Commit Graph

219 Commits

Author SHA1 Message Date
erwincoumans
f01389ded2 Merge pull request #842 from erwincoumans/master
added b3PhysicsParamSetInternalSimFlags command, and pybullet setInte…
2016-10-23 08:26:52 -07:00
erwincoumans
c2ca88bf44 added b3PhysicsParamSetInternalSimFlags command, and pybullet setInternalSimFlags API.
//Use at own risk: magic things may or my not happen when calling this API.

This allows to enable/disable robot assets (samurai world, gripper, KUKA robot etc) in Physics Server (and App_PhysicsServerVR etc)
1 = create robot assets
2 = create experimental box-vr-gui

Add optional command-line parameter for App_PhysicsServerVR, --norobotassets, to start with an empty world, no assets in VR (no gripper, no kuka)
2016-10-23 07:14:50 -07:00
yunfeibai
3d79961725 Add API to change texture with object id and link index. 2016-10-21 11:55:27 -07:00
yunfeibai
4911b14271 Add loading texture API. 2016-10-20 23:40:30 -07:00
yunfeibai
6ef96a4027 Add programmatic render API and a basic test. 2016-10-20 10:56:44 -07:00
erwin coumans
eda400d14c Merge remote-tracking branch 'bp/master' 2016-10-19 07:43:46 -07:00
erwin coumans
f97cb7002d first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API
b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
2016-10-18 22:05:28 -07:00
yunfeibai
3ffd95fbab Merge remote-tracking branch 'origin/master' 2016-10-17 13:20:31 -07:00
yunfeibai
b07df4d504 Load bunny through shared memory API and RobotSimAPI. Create grasp bunny example. 2016-10-17 13:01:04 -07:00
erwincoumans
33d9603e16 Add rudimentary 'saveWorld' command in shared memory API and pybullet, see examples/pybullet/saveWorld.py
Use trilinear filtering instead of bilinear
2016-10-12 23:03:36 -07:00
erwin coumans
d59b0f05a4 expose b3PhysicsParamSetNumSolverIterations
split Visual Studio project generation batch file in regular and VR+pybullet+double precision build.
disable KUKA iiwa joint limit hack
2016-10-05 16:31:48 -07:00
yunfeibai
7e8d8b0488 Expose rest pose for null space task to API. 2016-09-30 01:03:40 -07:00
yunfeibai
fd3cb061cb Expose IK with null space task to shared memory API and RobotSimAPI. 2016-09-30 00:05:00 -07:00
erwin coumans
b81eb79ef5 ping-pong back/forward in PGS solving iterations to reduce bias in constraint order
add experimental rhs clamp in btMultiBodyJointMotor to control maximum error resolution.
2016-09-28 11:17:11 -07:00
erwin coumans
0936ae6600 expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world. 2016-09-27 12:13:45 -07:00
erwin coumans
310a330572 fix InverseKinematics+API for a case without tree (custom build Jacobian) 2016-09-22 13:27:09 -07:00
yunfeibai
bf16c87987 Add orientation constraint to IK. 2016-09-19 17:04:05 -07:00
Erwin Coumans
5e09b17baf experimental Inverse Kinematics for KUKA iiwa exposed in
shared memory api and pybullet. Will be extended for arbitrary bodies
and with target orientation (besides target position)
2016-09-13 23:37:46 +01:00
yunfeibai
c952c50ad9 Merge remote-tracking branch 'upstream/master' 2016-09-11 04:11:51 -07:00
erwin coumans
32eccdff61 Create project file for BussIK inverse kinematics library (premake, cmake)
URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision">
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h
Add a dummy return to stop a warning
Expose defaultContactERP in shared memory api/pybullet.
First start to expose IK in shared memory api/pybullet (not working yet)
2016-09-08 15:15:58 -07:00
yunfeibai
f635c64205 Expose Jacobian computation to RobotSimAPI. 2016-09-07 17:37:38 -07:00
yunfeibai
c198029cb9 Expose body Jacobian in shared memory API. 2016-09-07 16:00:38 -07:00
erwincoumans
85fd7f560c add first draft of contact point query in shared memory API
b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData);
Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet.
Add btCollisionObject::setUserIndex2
2016-09-01 13:30:07 -07:00
yunfeibai
758ca025d5 Set physics clock subdivider. 2016-08-24 14:25:06 -07:00
yunfeibai
3b25489d89 Further fix for integration test. 2016-08-24 12:44:24 -07:00
yunfeibai
ecbf94abaa Fix issues in build test. 2016-08-24 11:31:08 -07:00
yunfeibai
d46710e447 Expose fixed constraint in RobotSimAPI. 2016-08-22 18:14:29 -07:00
yunfeibai
591f922d97 Support loading Urdf as btRigidBody with RobotSimAPI. Loading Sdf as btRigidBody is work in progress. 2016-08-16 17:56:30 -07:00
erwin coumans
a9b1544a9f Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit.
Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and
b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage.
Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option
Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc])
Thanks to Jeff Bingham for the suggestion.
2016-08-09 18:40:12 -07:00
Erwin Coumans
b880ddf76b add pybullet render API with yaw/pitch/roll option
add testrender.py file
allow option to enable OpenGL hardware renderer in multithreaded sim

b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
2016-08-08 14:23:44 -07:00
Erwin Coumans
f304fd7611 add one more pybullet renderImage API and testrender.py example
tweak Bullet Inverse Dynamics, work-around compiler issue
2016-08-02 11:12:23 -07:00
Mat Kelcey
51ec707230 fix GetJointInfo to use a param called jointIndex (not linkIndex) for naming consistency 2016-07-20 11:01:02 -07:00
erwin coumans
c28cd03fbd OpenVR controller can pick/drag objects. Instructions, Windows only:
Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR
Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll
App_SharedMemoryPhysics_VR
Run Python. Here are some Python lines to get going:
import pybullet as p
p.connect(p.SHARED_MEMORY)
p.loadURDF("cube.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)

Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it
Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky
Disabled the 'glFlush' commands in GLInstancingRenderer.
Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h
Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.
2016-07-17 23:50:11 -07:00
erwincoumans
31e7f2e309 Merge pull request #697 from matpalm/addFovToRenderImage
pybullet renderimage with projection matrix calculated using field of view
2016-07-13 18:46:42 -07:00
Erwin Coumans
10cc6f14cb add option to use hardware OpenGL renderer for synthetic camera 2016-07-12 18:16:13 -07:00
Mat Kelcey
54979a0f89 pybullet renderimage with projection matrix calculated using field of view 2016-07-08 15:47:50 -07:00
Erwin Coumans
013dbda023 implement a few more pybullet methods:
pybullet_applyExternalForce, pybullet_applyExternalTorque, pybullet_setTimeStep,
pybullet_resetBasePositionAndOrientation,
pybullet_getQuaternionFromEuler,
pybullet_getEulerFromQuaternion
2016-06-26 18:18:30 -07:00
Erwin Coumans (Google)
6d1948e79e tweaks in pybullet and shared memory C-API:
allow to reset the state of a single joint
allow to set the target/mode for a single joint motor at a time
rename pybullet API: initializeJointPositions -> resetJointState
2016-06-24 07:31:17 -07:00
Erwin Coumans
2cd0eba257 re-introduce old method in pybullet for temporary back-wards compatibility
b3JointControlCommandInit requires 3 args, but it was only 2,
use b3JointControlCommandInit2 for now.
2016-06-23 08:40:36 -07:00
erwincoumans
c7365837cd Merge pull request #661 from erwincoumans/master
fix some issues related to controlling a robot/multibody beyond body …
2016-06-17 07:34:07 -07:00
Erwin Coumans
53a0772257 fix some issues related to controlling a robot/multibody beyond body index 0
(most testing happened with a single robot/multibody so far)
preliminary pybullet.setJointControl implementation
2016-06-16 18:46:34 -07:00
yunfeibai
1329f265c8 Set view and projection matrices from camera and frustum parameters. 2016-06-16 11:48:37 -07:00
Erwin Coumans
95a09bec99 implement getJointInfo for objects loaded through SDF 2016-06-15 18:01:41 -07:00
erwincoumans
6523df336e Fix pybullet Windows build errors: C99 requires variables to be defined at the start of the function.
Improve CMake Windows support to build PyBullet (BUILD_PYBULLET)
Implement b3LoadSdfCommandInit in shared memory API
Implement pybullet SDF loading binding, in loadSDF API
TODO for SDF support is provide way to query object/link/joint information.
2016-06-13 10:11:28 -07:00
Erwin Coumans
d2e50d045b fix issues related to camera width/height
add width,height as arguments to pybullet.renderImage(x,y,[viewMat4x4],[projMat4x4])
2016-06-07 16:11:58 -07:00
erwin coumans
4b2c0f6d89 make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF
add an example using 'direct'
fix the send-desired-state commands, to add flags for arguments set, using default values.
Start exposing SDF loading in shared memory api, not fully implemented yet.
2016-06-03 19:03:56 -07:00
erwin coumans
14aa666c6f preparation to receive camera image data from physics server
increase shadowmap world size default to 50 units (meter), 10 units (meter) was too small for most examples.
2016-05-31 10:23:04 -07:00
erwin coumans
606f78da43 work-in-progress tinyrenderer -> shared memory API synthetic camera image 2016-05-17 23:57:19 -07:00
Erwin Coumans
f99d1c45aa expose multibody link world transform in the shared memory API 2016-04-23 17:29:46 -07:00
Erwin Coumans
4df7257250 more comments in SharedMemory C API 2016-04-13 17:09:48 -07:00
Erwin Coumans
34e6eb4a18 add a few lines of documentation and some error checks in SharedMemory API 2016-04-13 13:06:15 -07:00
erwincoumans
3b9b803683 b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API
Parse and use colors from URDF file (single rgba color per link, not per visual)
Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof'
btHashMap, add const Value* operator[]
remove a few more obsolete btMultiBody methods (on the non-multi-dof path)
fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill)
Add mention to Jakub Stepien for his work on btMultiBody
2015-11-06 17:11:15 -08:00
Erwin Coumans
2317307a22 Add b3GetStatusActualState() to C_API.
Change pick-and-move C_API to use handlers
2015-11-04 16:08:28 -08:00
erwin coumans
2d5d89d999 Allow to request the state of a rigid body (position, orientation, lin/ang velocity) through shared memory API
PhysicsClientC_API: b3RequestActualStateCommandInit requires a body unique Id as second argument
2015-10-27 15:46:13 -07:00
erwin coumans
9cc2b1ec12 Physics SharedMemory:
Add flags BOX_SHAPE_HAS_MASS and  BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE to CMD_CREATE_RIGID_BODY
(which maps to CMD_CREATE_BOX_COLLISION_SHAPE for backward compatibility for now)
Need to add way to receive world transform
2015-10-27 14:55:46 -07:00
erwincoumans
57f50f1778 Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory.
Add a test for PhysicsLoopBack.
2015-10-26 17:56:21 -07:00
=
4df58c35c7 use const in PhysicsClientC_Api, thanks to Roland
fix some warnings for Clang, thanks to Aaron
2015-10-15 08:15:22 -07:00
erwin coumans
a0e507280c Implement CMD_INIT_POSE to set base position, base orientation and joint position (angle).
See PhysicsClientExample for example use of CMD_INIT_POSE.
Change: CMD_INIT_POSE uses m_initPoseArgs and not m_sendDesiredStateCommandArgument
2015-10-13 22:23:28 -07:00
erwin coumans
4a29986662 initial support for multiple robots in shared memory API 2015-10-13 11:32:25 -07:00
=
5e4badc099 make PhysicsClient an interface class, and move shared memory implementation
of physics client into PhysicsClientSharedMemory class/file.
This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-24 22:50:34 -07:00
=
e05825f639 improvements to the shared memory physics API:
support picking in C API etc.
2015-09-24 22:42:22 -07:00
=
23bdd0ed36 more work on physics client c-api over shared memory 2015-09-17 09:37:44 -07:00
=
003a42478b another step closer to useable shared memory C API
(force/torque sensor needs new API)
in a nutshell, users of shared memory physics API should not
directly poke into shared memory, not fill 'SharedMemorCommand'
nor read SharedMemoryStatus directly. The C-API declares 'handles' for those,
to avoid it from happening.
2015-09-16 23:09:10 -07:00
erwin coumans
f75df90d82 Allow batches of debug lines. The PhysicsClientExample rendering is still slow (one line at a time, instead of batches)
Prepare for IMU sensor in Shared Memory Server
2015-09-03 14:18:22 -07:00
Erwin Coumans (Google)
3d130d9d66 reset simulation in test/SharedMemory/test for proper cleanup,
and it can restart without shutting down/restarting physics server
w
2015-08-27 17:51:31 -07:00
=
46fae61c69 fixes in shared memory:
only allow server to create and initialize shared memory,
client will report failure
intercept signals to cleanup shared memory in standalone app, thanks to
Roland Philippsen.
2015-08-06 11:59:31 -07:00
=
eb6663ed4b further work on shared memory API
fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 14:00:43 -07:00
erwincoumans
19c5be5646 small progress towards shared memory C-api and test.c. 2015-07-30 23:22:44 -07:00
Erwin Coumans
812c67e221 fix various warnings, more work on shared memory API 2015-07-22 18:06:05 -07:00