erwincoumans
2e0a987750
pybullet only allow one GUI/GUI_SERVER instance.
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Fix LINK_FRAME/WORLD_FRAME coordinate issue in pybullet applyExternalForce
2017-08-15 14:15:30 -07:00
Erwin Coumans
60b60ef9fd
add pybullet.connect(pybullet.GUI_SERVER) option. This allows shared memory connections, acting as a physics server. You can connect using SHARED_MEMORY to this GUI_SERVER.
2017-08-14 17:02:20 -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.
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Fix two_cubes.sdf (was lacking collision shape for second cube)
2017-08-14 14:59:41 -07:00
yunfeibai
cfc7917586
Add init function and module for pybullet with EGL.
2017-07-18 13:52:29 -07:00
Erwin Coumans
5178ad4abc
add proper pointer casts
2017-07-01 10:28:28 -07:00
Erwin Coumans
9cf747b35b
a few compile/warning fixes
2017-07-01 10:01:55 -07:00
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)
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See also examples\pybullet\examples\changeTexture.py
2017-06-30 19:11:43 -07:00
Erwin Coumans
dd3d55610b
fixes in pybullet.loadTexture, changeVisualShape replacing texture.
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(also works for OpenGL3 renderer now)
2017-06-30 13:35:07 -07:00
erwincoumans
c777e61d48
fix pybullet compilation on some WIN32 version of MSVC
2017-06-23 20:36:19 -07:00
Erwin Coumans
65e22ba3e9
allow auxilary link to be used for gear btMultiBodyGearConstraint.
2017-06-23 20:24:04 -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
61f27a5c72
also add baseInertialFramePositionObj and baseInertialFrameOrientationObj to pybullet.createMultiBody
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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.
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See createMultiBodyLinks.py example.
2017-06-19 13:15:05 -07:00
Erwin Coumans
f3c11b6f31
add capsule, cylinder, plane, mesh support for pybullet.createCollisionShape
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preparation to add links to pybullet.createMultiBody
2017-06-19 10:14:26 -07:00
Erwin Coumans
2e6f8c271e
allow to disable/enable default keyboard shortcuts ('w', 'd' 's' etc) and default mouse picking
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pybullet.getMouseEvents / b3RequestMouseEventsCommandInit
2017-06-17 13:29:14 -07:00
Erwin Coumans
23b155a2b4
add getAABB.py example.
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fix getAABB / b3RequestCollisionInfoCommandInit to use less stack memory
2017-06-16 18:10:10 -07:00
Erwin Coumans
bb8cfe3c9a
pybullet.getAABB and getAPIVersion
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fix btMultiBody::getLinkCollider
bump up Bullet C-API version
2017-06-15 19:46:27 -07:00
Michel Breyer
0c7cf47eb9
fix uninitialized erp in pybullet_setPhysicsEngineParameter
2017-06-13 17:24:35 +02:00
Michel Breyer
6d84e5e159
fix memcpy of depth and segmentation images to numpy arrays
2017-06-12 16:28:21 +02:00
Erwin Coumans
60e3887456
enable btGearConstraint, expose 'changeDynamics' for gearRatio, only works for maximalCoordinates rigid bodies.
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See examples\pybullet\examples\mimicJointConstraint.py
2017-06-07 13:44:34 -07:00
Erwin Coumans
d08f3e5f91
expose pybullet non-contact erp, friction erp and frictionAnchor, b3PhysicsParamSetDefaultNonContactERP / b3PhysicsParamSetDefaultFrictionERP / b3ChangeDynamicsInfoSetFrictionAnchor
2017-06-07 09:37:28 -07:00
Erwin Coumans
0c3a3cc466
pybullet.changeDynamicsInfo/b3ChangeDynamicsInfoSetContactStiffnessAndDamping expose contactStiffness/contactDamping
2017-06-07 08:37:42 -07:00
erwincoumans
7b56db9f97
fix compile issue/warning
2017-06-06 06:59:41 -07:00
Erwin Coumans
704269afe1
don't pass second parameter, pybullet func
2017-06-04 22:24:14 -07:00
Erwin Coumans
a7aed37632
work on pybullet/C-API createMultiBody (still preliminary, only sphere/box collision shapes, no links/hierarchies yet, soon)
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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
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(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
0a29c8d9af
Get debug visualizer camera yaw, pitch, dist, and target.
2017-06-02 18:24:51 -07:00
Erwin Coumans
87293e835c
implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support.
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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
erwincoumans
4e03c36fa6
add pybullet.multiplyTransforms and pybullet.invertTransform
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use btAssert instead of assert (glGetError is really slow)
shift default light-position a little bit, to make faces different color
2017-05-29 21:55:58 -07:00
erwincoumans
c36792c950
fix bodyIndex -> bodyUniqueId in pybullet.
2017-05-28 13:30:20 -07:00
erwincoumans
f9c53b39a2
fix pybullet build on some MSVC versions
2017-05-28 09:48:12 -07:00
Erwin Coumans
b645963879
expose pybullet changeDynamics(spinningFriction=..., rollingFriction=..., restitution=...)
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Bullet C-API b3ChangeDynamicsInfoSetSpinningFriction/RollingFriction/Resitution
b3PhysicsParamSetRestitutionVelocityThreshold, / pybullet.setPhysicsEngineParameter restitutionVelocityThreshold:
if the velocity is below this threshhold, the restitution is zero (this prevents energy buildup at near-resting state)
pybullet restitution.py example.
2017-05-26 18:14:38 -07:00
Erwin Coumans
2b9c67b07c
TinyRenderer: discard pixels beyond farplane
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pybullet: printf build date/time
2017-05-25 17:25:14 -07:00
Erwin Coumans
5e2599863d
trackObject -> parentObject
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trackLinkIndex -> parentLinkIndex
add example debugDrawItems.py
2017-05-24 09:06:15 -07:00
Erwin Coumans
db008ab3c2
Improve debug text/line rendering, can be use to draw frames and text in local coordinate of an object / link.
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example:
kuka = p.loadURDF("kuka_iiwa/model.urdf")
p.getNumJoints(kuka)
pybullet.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],trackObjectUniqueId=2,trackLinkIndex=6)
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],trackObjectUniqueId=2,trackLinkIndex=6)
Also allow to render text using a given orientation (instead of pointing to the camera), example:
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textOrientation=[0,0,0,1], trackObjectUniqueId=2,trackLinkIndex=6)
Add drawTexturedTriangleMesh, for drawing 3d text.
Expose readSingleInstanceTransformToCPU, to extract position/orientation from graphics index.
updateTexture: allow to not flip texels around up axis
2017-05-23 22:05:26 -07:00
Erwin Coumans
c2fdffba35
pybullet.enableJointForceTorqueSensor kwlist was not properly terminated
2017-05-17 19:37:51 -07:00
Erwin Coumans
19295f2859
enable file caching, currently only for Wavefront .obj files. You can disable file caching using
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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
972660f825
Only initialized values if provided (and don't initialize default if not provided!)
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fixes getCameraImage(width,height) crash
2017-05-17 17:25:34 -07:00
Erwin Coumans
433d11d8cf
Add a btIDEbugDraw::clearLines, helps multi-threaded rendering of lines (while updating those lines in a dynamics world in a different thread)
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Expose COV_ENABLE_VR_RENDER_CONTROLLERS, to enable/disable rendering of controllers (and some frames) in VR
Expose COV_ENABLE_RENDERING to enable/disable rendering.
Fix some multi-threading issues (potential crashes), related to debug drawing/rendering in one thread, while changing the dynamics world/removing/resetSimulation in a different thread.
2017-05-16 12:19:03 -07:00
Erwin Coumans
4dea68e43e
allow to enable/disable VR picking and VR teleport. Disabling VR picking will also disable the rendering of the VR controller frames.
2017-05-15 11:39:39 -07:00
Erwin Coumans
bb4c195118
added getJointStates and make humanoid_running.py use it to reduce Python<->C++ calling overhead a lot.
2017-05-13 18:07:49 -07:00
Erwin Coumans
f80838e989
expose the changeVisualShape RGBA color for TinyRenderer, OpenGL3 renderer.
2017-05-13 09:18:36 -07:00
Erwin Coumans
3bdc60c050
fix pybullet inversekinematics argument order (O/i)
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add spinning friction to some tutorial
2017-05-12 11:18:33 -07:00
Erwin Coumans
0ad3fade4e
physicsClientId always comes last for each pybullet command
2017-05-12 09:38:17 -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
Erwin Coumans
051e3f8b0c
Merge remote-tracking branch 'bp/master'
2017-05-09 11:37:25 -07:00
yunfeibai
a587d4fec4
Use "change" instead of "reset" for changing dynamics info.
2017-05-09 10:44:33 -07:00
yunfeibai
98654a0cb4
Change dynamic to dynamics in dynamics info.
2017-05-09 10:31:28 -07:00
Erwin Coumans
0f5b400895
pybullet: implement setJointMotorControlArray, the array version of setJointMotorControl2. This can improve performance in reinforcement learning loops (training / inference) by reducing Python/C-API/shared memory calling overhead.
2017-05-08 13:41:07 -07:00