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Author SHA1 Message Date
Erwin Coumans 9a36d144c3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-25 08:25:27 +10:00
Erwin Coumans a9ff5246c9 make gjk a bit more robust, try different initial guess vector if it fails to find a solution (happens for queries with large differences in shape size) 2018-05-25 08:18:12 +10:00
Erwin Coumans 5de53d7355 PyBullet: add ANYmal.py quadruped example, usage: 
pip install pybullet
python -m pybullet_envs.examples.ANYmal
 2018-05-25 07:54:38 +10:00
Erwin Coumans ab7bbf4396 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-24 15:50:02 +10:00
Erwin Coumans ff4d0b1777 add HelloBulletRobotics C++ example with similar API to PyBullet 
Add ANYmal quadruped robot URDF to pybullet_data
 2018-05-24 15:48:45 +10:00
erwincoumans abeae7e1e7 Merge pull request #1701 from erwincoumans/master 
PyBullet: add option to cache graphics shapes for URDF files, handy f…
 2018-05-23 14:47:01 +10:00
Erwin Coumans 8ace9251aa pass by pointer instead of reference to satisy compiler 2018-05-23 14:22:22 +10:00
Erwin Coumans 94da262906 case sensitive header include 2018-05-23 13:51:51 +10:00
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
erwincoumans f1b4ffaf98 Merge pull request #1699 from benelot/fix-pendula-with-pbclient 
Fix pendulum & manipulator envs with pybullet client
 2018-05-23 08:20:40 +10:00
erwincoumans 57e02ae15a Merge pull request #1698 from erwincoumans/master 
PyBullet: :wminor Gym fixes
 2018-05-23 08:19:47 +10:00
Benelot 4a16032820 Fix manipulators too. 2018-05-22 18:12:45 +02:00
Benelot 7b219e0ea6 Fix pendula to use the bullet-client. 2018-05-22 16:40:10 +02:00
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 9a706d9cfd PyBullet: fix Gym envs 2018-05-23 00:24:03 +10:00
Erwin Coumans 76561cbebd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-23 00:18:35 +10:00
Erwin Coumans a0a1c9347c PyBullet: fix in Gym env 2018-05-23 00:18:17 +10:00
Benelot ea850d1bf1 Merge remote-tracking branch 'upstream/master' 2018-05-22 15:44:10 +02:00
erwincoumans f74110a4c0 Merge pull request #1695 from erwincoumans/master 
Fix Issue #1623, SphereTriangleDetector
 2018-05-22 16:40:45 +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
erwincoumans c491141a1f Merge pull request #1692 from erwincoumans/master 
fix HalfCheetahBulletEnv-v0, other PyBullet improvements
 2018-05-20 15:04:24 +10:00
Erwin Coumans 2ac8c7009d bump up pybullet version to 1.9.9 2018-05-20 15:03:58 +10:00
Erwin Coumans a7a6e20d9c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-20 14:19:49 +10:00
Erwin Coumans 90939279f9 PyBullet: cmake build, enable DBUILD_PYBULLET_NUMPY=ON 
fix issue with HalfCheetahBulletEnv-v0 in previous commit
 2018-05-20 14:18:53 +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 c8dc4dc756 Merge pull request #1690 from erwincoumans/master 
Fix for issue #1643, bump up PyBullet version to 1.9.8
 2018-05-18 17:29:59 -07:00
Erwin Coumans ea10c59a3d bump up PyBullet version to 1.9.8 2018-05-18 16:26:45 -07:00
Erwin Coumans bcd209fd93 Merge remote-tracking branch 'bp/master' 2018-05-18 16:25:40 -07:00
Erwin Coumans 701b50ec12 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-18 16:25:27 -07:00
Erwin Coumans 0abe4151e5 Fix for 1643, allow to instantiate multiple PyBullet Gym environments (Ant, Humanoid, Hopper, Pendula etc) in the same process (same or other thread). It uses the pybullet_utils.bullet_client to achieve this. 2018-05-18 16:23:54 -07:00
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
Erwin Coumans ff646fbef2 workaround for an out-of-date tinyxml2 version 2018-05-17 12:18:17 -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
Yuchen Wu f03ae5a857 Expose CFM parameters in PhysicsClient. 
Add b3PhysicsParamSetDefaultGlobalCFM() and
b3PhysicsParamSetDefaultFrictionCFM().
 2018-05-16 13:46:19 -07:00
Yuchen Wu 653f592ddc Merge pull request #1 from bulletphysics/master 
Merge from upstream
 2018-05-16 13:44:15 -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
Erwin Coumans 28b86ba0a4 fix some tsan issues (thread sanitizer) 2018-05-16 08:32:21 -07:00
Erwin Coumans 75bff86dba Merge remote-tracking branch 'bp/master' 2018-05-16 08:31:20 -07:00
Erwin Coumans d17d496f97 fix potential asan/tsan issue 2018-05-15 13:24:28 -07:00
Erwin Coumans 703767c6f3 BulletInverseDynamics: Fix propagation of user_int and user_ptr when creating MultiBodyTree. 
The user_ptr and user_int arguments passed to addBody were stored in the cache, but not propagated to the MultiBodyTree when finalizing it.

Thanks to Thomas Buschmann for the fix.
 2018-05-14 07:34:49 -07:00
Lunkhound 4254837170 solvers: remove erroneous 'break' statement that can occur with incorrectly flagged objects; also added asserts to warn when incorrectly flagged objects are detected 2018-05-12 19:54:39 -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