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99beb44625
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152 Commits

Author SHA1 Message Date
Erwin Coumans
99beb44625 fix build issues in previous commit 2017-08-15 10:46:09 -07:00
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
erwincoumans
457312f94f fix leak in loadSDF in case of visuals with duplicate/identical names that have a material. 
fix GUI performance issue on Mac OSX
fix issue introduced in previous commit (in btConvexHullComputer.cpp)
 2017-08-11 17:14:52 -07:00
Erwin Coumans
dcaaed9238 also generate TinyRendererVisualShapeConverter for programmatically generated collision shapes 
use similar random colors for TinyRenderer (if rgba colors are not specified)
 2017-06-29 22:06:27 -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
c1e32e6428 fix potential memory leaks 2017-06-07 19:00:44 -07:00
Erwin Coumans
b23cb1dd2c pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface 
(still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
 2017-06-03 10:57:56 -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
5c6045b61f turn down effect of default specular a bit 2017-06-01 13:15:58 -07:00
Erwin Coumans
d744fe10dc compile fix 2017-06-01 12:51:43 -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
e6180ef98a use a fixed joint instead of crashing for unsupported joint types (planar, floating joint) 2017-05-25 13:02:20 -07:00
Erwin Coumans
19295f2859 enable file caching, currently only for Wavefront .obj files. You can disable file caching using 
pybullet.setPhysicsEngineParameter(enableFileCaching=0)
Allow VR camera tracking only using position tracking, no orientation tracking (use
pybullet.setVRCamera([posX,posY,posZ],trackObjectFlag=0 or pybullet.VR_CAMERA_TRACK_OBJECT_ORIENTATION)
 2017-05-17 19:29:12 -07:00
Erwin Coumans
dfe618bd62 initialize UrdfGeometry members 2017-05-15 07:59:07 -07:00
Erwin Coumans
e2d596f4d0 remove visual shape from CPU/TinyRenderer with removeBody 
(thanks to Jeff Bingham for reporting the bug!)
 2017-05-12 20:24:10 -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
Oleg Klimov
b8afb4d7aa Memory leaks 2017-05-06 14:49:51 +03:00
Oleg Klimov
5a40b5aaae Compile fix 2017-05-06 14:49:51 +03:00
Oleg Klimov
1524004aa8 MJCF: support for "axisangle", small code improvements 2017-05-06 14:49:43 +03:00
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
e4ace90980 fix some potentially uninitialized variable 2017-04-25 21:37:04 -07:00
Erwin Coumans
5158c1ae98 add python dumpLog.py utility to view log files created using 'startStateLogging' 
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
82b576a390 fixed a bug that prevented kitchens/1.sdf to render properly (local scaling was double applied) 
disable some left-over clipping that was moved to another part of the code
 2017-04-06 21:13:23 -07:00
Erwin Coumans
b095e1d917 expose pybullet.URDF_USE_SELF_COLLISION flag, experimental (likely doesn't work well for many URDF files) 2017-04-04 12:47:34 -07:00
Erwin Coumans
b1cbc3d4b0 fix a potential memory leak for URDF files with multiple materials using the same name 2017-03-30 13:30:38 -07:00
Erwin Coumans
9d05b46de2 expose width/height as ExampleBrowser options. 
suppress lack of 'site' support message in MJCF importer
suppress lack of 'plane' visual support in urdf/sdf import
getBodyName default to "" to avoid breaking cloudsim
expose bodyName when requesting body info (sdf/mjcf import)
pass optional "options" string to pybullet.connect method. this can be used for --opengl2 flag in GUI mode (or other flags)
 2017-03-30 11:01:33 -07:00
yunfeibai
f062847038 Replace spaces with tabs. 2017-03-29 15:37:33 -07:00
yunfeibai
66a8685816 Merge remote-tracking branch 'upstream/master' 2017-03-29 15:06:15 -07:00
Oleg Klimov
77608154a3 MJCF: fix capsule length when given in size="", fix slider joint limits 2017-03-27 22:54:20 +03:00
Erwin Coumans
f4be2c1ee0 pass the joint parameters for all joints 2017-03-26 20:05:48 -07:00
Erwin Coumans
7503418c72 Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. 
Add several MSVC optimization flags to cmake.
Bump up VERSION because serialization format changed
Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo.

pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity
fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
 2017-03-26 13:06:46 -07:00
Erwin Coumans
acbe8ee5cd remove use of snprint, fixes Issue 1037 2017-03-23 15:10:47 -07:00
yunfeibai
50f0cfca9e Add body name when loading urdf. 2017-03-23 10:16:39 -07:00
erwincoumans
a30b887595 Merge pull request #1025 from olegklimov/master 
URDF loader improvement 2
 2017-03-21 17:12:22 -07:00
Oleg Klimov
80a0b51a1d MJCF: fix cylinders in MJCF, also (possibly) fixes capsules in tiny renderer 2017-03-22 00:36:28 +03:00
Erwin Coumans
0b017b0f53 fix issue with btMultiBody friction in combination with soft contacts (friction should not re-use normal contact cfm/erp) 
implement friction anchors, position friction correction, disabled by default. Use colObj->setCollisionFlag(flag | CF_HAS_FRICTION_ANCHOR); See test/RobotClientAPI/SlopeFrictionMain.cpp. In URDF or SDF, add <friction_anchor/> in <contact> section of <link> to enable.
PhysicsServer: properly restore old activation state after releasing picked object
btMultiBodyConstraintSolver: disable flip/flop of contact/friction constraint solving by default (it breaks some internal flaky unit tests)
 2017-03-20 10:58:07 -07:00
Oleg Klimov
41df15a464 MJCF: fix B3_PI, fix colors, fix capsule without 'fromto' 2017-03-19 00:19:04 +03:00
Oleg Klimov
e8da7bb6f8 URDF loader: fix MuJoCo xml load, also closes #993 2017-03-17 02:11:47 +03:00
Erwin Coumans
3d2cb1cabf also allow absolute path in asset files (.obj, .stl, .dae etc) 2017-03-14 10:40:27 -07:00
Oleg Klimov
fa60cc5f56 URDF loader: fix SDF branch, warn about unsupported geometry 2017-03-14 02:32:02 +03:00
Oleg Klimov
3a8199ec28 Fix formatting 2017-03-10 19:46:46 +03:00
Oleg Klimov
82495f3c84 URDF loader: reuse the same resources finder routine for TinyRendererVisualShapeConverter 2017-03-10 18:17:38 +03:00
Oleg Klimov
5b2a9d1a01 URDF loader: resources path, "package://" removal, error messages, zero material path in .obj loader 2017-03-08 15:14:54 +03:00
Erwin Coumans
89e8e30de6 fix lack of collision scaling in pybullet URDF/SDF files (only graphics meshes supported scaling, collision objects ignored scaling) 2017-02-28 16:30:57 -08:00
Erwin Coumans
63486a712c VR video recording, use command-line --mp4=videoname.mp4 
tune gripper grasp example with tefal pan, 800Newton force.
URDF importer: if using single transform 1 child shape, don't use compound shape.
if renderGUI is false, don't intercept mouse clicks
add manyspheres.py example (performance is pretty bad, will look into it)
[pybullet] expose contactBreakingThreshold
 2017-02-16 14:19:09 -08:00
Erwin Coumans
7df123025f URDF parser: allow inertial element in just ixx, iyy, izz format (non-standard URDF) 
tiny_obj_loader: don't crash when/if normals are not specified
 2017-01-31 18:09:44 -08:00
Erwin Coumans
76dcf3a751 remove the contype=0 in inverted_pendulum.xml, so we can 'mouse-pick' the pendulum. 
[mjcf importer] add rudimentary support for inertial frame computation, for 'fromto' capsules.
 2017-01-24 21:10:21 -08:00
Erwin Coumans
d465e1eea5 add capsule support in urdf parser (non-standard extension), capsule.urdf 
fix btCapsuleShape (X,Y,Z) margin issue
fix uninitialized variables in TinyRenderer: m_hasLightDistance, m_hasLightAmbientCoeff, m_hasLightDiffuseCoeff, m_hasLightSpecularCoeff
pybullet/shared memory API 'getClosestPoints' / b3InitClosestDistanceQuery, only report contacts equal/smaller distance than given
 2017-01-23 16:45:18 -08:00