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Author SHA1 Message Date
erwincoumans 4a4c807381 Update DeepMimic_Optimizer.py 
remove timing
 2019-08-01 21:24:28 -07:00
erwincoumans 5cd1695acb Merge pull request #2350 from erwincoumans/master 
improved for inserting profile timings from Python, to analyzer performance
 2019-08-01 21:22:27 -07:00
Erwin Coumans 6d844e5df1 pybullet: more detailed nested timings 2019-08-01 19:15:02 -07:00
Erwin Coumans 7263439c4b improved for inserting profile timings from Python, to analyzer performance of pybullet programs. 
See examples/pybullet/examples/profileTiming.py for an example. Note that python and c++ is properly interleaved.
Open a timings with a name, close the timing without a name. Note that timings can be recursive, added/popped as a stack.
 2019-08-01 19:12:16 -07:00
erwincoumans 14cc0ec2ee Merge pull request #2346 from erwincoumans/master 
add texture support for cube, when using createCollisionShape(GEOM_BOX)
 2019-07-31 18:49:37 -07:00
Erwin Coumans 397767cb60 Merge remote-tracking branch 'bp/master' 2019-07-31 17:54:29 -07:00
Erwin Coumans 10153b3b3a add texture support for cube, when using createCollisionShape(GEOM_BOX) 2019-07-31 14:49:49 -07:00
erwincoumans 789769eac9 Update BulletMJCFImporter.cpp 
add default for unhandled geoms
 2019-07-31 09:18:38 -07:00
erwincoumans a8e1be3b33 Update TinyRenderer.cpp 
create a cube using x,y,z not x,y,y
 2019-07-30 17:48:59 -07:00
erwincoumans 1feb186204 Update PhysicsClientC_API.cpp 
use B3_PI definition
 2019-07-30 17:43:24 -07:00
erwincoumans d0880a78d5 Merge pull request #2343 from erwincoumans/master 
expose heightfield to pybullet, add pybullet_envs.deep_mimic pretrained humanoid3d policies
 2019-07-30 09:07:02 -07:00
Erwin Coumans 4429c6dc9e avoid Mac OSX bus error -> no large static arrays 2019-07-29 22:20:45 -07:00
Erwin Coumans 38d56a42de Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-29 20:29:29 -07:00
Erwin Coumans d58a85fec4 export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU) 
fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
 2019-07-29 20:29:07 -07:00
Erwin Coumans 51fba6f78d export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU) 
fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
 2019-07-29 20:23:38 -07:00
Erwin Coumans 4bb5d07e3e pybullet_envs.deep_mimic: add pretrained spinkick model (only trained for 20 million steps, may need more for nicer mimic) 2019-07-29 08:22:57 -07:00
Erwin Coumans cc2d15cd89 pybullet_envs.deep_mimic add pretrained jump weights 2019-07-29 08:11:15 -07:00
Erwin Coumans 3ba34f45b7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-28 18:13:48 -07:00
Erwin Coumans 020e569ece pybullet_envs.deep_mimic add pretrained crawl policy 2019-07-28 18:01:37 -07:00
Erwin Coumans 09bea429f7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-28 17:24:37 -07:00
Erwin Coumans 1e21000d07 pybullet_envs.deep_mimic: update humanoid3d_cartwheel pretrained policy 2019-07-28 17:23:54 -07:00
Erwin Coumans 45c393e86e Merge remote-tracking branch 'bp/master' 2019-07-27 10:25:31 -07:00
erwincoumans d2665d3d80 Merge pull request #2305 from BartMoyaers/parse_contact_bodies 
parse fall contact bodies
 2019-07-27 10:09:36 -07:00
Erwin Coumans 36f3adc03f copy/move heightfield files around (part of pybullet_data) 
prepare for heightfield support in pybullet (first step, needs a bit more)
 2019-07-25 13:01:26 -07:00
erwincoumans c65ce8059f Merge pull request #2337 from erwincoumans/master 
fix rotational friction between btMultiBody and btRigidBody
 2019-07-25 07:59:42 -07:00
Erwin Coumans 3eedb2a6f2 fix rotational friction between btMultiBody and btRigidBody 2019-07-24 22:07:16 -07:00
erwincoumans e96f068220 Merge pull request #2335 from erwincoumans/master 
fixes for pybullet_envs.deep_mimic and  add example loading heightfield from image and csv
 2019-07-23 18:16:13 -07:00
Erwin Coumans 654a91057b remove temp file 2019-07-23 18:15:15 -07:00
Erwin Coumans a0b7b2a47c add friction_anchor to microtaur.urdf 2019-07-23 18:13:54 -07:00
Erwin Coumans a42acfbe31 btHeightFieldTerrainShape, init new member 
instead height of example terrain
 2019-07-23 15:23:11 -07:00
Erwin Coumans ebde9926a8 add example loading heightfield from image and csv, using assets from DeepLoco (thanks to Jason Peng) and 
from this Blender tutorial https://www.beamng.com/threads/tutorial-adding-heightmap-roads-using-blender.16356/
 2019-07-23 11:26:31 -07:00
Erwin Coumans 96b76dd107 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-23 08:51:34 -07:00
Erwin Coumans bd9fe7afc0 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-23 07:27:55 -07:00
Erwin Coumans 2e85490b6b deep_mimic: replace retrained backflip policy 2019-07-23 07:27:17 -07:00
Erwin Coumans bb962bdb6f remove some left-over debugging from deep_mimic 
pybullet bump up to 2.5.3
 2019-07-22 17:47:02 -07:00
Erwin Coumans b9d4206053 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-22 17:19:33 -07:00
Erwin Coumans b433e07d33 pybullet_envs.deep_mimic: use getLinkStates for faster 'getReward' 
pybullet_envs.deep_mimic: add profile timers for each thread to optimize training
 2019-07-22 17:18:41 -07:00
Erwin Coumans 6c73aa1e12 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-22 14:01:00 -07:00
Erwin Coumans 0630c245c8 update walk policy trained using latest PyBullet 2.5.2. Still need to update backflip policy. 2019-07-22 14:00:19 -07:00
Erwin Coumans 66f71256cf Merge remote-tracking branch 'bp/master' 2019-07-22 13:27:03 -07:00
erwincoumans 0aaae87245 Merge pull request #2332 from erwincoumans/master 
add laikago urdf with toes (for inverse kinematics, and control over …
 2019-07-22 10:28:50 -07:00
Erwin Coumans 213ae06e1f bump up version 2019-07-22 10:01:30 -07:00
erwincoumans 1d59db7c3d Merge pull request #2326 from biller23/patch-2 
Fix GCC alignment macros for btScalar.h
 2019-07-22 09:35:55 -07:00
Erwin Coumans bf3696e5b4 fix a leak in previous commit 2019-07-22 09:28:27 -07:00
Erwin Coumans 7ead9cf8ba fix a memory leak in previous commit, in pybullet_resetJointStatesMultiDof 2019-07-22 09:07:19 -07:00
Erwin Coumans b2825724d4 only if SPD is enabled 2019-07-21 22:03:23 -07:00
Erwin Coumans 8f220c1b23 fix memory leak in previous commit 2019-07-21 21:48:51 -07:00
Erwin Coumans d82c2043f0 enable useArray for deep_mimic reward 2019-07-21 13:56:10 -07:00
Erwin Coumans 602f736640 Merge remote-tracking branch 'bp/master' 2019-07-21 13:13:52 -07:00
Erwin Coumans 0cf6685041 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-21 13:13:25 -07:00
Erwin Coumans 39a4e8dcd9 Implement faster array versions of PyBullet: getJointStatesMultiDof, getLinkStates, setJointMotorControlMultiDofArray, resetJointStatesMultiDof, 
Implement StablePD in C++ through setJointMotorControlMultiDofArray method for pybullet_envs.deep_mimic, see testHumanoid.py and examples/pybullet/examples/humanoidMotionCapture.py
Minor fix in ChromeTraceUtil in case startTime>endTime (why would it happen?)
 2019-07-21 13:08:22 -07:00
erwincoumans 1e6af4261e Update HeightfieldExample.cpp 2019-07-19 14:02:08 -07:00
Erwin Coumans 4732acfcb1 remove tabs from urdf 2019-07-17 12:57:44 -07:00
Erwin Coumans ac0bfb0bfa remove trailing whitespace 2019-07-17 12:55:13 -07:00
Erwin Coumans dff277ad7b add laikago urdf with toes (for inverse kinematics, and control over stiffness/damping to model rubber) 2019-07-17 12:30:49 -07:00
biller23 448f0b8bef Fix alignment macros for btScalar.h 
As of the merged #2278, but for btScalar.h
 2019-07-13 10:53:25 +00:00
erwincoumans 2502a83bd7 Merge pull request #2278 from biller23/patch-1 
Fix GCC alignment macros on Windows
 2019-07-12 08:39:00 -07:00
erwincoumans a7a59e2795 Merge pull request #2325 from erwincoumans/master 
fix in multi-endeffector IK, calculate jacobian uses dofs without bas…
 2019-07-12 08:29:38 -07:00
Erwin Coumans 31688ffb34 fix in multi-endeffector IK, calculate jacobian uses dofs without base, fix premake build of some projects 2019-07-11 22:22:35 -07:00
erwincoumans d503d1442a Merge pull request #2324 from sanchitgarg/updateReadmeAndGitignore 
Update readme and gitignore
 2019-07-11 16:08:05 -07:00
Sanchit Garg 64f8020a20 Updated readme to reflect correct sln file name 
Added build3/vs2010 to .gitignore
 2019-07-11 14:43:57 -07:00
erwincoumans 8cc13efd2b Merge pull request #2323 from erwincoumans/master 
fix issue in previous commit (need to reserve instead of resize)
 2019-07-10 20:53:22 -07:00
Erwin Coumans 7a7f944e39 fix issue in previous commit (need to reserve instead of resize) 2019-07-10 20:52:45 -07:00
erwincoumans d220101c5a Merge pull request #2322 from erwincoumans/master 
PyBullet.calculateInverseKinematics2 for IK with multiple end-effector locations
 2019-07-10 19:58:17 -07:00
Erwin Coumans ee9575167d expose PyBullet.calculateInverseKinematics2 that allows to specify multiple IK end effector locations (not multiple orientations) 
usage example:
jointPoses = p.calculateInverseKinematics2(bodyUniqueId, [endEffectorLinkIndices], [endEffectorTargetWorldPositions])
 2019-07-10 17:21:18 -07:00
erwincoumans 67cab069c3 Merge pull request #2301 from Steven89Liu/rbdl 
port the rbdl into the bullet as well as write a simple test to compa…
 2019-07-10 13:19:58 -07:00
erwincoumans 9ac2261557 Update PhysicsServerCommandProcessor.cpp 
set alpha default to 1, just in case.
 2019-07-09 08:42:52 -07:00
erwincoumans bc3969d6ec Merge pull request #2316 from macandy13/fix-memory-init 
Fix MSAN error
 2019-07-09 08:41:28 -07:00
erwincoumans 96031789dd Merge pull request #2315 from nbelakovski/nbelakovski/fix_mac_opengl 
Call drawRect on Mac to fix OpenGL issue
 2019-07-09 08:39:41 -07:00
Andreas Christiansen 8c8a7fa0c9 Fix memory sanitizer warning on potential reading of uninitialized memory. This can happen for the RGB values that are only conditionally set in TinyRendererVisualShapeConverter::addVisualShape. 2019-07-09 11:52:42 +02:00
nbelakovski 3b4831089b Call drawRect on Mac to fix OpenGL issue 
This fixes an issue on Mac where an OpenGL window doesn't show anything until it is resized.
 2019-07-06 20:34:22 -07:00
Erwin Coumans bb8f621bf9 revert SHARED_MEMORY_GUI test 2019-07-03 12:10:24 -07:00
erwincoumans 113c2a83de Merge pull request #2313 from erwincoumans/master 
support changeVisualShape(rgbaColor) through GraphicsServer/Client
 2019-07-02 15:02:37 -07:00
Erwin Coumans 9db6acd97d support changeVisualShape(rgbaColor) through GraphicsServer/Client 
support getCameraInfo through GraphicsServer/Client
 2019-07-02 09:48:34 -07:00
erwincoumans 2db6d2f594 Merge pull request #2312 from fuchuyuan/renderSoft 
Take out unused variable
 2019-07-01 17:05:13 -07:00
Chuyuan Fu d5e028c673 take out unused variable 2019-07-01 13:31:00 -07:00
erwincoumans 57281911b8 Merge pull request #2309 from fuchuyuan/renderSoft 
Update PhysicsServerCommandProcessor and plugins to support render
 2019-07-01 12:16:53 -07:00
Chuyuan Fu 4da456054c Update PhysicsServerCommandProcessor and plugins to support render 2019-06-25 17:59:15 -07:00
erwincoumans 796b5667c2 Merge pull request #2307 from erwincoumans/master 
bump up pybullet to 2.5.1
 2019-06-25 14:10:35 +02:00
Bart Moyaers 2e2169690c parse fall contact bodies 2019-06-24 15:52:27 +02:00
Erwin Coumans 8936c8483f bump up pybullet to 2.5.1 2019-06-19 15:58:08 -07:00
erwincoumans 681a730e05 Merge pull request #2299 from erwincoumans/master 
Tweak Mini-Cheetah
 2019-06-19 12:46:14 -07:00
Erwin Coumans 240e839600 Merge remote-tracking branch 'bp/master' 2019-06-19 12:09:04 -07:00
Erwin Coumans d4aac235fc Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-19 12:08:52 -07:00
Erwin Coumans 16542aa740 tweak Mini Cheetah URDF/MTL 
use /tmp/timings on Linux/Mac as default location to save profile timings (when you press 'p' in example browser)
fix in Graphics Server Example when rendering is disabled
 2019-06-19 12:07:26 -07:00
erwincoumans 9e28737b57 Merge pull request #2298 from erwincoumans/master 
configureDebugVisualizer: expose lightPosition, shadowMapResolution (texture resolution) and shadowMapWorldSize
 2019-06-19 11:48:25 -07:00
Erwin Coumans ed4515ae17 for the GraphicsServer, expose a sync transform interval: only synchronize the transform once the stepSimulation exceeds this time interval. 
(for example, run the simulation at 1kHz but sync the graphics transforms to remove graphics server at 30Hz)
 2019-06-19 09:45:29 -07:00
erwincoumans d762bc4e84 Merge pull request #2266 from devnexen/shader_example_build_fix 
Fix shader example build / spotted by clang
 2019-06-19 09:16:25 -07:00
Erwin Coumans c3b7f39aaf expose shadowMapResolution (texture resolution) and shadowMapWorldSize (size in meters in world space) 
expose pybullet.ConfigureOpenGLVisualizerRequest(lightPosition=[x,y,z], shadowMapWorldSize=10.5, shadowMapResolution=16384)
See examples/pybullet/examples/configureDebugVisualizer.py for an example.
This reimplements https://github.com/bulletphysics/bullet3/pull/2295 but without creating a new command/status and explicitly referring to the debug visualizer
(since the 'getCameraImage' also has a lightPosition)
 2019-06-19 09:01:16 -07:00
erwincoumans bc9c477edb Merge pull request #2296 from Steven89Liu/urdfparser 
fix the issue of converting the double to single.
 2019-06-19 07:21:50 -07:00
erwincoumans 0b9c0cebfb Merge pull request #2294 from erwincoumans/master 
make pybullet.getMeshData work for softbody
 2019-06-18 21:18:56 -07:00
Erwin Coumans 7e76ee0ad7 make pybullet.getMeshData work for softbody 2019-06-17 21:43:38 -07:00
Erwin Coumans 20d9ad5f24 Merge remote-tracking branch 'bp/master' 2019-06-17 20:37:34 -07:00
erwincoumans bfc390abf9 Merge pull request #2293 from fuchuyuan/getMeshData 
get mesh data api
 2019-06-17 20:37:18 -07:00
Chuyuan Fu 229e87c3c9 get mesh data api 
fix compile

fix typo
 2019-06-17 19:00:53 -07:00
Erwin Coumans d888c50f15 avoid getting stuck in RemoteGUIHelper when graphics server isn't started first. 2019-06-17 18:30:39 -07:00
erwincoumans 1061b3d816 Update btMprPenetration.h 
fix typo
 2019-06-17 09:39:25 -07:00
erwincoumans 2d1594cb29 Merge pull request #2287 from erwincoumans/master 
fix testlaikago and pd_controller_stable
 2019-06-15 12:58:39 -07:00
Erwin Coumans 9d21deb712 use GUI mode in IK example 2019-06-15 12:58:02 -07:00
Erwin Coumans e286fbd9f2 fixes for RemoteGUIHelper 2019-06-15 10:30:48 -07:00