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df89ce6f924a3e3c327bb72da410b300447c09aa
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175 Commits

Author SHA1 Message Date
erwincoumans
df89ce6f92 small refactor of LinkVisualShapesConverter / TinyRendererVisualShapeConverter, it allows to use it in a Python module and in a PyBullet plugin. 2018-01-16 17:58:19 -08:00
erwincoumans
e961800278 parse plane geom for URDF files (not just SDF) 2018-01-13 13:41:46 -08:00
Erwin Coumans
79051b7611 allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE 
fix quadruped.py example.
add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
 2018-01-11 21:04:08 -08:00
erwincoumans
22b4809891 leave m_useGlobalVelocities to false, until enabled, for backward compatibility 
use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
 2018-01-10 11:16:50 -08:00
erwincoumans
c4b1b84687 Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis 
https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section)
Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto
 2018-01-09 22:47:56 -08:00
erwincoumans
15a429f1bf premake build system fixes 2018-01-09 12:23:25 -08:00
erwincoumans
e138e85bca allow to enable/disable implicit cylinder conversion through an API 
p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER)
allow to enable/disable deterministicOverlappingPairs through an API
p.setPhysicsEngineParameter(deterministicOverlappingPairs = False)
 2018-01-09 10:10:36 -08:00
Erwin Coumans
e97b751781 further work on urdfEditor.py, fix some serialization issues 2018-01-08 12:25:56 -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
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
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
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
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
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
Erwin Coumans
3d3e391b6a Support SDF capsule and cylinder. 2017-09-11 21:49:39 -07:00
Erwin Coumans
cbe0d0aff2 pybullet fix: accidently enable self-collision 2017-09-07 14:27:00 -07:00
Erwin Coumans
9ecd345783 backwards compatibility... 2017-09-07 11:40:11 -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
8dfa76e924 implement pybullet.createUserConstraint for maximalCoordinates (fixed, p2p, gear) 
maximalCoordinates, make sure parent is bodyA, child is BodyB
 2017-08-30 09:54:38 -07:00
erwincoumans
1f7db4519e enable motor control for maximal coordinates robots (btRigidBody, btTypedConstraint) for force, velocity, position control. 2017-08-29 19:14:27 -07:00
Erwin Coumans
5c5993edcb fix potential memory leaks for concave triangle meshes (<concave=true> or createCollisionShape with flags=1) 2017-08-24 09:16:11 -07:00
Erwin Coumans
226aaedc46 bump up pybullet setup.py version, make B3_NO_PYTHON_FRAMEWORK default on Mac 
minor fixes (arg name in header/cpp the same)
 2017-08-18 08:53:46 -07:00
Erwin Coumans
a66576f034 revert API to be backward compatible, add b3CreateInProcessPhysicsServerAndConnectSharedMemory 
same for BulletURDFImporter constructor
 2017-08-16 12:33:25 -07:00
Erwin Coumans
99beb44625 fix build issues in previous commit 2017-08-15 10:46:09 -07:00
Erwin Coumans
aafaa7e33e Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations. 
Fix two_cubes.sdf (was lacking collision shape for second cube)
 2017-08-14 14:59:41 -07:00
erwincoumans
457312f94f fix leak in loadSDF in case of visuals with duplicate/identical names that have a material. 
fix GUI performance issue on Mac OSX
fix issue introduced in previous commit (in btConvexHullComputer.cpp)
 2017-08-11 17:14:52 -07:00
Erwin Coumans
dcaaed9238 also generate TinyRendererVisualShapeConverter for programmatically generated collision shapes 
use similar random colors for TinyRenderer (if rgba colors are not specified)
 2017-06-29 22:06:27 -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
c1e32e6428 fix potential memory leaks 2017-06-07 19:00:44 -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
erwincoumans
3987bdd333 remove pose frame from SDF, 
allow plane collision shape in SDF
load the Roboschool stadium.sdf in humanoid_knee_position_control.py
 2017-06-01 20:13:39 -07:00
yunfeibai
e6d1a8cf97 Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll. 2017-06-01 15:30:37 -07:00
Erwin Coumans
5c6045b61f turn down effect of default specular a bit 2017-06-01 13:15:58 -07:00
Erwin Coumans
d744fe10dc compile fix 2017-06-01 12:51:43 -07:00
Erwin Coumans
87293e835c implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support. 
pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor
Bug fixes in b3ResourcePath::findResourcePath resolution.
add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium
minor fixes to obj2sdf
 2017-06-01 12:32:44 -07:00
Erwin Coumans
e6180ef98a use a fixed joint instead of crashing for unsupported joint types (planar, floating joint) 2017-05-25 13:02:20 -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
dfe618bd62 initialize UrdfGeometry members 2017-05-15 07:59:07 -07:00
Erwin Coumans
e2d596f4d0 remove visual shape from CPU/TinyRenderer with removeBody 
(thanks to Jeff Bingham for reporting the bug!)
 2017-05-12 20:24:10 -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
Oleg Klimov
b8afb4d7aa Memory leaks 2017-05-06 14:49:51 +03:00
Oleg Klimov
5a40b5aaae Compile fix 2017-05-06 14:49:51 +03:00
Oleg Klimov
1524004aa8 MJCF: support for "axisangle", small code improvements 2017-05-06 14:49:43 +03:00
Erwin Coumans
af6bf8ddc8 plumb URDF/SDF audio_source into PhysicsServerCommandProcessor, allow to play sounds on collision ! 
See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds:
https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf
Add the --audio flag to enable sound in pybullet/Bullet-C-API
 2017-05-01 11:14:09 -07:00
Erwin Coumans
e4ace90980 fix some potentially uninitialized variable 2017-04-25 21:37:04 -07:00
Erwin Coumans
5158c1ae98 add python dumpLog.py utility to view log files created using 'startStateLogging' 
don't enable <CTRL> for hotkeys yet
add some more profile markers
log objectId and linkIndex as signed int ('i') and not unsigned int 'I'
fix issue in startStateLogging: number of parameters was wrong
 2017-04-12 15:02:47 -07:00
Erwin Coumans
82b576a390 fixed a bug that prevented kitchens/1.sdf to render properly (local scaling was double applied) 
disable some left-over clipping that was moved to another part of the code
 2017-04-06 21:13:23 -07:00
Erwin Coumans
b095e1d917 expose pybullet.URDF_USE_SELF_COLLISION flag, experimental (likely doesn't work well for many URDF files) 2017-04-04 12:47:34 -07:00
Erwin Coumans
b1cbc3d4b0 fix a potential memory leak for URDF files with multiple materials using the same name 2017-03-30 13:30:38 -07:00