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1041 Commits
Author SHA1 Message Date
erwincoumans 29772fc3b4 Merge pull request #965 from jietan/pullRequest 
Pull request
 2017-02-21 05:10:01 -08:00
erwincoumans 07bd911c36 Merge pull request #966 from erwincoumans/master 
add tiny clsocket cross-platform TCP  library, update pybullet PDF doc
 2017-02-20 21:17:22 -08:00
Erwin Coumans 5c74b0a199 add cmake support for TCP / clsocket in pybullet 2017-02-20 20:55:37 -08:00
Erwin Coumans 28146e816f export TCP connection mode to pybullet 
made TCP disconnection detection more reliable
 2017-02-20 20:34:05 -08:00
Erwin Coumans 3d73a9d788 shmem preliminary TCP implementation (not working yet) 2017-02-20 16:46:25 -08:00
yunfeibai e12981fd45 Enable logging a specified list of objects for generic robot logging. 2017-02-20 12:17:12 -08:00
yunfeibai a3c1fec171 Add logging for generic robot and an example of logging state of kuka and cubes. 2017-02-17 17:41:57 -08:00
erwincoumans 8af62239b0 Update pybullet.c 2017-02-17 15:15:13 -08:00
Erwin Coumans cfd35840f0 initial implementation of state logging. 
see examples/pybullet/logMinitaur.py for example. Other state logging will include general robot states and VR controllers state.
 2017-02-17 14:25:53 -08:00
Erwin Coumans 2b27ab2463 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-02-17 10:48:03 -08:00
Erwin Coumans 34c3fca8d5 prepare state logging system (log state of robot, vr controllers after each stepSimulation) 2017-02-17 10:47:55 -08:00
Jie Tan 0665a447af refactor to make minitaur example more general 2017-02-16 15:23:46 -08:00
Jie Tan 83e5e816f5 Merge remote-tracking branch 'bp/master' into pullRequest 2017-02-16 15:13:12 -08:00
Erwin Coumans 63486a712c VR video recording, use command-line --mp4=videoname.mp4 
tune gripper grasp example with tefal pan, 800Newton force.
URDF importer: if using single transform 1 child shape, don't use compound shape.
if renderGUI is false, don't intercept mouse clicks
add manyspheres.py example (performance is pretty bad, will look into it)
[pybullet] expose contactBreakingThreshold
 2017-02-16 14:19:09 -08:00
Erwin Coumans 08b83c3cd8 Merge remote-tracking branch 'bp/master' 2017-02-16 13:41:12 -08:00
Jie Tan 509b77054a now minitaur class can output joint angles, velocities and torques. I also extract evaluate functions to a file 2017-02-09 14:43:40 -08:00
Jie Tan 4df8b27626 make the motorId corresponds to that of the real minitaur. change the mass of the quadruped.urdf, change the friction of plane.urdf. 2017-02-08 17:26:36 -08:00
Erwin Coumans 0c464e6848 [pybullet] add example for roll, pitch, yaw 2017-02-08 09:27:51 -08:00
erwincoumans 46c7974927 Merge pull request #947 from erwincoumans/master 
[pybullet] add some out-of-bounds checks, reduce run-time memory allocations
 2017-02-07 12:07:40 -08:00
Erwin Coumans 56b4ac278b pybullet workaround for very slow Mac OSX GUI mode, since OpenGL can only run in main thread, just like the Python interpreter 
improve quadruped.py script, to allow 'useRealTime' 0 or 1
 2017-02-07 08:08:55 -08:00
Jie Tan 692f7680a2 add minitaur class and test to the pull request 2017-02-06 16:27:54 -08:00
yunfeibai be77fb269f Add joint damping in pybullet IK example. 2017-02-03 16:36:20 -08:00
yunfeibai df07f2aaaa minor fix 2017-02-03 14:44:25 -08:00
yunfeibai 3442b6524a Merge remote-tracking branch 'upstream/master' 2017-02-03 12:32:08 -08:00
yunfeibai ac5a8aa2d6 Set joint damping in pybullet. 2017-02-03 12:03:07 -08:00
Erwin Coumans 58f37f85f4 fix type 'getMatrixFromQuaterion -> getMatrixFromQuaternion' (missing n, thanks Jie Tan for the report) 
fix type of dimensions, visualframe in pybullet.getVisualShapeData (thanks Michael Ahn for the report)
 2017-02-03 08:34:22 -08:00
erwincoumans 3a42b356e2 Add profile markers for BenchmarkDemo raytest. 
Implement pybullet enableJointForceTorqueSensor, add forcetorquesensor.py example.
 2017-01-31 10:14:00 -08:00
erwincoumans 26a34e3cda Move ChromeTracing in its own file, and add tracing support for VR server (App_SharedMemoryPhysics_VR) 
Add a bit of extra sleep in PhysicsServer thread, to make rendering smoother.
 2017-01-29 20:59:47 -08:00
Erwin Coumans 2ea7111933 [pybullet] clear error after parsing UDP string argument (instead of shared memory 'int' argument) 2017-01-28 13:03:01 -08:00
erwincoumans 1dec1a39ce Add the pybullet vrhand.py script used in this haptic video: 
Make sure to run the App_SharedMemoryPhysics_VR with --norobotassets option, then
run vr_kuka_setup.py, to add some environment + objects.
 2017-01-26 17:22:01 -08:00
Erwin Coumans e652696f52 report localVisualFrame instead localInertialFrame 2017-01-25 08:29:45 -08:00
erwincoumans d2c7d0b57d Merge pull request #926 from erwincoumans/master 
more improvements to pybullet (bodies/constraints are up-to-date after reconnection), pybullet quickstart guide
 2017-01-22 21:22:10 -08:00
Erwin Coumans cad45b9c20 add test script to move pr2 controller using pybullet (after initializing the world using vr_kuka_setup.py 2017-01-22 19:48:28 -08:00
Erwin Coumans cf9f022d39 [pybullet] getNumConstraints, getConstraintInfo APIs. 
[pybullet] updated pybullet_quickstartguide.pdf
Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal.
pybullet getConstraintInfo
Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
 2017-01-22 19:08:31 -08:00
Erwin Coumans f237c4440f pybullet: only allow a single local in-process GUI connection 
update pybullet quickstart guide
 2017-01-21 14:30:37 -08:00
erwincoumans d834bc72af Merge pull request #925 from erwincoumans/master 
Prepare for Bullet 2.86 release, update version to 2.86 (release will…
 2017-01-21 12:32:41 -08:00
Erwin Coumans 64957ece9f add hand.py/hand.ino used to create this VR glove, using MuJoCo Haptix MPL hand (Apache 2 license) 
https://www.youtube.com/watch?v=VMJyZtHQL50
added b3InitSyncBodyInfoCommand, to retrieve body info, when connecting to a server with existing bodies
pybullet will call this b3InitSyncBodyInfoCommand automatically after connecting
Avoid overriding the py.setVRCameraState setting in VR
 2017-01-20 18:13:24 -08:00
Erwin Coumans d81d62a70b Prepare for Bullet 2.86 release, update version to 2.86 (release will be tagged soon) 
protect some C-API methods against negative dof indices
add triangle mesh import from MJCF files
update to recent pybullet quickstart guide pdf
 2017-01-20 11:48:33 -08:00
Benelot d3305bb76f Change jointIndex to linkIndex in getLinkState error message. 2017-01-19 09:11:06 +01:00
Erwin Coumans 52761f5578 [pybullet] implement addUserDebugParameter / readUserDebugParameter 
fix inertial frame for door.urdf
allow picking of links of multi-bodies with a fixed base
 2017-01-17 15:42:32 -08:00
Erwin Coumans 12a391e1f9 [pybullet] expose collision filter mode and max constraint force: 
pybullet.changeUserConstraint(maxForce=<double>)
pybullet.setPhysicsEngineParameter(collisionFilterMode=<int>)
 2017-01-16 18:17:18 -08:00
Erwin Coumans c0c4c8ba3f fix many warnings 
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
 2017-01-15 22:26:11 -08:00
Erwin Coumans 9aa5a839d5 add pybullet.changeConstraint / b3InitChangeUserConstraintCommand/ b3InitChangeUserConstraintSetPivotInB /b3InitChangeUserConstraintSetFrameInB command, to change an existing user constraint. 
add constraint.py example.
allow pybullet.createConstraint to create user constraint without a child body ('fixed' to the world)
 2017-01-12 10:30:46 -08:00
Erwin Coumans 8caea20425 small tweak in inverse_kinematics.py example, to make it run better on OSX 2017-01-11 21:57:02 -08:00
Erwin Coumans 4897139dad pybullet.calculateInverseKinematics: expose null space method with and without orientation 
add inverse_kinematics.py and hello_pybullet.py pybullet examples
add m_worldLinkFramePosition/Orientation fields to b3LinkState, and in pybullet.getLinkState (URDF link frame in Cartesian/world coordinates)
 2017-01-11 21:39:22 -08:00
Erwin Coumans a051e6f164 fix pybullet unreachable code path 2017-01-07 10:25:10 -08:00
Erwin Coumans 4fc697f646 fix _WIN32 lacking #include <inttypes.h> 
allow creation of multiple shared memory segments on win32.
fix pybullet compilation on Visual Studio 2010 (old compiler)
 2017-01-06 10:19:19 -08:00
Erwin Coumans 83e103ac15 Add pybullet setVRCameraState and b3SetVRCameraStateCommandInit to set the VR camera root transform (position/orientation) and optional tracking object unique id (-1 for no tracking) 
Fix robotcontrol.py script, getContactPointData -> getContactPoints
 2017-01-05 17:41:58 -08:00
Erwin Coumans c940f0ec47 update pybullet quickstart quide PDF 
hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
 2016-12-31 14:43:15 -08:00
Erwin Coumans 82995a8343 pybullet, more robust multi-server connections 
Windows shared memory: allow to use custom key.
Improve GUI performance on Windows, submit letters in text as a batch (fewer draw-calls)
quadruped.py: first try to connect to SHARED_MEMORY, if it fails (<0) use GUI
increase Chrome about://tracing json export capacity (press 'p' in Example Browser)
UDP physics server: add --port and --sharedMemoryKey command-line arguments
PhysicsServerExample: add --sharedMemoryKey command-line option (for VR example too)
ExampleBrowser: sleep a few milliseconds if rendering is too fast, use --minUpdateTimeMicroSecs=0 to disable
 2016-12-28 21:51:54 -08:00