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843 Commits
Author SHA1 Message Date
Erwin Coumans 9385f36505 add cartpole_bullet, should fix issue 1403 2017-10-25 08:37:01 -07:00
erwincoumans 7524e37124 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-25 08:15:14 -07:00
erwincoumans ed8de36ffa pybullet: allow to replace existing text, to avoid flickering (remove/add) 
allow texture caching (disable using the disable file caching)
 2017-10-25 08:15:01 -07:00
erwincoumans c1ba04a580 Merge pull request #1404 from erwincoumans/master 
perform IK in local body-fixed frame ,  add jointFrictionDamping.py example
 2017-10-25 00:52:16 +00:00
Erwin Coumans 7a1dbf2e59 allow IK on a floating base, see video: 
add inverse_kinematics_husky_kuka.py example
fix spacing in inverse_dynamics.py
 2017-10-25 00:32:47 -07:00
Erwin Coumans 1998a62785 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-23 12:25:34 -07:00
Erwin Coumans ca7d599838 add jointFrictionDamping.py example 
modify testrender.py to add shadow for tiny renderer
 2017-10-23 12:25:04 -07:00
Jonathan Tompson 03b2cfe991 Added gear info to getConstraintInfo return. 
Fixed bug in GEAR constraint update.
 2017-10-22 15:01:13 -07:00
erwincoumans c149840264 Merge pull request #1396 from erwincoumans/master 
API changes in TensorFlow Agents
 2017-10-20 20:46:56 -07:00
Erwin Coumans d18bfec1a9 API changes in TensorFlow Agents 
See https://github.com/tensorflow/agents/commit/164f62032696e06f616268a51d32ca6b84dcbf15#diff-82bda908f176861c20aadc1d017c2527
 2017-10-20 20:32:49 -07:00
erwincoumans 28ea41bfe6 Merge pull request #1393 from YunfeiBai/master 
Expose IK solver options: DLS and SDLS.
 2017-10-20 13:22:56 -07:00
yunfeibai b67bccc575 Add inverse kinematics example for pole, which has a prismatic joint. 2017-10-19 14:30:37 -07:00
yunfeibai dda1b05f4a Expose IK solver options including DLS and SDLS. 2017-10-19 14:00:53 -07:00
Erwin Coumans c178c101a8 fix the pybullet.changeDynamics linear/angular damping 
expose pybullet.getConstraintState
 2017-10-18 19:15:35 -07:00
Erwin Coumans 8750d49082 fix blocking plot.show() never terminating properly 2017-10-13 14:51:06 -07:00
erwincoumans cb23e6c102 Fix pybullet.calculateInverseDynamics in the case where #dof != #joints (fixed joints). We still don't handle spherical joints in pybullet (even though the underlying inverse dynamics and forward dynamics support it) 
Also, add a inverse_dynamics.py example, with URDF files. Thanks to Michiel Lutter for the report and repro case!
This fixes issue #1379 https://github.com/bulletphysics/bullet3/issues/1379
 2017-10-13 14:19:25 -07:00
erwincoumans de44e4811a fix pybullet.addUserDebugText borders around letters 
bump up pybullet version
In a few pybullet examples, first connect to SHARED_MEMORY, if not connected use GUI mode
 2017-10-10 22:11:32 -07:00
Erwin Coumans 91e08ec986 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-09 12:28:07 -07:00
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