Erwin Coumans
77ddc8a16f
fix makesdna on Mac OSX
2018-02-14 15:41:10 -08:00
Erwin Coumans
508550c5e9
fix premake build for linux, thanks to @consultit
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See also issue #1538
2018-02-09 18:46:26 -08:00
Erwin Coumans
af43e6465d
fix wrong enum type
2018-01-15 15:13:11 -08:00
erwincoumans
ed890f23e6
add implicit plane_implicit.urdf and use it in humanoid_running.py (numpy version)
2018-01-13 13:47:28 -08:00
Erwin Coumans
1875652d8f
add cup example, generated using vhacd
2018-01-12 09:01:16 -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
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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
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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
YunfeiBai
de3b8bf3c9
Merge branch 'master' into master
2018-01-08 18:13:03 -08:00
Erwin Coumans
e97b751781
further work on urdfEditor.py, fix some serialization issues
2018-01-08 12:25:56 -08:00
yunfeibai
e3e9546960
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
Jie
85bd1ce2b4
Merge remote-tracking branch 'bp/master' into pullRequest
2018-01-02 18:54:07 -08:00
Jie
de11d71246
use the right mass for the rotational part of motors.
2018-01-02 18:53:38 -08:00
Erwin Coumans
0326fa93a8
made some progress in saving and restoring the state during the simulation, with identical results.
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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.
2017-12-30 14:19:13 -08:00
Erwin Coumans
799d030874
restore multibody world transform and joint angles/velocities from a .bullet file.
2017-12-22 14:45:36 -08:00
Erwin Coumans
ecba966890
add minitaur rainbow dash (carbon fiber) simulating flexibility in
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outside brackets using prismatic joints
2017-12-19 14:44:39 -08:00
Jie
b35f6300a4
add system id for rainbow dash (second generation minitaur with TX2 installed)
2017-12-13 16:19:42 -08:00
erwincoumans
e6e3da11e5
Implement true implicit friction cone, instead of friction pyramid, for btMultiBody vs btMultiBody and btMultiBody vs btRigidBody
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See data/sphere_small_zeroinertia.urdf for an example.
2017-11-23 17:38:23 -08:00
erwincoumans
b2dda14948
Delete Seamless_white_marble _texture.jpg
2017-11-09 17:06:57 -08:00
Erwin Coumans
344005a8f0
catch invalid mass/inertia instead of division by zero/nan. also, avoid indexing <0
2017-11-07 19:25:14 -08:00
Erwin Coumans
f5493a6d64
add minitaur with single motor test asset
2017-11-02 18:28:46 +00:00
Jie
a9600a8c91
adjust the minitaur_derpy urdf. Seperate the motor controller and the moving part of the motor.
2017-10-27 14:56:45 -07:00
erwincoumans
e21aaca836
created a pretty Vatican museum table top, also a marble cube
2017-10-25 08:23:29 -07:00
erwincoumans
7524e37124
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-10-25 08:15:14 -07:00
erwincoumans
e9415f5912
kitchen upgrade with marble countertop, wooden floor
2017-10-25 06:51:22 -07:00
yunfeibai
39bdd00ce5
Add pole urdf.
2017-10-19 14:29:43 -07:00
erwincoumans
cb23e6c102
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)
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Also, add a inverse_dynamics.py example, with URDF files. Thanks to Michiel Lutter for the report and repro case!
This fixes issue #1379 https://github.com/bulletphysics/bullet3/issues/1379
2017-10-13 14:19:25 -07:00
erwincoumans
e5d4c73c40
fix very rare threading issue, let main thread compute the UID for user debug items
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add collision model to cartpole.urdf
2017-10-09 22:40:53 -07:00
Erwin Coumans
91d164d886
remove obsolete CartPoleBulletEnv
2017-10-09 09:44:54 -07:00
erwincoumans
3826dddc83
fix asset paths, createVisualShape.py and duck.obj
2017-10-07 18:52:22 -07:00
erwincoumans
cec8da3d85
Implement first draft of pybullet.createVisualShape and add createVisualShape.py example
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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
Jie
a1e260f9f1
add tingnan's new minitaur urdf for derpy.
2017-10-06 13:14:23 -07:00
Jie Tan
d0a14743c1
add the urdf from system id from tingnan
2017-10-02 15:58:26 -07:00
erwincoumans
dd2c7af2b2
Update pybullet autogenerated C# bindings, with very basic example script that runs inside Unity 3D
2017-09-29 07:47:31 -07:00
erwincoumans
8a265b8af2
expose gear erp/relative position target to C-API/pybullet
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finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
2017-09-26 19:54:36 -07:00
Erwin Coumans
ae8f12e8ba
more fixes for retina + glfw + opengl2 fallback
2017-09-20 13:09:18 -07:00
Erwin Coumans
fb05763093
support retina / scale factor between pixel size and screen coordinate size
2017-09-20 10:07:18 -07:00
Erwin Coumans
c30e9aea92
revert minitaur.urdf to previous (backward compatibility) and add _v1 for better version.
2017-09-07 11:23:41 -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)
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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
Erwin Coumans
1569f3845c
more fixes in pybullet_gym envs/data.
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implement pybullet.setAdditionalSearchPath
2017-08-27 19:34:00 -07:00
Erwin Coumans
f19f28b5ed
more fixes in pybullet/resources, moved enjoy/train/test in 'examples' folder.
2017-08-22 10:07:47 -07:00
erwincoumans
c0984b80e5
Merge pull request #1231 from benelot/bullet-gym
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Add nearly all gym environments using pybullet together with the…
2017-08-18 13:29:43 -07:00
Benelot
aed57d130e
Update mjcf files!
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Git did not realize I changed those.
2017-08-17 00:04:21 +02:00
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
Erwin Coumans
d28dd2f80a
add 'createObstacleCourse.py' example, helps reproducing
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Parkour paper: https://arxiv.org/abs/1707.02286
2017-07-29 13:18:49 +02:00
Erwin Coumans
b63023c692
add transparent plane
2017-07-01 11:47:57 -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
bf800e30d5
Added manually converted widowx.urdf from https://github.com/RobotnikAutomation/widowx_arm
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Added simple pybullet file in Bullet/examples/pybullet/examples/widows.py (preliminary, both URDF and py file needs more work to be useful)
https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml
See also http://www.trossenrobotics.com/widowxrobotarm
2017-06-29 17:54:04 -07:00
erwincoumans
d5fe67cf57
Add pybullet transparent.py example, transparency with global per-object sort in GLInstancingRenderer
2017-06-24 19:38:31 -07:00
Erwin Coumans
65e22ba3e9
allow auxilary link to be used for gear btMultiBodyGearConstraint.
2017-06-23 20:24:04 -07:00
