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Author SHA1 Message Date
erwincoumans b6f5cb4c34 enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp) 
add pdControl.py example, make pdControlPlugin functional
reduce memory usage
fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
 2018-06-05 15:59:01 -07:00
erwincoumans 49eb83c24e Avoid static multibody to activate/wake up sleeping objects. 
Couldn't reproduce an issue related to this.
 2018-06-05 12:20:42 -07:00
erwincoumans fa648a028e fix a few problems introduced in #1730 
https://github.com/bulletphysics/bullet3/pull/1730
 2018-06-05 09:16:00 -07:00
erwincoumans d7cbe8dd26 Merge remote-tracking branch 'bp/master' 2018-06-05 08:15:11 -07:00
erwincoumans 7d0e632fb3 Merge pull request #1730 from RanTig/master 
Adds unit tests for userData plus some bugfixes.
 2018-06-05 08:14:31 -07:00
Erwin Coumans dd745cbe2d Merge remote-tracking branch 'bp/master' 2018-06-05 11:42:49 +10:00
Erwin Coumans 7bd84740d7 PyBullet / BulletRobotics: prepare for pdControlPlugin and collisionFilterPlugin 
Split examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.* and move to examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp and examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
 2018-06-05 11:41:41 +10:00
Erwin Coumans e4cd88e24f PyBullet: allow to choose the shared memory key when starting SHARED_MEMORY_SERVER 2018-06-05 11:36:54 +10:00
erwincoumans e0667d8579 Merge pull request #1728 from erwincoumans/master 
PyBullet.addUserData (etc) and expose flags to createMultiBody
 2018-06-02 18:41:53 -07:00
erwincoumans 4997eb8da2 add new file related to PyBullet userData 2018-06-02 13:52:00 -07:00
erwincoumans b6120e760a PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo 
See examples/pybullet/examples/userData.py how to use it. TODO: add to PyBullet Quickstart Guide.
Thanks to Tigran Gasparian for the contribution!
 2018-06-02 13:40:08 -07:00
erwincoumans cb6b7a7c38 PyBullet: expose flags to createMultiBody 2018-06-02 11:37:14 -07:00
erwincoumans c77586a526 Merge pull request #1727 from erwincoumans/master 
PyBullet picking change, revert gjk test
 2018-06-02 00:13:43 -07:00
erwincoumans 68ea22bfd0 undo git merge conflict mess-up with IK 2018-06-01 22:50:06 -07:00
erwincoumans a450600eb8 revert gjk test 2018-06-01 22:17:46 -07:00
erwincoumans e721a9cdf5 revert testing changes 2018-06-01 22:02:17 -07:00
erwincoumans 54ddbad29f remove printf 2018-06-01 21:56:34 -07:00
erwincoumans 92579f9196 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2018-06-01 09:35:15 -07:00
erwincoumans 2d40a18315 picking shouldn't activate (wakeup) sleeping objects 2018-06-01 09:34:18 -07:00
erwincoumans 00c8f8f68e Merge pull request #1725 from erwincoumans/master 
Use dofCount and not numJoints in PyBullet.calculateInverseKinematics…
 2018-06-01 07:31:09 -07:00
erwincoumans 7653ddbeba bump up pybullet version (for fixed ik) 2018-05-31 21:17:39 -07:00
erwincoumans 4c75e022c8 Use dofCount and not numJoints in PyBullet.calculateInverseKinematics, fixes null space demo 
See baxter_ik_demo at https://github.com/erwincoumans/pybullet_robots
 2018-05-31 21:07:04 -07:00
erwincoumans 1d53c48322 Merge pull request #1724 from erwincoumans/master 
test space
 2018-05-31 18:20:12 -07:00
erwincoumans bc8378cb87 Merge pull request #1723 from erwincoumans/master 
fix different arg name in header versus cpp
 2018-05-31 18:08:29 -07:00
erwincoumans 309a07c21b Merge branch 'master' into master 2018-05-31 18:05:50 -07:00
erwincoumans 75eaaecf49 Merge pull request #1722 from erwincoumans/master 
implement accurate inverse kinematics in C++, exposed through PyBullet.calculateInverseKinematics
 2018-05-31 16:50:52 -07:00
erwincoumans 3463d0a879 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-31 16:06:33 -07:00
erwincoumans edc70582dd implement accurate inverse kinematics in C++. PyBullet.calculateInverseKinematics gets "maxNumIterations=20", "residualThreshold=1.04" to tune 
allow to provide current joint positions in IK, overriding the body joint positions, also IK target will be in local coordinates.
expose b3ComputeDofCount in C-API
 2018-05-31 16:06:15 -07:00
erwincoumans 8567f6bb7c PyBullet: rename sleepObjectAutoDeactivation -> sleeping.py 
PyBullet: allow maximal coordinate rigid bodies to sleep/deactivate
 2018-05-30 21:14:35 -07:00
erwincoumans 292e198a57 Merge pull request #1719 from erwincoumans/master 
const char* for path, bump up pybullet version
 2018-05-30 19:48:25 -07:00
erwincoumans 150a0e050e Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-30 19:47:47 -07:00
erwincoumans 1dec33d44b move default linearslop to 0 2018-05-30 12:31:29 -07:00
erwincoumans afa5ab25a6 Merge pull request #1715 from eastskykang/b3RobotAPI 
added functions to b3RobotSimulatorClientAPI_NoGUI
 2018-05-30 14:08:27 +10:00
erwincoumans 2819ff4a00 bump up version 2018-05-29 21:05:12 -07:00
erwincoumans 851459dbfe Merge pull request #1716 from erwincoumans/master 
fix fixed constraint between btMultiBody and btRigidBody, fix minitaur examples when ran from pip version
 2018-05-30 12:02:34 +10:00
erwincoumans 11d8f069f0 Disable overlapping pair debug variables behind the BT_DEBUG_COLLISION_PAIRS preprocessor definition. 2018-05-29 17:06:35 -07:00
erwincoumans 7d0c8d18a6 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-29 16:49:21 -07:00
erwincoumans ec4b3505a4 fix fixed constraint between btMultiBody and btRigidBody 2018-05-29 16:49:07 -07:00
erwincoumans fc9a2f88ef Merge pull request #1710 from erwincoumans/master 
Move from b3Vector3 to btVector3 to support double precision in examp…
 2018-05-27 11:25:40 +10:00
Erwin Coumans dcc9c4d0d9 fix HelloBulletRobotics example from b3Vector3 -> btVector3 2018-05-27 10:55:53 +10:00
Erwin Coumans 57b3e0d221 Move from b3Vector3 to btVector3 to support double precision in examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI API. 2018-05-27 10:42:33 +10:00
erwincoumans 85478fc6ef Merge pull request #1706 from erwincoumans/master 
add HelloBulletRobotics C++ example with similar API to PyBullet
 2018-05-26 16:35:38 +10:00
Erwin Coumans e79ae13cde disable adhoc gjk terminarion heuristics by default 2018-05-26 08:52:52 +10:00
Erwin Coumans d133c33d73 Use a very large default m_contactStiffness (so that if one object is a bit soft, the stiffness is properly combined) 2018-05-26 08:50:45 +10:00
Erwin Coumans 3d6c8f0fae PyBullet: include the pre-trained policy files in data 2018-05-26 08:49:23 +10:00
Erwin Coumans efe9161670 fix cmake build 2018-05-26 08:46:12 +10:00
Erwin Coumans da73556ca7 bump up pybullet version to 2.0.0 2018-05-25 08:26:09 +10:00
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
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 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
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
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 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
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