Erwin Coumans
85c84ce09a
remove other humanoids in single humanoid_running.py example
2017-05-12 17:18:04 -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:
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if the ground is duplicated, simulation is unstable (too many contacts in the same area?)
2017-05-12 17:17:27 -07:00
Erwin Coumans
3bdc60c050
fix pybullet inversekinematics argument order (O/i)
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add spinning friction to some tutorial
2017-05-12 11:18:33 -07:00
Erwin Coumans
0ad3fade4e
physicsClientId always comes last for each pybullet command
2017-05-12 09:38:17 -07:00
erwincoumans
ac7518d24b
Update humanoid_running.py
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remove obsolete fps comment, runs at > 1000FPS on my laptop
2017-05-11 22:51:50 -07:00
erwincoumans
0e12277cfb
Update humanoid_running.py
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disable sleep and use GUI mode by default
2017-05-11 22:26:49 -07:00
erwincoumans
d4ec33d8e4
Merge pull request #1115 from erwincoumans/master
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added the humanoid_running.py from this pull request, modified so it …
2017-05-12 05:16:50 +00:00
Erwin Coumans
97235578fb
added the humanoid_running.py from this pull request, modified so it works with plain pybullet.
2017-05-10 18:08:43 -07:00
erwincoumans
f74adffb84
Merge pull request #1114 from YunfeiBai/master
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Add an example to decode the packed button events from vr log.
2017-05-10 23:41:12 +00:00
yunfeibai
c9aad0b6b0
format change
2017-05-10 16:15:13 -07:00
yunfeibai
719dba5cd1
keep the original dumpLog, and create a dumpVrLog
2017-05-10 16:12:45 -07:00
yunfeibai
c3e3e1e983
modify vr button log parse example
2017-05-10 15:33:58 -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
53a82819a0
expose b3LoadMJCFCommandSetFlags / pybullet.pybullet_loadMJCF(fileName,flags=pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
2017-05-10 15:01:25 -07:00
Erwin Coumans
051e3f8b0c
Merge remote-tracking branch 'bp/master'
2017-05-09 11:37:25 -07:00
yunfeibai
a587d4fec4
Use "change" instead of "reset" for changing dynamics info.
2017-05-09 10:44:33 -07:00
yunfeibai
98654a0cb4
Change dynamic to dynamics in dynamics info.
2017-05-09 10:31:28 -07:00
Erwin Coumans
0f5b400895
pybullet: implement setJointMotorControlArray, the array version of setJointMotorControl2. This can improve performance in reinforcement learning loops (training / inference) by reducing Python/C-API/shared memory calling overhead.
2017-05-08 13:41:07 -07:00
yunfeibai
92de4ecd31
Add pybullet example to get dynamic info.
2017-05-07 22:41:05 -07:00
Erwin Coumans
6767b986d0
tuned the benchmark a little bit, start with the humanoid on the floor
2017-05-05 18:05:36 -07:00
Erwin Coumans
7003401605
use DIRECT mode for benchmark
2017-05-05 17:57:07 -07:00
Erwin Coumans
3849612403
pybullet benchmark: make some parameters explicit
2017-05-05 17:42:43 -07:00
Erwin Coumans
385156cbc5
add simple humanoid_benchmark.py and mjcf file
2017-05-05 17:24:35 -07:00
Erwin Coumans
1f64a87abe
Improve ChromeTraceUtil logging, allow filename to be specified.
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Expose this ChromeTraceUtil logging to C-API: start/statelogging and submitProfileTiming
pybullet.submitProfileTiming, and STATE_LOGGING_PROFILE_TIMINGS used in startStateLogging
added example for Python profileTiming.py and C++ b3RobotSimulatorClientAPI::submitProfileTiming
2017-05-04 17:51:40 -07:00
Erwin Coumans
a7d08ca9d7
Merge remote-tracking branch 'bp/master'
2017-05-04 10:51:42 -07:00
erwincoumans
87a24dba84
Merge pull request #1091 from YunfeiBai/master
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Add APIs to reset object mass, lateral friction coefficient, and to get user constraint id.
2017-05-04 17:47:33 +00:00
Erwin Coumans
a86f584824
more work towards removeBody for C-API/pybullet, work-in-progress.
2017-05-03 21:53:29 -07:00
yunfeibai
939d6ead32
Add API to reset lateral friction coefficient.
2017-05-03 21:47:53 -07:00
yunfeibai
1841a41f2a
Add pybullet example for resetting dynamics.
2017-05-03 21:30:42 -07:00
yunfeibai
c7e9a31898
Add API to get user constraint id.
2017-05-03 18:25:25 -07:00
yunfeibai
4da2c076a7
Add API to reset mass.
2017-05-01 22:18:54 -07:00
Jie Tan
bf5915f44b
add a simple DDPG agent and a policy
2017-04-28 15:24:53 -07:00
Jie Tan
93fc04c6c3
Merge remote-tracking branch 'bp/master' into pullRequest
2017-04-28 14:36:56 -07:00
Jie Tan
948b2b00fe
added a policy trained by DDPG
2017-04-28 14:34:03 -07:00
Benelot
55414f5b20
Add link name to getJointInfo(...).
2017-04-25 23:58:30 +02:00
Erwin Coumans
771b197131
add option to calibrate individual fingers for the vr glove
2017-04-25 09:40:18 -07:00
Erwin Coumans
d41a2fdfd4
change hand.ino/py to match hardware changes (use pullup resistor, connect to gnd, instead of 5V + pull down resistor)
2017-04-24 09:56:27 -07:00
Erwin Coumans
e8c1602232
add vrhand for vive tracker
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tweak 'saveWorld' feature a bit (mjcf, gui fallback if shared memory server is not available)
2017-04-21 10:28:20 -07:00
Erwin Coumans
d2ff554e37
tweak hand.py script to automatically find the port on Windows (COM0 to COM30) and Mac OSX.
2017-04-20 14:44:47 -07:00
yunfeibai
a7068bb57a
Modify the link index when computing Jacobian. Add a test for end effector orientation IK. Inverse dynamics Jacobian uses zero-based indexing of bodies, not starting from -1 for base.
2017-04-17 16:54:45 -07:00
David Carlier
756568ad9c
build fix for BSD systems
2017-04-16 17:53:44 +01:00
Erwin Coumans
5158c1ae98
add python dumpLog.py utility to view log files created using 'startStateLogging'
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don't enable <CTRL> for hotkeys yet
add some more profile markers
log objectId and linkIndex as signed int ('i') and not unsigned int 'I'
fix issue in startStateLogging: number of parameters was wrong
2017-04-12 15:02:47 -07:00
Erwin Coumans
0a42ad6a88
pybullet: add support for Anaconda install on Mac OSX, for pip install pybullet, python setup.py install and cmake.
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Usage:
Also updated pypi to latest, see https://pypi.python.org/pypi?:action=display&name=pybullet&version=0.1.7
Here are a few options for Mac OSX + Anaconda:
1) In the root of the Bullet Physics SDK source tree, run
CFLAGS="-DB3_NO_PYTHON_FRAMEWORK" python setup.py install
2) cmake, add the flag -DBUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK=OFF
3) Globally, just use pip or pip3:
CFLAGS="-DB3_NO_PYTHON_FRAMEWORK" pip install pybullet
Option (3) may have an out-of-date pybullet/bullet version.
2017-04-11 12:17:08 -07:00
Erwin Coumans
bdf366b045
implement pybullet.getDebugVisualizerCamera, width, height, providing viewmatrix, projection matrix
2017-04-10 11:03:41 -07:00
Erwin Coumans
82b6bc8770
apply the deviceTypeFilter also to VR state logging.
2017-04-08 11:48:12 -07:00
erwincoumans
2e47310e76
fix enum (has to be power of 2, to allow combination of devices)
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add vrtracker.py
2017-04-08 10:37:32 -07:00
Erwin Coumans
440d445a02
also report VR events for HMD and generic tracked devices. Also expose those VR events to pybullet: expose a deviceTypeFilter, that defaults to VR_DEVICE_CONTROLLER
2017-04-07 22:53:36 -07:00
erwincoumans
0f2771b1d1
Merge pull request #1059 from jietan/pullRequest
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make the URDF and the minitaur.py consistent with the real robot
2017-04-06 04:57:26 +00:00
erwincoumans
2e13531493
Merge pull request #1061 from erwincoumans/master
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Implement rayTestBatch. At the moment, it is still testing individual…
2017-04-06 04:56:49 +00:00
Erwin Coumans
6cbb00fd6b
Implement rayTestBatch. At the moment, it is still testing individual rays on the physics server. We can enable multi-threaded version later. At least the python + shared-memory IPC overhead will be much lower.
2017-04-05 15:21:26 -07:00
