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Author SHA1 Message Date
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
erwincoumans 835dea5c3f Merge pull request #963 from erwincoumans/master 
disable keyboard toggle in Linux/X11, revert num solver iterations to 50 (from 150)
 2017-02-16 15:58:23 -08:00
Erwin Coumans 8f546acbe8 disable keyboard toggle in Linux/X11 
revert num solver iterations to 50 (from 150)
set solver iterations for one gripper grasp to 150
 2017-02-16 15:56:42 -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
erwincoumans 904a1b5f05 Merge pull request #962 from erwincoumans/master 
VR recording, URDF importer, manyspheres.py etc
 2017-02-16 14:47:42 -08:00
Erwin Coumans 65deeee64b add optimized tray/traybox.urdf 2017-02-16 14:29:51 -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
erwincoumans 67b0c89347 Merge pull request #958 from erwincoumans/master 
remove some sleep delays from PhysicsServerExample physics loop.
 2017-02-12 09:58:45 -08:00
Erwin Coumans c41ad60c59 Merge remote-tracking branch 'bp/master' 2017-02-12 08:55:24 -08:00
erwincoumans 5d4e71bdb1 Merge pull request #955 from erwincoumans/master 
add roll/pitch/yaw example, utility to read/write Minitaur log files, remove 'delay' causing issues with hand.py example
 2017-02-09 19:56:10 -08:00
Erwin Coumans 6db217b36a remove some sleep delays from PhysicsServerExample physics loop. 2017-02-09 18:27:51 -08:00
Erwin Coumans 4587813a63 Merge remote-tracking branch 'bp/master' 2017-02-09 17:10:47 -08:00
erwincoumans 32b15d7aee Merge pull request #952 from YunfeiBai/master 
Add depth image when using hardware renderer.
 2017-02-09 15:58:18 -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
Erwin Coumans 0e8bc418d7 add utility for reading and writing of minitaur quadruped robot log files. 
Example usage:
const char* fileName = "D:/LOG00053.TXT";
btAlignedObjectArray<MinitaurLogRecord> logRecords;
btAlignedObjectArray<std::string> structNames;
std::string structTypes;
bool verbose = false;
//reading
int val = readMinitaurLogFile(fileName, structNames, structTypes,
logRecords, verbose);

//writing
const char* fileNameOut = "D:/LOG00100.TXT";
FILE* f = createMinitaurLogFile(fileNameOut,structNames,structTypes);
for (int i=0;i<logRecords.size();i++)
{
  appendMinitaurLogData(f, structTypes, logRecords[i]);
}
closeMinitaurLogFile(f);
 2017-02-09 09:48:50 -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
yunfeibai ce69f27f32 Modify the depth buffer value in TinyRenderer to be consistent as in OpenGL. 2017-02-08 11:34:38 -08:00
Erwin Coumans 0c464e6848 [pybullet] add example for roll, pitch, yaw 2017-02-08 09:27:51 -08:00
erwincoumans 07ba9f6629 Merge pull request #954 from erwincoumans/master 
Attempt to use VERSION string for CMakeLists.txt
 2017-02-08 07:42:38 -08:00
Erwin Coumans 04b3e88cde Attempt to use VERSION string for CMakeLists.txt 
See Issue 953, https://github.com/bulletphysics/bullet3/issues/953
 2017-02-07 19:15:22 -08:00
yunfeibai 8034a6f7fc Merge remote-tracking branch 'upstream/master' 2017-02-07 17:21:14 -08:00
yunfeibai 151bc8e12c Add depth image when using hardware renderer. 2017-02-07 17:19:48 -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
erwincoumans 9705bb7681 Merge pull request #949 from YunfeiBai/master 
EGL OpenGL window.
 2017-02-07 08:39:12 -08:00
erwincoumans 61b68edb58 Merge pull request #951 from jietan/pullRequest 
add minitaur class and test to the pull request
 2017-02-07 08:29:55 -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
erwincoumans 8a85b3b697 Update Utility.cpp 
reduce stack size, it conflicts with some in-house build systems/compiler limits.
 2017-02-06 17:20:03 -08:00
Jie Tan 692f7680a2 add minitaur class and test to the pull request 2017-02-06 16:27:54 -08:00
yunfeibai c92fd6120d EGL OpenGL window. 2017-02-06 16:22:17 -08:00
erwincoumans 88fdffba04 pybullet/shared memory API: add some more check for out-of-bounds indices when setting up a command. 
avoid many run-time memory allocations in btCompoundCompoundCollisionAlgorithm
 2017-02-04 12:32:42 -08:00
erwincoumans b342f08f86 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-02-03 21:05:40 -08:00
erwincoumans 7e08e960a1 Merge pull request #945 from YunfeiBai/master 
Set joint damping in IK.
 2017-02-03 17:04:25 -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 abbd3ad884 minor fix. 2017-02-03 12:46:49 -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
yunfeibai ce9378f819 Add shared memory API and RobotSim API for setting joint damping in IK. 2017-02-03 11:08:44 -08:00
erwincoumans c1eabcf059 Merge pull request #944 from erwincoumans/master 
[pybullet] fix type quation->quaternion, fix getVisualShapeData int->float, URDF parser accepts <xx/yy/zz> inertial data.
 2017-02-03 09:24:20 -08:00
Erwin Coumans 257b7b89aa update pybullet quickstart guide: add 'colorRGBA' to getVisualShapeData 2017-02-03 08:38:46 -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 ab5a86576f Update CommonRigidBodyMTBase.cpp 2017-02-01 16:04:37 -08:00
erwincoumans bbf596bce8 Update CommonRigidBodyMTBase.h 2017-02-01 16:03:00 -08:00
erwincoumans e1cfe94ac9 no special case for <=1 minimumSolverBatchSize 2017-02-01 11:20:36 -08:00
yunfeibai 0022d0dafb Modify damped least square IK formulation. Test setting joint damping coefficients for IK. 2017-01-31 22:58:37 -08:00