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Author SHA1 Message Date
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
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 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
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 f90bd1f713 Merge pull request #1688 from erwincoumans/master 
workaround for an out-of-date tinyxml2 version
 2018-05-17 13:49:49 -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
erwincoumans 8f4d1e722e Merge pull request #1686 from yuchenericwu2/master 
Expose CFM parameters
 2018-05-16 16:18:45 -07:00
erwincoumans 4c4cf11667 Merge pull request #1687 from erwincoumans/master 
fix VR controllers only visible in one eye
 2018-05-16 14:53:06 -07:00
erwincoumans 034dfba3ae fix VR controllers only visible in one eye (remove stray glClear for testing planar reflection) 
PyBullet: force both contactStiffness and contactDamping (report error otherwise)
 2018-05-16 14:24:12 -07:00
erwincoumans b432daed65 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-16 12:11:29 -07:00
erwincoumans 0ca2c5f925 use Bullet3Common/b3AlignedObjectArray.h instead of LinearMath version in SharedMemory/PhysicsClientSharedMemory 2018-05-16 12:10:34 -07:00
erwincoumans f99260413d Merge pull request #1684 from erwincoumans/master 
BulletInverseDynamics: Fix propagation of user_int and user_ptr when …
 2018-05-16 09:08:30 -07:00
erwincoumans 382a08e373 Merge pull request #1682 from lunkhound/pr-solver-col-body-fix 
constraint solvers: fix crash for collision-bodies with incorrect flags
 2018-05-16 08:41:57 -07:00
erwincoumans 5ed461f512 Merge pull request #1683 from erwincoumans/master 
fix PyBullet.applyExternalTorque for links, expose jointFeedbackMode, improve  PyBullet combineUrdf.py performance
 2018-05-11 20:40:46 -07:00
erwincoumans e5a9b42f9a expose PyBullet.setPhysicsEngineParameter(jointFeedbackMode) 
use p.JOINT_FEEDBACK_IN_JOINT_FRAME if you want the joint feedback expressed in joint frame (instead of link inertial frame)
use p.JOINT_FEEDBACK_IN_WORLD_SPACE if you want the joint feedback in world space coordinates, instead of local link/joint coordinates.
Example: p.setPhysicsEngineParameter(jointFeedbackMode=p.JOINT_FEEDBACK_IN_WORLD_SPACE+p.JOINT_FEEDBACK_IN_JOINT_FRAME)
 2018-05-11 19:52:06 -07:00
erwincoumans 1ec24a0853 fix PyBullet.applyExternalTorque for links (instead of base) 2018-05-11 19:35:27 -07:00
erwincoumans 282154f377 Merge pull request #1680 from erwincoumans/master 
PyBullet TinyRenderer, fix cylinder, colors for programmatic created models (PyBullet.createMultiBody), UrdfEditor: fix indentation
 2018-05-10 19:08:37 -07:00
erwincoumans 06a23ecd6d PyBullet TinyRenderer, fix cylinder (don't add caps like a capsule), also convert colors stored in visual shapes, if needed. 2018-05-10 18:37:48 -07:00
erwincoumans e488603603 UrdfEditor: fix indentation, causing an issue when a link had no collision shape but visual shapes 2018-05-10 18:05:50 -07:00
erwincoumans 50cca1013b Merge pull request #1679 from erwincoumans/master 
fix MSVC 2010 compile issue, fix urdfEditor: scale  issues
 2018-05-10 16:27:21 -07:00
erwincoumans 80bab22b9c urdfEditor: add euler -> quaternion conversions (otherwise orientations get silently ignored) 
urdfEditor: move combine code into UrdfEditor.joinUrdf
urdfEditor: Fix geom_length
 2018-05-10 15:08:00 -07:00
erwincoumans 3116cd82da fix MSVC 2010 compile issue 
urdfEditor: fix scale incorrectly saved in urdfEditor.saveUrdf
urdfEditor: fix linkMeshScaleArray in wrong location
 2018-05-10 12:04:13 -07:00
erwincoumans 928acbfe62 Merge pull request #1678 from erwincoumans/master 
PyBullet urdfEditor improvements
 2018-05-09 11:12:21 -07:00
Erwin Coumans a0e72b2ae3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py
 2018-05-09 10:29:20 -07:00
Erwin Coumans 414b3ef9bb PyBullet urdfEditor improvements: saveUrdf mesh scale, fix incorrect index, add getCameraImage in examples/combineUrdf.py 2018-05-09 10:28:12 -07:00
Erwin Coumans 1e51e2b859 tweaks in urdfEditor.py and combineUrdf.py, put KUKA on top of Husky as test. 2018-05-08 23:14:39 -07:00
Erwin Coumans 2d1689cba5 add example to joint two URDF files, using the urdfEditor (combineUrdf.py) 2018-05-08 17:18:58 -07:00
Erwin Coumans d436be1d79 add __init__.py for pybullet_utils examples 2018-05-08 13:31:30 -07:00
Erwin Coumans ad43de285c add bullet_client.py to pybullet_utils, with simple example 2018-05-08 10:12:19 -07:00
erwincoumans 57b67faddb Merge pull request #1676 from erwincoumans/master 
remove "DO NOT SUBMIT" comments, it blocks commits in google3
 2018-05-07 17:49:29 -07:00
erwincoumans 84edb746e7 Merge pull request #1674 from lunkhound/pr-fix-bad-assert 
parallel solver: remove bad assert
 2018-05-07 17:31:47 -07:00
erwincoumans c76f888366 Merge pull request #1675 from erwincoumans/master 
expose PyBullet.SHARED_MEMORY_SERVER
 2018-05-07 17:31:13 -07:00
erwincoumans ab4b663800 Merge pull request #1671 from erwincoumans/master 
don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA …
 2018-05-03 14:52:09 -07:00
Erwin Coumans 84b20bda80 don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA is set, not for the diagonal and also not for the inertial frame shift. 2018-05-03 14:24:16 -07:00
erwincoumans 8fc7316c1d Merge pull request #1670 from YunfeiBai/master 
Fixed a bug in projective texture shader.
 2018-05-03 11:25:08 -07:00
erwincoumans d70a9ae3a3 Merge pull request #1669 from erwincoumans/master 
fix some incompatibilities between google3/third_party/GL,EGL, glad
 2018-05-03 10:02:30 -07:00
erwincoumans bdd7d3c2c0 Merge pull request #1662 from sponji/master 
Fixed a collision check bug with CCD
 2018-05-03 06:40:22 -07:00
erwincoumans 475d56e1ac Merge pull request #1668 from erwincoumans/master 
Revert back to using the Jacobi method to diagonalize a symmetric mat…
 2018-05-03 06:39:48 -07:00
erwincoumans 0e2d0fda1a Revert back to using the Jacobi method to diagonalize a symmetric matrix. 2018-05-03 06:03:52 -07:00
erwincoumans 6b9cc34064 Merge pull request #1666 from erwincoumans/master 
posix shared memory lsMemory release function
 2018-05-02 17:05:35 -07:00
erwincoumans 1f6afcda30 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-02 14:32:59 -07:00
erwincoumans 3a5f778b70 expose lsMemory destroy function to release thread memory 2018-05-02 14:32:43 -07:00
erwincoumans 35be31e11e Merge pull request #1665 from erwincoumans/master 
bump up PyBullet version to 1.9.6
 2018-05-02 13:59:44 -07:00
erwincoumans cee3ecde2b Merge pull request #1664 from erwincoumans/master 
PyBullet: fix some memory leaks
 2018-05-02 13:54:07 -07:00
erwincoumans 9d66d95b18 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-02 13:18:17 -07:00
erwincoumans 790deb2d54 fix memory leak in PyBullet.getJointStates, fixes issue #1661 2018-05-02 13:12:25 -07:00
erwincoumans d7e81590b5 fix a memory leak 2018-05-02 12:24:31 -07:00
erwincoumans 78629e1c6c Merge pull request #1637 from erwincoumans/master 
PyBullet: add signed distance field support, with example/signedDista…
 2018-05-02 09:20:04 -07:00
Erwin Coumans 988d78cb61 enable btMultiBodyGearConstraint positional error correction 
fix multibody debug drawing of joint frames
 2018-05-01 17:40:26 -07:00
Erwin Coumans dde3140987 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-01 13:02:51 -07:00
erwincoumans 540e9a1e55 Merge pull request #1640 from nbelakovski/patch-2 
Fixing include line of btMultibodyWorldImporter.h to work with instal…
 2018-05-01 09:35:03 -07:00
erwincoumans c7d9afac1e fix SoftDemo crash, due to changes in OpenGLGuiHelper rendering 
fixes Issue #1655
 2018-05-01 09:23:08 -07:00
erwincoumans 27c8827136 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-01 08:53:33 -07:00
Erwin Coumans 85db288a95 App_PhysicsServer_SharedMemory_VR: expose max_num_object_capacity and max_shape_capacity_in_bytes (and shared_memory_key) 
Default values are:
int maxNumObjectCapacity = 128 * 1024;
int maxShapeCapacityInBytes = 128 * 1024 * 1024;
int shared_memory_key = -1
 2018-04-30 23:01:15 +02:00
erwincoumans d32e3e51f6 Merge pull request #1650 from JanMatas/fix-softbody-leak 
Fix Large memory leak in bullet Softbody
 2018-04-30 22:16:39 +02:00
erwincoumans f56a77d5f3 Merge pull request #1657 from jietan/pullRequest2 
Update the README.md
 2018-04-30 22:05:53 +02:00
erwincoumans b68f61c325 Merge pull request #1648 from jietan/pullRequest2 
make sure that the pre-trained galloping and trotting policies work f…
 2018-04-26 14:36:29 +02:00
Erwin Coumans 552cb5852a PyBullet: add signed distance field support, with example/signedDistanceField.py 
See also data\toys\concave_box.urdf and data\toys\concave_box.cdf

data\toys\concave_box.cdf was generated from concave_box.obj using
//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj
//SDF is based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid
 2018-04-16 22:57:43 +02:00
erwincoumans 982453abc6 Merge pull request #1635 from erwincoumans/master 
fix spaces/tab issue in urdfEditor.py
 2018-04-13 10:23:31 -07:00
erwincoumans 391b0e4061 Merge pull request #1588 from GaborPuhr/Fix-#1582 
Fix for #1582
 2018-04-12 13:32:51 -07:00
erwincoumans be46d73ef8 Merge pull request #1617 from haudren/topic/fixJacobian 
Add a few jacobian tests
 2018-04-12 13:30:04 -07:00
erwincoumans 2f462ab8a8 Merge pull request #1634 from erwincoumans/master 
fixes related to tinyxml2,  PyBullet: fix memory leak in setJointMotorControlArray,
 2018-04-12 13:26:27 -07:00
erwincoumans 25cb37a0d7 Merge remote-tracking branch 'bp/master' 2018-04-12 12:48:37 -07:00
erwincoumans dbb0318782 fixes related to tinyxml2 2018-04-12 12:46:43 -07:00
erwincoumans 9c5d757879 PyBullet: fix memory leak in setJointMotorControlArray 
Fixes issue #1633
 2018-04-12 12:43:29 -07:00
erwincoumans 6ca649a0e1 PyBullet: fix a memory leak in setJointMotorControlArray 
Fixes Issue #1633
 2018-04-12 12:26:21 -07:00
erwincoumans b0d421fa11 Merge pull request #1632 from erwincoumans/master 
upgrade from tinyxml to tinyxml2
 2018-04-12 07:30:05 -07:00
erwincoumans 9c77e07494 upgrade from tinyxml to tinyxml2 2018-04-12 00:09:44 -07:00
erwincoumans b53facfc25 Merge pull request #1629 from erwincoumans/master 
Preparation to add signed distance field collision detection.
 2018-04-12 00:02:25 -07:00
erwincoumans 2bc246b0b1 fixes in relative imports 2018-04-11 18:00:43 -07:00
erwincoumans b18d407ca4 screenshot frame counter start at 0 (instead of 100) 2018-04-11 17:17:35 -07:00
erwincoumans ac945df07a remote 'render' arg 2018-04-11 10:14:24 -07:00
erwincoumans 698b20938f fix a number of issues in a series of new Minitaur environments 
add them to pybullet_envs through __init__.py
    id='MinitaurReactiveEnv-v0',
    id='MinitaurTrottingEnv-v0',
    id='MinitaurBallGymEnv-v0',
    id='MinitaurStandGymEnv-v0',
    id='MinitaurAlternatingLegsEnv-v0',
    id='MinitaurFourLegStandEnv-v0',

disable reflection of minitaur_four_leg_stand_env, since the floor changes orientation (reflection is a fixed plane with [0,0,1] normal)

from pybullet_envs.minitaur.envs.minitaur_alternating_legs_env import MinitaurAlternatingLegsEnv
from pybullet_envs.minitaur.envs.minitaur_ball_gym_env import MinitaurBallGymEnv
from pybullet_envs.minitaur.envs.minitaur_randomize_terrain_gym_env import MinitaurRandomizeTerrainGymEnv
from pybullet_envs.minitaur.envs.minitaur_reactive_env import MinitaurReactiveEnv
from pybullet_envs.minitaur.envs.minitaur_stand_gym_env import MinitaurStandGymEnv
from pybullet_envs.minitaur.envs.minitaur_trotting_env import MinitaurTrottingEnv
from pybullet_envs.minitaur.envs.minitaur_four_leg_stand_env import MinitaurFourLegStandEnv
 2018-04-11 10:09:03 -07:00
erwincoumans c2869e0a3c enable planar reflection in minitaur_gym_env.py and locomotion scenes 2018-04-11 08:50:29 -07:00
erwincoumans ffc808784b PyBullet: add planar reflection example, 
See examples/pybullet/examples/addPlanarReflection.py
 2018-04-11 01:03:36 -07:00
erwincoumans 39edcf699c bump up pybullet version, add missing sdf file 2018-04-10 22:59:53 -07:00
Erwin Coumans 0832d3fd22 disable velocity clamp (maxVelocity) in velocity control mode, 
remove some warnings
 2018-04-10 17:21:14 -07:00
Erwin Coumans f37e22bfba fix syntax error 2018-04-10 15:29:31 -07:00
erwincoumans 759d8b5317 nullptr -> 0 (no C++11) 2018-04-09 21:28:29 -07:00
erwincoumans 480cedf503 Merge pull request #1622 from juhl/vehicle_axis 
Fix to support different kind of wheel axis
 2018-04-09 21:13:13 -07:00
erwincoumans 103f16c64a UINT_MAX requires #include <limits.h> 2018-04-09 20:59:16 -07:00
erwincoumans 5747b1a689 fix case sensitive header include 2018-04-09 20:57:36 -07:00
erwincoumans 78a90719b0 Merge pull request #1630 from YunfeiBai/master 
Update the projective texture shader to solve the texture interpolati…
 2018-04-09 20:55:37 -07:00
erwincoumans 7949f31c3e fixes in btMiniSDF 2018-04-08 21:30:06 -07:00
erwincoumans 9ab03057ea add btMiniSDF and btSdfCollisionShape to CMakeLists.txt 2018-04-08 21:25:38 -07:00
erwincoumans 698836d54e Preparation to add signed distance field collision detection. 
btMiniSDF is based on https://github.com/InteractiveComputerGraphics/Discregrid
 2018-04-08 21:10:03 -07:00
erwincoumans db4960b1ac Merge pull request #1624 from ikalevatykh/master 
Add VR/OpenVR support on Linux
 2018-04-05 09:55:03 -07:00
erwincoumans 85b376867e Merge pull request #1625 from erwincoumans/master 
explicit cast from double to float in TinyRendererVisualShapeConverte…
 2018-04-04 17:01:11 -07:00
Erwin Coumans 380e59be6a explicit cast from double to float in TinyRendererVisualShapeConverter plugin 2018-04-04 16:34:28 -07:00
erwincoumans b4f038fd67 Merge pull request #1621 from erwincoumans/master 
first pass of updated minitaur quadruped environment, update env_bases,  add example of a free moving sphere controlled by external torque
 2018-04-04 08:10:13 -07:00
erwincoumans 5ff2a1d6c8 Update env_bases.py 2018-04-02 22:31:22 -07:00
erwincoumans 507d024f25 add example of a free moving sphere controlled by external torque 
add some toy shape sorter cube (not finished yet)
 2018-04-01 15:55:32 -07:00
erwincoumans 14d37ecb43 first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
erwincoumans b8c7422bed Merge pull request #1619 from erwincoumans/master 
PyBullet fix createVisualShape (inertial frame related), minor backward compatibility fix
 2018-03-29 09:13:12 -07:00
erwincoumans ec68290497 PyBullet createVisualShape/createVisualShapeArray: postpone visual shape conversion until we know the link inertial transform 2018-03-28 19:08:18 -07:00
erwincoumans 094fa53440 Merge pull request #1611 from alantrrs/master 
Fix simple cloth example. Closes #1606
 2018-03-26 17:17:45 -07:00
erwincoumans fafa939d33 Merge pull request #1579 from lunkhound/parallel-solver-wip3 
Multithreaded constraint solver
 2018-03-26 17:11:05 -07:00
erwincoumans 79e7469a0a Merge pull request #1607 from lunkhound/pr-fix-readme 
fix premake build instructions in README
 2018-03-26 16:28:01 -07:00
erwincoumans 31ab72a0ed Merge pull request #1609 from YunfeiBai/master 
Add PyBullet API to set projective texture.
 2018-03-26 16:27:14 -07:00