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1025 Commits
Author SHA1 Message Date
erwincoumans 49a2771522 Implement the pybullet/Python equivalent of vr_kuka_setup_vrSyncPlugin.py 
In vr_kuka_setup_vrSyncPython.py, the vr controller is synced in Python, introducing a small lag
Invr_kuka_setup_vrSyncPlugin.py, the vr controller is synced in C++ at the same frequency as the physics time step (240 Hz by default)
 2017-10-09 10:52:25 -07:00
Erwin Coumans 91d164d886 remove obsolete CartPoleBulletEnv 2017-10-09 09:44:54 -07:00
erwincoumans 2f2f070ab5 allow changeVisualShape (rgbaColor, specularColor and texture) for maximal coordinates rigid body (btRigidBody) 
Make the examples\pybullet\examples\createVisualShape.py a bit more interesting
 2017-10-08 11:34:42 -07:00
erwincoumans b2edd81ef6 touch up createVisualShape.py example 2017-10-07 19:00:44 -07:00
erwincoumans 3826dddc83 fix asset paths, createVisualShape.py and duck.obj 2017-10-07 18:52:22 -07:00
erwincoumans cec8da3d85 Implement first draft of pybullet.createVisualShape and add createVisualShape.py example 
add normals to duck.obj for nicer appearance
fix plane100.urdf (so collision shape matches visual shape size)
 2017-10-07 18:50:23 -07:00
Erwin Coumans 127982ab88 fix more bugs, introduced in previous recent commits 2017-10-06 16:00:33 -07:00
Erwin Coumans 26d32f2aa8 improve loading performance of large textures: 
option to disable tinyrenderer, use p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
also make sure to use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loadURDF, and enable rendering afterwards using p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
reorder 2 loops, making the flip texels twice as fast (cache coherency),
single memcpy of entire texture in tinyrenderer, instead of per-pixel copy (memory layout is the same)
add lots of B3_PROFILE timings, to see where time is going
 2017-10-06 13:46:24 -07:00
erwincoumans b572fe43f9 fix signal handling in ExampleBrowser on linux/mac on termination 
expose all analogue axes from OpenVR (5 controllers, each x,y -> 10 floats) in pybullet.getVREvents(allAnalogAxes=1)
 2017-10-05 12:59:58 -07:00
erwincoumans 822ff077c7 expose some parameters through pybullet.getPhysicsEngineParameters (C-API: b3InitRequestPhysicsParamCommand + b3GetStatusPhysicsSimulationParameters) 2017-10-05 11:43:14 -07:00
erwincoumans 1262adeaec build a named tuple for 'getConnectionInfo' 
remove debug code
 2017-10-05 09:57:17 -07:00
erwincoumans 9303891468 Allow to configure Y=up, default is Z=up, using pybullet.configureDebugVisualizer(COV_ENABLE_Y_AXIS_UP,0/1) 
Implement pybullet.getConnectionInfo, returns [isConnected, connectionMethod], where isConnected=0 or 1
 2017-10-05 09:02:33 -07:00
erwincoumans a2d6a2e822 Merge pull request #1350 from bingjeff/add_mass_matrix 
[pybullet] Add calculateMassMatrix.
 2017-10-05 07:45:30 -07:00
erwincoumans 05b71a521d update unity3d/examples/NewBehaviourScript.cs to load a plane and cube, synchronize the world transform 
added debug rendering from CjLib (with DrawLine from my fork here: https://github.com/erwincoumans/unity-cj-lib)
 2017-10-04 12:21:52 -07:00
erwincoumans 1b03871b4d use explicit size for name, to avoid issue converting/marshalling data to C# 
example to call b3VisualShapeInformation from C# and marshall b3VisualShapeData (after loadURDF)
See examples\pybullet\unity3d\examples\NewBehaviourScript.cs
 2017-10-03 18:01:53 -07:00
Erwin Coumans acbe457d31 add option to statically link a plugin, select the postFix (to avoid naming conflict of multiple plugins functions ('initPlugin' becomes initPlugin_postFix) 
pass events (keyboard, mouse, vr controllers etc) to the plugin, and clear them after the tick callback, so that it doesn't interfere with Python 'getEvents'
 2017-10-03 15:00:52 -07:00
Erwin Coumans cd88614a22 search for the controller, instead of using a hard-coded number. 2017-10-02 12:22:46 -07:00
Jeffrey Bingham e04820af73 Add calculateMassMatrix to pybullet.c 2017-09-30 20:39:56 -07:00
erwincoumans a632b6c6a4 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-29 08:01:11 -07:00
erwincoumans dd2c7af2b2 Update pybullet autogenerated C# bindings, with very basic example script that runs inside Unity 3D 2017-09-29 07:47:31 -07:00
Erwin Coumans 0948ce5984 import missing functools 2017-09-28 10:42:02 -07:00
Erwin Coumans 345836d670 revert to original agents train/visualize scripts, but using pybullet envs in configs.py (agents lacks a convenient way to extend environments) 2017-09-28 10:19:41 -07:00
Jeffrey Bingham cd231c030e more formatting. 2017-09-27 22:35:02 -07:00
Jeffrey Bingham d8b80bce40 Fix the translation jacobian. 2017-09-27 22:25:39 -07:00
Jeffrey Bingham 6da931d0bd Adjust jacobian.py to show mismatch between joint state and link state. 2017-09-27 22:25:39 -07:00
Jeffrey Bingham 0b239e8bc0 [pybullet] Add an example for jacobian. 2017-09-27 22:25:39 -07:00
yunfeibai 54eada7579 Fix memory leak. 2017-09-27 16:42:29 -07:00
yunfeibai 85be3b43dd Merge remote-tracking branch 'upstream/master' 2017-09-27 15:20:11 -07:00
yunfeibai 113e103bc2 Modify the joint damping input check, and output error message when it doesn't pass the size check. Modify the kuka grasping example accordingly. Setting joint damping in this example was a no-op before. 2017-09-27 15:18:08 -07:00
yunfeibai adcece7927 Adjust the IK setup to address the inverse kinematics issues mentioned in #1249. 2017-09-27 14:14:57 -07:00
Erwin Coumans 4dca5b3ef5 fix typos in agents config 2017-09-27 12:17:59 -07:00
Erwin Coumans a716752915 add __init__.py file in agents folder 2017-09-27 10:30:05 -07:00
Erwin Coumans 5082d6af15 bump up pybullet version, instruction to visualize agents ppo: 
python -m pybullet_envs.agents.visualize_ppo -config=pybullet_pendulum --logdir=pendulum/20170927T101514-pybullet_pendulum/ --outdir=vid

tensorboard --logdir=20170927T101514-pybullet_pendulum --port=2222
 2017-09-27 10:26:45 -07:00
Erwin Coumans e4a3b3fe38 add TensorFlow Agents PPO training script for various pybullet environments: 
example:

python -m pybullet_envs.agents.train_ppo --config=pybullet_pendulum --logdir=pendulum
 2017-09-27 10:20:38 -07:00
Erwin Coumans c37919604f add minitaur environment randomizer, enable it by default 
this improves PPO training ( more stable)
 2017-09-27 09:07:21 -07:00
erwincoumans 12f28c5f76 fix compile issue on MSVC 2017-09-26 19:58:24 -07:00
erwincoumans e72ebc95de Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-26 19:54:57 -07:00
erwincoumans 8a265b8af2 expose gear erp/relative position target to C-API/pybullet 
finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
 2017-09-26 19:54:36 -07:00
Erwin Coumans b03e5dec5f return -1 for debugDrawItems in DIRECT mode, instead of failing the API 2017-09-26 11:40:38 -07:00
erwincoumans b1f8eb74a4 bump up shared memory version number 
add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency
 2017-09-26 10:05:17 -07:00
erwincoumans 0f30c95734 fix a compile error on Windows (variables need to be declared together at the start of a block in C) 2017-09-25 07:38:00 -07:00
Erwin Coumans 705a59ea73 Merge remote-tracking branch 'bp/master' 2017-09-24 22:50:55 -07:00
Erwin Coumans 2d91e13886 tweak pybullet examples a bit (mac OSX OpenGL runs in mainloop, with python interpreter, 
so it needs some 'ping' command
bump up pybullet to version 1.4.6
 2017-09-24 21:37:31 -07:00
Jeffrey Bingham ee30ca93c5 [sharedmemory] Fill-out calculateJacobian command. 
The server command processor actually didn't do anything with
the local point that was passed along with the calculateJacobian
command. Added in the necessary bit of math to return the
corresponding jacobian.

Also, fixed a typo in pybullet that was returning the same
jacobian for translation and rotation.
 2017-09-24 18:57:48 -07:00
Erwin Coumans 70364445b8 Merge remote-tracking branch 'bp/master' 2017-09-24 09:49:53 -07:00
erwincoumans b1d6f58981 Update pybullet.c 
fix compile issue
 2017-09-24 09:16:54 -07:00
Jeffrey Bingham 1727e47beb [pybullet] Add calculateJacobian. 
* Add the calculateJacobian method to the pybullet API.
* Adjust the shared memory interface to handle fixed/floating bases
  in the calculateJacobian method.
* Fix a few comments.
 2017-09-23 19:58:59 -07:00
erwincoumans 8e496036c6 More work on the C/C++ plugin system for pybullet/C-API: 
Add preTickPluginCallback/postTickPluginCallback
User pointer for b3PluginContext, to store objects (class/struct instances)
Pass ints and floats as optional argument for plugin executePluginCommand
 2017-09-23 18:05:23 -07:00
erwincoumans 37cfce99b2 add arguments to plugin system 2017-09-23 07:52:10 -07:00
Erwin Coumans 3783dccaa3 create a C/C++ plugin system for pybullet / C-API. 2017-09-22 19:17:57 -07:00