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)
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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
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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)
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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
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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.
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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
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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,
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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.
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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 ;-)
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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.
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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=...)
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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:
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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
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
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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.
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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 !
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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)
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add test wav file
2017-04-27 08:39:57 -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
Erwin Coumans
e32debdca4
improvements in MJCF importer: fix capsule shape inertia (for fromto definition)
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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
yunfeibai
66a8685816
Merge remote-tracking branch 'upstream/master'
2017-03-29 15:06:15 -07:00
Erwin Coumans
544f289b24
better pr2_gripper collision model
2017-03-23 15:31:17 -07:00
yunfeibai
d717b1db84
Add the API to get the body name and pybullet example call.
2017-03-23 13:54:44 -07:00
Erwin Coumans
f498670798
:%s/STL/stl/g for Bullet/data/MPL/MPL.xml
2017-03-21 18:10:50 -07:00
erwincoumans
a30b887595
Merge pull request #1025 from olegklimov/master
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URDF loader improvement 2
2017-03-21 17:12:22 -07:00
erwincoumans
cb08d077f0
Merge pull request #1030 from erwincoumans/master
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friction anchors, arm64 premake
2017-03-20 11:48:44 -07:00
Erwin Coumans
0b017b0f53
fix issue with btMultiBody friction in combination with soft contacts (friction should not re-use normal contact cfm/erp)
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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
yunfeibai
753f1d3d2f
Add lateral and spinning friction coefficients to gripper sdf model.
2017-03-20 10:16:15 -07:00
Oleg Klimov
fa7397cc92
Rename *.STL to *.stl for case-sensitive filesystems
2017-03-17 02:11:47 +03:00
Erwin Coumans
4db6fa9e29
update minitaur.py to use minitaur.urdf (instead of quadruped.urdf), also sort the legs in the same order as real hardware
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added test urdf files for minitaur with all fixed joints, or fixed knees.
added some stiffness/damping to minitaur legs (testing)
tiny_obj_loader, don't crash on invalid texture coordinates
btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
2017-03-15 15:38:50 -07:00
Erwin Coumans
a613911c84
Merge remote-tracking branch 'bp/master'
2017-03-15 11:05:16 -07:00
erwincoumans
f67299de8e
Merge pull request #1020 from jietan/pullRequest
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add cartpole urdf
2017-03-14 17:06:10 -07:00
Erwin Coumans
6e2850e08a
fix names (case) for Linux for MPL/hand
2017-03-14 17:03:11 -07:00
