erwincoumans
507d024f25
add example of a free moving sphere controlled by external torque
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add some toy shape sorter cube (not finished yet)
2018-04-01 15:55:32 -07:00
Erwin Coumans
07f116610f
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2018-03-07 09:48:10 -08:00
Erwin Coumans
e134dcdb0b
increase shared memory block size ( to reduce image copy steps)
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reduce vertices in r2d2 finger stl files
bump up pybullet vesion
2018-03-07 09:47:28 -08:00
erwincoumans
6d326a79c8
Merge pull request #1575 from erwincoumans/master
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fix minor sdf warning in kiva_shelf/model.sdf
2018-03-04 12:34:21 -08:00
Erwin Coumans
5688477bfb
fix sdf warning
2018-02-23 18:56:11 -08:00
erwincoumans
3508a4523b
Merge pull request #1560 from YunfeiBai/master
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Add shader and example for projective texture.
2018-02-21 10:23:18 -08:00
Erwin Coumans
b0984de046
preparation to replace glew by glad
2018-02-20 19:44:02 -08:00
yunfeibai
5494aa72fa
Set the perspective projection for projective texture mapping. Change the demo to two bears with the same view projection matrix for the camera and the projector.
2018-02-20 18:32:09 -08:00
Erwin Coumans
8bb40b632b
allow to build GLFW version of Bullet examples on Linux (use premake4_linux --enable_glfw gmake)
2018-02-20 16:21:22 -08:00
yunfeibai
36dcabbaf5
Merge remote-tracking branch 'upstream/master'
2018-02-15 14:31:34 -08:00
Erwin Coumans
77ddc8a16f
fix makesdna on Mac OSX
2018-02-14 15:41:10 -08:00
yunfeibai
2947cd54ce
Add shader for projective texture.
2018-02-11 21:29:02 -08:00
yunfeibai
08548e1ef0
Add example for projective texture.
2018-02-11 13:50:45 -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
