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229 Commits

Author SHA1 Message Date
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 
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) 
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. 
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 
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. 
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 
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) 
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 
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) 
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 
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. 
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 
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, 
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. 
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 ;-) 
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. 
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=...) 
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: 
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 
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. 
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 ! 
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) 
add test wav file
 2017-04-27 08:39:57 -07:00
erwincoumans
0f2771b1d1 Merge pull request #1059 from jietan/pullRequest 
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) 
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