Commit Graph

304 Commits

Author SHA1 Message Date
Chuyuan Fu
c4d45a0be2 add deformable in urdf 2020-04-02 09:25:31 -07:00
Erwin Coumans
2d5e8ea1f3 convert upper/lower limits in urdfEditor.py 2020-03-13 20:49:39 -07:00
Erwin Coumans
6afa0a463d unsupported: expose collisionMargin to changeDynamics/getDynamicsInfo.
add cube_convex.urdf for testing this collisionMargin. Test script:
import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane_implicit.urdf")
cube = p.loadURDF("cube_convex.urdf",[0,0,1])
p.setGravity(0,0,-10)
while (1):
	p.stepSimulation()
	pts = p.getContactPoints()
	p.changeDynamics(plane,-1,collisionMargin=0.3)
	p.changeDynamics(cube,-1,collisionMargin=0.3)
	print("===================")
	print("cube pos=", p.getBasePositionAndOrientation(cube)[0])
	print("margin=", p.getDynamicsInfo(plane,-1)[11])
	#time.sleep(1./10.)
2020-02-14 17:36:40 -08:00
Tigran Gasparian
68d3fb28e0 Adds support for loading user data from URDF files. 2020-01-17 11:55:42 +01:00
Erwin Coumans
b6dea7ba64 fix a few pybullet Gym environments for rendering in stable_baselines
if PYBULLET_EGL environment is set, try to enable EGL for faster rendering
bump up pybullet to 2.6.2
2020-01-01 18:47:46 -08:00
Erwin Coumans
96deb42aa5 pybullet.createSoftBodyAnchor 2019-11-19 19:20:08 -08:00
Erwin Coumans
e9117dc195 fix colors in URDF file 2019-11-08 14:28:11 -08:00
Xuchen Han
27bf4d3372 new vtk mesh 2019-09-28 14:43:40 -07:00
Xuchen Han
7d1b93cc17 contact solve for newton 2019-09-04 18:48:00 -07:00
Xuchen Han
991be52681 add more volumetric meshes for grasping tests 2019-08-16 13:45:29 -07:00
Erwin Coumans
36f3adc03f copy/move heightfield files around (part of pybullet_data)
prepare for heightfield support in pybullet (first step, needs a bit more)
2019-07-25 13:01:26 -07:00
Erwin Coumans
ebde9926a8 add example loading heightfield from image and csv, using assets from DeepLoco (thanks to Jason Peng) and
from this Blender tutorial https://www.beamng.com/threads/tutorial-adding-heightmap-roads-using-blender.16356/
2019-07-23 11:26:31 -07:00
Steven
de16c23209 commit the ABA comparison test between the RBDL and Bullet, and use the option BULLET_BUILD_RBDL_COMPARE_TEST to control if build it.
it is disabled by default.
2019-07-02 15:35:33 +08:00
Erwin Coumans
ef9570c315 add yapf style and apply yapf to format all Python files
This recreates pull request #2192
2019-04-27 07:31:15 -07:00
Chuyuan Fu
2fb12400ac Add urdf file for examples/BulletRobotics/JointLimit.cpp 2019-03-07 17:29:36 -08:00
Erwin Coumans
0e4d6b0376 tweak premake files for ExampleBrowser, allow non-GUI mode for humanoidMotionCapture 2019-01-28 07:35:57 -08:00
erwincoumans
17219f84c6 make setJointPosMultiDof and setJointVelMultiDof argument const.
add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
2018-11-10 14:26:31 -08:00
Erwin Coumans
9e58a21732 more aesthetic wireframe, pure visual improvement (no impact on simulation/performance)
fixes https://github.com/bulletphysics/bullet3/issues/1970
Issue 1970
2018-10-31 21:50:49 -07:00
Erwin Coumans
624212c641 add humanoid.urdf, converted from mjcf using pybullet_utils.urdfEditor.UrdfEditor() 2018-10-31 09:17:58 -07:00
erwincoumans
b5e475aec3 enable planar reflection in MinitaurGymEnv
enable follow cam in other Gym locomotion environments
add testing assets for multi-material obj files -> sdf conversion.
Also use ER_NO_SEGMENTATION_MASK flag for TinyRenderer/EGL plugin renderer
2018-10-14 15:10:19 -07:00
Erwin Coumans
74fca2418b fix egl plugin build, with fileIO changes 2018-10-09 08:00:31 -07:00
Erwin Coumans
8a0d96edce tweaks in pybullet/examples for Mac OSX 2018-10-05 19:40:52 -07:00
Erwin Coumans
cd2f111a10 update pybullet version, include *.* from OpenGLWindow 2018-09-25 17:06:32 -07:00
erwincoumans
9553892770 PyBullet / BulletRobotics:
Implement collisionFilterPlugin, use setCollisionFilterPair to enable or disable collision detection between specific pairs of objects.
Also, expose setCollisionFilterGroupMask as PyBullet API and in urdf using the tag <collision group="1" mask="2"/>.
See examples/pybullet/examples/collisionFilter.py for an example.
PyBullet default: Lower the warmstarting factor, for maximal coordinates rigid bodies for more stable simulation.
Add btCollisionWorld::refreshBroadphaseProxy to easier recreate the broadphase proxy without adding/removing objects to the world.
2018-09-12 19:30:49 -07:00
Garrett Johnson
711b37bea9 Change URDF xml version from "0.0" to "1.0" 2018-08-16 12:44:43 -07:00
Erwin Coumans
d3d0d948cc data: add license files (mostly copied from the URDF files) 2018-08-09 15:50:39 -07:00
erwincoumans
0d8564db22 PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty.
PyBullet: add 2d biped example.,
2018-07-01 14:42:32 -07:00
Erwin Coumans
1e559feb8f add preliminary vision60 urdf model (no real sizes, no real masses etc) 2018-06-15 10:26:42 -07:00
erwincoumans
459d07a302 add example for enableSAT, using separating axis test (instead of GJK) for contact between polyhedral convex hull shapes (and convex hull vs triangle in a concave triangle mesh) 2018-06-12 16:10:49 -07:00
Erwin Coumans
552cb5852a PyBullet: add signed distance field support, with example/signedDistanceField.py
See also data\toys\concave_box.urdf and data\toys\concave_box.cdf

data\toys\concave_box.cdf was generated from concave_box.obj using
//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj
//SDF is based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid
2018-04-16 22:57:43 +02:00
erwincoumans
ffc808784b PyBullet: add planar reflection example,
See examples/pybullet/examples/addPlanarReflection.py
2018-04-11 01:03:36 -07:00
erwincoumans
507d024f25 add example of a free moving sphere controlled by external torque
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)
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
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
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
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
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
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