Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity
6,210 Commits 10 Branches 0 Tags
850b8b0493bdf1882b3704f28dabce90c7525a20
Commit Graph

1800 Commits

Author SHA1 Message Date
erwincoumans
e982efc18a fix in previous commit related to pybullet.c changeUserConstraint / pybullet_internalSetMatrix 2017-11-12 21:53:14 -08:00
erwincoumans
6be7e34dd6 pybullet vr_kuka_setup.py: add a gear joint, to keep the gripper centered, 
vr_kuka_control.py: control all joints, use analogue button to close gripper
remove some debug warnings/prints
pybullet, avoid crash in changeUserConstraint if not passing a [list]
allow some gym environments (pybullet_pendulum and locomotors) to re-use an existing physics client connection.
 2017-11-12 10:36:30 -08:00
erwincoumans
b5bf70cb80 fix potential memory leak when manually loading a texture (pybullet.loadTexture), due to URDF/SDF texture caching (manually loading textures are not cached) 2017-11-09 11:09:07 -08:00
Erwin Coumans
d570730b8e fix pybullet and bump up version to 1.6.4 2017-11-07 21:11:16 -08:00
Erwin Coumans
344005a8f0 catch invalid mass/inertia instead of division by zero/nan. also, avoid indexing <0 2017-11-07 19:25:14 -08:00
erwincoumans
493d7bc94d obj2sdf, add option to merge shapes with same materials, add support for transparent objects 
tiny_obj_loader, load the "d" and "Tr" transparant tag
 2017-11-04 19:17:20 -07:00
Erwin Coumans
5701b5b152 expose COV_ENABLE_Y_AXIS_UP to pybullet 
increase MAX_SDF_BODIES from 512 to 1024 (botlab needs it)
 2017-11-04 12:51:13 -07:00
Erwin Coumans
4798d66f19 fixes in kuka/racecar environment. kuka still doesn't train well, work-in-progress 2017-11-01 18:06:47 -07:00
Erwin Coumans
e4f58ddc33 fix typo, add train_ppo kuka task 2017-10-31 16:33:13 -07:00
Erwin Coumans
3709e68645 fix discrete versions of kuka grasping environment 
should fix issue 1386
 2017-10-31 16:14:20 -07:00
Erwin Coumans
33d32d7ab4 add continuous version of kuka cam gym env test 2017-10-31 16:10:02 -07:00
Erwin Coumans
4e2dfbe58e add minitaur duck environment 
see also  https://www.youtube.com/watch?v=SLwUCMZdKLo and
evolution strategies (hardmaru):
https://twitter.com/hardmaru/status/925074585984237568
 2017-10-31 16:05:52 -07:00
Erwin Coumans
55f5e52ecd add continuous versions of kukaGymEnv, kukaCamGymEnv, racecarZEDGymEnv etc. 
should be trainable with PPO or evolution strategies (ES) now
 2017-10-31 15:50:34 -07:00
Erwin Coumans
32312e60a8 Merge remote-tracking branch 'bp/master' 2017-10-29 12:28:00 -07:00
d3x0r
8e75d4375b Fix missing DWORD variable (lost in merge port) 2017-10-28 14:50:44 -07:00
d3x0r
88b49947b5 Composite of fixed code for mingw64(on windows) and general fixes for msvc. 
1) (win32window) don't convert char to wide, use char direct to window.
2) (CMakeLists) Don't link one library as static CPPLIB and no others (mismatched allocations)
3) (macros) Fix Gwen macros for mingw64 on windows build.  (changes are by compiler(msc_ver) not platform)
4) (FileUtils) sprintf_s reference by platform, not compiler (mingw64 support)
5) (b3OpenCLUtils) fix bad define name _MSVC_VER->_MSC_VER
6) (compoundCollision) remove unused variables, simplify operation.
7) (impulseconstraint) remove duplicated code block
 2017-10-28 14:42:38 -07:00
Erwin Coumans
48f0f29812 add integrate.py example 2017-10-27 18:26:32 -07:00
erwincoumans
c042c8f9b6 premake pybullet, use enable_static_vr_plugin 
add examples\pybullet\examples\vr_kitchen_setup_vrSyncPython.py (doesn't work well, need C++ sync and some optimizations)
 2017-10-25 10:20:34 -07:00
erwincoumans
6a9300809d premake4 add option --enable_static_vr_plugin to statically link the VR sync plugin 
fix texture caching from previous commit (what happened there?)
 2017-10-25 10:00:45 -07:00
Erwin Coumans
9385f36505 add cartpole_bullet, should fix issue 1403 2017-10-25 08:37:01 -07:00
erwincoumans
7524e37124 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-25 08:15:14 -07:00
erwincoumans
ed8de36ffa pybullet: allow to replace existing text, to avoid flickering (remove/add) 
allow texture caching (disable using the disable file caching)
 2017-10-25 08:15:01 -07:00
erwincoumans
c1ba04a580 Merge pull request #1404 from erwincoumans/master 
perform IK in local body-fixed frame ,  add jointFrictionDamping.py example
 2017-10-25 00:52:16 +00:00
Erwin Coumans
7a1dbf2e59 allow IK on a floating base, see video: 
add inverse_kinematics_husky_kuka.py example
fix spacing in inverse_dynamics.py
 2017-10-25 00:32:47 -07:00
Erwin Coumans
41a1362bc5 perform IK in local body-fixed frame 
For now, Jacobian, mass matrix and inverse dynamics return results in local coordinates of the tree.
 2017-10-24 21:06:44 -07:00
Erwin Coumans
1998a62785 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-23 12:25:34 -07:00
Erwin Coumans
ca7d599838 add jointFrictionDamping.py example 
modify testrender.py to add shadow for tiny renderer
 2017-10-23 12:25:04 -07:00
Jonathan Tompson
cbc2732cbd Also added fix for Direct. 2017-10-22 16:07:00 -07:00
Jonathan Tompson
03b2cfe991 Added gear info to getConstraintInfo return. 
Fixed bug in GEAR constraint update.
 2017-10-22 15:01:13 -07:00
erwincoumans
c149840264 Merge pull request #1396 from erwincoumans/master 
API changes in TensorFlow Agents
 2017-10-20 20:46:56 -07:00
Erwin Coumans
d18bfec1a9 API changes in TensorFlow Agents 
See 164f620326 (diff-82bda908f176861c20aadc1d017c2527)
 2017-10-20 20:32:49 -07:00
erwincoumans
28ea41bfe6 Merge pull request #1393 from YunfeiBai/master 
Expose IK solver options: DLS and SDLS.
 2017-10-20 13:22:56 -07:00
yunfeibai
b67bccc575 Add inverse kinematics example for pole, which has a prismatic joint. 2017-10-19 14:30:37 -07:00
yunfeibai
dda1b05f4a Expose IK solver options including DLS and SDLS. 2017-10-19 14:00:53 -07:00
erwincoumans
723c206d0f Merge pull request #1390 from erwincoumans/master 
fix the pybullet.changeDynamics linear/angular damping
 2017-10-18 19:48:35 -07:00
Erwin Coumans
c178c101a8 fix the pybullet.changeDynamics linear/angular damping 
expose pybullet.getConstraintState
 2017-10-18 19:15:35 -07:00
Julien Schueller
9a9054728f Windows case sentitive fs build fix 2017-10-15 02:05:01 +02:00
Julien Schueller
764d4a01de Windows case sentitive fs build fix 2017-10-14 18:01:44 +02:00
Erwin Coumans
8750d49082 fix blocking plot.show() never terminating properly 2017-10-13 14:51:06 -07:00
erwincoumans
cb23e6c102 Fix pybullet.calculateInverseDynamics in the case where #dof != #joints (fixed joints). We still don't handle spherical joints in pybullet (even though the underlying inverse dynamics and forward dynamics support it) 
Also, add a inverse_dynamics.py example, with URDF files. Thanks to Michiel Lutter for the report and repro case!
This fixes issue #1379 https://github.com/bulletphysics/bullet3/issues/1379
 2017-10-13 14:19:25 -07:00
Erwin Coumans
10527e12eb fix Mac OSX build, openvr 32bit/64bit was not selected, library out-of-date 2017-10-11 17:20:26 -07:00
Erwin Coumans
f2c64fdf40 bump up openvr to 1.0.10 for Linux and Mac 2017-10-10 22:25:36 -07:00
erwincoumans
254fd330f8 bump up ThirdPartyLibs/openvr to latest 1.0.10 from https://github.com/ValveSoftware/openvr 
(Windows only, Linux/Mac will follow in next commit)
 2017-10-10 22:13:04 -07:00
erwincoumans
de44e4811a fix pybullet.addUserDebugText borders around letters 
bump up pybullet version
In a few pybullet examples, first connect to SHARED_MEMORY, if not connected use GUI mode
 2017-10-10 22:11:32 -07:00
erwincoumans
c155e105a5 unlock thread at exitPhysics 
pybullet: don't crash in inverse kinematic if #dofs don't match due to free base
C-API: don't crash if status/statusHandle = 0
 2017-10-10 11:10:42 -07:00
erwincoumans
e5d4c73c40 fix very rare threading issue, let main thread compute the UID for user debug items 
add collision model to cartpole.urdf
 2017-10-09 22:40:53 -07:00
erwincoumans
6b4f69f733 Merge remote-tracking branch 'bp/master' 2017-10-09 21:09:23 -07:00
yunfeibai
55b60e90f7 Modify inverse kinematics to also support robot model with fixed joint. 2017-10-09 18:28:52 -07:00
Erwin Coumans
d48e2a20af fix a string check issue 2017-10-09 12:28:39 -07:00
Erwin Coumans
91e08ec986 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-09 12:28:07 -07:00