3 Commits

Author	SHA1	Message	Date
erwincoumans	9e99f5cdbc	Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion ... Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py	2018-11-16 17:29:03 -08:00
erwincoumans	7dd524075c	Implement btMultiBodySphericalJointMotor, able to track a quaternion position target. ... Expose this btMultiBodySphericalJointMotor through PyBullet.setJointMotorControlMultiDof Expose PyBullet.getQuaternionSlerp Improve PyBullet.setJointMotorControlMultiDof Improve humanoidMotionCapture.py with slerp and using setJointMotorControlMultiDof Expose btMultiBody::spatialTransform Fix btMultiBody::setupPlanar from DeepMimic codebase Add support for multidof joints in btMultiBody::compTreeLinkVelocities, thanks to DeepMimic codebase @xbpeng	2018-11-13 14:32:18 -08:00
erwincoumans	a06b5de7b6	add converted humanoid from DeepMimic (https://github.com/xbpeng/DeepMimic, ... thanks to Jason Peng), and motion capture playback example. See also https://www.youtube.com/watch?v=vw3EKnKrgqw	2018-11-11 20:15:47 -08:00