329a1f5a74
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
erwincoumans
2018-01-17 12:48:48 -08:00
c6a350b807
BulletInverseDynaimcs: re-applied fix PyBullet: increase humanoid training from 30 to 300M (need to figure out the right hyperparameters...)
Erwin Coumans
2018-01-16 21:54:46 -08:00
df89ce6f92
small refactor of LinkVisualShapesConverter / TinyRendererVisualShapeConverter, it allows to use it in a Python module and in a PyBullet plugin.
erwincoumans
2018-01-16 17:58:19 -08:00
18c83592f3
bump up PyBullet to version 1.8.2
Erwin Coumans
2018-01-15 12:53:41 -08:00
851ca5bfb3
Improve PyBullet ports of Roboschool envs: fix reset (it kept adding stadium objects, causing slowdown), now reset uses saveState/restoreState and reset becomes a few orders of magnitude faster. Use python -m pybullet_envs.examples.testEnv --env AntBulletEnv-v0 --render=1 --steps 1000 --resetbenchmark=1
erwincoumans
2018-01-15 12:48:32 -08:00
9ffb05eb3b
fix double->float issue by cast, fixes issue #1510 fix possible out-of-bounds access in btMultiBody
erwincoumans
2018-01-15 11:59:00 -08:00
9d405fde67
PyBullet: free cached textures PyBullet: bool PhysicsServerCommandProcessor::pickBody, disable collision filtering to allow picking of all objects
erwincoumans
2018-01-15 08:36:08 -08:00
387d3f16db
PyBullet: fix memory leak in case connection to shared memory cannot be made PyBullet: allow setJointMotorControl2 to use maxVelocity in combination with obsolete 'bodyIndex'
erwincoumans
2018-01-15 08:33:19 -08:00
3c770e56fb
PyBullet/C-API: only free handle if we found it
erwincoumans
2018-01-14 12:35:40 -08:00
0919ce0f30
PyBullet: fix issue when picking an object while it is remove using PyBullet.removeBody
erwincoumans
2018-01-14 11:01:57 -08:00
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"]
Erwin Coumans
2018-01-11 21:04:08 -08:00
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.
erwincoumans
2018-01-10 11:16:50 -08:00
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
erwincoumans
2018-01-09 22:47:56 -08:00
15a429f1bf
premake build system fixes
erwincoumans
2018-01-09 12:23:25 -08:00
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)
erwincoumans
2018-01-09 10:10:36 -08:00
bf6d805228
fix compile issues on Windows after recent softbody patch
erwincoumans
2018-01-09 08:43:00 -08:00
e97b751781
further work on urdfEditor.py, fix some serialization issues
Erwin Coumans
2018-01-08 12:25:56 -08:00
d3bc98e245
Add filename as an argument in the softbody loading function.
yunfeibai
2018-01-07 19:56:46 -08:00
d077bdec07
Change the API names for loading softbody.
yunfeibai
2018-01-07 19:24:37 -08:00
e3e9546960
Load the deformable object through obj file. Modify the demo for two way coupling between multibody and softbody.
yunfeibai
2018-01-07 19:06:09 -08:00
a85a4f387b
more work on UrdfEditor.py
Erwin Coumans
2018-01-06 15:00:20 -08:00
9a9aa5e9e7
example of joint motor with friction
Erwin Coumans
2018-01-06 13:43:07 -08:00
02e5d51052
bump up version
Erwin Coumans
2018-01-05 14:23:45 -08:00
9523df2519
warning fix (param name different in header/cpp)
Erwin Coumans
2018-01-04 15:48:59 -08:00
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
Erwin Coumans
2018-01-04 13:14:11 -08:00
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
Erwin Coumans
2018-01-03 19:17:28 -08:00
35b44f8a85
implement pybullet.saveState command, for in-memory storage of state. bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010
Erwin Coumans
2017-12-31 15:37:16 -08:00
f104765c47
added some template to restore (syncMultiBody, syncContactManifolds) for single float and double precision, in 'pybullet.restoreState'
Erwin Coumans
2017-12-31 11:19:29 -08:00
20e00d11d8
further work on saveRestoreState.py
Erwin Coumans
2017-12-30 21:57:42 -08:00
4084c1cc71
also add serializeContactManifolds to btSoftMultiBodyDynamicsWorld.cpp and btDiscreteDynamicsWorld.
Erwin Coumans
2017-12-30 14:20:20 -08:00
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.
Erwin Coumans
2017-12-30 14:19:13 -08:00
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
Erwin Coumans
2017-12-28 12:37:07 -08:00
afd1066c50
pybullet.getCameraImage: preparation to expose link index in segmentation mask buffer
Erwin Coumans
2017-12-28 10:18:35 -08:00
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")
Erwin Coumans
2017-12-28 10:05:51 -08:00
41f9bb89e5
expose API to change the local inertia diagonal, pybullet.ChangeDynamics(objectUid, linkIndex, localInertiaDiagonal=[xx,yy,zz])
erwincoumans
2017-12-20 16:56:31 -08:00
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
erwincoumans
2017-12-20 14:54:32 -08:00
ecba966890
add minitaur rainbow dash (carbon fiber) simulating flexibility in outside brackets using prismatic joints
Erwin Coumans
2017-12-19 14:44:39 -08:00
erwincoumans
Erwin Coumans
YunfeiBai
Will Rosecrans
Jie
Adrià Garriga
Erwin Coumans