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Author SHA1 Message Date
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
erwincoumans ed9c8fca21 Merge pull request #2981 from sippeyxp/faster_raytest_input 
Pybullet fast numpy input support for rayTestBatch.
 2020-08-11 08:26:35 -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 714e25e8a7 bump pybullet version to 2.8.6 2020-08-10 23:20:29 -07:00
erwincoumans f5802df0d7 Merge pull request #2979 from erwincoumans/master 
TinyRenderer: support plane shape, stablePDPlugin: box fallback for inertia of unsupported shapes
 2020-08-10 23:09:22 -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
erwincoumans 04e3da3604 Merge pull request #2973 from erwincoumans/master 
re-add constraints.py, deleted due to confusing github UI
 2020-08-07 09:33:51 -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
Erwin Coumans f1cca2eea4 Merge remote-tracking branch 'bp/master' 2020-08-07 09:32:16 -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
Erwin Coumans 39500cccaa Merge remote-tracking branch 'bp/master' 2020-08-06 17:35:46 -07:00
erwincoumans b09f9eda1d Merge pull request #2968 from xhan0619/implicit-picking 
Implicit picking
 2020-08-06 17:16:22 -07:00
Xuchen Han eef0d647cd Tune parameters to effectively reduce the stiffness of the picking force. 2020-08-03 23:05:08 -07:00
Xuchen Han ae9fb3ca8f Change picking force to implicit for all integration schemes. 2020-08-03 23:04:47 -07:00
Erwin Coumans ba6117c4ed bump up pybullet to version 2.8.5 2020-08-03 14:00:39 -07:00
Erwin Coumans e109a631b3 bump up pybullet version 2020-08-03 13:42:11 -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
erwincoumans 5143403681 Merge pull request #2956 from xhan0619/demo-fix 
Initialize proper collision margin for deformable_ball.py
 2020-07-30 11:34:39 -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
erwincoumans 579115cf9f Merge pull request #2953 from erwincoumans/master 
improve premake4 build in case X11 headers are missing
 2020-07-24 18:11:10 -07:00
erwincoumans f5cdd6e015 Merge branch 'master' into master 2020-07-24 18:10:40 -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
root 1685aae597 Merge branch 'master' of github.com:bulletphysics/bullet3 2020-07-18 07:41:14 -07:00
root 6af885aa12 fix premake4 script when X11 is missing 2020-07-18 07:40:40 -07:00
erwincoumans b67bf28f93 Merge pull request #2940 from erwincoumans/master 
add removeState in C++ API, see also Issue https://github.com/bulletp…
 2020-07-18 06:25:33 -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
erwincoumans 89328def0f Merge pull request #2930 from erwincoumans/master 
Fixes in TinyAudio, revert CoMreward to false for deep_mimic env
 2020-07-14 19:16:53 -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 6b6cfa6f03 Merge pull request #2921 from erwincoumans/master 
bump up pybullet version to 2.8.4
 2020-07-08 11:18:59 -07:00
Erwin Coumans 53e1365884 bump up pybullet version to 2.8.4 2020-07-08 11:17:03 -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
erwincoumans 0dad934515 Merge pull request #2919 from erwincoumans/master 
pybullet allow to enable/change joint limits:
 2020-07-08 09:59:04 -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