Erwin Coumans 552cb5852a PyBullet: add signed distance field support, with example/signedDistanceField.py ...

See also data\toys\concave_box.urdf and data\toys\concave_box.cdf

data\toys\concave_box.cdf was generated from concave_box.obj using
//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj
//SDF is based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid

2018-04-16 22:57:43 +02:00

..

differential

mimicJointConstraint.py creates actual differential drive

2017-06-09 10:15:05 -07:00

dinnerware

add cup example, generated using vhacd

2018-01-12 09:01:16 -08:00

gripper

Add lateral and spinning friction coefficients to gripper sdf model.

2017-03-20 10:16:15 -07:00

humanoid

add humanoid/nao.urdf (BSD license)

2016-11-14 14:09:57 -08:00

husky

add pybullet getCameraImage, replacing renderImage, cleaner API:

2016-11-17 15:15:52 -08:00

jenga

jenga brick was way too heavy

2016-09-29 22:03:29 -07:00

kitchens

Delete Seamless_white_marble _texture.jpg

2017-11-09 17:06:57 -08:00

kiva_shelf

fix sdf warning

2018-02-23 18:56:11 -08:00

kuka_iiwa

Update pybullet autogenerated C# bindings, with very basic example script that runs inside Unity 3D

2017-09-29 07:47:31 -07:00

kuka_lwr

update kuka urdf

2015-08-19 16:05:32 -07:00

lego

fix pybullet.c compilation for Windows

2016-09-24 11:25:05 -07:00

mjcf

add example of a free moving sphere controlled by external torque

2018-04-01 15:55:32 -07:00

MPL

Improve MJCF import, to allow reading of friction parameters, including spinning and rolling friction, with some rudimentary 'default class' support.

2017-05-02 18:05:36 -07:00

Quadrotor

add husky, quadcopter and plane 100x100 meter urdf files,

2016-07-16 23:14:16 -07:00

quadruped

Merge remote-tracking branch 'bp/master' into pullRequest

2018-01-02 18:54:07 -08:00

racecar

more fixes in pybullet/resources, moved enjoy/train/test in 'examples' folder.

2017-08-22 10:07:47 -07:00

roboschool/models_outdoor/stadium

implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support.

2017-06-01 12:32:44 -07:00

table

created a pretty Vatican museum table top, also a marble cube

2017-10-25 08:23:29 -07:00

table_square

Modify table rendering.

2016-09-30 12:30:34 -07:00

torus

Render multiple objects with shadow.

2016-11-27 16:53:15 -08:00

toys

PyBullet: add signed distance field support, with example/signedDistanceField.py

2018-04-16 22:57:43 +02:00

tray

add nicer meshes to kuka_with_gripper.sdf and add kuka_with_gripper2.sdf that can rotate without messing up IK

2017-06-14 19:34:33 -07:00

wav

add more tinyaudio preparation, some test wav files, play sound on collision events. Will expose this in the C-API to pick wav files and collision threshold levels etc. Use the premake --audio flag to try it out. The TinyAudio example in the ExampleBrowser works on Mac, Linux and Windows, you can play notes by pressing keys.

2017-04-29 10:32:30 -07:00

widowx

Added manually converted widowx.urdf from https://github.com/RobotnikAutomation/widowx_arm

2017-06-29 17:54:04 -07:00

32006GPUAABBs.txt

add the option to load a set of AABB's from a file, see PairBench

2013-08-23 17:55:28 -07:00

64006GPUAABBs.txt

add the option to load a set of AABB's from a file, see PairBench

2013-08-23 17:55:28 -07:00

block.urdf

tune kuka grasp gym env (make it a bit too easy)

2017-06-15 11:18:08 -07:00

BspDemo.bsp

add BspDemo.bsp data file

2015-04-16 10:17:35 -07:00

bullet_logo.png

add basic test texture

2014-01-17 22:19:12 -08:00

bunny.obj

Load the deformable object through obj file. Modify the demo for two way coupling between multibody and softbody.

2018-01-07 19:06:09 -08:00

capsule.urdf

add capsule support in urdf parser (non-standard extension), capsule.urdf

2017-01-23 16:45:18 -08:00

cartpole.urdf

fix very rare threading issue, let main thread compute the UID for user debug items

2017-10-09 22:40:53 -07:00

checker_blue.png

add husky, quadcopter and plane 100x100 meter urdf files,

2016-07-16 23:14:16 -07:00

checker_grid.jpg

add a few test files for TinyRenderer software renderer

2016-05-18 17:58:44 -07:00

checker_huge.gif

add a few test files for TinyRenderer software renderer

2016-05-18 17:58:44 -07:00

cube_gripper_left.urdf

separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction

2016-09-16 00:57:00 +01:00

cube_gripper_right.urdf

separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction

2016-09-16 00:57:00 +01:00

cube_no_friction.urdf

export contact friction/damping through URDF and API

2016-09-02 16:40:56 -07:00

cube_small.sdf

Allow choosing loaded as btRigidBody with RobotSimAPI.

2016-08-16 16:57:48 -07:00

cube_small.urdf

restore multibody world transform and joint angles/velocities from a .bullet file.

2017-12-22 14:45:36 -08:00

cube_soft.urdf

fix issue with btMultiBody friction in combination with soft contacts (friction should not re-use normal contact cfm/erp)

2017-03-20 10:58:07 -07:00

cube.mtl

Add shader for projective texture.

2018-02-11 21:29:02 -08:00

cube.obj

Update to ZLib license for GWEN files.

2015-10-25 11:30:34 -07:00

cube.png

add basic test texture

2014-01-17 22:19:12 -08:00

cube.urdf

Add the API to get the body name and pybullet example call.

2017-03-23 13:54:44 -07:00

door.urdf

[pybullet] implement addUserDebugParameter / readUserDebugParameter

2017-01-17 15:42:32 -08:00

duck_vhacd.obj

fix pybullet.c compilation for Windows

2016-09-24 11:25:05 -07:00

duck_vhacd.urdf

fix pybullet.c compilation for Windows

2016-09-24 11:25:05 -07:00

duck.dae

Added a basic COLLADA .dae importer mainly to support URDF loading (URDF can refer to COLLADA .dae or STL .stl for mesh support)

2014-10-21 17:44:54 -07:00

duck.mtl

fix pybullet.c compilation for Windows

2016-09-24 11:25:05 -07:00

duck.obj

fix asset paths, createVisualShape.py and duck.obj

2017-10-07 18:52:22 -07:00

duckCM.png

fix pybullet.c compilation for Windows

2016-09-24 11:25:05 -07:00

example_log_vr.bin

Add an example to decode the packed button events from vr log.

2017-05-10 15:07:49 -07:00

floor_diffuse.jpg

patch TinyRenderer so it software-renders in an OpenGL texture, for testing

2016-04-26 20:52:52 -07:00

floor_diffuse.tga

revert floor.obj test file, load it by default in TinyRenderer/main.cpp

2016-04-26 21:01:46 -07:00

floor_nm_tangent.tga

patch TinyRenderer so it software-renders in an OpenGL texture, for testing

2016-04-26 20:52:52 -07:00

floor.mtl

fixes

2016-05-13 22:57:41 -07:00

floor.obj

revert floor.obj test file, load it by default in TinyRenderer/main.cpp

2016-04-26 21:01:46 -07:00

hello_world.lua

add Lua and basic Lua->C/C++ integration test, in preparation for Bullet demos setup using Lua scripts.

2014-02-05 19:39:48 -08:00

hinge.urdf

initial implementation to send debug lines from physics server to client,

2015-08-19 22:51:16 -07:00

init_physics.lua

rename loadUrdf -> loadMultiBodyFromUrdf in lua script

2015-05-14 09:16:13 -07:00

init_urdf.lua

rename loadUrdf -> loadMultiBodyFromUrdf in lua script

2015-05-14 09:16:13 -07:00

l_finger_collision.stl

decrease some gjk/epa tolerance to improve collision detection using very small collision margins (0.001/1mm)

2016-09-20 12:37:13 -07:00

l_finger_tip.stl

increase shared memory block size ( to reduce image copy steps)

2018-03-07 09:47:28 -08:00

l_finger.stl

increase shared memory block size ( to reduce image copy steps)

2018-03-07 09:47:28 -08:00

leoTest1.obj

added Leo wavefront file

2013-03-22 16:24:09 -07:00

marble_cube.mtl

created a pretty Vatican museum table top, also a marble cube

2017-10-25 08:23:29 -07:00

marble_cube.obj

created a pretty Vatican museum table top, also a marble cube

2017-10-25 08:23:29 -07:00

marble_cube.urdf

created a pretty Vatican museum table top, also a marble cube

2017-10-25 08:23:29 -07:00

multibody.bullet

preparation to replace glew by glad

2018-02-20 19:44:02 -08:00

plane100.obj

add husky, quadcopter and plane 100x100 meter urdf files,

2016-07-16 23:14:16 -07:00

plane100.urdf

Implement first draft of pybullet.createVisualShape and add createVisualShape.py example

2017-10-07 18:50:23 -07:00

plane_implicit.urdf

add implicit plane_implicit.urdf and use it in humanoid_running.py (numpy version)

2018-01-13 13:47:28 -08:00

plane_transparent.mtl

PyBullet: add planar reflection example,

2018-04-11 01:03:36 -07:00

plane_transparent.obj

PyBullet: add planar reflection example,

2018-04-11 01:03:36 -07:00

plane_transparent.urdf

PyBullet: add planar reflection example,

2018-04-11 01:03:36 -07:00

plane_with_collision_audio.urdf

Add option to --useKitchen=1 to VRGloveSimulatorMain

2017-05-02 22:33:42 -07:00

plane_with_restitution.urdf

expose pybullet changeDynamics(spinningFriction=..., rollingFriction=..., restitution=...)

2017-05-26 18:14:38 -07:00

plane.mtl

add husky, quadcopter and plane 100x100 meter urdf files,

2016-07-16 23:14:16 -07:00

plane.obj

Add RtMidi for midi control, use the --midi option in premake, and see

2016-11-16 16:12:59 -08:00

plane.urdf

Add the API to get the body name and pybullet example call.

2017-03-23 13:54:44 -07:00

planeMesh.urdf

made some progress in saving and restoring the state during the simulation, with identical results.

2017-12-30 14:19:13 -08:00

pole.urdf

Add pole urdf.

2017-10-19 14:29:43 -07:00

pr2_gripper.urdf

expose gear erp/relative position target to C-API/pybullet

2017-09-26 19:54:36 -07:00

prismatic.urdf

add prismatic.urdf test file and revert to r2d2.urdf in import example

2015-07-15 17:51:49 -07:00

r2d2_multibody.bullet

fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBodyDoubleData

2016-08-26 10:00:29 -07:00

r2d2.urdf

fix r2d2.urdf and avoid self-penetrating limbs

2016-10-19 16:21:33 -07:00

samurai_monastry.mtl

added Samurai Monastry wavefront .obj

2013-03-23 23:00:50 -07:00

samurai_monastry.obj

remove that odd triangle in the origin of samurai castle (VR)

2016-09-19 07:02:43 -07:00

samurai.urdf

remove that odd triangle in the origin of samurai castle (VR)

2016-09-19 07:02:43 -07:00

seymourplane_triangulate.dae

Added a basic COLLADA .dae importer mainly to support URDF loading (URDF can refer to COLLADA .dae or STL .stl for mesh support)

2014-10-21 17:44:54 -07:00

slope.bullet

add infrastructure float btMultiBodyLink m_jointDamping, m_jointFriction (actual damping/friction is in a separate commit)

2016-03-17 14:54:46 -07:00

sphere2_rolling_friction.urdf

add spinning_friction to sphere2_rolling_friction.urd

2017-01-31 12:01:10 -08:00

sphere2.urdf

implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support.

2017-06-01 12:32:44 -07:00

sphere2red.urdf

use cnn_to_mlp to allow training of racecar using (extremely simplified) ZED camera pixel data using OpenAI baselines.

2017-06-13 18:33:32 -07:00

sphere8.mtl

update tutorial for SIGGRAPH course

2015-08-10 14:30:00 -07:00

sphere8.obj

add a textured sphere8.obj test with obj loader

2015-08-05 19:03:27 -07:00

sphere_1cm.urdf

VR video recording, use command-line --mp4=videoname.mp4

2017-02-16 14:19:09 -08:00

sphere_small_zeroinertia.urdf

Implement true implicit friction cone, instead of friction pyramid, for btMultiBody vs btMultiBody and btMultiBody vs btRigidBody

2017-11-23 17:38:23 -08:00

sphere_small.urdf

Add small sphere, make teddy small too

2016-09-22 08:50:28 -07:00

sphere_smooth.mtl

use cnn_to_mlp to allow training of racecar using (extremely simplified) ZED camera pixel data using OpenAI baselines.

2017-06-13 18:33:32 -07:00

sphere_smooth.obj

use cnn_to_mlp to allow training of racecar using (extremely simplified) ZED camera pixel data using OpenAI baselines.

2017-06-13 18:33:32 -07:00

sphere_transparent.urdf

Add pybullet transparent.py example, transparency with global per-object sort in GLInstancingRenderer

2017-06-24 19:38:31 -07:00

sphere_with_restitution.urdf

expose pybullet changeDynamics(spinningFriction=..., rollingFriction=..., restitution=...)

2017-05-26 18:14:38 -07:00

spider.bullet

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

2018-01-11 21:04:08 -08:00

sponza_closed.obj

add test .obj files in data folder

2013-03-18 20:44:26 -07:00

sponza.mtl

add test .obj files in data folder

2013-03-18 20:44:26 -07:00

stadium.sdf

remove pose frame from SDF,

2017-06-01 20:13:39 -07:00

stone.mtl

add 'createObstacleCourse.py' example, helps reproducing

2017-07-29 13:18:49 +02:00

stone.obj

add 'createObstacleCourse.py' example, helps reproducing

2017-07-29 13:18:49 +02:00

teddy2_VHACD_CHs.obj

fix convex-plane for > 4 vertices

2013-04-10 00:03:02 -07:00

teddy_large.urdf

Set the perspective projection for projective texture mapping. Change the demo to two bears with the same view projection matrix for the camera and the projector.

2018-02-20 18:32:09 -08:00

teddy_vhacd.urdf

Set the perspective projection for projective texture mapping. Change the demo to two bears with the same view projection matrix for the camera and the projector.

2018-02-20 18:32:09 -08:00

teddy.obj

add test .obj files in data folder

2013-03-18 20:44:26 -07:00

terrain.obj

add missing 'wheel.urdf" and very simple procedural terrain generation (sine wave)

2017-06-08 14:28:33 -07:00

terrain.py

add missing 'wheel.urdf" and very simple procedural terrain generation (sine wave)

2017-06-08 14:28:33 -07:00

terrain.urdf

add missing 'wheel.urdf" and very simple procedural terrain generation (sine wave)

2017-06-08 14:28:33 -07:00

testFileFracture.bullet

AMD 14.50Alpha5 driver fixes the issue with MPR kernel, re-enable testFileFracture.bullet

2014-09-12 09:50:13 -07:00

tex256.png

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)

2017-06-30 19:11:43 -07:00

textured_sphere_flat.obj

add a few test files for TinyRenderer software renderer

2016-05-18 17:58:44 -07:00

textured_sphere_smooth.mtl

add a few test files for TinyRenderer software renderer

2016-05-18 17:58:44 -07:00

textured_sphere_smooth.obj

add a few test files for TinyRenderer software renderer

2016-05-18 17:58:44 -07:00

textured_sphere.mtl

add a few test files for TinyRenderer software renderer

2016-05-18 17:58:44 -07:00

tiles.jpg

created a pretty Vatican museum table top, also a marble cube

2017-10-25 08:23:29 -07:00

two_cubes.sdf

Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations.

2017-08-14 14:59:41 -07:00

TwoJointRobot_w_fixedJoints.urdf

Fix pybullet.calculateInverseDynamics in the case where #dof != #joints (fixed joints). We still don't handle spherical joints in pybullet (even though the underlying inverse dynamics and forward dynamics support it)

2017-10-13 14:19:25 -07:00

TwoJointRobot_wo_fixedJoints.urdf

Fix pybullet.calculateInverseDynamics in the case where #dof != #joints (fixed joints). We still don't handle spherical joints in pybullet (even though the underlying inverse dynamics and forward dynamics support it)

2017-10-13 14:19:25 -07:00

unittest_data.zip

add zlib/minizip so we can load compressed data (github/git is bad in handling large binary files)

2014-02-04 13:39:55 -08:00

uvmap.png

add a textured sphere8.obj test with obj loader

2015-08-05 19:03:27 -07:00

wheel.urdf

add missing 'wheel.urdf" and very simple procedural terrain generation (sine wave)

2017-06-08 14:28:33 -07:00

wood.jpg

fix makesdna on Mac OSX

2018-02-14 15:41:10 -08:00

xacro_standalone.py

add xacro_standalone.py tool, to convert a urdf.xacro to urdf

2015-07-21 12:42:46 -07:00