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90 Commits

Author SHA1 Message Date
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
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
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
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
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
85be3b43dd Merge remote-tracking branch 'upstream/master' 2017-09-27 15:20:11 -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
erwincoumans
8a265b8af2 expose gear erp/relative position target to C-API/pybullet 
finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
 2017-09-26 19:54:36 -07:00
Erwin Coumans
2d91e13886 tweak pybullet examples a bit (mac OSX OpenGL runs in mainloop, with python interpreter, 
so it needs some 'ping' command
bump up pybullet to version 1.4.6
 2017-09-24 21:37:31 -07:00
Erwin Coumans
ec25f663c2 fix getAABB.py on mac osx 
fix humanoid_benchmark.py and explain how to read/interpret that file in Google Chrome
 2017-09-11 19:46:54 -07:00
Erwin Coumans
c30e9aea92 revert minitaur.urdf to previous (backward compatibility) and add _v1 for better version. 2017-09-07 11:23:41 -07:00
Erwin Coumans
cfc07565ac fix dumpLog.py 2017-09-06 14:34:10 -07:00
Erwin Coumans
3f21e528f0 revert name 'v' -> 'u' (backward compatibility) and 'u' -> 't' 
make vr_kuka_setup.py load faster, by disabling rendering during loading
allow to setRealTimeSimulation(0) in VR
 2017-09-02 11:35:54 -07:00
erwincoumans
1221c6d91d quadruped.py test, use generalized coordinates (not maximal coordinates) by default 2017-09-02 01:06:33 -07:00
erwincoumans
eb97e06280 fix minitaur.urdf: move lower-leg inertia to center, add missing collision for one of the motors, add contact parameters for friction_anchor, spinning friction, compliance (stiffness/damping) 
fix in indexing for maximal coordinates (unused by default, still experimental, requires many iterations for Minitaur due to extreme mass-ratio, hence use of reduces/generalized coordinates)
modify quadruped.py to test maximal coordinates
wrap angular servo (positional) target within [-PI,PI] in btGeneric6DofSpring2Constraint
add 'j' key to show body frames in wireframe/debug mode
 2017-09-02 01:05:42 -07:00
erwincoumans
ee30479a28 add option to log joint torques (due to user applied torques and/or motor torques) 
See quadruped.py for an example:
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES)
Thanks to JulianYG, in pull request https://github.com/bulletphysics/bullet3/pull/1273
 2017-08-30 19:41:15 -07:00
Erwin Coumans
1569f3845c more fixes in pybullet_gym envs/data. 
implement pybullet.setAdditionalSearchPath
 2017-08-27 19:34:00 -07:00
Erwin Coumans
c06ea72a4c improve the new pybullet gym environments, follow camera, disable 2D GUI, disable rendering during loading (makes it faster) 
disable vsync on Mac
fix setup.py file
 2017-08-20 18:11:53 -07:00
Erwin Coumans
d28dd2f80a add 'createObstacleCourse.py' example, helps reproducing 
Parkour paper: https://arxiv.org/abs/1707.02286
 2017-07-29 13:18:49 +02:00
Erwin Coumans
c9b41737c0 add example of faster URDF/SDF loading in VR/GUI mode, 
by temporary disabling rendering
 2017-07-14 23:32:53 +01:00
Erwin Coumans
88897cc744 implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added) 
See also examples\pybullet\examples\changeTexture.py
 2017-06-30 19:11:43 -07:00
Erwin Coumans
bf800e30d5 Added manually converted widowx.urdf from https://github.com/RobotnikAutomation/widowx_arm 
Added simple pybullet file in Bullet/examples/pybullet/examples/widows.py (preliminary, both URDF and py file needs more work to be useful)
https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml
See also http://www.trossenrobotics.com/widowxrobotarm
 2017-06-29 17:54:04 -07:00
erwincoumans
d5fe67cf57 Add pybullet transparent.py example, transparency with global per-object sort in GLInstancingRenderer 2017-06-24 19:38:31 -07:00
erwincoumans
a651cb9ab4 Implement first pass of transparent graphics object for GLInstancingRenderer 
remove 'enableBlend' from API, graphics instances use alpha component instead
fix forward axis for SimpleCamera
 2017-06-24 13:41:33 -07:00
Erwin Coumans
65e22ba3e9 allow auxilary link to be used for gear btMultiBodyGearConstraint. 2017-06-23 20:24:04 -07:00
Erwin Coumans
9672c3a330 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-23 16:19:10 -07:00
Erwin Coumans
9aed6b08f1 don't set the numSolverIterations that high, was a debug left-over 2017-06-23 16:18:42 -07:00
Erwin Coumans
2ab56b4d62 Allow to create concave collision meshes. Note that this is only supported for static (mass 0) multibodies. 2017-06-23 14:43:28 -07:00
Erwin Coumans
71170d6384 reduce stack usage (cause some crashes in low-stack tests) 
fix crashing bug in changeVisualShape
add differential gear version of racecar (only 2 back wheels are powered)
 2017-06-20 20:22:14 -07:00
Erwin Coumans
61f27a5c72 also add baseInertialFramePositionObj and baseInertialFrameOrientationObj to pybullet.createMultiBody 
updated createMultiBodyLinks.py example.
 2017-06-19 17:13:20 -07:00
Erwin Coumans
7441515c0e Preliminary version of pybullet.createMultiBody including links connected to parent by a joint. 
See createMultiBodyLinks.py example.
 2017-06-19 13:15:05 -07:00
Erwin Coumans
5ea4da87d7 improve getAABB.py drawing 2017-06-16 19:11:35 -07:00
Erwin Coumans
23b155a2b4 add getAABB.py example. 
fix getAABB / b3RequestCollisionInfoCommandInit to use less stack memory
 2017-06-16 18:10:10 -07:00
erwincoumans
d2888f0884 add nicer meshes to kuka_with_gripper.sdf and add kuka_with_gripper2.sdf that can rotate without messing up IK 
fix tray/tray_textured4.obj and tray/tray.urdf
fix kuka_with_cube.py
allow both IK /end-effector control and joint-space control in kuka environment, use 1./240. sec. step and 150 solver iter
bump up pybullet to 1.1.7
 2017-06-14 19:34:33 -07:00
erwincoumans
b2a46a7edd mimicJointConstraint.py creates actual differential drive 
See https://www.youtube.com/watch?v=pK3PTPlRTGA  :-)
 2017-06-09 10:15:05 -07:00
Erwin Coumans
0aeb4d5058 add RacecarGymEnv as a gym experimentation environment 2017-06-08 19:45:48 -07:00
Erwin Coumans
46f2f3db4e implement 'mimic' joint constraint or 'gear' constraint for btMultiBody, add example in pybullet/examples/mimicJointConstraint.py 2017-06-07 16:22:02 -07:00
Erwin Coumans
60e3887456 enable btGearConstraint, expose 'changeDynamics' for gearRatio, only works for maximalCoordinates rigid bodies. 
See examples\pybullet\examples\mimicJointConstraint.py
 2017-06-07 13:44:34 -07:00
erwincoumans
ae00c24a5c add MIT racecar URDF, meshes and racecar.py quick test 2017-06-06 09:23:40 -07:00
Erwin Coumans
a7aed37632 work on pybullet/C-API createMultiBody (still preliminary, only sphere/box collision shapes, no links/hierarchies yet, soon) 
pybullet/C-API, expose linear/angular damping
fix some warnings (param name needs to be same in .h and .cpp)
fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread)
fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
 2017-06-04 22:04:16 -07:00
Erwin Coumans
b23cb1dd2c pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface 
(still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
 2017-06-03 10:57:56 -07:00
yunfeibai
bfcbb339cf Merge remote-tracking branch 'upstream/master' 2017-06-02 18:26:04 -07:00
yunfeibai
e2a9fc33dc Remove debug code. 2017-06-02 17:40:50 -07:00