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Author SHA1 Message Date
erwincoumans 642c6a71d2 fix 2 potential data race conditions. 2018-11-08 14:41:22 -08:00
Erwin Coumans 036d75bc04 fix issue that cause hanging/stallig setup.py due to monkey-patch, 
see also https://github.com/bulletphysics/bullet3/issues/1956
 2018-11-08 11:33:45 -08:00
erwincoumans 49b098854e PyBullet: avoid calling syncBodies for each DOF in pdControl. 
Allow PD_CONTROL in setJointMotorControlArray.
 2018-11-07 09:29:19 -08:00
Erwin Coumans d414224d96 Merge remote-tracking branch 'bp/master' 2018-11-06 12:34:14 -08:00
Erwin Coumans 6e169ada80 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-11-06 12:33:53 -08:00
Erwin Coumans 5d20b2d346 bump up pybullet version 2018-11-06 12:33:46 -08:00
erwincoumans 0b513c825d Merge pull request #1981 from erwincoumans/master 
fix some race conditions
 2018-11-05 18:12:52 -08:00
Erwin Coumans 882252f8c0 move global from btMultiBody into dynamicsWorld.getSolverInfo 2018-11-05 10:50:03 -08:00
Erwin Coumans ac18c95ea1 fix some race conditions 2018-11-05 10:04:19 -08:00
Erwin Coumans 3b18a67217 Merge remote-tracking branch 'bp/master' 2018-11-04 17:17:45 -08:00
Erwin Coumans f3e9f9b4e5 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-11-04 17:17:29 -08:00
erwincoumans 1cb8dc383f Merge pull request #1975 from erwincoumans/master 
fix a potential data race condition.
 2018-11-02 11:21:51 -07:00
Erwin Coumans 8b53e47fe8 add simpler ARS implementation, thanks to Alexis Jacq and Hadelin de Ponteves 
(will add save/restore of policy and rendering movies through command-line arguments soon)
 2018-11-02 11:19:46 -07:00
Erwin Coumans f6ea2a7379 fix a potential data race condition. 
remove createObstacleCourse programmatic creation part until we can steam vertices/indices.
 2018-11-01 10:20:54 -07:00
erwincoumans 9ed9ef2894 Merge pull request #1972 from erwincoumans/master 
fix some thread sanitizer (read/write integer, should be a harmless w…
 2018-11-01 08:47:43 -07:00
erwincoumans 750133694c Disable btQuickprof.h profiling by default. We use custom profiling functions, see b3ChromeUtilsStartTimings. 2018-11-01 08:19:50 -07:00
Erwin Coumans 336a4b65fe disable some internal statistics, reporting a race condition. 2018-11-01 07:41:35 -07:00
Erwin Coumans 438e082b33 PyBullet: remove a potential race condition 2018-11-01 07:27:37 -07:00
Erwin Coumans 9e58a21732 more aesthetic wireframe, pure visual improvement (no impact on simulation/performance) 
fixes https://github.com/bulletphysics/bullet3/issues/1970
Issue 1970
 2018-10-31 21:50:49 -07:00
Erwin Coumans 131535a99f remove debug stats 2018-10-31 21:24:44 -07:00
Erwin Coumans a48b6b9ca0 fix some thread sanitizer (read/write integer, should be a harmless warning) 2018-10-31 17:00:34 -07:00
erwincoumans 8e72b00c03 Merge pull request #1969 from erwincoumans/master 
PyBullet: call the right method internally, also rudimentary MuJoCo xml to PyBullet/ROS URDF converter.
 2018-10-31 12:14:33 -07:00
Erwin Coumans 933e826215 Merge remote-tracking branch 'bp/master' 2018-10-31 11:04:10 -07:00
Erwin Coumans 8e82de1b00 add rudimentary MuJoCo mjcf xml to ROS URDF file, based on 
pybullet_utils.urdfEditor
 2018-10-31 11:02:19 -07:00
Erwin Coumans 624212c641 add humanoid.urdf, converted from mjcf using pybullet_utils.urdfEditor.UrdfEditor() 2018-10-31 09:17:58 -07:00
Erwin Coumans 47b8b98a64 PyBullet: call the right method (although equivalent at the moment) 2018-10-30 22:16:13 -07:00
erwincoumans 44a4351339 Merge pull request #1967 from erwincoumans/master 
remove ARS files
 2018-10-30 19:46:46 -07:00
Erwin Coumans b0b8bb2023 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-29 19:24:27 -07:00
Erwin Coumans 44976780fa remove ARS files 2018-10-29 19:23:54 -07:00
erwincoumans 5fbc015ba6 Merge pull request #1951 from duckdoom5/patch-1 
Added missing extern declaration
 2018-10-29 17:00:35 -07:00
erwincoumans d9fa97dd5b Merge pull request #1962 from erwincoumans/master 
eglPlugin: remove visual shape for removeBody.
 2018-10-29 16:51:32 -07:00
Erwin Coumans c2b9dc9361 update to CartPoleBulletEnv-v1 and check with latest baselines v0.1.5, works fine. 
(make it more similar to classical control cartpole)
 2018-10-29 16:44:12 -07:00
Erwin Coumans 2fa0ae9349 fix sprintf using nullptr string 2018-10-29 13:45:42 -07:00
erwincoumans c80e2816ad PyBullet: Use fileIOPlugin in processRestoreStateCommand 
PyBullet: Report debug information in case of failure in restoreState.
 2018-10-29 12:08:34 -07:00
erwincoumans 35790c36c2 fix renamed variable m_rootPath->m_pathPrefix 2018-10-29 10:56:55 -07:00
erwincoumans 078887c4d7 PyBullet fileIOPlugin: don't add equal fileIO interface twice (based on identical fileIOType and pathPrefix) 
loadBullet goes through fileIOPlugin
 2018-10-29 10:25:40 -07:00
erwincoumans ee76873689 eglPlugin: remove visual shape for removeBody. 2018-10-28 21:08:57 -07:00
erwincoumans f34aec941b Merge pull request #1960 from BlGene/pip-egl 
pip egl install: added btThreads.cpp
 2018-10-28 19:54:38 -07:00
erwincoumans fa4d279cee Merge pull request #1961 from janisozaur/patch-1 
Update include guard in btGImpactBvh.h
 2018-10-28 19:53:24 -07:00
erwincoumans a804815fd7 Merge pull request #1959 from erwincoumans/master 
Use the kF_UseGjkConvexCastRaytest for more accurate picking, tweak tensorflow humanoid_running.py demo to be more robust
 2018-10-28 19:53:01 -07:00
erwincoumans 126537bd93 pybullet: fix issue with loadBullet command 2018-10-28 19:51:01 -07:00
Michał Janiszewski 5b90e7e0b7 Update include guard in btGImpactBvh.h 2018-10-28 21:50:28 +01:00
Erwin Coumans eedca6020b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-28 12:35:51 -07:00
Max Argus fc4d531e3c pip egl install: added btThreads.cpp 2018-10-27 21:54:33 +02:00
erwincoumans df9b4fb005 remove printf from demo 2018-10-27 11:56:04 -07:00
Erwin Coumans bebe12d6d8 tweak tensorflow humanoid_running.py demo to be more robust against mouse dragging 
(mouse dragging adds energy in the system that can cause explosions/instability):
use solverResidualThreshold and increase number of sub steps, also clamp the max force.
 2018-10-27 11:48:21 -07:00
Erwin Coumans f455d3a243 Merge remote-tracking branch 'bp/master' 2018-10-27 11:41:05 -07:00
erwincoumans a4cab78dd0 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-27 11:38:56 -07:00
erwincoumans bdda7af8d7 Use the kF_UseGjkConvexCastRaytest for more accurate picking 
fix upAxis in some demos
 2018-10-27 11:38:38 -07:00
erwincoumans 9c780185af Merge pull request #1957 from erwincoumans/master 
add Laikago quadruped model (thanks to Unitree for cad meshes),  make pybullet setup.py use threadsafe by default.
 2018-10-26 20:22:54 -07:00
Erwin Coumans 0511a36a67 add Laikago quadruped model, thanks to Unitree for the cad meshes. 
If you use the Laikago URDF, please add a citation to PyBullet:

@MISC{coumans2018,
author =   {Erwin Coumans and Yunfei Bai},
title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
howpublished = {\url{http://pybullet.org}},
year = {2016--2018}
}
 2018-10-26 18:49:58 -07:00
Erwin Coumans f1ac24cc60 make pybullet setup.py use threadsafe version by default 2018-10-26 18:37:28 -07:00
erwincoumans 693985260f Merge pull request #1955 from erwincoumans/master 
PyBullet: allow to pass vertices (for convex) and vertices+indices (f…
 2018-10-26 11:20:44 -07:00
erwincoumans a44df2b0a6 PyBullet: allow to pass vertices (for convex) and vertices+indices (for concave) to createCollisionShape 
See createObstacleCourse.py for an example use. At the moment a limit of 1024 vertices and 1024 indices.
Will be lifted once we implement the streaming version (soon).
 2018-10-26 10:18:51 -07:00
erwincoumans 9c1db5fb34 Merge pull request #1948 from erwincoumans/master 
fix sphere sdf parsing
 2018-10-22 16:02:44 -07:00
erwincoumans 707bac9c3d fix sphere sdf parsing 2018-10-22 16:01:58 -07:00
erwincoumans 9090442f83 Merge pull request #1945 from erwincoumans/master 
PyBullet/BulletRobotics: increase max #degree of freedom from 128 to …
 2018-10-22 08:06:06 -07:00
Erwin Coumans 84870739af Merge remote-tracking branch 'bp/master' 2018-10-22 08:03:47 -07:00
Erwin Coumans a198459b09 reduce back to 128, some internal build has too limited stack size. 2018-10-22 07:40:45 -07:00
erwincoumans 7e86a579e9 Merge pull request #1946 from RanTig/transform-changed-notification-active 
Uses btCollisionBody::isActive instead of btMultiBody::isAwake to determine whether to send transform changed notifications.
 2018-10-22 07:36:13 -07:00
Tigran Gasparian 6512a67422 Uses btCollisionBody::isActive instead of btMultiBody::isAwake to 
determine whether to send transform changed notifications.
 2018-10-22 14:06:58 +02:00
erwincoumans c291fe5584 PyBullet/BulletRobotics: increase max #degree of freedom from 128 to 256. 2018-10-21 20:05:29 -07:00
erwincoumans 04101565bc Merge pull request #1944 from erwincoumans/master 
revert backward compabitility in API
 2018-10-20 20:45:48 -07:00
Erwin Coumans 2d224cf319 revert backward compabitility in API 2018-10-20 19:44:39 -07:00
erwincoumans df0889a450 Merge pull request #1943 from erwincoumans/master 
fix PyBullet.changeVisualShape to allow clearing a texture (use -1 for textureUniqueId)
 2018-10-20 17:45:20 -07:00
erwincoumans 01a8a36933 fix example 2018-10-20 16:13:48 -07:00
erwincoumans ed49edc1af PyBullet change API (since it was broken): pybullet_changeVisualShape with textureUniqueId ==-1 will clear the texture 
b3InitUpdateVisualShape doesn't take textureUniqueId by default. new API b3UpdateVisualShapeTexture to change texture (-1 will clear texture)
PyBullet/BulletRobotics: allow to reset the textureUniqueId to -1, to clear a texture
PyBullet/BulletRobotics: save all texture handles
 2018-10-20 15:56:56 -07:00
Erwin Coumans 9a9386b6a7 allow empty filename in CNS fileIO 2018-10-20 14:16:31 -07:00
erwincoumans 3d01a8c098 Merge pull request #1942 from erwincoumans/master 
add missing file in MANIFEST.in,  fix potential memory leak in InMemoryFileIO, bump up PyBullet version
 2018-10-20 12:25:50 -07:00
Erwin Coumans dc2d54df2c remove 32bit build ARCH from xcode4 generated files (premake4) 
optimization in btMultiBody::fillConstraintJacobianMultiDof:
only compute links between current link and root
 2018-10-20 10:44:43 -07:00
erwincoumans 63784dab5f Update NN3DWalkersTimeWarpBase.h 
Fix issue #1940, see https://github.com/bulletphysics/bullet3/issues/1940
 2018-10-17 20:08:06 -07:00
Erwin Coumans eb490351ec bump up PyBullet version to 2.3.2 2018-10-16 19:04:49 -07:00
Erwin Coumans d3a2f82740 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-16 19:04:12 -07:00
Erwin Coumans e776408c19 add missing file to MANIFEST.in, bump up PyBullet version 2018-10-16 19:03:24 -07:00
erwincoumans 399ff55153 fix typo in previous commit 2018-10-16 19:02:12 -07:00
erwincoumans 8825b39f6c fix potential memory leak in previous commit related to InMemoryFileIO class. 2018-10-16 18:31:17 -07:00
erwincoumans 79f6cc901e Merge pull request #1935 from erwincoumans/master 
fix fileIO issue with \r\n in lines
 2018-10-14 16:48:22 -07:00
erwincoumans b0a3b1b962 add missing header <string.h> 2018-10-14 15:12:53 -07:00
erwincoumans b5e475aec3 enable planar reflection in MinitaurGymEnv 
enable follow cam in other Gym locomotion environments
add testing assets for multi-material obj files -> sdf conversion.
Also use ER_NO_SEGMENTATION_MASK flag for TinyRenderer/EGL plugin renderer
 2018-10-14 15:10:19 -07:00
erwincoumans c1e20c448f Implement InMemoryFile for memory caching for fileIO plugin. 
Support SDF loading through fileIO plugin.
Replace strcspn by C code (not crossplatform)
Add flag for loadURDF to use color from MTL file (instead from URDF link material)
pybullet.URDF_USE_MATERIAL_COLORS_FROM_MTL and pybullet.URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL
 2018-10-14 12:54:34 -07:00
erwincoumans 3309ce8f6a strip \r \n from line 2018-10-13 16:23:58 -07:00
Erwin Coumans fd3d292fcf tinyRenderer, remove both \r and \n, not just \n 2018-10-13 11:46:46 -07:00
erwincoumans 11ef1bf0cd Merge pull request #1929 from erwincoumans/master 
allow to provide rayCastBatch in local 'from'/'to' with a parent/link…
 2018-10-11 18:14:20 -07:00
Erwin Coumans c441a9469c enable fileIOPlugin and loading from zipfile in PyBullet, 
bump up to version 2.3.0
 2018-10-11 17:44:54 -07:00
erwincoumans ad10da57c5 more initial work on fileIOPlugin 2018-10-11 17:00:17 -07:00
erwincoumans a24c1436af state 2 of FileIO plugin: adding/removing FileIO types, search through all registered FileIO types. 
(not enabled by default yet)
Example:
fileIO = p.loadPlugin("fileIOPlugin")
print("fileIO=",fileIO)
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/plane.zip", [p.AddFileIOAction,p.ZipFileIO])
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/test2.zip", [p.AddFileIOAction,p.ZipFileIO])
planeId = p.loadURDF("plane.urdf")
duckId = p.loadURDF("duck_vhacd.urdf",[0,0,1])
 2018-10-11 14:39:31 -07:00
erwincoumans f792a5951a move zipfFileIO into own header 
route loadTextureFile from fileIO plugin
fix B3_ENABLE_FILEIO_PLUGIN logic
 2018-10-11 10:58:14 -07:00
Erwin Coumans 3861266a6d Merge remote-tracking branch 'bp/master' 2018-10-10 23:41:55 -07:00
erwincoumans bb305c6ebc allow to provide rayCastBatch in local 'from'/'to' with a parent/link index, b3RaycastBatchSetParentObject 
If parentObjectUniqueId provided, convert local from/to into world space coordinates
AddUserDebugLins: don't block when replacing an item
Fix examples/pybullet/examples/inverse_kinematics.py
 2018-10-10 23:31:50 -07:00
erwincoumans d6b50d3bcc Merge pull request #1927 from erwincoumans/master 
backward compatibility fix
 2018-10-09 21:45:48 -07:00
Erwin Coumans 32b5c88d4b close the fileIO for urdf loading 2018-10-09 20:45:17 -07:00
Erwin Coumans 5f954e2496 backward compatibility fix 2018-10-09 16:25:32 -07:00
erwincoumans 03461a0d1f Merge pull request #1922 from erwincoumans/master 
First pass of load files through an interface (to allow loading from …
 2018-10-09 11:14:40 -07:00
Erwin Coumans 74fca2418b fix egl plugin build, with fileIO changes 2018-10-09 08:00:31 -07:00
Erwin Coumans 295732149f add missing stdio.h 2018-10-09 07:01:02 -07:00
erwincoumans dba239fe8d First pass of load files through an interface (to allow loading from memory, zip file etc). So instead of posix fopen/fread, using CommonFileIOInterface. 
A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory.
Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h
Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
 2018-10-08 21:27:08 -07:00
erwincoumans a1543714f1 Merge pull request #1919 from erwincoumans/master 
btMultiBody: fix indexing issue causing wrong friction to be reported, remove obsolete BT_PYBULLET_GRPC and PYBULLET_EGL
 2018-10-06 19:02:09 -07:00
erwincoumans 332cbfa609 fix typo in previous commit 2018-10-06 18:37:51 -07:00
erwincoumans c2486bb1a6 add contactFriction.py example 2018-10-06 15:27:56 -07:00
erwincoumans c0e38cd921 Merge pull request #1896 from jviereck/jviereck_add_lateral_contact_info 
Adding support for lateral friction to getContactPoints()
 2018-10-06 15:27:14 -07:00