63486a712c
VR video recording, use command-line --mp4=videoname.mp4 tune gripper grasp example with tefal pan, 800Newton force. URDF importer: if using single transform 1 child shape, don't use compound shape. if renderGUI is false, don't intercept mouse clicks add manyspheres.py example (performance is pretty bad, will look into it) [pybullet] expose contactBreakingThreshold
Erwin Coumans
2017-02-16 14:19:09 -08:00
509b77054a
now minitaur class can output joint angles, velocities and torques. I also extract evaluate functions to a file
Jie Tan
2017-02-09 14:43:40 -08:00
0e8bc418d7
add utility for reading and writing of minitaur quadruped robot log files. Example usage: const char* fileName = "D:/LOG00053.TXT"; btAlignedObjectArray<MinitaurLogRecord> logRecords; btAlignedObjectArray<std::string> structNames; std::string structTypes; bool verbose = false; //reading int val = readMinitaurLogFile(fileName, structNames, structTypes, logRecords, verbose);
Erwin Coumans
2017-02-09 09:48:50 -08:00
4df8b27626
make the motorId corresponds to that of the real minitaur. change the mass of the quadruped.urdf, change the friction of plane.urdf.
Jie Tan
2017-02-08 17:26:36 -08:00
ce69f27f32
Modify the depth buffer value in TinyRenderer to be consistent as in OpenGL.
yunfeibai
2017-02-08 11:34:38 -08:00
0c464e6848
[pybullet] add example for roll, pitch, yaw
Erwin Coumans
2017-02-08 09:27:51 -08:00
56b4ac278b
pybullet workaround for very slow Mac OSX GUI mode, since OpenGL can only run in main thread, just like the Python interpreter improve quadruped.py script, to allow 'useRealTime' 0 or 1
Erwin Coumans
2017-02-07 08:08:55 -08:00
88fdffba04
pybullet/shared memory API: add some more check for out-of-bounds indices when setting up a command. avoid many run-time memory allocations in btCompoundCompoundCollisionAlgorithm
erwincoumans
2017-02-04 12:32:42 -08:00
58f37f85f4
fix type 'getMatrixFromQuaterion -> getMatrixFromQuaternion' (missing n, thanks Jie Tan for the report) fix type of dimensions, visualframe in pybullet.getVisualShapeData (thanks Michael Ahn for the report)
Erwin Coumans
2017-02-03 08:34:22 -08:00
e1cfe94ac9
no special case for <=1 minimumSolverBatchSize
erwincoumans
2017-02-01 11:20:36 -08:00
0022d0dafb
Modify damped least square IK formulation. Test setting joint damping coefficients for IK.
yunfeibai
2017-01-31 22:58:37 -08:00
7df123025f
URDF parser: allow inertial element in just ixx, iyy, izz format (non-standard URDF) tiny_obj_loader: don't crash when/if normals are not specified
Erwin Coumans
2017-01-31 18:09:44 -08:00
690bd4f265
fix rendering of rays in Benchmark demo when using BT_USE_DOUBLE_PRECISION
erwincoumans
2017-01-30 18:51:19 -08:00
72dd8285e8
fix 'safeNormalize' (probably should remove it) Fix for Issue 953: cull degenerate triangles https://github.com/bulletphysics/bullet3/issues/935 Thanks to Oleg Klimov for the report and reproduction case.
erwincoumans
2017-01-30 18:12:09 -08:00
26a34e3cda
Move ChromeTracing in its own file, and add tracing support for VR server (App_SharedMemoryPhysics_VR) Add a bit of extra sleep in PhysicsServer thread, to make rendering smoother.
erwincoumans
2017-01-29 20:59:47 -08:00
446cb77a5e
[UDP] disconnect needs to set m_data->m_isConnected=false
erwincoumans
2017-01-28 23:18:26 -08:00
d0e1ec8c48
add a usleep(0) to improve UDP performance on Windows (busy-loop eats all CPU time, other thread didn't proceed)
erwincoumans
2017-01-28 22:46:23 -08:00
87bce5eacf
UDP networking improvements and experiments (send CMD_STEP_FORWARD_SIMULATION as 4 bytes command, status 8 bytes, instead of enormous command/status packages. Change some timeouts to use actual RTC time instead of dummy loops 1024*1024*1024. Fix type conected -> connected
erwincoumans
2017-01-28 22:14:45 -08:00
2ea7111933
[pybullet] clear error after parsing UDP string argument (instead of shared memory 'int' argument)
Erwin Coumans
2017-01-28 13:03:01 -08:00
2b3c25d5f2
add a b3Clock::usleep in PhysicsClientUDP to avoid clogging all resources report more meaningful connection status for UDP.
erwincoumans
2017-01-28 12:42:04 -08:00
7e59cecd13
removed some link from MJCF hand, the parser doesn't handle that root link properly (yet)
erwincoumans
2017-01-26 17:52:12 -08:00
1dec1a39ce
Add the pybullet vrhand.py script used in this haptic video: Make sure to run the App_SharedMemoryPhysics_VR with --norobotassets option, then run vr_kuka_setup.py, to add some environment + objects.
erwincoumans
2017-01-26 17:22:01 -08:00
761275df28
Add and use BT_ID_* math functions for idScalar.
Kibeom Kim
2017-01-26 10:59:14 -08:00
37ed4b819a
[cmake] only use BT_ENABLE_VR for the _VR target use -DUSE_DOUBLE_PRECISION=ON when building pybullet and/or VR targets
erwincoumans
2017-01-25 22:41:31 -08:00
94c768bea8
cmake build support for VR demo (WIN32 only) update to latest OpenVR 1.05 SDK from https://github.com/ValveSoftware/openvr add keyboard support to tune default camera VR position VR revert to double 'distorted' views on Desktop, since the single view isn't showing full scene
Erwin Coumans
2017-01-25 19:17:57 -08:00
980908bdee
add optimized version of sphere-capsule and capsule-sphere, re-using the capsule-capsule code with zero height for a sphere.
Erwin Coumans
2017-01-25 10:45:55 -08:00
76dcf3a751
remove the contype=0 in inverted_pendulum.xml, so we can 'mouse-pick' the pendulum. [mjcf importer] add rudimentary support for inertial frame computation, for 'fromto' capsules.
Erwin Coumans
2017-01-24 21:10:21 -08:00
0060c42ae8
more fixes for btCapsuleShape: its entire radius is collision margin, don't let the user override it (similar to a btSphereShape)
Erwin Coumans
2017-01-23 19:38:14 -08:00
8c480b1cd7
revert to older version of stb_image, the new version causes issues in our build system.
Erwin Coumans
2017-01-23 17:36:43 -08:00
cad45b9c20
add test script to move pr2 controller using pybullet (after initializing the world using vr_kuka_setup.py
Erwin Coumans
2017-01-22 19:48:28 -08:00
cf9f022d39
[pybullet] getNumConstraints, getConstraintInfo APIs. [pybullet] updated pybullet_quickstartguide.pdf Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal. pybullet getConstraintInfo Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
Erwin Coumans
2017-01-22 19:08:31 -08:00
f237c4440f
pybullet: only allow a single local in-process GUI connection update pybullet quickstart guide
Erwin Coumans
2017-01-21 14:30:37 -08:00
64957ece9f
add hand.py/hand.ino used to create this VR glove, using MuJoCo Haptix MPL hand (Apache 2 license) https://www.youtube.com/watch?v=VMJyZtHQL50 added b3InitSyncBodyInfoCommand, to retrieve body info, when connecting to a server with existing bodies pybullet will call this b3InitSyncBodyInfoCommand automatically after connecting Avoid overriding the py.setVRCameraState setting in VR
Erwin Coumans
2017-01-20 18:13:24 -08:00
d81d62a70b
Prepare for Bullet 2.86 release, update version to 2.86 (release will be tagged soon) protect some C-API methods against negative dof indices add triangle mesh import from MJCF files update to recent pybullet quickstart guide pdf
Erwin Coumans
2017-01-20 11:48:33 -08:00
erwincoumans
Jie Tan
Jie Tan
yunfeibai
Erwin Coumans
erwincoumans
Lunkhound
Kibeom Kim