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erwincoumans-findpython_fix
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3316 Commits

Author SHA1 Message Date
erwincoumans
bb1da5b5f5 try to fix travis, update inertia for Laikago, reset camera at the right time (#3021) 
* laikago_toes_zup.urdf: fill in inertia values, computed as PyBullet does internally (from mass and collision volumes)

* reset camera in the rendering thread to avoid artifacts

* reset camera in the rendering thread to avoid artifacts

* try to fix travis error
 2020-08-31 13:35:03 -07:00
erwincoumans
0ebc43b21e Update deep_mimic_env.py 
fix errors
 2020-08-31 11:36:15 -07:00
Florian Golemo
58708f6bea Update gzguts.h (#3012) 
Adding this makes the library build successfully on Mac Catalina with Miniconda 3.7 on the latest CLANG. Otherwise you get errors that in C99 the functions "write", "close", and "read" aren't defined.
 2020-08-27 14:34:31 -07:00
David CARLIER
cbff4a0a06 Fix openglwindows example build on netbsd. (#3008) 
not support for pthread_getconcurrency.
 2020-08-27 06:55:50 -07:00
erwincoumans
2c9a55da54 Update PhysicsServerCommandProcessor.cpp 
fix potential crash, if user doesn't provide valid body unique id in pybullet.setCollisionFilterGroupMask
 2020-08-14 16:59:56 -07:00
Erwin Coumans
8b42b90393 Merge remote-tracking branch 'bp/master' 2020-08-13 19:38:36 -07:00
erwincoumans
76a9b51993 Merge pull request #2931 from AiRuiChen/fix-minitaur-logging 
Fix minitaur_logging proto and import
 2020-08-13 19:35:11 -07:00
erwincoumans
15041841a5 Merge pull request #2933 from AiRuiChen/fix-pybullet-gym-envs 
Fix pybullet gym envs
 2020-08-13 19:33:21 -07:00
Erwin Coumans
16efd7b288 fix memory leak in pybullet.calculateJacobian 2020-08-13 17:02:54 -07:00
Erwin Coumans
8504384b63 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-08-13 16:41:33 -07:00
Erwin Coumans
306245d68b fix potential memory leak in createMultiBody, reported by Fei Xia here (thanks for report/repro!) 
https://github.com/bulletphysics/bullet3/issues/2898
 2020-08-13 16:40:37 -07:00
Erwin Coumans
82493e9fbb fix copy/paste bug in pybullet.c related to collisionShapeOrientationAObj (missing Obj) 
this would lead to the collisionShapeOrientationA not being considered.
 2020-08-12 21:26:43 -07:00
erwincoumans
e52a30de68 Update TinyRendererVisualShapeConverter.cpp 
only create a texture for a plane, not sphere (backward compatibility tests break)
 2020-08-12 10:12:45 -07:00
erwincoumans
17d373db55 Merge pull request #2937 from addy1997/master 
prev keyword removed
 2020-08-11 08:30:55 -07:00
erwincoumans
19dfc6754a Merge pull request #2971 from WilliamTambellini/fixWarning 
Fix warning in examples/Utils/ChromeTraceUtil.cpp
 2020-08-11 08:29:35 -07:00
erwincoumans
b2a473da19 Merge pull request #2980 from sippeyxp/find_file_logic 
Simplify logic for searching files in UrdfFindMeshFile and prioritize…
 2020-08-11 08:28:08 -07:00
Peng Xu
20667bd7d0 Pybullet fast numpy input support for rayTestBatch. 2020-08-11 02:19:23 -07:00
Peng Xu
fc676c02c9 Simplify logic for searching files in UrdfFindMeshFile and prioritize path without prefix. 2020-08-11 01:48:55 -07:00
Erwin Coumans
ff229baf1e TinyRenderer: support plane shape (creating similar textured plane to OpenGL renderer) 
TinyRenderer: perform clipping in double precision to improve accuracy
 2020-08-10 20:19:00 -07:00
Erwin Coumans
038cc196e1 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-08-10 17:02:06 -07:00
Erwin Coumans
7d9bcafda8 when using stablePDPlugin, approximate inertia by box for unsupported shapes. 2020-08-10 17:00:19 -07:00
William Tambellini
3726c72d11 Fix warning in examples/Utils/ChromeTraceUtil.cpp 
Fix warning in examples/Utils/ChromeTraceUtil.cpp :
bullet3/examples/Utils/ChromeTraceUtil.cpp:122:62: warning:
format ‘%lu’ expects argument of type ‘long unsigned int’,
but argument 4 has type ‘long long unsigned int’ [-Wformat=]:
for startTimeDiv1000, ...
Tested:
- examples/ExampleBrowser/App_ExampleBrowser --tracing
- press the P key to write the profiler json file
- head /tmp/timings_0.json
- open /tmp/timings_0.json with chrome://tracing
 2020-08-07 17:38:42 -07:00
Erwin Coumans
a17df118f1 re-add constraints.py I wanted to delete the changes, not the file! 
(confusing github UI!)
 2020-08-07 09:32:30 -07:00
erwincoumans
d1505e187a Merge pull request #2950 from DarioUrbina/develop_dario 
Inverted Pendulum Actuated by Tendons
 2020-08-07 09:30:32 -07:00
erwincoumans
2bc3d87d8d Delete constraint.py 2020-08-07 09:29:39 -07:00
Xuchen Han
eef0d647cd Tune parameters to effectively reduce the stiffness of the picking force. 2020-08-03 23:05:08 -07:00
erwincoumans
b623f5d123 Merge pull request #2967 from erwincoumans/master 
fix raycast filter masks, they can be negative
 2020-08-03 13:18:27 -07:00
erwincoumans
eb32f48000 Merge pull request #2958 from buoyancy99/patch-1 
fix bug of using undefined name p
 2020-08-03 11:37:19 -07:00
Erwin Coumans
d12d886e13 raycast filter masks can be negative, always apply the mask (-1 default). Thanks to Tingnan for reporting/reproduction case. 2020-08-03 11:00:14 -07:00
Erwin Coumans
51aed38377 fix import 2020-07-31 15:30:53 -07:00
buoyancy99
1edb8d17f9 fix bug of using undefined name p 2020-07-29 23:51:40 -07:00
Xuchen Han
fa0d452651 Initialize proper collision margin for deformable_ball.py 2020-07-28 21:00:27 -07:00
Erwin Coumans
1e8f39b492 improve premake4 build in case X11 headers are missing 
improve video_sync_mp4.py example
allow to create a heightfield from file or programmatically in C++ robotics api. Example:

{
		b3RobotSimulatorCreateCollisionShapeArgs shapeArgs;
		shapeArgs.m_shapeType = GEOM_HEIGHTFIELD;
		bool useFile = true;
		if (useFile)
		{
			shapeArgs.m_fileName = "D:/dev/bullet3/data/heightmaps/gimp_overlay_out.png";
			shapeArgs.m_meshScale.setValue(.05, .05, 1);
		}
		else
		{
			shapeArgs.m_numHeightfieldColumns = 256;
			shapeArgs.m_numHeightfieldRows = 256;
			shapeArgs.m_meshScale.setValue(.05, .05, 1);
			shapeArgs.m_heightfieldData.resize(shapeArgs.m_numHeightfieldRows * shapeArgs.m_numHeightfieldColumns);
			double heightPerturbationRange = 0.05;
			for (int j = 0; j<int(shapeArgs.m_numHeightfieldColumns / 2); j++)
			{
				for (int i = 0; i < (int(shapeArgs.m_numHeightfieldRows / 2)); i++)
				{
					double height = ((double)rand() / (RAND_MAX)) * heightPerturbationRange;
					shapeArgs.m_heightfieldData[2 * i + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + 1 + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + 1 + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
				}
			}
		}
		int shape = sim->createCollisionShape(shapeArgs.m_shapeType, shapeArgs);
		b3RobotSimulatorCreateMultiBodyArgs bodyArgs;
		bodyArgs.m_baseCollisionShapeIndex = shape;
		int groundId = sim->createMultiBody(bodyArgs);
		int texId = sim->loadTexture(shapeArgs.m_fileName);
		b3RobotSimulatorChangeVisualShapeArgs args;
		args.m_objectUniqueId = groundId;
		args.m_linkIndex = -1;
		args.m_textureUniqueId = texId;
		sim->changeVisualShape(args);
	}
 2020-07-24 18:09:13 -07:00
Darío Urbina
370b2f72ff valerolab 2020-07-23 09:32:46 -07:00
Darío Urbina
5081ac5b34 Inverted Pendulum Tendon Actutation 2020-07-22 11:19:10 -07:00
Erwin Coumans
1de2269b6e add removeState in C++ API, see also Issue https://github.com/bulletphysics/bullet3/issues/2935 2020-07-17 15:04:54 -07:00
CuriousCAT
9c62c3f1f1 prev keyword removed 2020-07-16 11:46:49 +05:30
Eric Yihan Chen
3a6a279b9a Fix pybullet gym envs 2020-07-14 21:08:51 -07:00
Eric Yihan Chen
6b38a4cfdb Fix minitaur logging proto and import 2020-07-14 17:16:29 -07:00
Erwin Coumans
c9ca9cb6c6 disable Center of Mass tracking reward by default, since resulting policies don't work well. 
See also https://github.com/bulletphysics/bullet3/issues/2928#issuecomment-658349531
 2020-07-14 12:10:15 -07:00
Erwin Coumans
f22d88d6ff fix build 2020-07-13 14:45:23 -07:00
Erwin Coumans
fc024f00f9 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-07-13 14:28:00 -07:00
Erwin Coumans
caa8b26ce5 Fixes in TinyAudio, play sound on collision impact, can be configured in URDF/SDF file. 
Requires a modified setup.py (or use premake4 to compile)

Example script:
import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane_with_collision_audio.urdf")
box = p.loadURDF("cube.urdf",[0,0,1])
p.setGravity(0,0,-10)
while (1):
  p.stepSimulation()
  time.sleep(1./240.)
 2020-07-13 14:07:58 -07:00
Darío Urbina
01d74be777 Seeing the relatonship and understanding of the creation of two contraints 2020-07-13 12:22:49 -07:00
erwincoumans
d19cd89b4a Merge pull request #2912 from ManifoldFR/deepmimic-gym-fixes 
DeepMimic: add COM reward
 2020-07-08 10:54:20 -07:00
ManifoldFR
1f6ae38040 DeepMimic: add retrained walk motion with COM 2020-07-08 17:03:46 +02:00
Erwin Coumans
d88d0e92ef also update m_jointLowerLimit/m_jointUpperLimit in multibody link. 2020-07-07 19:49:29 -07:00
Erwin Coumans
c517c434e6 pybullet allow to enable/change joint limits: 
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLowerLimit=..., jointUpperLimit=...) # jointLowerLimit <= jointUpperLimit

and joint limit max force:
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLimitForce=...)

For example:
p.changeDynamics(sphereUid,linkIndex, jointLowerLimit=1, jointUpperLimit=3, jointLimitForce=10.5)

add b3ChangeDynamicsInfoSetJointLimit/b3ChangeDynamicsInfoSetJointLimitForce
add getConstraintType for btMultiBodyConstraint
 2020-07-07 19:42:23 -07:00
ManifoldFR
5901caa207 Merge branch 'master' into deepmimic-gym-fixes 2020-07-08 00:51:26 +02:00
Erwin Coumans
9de78ab6b3 fix array size in inverse kinematics orientation command 
bump up shared memory version, since this was a potentially incompatible change
 2020-07-06 22:57:03 -07:00