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Author SHA1 Message Date
Erwin Coumans ebde9926a8 add example loading heightfield from image and csv, using assets from DeepLoco (thanks to Jason Peng) and 
from this Blender tutorial https://www.beamng.com/threads/tutorial-adding-heightmap-roads-using-blender.16356/
 2019-07-23 11:26:31 -07:00
Erwin Coumans 96b76dd107 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-23 08:51:34 -07:00
Erwin Coumans bd9fe7afc0 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-23 07:27:55 -07:00
Erwin Coumans 2e85490b6b deep_mimic: replace retrained backflip policy 2019-07-23 07:27:17 -07:00
Erwin Coumans bb962bdb6f remove some left-over debugging from deep_mimic 
pybullet bump up to 2.5.3
 2019-07-22 17:47:02 -07:00
Erwin Coumans b9d4206053 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-22 17:19:33 -07:00
Erwin Coumans b433e07d33 pybullet_envs.deep_mimic: use getLinkStates for faster 'getReward' 
pybullet_envs.deep_mimic: add profile timers for each thread to optimize training
 2019-07-22 17:18:41 -07:00
Erwin Coumans 6c73aa1e12 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-22 14:01:00 -07:00
Erwin Coumans 0630c245c8 update walk policy trained using latest PyBullet 2.5.2. Still need to update backflip policy. 2019-07-22 14:00:19 -07:00
Erwin Coumans 66f71256cf Merge remote-tracking branch 'bp/master' 2019-07-22 13:27:03 -07:00
erwincoumans 0aaae87245 Merge pull request #2332 from erwincoumans/master 
add laikago urdf with toes (for inverse kinematics, and control over …
 2019-07-22 10:28:50 -07:00
Erwin Coumans 213ae06e1f bump up version 2019-07-22 10:01:30 -07:00
erwincoumans 1d59db7c3d Merge pull request #2326 from biller23/patch-2 
Fix GCC alignment macros for btScalar.h
 2019-07-22 09:35:55 -07:00
Erwin Coumans bf3696e5b4 fix a leak in previous commit 2019-07-22 09:28:27 -07:00
Erwin Coumans 7ead9cf8ba fix a memory leak in previous commit, in pybullet_resetJointStatesMultiDof 2019-07-22 09:07:19 -07:00
Erwin Coumans b2825724d4 only if SPD is enabled 2019-07-21 22:03:23 -07:00
Erwin Coumans 8f220c1b23 fix memory leak in previous commit 2019-07-21 21:48:51 -07:00
Erwin Coumans d82c2043f0 enable useArray for deep_mimic reward 2019-07-21 13:56:10 -07:00
Erwin Coumans 602f736640 Merge remote-tracking branch 'bp/master' 2019-07-21 13:13:52 -07:00
Erwin Coumans 0cf6685041 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-21 13:13:25 -07:00
Erwin Coumans 39a4e8dcd9 Implement faster array versions of PyBullet: getJointStatesMultiDof, getLinkStates, setJointMotorControlMultiDofArray, resetJointStatesMultiDof, 
Implement StablePD in C++ through setJointMotorControlMultiDofArray method for pybullet_envs.deep_mimic, see testHumanoid.py and examples/pybullet/examples/humanoidMotionCapture.py
Minor fix in ChromeTraceUtil in case startTime>endTime (why would it happen?)
 2019-07-21 13:08:22 -07:00
erwincoumans 1e6af4261e Update HeightfieldExample.cpp 2019-07-19 14:02:08 -07:00
Erwin Coumans 4732acfcb1 remove tabs from urdf 2019-07-17 12:57:44 -07:00
Erwin Coumans ac0bfb0bfa remove trailing whitespace 2019-07-17 12:55:13 -07:00
Erwin Coumans dff277ad7b add laikago urdf with toes (for inverse kinematics, and control over stiffness/damping to model rubber) 2019-07-17 12:30:49 -07:00
biller23 448f0b8bef Fix alignment macros for btScalar.h 
As of the merged #2278, but for btScalar.h
 2019-07-13 10:53:25 +00:00
erwincoumans 2502a83bd7 Merge pull request #2278 from biller23/patch-1 
Fix GCC alignment macros on Windows
 2019-07-12 08:39:00 -07:00
erwincoumans a7a59e2795 Merge pull request #2325 from erwincoumans/master 
fix in multi-endeffector IK, calculate jacobian uses dofs without bas…
 2019-07-12 08:29:38 -07:00
Erwin Coumans 31688ffb34 fix in multi-endeffector IK, calculate jacobian uses dofs without base, fix premake build of some projects 2019-07-11 22:22:35 -07:00
erwincoumans d503d1442a Merge pull request #2324 from sanchitgarg/updateReadmeAndGitignore 
Update readme and gitignore
 2019-07-11 16:08:05 -07:00
Sanchit Garg 64f8020a20 Updated readme to reflect correct sln file name 
Added build3/vs2010 to .gitignore
 2019-07-11 14:43:57 -07:00
erwincoumans 8cc13efd2b Merge pull request #2323 from erwincoumans/master 
fix issue in previous commit (need to reserve instead of resize)
 2019-07-10 20:53:22 -07:00
Erwin Coumans 7a7f944e39 fix issue in previous commit (need to reserve instead of resize) 2019-07-10 20:52:45 -07:00
erwincoumans d220101c5a Merge pull request #2322 from erwincoumans/master 
PyBullet.calculateInverseKinematics2 for IK with multiple end-effector locations
 2019-07-10 19:58:17 -07:00
Erwin Coumans ee9575167d expose PyBullet.calculateInverseKinematics2 that allows to specify multiple IK end effector locations (not multiple orientations) 
usage example:
jointPoses = p.calculateInverseKinematics2(bodyUniqueId, [endEffectorLinkIndices], [endEffectorTargetWorldPositions])
 2019-07-10 17:21:18 -07:00
erwincoumans 67cab069c3 Merge pull request #2301 from Steven89Liu/rbdl 
port the rbdl into the bullet as well as write a simple test to compa…
 2019-07-10 13:19:58 -07:00
erwincoumans 9ac2261557 Update PhysicsServerCommandProcessor.cpp 
set alpha default to 1, just in case.
 2019-07-09 08:42:52 -07:00
erwincoumans bc3969d6ec Merge pull request #2316 from macandy13/fix-memory-init 
Fix MSAN error
 2019-07-09 08:41:28 -07:00
erwincoumans 96031789dd Merge pull request #2315 from nbelakovski/nbelakovski/fix_mac_opengl 
Call drawRect on Mac to fix OpenGL issue
 2019-07-09 08:39:41 -07:00
Andreas Christiansen 8c8a7fa0c9 Fix memory sanitizer warning on potential reading of uninitialized memory. This can happen for the RGB values that are only conditionally set in TinyRendererVisualShapeConverter::addVisualShape. 2019-07-09 11:52:42 +02:00
nbelakovski 3b4831089b Call drawRect on Mac to fix OpenGL issue 
This fixes an issue on Mac where an OpenGL window doesn't show anything until it is resized.
 2019-07-06 20:34:22 -07:00
Erwin Coumans bb8f621bf9 revert SHARED_MEMORY_GUI test 2019-07-03 12:10:24 -07:00
erwincoumans 113c2a83de Merge pull request #2313 from erwincoumans/master 
support changeVisualShape(rgbaColor) through GraphicsServer/Client
 2019-07-02 15:02:37 -07:00
Erwin Coumans 9db6acd97d support changeVisualShape(rgbaColor) through GraphicsServer/Client 
support getCameraInfo through GraphicsServer/Client
 2019-07-02 09:48:34 -07:00
erwincoumans 2db6d2f594 Merge pull request #2312 from fuchuyuan/renderSoft 
Take out unused variable
 2019-07-01 17:05:13 -07:00
Chuyuan Fu d5e028c673 take out unused variable 2019-07-01 13:31:00 -07:00
erwincoumans 57281911b8 Merge pull request #2309 from fuchuyuan/renderSoft 
Update PhysicsServerCommandProcessor and plugins to support render
 2019-07-01 12:16:53 -07:00
Chuyuan Fu 4da456054c Update PhysicsServerCommandProcessor and plugins to support render 2019-06-25 17:59:15 -07:00
erwincoumans 796b5667c2 Merge pull request #2307 from erwincoumans/master 
bump up pybullet to 2.5.1
 2019-06-25 14:10:35 +02:00
Erwin Coumans 8936c8483f bump up pybullet to 2.5.1 2019-06-19 15:58:08 -07:00
erwincoumans 681a730e05 Merge pull request #2299 from erwincoumans/master 
Tweak Mini-Cheetah
 2019-06-19 12:46:14 -07:00
Erwin Coumans 240e839600 Merge remote-tracking branch 'bp/master' 2019-06-19 12:09:04 -07:00
Erwin Coumans d4aac235fc Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-19 12:08:52 -07:00
Erwin Coumans 16542aa740 tweak Mini Cheetah URDF/MTL 
use /tmp/timings on Linux/Mac as default location to save profile timings (when you press 'p' in example browser)
fix in Graphics Server Example when rendering is disabled
 2019-06-19 12:07:26 -07:00
erwincoumans 9e28737b57 Merge pull request #2298 from erwincoumans/master 
configureDebugVisualizer: expose lightPosition, shadowMapResolution (texture resolution) and shadowMapWorldSize
 2019-06-19 11:48:25 -07:00
Erwin Coumans ed4515ae17 for the GraphicsServer, expose a sync transform interval: only synchronize the transform once the stepSimulation exceeds this time interval. 
(for example, run the simulation at 1kHz but sync the graphics transforms to remove graphics server at 30Hz)
 2019-06-19 09:45:29 -07:00
erwincoumans d762bc4e84 Merge pull request #2266 from devnexen/shader_example_build_fix 
Fix shader example build / spotted by clang
 2019-06-19 09:16:25 -07:00
Erwin Coumans c3b7f39aaf expose shadowMapResolution (texture resolution) and shadowMapWorldSize (size in meters in world space) 
expose pybullet.ConfigureOpenGLVisualizerRequest(lightPosition=[x,y,z], shadowMapWorldSize=10.5, shadowMapResolution=16384)
See examples/pybullet/examples/configureDebugVisualizer.py for an example.
This reimplements https://github.com/bulletphysics/bullet3/pull/2295 but without creating a new command/status and explicitly referring to the debug visualizer
(since the 'getCameraImage' also has a lightPosition)
 2019-06-19 09:01:16 -07:00
erwincoumans bc9c477edb Merge pull request #2296 from Steven89Liu/urdfparser 
fix the issue of converting the double to single.
 2019-06-19 07:21:50 -07:00
erwincoumans 0b9c0cebfb Merge pull request #2294 from erwincoumans/master 
make pybullet.getMeshData work for softbody
 2019-06-18 21:18:56 -07:00
Erwin Coumans 7e76ee0ad7 make pybullet.getMeshData work for softbody 2019-06-17 21:43:38 -07:00
Erwin Coumans 20d9ad5f24 Merge remote-tracking branch 'bp/master' 2019-06-17 20:37:34 -07:00
erwincoumans bfc390abf9 Merge pull request #2293 from fuchuyuan/getMeshData 
get mesh data api
 2019-06-17 20:37:18 -07:00
Chuyuan Fu 229e87c3c9 get mesh data api 
fix compile

fix typo
 2019-06-17 19:00:53 -07:00
Erwin Coumans d888c50f15 avoid getting stuck in RemoteGUIHelper when graphics server isn't started first. 2019-06-17 18:30:39 -07:00
erwincoumans 1061b3d816 Update btMprPenetration.h 
fix typo
 2019-06-17 09:39:25 -07:00
erwincoumans 2d1594cb29 Merge pull request #2287 from erwincoumans/master 
fix testlaikago and pd_controller_stable
 2019-06-15 12:58:39 -07:00
Erwin Coumans 9d21deb712 use GUI mode in IK example 2019-06-15 12:58:02 -07:00
Erwin Coumans e286fbd9f2 fixes for RemoteGUIHelper 2019-06-15 10:30:48 -07:00
Erwin Coumans ee3680765e fixes for RemoteGUIHelper 2019-06-14 14:34:56 -07:00
Erwin Coumans ced65ce3e3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-14 08:19:46 -07:00
Erwin Coumans 708f66ac42 add RemoteGUIHelper to communicate between graphics client/server 2019-06-14 08:06:21 -07:00
Erwin Coumans 4318221d6d Merge remote-tracking branch 'bp/master' 2019-06-14 07:51:09 -07:00
erwincoumans dd23cadd73 Merge pull request #2291 from bulletphysics/revert-2221-c_api_refactor_build 
Revert "C api refactor build"
 2019-06-14 07:50:33 -07:00
erwincoumans e1326adff5 Revert "C api refactor build" 2019-06-14 07:49:24 -07:00
Erwin Coumans 95a79800ec Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-13 23:24:42 -07:00
Erwin Coumans 6160b52fd7 graphicsServer to workaround OpenGL issues on some servers. 2019-06-13 23:24:22 -07:00
Erwin Coumans 8f9fac99bd add kinematic version that also updates the base position/orientation from the base 2019-06-13 13:26:52 -07:00
Erwin Coumans dc9549b2b4 Merge remote-tracking branch 'bp/master' 2019-06-10 16:24:42 -07:00
erwincoumans 5ec8339b6f Merge pull request #2270 from jamoflaw/deadlock-on-exit 
Destroy semaphore after join
 2019-06-10 19:24:28 -04:00
erwincoumans 9457646737 Merge pull request #2279 from AndreaCatania/patch-3 
Fix initialization order
 2019-06-10 19:23:49 -04:00
Erwin Coumans 8c796a954c Merge remote-tracking branch 'bp/master' 2019-06-10 16:21:20 -07:00
bla 3e32cf94e7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-06 21:54:47 +00:00
bla 6ab09fe06e fix testlaikago and pd_controller_stable 2019-06-06 21:54:22 +00:00
Andrea Catania 960cadd919 Fix initialization order 
This commit is necessary in order to fix the error that we get in godot with the flag: "-Werror=reorder"
 2019-06-03 12:54:19 +02:00
biller23 5a4f9ca495 Fix GCC alignement macros on Windows 2019-06-03 10:10:54 +00:00
erwincoumans 500264ca23 Merge pull request #2276 from erwincoumans/master 
add toes to Mini Cheetah
 2019-06-02 18:29:29 -04:00
erwincoumans d7c0c9c017 update ExampleBrowser InverseKinematics example to track 4 end effectors at once. 2019-06-01 19:43:27 -07:00
erwincoumans 36896db828 Merge remote-tracking branch 'bp/master' 2019-06-01 07:29:31 -07:00
erwincoumans dd8885bf32 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-01 07:29:09 -07:00
erwincoumans 4d3ee40895 Update btLemkeSolver.h 
address this issue: https://github.com/bulletphysics/bullet3/pull/2253
 2019-05-31 19:09:28 -07:00
erwincoumans 5e1d645a09 Merge pull request #2221 from goretkin/c_api_refactor_build 
C api refactor build
 2019-05-31 19:06:18 -07:00
Erwin Coumans f838e22bd9 fix some warnings 2019-05-31 19:00:38 -07:00
Erwin Coumans 4247104050 add toes to Mini Cheetah 2019-05-31 15:04:53 -07:00
erwincoumans df465f8a73 Merge pull request #2273 from erwincoumans/master 
simplify previous commit do/while
 2019-05-31 14:24:07 -07:00
Erwin Coumans 3c74ae8366 Add approximate Mini Cheetah URDF and example in pybullet 
Thanks to Sangbae Kim and Donghyun Kim at the MIT Biomimetics Robotics Lab
 2019-05-31 14:21:10 -07:00
Erwin Coumans 9d2a527d87 fix issue in MJCF importer due to previous commit 2019-05-30 16:13:03 -07:00
Erwin Coumans 1933661124 change quadruped, remove old files 2019-05-30 14:55:47 -07:00
Erwin Coumans 63e13d32cb remove unused var 2019-05-30 10:34:48 -07:00
Erwin Coumans 6b9b30786f simplify previous commit do/while -> while 2019-05-30 10:30:08 -07:00