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  • 585f858842 PyBullet: bump up API version due to move of tinyrenderer into a plugin erwincoumans 2018-01-17 12:51:19 -08:00
  • 012f4534fd Merge branch 'master' of https://github.com/erwincoumans/bullet3 erwincoumans 2018-01-17 12:49:27 -08:00
  • 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. erwincoumans 2018-01-17 12:48:48 -08:00
  • c6a350b807 BulletInverseDynaimcs: re-applied fix PyBullet: increase humanoid training from 30 to 300M (need to figure out the right hyperparameters...) Erwin Coumans 2018-01-16 21:54:46 -08:00
  • df89ce6f92 small refactor of LinkVisualShapesConverter / TinyRendererVisualShapeConverter, it allows to use it in a Python module and in a PyBullet plugin. erwincoumans 2018-01-16 17:58:19 -08:00
  • 023ec7ce9e Merge pull request #1515 from erwincoumans/master erwincoumans 2018-01-16 17:28:46 -08:00
  • 32d615565d Merge branch 'master' of https://github.com/erwincoumans/bullet3 erwincoumans 2018-01-16 13:39:54 -08:00
  • 68c2253f82 reduce dependency: PhysicsServerCommandProcessor -> PhysicsCommandProcessorInterface erwincoumans 2018-01-16 13:39:37 -08:00
  • 603d674e74 Merge remote-tracking branch 'bp/master' erwincoumans 2018-01-16 10:20:37 -08:00
  • 173eec93fc Merge pull request #1513 from erwincoumans/master erwincoumans 2018-01-16 10:20:14 -08:00
  • 055930817e apply a maximum velocity for the KUKA arm, otherwise motion can become very unrealistic erwincoumans 2018-01-16 10:17:57 -08:00
  • af43e6465d fix wrong enum type Erwin Coumans 2018-01-15 15:13:11 -08:00
  • 19ecca396a Merge pull request #1512 from erwincoumans/master erwincoumans 2018-01-15 14:55:45 -08:00
  • 18c83592f3 bump up PyBullet to version 1.8.2 Erwin Coumans 2018-01-15 12:53:41 -08:00
  • 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 erwincoumans 2018-01-15 12:48:32 -08:00
  • 9ffb05eb3b fix double->float issue by cast, fixes issue #1510 fix possible out-of-bounds access in btMultiBody erwincoumans 2018-01-15 11:59:00 -08:00
  • 9d405fde67 PyBullet: free cached textures PyBullet: bool PhysicsServerCommandProcessor::pickBody, disable collision filtering to allow picking of all objects erwincoumans 2018-01-15 08:36:08 -08:00
  • 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' erwincoumans 2018-01-15 08:33:19 -08:00
  • 3c770e56fb PyBullet/C-API: only free handle if we found it erwincoumans 2018-01-14 12:35:40 -08:00
  • 0919ce0f30 PyBullet: fix issue when picking an object while it is remove using PyBullet.removeBody erwincoumans 2018-01-14 11:01:57 -08:00
  • d83cf58731 Merge pull request #1509 from erwincoumans/master erwincoumans 2018-01-13 18:14:52 -08:00
  • ed890f23e6 add implicit plane_implicit.urdf and use it in humanoid_running.py (numpy version) erwincoumans 2018-01-13 13:47:28 -08:00
  • e961800278 parse plane geom for URDF files (not just SDF) erwincoumans 2018-01-13 13:41:46 -08:00
  • 1b569c0701 Add humanoid_running.py using just numpy (no tensorflow, no gym) for testing erwincoumans 2018-01-13 13:39:57 -08:00
  • c7a4222b58 Merge pull request #1506 from erwincoumans/master erwincoumans 2018-01-12 09:02:51 -08:00
  • 1875652d8f add cup example, generated using vhacd Erwin Coumans 2018-01-12 09:01:16 -08:00
  • 0e41cc65c9 bump up pybullet version Erwin Coumans 2018-01-11 21:11:27 -08:00
  • f4cc95c0d8 Merge remote-tracking branch 'bp/master' Erwin Coumans 2018-01-11 21:10:48 -08:00
  • 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"] Erwin Coumans 2018-01-11 21:04:08 -08:00
  • cdbd93e519 Merge pull request #1503 from erwincoumans/master erwincoumans 2018-01-10 12:22:01 -08:00
  • 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. erwincoumans 2018-01-10 11:16:50 -08:00
  • 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 erwincoumans 2018-01-09 22:47:56 -08:00
  • 164d3e62c3 remove testing getToeForces Erwin Coumans 2018-01-09 18:13:34 -08:00
  • 616d3358bd update MinitaurSetup.cpp/h to allow switching between different minitaurs. add getToeForces, thanks to Avik (requires 8 toes!) erwincoumans 2018-01-09 17:38:51 -08:00
  • 8879ec38d6 Merge pull request #1501 from erwincoumans/master erwincoumans 2018-01-09 15:55:00 -08:00
  • 15a429f1bf premake build system fixes erwincoumans 2018-01-09 12:23:25 -08:00
  • 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) erwincoumans 2018-01-09 10:10:36 -08:00
  • bf6d805228 fix compile issues on Windows after recent softbody patch erwincoumans 2018-01-09 08:43:00 -08:00
  • e932583237 Merge pull request #1499 from wrosecrans/fix-nproc erwincoumans 2018-01-09 07:42:12 -08:00
  • 7118470eb6 Merge pull request #1500 from YunfeiBai/master erwincoumans 2018-01-09 07:40:20 -08:00
  • de3b8bf3c9 Merge branch 'master' into master YunfeiBai 2018-01-08 18:13:03 -08:00
  • 0e0d3da2b5 Add python binding and a pybullet example for loading softbody from obj. yunfeibai 2018-01-08 18:10:28 -08:00
  • 6a74f63604 Merge pull request #1498 from erwincoumans/master erwincoumans 2018-01-08 16:45:28 -08:00
  • 61636038d8 bump up pybullet version Erwin Coumans 2018-01-08 16:16:59 -08:00
  • 90c5d66e1b fix for Python 2.x Erwin Coumans 2018-01-08 16:15:54 -08:00
  • a6e817756e Bail if cmake or make fails. PRint a friendly message if you make it to the end. Will Rosecrans 2018-01-08 15:07:14 -08:00
  • 6fa4945da0 ln to force mode to suppress message if target already exists. Will Rosecrans 2018-01-08 15:05:20 -08:00
  • e2105dfaad Fix nproc unavailable Will Rosecrans 2018-01-08 15:00:20 -08:00
  • 7acd169bef Tidy build script Will Rosecrans 2018-01-08 14:48:58 -08:00
  • 1e0d1c2b6d Merge pull request #1496 from erwincoumans/master erwincoumans 2018-01-08 13:23:44 -08:00
  • f39d83580b Merge remote-tracking branch 'bp/master' Erwin Coumans 2018-01-08 12:29:32 -08:00
  • e97b751781 further work on urdfEditor.py, fix some serialization issues Erwin Coumans 2018-01-08 12:25:56 -08:00
  • d3bc98e245 Add filename as an argument in the softbody loading function. yunfeibai 2018-01-07 19:56:46 -08:00
  • d077bdec07 Change the API names for loading softbody. yunfeibai 2018-01-07 19:24:37 -08:00
  • e3e9546960 Load the deformable object through obj file. Modify the demo for two way coupling between multibody and softbody. yunfeibai 2018-01-07 19:06:09 -08:00
  • a85a4f387b more work on UrdfEditor.py Erwin Coumans 2018-01-06 15:00:20 -08:00
  • 9a9aa5e9e7 example of joint motor with friction Erwin Coumans 2018-01-06 13:43:07 -08:00
  • 02e5d51052 bump up version Erwin Coumans 2018-01-05 14:23:45 -08:00
  • 9523df2519 warning fix (param name different in header/cpp) Erwin Coumans 2018-01-04 15:48:59 -08:00
  • dfbb586cba Merge branch 'master' of https://github.com/erwincoumans/bullet3 Erwin Coumans 2018-01-04 15:45:04 -08:00
  • 380738308d Merge pull request #1495 from erwincoumans/master erwincoumans 2018-01-04 15:18:30 -08:00
  • 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 Erwin Coumans 2018-01-04 13:14:11 -08:00
  • 6237386c7c Merge pull request #1494 from erwincoumans/master erwincoumans 2018-01-04 12:11:08 -08:00
  • 23efbdb593 Merge branch 'master' of https://github.com/erwincoumans/bullet3 Erwin Coumans 2018-01-04 12:10:31 -08:00
  • 4743d2770a fix recently introduced crashing bug in MJCF reader due to https://github.com/bulletphysics/bullet3/pull/1484 (Issue 1484) Erwin Coumans 2018-01-03 21:47:58 -08:00
  • 36c258fd3d fix PhysicsLoopBack Erwin Coumans 2018-01-03 21:38:09 -08:00
  • 60b5ffc13a Merge remote-tracking branch 'bp/master' Erwin Coumans 2018-01-03 21:34:29 -08:00
  • 577ee86012 Update README.md erwincoumans 2018-01-03 19:30:12 -08:00
  • 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 Erwin Coumans 2018-01-03 19:17:28 -08:00
  • dc50c0ff3b Merge pull request #1493 from jietan/pullRequest erwincoumans 2018-01-02 19:45:14 -08:00
  • 85bd1ce2b4 Merge remote-tracking branch 'bp/master' into pullRequest Jie 2018-01-02 18:54:07 -08:00
  • de11d71246 use the right mass for the rotational part of motors. Jie 2018-01-02 18:53:38 -08:00
  • a1492f50fc Merge pull request #1492 from erwincoumans/master erwincoumans 2017-12-31 19:19:35 -08:00
  • 35b44f8a85 implement pybullet.saveState command, for in-memory storage of state. bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010 Erwin Coumans 2017-12-31 15:37:16 -08:00
  • 515aa9ee9b Merge pull request #1491 from erwincoumans/master erwincoumans 2017-12-31 13:39:27 -08:00
  • 4c6df650d4 skip serialization of empty contact manifolds. Erwin Coumans 2017-12-31 11:28:22 -08:00
  • f104765c47 added some template to restore (syncMultiBody, syncContactManifolds) for single float and double precision, in 'pybullet.restoreState' Erwin Coumans 2017-12-31 11:19:29 -08:00
  • 20e00d11d8 further work on saveRestoreState.py Erwin Coumans 2017-12-30 21:57:42 -08:00
  • 9c55b61315 pybullet.createVisualShape: process sphere radius, box half extents, capsule+cylinder radius/length fixes issue #1427, https://github.com/bulletphysics/bullet3/issues/1427 Erwin Coumans 2017-12-30 17:42:13 -08:00
  • 4084c1cc71 also add serializeContactManifolds to btSoftMultiBodyDynamicsWorld.cpp and btDiscreteDynamicsWorld. Erwin Coumans 2017-12-30 14:20:20 -08:00
  • 0326fa93a8 made some progress in saving and restoring the state during the simulation, with identical results. Option to de/serialize btPersistentContactManifolds and fix lossy conversion during btMultiBody de/serialization of base world transform (serialize the quaternion, not the converted 3x3 matrix) There are still several caches not taken into account, and btMultiBody links/constraints are not deserialized yet etc. See examples\pybullet\examples\saveRestoreState.py for an example. Erwin Coumans 2017-12-30 14:19:13 -08:00
  • e3a85493e8 Merge pull request #1484 from rhaps0dy/MJCFImporter erwincoumans 2017-12-29 10:58:08 -08:00
  • 28803dc56f Merge pull request #1487 from erwincoumans/master erwincoumans 2017-12-29 10:55:15 -08:00
  • 29cfac096b compile fix in pybullet.c Erwin Coumans 2017-12-28 12:57:49 -08:00
  • 22e23d22d1 double/single precision compile fix Erwin Coumans 2017-12-28 12:55:47 -08:00
  • 5517cbc4e0 add segmask_linkindex.py example using p.getCameraImage(320,200,flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX) to extract object unique id and link index from segmentation mask in getCameraImage Erwin Coumans 2017-12-28 12:37:07 -08:00
  • afd1066c50 pybullet.getCameraImage: preparation to expose link index in segmentation mask buffer Erwin Coumans 2017-12-28 10:18:35 -08:00
  • 78e4d9675e Merge branch 'master' of https://github.com/erwincoumans/bullet3 Erwin Coumans 2017-12-28 10:15:46 -08:00
  • 97547eda0d preliminary work towards saveState/restoreState and saveRestoreState.py example (not implemented yet) allow multiple options in connect, for example: p.connect(p.GUI, options="--width=640, --height=480") Erwin Coumans 2017-12-28 10:05:51 -08:00
  • d0561d81b0 Merge branch 'master' of https://github.com/erwincoumans/bullet3 Erwin Coumans 2017-12-26 07:59:07 -08:00
  • 712a088303 Merge remote-tracking branch 'bp/master' Erwin Coumans 2017-12-23 11:02:52 -08:00
  • ddabc6b70c bump up pybullet version Erwin Coumans 2017-12-23 11:02:22 -08:00
  • cb2fcfd032 Skipping calculateLocalInertia is unnecessary Adrià Garriga 2017-12-23 17:56:47 +01:00
  • 4d70d54d19 Support for reading <inertial> elements from MJCF Adrià Garriga 2017-12-23 08:49:48 +01:00
  • 799d030874 restore multibody world transform and joint angles/velocities from a .bullet file. Erwin Coumans 2017-12-22 14:45:36 -08:00
  • 60d2af8ed2 Merge pull request #1483 from erwincoumans/master erwincoumans 2017-12-20 17:46:36 -08:00
  • 41f9bb89e5 expose API to change the local inertia diagonal, pybullet.ChangeDynamics(objectUid, linkIndex, localInertiaDiagonal=[xx,yy,zz]) erwincoumans 2017-12-20 16:56:31 -08:00
  • 6803c80f89 Merge pull request #1482 from erwincoumans/master erwincoumans 2017-12-20 16:09:01 -08:00
  • eb35cba740 expose local inertia diagonal in C-API, PyBullet, through the 'getDynamicsInfo' render the inertia boxes in examples/pybullet/examples/quadruped.py and examples/pybullet/examples/reset_dynamic_info.py fix an issue where the original margin (0.04) was used to compute the inertia, instead of latest margin erwincoumans 2017-12-20 14:54:32 -08:00
  • ecba966890 add minitaur rainbow dash (carbon fiber) simulating flexibility in outside brackets using prismatic joints Erwin Coumans 2017-12-19 14:44:39 -08:00