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90c5d66e1b4185c3d75fde079ca95c163f1dd47d
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1713 Commits

Author SHA1 Message Date
Erwin Coumans
90c5d66e1b fix for Python 2.x 2018-01-08 16:15:54 -08:00
Erwin Coumans
e97b751781 further work on urdfEditor.py, fix some serialization issues 2018-01-08 12:25:56 -08:00
Erwin Coumans
a85a4f387b more work on UrdfEditor.py 2018-01-06 15:00:20 -08:00
Erwin Coumans
9a9aa5e9e7 example of joint motor with friction 2018-01-06 13:43:07 -08:00
Erwin Coumans
9523df2519 warning fix (param name different in header/cpp) 2018-01-04 15:48:59 -08:00
Erwin Coumans
c59a3763e5 tweak ImportMJCFSetup.cpp example MJCF humanoid a bit, clamp target positions to be within joint limits to avoid solver problems (conflicting constraints) 
add humanoid_manual_control.py PyBullet example which is similar to ImportMJCFSetup.cpp
 2018-01-04 13:14:11 -08:00
Erwin Coumans
4743d2770a fix recently introduced crashing bug in MJCF reader 
due to https://github.com/bulletphysics/bullet3/pull/1484 (Issue 1484)
 2018-01-03 21:47:58 -08:00
Erwin Coumans
36c258fd3d fix PhysicsLoopBack 2018-01-03 21:38:09 -08:00
Erwin Coumans
79d78a325a Start of a urdfEditor.py, limited support to extract a URDF from a PyBullet body. 
Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape.
Implement PyBullet.getCollisionShapeData
Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!)
Extend PyBullet.getJointInfo: add parentIndex
 2018-01-03 19:17:28 -08:00
erwincoumans
a1492f50fc Merge pull request #1492 from erwincoumans/master 
implement pybullet.saveState command, for in-memory storage of state.
 2017-12-31 19:19:35 -08:00
Erwin Coumans
35b44f8a85 implement pybullet.saveState command, for in-memory storage of state. 
bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010
 2017-12-31 15:37:16 -08:00
erwincoumans
515aa9ee9b Merge pull request #1491 from erwincoumans/master 
some progress in saving and restoring the state
 2017-12-31 13:39:27 -08:00
Erwin Coumans
20e00d11d8 further work on saveRestoreState.py 2017-12-30 21:57:42 -08:00
Erwin Coumans
9c55b61315 pybullet.createVisualShape: process sphere radius, box half extents, capsule+cylinder radius/length 
fixes issue #1427, https://github.com/bulletphysics/bullet3/issues/1427
 2017-12-30 17:42:13 -08:00
Erwin Coumans
0326fa93a8 made some progress in saving and restoring the state during the simulation, with identical results. 
Option to de/serialize btPersistentContactManifolds and fix lossy conversion during btMultiBody de/serialization of base world transform
(serialize the quaternion, not the converted 3x3 matrix)
There are still several caches not taken into account, and btMultiBody links/constraints are not deserialized yet etc.
See examples\pybullet\examples\saveRestoreState.py for an example.
 2017-12-30 14:19:13 -08:00
erwincoumans
e3a85493e8 Merge pull request #1484 from rhaps0dy/MJCFImporter 
Support for reading <inertial> elements from MJCF
 2017-12-29 10:58:08 -08:00
Erwin Coumans
29cfac096b compile fix in pybullet.c 2017-12-28 12:57:49 -08:00
Erwin Coumans
5517cbc4e0 add segmask_linkindex.py example using p.getCameraImage(320,200,flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX) 
to extract object unique id and link index from segmentation mask in getCameraImage
 2017-12-28 12:37:07 -08:00
Erwin Coumans
afd1066c50 pybullet.getCameraImage: preparation to expose link index in segmentation mask buffer 2017-12-28 10:18:35 -08:00
Erwin Coumans
97547eda0d preliminary work towards saveState/restoreState and saveRestoreState.py example (not implemented yet) 
allow multiple options in connect, for example: p.connect(p.GUI, options="--width=640, --height=480")
 2017-12-28 10:05:51 -08:00
Adrià Garriga
cb2fcfd032 Skipping calculateLocalInertia is unnecessary 2017-12-23 17:56:47 +01:00
Adrià Garriga
4d70d54d19 Support for reading <inertial> elements from MJCF 2017-12-23 08:53:10 +01:00
Erwin Coumans
799d030874 restore multibody world transform and joint angles/velocities from a .bullet file. 2017-12-22 14:45:36 -08:00
erwincoumans
41f9bb89e5 expose API to change the local inertia diagonal, pybullet.ChangeDynamics(objectUid, linkIndex, localInertiaDiagonal=[xx,yy,zz]) 2017-12-20 16:56:31 -08:00
erwincoumans
eb35cba740 expose local inertia diagonal in C-API, PyBullet, through the 'getDynamicsInfo' 
render the inertia boxes in examples/pybullet/examples/quadruped.py and examples/pybullet/examples/reset_dynamic_info.py
fix an issue where the original margin (0.04) was used to compute the inertia, instead of latest margin
 2017-12-20 14:54:32 -08:00
erwincoumans
e0bb359804 report the camera target in the ExampleBrowser StatusBarMessage 
(so the parameters reported are compatible with the resetDebugVisualizerCamera API)
 2017-12-14 09:36:36 -08:00
Erwin Coumans
8c0913d96b Merge remote-tracking branch 'bp/master' 2017-12-01 10:25:43 -08:00
Erwin Coumans
c556ad651d expose pybullet 'enableConeFriction' to switch between pyramid and cone friction model. 2017-12-01 10:07:07 -08:00
erwincoumans
5cada6a78d Merge pull request #1464 from erwincoumans/master 
add pybullet unittests.py with travis support
 2017-11-29 10:38:36 -08:00
Erwin Coumans
ec0a182a12 add pybullet unittests.py with travis support 2017-11-28 21:53:26 -08:00
erwincoumans
e76804173a Merge pull request #1463 from erwincoumans/master 
fixes related to torsional friction, due to recent cone friction update.
 2017-11-28 21:18:57 -08:00
erwincoumans
8ff75e11cd fixes related to torsional friction, due to recent cone friction update. 2017-11-28 20:09:56 -08:00
Avik De
fd24219f36 Added note that license is same as bullet3 2017-11-27 09:50:18 -05:00
Avik De
29d72a9fee Hopefully fixed compile on gcc/clang 2017-11-27 09:44:54 -05:00
Avik De
a6d527cca9 added including for cstring... strange that it compiled in VS without it 2017-11-26 21:39:42 -05:00
Avik De
863292fa3d replaced C++11 code 2017-11-26 21:09:57 -05:00
Avik De
5a1c4b7946 added TwoJoint example 2017-11-26 20:38:50 -05:00
Erwin Coumans
6baf82d6d8 improve testrender/np to render faster/interactive on Mac with matplotlib 2017-11-24 18:57:16 -08:00
erwincoumans
c5f79fe979 pybullet testrender.py/testrender_np.py examples, improve matplotlib rendering performance (headless DIRECT and OpenGL/GUI) 2017-11-24 18:09:20 -08:00
erwincoumans
b1c2bdc72a pybullet: fix numpy compile issue on Windows, another fix 2017-11-24 16:50:36 -08:00
Erwin Coumans
82b51ac78d pybullet: fix Windows numpy build 2017-11-24 14:33:24 -08:00
erwincoumans
9936a1cc92 friction cone test 2017-11-23 18:14:29 -08:00
erwincoumans
874d764051 add missing file in CMakeLists.txt 2017-11-23 09:32:31 -08:00
erwincoumans
29aa9cb789 Bullet bump up to version 2.88 
add preliminary support to import btMultiBody from a .bullet file (will help save/restore state)
fix some Windows char/widechar issues
 2017-11-22 18:12:02 -08:00
erwincoumans
76772fd301 reduce stack usage 2017-11-22 15:30:56 -08:00
erwincoumans
ab843b26f0 expose a maximum velocity due to the joint motor in position control. 
see also pybullet/examples/motorMaxVelocity.py
this fixes issue 1444
 2017-11-21 17:05:28 -08:00
Erwin Coumans
3e17f3387a reduce MAX_SDF_BODIES to 512, it causes stack overflow failures in some internal tests 2017-11-20 11:05:31 -08:00
Erwin Coumans
88289c032e fix canvas issues from previous commit 2017-11-18 17:20:21 -08:00
Erwin Coumans
c88132b80f fix issue in pybullet_envs.agents 
bump up to pybullet 1.6.9
 2017-11-18 17:07:27 -08:00
erwincoumans
099a6f65f3 tweak zbuffer visualization, show targetpos in example browser 2017-11-18 15:18:46 -08:00