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add pybullet getCameraImage, replacing renderImage, cleaner API:

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always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir
added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV
see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use
add missing base_link.stl for husky.urdf
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erwincoumans
2016-11-17 15:15:52 -08:00
parent ee7a5a470f
commit 8c69fa13ca
11 changed files with 664 additions and 261 deletions
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examples/pybullet/test.py
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@@ -3,7 +3,7 @@ import time
#choose connection method: GUI, DIRECT, SHARED_MEMORY
pybullet.connect(pybullet.GUI)
pybullet.loadURDF("plane.urdf",0,0,-1)
#load URDF, given a relative or absolute file+path
obj = pybullet.loadURDF("r2d2.urdf")