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Author SHA1 Message Date
Erwin Coumans 786ddec076 disable GUI in deep_mimic, it slows down too much on Mac OSX 2019-02-11 09:44:59 -08:00
Erwin Coumans 30290dfba1 add missing __init__.py for pip 2019-02-11 09:20:44 -08:00
Erwin Coumans 2728294c53 more fixes in deep_mimic env 2019-02-11 09:15:42 -08:00
Erwin Coumans 1bd201eb43 fixes in PyBullet deep_mimic to allow running in pip version 2019-02-11 08:51:07 -08:00
erwincoumans 12e6478689 Merge pull request #2103 from erwincoumans/master 
PyBullet deep_mimic backflip re-using original DeepMimic policy from Jason Peng
 2019-02-11 05:45:21 -08:00
erwincoumans d4292fdac3 PyBullet deep_mimic fix computeAngVelRel 2019-02-10 21:37:34 -08:00
erwincoumans bb15800964 add pre-trained backflip policy thanks to Jason Peng from https://github.com/xbpeng/DeepMimic 2019-02-10 21:06:00 -08:00
erwincoumans be20ed6aa2 remove obsolete deep_mimic files (use the one in deep_mimic/env) 
add plane_implicit.urdf
 2019-02-10 21:04:28 -08:00
erwincoumans 9bddca873c allow pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt to perform a backflip. Can only backflip twice, then drops on ground. 
this deepmimic is still very slow, due to slow mass matrix/inverse dynamics computation. once spherical motor drive is enabled, it should be fast(er)
move pd_controller_stable to pybullet_utils for easier re-use
add plane_transparent.urdf to pybullet_data
allow spacebar in keyboardEvents (Windows for now)
 2019-02-10 20:56:31 -08:00
erwincoumans b574a360f5 Merge pull request #2055 from xantares/pybullet 
Pybullet enhancements
 2019-02-10 20:25:47 -08:00
erwincoumans 28c9ea3aad PyBullet: add domino asset and example 2019-02-10 19:44:39 -08:00
erwincoumans 1118542d0e Merge pull request #2098 from erwincoumans/master 
bit more work on deep_mimic env and physx backend
 2019-02-05 15:19:17 -08:00
erwincoumans 054c0b8e58 PyBullet+PhysX backend: expose getJointState reading link position/velocity 2019-02-05 10:24:41 -08:00
erwincoumans 42369aa47d PyBullet.changeDynamics: expose jointDamping 
PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
 2019-02-04 21:06:43 -08:00
Erwin Coumans 2eace2f715 update mpi usage 2019-02-01 19:20:08 -08:00
Erwin Coumans 176edeff1e add mpi_run version (not working yet) 2019-02-01 17:57:31 -08:00
Erwin Coumans 6c42cd3e1b add policy 2019-02-01 17:45:50 -08:00
Erwin Coumans 1cef924973 deepmimic fix: reference initialization wasn't spread over all frames 2019-02-01 17:18:13 -08:00
Erwin Coumans 7cc2685faf enable deepmimic training on mac 2019-02-01 16:24:48 -08:00
erwincoumans 63e781b88b PyBullet env for DeepMimic (preliminary work-in-progress) 2019-01-31 21:32:51 -08:00
erwincoumans 5d871806eb enable stable PD plugin in premake4.lua PyBullet 
add a normalize in the setRotation axis/angle to be sure.
Add more code from the DeepMimic project, training doesn't work yet.
 2019-01-31 21:31:26 -08:00
erwincoumans c5e6cbe2ed Merge pull request #2087 from erwincoumans/master 
fix pybullet removeBody memleak, fix createVisualShape.py ray vertical/horizontal and retina scale, fi…
 2019-01-30 16:39:06 -08:00
erwincoumans 014c68388e fix createVisualShape.py ray vertical/horizontal and retina scale, fixes Issue 2085 
fix memory leak in removeBody, fixes issue 2086
 2019-01-30 15:29:43 -08:00
erwincoumans c6cf5cb0c4 Merge pull request #2083 from erwincoumans/master 
some PyBullet gym env fixes
 2019-01-29 13:38:06 -08:00
Erwin Coumans 9392b05d53 bump up to PyBullet 2.4.3 2019-01-29 12:05:15 -08:00
Erwin Coumans b257bd731b PyBullet: allow createVisualShape to pass vertices, indices, normals and uv coordinates. This can be combined with changeVisualShape to set the texture. 2019-01-29 12:03:11 -08:00
Erwin Coumans 63683e8f02 fix Issue 2039 2019-01-28 16:24:44 -08:00
Erwin Coumans 0818112ede fix some gym envs 2019-01-28 16:21:52 -08:00
erwincoumans c97d1041ed Merge pull request #2037 from araffin/update-gym 
Update gym envs
 2019-01-28 10:14:09 -08:00
erwincoumans e908003aaa Merge pull request #2082 from erwincoumans/master 
PyBullet, fix setup/pip not finding standard libraries,  tweak premake files for ExampleBrowser, allow non-GUI mode for humanoidMotionCapture
 2019-01-28 10:10:08 -08:00
Erwin Coumans 179225fbe1 Merge remote-tracking branch 'bp/master' 2019-01-28 10:04:01 -08:00
Erwin Coumans be7ebe22a0 PyBullet: fix for Mac OSX not finding standard libraries 2019-01-28 10:02:53 -08:00
Erwin Coumans 0e4d6b0376 tweak premake files for ExampleBrowser, allow non-GUI mode for humanoidMotionCapture 2019-01-28 07:35:57 -08:00
erwincoumans 6dd97e44f3 Merge pull request #2079 from erwincoumans/master 
PyBullet Minitaur: Fix Minitaur logging (binary file), add Raibert controller
 2019-01-27 13:36:16 -08:00
erwincoumans 505cb15600 proto2csv 2019-01-27 12:11:40 -08:00
erwincoumans 6c2568bf5e PyBullet Minitaur: Fix Minitaur logging (binary file) 
PyBullet Minitaur: Add minitaur_raibert_controller_example.py
 2019-01-27 11:37:35 -08:00
erwincoumans 29eb5f1621 Merge pull request #2077 from erwincoumans/master 
fix regression in resetJointState for 1-DOF/3-DOF joints, more PyBullet-PhysX work
 2019-01-26 18:44:38 -08:00
erwincoumans 52c8e14646 deal with 1-DOF and 3-DOF joints separately in resetJointState, fixes Issue 2076 2019-01-26 17:53:10 -08:00
erwincoumans a6244d714e more PyBullet PhysX preliminary work. 2019-01-25 10:14:54 -08:00
erwincoumans 7fc551c856 Merge pull request #2075 from erwincoumans/master 
create some 'Unity Build' cpp files, to work-around setuptools on Win…
 2019-01-24 11:37:55 -08:00
Erwin Coumans 77a9a77b60 create some 'Unity Build' cpp files, to work-around setuptools on Windows creating >32k command-line 
see 'won't fix' in https://bugs.python.org/issue1539295
 2019-01-24 10:32:15 -08:00
erwincoumans 61928fdde3 Merge pull request #2074 from erwincoumans/master 
fix compile issues
 2019-01-23 21:48:21 -08:00
Erwin Coumans 7df6adb9f8 fix compilation, make travis CI happy 2019-01-23 19:58:19 -08:00
erwincoumans 43d3cdfa38 make Travis CI pass 2019-01-23 19:34:21 -08:00
erwincoumans 66f4b276ec fix compile issue 2019-01-23 19:25:12 -08:00
erwincoumans 587500dc16 remove auto (no C++11) 2019-01-23 18:23:09 -08:00
erwincoumans 899e3274e8 fix more compile issues 2019-01-23 17:44:49 -08:00
erwincoumans dbf93b7129 remove Rand.cpp from setup.py 2019-01-23 17:36:30 -08:00
erwincoumans 5da375b93c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-01-23 17:35:55 -08:00
erwincoumans e637b24237 remove Rand.* and <random> (no C++11) 2019-01-23 17:35:45 -08:00
erwincoumans 03549ca7c6 pass force as array instead of value 2019-01-23 17:24:10 -08:00
Erwin Coumans a3ec60da67 IsAlmostZero -> IsAlmostZero1 2019-01-23 16:45:29 -08:00
Erwin Coumans a174b42c02 fix compile issues 2019-01-23 16:33:06 -08:00
erwincoumans 301b3a0451 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-01-23 13:36:17 -08:00
erwincoumans 93087f36df avoid conflicts when using a unity build (single cpp file including many other cpp) 2019-01-23 13:35:58 -08:00
Erwin Coumans 7b99810e4e fix case sensitive include header name 2019-01-23 12:50:44 -08:00
Erwin Coumans 0cf3f7d750 Merge remote-tracking branch 'bp/master' 2019-01-23 10:44:20 -08:00
Erwin Coumans 2f5c93a0f4 PyBullet: enable DeepMimic code as 'plugin' for stable PD control of spherical joints 
enabling STATIC_LINK_SPD_PLUGIN
 2019-01-23 10:42:59 -08:00
erwincoumans f90fe7ceac Merge pull request #2047 from erwincoumans/master 
Add humanoid stable PD control, preliminary optional PhysX 4.0 backend for Pybullet, various fixes
 2019-01-23 10:16:06 -08:00
erwincoumans 02c01c0191 Merge pull request #2063 from MaximilienNaveau/master 
Update the installation of the bullet_robotics package
 2019-01-23 09:40:08 -08:00
erwincoumans 225db2e385 Merge remote-tracking branch 'bp/master' 2019-01-23 08:55:38 -08:00
erwincoumans e02f82f172 fix some memory leaks in PyBullet.resetJointStateMultiDof and setJointMotorControlMultiDof 
Fixes Issue 2065
 2019-01-23 08:54:17 -08:00
erwincoumans fc22959b67 Merge pull request #2067 from haikarainen/master 
Add space to prevent btAssert from specifying literal
 2019-01-23 08:07:20 -08:00
erwincoumans ffb5efcb71 Merge pull request #2071 from Pandhariix/collision_filters 
Applying collision filters for all physic clients in pybullet_setCollisionFilterPair and pybullet_setCollisionFilterGroupMask
 2019-01-23 08:06:19 -08:00
Maxime Busy b4eca192fb Parse physicsClientId before calling getPhysicsClient 2019-01-23 12:02:17 +01:00
erwincoumans ae8e83988b Add preliminary PhysX 4.0 backend for PyBullet 
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
 2019-01-22 21:08:37 -08:00
Fredrik Svantesson 192b92a6dd Add space to prevent macro from specifying literal 2019-01-18 22:58:09 +01:00
Maximilien Naveau 4e1e3ecb56 Update the installation of the bullet_robotics package 
- Create a pc for the bulletRobotics extras package.
- Install all necessary includes in include/bullet_robotics.
- The .pc add directly the bullet_robotics folder as include directory (TODO, move the bullet robotics in the src folder).
 2019-01-17 13:55:10 +01:00
xantares e793bd22bb Cancel built time print changes 2019-01-15 10:24:11 +01:00
Michel Zou fd40544637 On OSX link with dynamic_lookup 2019-01-12 11:36:28 +01:00
Michel Zou e9112a9f5f Install examples lib 2019-01-12 11:06:06 +01:00
Michel Zou 46e2d280a8 Print build time only in debug mode 2019-01-11 21:57:41 +01:00
Michel Zou ea515048e9 OSX Python extension is .so 2019-01-11 21:57:41 +01:00
Michel Zou 04d3b6aee7 Add pybullet install rule 2019-01-11 21:57:38 +01:00
Erwin Coumans 80684f44ea fix issue 76 (should be harmless) 2019-01-04 10:10:20 -08:00
erwincoumans c993175a58 Merge pull request #2046 from erwincoumans/master 
avoid macro redefinition
 2019-01-04 10:04:45 -08:00
Erwin Coumans 01bb0c3bd7 avoid macro redefinition 2019-01-04 08:40:54 -08:00
erwincoumans 3729b733de Merge pull request #1941 from ShFil119/impr/remove_register 
Remove unneeded keyword `register`
 2019-01-04 07:58:16 -08:00
erwincoumans 101429e6a3 Merge pull request #2041 from gsp-27/gsp-27-patch-1 
Added code for issue #2036
 2019-01-04 07:56:14 -08:00
erwincoumans 32282fece0 Merge pull request #2043 from crashcover/NUM_USER_COLLISION_SHAPES 
initialize m_numUserCollisionShapes correctly for b3InitRemoveBodyCom…
 2019-01-04 07:55:26 -08:00
erwincoumans 93a6846931 Merge pull request #2042 from erwincoumans/master 
Increase mesh allocation for vertices/indices in PyBullet.createColli…
 2019-01-04 07:52:32 -08:00
Andreas Daeubler 0fe086cca2 initialize m_numUserCollisionShapes correctly for b3InitRemoveBodyCommand 2019-01-04 08:42:47 +01:00
Erwin Coumans 0963eb3597 malloc -> new 2019-01-03 17:41:21 -08:00
Erwin Coumans 19aafd5221 PyBullet: handle the switch from fixed base to floating base when changing mass from zero to non-zero 2019-01-03 17:35:12 -08:00
Erwin Coumans bf9efffa4b Increase mesh allocation for vertices/indices in PyBullet.createCollisionShape 
See createMesh.py for an example.

The data has to fit in shared memory, hence the limit on Mac is lower than Windows and Linux:

#ifdef __APPLE__
#define B3_MAX_NUM_VERTICES 8192
#define B3_MAX_NUM_INDICES 32768
#else
#define B3_MAX_NUM_VERTICES 131072
#define B3_MAX_NUM_INDICES 524288
#endif
 2019-01-03 16:19:28 -08:00
gaurav pathak 7f73081a89 Added code for issue #2036 
Made necessary changes to ```humanoid_deep_mimic_env.py``` file, setting ```initial_frame``` to new position after simulation steps and setting ```SimTime``` using this new initial frame time
 2019-01-03 18:17:08 -05:00
erwincoumans 126b676220 Merge pull request #2034 from erwincoumans/master 
Cleaning up the issue tracked with old/out-of-date/issues that haven't been addressed for too long.
 2018-12-31 12:42:41 -08:00
Antonin RAFFIN f9fdf89c06 Fix indentation 2018-12-31 12:52:43 +01:00
Antonin RAFFIN 1c61b629e3 Fix formating issues 2018-12-31 12:48:42 +01:00
Antonin RAFFIN 0df3527884 Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
Erwin Coumans 21d9465d94 update premake5.exe (note we still use premake4.exe by default) 2018-12-22 17:55:50 -08:00
Erwin Coumans 83213da154 applied patch for Issue 68 
// Ensure that gContactProcessedCallback is called for concave shapes.
        if (getLastManifold())
            m_resultOut->refreshContactPoints();
 2018-12-22 17:06:57 -08:00
Erwin Coumans e5fb1aa1d5 apply improvement, to allow btCompoundShape per-shape collision filtering 
Fixes old issue 67
 2018-12-22 17:02:58 -08:00
Erwin Coumans 6661b1ac71 internalApplyImpulse already applies the getLinearFactor, fixes Issue 71 2018-12-22 16:53:52 -08:00
Erwin Coumans 44f8064855 Fix Issue 61 related to character controller, 
see https://github.com/rraallvv/bullet3/commit/6cb832140d620620c5a6e4bb8e865e83f1e0d563
 2018-12-22 16:44:36 -08:00
Erwin Coumans 7740162ad8 apply gimpact versus rotated plane issue,thanks to @cameronwhite 
see https://github.com/cameronwhite/bullet3/commit/bd8bd11929097fabeda14657967fc96376099e62
Fixes Issue 69
 2018-12-22 16:38:40 -08:00
erwincoumans 8bc1c8e01b Merge pull request #2030 from erwincoumans/master 
some fixes in inverse dynamics, PyBullet example comparing explicit pd, stable pd control, position control (constraint)
 2018-12-22 16:17:26 -08:00
erwincoumans d477d18ad6 Expose subsimplexcast max iterations/epsilon 
Note that for best quality, always use BT_USE_DOUBLE_PRECISION
This fixes Issue 34
https://github.com/bulletphysics/bullet3/issues/34
 2018-12-22 12:44:29 -08:00
erwincoumans 5e08808e69 Fix issue 1883, OpenGL 2.x doesn't have glGenerateMipmap 2018-12-22 11:42:29 -08:00
erwincoumans fb2baa81d6 only use the mutex if using BT_THREADSAFE 2018-12-22 11:35:56 -08:00