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fc2992b75a5822dc2df1bbb8d5da5afa34bb97fe
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1401 Commits

Author SHA1 Message Date
Erwin Coumans
fc2992b75a Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-22 20:41:45 -07:00
Erwin Coumans
184b7816d0 LICENSE should have no txt extension 2021-04-22 16:45:29 -07:00
Erwin Coumans
c915e82d49 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-22 16:20:31 -07:00
Erwin Coumans
83a5fe2d31 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-21 22:14:38 -07:00
Erwin Coumans
9f91e6837a remove type annotations 
bump up pybullet version
 2021-04-20 15:50:12 -07:00
erwin coumans
e58e5bdf95 PyBullet: 
expose pybullet.changeDynamics(sleepThreshold), default 0.05, for both useMaximalCoordinates=False and True
When the dot(vel,vel) < sleepThreshold for longer than 2 seconds (this timeout is hard coded) objects that have the ACTIVATION_STATE_ENABLE_SLEEPING enabled with be deactivated
Example:
p.changeDynamics(ob, -1, activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING, sleepThreshold=0.05)
 2021-04-20 11:29:27 -07:00
erwin coumans
84a63cf221 allow to use the useMultiBody argument for loadMJCF command 
note that for dynamic and static objects (without joints) it is best to set useMultiBody=False
 2021-04-19 20:37:26 -07:00
Erwin Coumans
973d8c128f Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-07 22:13:18 -07:00
jaraujo98
dcf9c8d6a5 Replace xrange with range 
The xrange function was deprecated in Python 3. Removing it for compatibility.
 2021-04-06 11:26:39 -07:00
erwincoumans
21d1b8fc71 Merge pull request #3339 from erwincoumans/master 
add pybullet_examples, fix pybullet_envs.minitaur.envs_v2, bump up pybullet 3.1.2
 2021-04-05 19:53:38 -07:00
Erwin Coumans
5205dafcc2 add __init__.py 2021-04-05 19:51:38 -07:00
Erwin Coumans
29f388a5d8 add selected examples under pybullet_examples 2021-04-05 19:50:46 -07:00
Erwin Coumans
513e3a7db4 add more __init__.py files 2021-04-05 18:07:39 -07:00
Erwin Coumans
674c82db89 bump up pybullet version to 3.1.2 
add missing __init__.py files
 2021-04-05 17:58:25 -07:00
erwincoumans
2c3318f86d Merge pull request #3331 from erwincoumans/master 
add performCollisionDetection (stepSimulation also calls this, but do…
 2021-04-05 12:54:39 -07:00
erwin coumans
8b8c1af6a4 Cleaned-up/fixed version of this Pull Request #3239, thanks to Wenlong Lu 2021-04-05 11:40:45 -07:00
erwin coumans
4d34ba7310 add updated Laikago envs_v2, with PMTG and MPC examples. 
python -m pybullet_envs.minitaur.envs_v2.locomotion_gym_env_test
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_mpc_wrapper_example
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_static_gait_example
python -m pybullet_envs.minitaur.agents.baseline_controller.locomotion_controller_example
PMTG example, not well tuned:
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_pmtg_example
 2021-04-05 11:35:19 -07:00
Erwin Coumans
58d47935a3 Merge remote-tracking branch 'bp/master' 2021-03-26 11:53:37 -07:00
erwin coumans
d1c4c41b9a add performCollisionDetection (stepSimulation also calls this, but does more, including solving constraints and integration) 2021-03-26 10:31:13 -07:00
erwincoumans
93be7e6440 Merge pull request #3311 from erwincoumans/master 
allow to compile pybullet using btDiscreteDynamicsWorld (no btMultiBody, no btSoftBody, no btDeformableBody)
 2021-03-26 10:29:04 -07:00
erwin coumans
546212b158 add mug obj 2021-03-22 16:53:17 -07:00
erwincoumans
395e17c7bf Merge pull request #3238 from yycho0108/add-link-names-to-createmultibody 
Add linkNames argument to CreateMultibody
 2021-03-15 22:48:33 -07:00
erwin coumans
5cf8ee3360 Allow to compile pybullet using btDiscreteDynamicsWorld (no multibodies and no deformables), this allows to create Jacobian and Mass matrix (and A=J*M-1*J_transpose) with MLCP solvers 
Add examples/pybullet/gym/pybullet_utils/readwriteurdf.py, this allows to read a URDF and write the URDF with more reasonable inertia tensors (based on mass and collision volumes)
 2021-03-15 22:44:55 -07:00
erwincoumans
0c7ea68709 Merge pull request #3246 from Danfoa/master 
Fix Stable-PD Control bug on First Order Taylor approximation of next `q` state
 2021-03-07 08:19:37 -08:00
Erwin Coumans
adcaa75777 enable v-hacd in cmake for BulletRobotics and pybullet build (use cmake -DENABLE_VHACD=OFF .. to disable) 
cmake: enable stable PD plugin (-DDSTATIC_LINK_SPD_PLUGIN)
btMultibody, make some args const in mulMatrix
 2021-03-01 14:03:48 -08:00
Erwin Coumans
97add36b9f update bullet_client.py to accept options 
p.connect(p.GUI, options="--background_color_red=1 --background_color_blue=1 --background_color_green=1")

If you use bullet_client.py, you can use:
p = bc.BulletClient(connection_mode=pybullet.GUI,options="--background_color_red=1 --background_color_blue=1 --background_color_green=1")
--mouse_move_multiplier=0.4
--mouse_wheel_multiplier=0.01
--mp4=moviename.mp4
 2021-02-25 16:32:39 -08:00
daniel.ordonez
f719c27b04 Fix Stable PD bug on First Order Taylor approximation of next q state 2021-01-27 21:59:49 -05:00
yycho0108
c0d9553d65 add link names args to CreateMultibody 2021-01-20 15:53:24 +09:00
erwincoumans
de8f04f819 Update pybullet.c 2021-01-17 23:42:28 -08:00
Erwin Coumans
21bc93a084 disable cone friction in example 2021-01-15 14:42:12 -08:00
Erwin Coumans
10020baa71 fix memory leak in calculateInverseKinematics2, reported here: 
https://github.com/bulletphysics/bullet3/issues/3228
Thanks jcoholich for the report and repro case!
 2021-01-15 14:38:48 -08:00
Erwin Coumans
3f9d0197ec allow to specify hostName 2020-12-22 20:13:03 -08:00
erwincoumans
87b633bb76 Update pybullet.c 
send output to stderr (pybullet build message), helps towards Issue #3131
 2020-12-08 17:38:47 -08:00
Erwin Coumans
ec55878a82 remove some files, wheels are exceeding 100MB on pypi... 2020-11-26 15:06:51 -08:00
erwincoumans
a72ce295b4 Merge pull request #2840 from mahyaret/master 
KukaCamGymEnv
 2020-11-13 10:44:26 -08:00
erwincoumans
2a0f811c3b Merge pull request #3076 from tfederico/master 
Add multiclip loading and reward
 2020-11-13 10:02:49 -08:00
Shayekh Bin Islam
91c002232f Sutton's url shifted 
The site hosting the c code pole.c has been changed.
 2020-11-13 11:26:09 +06:00
erwincoumans
4c46f9ce39 Merge pull request #3087 from davidcavazos/patch-1 
Add documentation to notebook
 2020-10-14 11:54:30 -07:00
David Cavazos
656a1e7472 Removed notice on slow installation 2020-10-13 15:34:33 -07:00
Erwin Coumans
954ceff2ec Add an option for a plugin to report return data after calling executePluginCommand. Also add python binding. 
Currently the return data has to fit in shared memory, 8MB (Linux, Windows) or 1MB (Apple)
Preparation for streaming is added (to allow unlimited return data, see CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA)

New C-API: b3GetStatusPluginCommandReturnData
PyBullet reports return data if available, in pybullet_executePluginCommand

For the plugin developer:
plugin can provide additional return data for executePluginCommand in the b3PluginContext, during executePluginCommand.
Lifetime of this m_returnData pointer is minimum of next call to the next executePluginCommand or plugin termination.
 2020-10-06 20:19:39 -07:00
Yuxiang Yang
82182e1ba7 Add <inertia> for missing links in a1.urdf 
Currently a few collision frames in a1.urdf ("{FL/FR/RL/RR}_upper_shoulder") do not have <inertia> defined, and pybullet loads as if they have 1kg mass. This leads to inaccurate simulation results.
 2020-10-06 00:28:24 -07:00
David Cavazos
e78d31171b Fix Colab link 2020-09-29 08:32:48 -07:00
David Cavazos
9c2313f5c8 Add documentation 
Adds documentation to explain each step and have links to useful pages to improve the onboarding experience.
 2020-09-29 08:30:36 -07:00
tfederico
be27283a8e add pretrained policies and remove extra motion file 2020-09-25 12:16:51 +01:00
Erwin Coumans
3d220888fa disable cone friction 2020-09-24 09:19:51 -07:00
tfederico
91cb40c5ba add plotting utility 2020-09-23 16:18:51 +01:00
tfederico
61df6d2ff4 remove comments and unused code 2020-09-23 16:15:30 +01:00
Erwin Coumans
cfd3c99f0e add spirit40 urdf file, compatible with 
https://github.com/google-research/motion_imitation/pull/26
 2020-09-21 17:44:07 -07:00
Erwin Coumans
2e1b84487b Add a soccerball obj/urdf, hand-modeled in Blender, using guidance from https://www.youtube.com/watch?v=N93n6hPsqkI (but using texture mapping so the export to OBJ works in PyBullet) 2020-09-21 16:11:52 -07:00
Erwin Coumans
1bd82e7d81 allow rendering of (textured) heightfield in TinyRenderer and EGL. 
Also update normals, if heightfield is updated.
 2020-09-20 16:03:56 -07:00