Bart/bullet3
1
0 Fork 0
Code Issues Pull Requests Releases Wiki Activity
7,049 Commits 10 Branches 0 Tags
69321a9ee64e74f7fadbdb2502ad8684d87e0f56
Commit Graph
100 Commits
This Branch
This Branch
All Branches
Author SHA1 Message Date
erwincoumans 69321a9ee6 allow textured cube/sphere from URDF 'box' and 'sphere' visual primitive, when using 
texUid = p.loadTexture("tex256.png")
p.changeVisualShape(cube ,-1, textureUniqueId = texUid)
See also https://github.com/bulletphysics/bullet3/issues/2012
 2018-11-29 15:41:32 -08:00
Erwin Coumans 2d07fc1f64 ClangTidy 
clang-diagnostic-shift-sign-overflow
signed shift result (0x80000000) sets the sign bit of the shift expression's type ('int') and becomes negative
 2018-11-28 15:40:20 -08:00
erwincoumans dc642c6e65 fix previous commit related to dofcount in inverse dynamics 2018-11-27 19:38:19 -08:00
erwincoumans 49c8e738a4 propagate resultOut->m_closestPointDistanceThreshold properly for convex-convex (capsule, sphere) and convex vs plane 2018-11-27 17:31:18 -08:00
Erwin Coumans ecfe8de506 first part of adding spherical joint support in BulletInverseDynamics 2018-11-27 16:30:58 -08:00
erwincoumans 192d27743a enable pybullet.calculateInverseDynamics for floating bodies 
Using calculateInverseDynamics with zero target acceleration allows to compute the non-linear dynamics forces (coriolis/gyroscopic) and/or gravity force.
 2018-11-27 08:49:56 -08:00
Erwin Coumans 2e30a9565b add humanoid_deepmimic_gym_env.py for HumanoidDeepMimicBulletEnv-v1 (still untested) 2018-11-25 15:33:28 -08:00
Erwin Coumans fbfa13894b Merge remote-tracking branch 'bp/master' 2018-11-25 12:58:22 -08:00
erwincoumans c41dc0bba2 Merge pull request #1999 from stolk/master 
Show btHinge2 oscillation.
 2018-11-24 14:46:12 -08:00
stolk cec71341ad Optionally enable infinite constraint error. 2018-11-24 12:56:23 -08:00
erwincoumans cf48697fcf PyBullet on Windows: disable harmless warning of not being able to connect to shared memory server. 2018-11-24 11:57:01 -08:00
erwincoumans bb6f4fb17c improve the ARS implementation: add multiprocessing Gym environment stepping, add command-line parameters to resume a policy, --render, --movie, --steps, --env 2018-11-24 11:54:36 -08:00
erwincoumans ca36a82c62 add deepmimic args file (for testing) 
implement deepmimic reward function (only joint angles/velocities for now)
fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp
 2018-11-23 18:32:23 -08:00
erwincoumans ccbd6e5fb7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-11-23 18:01:45 -08:00
erwincoumans 5f0dcb575f add DeepMimic helper utils 2018-11-23 18:01:39 -08:00
erwincoumans 7669fc92c5 add shiftCenterOfMass.py example. 2018-11-23 18:01:00 -08:00
Erwin Coumans 5bdfece800 Merge remote-tracking branch 'bp/master' 2018-11-21 16:44:04 -08:00
erwincoumans 121cdc91b0 more work on PyBullet implementation of DeepMimic humanoid mimic of motion capture. 
b3Quaternion, deal with zero-length axis (in axis,angle constructor)
 2018-11-21 11:09:10 -08:00
erwincoumans f93e4e4553 fix mjcf2urdf.py for Python 3 (utf) and don't export visuals (let it auto-convert from collision element) 2018-11-21 11:07:05 -08:00
erwincoumans 41e28e3587 Add link/joint names for DeepMimic humanoid urdf 2018-11-20 21:40:20 -08:00
stolk 5dfcbe9a33 Fix issue #2000 of oscillating constraints. 2018-11-20 10:46:27 -08:00
stolk 5e44dd0c1d Show btHinge2 oscillation. 2018-11-19 14:47:03 -08:00
Erwin Coumans bded2968ea add PyBullet.rotateVector method 
add missing walk humanoid3d_walk.txt
 2018-11-19 10:10:33 -08:00
erwincoumans f2a98777e7 Merge pull request #1994 from erwincoumans/master 
Preparation to replicate parts of DeepMimic in plain PyBullet
 2018-11-17 17:53:50 -08:00
erwincoumans 8c0b4d9e12 bump up pybullet version to 2.3.9 2018-11-17 14:12:10 -08:00
erwincoumans f9f8d0fbb0 example for fileIOPlugin.py loading SDF and its assets from a single zipfile, 
also show how to disable file caching (used in the fileIOPlugin)
 2018-11-17 14:11:01 -08:00
erwincoumans 70f94ddd81 Merge pull request #1993 from stolk/master 
Change confusing variable name in btDiscreteDynamicsWorldMT API.
 2018-11-16 17:31:27 -08:00
erwincoumans 9e99f5cdbc Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion 
Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic
Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py
Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py
Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
 2018-11-16 17:29:03 -08:00
stolk b39f47eab1 Change confusing variable name in btDiscreteDynamicsWorldMT API. 2018-11-15 14:48:43 -08:00
erwincoumans b13e84e43c Merge remote-tracking branch 'bp/master' 2018-11-14 12:29:09 -08:00
Erwin Coumans ccc26260b6 bump up pybullet version to 2.3.8 2018-11-13 15:39:54 -08:00
erwincoumans 9ad77a220e Merge pull request #1990 from erwincoumans/master 
If a convex has called 'initializePolyhedralFeatures', use those feat…
 2018-11-13 15:32:05 -08:00
erwincoumans 7c7235a8c5 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-11-13 14:32:38 -08:00
erwincoumans 7dd524075c Implement btMultiBodySphericalJointMotor, able to track a quaternion position target. 
Expose this btMultiBodySphericalJointMotor through PyBullet.setJointMotorControlMultiDof
Expose PyBullet.getQuaternionSlerp
Improve PyBullet.setJointMotorControlMultiDof
Improve humanoidMotionCapture.py with slerp and using setJointMotorControlMultiDof
Expose  btMultiBody::spatialTransform
Fix btMultiBody::setupPlanar from DeepMimic codebase
Add support for multidof joints in btMultiBody::compTreeLinkVelocities, thanks to DeepMimic codebase @xbpeng
 2018-11-13 14:32:18 -08:00
erwincoumans 75d60e1550 Merge pull request #1978 from stolk/master 
Added Benchmark Demo for packed convex shapes.
 2018-11-12 21:51:25 -08:00
erwincoumans 60b9551b38 If a convex has called 'initializePolyhedralFeatures', use those features also to create debug visualizer mesh, to avoid showing penetration. 
Avoid crash in InvertedPendulumPDControl, due to recent change in m_jointFeedbackInWorldSpace
 2018-11-12 21:46:11 -08:00
erwincoumans 38109dbd10 Merge pull request #1987 from erwincoumans/master 
make setJointPosMultiDof and setJointVelMultiDof argument const.
 2018-11-11 20:17:15 -08:00
erwincoumans a06b5de7b6 add converted humanoid from DeepMimic (https://github.com/xbpeng/DeepMimic, 
thanks to Jason Peng), and motion capture playback example.
See also https://www.youtube.com/watch?v=vw3EKnKrgqw
 2018-11-11 20:15:47 -08:00
erwincoumans 0b2142414d fix usage of btMultiBody::setJointPosMultiDof/setJointVelMultiDof 2018-11-11 19:04:07 -08:00
erwincoumans 17219f84c6 make setJointPosMultiDof and setJointVelMultiDof argument const. 
add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
 2018-11-10 14:26:31 -08:00
stolk 3af132ffd4 Fix compiler warning about shadowing int j variable. 2018-11-09 16:10:42 -08:00
stolk fe07b0da9d Merge remote-tracking branch 'upstream/master' 2018-11-09 16:05:25 -08:00
erwincoumans b03b2fa481 Merge pull request #1985 from erwincoumans/master 
fix setuptools 'monkey-patch' hang and 2 potential data race conditions.
 2018-11-09 08:48:59 -08:00
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 f7237647fb Merge pull request #1984 from erwincoumans/master 
PyBullet: avoid calling syncBodies for each DOF in pdControl.
 2018-11-07 11:16:18 -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
erwincoumans 99f4d80204 Merge pull request #1983 from erwincoumans/master 
bump up pybullet version to 2.3.6
 2018-11-06 12:35:19 -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
stolk 464100168f Added Benchmark Demo for packed convex shapes. 2018-11-02 10:13:08 -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