisualShapeData were added to RobotSimulatorClinetAPI_NoGUI. b3RobotSimulatorJointMotorArrayArgs initialization bug fix. 2018-05-29 16:23:17 +02:00
erwincoumans fc9a2f88ef Merge pull request #1710 from erwincoumans/master 
Move from b3Vector3 to btVector3 to support double precision in examp…
 2018-05-27 11:25:40 +10:00
Erwin Coumans dcc9c4d0d9 fix HelloBulletRobotics example from b3Vector3 -> btVector3 2018-05-27 10:55:53 +10:00
Erwin Coumans 57b3e0d221 Move from b3Vector3 to btVector3 to support double precision in examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI API. 2018-05-27 10:42:33 +10:00
erwincoumans 85478fc6ef Merge pull request #1706 from erwincoumans/master 
add HelloBulletRobotics C++ example with similar API to PyBullet
 2018-05-26 16:35:38 +10:00
Erwin Coumans e79ae13cde disable adhoc gjk terminarion heuristics by default 2018-05-26 08:52:52 +10:00
Erwin Coumans d133c33d73 Use a very large default m_contactStiffness (so that if one object is a bit soft, the stiffness is properly combined) 2018-05-26 08:50:45 +10:00
Erwin Coumans 3d6c8f0fae PyBullet: include the pre-trained policy files in data 2018-05-26 08:49:23 +10:00
Erwin Coumans efe9161670 fix cmake build 2018-05-26 08:46:12 +10:00
Erwin Coumans bb696c66b7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-25 08:50:23 +10:00
Erwin Coumans da73556ca7 bump up pybullet version to 2.0.0 2018-05-25 08:26:09 +10:00
Erwin Coumans 9a36d144c3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-25 08:25:27 +10:00
Erwin Coumans a9ff5246c9 make gjk a bit more robust, try different initial guess vector if it fails to find a solution (happens for queries with large differences in shape size) 2018-05-25 08:18:12 +10:00
Erwin Coumans 5de53d7355 PyBullet: add ANYmal.py quadruped example, usage: 
pip install pybullet
python -m pybullet_envs.examples.ANYmal
 2018-05-25 07:54:38 +10:00
Erwin Coumans ab7bbf4396 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-24 15:50:02 +10:00
Erwin Coumans ff4d0b1777 add HelloBulletRobotics C++ example with similar API to PyBullet 
Add ANYmal quadruped robot URDF to pybullet_data
 2018-05-24 15:48:45 +10:00
erwincoumans abeae7e1e7 Merge pull request #1701 from erwincoumans/master 
PyBullet: add option to cache graphics shapes for URDF files, handy f…
 2018-05-23 14:47:01 +10:00
Erwin Coumans 8ace9251aa pass by pointer instead of reference to satisy compiler 2018-05-23 14:22:22 +10:00
Erwin Coumans 94da262906 case sensitive header include 2018-05-23 13:51:51 +10:00
Erwin Coumans 77c332bd88 PyBullet: add option to cache graphics shapes for URDF files, handy for benchmarks with many duplicate robots 
See https://github.com/erwincoumans/pybullet_robots ANYmal.py for an example.
PyBullet: Expose p.setPhysicsEngineParameter(solverResidualThreshold=1e-2) (b3PhysicsParamSetSolverResidualThreshold), increases solver performance a lot
PyBullet: Expose p.setPhysicsEngineParameter(contactSlop) Set it to zero, to avoid issues with restitution.
PyBullet: Expose isNumpyEnabled, return True is PyBullet was compiled with NUMPY support for 'getCameraImage'.
PyBullet: Expose p.ChangeDynamics(objectUid, linkIndex, contactProcessingThreshold), to avoid issues of speculative/predictive contacts with restitution.
See also http://twvideo01.ubm-us.net/o1/vault/gdc2012/slides/Programming%20Track/Vincent_ROBERT_Track_ADifferentApproach.pdf
 2018-05-23 13:26:00 +10:00
erwincoumans f1b4ffaf98 Merge pull request #1699 from benelot/fix-pendula-with-pbclient 
Fix pendulum & manipulator envs with pybullet client
 2018-05-23 08:20:40 +10:00
erwincoumans 57e02ae15a Merge pull request #1698 from erwincoumans/master 
PyBullet: :wminor Gym fixes
 2018-05-23 08:19:47 +10:00
Benelot 4a16032820 Fix manipulators too. 2018-05-22 18:12:45 +02:00
Benelot 7b219e0ea6 Fix pendula to use the bullet-client. 2018-05-22 16:40:10 +02:00
Erwin Coumans f5952a73e7 UrdfImporter: Collada DAE, rudimentary support for polylist (for ANYmal), assumes all polygons have 3 vertices 
remove obsolete env from __init__.py
 2018-05-23 00:28:49 +10:00
Erwin Coumans 9a706d9cfd PyBullet: fix Gym envs 2018-05-23 00:24:03 +10:00
Erwin Coumans 76561cbebd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-23 00:18:35 +10:00
Erwin Coumans a0a1c9347c PyBullet: fix in Gym env 2018-05-23 00:18:17 +10:00
Benelot ea850d1bf1 Merge remote-tracking branch 'upstream/master' 2018-05-22 15:44:10 +02:00
erwincoumans f74110a4c0 Merge pull request #1695 from erwincoumans/master 
Fix Issue #1623, SphereTriangleDetector
 2018-05-22 16:40:45 +10:00
Erwin Coumans 62d58259bc Fix Issue #1623, SphereTriangleDetector for cases with positive contactBreakingThreshold and where sphere was intersecting with multiple edges 
(need to take the closest edge)

Thanks to Andrea Catania for the report and reproduction case!
 2018-05-22 08:36:00 +10:00
erwincoumans c491141a1f Merge pull request #1692 from erwincoumans/master 
fix HalfCheetahBulletEnv-v0, other PyBullet improvements
 2018-05-20 15:04:24 +10:00
Erwin Coumans 2ac8c7009d bump up pybullet version to 1.9.9 2018-05-20 15:03:58 +10:00
Erwin Coumans a7a6e20d9c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-20 14:19:49 +10:00
Erwin Coumans 90939279f9 PyBullet: cmake build, enable DBUILD_PYBULLET_NUMPY=ON 
fix issue with HalfCheetahBulletEnv-v0 in previous commit
 2018-05-20 14:18:53 +10:00
Erwin Coumans 964f52f62d remove unsupported simpleHumanoid.py, use env = gym.make("HumanoidBulletEnv-v0") instead. 2018-05-20 12:35:33 +10:00
Erwin Coumans 0b2c9ea645 PyBullet: avoid a crash in SHARED_MEMORY_SERVER 2018-05-20 12:20:06 +10:00
erwincoumans c8dc4dc756 Merge pull request #1690 from erwincoumans/master 
Fix for issue #1643, bump up PyBullet version to 1.9.8
 2018-05-18 17:29:59 -07:00
Erwin Coumans ea10c59a3d bump up PyBullet version to 1.9.8 2018-05-18 16:26:45 -07:00
Erwin Coumans bcd209fd93 Merge remote-tracking branch 'bp/master' 2018-05-18 16:25:40 -07:00
Erwin Coumans 701b50ec12 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-18 16:25:27 -07:00
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 83a34d8ae2 Merge pull request #1663 from vsaulue/fix-doxygen 
Fix some Doxygen comments in btMatrix3x3.
 2018-05-16 17:02:23 -07:00