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Author SHA1 Message Date
erwincoumans d3fe21ef17 Add option GUI_MAIN_THREAD for running OpenGL in the main thread (Python thread). This already happens on Mac OSX by default. 
Pass all argc/argc from options to InProcessPhysicsClientSharedMemoryMainThread
 2018-02-14 16:49:44 -08:00
erwincoumans 5e08d6d334 small test to create / simulate random box stacks 2018-02-14 15:37:50 -08:00
erwincoumans a6f3064a65 Merge remote-tracking branch 'bp/master' 2018-02-14 11:49:55 -08:00
erwincoumans e87060dcf4 Merge pull request #1557 from erwincoumans/master 
fix premake build for linux, thanks to @consultit
 2018-02-10 07:48:19 -08:00
erwincoumans 0421c60515 Merge pull request #1552 from erwincoumans/master 
fix include
 2018-02-06 19:33:31 -08:00
erwincoumans 8c3016b995 Merge pull request #1551 from erwincoumans/master 
C-API/PyBullet: fix issue with plugin manager
 2018-02-06 10:48:19 -08:00
erwincoumans 19231434c2 gym env backward compatibility due to gym 0.9.6 breaking changes 2018-02-06 10:20:41 -08:00
erwincoumans ede8042c2c Merge remote-tracking branch 'bp/master' 2018-02-06 09:13:51 -08:00
erwincoumans 82fae36ab9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-02-06 08:59:58 -08:00
erwincoumans 3fb26e4835 fix issue with plugin manager (store plugin uid instead of pointer) 2018-02-06 08:56:24 -08:00
erwincoumans 0cf1b2d801 Merge pull request #1550 from erwincoumans/master 
PyBullet/rendering: improve sorting of transparent objects
 2018-02-06 08:30:40 -08:00
Erwin Coumans dcdec2236f PyBullet/rendering: improve sorting of transparent objects 2018-02-05 23:48:39 -08:00
erwincoumans 805d4b49b3 Merge pull request #1547 from wenkesj/master 
pybullet support for gym BREAKING CHANGES, including v0.9.x
 2018-02-05 09:55:26 -08:00
erwincoumans d4b834b9f0 fix #3 2018-02-04 11:35:47 -05:00
erwincoumans 9b9a0c5992 fix #2 for pthread/dl 2018-02-04 11:35:46 -05:00
erwincoumans b15ac0c5f6 add pthread/DL to App_RobotSimulator_NoGUI for Linux (not Win32/Apple) 2018-02-04 11:35:46 -05:00
erwincoumans 433f8449f4 refactor b3RobotSimulatorClientAPI into a main part without GUI dependencies (no OpenGL, gwen, glew etc) 
so that App_RobotSimulator_NoGUI can link against BulletRobotics and App_RobotSimulator links against BulletRobotics and some extra files.
 2018-02-04 11:35:46 -05:00
erwincoumans 7f535367ef Add new methods for b3RobotSimulatorClientAPI, thanks to John F. Canny for the contribution! 2018-02-04 11:35:46 -05:00
erwincoumans 0bebf86b50 Merge pull request #1546 from erwincoumans/master 
Add new methods for b3RobotSimulatorClientAPI
 2018-02-02 20:52:14 -08:00
erwincoumans b692ec87f7 fix #3 2018-02-02 20:22:53 -08:00
erwincoumans f119cff516 fix #2 for pthread/dl 2018-02-02 19:38:39 -08:00
erwincoumans 64a505ec19 add pthread/DL to App_RobotSimulator_NoGUI for Linux (not Win32/Apple) 2018-02-02 19:12:02 -08:00
erwincoumans c93b9a6165 Merge remote-tracking branch 'bp/master' 2018-02-02 18:33:59 -08:00
erwincoumans df0305462d refactor b3RobotSimulatorClientAPI into a main part without GUI dependencies (no OpenGL, gwen, glew etc) 
so that App_RobotSimulator_NoGUI can link against BulletRobotics and App_RobotSimulator links against BulletRobotics and some extra files.
 2018-02-02 18:33:29 -08:00
erwincoumans b30401c1f7 Add new methods for b3RobotSimulatorClientAPI, thanks to John F. Canny for the contribution! 2018-02-02 16:19:53 -08:00
erwincoumans e66ba45ccd Merge pull request #1540 from erwincoumans/master 
bump up pybullet version, update NativeMethods.cs, minor fixes
 2018-01-31 22:24:31 -08:00
erwincoumans a576fd38cd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-31 22:17:39 -08:00
erwincoumans 13d67e8fc3 add bicycle resources and testBike.py script (use python -m pybullet_envs.examples.testBike after pip install pybullet) 
center shadow around camera target
 2018-01-31 22:17:15 -08:00
Erwin Coumans e88dca3152 update autogenerated NativeMethods.cs from latest PhysicsClientC_Api.h 2018-01-31 09:07:31 -08:00
erwincoumans 40482e0925 fix urdfEditor.py 2018-01-29 19:19:34 -08:00
Erwin Coumans 5776f61a73 fix issue that prevents p/invoke c# generation from PhysicsClientC_API.h 2018-01-29 19:16:01 -08:00
erwincoumans 688d750d8a Merge pull request #1531 from AndreaIncertiDelmonte/issue-1525 
Override of the reset() public funciton in child classes
 2018-01-26 13:10:47 -08:00
erwincoumans 09ab1d9eec Merge pull request #1532 from cedspam/patch-1 
avoid errors in some ide docs system
 2018-01-26 11:58:15 -08:00
erwincoumans 90e06c7fc7 Merge pull request #1535 from CuriousRubick/rubyBullet 
no need to keep iterating if an object is found awake or unable to sleep
 2018-01-26 11:56:47 -08:00
erwincoumans 0ce40b70c0 Merge pull request #1523 from kimhc6028/master 
[fixed] gym_manipulator_envs typo
 2018-01-25 13:36:42 -08:00
erwincoumans 0e8097e3a6 Merge pull request #1528 from erwincoumans/master 
remove baselines dependency (not needed, since it is a random policy)
 2018-01-25 08:53:46 -08:00
erwincoumans c6505d8d2a Merge pull request #1527 from Breush/btthreads-header-warnings-removal 
Removed warnings of unused variable in btThreads header
 2018-01-25 08:53:17 -08:00
erwincoumans bdd19d619c Merge pull request #1524 from erwincoumans/master 
PyBullet Humanoid Flagrun Harder + KUKA diverse objects + fix regression in ExampleBrowser (bus error)
 2018-01-24 20:43:27 -08:00
erwincoumans 5d45fd5ca5 PyBullet: register KukaDiverseObjectGrasping-v0 to Gym. 2018-01-24 18:27:03 -08:00
erwincoumans 4ea406c73c PyBullet: improve examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py 
(thanks to Deirdre Quillen for the environment)
Extend repeat, so gripper reaches the tray bottom.
Fix near plane so Z-Buffer is visible. Add sleep in return motion, in gui mode.
 2018-01-24 18:21:59 -08:00
erwincoumans 72ec3effe6 Merge remote-tracking branch 'bp/master' 2018-01-24 18:11:33 -08:00
erwincoumans 1ec0543deb add random urdf zipfile for KUKA grasping env, thanks to Deirdre Quillen 2018-01-24 18:10:55 -08:00
erwincoumans 583b23ea40 PyBullet Humanoid Flagrun Harder: disable collision on target red sphere 2018-01-24 18:02:24 -08:00
erwincoumans aba4671358 Humanoid Flagrun Harder, PyBullet version (request from Danijar) 
Fix duplicate ground in all Roboschool converted scenes.
Fix bug in all PyBullet-Roboschool converted Humanoid environments (action needs to be clipped to [-1,1] range)
 2018-01-24 17:53:40 -08:00
erwincoumans a92423b6f7 minor clarification in UrdfRenderingInterface 2018-01-21 11:15:35 -08:00
erwincoumans 3e873feac0 Merge pull request #1518 from erwincoumans/master 
small refactor of LinkVisualShapesConverter / TinyRendererVisualShape…
 2018-01-17 14:30:17 -08:00
erwincoumans 1661f25fd8 minor indentation fix 2018-01-17 13:11:02 -08:00
erwincoumans ccde28eb9f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-17 13:07:05 -08:00
erwincoumans c781e98de4 add a little bit of documentation to the UrdfRenderingInterface 2018-01-17 13:06:44 -08:00
erwincoumans 3073d60845 Update tinyRendererPlugin.cpp 2018-01-17 12:53:00 -08:00
erwincoumans 585f858842 PyBullet: bump up API version due to move of tinyrenderer into a plugin 2018-01-17 12:51:19 -08:00
erwincoumans 012f4534fd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-17 12:49:27 -08:00
erwincoumans 329a1f5a74 PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin. 2018-01-17 12:48:48 -08:00
erwincoumans df89ce6f92 small refactor of LinkVisualShapesConverter / TinyRendererVisualShapeConverter, it allows to use it in a Python module and in a PyBullet plugin. 2018-01-16 17:58:19 -08:00
erwincoumans 023ec7ce9e Merge pull request #1515 from erwincoumans/master 
apply a maximum velocity for the KUKA arm
 2018-01-16 17:28:46 -08:00
erwincoumans 32d615565d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-16 13:39:54 -08:00
erwincoumans 68c2253f82 reduce dependency: PhysicsServerCommandProcessor -> PhysicsCommandProcessorInterface 2018-01-16 13:39:37 -08:00
erwincoumans 603d674e74 Merge remote-tracking branch 'bp/master' 2018-01-16 10:20:37 -08:00
erwincoumans 173eec93fc Merge pull request #1513 from erwincoumans/master 
fix wrong enum type
 2018-01-16 10:20:14 -08:00
erwincoumans 055930817e apply a maximum velocity for the KUKA arm, otherwise motion can become very unrealistic 2018-01-16 10:17:57 -08:00
erwincoumans 19ecca396a Merge pull request #1512 from erwincoumans/master 
Various  PyBullet fixes: slowdown of Roboschool ported Gym envs (reset), fix leaks, add more ported envs, thanks to Benjamin Ellenberger
 2018-01-15 14:55:45 -08:00
erwincoumans 851ca5bfb3 Improve PyBullet ports of Roboschool envs: fix reset (it kept adding stadium objects, causing slowdown), now reset uses saveState/restoreState and reset becomes a few orders of magnitude faster. 
Use python -m pybullet_envs.examples.testEnv --env AntBulletEnv-v0 --render=1 --steps 1000 --resetbenchmark=1

Added environments: HumanoidFlagrunBulletEnv-v0, HumanoidFlagrunHarderBulletEnv-v0, StrikerBulletEnv-v0, ThrowerBulletEnv-v0, PusherBulletEnv-v0, ReacherBulletEnv-v0, CartPoleBulletEnv-v0 and register them to OpenAI Gym.
Allow numpy/humanoid_running.py to use abtch or non-batch update (setJointMotorControl2/setJointMotorControlArray)
 2018-01-15 12:48:32 -08:00
erwincoumans 9ffb05eb3b fix double->float issue by cast, fixes issue #1510 
fix possible out-of-bounds access in btMultiBody
 2018-01-15 11:59:00 -08:00
erwincoumans 9d405fde67 PyBullet: free cached textures 
PyBullet: bool PhysicsServerCommandProcessor::pickBody, disable collision filtering to allow picking of all objects
 2018-01-15 08:36:08 -08:00
erwincoumans 387d3f16db PyBullet: fix memory leak in case connection to shared memory cannot be made 
PyBullet: allow setJointMotorControl2 to use maxVelocity in combination with obsolete 'bodyIndex'
 2018-01-15 08:33:19 -08:00
erwincoumans 3c770e56fb PyBullet/C-API: only free handle if we found it 2018-01-14 12:35:40 -08:00
erwincoumans 0919ce0f30 PyBullet: fix issue when picking an object while it is remove using PyBullet.removeBody 2018-01-14 11:01:57 -08:00
erwincoumans d83cf58731 Merge pull request #1509 from erwincoumans/master 
Add humanoid_running.py using just numpy (no tensorflow, no gym) for testing
 2018-01-13 18:14:52 -08:00
erwincoumans ed890f23e6 add implicit plane_implicit.urdf and use it in humanoid_running.py (numpy version) 2018-01-13 13:47:28 -08:00
erwincoumans e961800278 parse plane geom for URDF files (not just SDF) 2018-01-13 13:41:46 -08:00
erwincoumans 1b569c0701 Add humanoid_running.py using just numpy (no tensorflow, no gym) for testing 2018-01-13 13:39:57 -08:00
erwincoumans c7a4222b58 Merge pull request #1506 from erwincoumans/master 
allow to use colors from MJCF file as option (default to random Googl…
 2018-01-12 09:02:51 -08:00
Erwin Coumans 79051b7611 allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE 
fix quadruped.py example.
add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
 2018-01-11 21:04:08 -08:00
erwincoumans cdbd93e519 Merge pull request #1503 from erwincoumans/master 
update MinitaurSetup.cpp/h to allow switching between different minit…
 2018-01-10 12:22:01 -08:00
erwincoumans 22b4809891 leave m_useGlobalVelocities to false, until enabled, for backward compatibility 
use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
 2018-01-10 11:16:50 -08:00
erwincoumans c4b1b84687 Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis 
https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section)
Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto
 2018-01-09 22:47:56 -08:00
erwincoumans 616d3358bd update MinitaurSetup.cpp/h to allow switching between different minitaurs. add getToeForces, thanks to Avik (requires 8 toes!) 2018-01-09 17:38:51 -08:00
erwincoumans 8879ec38d6 Merge pull request #1501 from erwincoumans/master 
expose backward compatibility APIs (implicit cylinder conversion, deterministic overlapping pairs)
 2018-01-09 15:55:00 -08:00
erwincoumans 15a429f1bf premake build system fixes 2018-01-09 12:23:25 -08:00
erwincoumans e138e85bca allow to enable/disable implicit cylinder conversion through an API 
p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER)
allow to enable/disable deterministicOverlappingPairs through an API
p.setPhysicsEngineParameter(deterministicOverlappingPairs = False)
 2018-01-09 10:10:36 -08:00
erwincoumans bf6d805228 fix compile issues on Windows after recent softbody patch 2018-01-09 08:43:00 -08:00
erwincoumans e932583237 Merge pull request #1499 from wrosecrans/fix-nproc 
Tidy up cmake build script
 2018-01-09 07:42:12 -08:00
erwincoumans 7118470eb6 Merge pull request #1500 from YunfeiBai/master 
Load softbody from obj file.
 2018-01-09 07:40:20 -08:00
erwincoumans 6a74f63604 Merge pull request #1498 from erwincoumans/master 
fix for python 2.x
 2018-01-08 16:45:28 -08:00
erwincoumans 1e0d1c2b6d Merge pull request #1496 from erwincoumans/master 
warning fix (param name different in header/cpp)
 2018-01-08 13:23:44 -08:00
Erwin Coumans f39d83580b Merge remote-tracking branch 'bp/master' 2018-01-08 12:29:32 -08:00
Erwin Coumans e97b751781 further work on urdfEditor.py, fix some serialization issues 2018-01-08 12:25:56 -08:00
Erwin Coumans a85a4f387b more work on UrdfEditor.py 2018-01-06 15:00:20 -08:00
Erwin Coumans 9a9aa5e9e7 example of joint motor with friction 2018-01-06 13:43:07 -08:00
erwincoumans 380738308d Merge pull request #1495 from erwincoumans/master 
tweak ImportMJCFSetup.cpp example MJCF humanoid a bit, clamp target p…
 2018-01-04 15:18:30 -08:00
Erwin Coumans c59a3763e5 tweak ImportMJCFSetup.cpp example MJCF humanoid a bit, clamp target positions to be within joint limits to avoid solver problems (conflicting constraints) 
add humanoid_manual_control.py PyBullet example which is similar to ImportMJCFSetup.cpp
 2018-01-04 13:14:11 -08:00
erwincoumans 6237386c7c Merge pull request #1494 from erwincoumans/master 
Start of a urdfEditor.py, limited support to extract a URDF from a Py…
 2018-01-04 12:11:08 -08:00
Erwin Coumans 4743d2770a fix recently introduced crashing bug in MJCF reader 
due to https://github.com/bulletphysics/bullet3/pull/1484 (Issue 1484)
 2018-01-03 21:47:58 -08:00
Erwin Coumans 36c258fd3d fix PhysicsLoopBack 2018-01-03 21:38:09 -08:00
erwincoumans 577ee86012 Update README.md 2018-01-03 19:30:12 -08:00
Erwin Coumans 79d78a325a Start of a urdfEditor.py, limited support to extract a URDF from a PyBullet body. 
Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape.
Implement PyBullet.getCollisionShapeData
Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!)
Extend PyBullet.getJointInfo: add parentIndex
 2018-01-03 19:17:28 -08:00
erwincoumans dc50c0ff3b Merge pull request #1493 from jietan/pullRequest 
Pull request
 2018-01-02 19:45:14 -08:00
erwincoumans a1492f50fc Merge pull request #1492 from erwincoumans/master 
implement pybullet.saveState command, for in-memory storage of state.
 2017-12-31 19:19:35 -08:00
Erwin Coumans 35b44f8a85 implement pybullet.saveState command, for in-memory storage of state. 
bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010
 2017-12-31 15:37:16 -08:00
erwincoumans 515aa9ee9b Merge pull request #1491 from erwincoumans/master 
some progress in saving and restoring the state
 2017-12-31 13:39:27 -08:00