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
Erwin Coumans
71170d6384
reduce stack usage (cause some crashes in low-stack tests)
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fix crashing bug in changeVisualShape
add differential gear version of racecar (only 2 back wheels are powered)
2017-06-20 20:22:14 -07:00
erwincoumans
c903bd8a49
tune kuka grasp gym env (make it a bit too easy)
2017-06-15 11:18:08 -07:00
erwincoumans
d2888f0884
add nicer meshes to kuka_with_gripper.sdf and add kuka_with_gripper2.sdf that can rotate without messing up IK
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fix tray/tray_textured4.obj and tray/tray.urdf
fix kuka_with_cube.py
allow both IK /end-effector control and joint-space control in kuka environment, use 1./240. sec. step and 150 solver iter
bump up pybullet to 1.1.7
2017-06-14 19:34:33 -07:00
Erwin Coumans
a0ded43a69
use cnn_to_mlp to allow training of racecar using (extremely simplified) ZED camera pixel data using OpenAI baselines.
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add a red sphere to make training a bit easier for now.
2017-06-13 18:33:32 -07:00
erwincoumans
b2a46a7edd
mimicJointConstraint.py creates actual differential drive
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See https://www.youtube.com/watch?v=pK3PTPlRTGA :-)
2017-06-09 10:15:05 -07:00
Erwin Coumans
b325844b9a
add missing 'wheel.urdf" and very simple procedural terrain generation (sine wave)
2017-06-08 14:28:33 -07:00
erwincoumans
7e12034097
improve racecar visuals a little bit with a texture on the wheels
2017-06-06 09:45:06 -07:00
erwincoumans
ae00c24a5c
add MIT racecar URDF, meshes and racecar.py quick test
2017-06-06 09:23:40 -07:00
yunfeibai
bfcbb339cf
Merge remote-tracking branch 'upstream/master'
2017-06-02 18:26:04 -07:00
erwincoumans
3987bdd333
remove pose frame from SDF,
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allow plane collision shape in SDF
load the Roboschool stadium.sdf in humanoid_knee_position_control.py
2017-06-01 20:13:39 -07:00
yunfeibai
e6d1a8cf97
Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.
2017-06-01 15:30:37 -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
Erwin Coumans
439e8c84cf
add new .obj files for kuka_iiwa/model.urdf
2017-05-31 21:43:09 -07:00
Erwin Coumans
3157093125
Implemented specular reflective lighting for OpenGL 3.x, everything looks shiny (will add APIs to make it less shiny ;-)
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Remove roof from kitchens/1.sdf, otherwise shadows and shinyness won't work (light is outside the room, bouncing against roof-top)
Make kuka_iiwa/model.urdf more smooth, use .obj for per-vertex normals (using Blender, import STL, export OBJ, enable triangles, normals and Z-UP, Y forward)
2017-05-31 20:32:45 -07:00
erwincoumans
5436b8f048
print better error warning, in case the physics client/server version mismatch.
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fix in b3HashString
remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!)
move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder.
PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
2017-05-28 17:05:18 -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
9f7d7fecd5
more rendering fixes
2017-05-23 23:34:55 -07:00
yunfeibai
d383799d97
Merge remote-tracking branch 'upstream/master'
2017-05-22 22:23:55 -07:00
yunfeibai
3eb974f66f
Add kuka grasping block playback.
2017-05-22 22:23:01 -07:00
Erwin Coumans
fd40ba424b
test for knee joint limits under position control
2017-05-21 11:00:15 -07:00
Erwin Coumans
79e2c10506
add second humanoid_running_3.py example with 3 humanoids, for testing. Created a humanoid_symmetric_no_ground.xml and ground.xml:
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if the ground is duplicated, simulation is unstable (too many contacts in the same area?)
2017-05-12 17:17:27 -07:00
yunfeibai
cfb8316297
Add an example to decode the packed button events from vr log.
2017-05-10 15:07:49 -07:00
Erwin Coumans
385156cbc5
add simple humanoid_benchmark.py and mjcf file
2017-05-05 17:24:35 -07:00
Erwin Coumans
61999ef789
b3ResizablePool: only remove a handle, if it is currently in-use
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also remove user constraints, if removing a body
2017-05-04 13:14:24 -07:00
Erwin Coumans
eb7cf38293
Add option to --useKitchen=1 to VRGloveSimulatorMain
2017-05-02 22:33:42 -07:00
Erwin Coumans
07992fe61d
Improve MJCF import, to allow reading of friction parameters, including spinning and rolling friction, with some rudimentary 'default class' support.
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Tweak VRGloveSimulatorMain to work better with MPL/mpl2.xml hand.
2017-05-02 18:05:36 -07:00
Erwin Coumans
af6bf8ddc8
plumb URDF/SDF audio_source into PhysicsServerCommandProcessor, allow to play sounds on collision !
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See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds:
https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf
Add the --audio flag to enable sound in pybullet/Bullet-C-API
2017-05-01 11:14:09 -07:00
Erwin Coumans
2a2c18e959
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
Erwin Coumans
dfc1800065
remove the goto's from the source code (came from http://github.com/thestk/stk toolkit)
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add test wav file
2017-04-27 08:39:57 -07:00
erwincoumans
0f2771b1d1
Merge pull request #1059 from jietan/pullRequest
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make the URDF and the minitaur.py consistent with the real robot
2017-04-06 04:57:26 +00:00
Erwin Coumans
e32debdca4
improvements in MJCF importer: fix capsule shape inertia (for fromto definition)
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add cylinder support
don't crash when no "quat" is provided
inertia fix in btMinkowskiSumShape (based on AABB)
2017-04-05 12:22:38 -07:00
Jie Tan
1cd513024a
make the URDF and the minitaur.py consistent with the real robot
2017-04-05 11:54:54 -07:00
yunfeibai
66a8685816
Merge remote-tracking branch 'upstream/master'
2017-03-29 15:06:15 -07:00
Erwin Coumans
544f289b24
better pr2_gripper collision model
2017-03-23 15:31:17 -07:00
yunfeibai
d717b1db84
Add the API to get the body name and pybullet example call.
2017-03-23 13:54:44 -07:00
Erwin Coumans
f498670798
:%s/STL/stl/g for Bullet/data/MPL/MPL.xml
2017-03-21 18:10:50 -07:00
erwincoumans
a30b887595
Merge pull request #1025 from olegklimov/master
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URDF loader improvement 2
2017-03-21 17:12:22 -07:00
erwincoumans
cb08d077f0
Merge pull request #1030 from erwincoumans/master
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friction anchors, arm64 premake
2017-03-20 11:48:44 -07:00
Erwin Coumans
0b017b0f53
fix issue with btMultiBody friction in combination with soft contacts (friction should not re-use normal contact cfm/erp)
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implement friction anchors, position friction correction, disabled by default. Use colObj->setCollisionFlag(flag | CF_HAS_FRICTION_ANCHOR); See test/RobotClientAPI/SlopeFrictionMain.cpp. In URDF or SDF, add <friction_anchor/> in <contact> section of <link> to enable.
PhysicsServer: properly restore old activation state after releasing picked object
btMultiBodyConstraintSolver: disable flip/flop of contact/friction constraint solving by default (it breaks some internal flaky unit tests)
2017-03-20 10:58:07 -07:00
yunfeibai
753f1d3d2f
Add lateral and spinning friction coefficients to gripper sdf model.
2017-03-20 10:16:15 -07:00
Oleg Klimov
fa7397cc92
Rename *.STL to *.stl for case-sensitive filesystems
2017-03-17 02:11:47 +03:00
Erwin Coumans
4db6fa9e29
update minitaur.py to use minitaur.urdf (instead of quadruped.urdf), also sort the legs in the same order as real hardware
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added test urdf files for minitaur with all fixed joints, or fixed knees.
added some stiffness/damping to minitaur legs (testing)
tiny_obj_loader, don't crash on invalid texture coordinates
btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
2017-03-15 15:38:50 -07:00
Erwin Coumans
a613911c84
Merge remote-tracking branch 'bp/master'
2017-03-15 11:05:16 -07:00
erwincoumans
f67299de8e
Merge pull request #1020 from jietan/pullRequest
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add cartpole urdf
2017-03-14 17:06:10 -07:00
Erwin Coumans
6e2850e08a
fix names (case) for Linux for MPL/hand
2017-03-14 17:03:11 -07:00
Jie Tan
f90986d6f0
add cartpole urdf
2017-03-14 15:04:43 -07:00
Mohi
43b0a8b6fb
Fixing a bug on Visualizer Camera and a few more
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- resetDebugVisualizerCamera now accepts negative values for pitch and
yaw angles
- Defining kitchen model to be concave, so as to be able to put floating
objects inside
- Fixed an indention error in testrender_np.py
2017-03-13 10:41:54 -07:00
Erwin Coumans
af295b6eed
optimize hand (hand.py, vrhand.py) MPL.xml STL meshes for better collision detection performance (using Blender decimation tool)
2017-03-07 19:07:45 -08:00
erwincoumans
00361afea5
allow user to specify the maximum number of dofs to log in GenericRobotStateLogger (default = 12)
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add minitaur quadruped playback of minitaur log files (real robot and simulated create the same log files)
add improved minitaur.urdf file, see https://youtu.be/lv7lybtOzeo for a preview.
2017-03-05 21:49:20 -08:00
Erwin Coumans
34fc2fb589
create premake/cmake file for Bullet/Extras/obj2sdf
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add missing 1.sdf for Bullet/data/kitchens/1.sdf
add support for getting keyboard events (pybullet.getKeyboardEvents and b3RobotSimulatorClientAPI::getKeyboardEvents)
2017-03-02 12:33:22 -08:00
Erwin Coumans
2eb019cdc3
Created Wavefront obj to sdf converter, to make it easier to import complex obj models with many materials. See kitchen for example.
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Fix in tinyobj, make sure material is initialized
Add fatihrmutfak kitchen model, for Virtual Reality and some research
2017-03-01 10:06:10 -08:00
Jie Tan
83e5e816f5
Merge remote-tracking branch 'bp/master' into pullRequest
2017-02-16 15:13:12 -08:00
Erwin Coumans
65deeee64b
add optimized tray/traybox.urdf
2017-02-16 14:29:51 -08:00
Erwin Coumans
63486a712c
VR video recording, use command-line --mp4=videoname.mp4
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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
2017-02-16 14:19:09 -08:00
Erwin Coumans
08b83c3cd8
Merge remote-tracking branch 'bp/master'
2017-02-16 13:41:12 -08:00
Jie Tan
4df8b27626
make the motorId corresponds to that of the real minitaur. change the mass of the quadruped.urdf, change the friction of plane.urdf.
2017-02-08 17:26:36 -08:00
Erwin Coumans
d0fa10db63
add spinning_friction to sphere2_rolling_friction.urd
2017-01-31 12:01:10 -08:00
erwincoumans
7e59cecd13
removed some link from MJCF hand, the parser doesn't handle that root link properly (yet)
2017-01-26 17:52:12 -08:00
Erwin Coumans
76dcf3a751
remove the contype=0 in inverted_pendulum.xml, so we can 'mouse-pick' the pendulum.
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[mjcf importer] add rudimentary support for inertial frame computation, for 'fromto' capsules.
2017-01-24 21:10:21 -08:00
Erwin Coumans
d465e1eea5
add capsule support in urdf parser (non-standard extension), capsule.urdf
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fix btCapsuleShape (X,Y,Z) margin issue
fix uninitialized variables in TinyRenderer: m_hasLightDistance, m_hasLightAmbientCoeff, m_hasLightDiffuseCoeff, m_hasLightSpecularCoeff
pybullet/shared memory API 'getClosestPoints' / b3InitClosestDistanceQuery, only report contacts equal/smaller distance than given
2017-01-23 16:45:18 -08:00
Erwin Coumans
64957ece9f
add hand.py/hand.ino used to create this VR glove, using MuJoCo Haptix MPL hand (Apache 2 license)
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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
2017-01-20 18:13:24 -08:00
Erwin Coumans
52761f5578
[pybullet] implement addUserDebugParameter / readUserDebugParameter
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fix inertial frame for door.urdf
allow picking of links of multi-bodies with a fixed base
2017-01-17 15:42:32 -08:00
Erwin Coumans
c0c4c8ba3f
fix many warnings
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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
2017-01-15 22:26:11 -08:00
Erwin Coumans
310fabcd7e
Further improvements in Bullet MuJoCo MJCF import:
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[MJCF import] improved humanoid.xml, inverted_pendulum.xml import (automatically add dummy-links to connect multiple joints between bodies)
[MJCF import] fix bug in quaternion conversion (w,x,y,z) -> (x,y,z,w)
2017-01-15 11:22:24 -08:00
Erwin Coumans
fdd517e00f
First step towards a MuJoCo MJCF importer for Bullet. It can load the humanoid.xml, ant.xml and some other OpenAI GYM asset files. Not all fields are converted, so it is work-in-progress. This is useful for Reinforcement Learning experiments, and would also help integration with DeepMind Lab.
2016-12-30 18:32:57 -08:00
Erwin Coumans
17570c4700
tweak color of quadruped robot URDF, tweak quadruped.py script to make it more compatible with VR demo
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allow VR physics server to run with or without 'realTimeSimulation'
2016-12-11 09:28:36 -08:00
erwincoumans
61cfa18923
save default VR camera tuning, requires MIDI controller
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tweak some values in VR demo
2016-12-02 17:44:00 -08:00
Erwin Coumans
898517b1e3
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2016-11-29 19:14:20 -08:00
Erwin Coumans
746c4d0d2a
add a tray, similar to those ones:
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https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html
tune the VR demo a bit, to make it more user friendly.
2016-11-29 17:08:47 -08:00
yunfeibai
0bc4e0a4c3
Render multiple objects with shadow.
2016-11-27 16:53:15 -08:00
yunfeibai
583dc1cac7
Add torus.
2016-11-27 15:34:01 -08:00
erwincoumans
8c69fa13ca
add pybullet getCameraImage, replacing renderImage, cleaner API:
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always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir
added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV
see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use
add missing base_link.stl for husky.urdf
2016-11-17 15:15:52 -08:00
Erwin Coumans
ee7a5a470f
tweak quadruped script to make a few more moves
2016-11-16 21:36:51 -08:00
erwincoumans
2329c00faa
Add RtMidi for midi control, use the --midi option in premake, and see
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update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr
add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc)
tweak quadruped.py to move a bit
add mouse picking to physics server
2016-11-16 16:12:59 -08:00
erwin coumans
d0cbfc5905
add humanoid/nao.urdf (BSD license)
2016-11-14 14:09:57 -08:00
Erwin Coumans
c521d816c6
add user debug line/text features in pybullet + shared memory API:
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addUserDebugLine,
addUserDebugText
removeUserDebugItem
removeAllUserDebugItems
2016-11-14 07:39:34 -08:00
erwincoumans
9bad64fed9
allow obsolete OpenGL2 drawer to render with z-up axis.
2016-11-12 11:59:40 -08:00
erwincoumans
0d47d61007
pybullet getClosestPoints
2016-11-09 21:01:04 -08:00
erwincoumans
502f4b7d40
update .bullet file
2016-11-05 11:32:31 -07:00