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41a1362bc5
Commit Graph

354 Commits

Author SHA1 Message Date
Erwin Coumans
41a1362bc5 perform IK in local body-fixed frame 
For now, Jacobian, mass matrix and inverse dynamics return results in local coordinates of the tree.
 2017-10-24 21:06:44 -07:00
Erwin Coumans
c178c101a8 fix the pybullet.changeDynamics linear/angular damping 
expose pybullet.getConstraintState
 2017-10-18 19:15:35 -07:00
erwincoumans
de44e4811a fix pybullet.addUserDebugText borders around letters 
bump up pybullet version
In a few pybullet examples, first connect to SHARED_MEMORY, if not connected use GUI mode
 2017-10-10 22:11:32 -07:00
erwincoumans
c155e105a5 unlock thread at exitPhysics 
pybullet: don't crash in inverse kinematic if #dofs don't match due to free base
C-API: don't crash if status/statusHandle = 0
 2017-10-10 11:10:42 -07:00
erwincoumans
6b4f69f733 Merge remote-tracking branch 'bp/master' 2017-10-09 21:09:23 -07:00
yunfeibai
55b60e90f7 Modify inverse kinematics to also support robot model with fixed joint. 2017-10-09 18:28:52 -07:00
Erwin Coumans
d48e2a20af fix a string check issue 2017-10-09 12:28:39 -07:00
Jonathan Tompson
2dee1638f4 quick update to SAVE_WORLD for JOINT_GEAR. 2017-10-09 10:48:03 -07:00
erwincoumans
7d7f5ee7d4 Merge pull request #1371 from jonathantompson/userConstraintResultArgs_fix 
Fixed setting of m_userConstraintResultArgs.
 2017-10-08 22:56:56 -07:00
Jonathan Tompson
a57c7e7fcf Fixed setting of m_userConstraintResultArgs (not sure how it ever worked for anyone). It was filling up the userConstraintData with stale memory. 2017-10-08 21:31:29 -07:00
erwincoumans
2f2f070ab5 allow changeVisualShape (rgbaColor, specularColor and texture) for maximal coordinates rigid body (btRigidBody) 
Make the examples\pybullet\examples\createVisualShape.py a bit more interesting
 2017-10-08 11:34:42 -07:00
erwincoumans
cec8da3d85 Implement first draft of pybullet.createVisualShape and add createVisualShape.py example 
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
Erwin Coumans
1034c7e720 reorder initializer 2017-10-06 17:30:10 -07:00
Erwin Coumans
26d32f2aa8 improve loading performance of large textures: 
option to disable tinyrenderer, use p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
also make sure to use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loadURDF, and enable rendering afterwards using p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
reorder 2 loops, making the flip texels twice as fast (cache coherency),
single memcpy of entire texture in tinyrenderer, instead of per-pixel copy (memory layout is the same)
add lots of B3_PROFILE timings, to see where time is going
 2017-10-06 13:46:24 -07:00
erwincoumans
b572fe43f9 fix signal handling in ExampleBrowser on linux/mac on termination 
expose all analogue axes from OpenVR (5 controllers, each x,y -> 10 floats) in pybullet.getVREvents(allAnalogAxes=1)
 2017-10-05 12:59:58 -07:00
erwincoumans
822ff077c7 expose some parameters through pybullet.getPhysicsEngineParameters (C-API: b3InitRequestPhysicsParamCommand + b3GetStatusPhysicsSimulationParameters) 2017-10-05 11:43:14 -07:00
erwincoumans
1262adeaec build a named tuple for 'getConnectionInfo' 
remove debug code
 2017-10-05 09:57:17 -07:00
erwincoumans
f467f325f7 store mass matrix in streaming part of shared memory (no support for unlimited mass matrix sizes at the moment) 2017-10-05 08:23:10 -07:00
erwincoumans
a2d6a2e822 Merge pull request #1350 from bingjeff/add_mass_matrix 
[pybullet] Add calculateMassMatrix.
 2017-10-05 07:45:30 -07:00
Erwin Coumans
acbe457d31 add option to statically link a plugin, select the postFix (to avoid naming conflict of multiple plugins functions ('initPlugin' becomes initPlugin_postFix) 
pass events (keyboard, mouse, vr controllers etc) to the plugin, and clear them after the tick callback, so that it doesn't interfere with Python 'getEvents'
 2017-10-03 15:00:52 -07:00
Jeffrey Bingham
d9782f953d Add calculateMassMatrix to physics server command processor. 2017-09-30 13:56:40 -07:00
Jeffrey Bingham
d49fade704 fix some formatting. 2017-09-27 22:30:32 -07:00
Jeffrey Bingham
d8b80bce40 Fix the translation jacobian. 2017-09-27 22:25:39 -07:00
erwincoumans
8a265b8af2 expose gear erp/relative position target to C-API/pybullet 
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
erwincoumans
b1f8eb74a4 bump up shared memory version number 
add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency
 2017-09-26 10:05:17 -07:00
Jeffrey Bingham
ee30ca93c5 [sharedmemory] Fill-out calculateJacobian command. 
The server command processor actually didn't do anything with
the local point that was passed along with the calculateJacobian
command. Added in the necessary bit of math to return the
corresponding jacobian.

Also, fixed a typo in pybullet that was returning the same
jacobian for translation and rotation.
 2017-09-24 18:57:48 -07:00
Erwin Coumans
70364445b8 Merge remote-tracking branch 'bp/master' 2017-09-24 09:49:53 -07:00
Jeffrey Bingham
1727e47beb [pybullet] Add calculateJacobian. 
* Add the calculateJacobian method to the pybullet API.
* Adjust the shared memory interface to handle fixed/floating bases
  in the calculateJacobian method.
* Fix a few comments.
 2017-09-23 19:58:59 -07:00
erwincoumans
8e496036c6 More work on the C/C++ plugin system for pybullet/C-API: 
Add preTickPluginCallback/postTickPluginCallback
User pointer for b3PluginContext, to store objects (class/struct instances)
Pass ints and floats as optional argument for plugin executePluginCommand
 2017-09-23 18:05:23 -07:00
erwincoumans
815a56c9bc Allow to load a urdf file in the testplugin.cpp, as first quick test, example pybullet script: 
import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)
 2017-09-23 09:25:00 -07:00
erwincoumans
240fff575d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-23 07:22:50 -07:00
Erwin Coumans
3783dccaa3 create a C/C++ plugin system for pybullet / C-API. 2017-09-22 19:17:57 -07:00
erwincoumans
312e35964f make some code const correct. 2017-09-22 07:53:21 -07:00
Erwin Coumans
2e7c0cef38 pybullet/C-API: fix width/height when getCameraImage has a fallback from OpenGL hardware 
to TinyRenderer
 2017-09-14 15:39:22 -07:00
Erwin Coumans
c250a5f0b9 re-enable shared memory connection for pybullet Gym envs (with fallback to GUI or DIRECT) 
suppress shared memory connection warnings
add fallback from ER_BULLET_HARDWARE_OPENGL to TinyRenderer if not available
 2017-09-13 09:56:39 -07:00
erwincoumans
cc9995d44b fix uninitialized camera position in 'VR' / 'camera rendering' mode (causing broken specular reflections in VR) 
use debug visualizer camera viewmatrix/projection matrix if not provided, in ER_BULLET_HARDWARE_OPENGL mode.
fix broken changeRGBAColor implementation, thanks to Laura for the report!
 2017-09-12 22:14:00 -07:00
Erwin Coumans
cbe0d0aff2 pybullet fix: accidently enable self-collision 2017-09-07 14:27:00 -07:00
Erwin Coumans
9ecd345783 backwards compatibility... 2017-09-07 11:40:11 -07:00
Erwin Coumans
7878f7ace9 Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake 
Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay))
Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
 2017-09-06 13:18:39 -07:00
Erwin Coumans
3f21e528f0 revert name 'v' -> 'u' (backward compatibility) and 'u' -> 't' 
make vr_kuka_setup.py load faster, by disabling rendering during loading
allow to setRealTimeSimulation(0) in VR
 2017-09-02 11:35:54 -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) 
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
erwincoumans
ee30479a28 add option to log joint torques (due to user applied torques and/or motor torques) 
See quadruped.py for an example:
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES)
Thanks to JulianYG, in pull request https://github.com/bulletphysics/bullet3/pull/1273
 2017-08-30 19:41:15 -07:00
erwincoumans
8dfa76e924 implement pybullet.createUserConstraint for maximalCoordinates (fixed, p2p, gear) 
maximalCoordinates, make sure parent is bodyA, child is BodyB
 2017-08-30 09:54:38 -07:00
erwincoumans
1f7db4519e enable motor control for maximal coordinates robots (btRigidBody, btTypedConstraint) for force, velocity, position control. 2017-08-29 19:14:27 -07:00
Erwin Coumans
1569f3845c more fixes in pybullet_gym envs/data. 
implement pybullet.setAdditionalSearchPath
 2017-08-27 19:34:00 -07:00
Erwin Coumans
5c5993edcb fix potential memory leaks for concave triangle meshes (<concave=true> or createCollisionShape with flags=1) 2017-08-24 09:16:11 -07:00
erwincoumans
2e0a987750 pybullet only allow one GUI/GUI_SERVER instance. 
Fix LINK_FRAME/WORLD_FRAME coordinate issue in pybullet applyExternalForce
 2017-08-15 14:15:30 -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. 
Fix two_cubes.sdf (was lacking collision shape for second cube)
 2017-08-14 14:59:41 -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) 
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. 
(also works for OpenGL3 renderer now)
 2017-06-30 13:35:07 -07:00