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Author SHA1 Message Date
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workaround for an out-of-date tinyxml2 version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
erwincoumans f690687416 Merge pull request #1615 from haudren/topic/fixJacobian 
Fix jacobian computation with fixed joints
 2018-03-26 16:25:21 -07:00
erwincoumans 680ce39e96 Merge pull request #1601 from dbartolini/dev 
Fix warning with -Wmisleading-indentation
 2018-03-15 07:40:32 -07:00
erwincoumans 73d6624da3 Merge pull request #1603 from erwincoumans/master 
add missing implementation of b3RobotSimulatorClientAPI_NoGUI::getCam…
 2018-03-15 07:34:46 -07:00