Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity
5,288 Commits 10 Branches 0 Tags
4e03c36fa6112b7bf46d71390e6adf5ead6556a9
Commit Graph

343 Commits

Author SHA1 Message Date
erwincoumans
4e03c36fa6 add pybullet.multiplyTransforms and pybullet.invertTransform 
use btAssert instead of assert (glGetError is really slow)
shift default light-position a little bit, to make faces different color
 2017-05-29 21:55:58 -07:00
erwincoumans
5436b8f048 print better error warning, in case the physics client/server version mismatch. 
fix in b3HashString
remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!)
move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder.
PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
 2017-05-28 17:05:18 -07:00
erwincoumans
c36792c950 fix bodyIndex -> bodyUniqueId in pybullet. 2017-05-28 13:30:20 -07:00
erwincoumans
f9c53b39a2 fix pybullet build on some MSVC versions 2017-05-28 09:48:12 -07:00
Erwin Coumans
b645963879 expose pybullet changeDynamics(spinningFriction=..., rollingFriction=..., restitution=...) 
Bullet C-API b3ChangeDynamicsInfoSetSpinningFriction/RollingFriction/Resitution
b3PhysicsParamSetRestitutionVelocityThreshold, / pybullet.setPhysicsEngineParameter restitutionVelocityThreshold:
if the velocity is below this threshhold, the restitution is zero (this prevents energy buildup at near-resting state)
pybullet restitution.py example.
 2017-05-26 18:14:38 -07:00
Erwin Coumans
2b9c67b07c TinyRenderer: discard pixels beyond farplane 
pybullet: printf build date/time
 2017-05-25 17:25:14 -07:00
erwincoumans
5103f3b72d Merge pull request #1146 from jietan/pullRequest 
Pull request to update to the latest minitaur agent and env
 2017-05-24 16:26:17 -07:00
Jie Tan
1d0db4ec2e update to the latest agent and environment. 2017-05-24 11:20:42 -07:00
Erwin Coumans
5e2599863d trackObject -> parentObject 
trackLinkIndex -> parentLinkIndex
add example debugDrawItems.py
 2017-05-24 09:06:15 -07:00
Erwin Coumans
0f63e7a2f6 Merge remote-tracking branch 'bp/master' 2017-05-23 22:06:07 -07:00
Erwin Coumans
7bb802a91b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-23 22:05:38 -07:00
Erwin Coumans
db008ab3c2 Improve debug text/line rendering, can be use to draw frames and text in local coordinate of an object / link. 
example:
kuka = p.loadURDF("kuka_iiwa/model.urdf")
p.getNumJoints(kuka)
pybullet.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],trackObjectUniqueId=2,trackLinkIndex=6)
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],trackObjectUniqueId=2,trackLinkIndex=6)
Also allow to render text using a given orientation (instead of pointing to the camera), example:
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textOrientation=[0,0,0,1], trackObjectUniqueId=2,trackLinkIndex=6)
Add drawTexturedTriangleMesh, for drawing 3d text.
Expose readSingleInstanceTransformToCPU, to extract position/orientation from graphics index.
updateTexture: allow to not flip texels around up axis
 2017-05-23 22:05:26 -07:00
Jie Tan
18fd1a003f remove redundant and potentially confusing data 2017-05-23 16:34:13 -07:00
erwincoumans
4f3d60f4d0 Merge pull request #1142 from jietan/pullRequest 
add back sonnet dependency. If sonnet is not installed, fall back to …
 2017-05-23 10:05:36 -07:00
yunfeibai
dacdcb0508 Add the pybullet example. 2017-05-22 22:26:57 -07:00
yunfeibai
d383799d97 Merge remote-tracking branch 'upstream/master' 2017-05-22 22:23:55 -07:00
yunfeibai
3eb974f66f Add kuka grasping block playback. 2017-05-22 22:23:01 -07:00
Jie Tan
671c4bf10e add back sonnet dependency. If sonnet is not installed, fall back to simpleAgent that does not need sonnet. 2017-05-22 20:57:18 -07:00
Erwin Coumans
9420ecded3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-21 19:49:26 -07:00
Erwin Coumans
19933a9454 Merge remote-tracking branch 'bp/master' 2017-05-21 12:16:34 -07:00
Erwin Coumans
aa2787520b examples\pybullet\examples\humanoid_knee_position_control.py : allow both knees to be actuated against limit 2017-05-21 11:35:06 -07:00
erwincoumans
148716d0ff Merge pull request #1135 from erwincoumans/master 
disable Grasp Soft Body/SoftBody coupling demo unless USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD is defined, fixed related hang in experimental 'loadBunny' command
 2017-05-21 11:00:43 -07:00
Erwin Coumans
fd40ba424b test for knee joint limits under position control 2017-05-21 11:00:15 -07:00
Jie Tan
8a6a46d180 remove sonnet dependency 2017-05-18 16:12:38 -07:00
Erwin Coumans
c2fdffba35 pybullet.enableJointForceTorqueSensor kwlist was not properly terminated 2017-05-17 19:37:51 -07:00
Erwin Coumans
19295f2859 enable file caching, currently only for Wavefront .obj files. You can disable file caching using 
pybullet.setPhysicsEngineParameter(enableFileCaching=0)
Allow VR camera tracking only using position tracking, no orientation tracking (use
pybullet.setVRCamera([posX,posY,posZ],trackObjectFlag=0 or pybullet.VR_CAMERA_TRACK_OBJECT_ORIENTATION)
 2017-05-17 19:29:12 -07:00
Erwin Coumans
972660f825 Only initialized values if provided (and don't initialize default if not provided!) 
fixes getCameraImage(width,height) crash
 2017-05-17 17:25:34 -07:00
Erwin Coumans
433d11d8cf Add a btIDEbugDraw::clearLines, helps multi-threaded rendering of lines (while updating those lines in a dynamics world in a different thread) 
Expose COV_ENABLE_VR_RENDER_CONTROLLERS, to enable/disable rendering of controllers (and some frames) in VR
Expose COV_ENABLE_RENDERING to enable/disable rendering.
Fix some multi-threading issues (potential crashes), related to debug drawing/rendering in one thread, while changing the dynamics world/removing/resetSimulation in a different thread.
 2017-05-16 12:19:03 -07:00
Erwin Coumans
4dea68e43e allow to enable/disable VR picking and VR teleport. Disabling VR picking will also disable the rendering of the VR controller frames. 2017-05-15 11:39:39 -07:00
Erwin Coumans
bb4c195118 added getJointStates and make humanoid_running.py use it to reduce Python<->C++ calling overhead a lot. 2017-05-13 18:07:49 -07:00
Erwin Coumans
f80838e989 expose the changeVisualShape RGBA color for TinyRenderer, OpenGL3 renderer. 2017-05-13 09:18:36 -07:00
Erwin Coumans
845eb43610 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-12 17:18:10 -07:00
Erwin Coumans
85c84ce09a remove other humanoids in single humanoid_running.py example 2017-05-12 17:18:04 -07:00
Erwin Coumans
79e2c10506 add second humanoid_running_3.py example with 3 humanoids, for testing. Created a humanoid_symmetric_no_ground.xml and ground.xml: 
if the ground is duplicated, simulation is unstable (too many contacts in the same area?)
 2017-05-12 17:17:27 -07:00
Erwin Coumans (google)
c068cb8297 bump up pybullet to 1.0.3, 
allow humanoid_running.py to run on Python 2.7
 2017-05-12 21:21:03 +00:00
Erwin Coumans
3bdc60c050 fix pybullet inversekinematics argument order (O/i) 
add spinning friction to some tutorial
 2017-05-12 11:18:33 -07:00
Erwin Coumans
0ad3fade4e physicsClientId always comes last for each pybullet command 2017-05-12 09:38:17 -07:00
erwincoumans
ac7518d24b Update humanoid_running.py 
remove obsolete fps comment, runs at > 1000FPS on my laptop
 2017-05-11 22:51:50 -07:00
erwincoumans
0e12277cfb Update humanoid_running.py 
disable sleep and use GUI mode by default
 2017-05-11 22:26:49 -07:00
erwincoumans
d4ec33d8e4 Merge pull request #1115 from erwincoumans/master 
added the humanoid_running.py from this pull request, modified so it …
 2017-05-12 05:16:50 +00:00
Erwin Coumans
97235578fb added the humanoid_running.py from this pull request, modified so it works with plain pybullet. 2017-05-10 18:08:43 -07:00
erwincoumans
f74adffb84 Merge pull request #1114 from YunfeiBai/master 
Add an example to decode the packed button events from vr log.
 2017-05-10 23:41:12 +00:00
yunfeibai
c9aad0b6b0 format change 2017-05-10 16:15:13 -07:00
yunfeibai
719dba5cd1 keep the original dumpLog, and create a dumpVrLog 2017-05-10 16:12:45 -07:00
yunfeibai
c3e3e1e983 modify vr button log parse example 2017-05-10 15:33:58 -07:00
yunfeibai
cfb8316297 Add an example to decode the packed button events from vr log. 2017-05-10 15:07:49 -07:00
Erwin Coumans
53a82819a0 expose b3LoadMJCFCommandSetFlags / pybullet.pybullet_loadMJCF(fileName,flags=pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS) 2017-05-10 15:01:25 -07:00
Erwin Coumans
051e3f8b0c Merge remote-tracking branch 'bp/master' 2017-05-09 11:37:25 -07:00
yunfeibai
a587d4fec4 Use "change" instead of "reset" for changing dynamics info. 2017-05-09 10:44:33 -07:00
yunfeibai
98654a0cb4 Change dynamic to dynamics in dynamics info. 2017-05-09 10:31:28 -07:00