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322 Commits

Author SHA1 Message Date
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
Erwin Coumans
0f5b400895 pybullet: implement setJointMotorControlArray, the array version of setJointMotorControl2. This can improve performance in reinforcement learning loops (training / inference) by reducing Python/C-API/shared memory calling overhead. 2017-05-08 13:41:07 -07:00
yunfeibai
92de4ecd31 Add pybullet example to get dynamic info. 2017-05-07 22:41:05 -07:00
Erwin Coumans
6767b986d0 tuned the benchmark a little bit, start with the humanoid on the floor 2017-05-05 18:05:36 -07:00
Erwin Coumans
7003401605 use DIRECT mode for benchmark 2017-05-05 17:57:07 -07:00
Erwin Coumans
3849612403 pybullet benchmark: make some parameters explicit 2017-05-05 17:42:43 -07:00
Erwin Coumans
385156cbc5 add simple humanoid_benchmark.py and mjcf file 2017-05-05 17:24:35 -07:00
Erwin Coumans
1f64a87abe Improve ChromeTraceUtil logging, allow filename to be specified. 
Expose this ChromeTraceUtil  logging to C-API: start/statelogging and submitProfileTiming
pybullet.submitProfileTiming, and STATE_LOGGING_PROFILE_TIMINGS used in startStateLogging
added example for Python profileTiming.py and C++ b3RobotSimulatorClientAPI::submitProfileTiming
 2017-05-04 17:51:40 -07:00
Erwin Coumans
a7d08ca9d7 Merge remote-tracking branch 'bp/master' 2017-05-04 10:51:42 -07:00
erwincoumans
87a24dba84 Merge pull request #1091 from YunfeiBai/master 
Add APIs to reset object mass, lateral friction coefficient, and to get user constraint id.
 2017-05-04 17:47:33 +00:00
Erwin Coumans
a86f584824 more work towards removeBody for C-API/pybullet, work-in-progress. 2017-05-03 21:53:29 -07:00
yunfeibai
939d6ead32 Add API to reset lateral friction coefficient. 2017-05-03 21:47:53 -07:00
yunfeibai
1841a41f2a Add pybullet example for resetting dynamics. 2017-05-03 21:30:42 -07:00
yunfeibai
c7e9a31898 Add API to get user constraint id. 2017-05-03 18:25:25 -07:00
yunfeibai
4da2c076a7 Add API to reset mass. 2017-05-01 22:18:54 -07:00
Jie Tan
bf5915f44b add a simple DDPG agent and a policy 2017-04-28 15:24:53 -07:00
Jie Tan
93fc04c6c3 Merge remote-tracking branch 'bp/master' into pullRequest 2017-04-28 14:36:56 -07:00
Jie Tan
948b2b00fe added a policy trained by DDPG 2017-04-28 14:34:03 -07:00
Benelot
55414f5b20 Add link name to getJointInfo(...). 2017-04-25 23:58:30 +02:00
Erwin Coumans
771b197131 add option to calibrate individual fingers for the vr glove 2017-04-25 09:40:18 -07:00
Erwin Coumans
d41a2fdfd4 change hand.ino/py to match hardware changes (use pullup resistor, connect to gnd, instead of 5V + pull down resistor) 2017-04-24 09:56:27 -07:00
Erwin Coumans
e8c1602232 add vrhand for vive tracker 
tweak 'saveWorld' feature a bit (mjcf, gui fallback if shared memory server is not available)
 2017-04-21 10:28:20 -07:00