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Author SHA1 Message Date
Erwin Coumans b1426322ed add gif to pybullet data 
add python files to .gitignore
pybullet bump up version to 1.2.5
 2017-08-25 18:08:53 -07:00
erwincoumans dd9ecce79e Merge pull request #1274 from erwincoumans/master 
all methods (except connect, obviously) have the physicsClientId argu…
 2017-08-25 16:37:16 -07:00
Erwin Coumans bcc60224f0 all methods (except connect, obviously) have the physicsClientId argument, even if they don't use it. This makes it easier to create a wrapper API to store the physics client. This allows easier multi-threaded versions with multiple Bullet DIRECT instances (or SHARED_MEMORY, TCP, UDP etc). 
See for example https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py and https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur.py
 2017-08-25 14:04:45 -07:00
erwincoumans be7ddfcc5c Merge pull request #1221 from Wugand/patch-1 
Fix for memory leak at btCreateCompoundFromGimpactShape
 2017-08-25 08:30:07 -07:00
erwincoumans 983da08da8 Merge pull request #1271 from erwincoumans/master 
pybullet: remove 'data' from MANIFEST.in
 2017-08-24 22:38:24 -07:00
Erwin Coumans 0d0caa7cbc Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-08-24 22:02:34 -07:00
Erwin Coumans 1fc148d5d0 fixes in racecarGymEnv: implement 'render' rgb image, fix in naming, 
fix in observation bounds.
 2017-08-24 22:01:45 -07:00
Erwin Coumans c7c3e76e56 Merge remote-tracking branch 'bp/master' 2017-08-24 21:42:32 -07:00
erwincoumans ee3bb1efc5 Merge pull request #1272 from jonathantompson/exit_0_fix 
OpenGL window error handling updates
 2017-08-24 15:44:38 -07:00
Jonathan Tompson 29acd99d25 changed exit(0) to exit(EXIT_FAILURE) for OpenGLWindow functions, and changed printf to fprintf(stderr for error string printing. 2017-08-24 15:18:43 -07:00
Erwin Coumans a975d094c3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-08-24 13:33:58 -07:00
Erwin Coumans cb6914fa4c use better defauls values for minitaur 2017-08-24 13:33:45 -07:00
Erwin Coumans 16d9e2fb38 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-08-24 10:16:25 -07:00
erwincoumans a119a77bc7 Merge pull request #1270 from erwincoumans/master 
pybullet fix leak for concave collision shapes.  Allow continuous control for MIT racecar gym environment
 2017-08-24 10:09:04 -07:00
Erwin Coumans 5c5993edcb fix potential memory leaks for concave triangle meshes (<concave=true> or createCollisionShape with flags=1) 2017-08-24 09:16:11 -07:00
Erwin Coumans 577ddd4f55 remote 'data' from MANIFEST.in 2017-08-23 23:58:53 -07:00
Erwin Coumans f0c32b84c0 allow continuous control for MIT racecar gym environment, use differential drive version 2017-08-23 23:12:26 -07:00
Erwin Coumans 8a4f51baa4 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-08-23 21:45:05 -07:00
erwincoumans 83510f0652 Merge pull request #1268 from erwincoumans/master 
update minitaur gym env, 	fix pybullet racecarGymEnv to use thread-safe pybullet
 2017-08-23 18:41:56 -07:00
Erwin Coumans ff4270a517 fix pybullet racecarGymEnv to use thread-safe pybullet 2017-08-23 18:22:20 -07:00
Erwin Coumans 75231d63e8 use name MinitaurBulletEnv 2017-08-23 17:45:41 -07:00
Erwin Coumans 0851b45f39 update minitaur gym env 2017-08-23 17:41:34 -07:00
Erwin Coumans 8866840712 Clarify in naming that the environment uses MJCF xml files with Bullet, it doesn't use MuJoCo. 2017-08-23 15:03:57 -07:00
erwincoumans a9fb0033a4 Merge pull request #1265 from erwincoumans/master 
refactor pybullet/gym to allow instantiating environments directly fr…
 2017-08-23 10:07:36 -07:00
Erwin Coumans f19f28b5ed more fixes in pybullet/resources, moved enjoy/train/test in 'examples' folder. 2017-08-22 10:07:47 -07:00
Erwin Coumans 21ca6a90f0 more fixes for pybullet 2017-08-22 09:32:16 -07:00
Erwin Coumans dd4cc5f4ef add minitaur quadruped 2017-08-22 09:00:46 -07:00
Erwin Coumans e064d4b837 more fixes in pybullet_envs: fix path, add missing data resources 2017-08-22 08:59:39 -07:00
Erwin Coumans 21f9d1b816 refactor pybullet/gym to allow instantiating environments directly from a pybullet install: 
work-in-progress (need to add missing data files, fix paths etc)

example:

pip install pybullet
pip install gym

python
import gym
import pybullet
import pybullet_envs
env = gym.make("HumanoidBulletEnv-v0")
 2017-08-22 00:42:02 -07:00
erwincoumans bd28b212e1 Merge pull request #1263 from erwincoumans/master 
improve the new pybullet gym environments, upgrade to OpenVR 1.0.9, add preliminary support for Mac OSX OpenVR
 2017-08-20 20:28:08 -07:00
Erwin Coumans c06ea72a4c improve the new pybullet gym environments, follow camera, disable 2D GUI, disable rendering during loading (makes it faster) 
disable vsync on Mac
fix setup.py file
 2017-08-20 18:11:53 -07:00
Erwin Coumans c4112ec5cc Merge remote-tracking branch 'bp/master' 2017-08-19 16:16:56 -07:00
Erwin Coumans b80a387a1e upgrade to latest OpenVR 1.0.9 (https://github.com/ValveSoftware/openvr) 
enable experimental Mac OSX OpenVR, tested using Apple External Graphics Development Kit.
 2017-08-19 09:48:32 -07:00
erwincoumans a4f28e1589 Merge pull request #1219 from lunkhound/pr-nncg 
NNCG solver: apply rolling friction consistently
 2017-08-18 13:31:54 -07:00
erwincoumans b940a83797 Merge pull request #1257 from erwincoumans/master 
bump up pybullet setup.py version, make B3_NO_PYTHON_FRAMEWORK defaul…
 2017-08-18 13:30:03 -07:00
erwincoumans c0984b80e5 Merge pull request #1231 from benelot/bullet-gym 
Add nearly all gym environments using pybullet together with the…
 2017-08-18 13:29:43 -07:00
Erwin Coumans 226aaedc46 bump up pybullet setup.py version, make B3_NO_PYTHON_FRAMEWORK default on Mac 
minor fixes (arg name in header/cpp the same)
 2017-08-18 08:53:46 -07:00
Benelot 3191291748 Split pendula robot from the pendula envs due to changes in the underlying mujoco xml base env. 2017-08-17 00:25:16 +02:00
Benelot 9f20e40541 Rename old humanoid gym to simple humanoid gym. 2017-08-17 00:06:01 +02:00
Benelot aed57d130e Update mjcf files! 
----------------------------------
Git did not realize I changed those.
 2017-08-17 00:04:21 +02:00
erwincoumans bc1a039d26 Merge pull request #1256 from erwincoumans/master 
revert API to be backward compatible, add b3CreateInProcessPhysicsSer…
 2017-08-16 14:02:53 -07:00
Benelot f74a9299a8 Unversion manipulators for now. They come back as they are ready. 2017-08-16 22:43:40 +02:00
Erwin Coumans a66576f034 revert API to be backward compatible, add b3CreateInProcessPhysicsServerAndConnectSharedMemory 
same for BulletURDFImporter constructor
 2017-08-16 12:33:25 -07:00
erwincoumans b7579cbdda Merge pull request #1254 from erwincoumans/master 
Expose optional "globalScaling" factor to pybullet.loadURDF/SDF, and add pybullet.connect(p.GUI_SERVER option, that allows shared memory connections.
 2017-08-16 09:30:23 -07:00
Benelot 68106d66dd Split locomotion environments. 2017-08-16 08:08:24 +02:00
erwincoumans 2e0a987750 pybullet only allow one GUI/GUI_SERVER instance. 
Fix LINK_FRAME/WORLD_FRAME coordinate issue in pybullet applyExternalForce
 2017-08-15 14:15:30 -07:00
Erwin Coumans 99beb44625 fix build issues in previous commit 2017-08-15 10:46:09 -07:00
erwincoumans 9d0f875c5b fix compile issues due to API change (additional argument) 2017-08-15 09:34:44 -07:00
Benelot cab3de35e4 Remove duplicate assets and use other assets. Rename classes appropriately for robot-scene-env split refactoring. 2017-08-15 15:31:24 +02:00
Erwin Coumans 60b60ef9fd add pybullet.connect(pybullet.GUI_SERVER) option. This allows shared memory connections, acting as a physics server. You can connect using SHARED_MEMORY to this GUI_SERVER. 2017-08-14 17:02:20 -07:00
Erwin Coumans aafaa7e33e Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations. 
Fix two_cubes.sdf (was lacking collision shape for second cube)
 2017-08-14 14:59:41 -07:00
erwincoumans dfaa717fed Merge pull request #1252 from erwincoumans/master 
fix pybullet GUI performance issue on Mac OSX, fix potential memory leak in loadSDF when visuals have the same name.
 2017-08-11 18:11:53 -07:00
erwincoumans 457312f94f fix leak in loadSDF in case of visuals with duplicate/identical names that have a material. 
fix GUI performance issue on Mac OSX
fix issue introduced in previous commit (in btConvexHullComputer.cpp)
 2017-08-11 17:14:52 -07:00
Benelot 4771bae9fa Merge branch 'master' into bullet-gym 2017-08-10 22:50:12 +02:00
Benelot 7572d505dc Add pyc to gitignore. 2017-08-10 22:46:34 +02:00
Erwin Coumans c67a70cb09 compile fixes 2017-07-29 13:40:03 +02:00
erwincoumans 0eb3898c76 Merge pull request #1244 from erwincoumans/master 
add 'createObstacleCourse.py' example, helps reproducing
 2017-07-29 13:20:14 +02:00
Erwin Coumans d28dd2f80a add 'createObstacleCourse.py' example, helps reproducing 
Parkour paper: https://arxiv.org/abs/1707.02286
 2017-07-29 13:18:49 +02:00
erwincoumans 53808e70ff Merge pull request #1235 from YunfeiBai/master 
Add init function and module for pybullet with EGL.
 2017-07-21 18:08:04 +02:00
yunfeibai cfc7917586 Add init function and module for pybullet with EGL. 2017-07-18 13:52:29 -07:00
erwincoumans 63ef78afe1 Merge pull request #1232 from erwincoumans/master 
improve pybullet performance of loadURDF/SDF/MJCF and 'createCollisio…
 2017-07-16 11:29:02 +01:00
Erwin Coumans c9b41737c0 add example of faster URDF/SDF loading in VR/GUI mode, 
by temporary disabling rendering
 2017-07-14 23:32:53 +01:00
Erwin Coumans 0df8887990 improve pybullet performance of loadURDF/SDF/MJCF and 'createCollisionShape'/'createMultiBody' for GUI/VR/SHARED_MEMORY, 
use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loading and
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) afterwards
 2017-07-14 23:12:16 +01:00
Benjamin Ellenberger a6aade2e21 Add nearly all gym environments using pybullet together with the latest tf model from the roboschool model zoo. 2017-07-14 23:38:15 +02:00
Wugand b7011a864b Fix for memory leak at btCreateCompoundFromGimpactShape 
This is an fix for issue #1213
 2017-07-03 11:08:36 +02:00
Lunkhound b7f35000aa NNCG solver: apply rolling friction consistently regardless of the solver flags 2017-07-02 21:12:25 -07:00
Lunkhound e85e2ee127 MultiThreadedDemo: make it possible to dial in a single large island, and 
tilt the ground and adjust rolling friction
 2017-07-02 21:05:51 -07:00
erwincoumans afd6db7c40 Merge pull request #1217 from erwincoumans/master 
texture check fix
 2017-07-01 12:37:09 -07:00
Erwin Coumans b63023c692 add transparent plane 2017-07-01 11:47:57 -07:00
Erwin Coumans e6f7eb486a bump up pybullet setup.py version 2017-07-01 10:55:13 -07:00
Erwin Coumans 6e40f41dc6 bump up pybullet version 2017-07-01 10:43:02 -07:00
Erwin Coumans 5178ad4abc add proper pointer casts 2017-07-01 10:28:28 -07:00
Erwin Coumans 9cf747b35b a few compile/warning fixes 2017-07-01 10:01:55 -07:00
Erwin Coumans c17625a4d0 texture check fix 2017-07-01 09:15:00 -07:00
erwincoumans 743d69ef69 Merge pull request #1216 from erwincoumans/master 
implement pybullet.changeTexture, fix loadTexture for OpenGL
 2017-06-30 21:07:28 -07:00
Erwin Coumans 88897cc744 implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added) 
See also examples\pybullet\examples\changeTexture.py
 2017-06-30 19:11:43 -07:00
Erwin Coumans dd3d55610b fixes in pybullet.loadTexture, changeVisualShape replacing texture. 
(also works for OpenGL3 renderer now)
 2017-06-30 13:35:07 -07:00
Erwin Coumans dcaaed9238 also generate TinyRendererVisualShapeConverter for programmatically generated collision shapes 
use similar random colors for TinyRenderer (if rgba colors are not specified)
 2017-06-29 22:06:27 -07:00
erwincoumans 6dfb320b8f Merge pull request #1214 from erwincoumans/master 
Added manually converted widowx.urdf from https://github.com/Robotnik…
 2017-06-29 19:19:04 -07:00
Erwin Coumans bf800e30d5 Added manually converted widowx.urdf from https://github.com/RobotnikAutomation/widowx_arm 
Added simple pybullet file in Bullet/examples/pybullet/examples/widows.py (preliminary, both URDF and py file needs more work to be useful)
https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml
See also http://www.trossenrobotics.com/widowxrobotarm
 2017-06-29 17:54:04 -07:00
erwincoumans b4f21e77af Merge pull request #1206 from erwincoumans/master 
Allow to create concave collision meshes. Transparency (only OpenGL 3.x renderer, not tinyrenderer/gl2)
 2017-06-24 20:07:17 -07:00
erwincoumans d5fe67cf57 Add pybullet transparent.py example, transparency with global per-object sort in GLInstancingRenderer 2017-06-24 19:38:31 -07:00
erwincoumans a651cb9ab4 Implement first pass of transparent graphics object for GLInstancingRenderer 
remove 'enableBlend' from API, graphics instances use alpha component instead
fix forward axis for SimpleCamera
 2017-06-24 13:41:33 -07:00
erwincoumans c777e61d48 fix pybullet compilation on some WIN32 version of MSVC 2017-06-23 20:36:19 -07:00
Erwin Coumans 65e22ba3e9 allow auxilary link to be used for gear btMultiBodyGearConstraint. 2017-06-23 20:24:04 -07:00
Erwin Coumans 8e9f5ef3f3 fix compile issue 2017-06-23 16:22:38 -07:00
Erwin Coumans 9672c3a330 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-23 16:19:10 -07:00
Erwin Coumans 9aed6b08f1 don't set the numSolverIterations that high, was a debug left-over 2017-06-23 16:18:42 -07:00
Erwin Coumans 2ab56b4d62 Allow to create concave collision meshes. Note that this is only supported for static (mass 0) multibodies. 2017-06-23 14:43:28 -07:00
Erwin Coumans a136098120 add a few more discrete actions to cartpole_bullet.py so it trains faster + add option to train without rendering, enjoy with rendering. 2017-06-22 16:49:14 -07:00
Erwin Coumans 31fb1c2e79 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-22 16:30:03 -07:00
erwincoumans 40dae99435 Merge pull request #1203 from erwincoumans/master 
add kukaCamGymEnv.py with camera observations (preliminary)
 2017-06-22 10:58:51 -07:00
Erwin Coumans fbff4c57ca update include after stb_image changes 2017-06-22 09:03:10 -07:00
Erwin Coumans 9e5e0da9f4 move stb_image/stb_truetype.h and stb_image/stb_image_write.h to ThirdPartyLibs/stb_image folder 2017-06-22 08:48:18 -07:00
Erwin Coumans 97f6a161f1 fix stb_image.h include path to be consistent. 2017-06-22 08:09:33 -07:00
Erwin Coumans d1481c78ba Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-21 12:00:53 -07:00
Erwin Coumans 9213f944f1 add kukaCamGymEnv.py with camera observations (preliminary) 
show camera position in example browser
disable per-vertex and per-fragment profile timings
 2017-06-21 09:33:46 -07:00
erwincoumans e24d79a2c0 Merge pull request #1202 from erwincoumans/master 
reduce stack usage (cause some crashes in low-stack tests)
 2017-06-20 20:57:48 -07:00
Erwin Coumans 71170d6384 reduce stack usage (cause some crashes in low-stack tests) 
fix crashing bug in changeVisualShape
add differential gear version of racecar (only 2 back wheels are powered)
 2017-06-20 20:22:14 -07:00
erwincoumans c48f5b1546 Merge pull request #1182 from lunkhound/pr-fix-solver-simd 
SequentialImpulseConstraintSolver: fix bugs with SOLVER_SIMD flag
 2017-06-20 12:19:15 -07:00