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1009 Commits
Author SHA1 Message Date
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 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
Erwin Coumans 3eedb2a6f2 fix rotational friction between btMultiBody and btRigidBody 2019-07-24 22:07:16 -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 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 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 bf3696e5b4 fix a leak in previous commit 2019-07-22 09:28:27 -07:00
Erwin Coumans d82c2043f0 enable useArray for deep_mimic reward 2019-07-21 13:56:10 -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
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
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
Erwin Coumans bb8f621bf9 revert SHARED_MEMORY_GUI test 2019-07-03 12:10:24 -07:00
Erwin Coumans 9db6acd97d support changeVisualShape(rgbaColor) through GraphicsServer/Client 
support getCameraInfo through GraphicsServer/Client
 2019-07-02 09:48:34 -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
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
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
Erwin Coumans 7e76ee0ad7 make pybullet.getMeshData work for softbody 2019-06-17 21:43:38 -07:00
Chuyuan Fu 229e87c3c9 get mesh data api 
fix compile

fix typo
 2019-06-17 19:00:53 -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
Erwin Coumans ee3680765e fixes for RemoteGUIHelper 2019-06-14 14:34:56 -07:00
Erwin Coumans 4318221d6d Merge remote-tracking branch 'bp/master' 2019-06-14 07:51:09 -07:00
erwincoumans e1326adff5 Revert "C api refactor build" 2019-06-14 07:49:24 -07:00
Erwin Coumans 95a79800ec Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-13 23:24:42 -07:00
Erwin Coumans 6160b52fd7 graphicsServer to workaround OpenGL issues on some servers. 2019-06-13 23:24:22 -07:00
Erwin Coumans 8f9fac99bd add kinematic version that also updates the base position/orientation from the base 2019-06-13 13:26:52 -07:00
bla 3e32cf94e7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-06 21:54:47 +00:00
bla 6ab09fe06e fix testlaikago and pd_controller_stable 2019-06-06 21:54:22 +00:00
erwincoumans 36896db828 Merge remote-tracking branch 'bp/master' 2019-06-01 07:29:31 -07:00
erwincoumans 5e1d645a09 Merge pull request #2221 from goretkin/c_api_refactor_build 
C api refactor build
 2019-05-31 19:06:18 -07:00
Erwin Coumans 4247104050 add toes to Mini Cheetah 2019-05-31 15:04:53 -07:00
Erwin Coumans 3c74ae8366 Add approximate Mini Cheetah URDF and example in pybullet 
Thanks to Sangbae Kim and Donghyun Kim at the MIT Biomimetics Robotics Lab
 2019-05-31 14:21:10 -07:00
Erwin Coumans 1933661124 change quadruped, remove old files 2019-05-30 14:55:47 -07:00
erwincoumans 7a7652fd43 Merge pull request #2265 from akien-mga/dos2unix 
Convert DOS (CRLF) source files to Unix (LF) line endings
 2019-05-30 09:41:35 -07:00
Erwin Coumans 093986f1ee revert to previous leg style of Microtaur 2019-05-22 23:42:32 -04:00
Erwin Coumans e13df4ce48 add toe endeffectors for IK of Microtaur 2019-05-22 22:08:45 -04:00
Erwin Coumans d7e863e51a update microtaur URDF and example, to be compatible with minitaur_rainbow_dash 2019-05-22 10:59:20 -04:00
Rémi Verschelde d85b800702 Convert DOS (CRLF) source files to Unix (LF) line endings 
Excluded `examples/pybullet/gym/pybullet_data/` which has many (3000+)
CRLF data files (obj, mtl, urdf), and `docs/pybullet_quickstart_guide`
which has generated .js and .htm files with CRLF line endings too.
 2019-05-22 10:01:32 +02:00
Erwin Coumans af5bfb4089 added Microtaur URDF file, with basic system identification 
See https://www.youtube.com/watch?v=UmGnLgpEVTE
 2019-05-21 22:33:16 -04:00
Erwin Coumans 36ed4419bf Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-05-07 19:43:33 -07:00
Erwin Coumans de8013ff75 add minitaur extended to pybullet_envs 2019-05-07 19:43:02 -07:00