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a66576f034
Commit Graph

1406 Commits

Author SHA1 Message Date
Erwin Coumans
a66576f034 revert API to be backward compatible, add b3CreateInProcessPhysicsServerAndConnectSharedMemory 
same for BulletURDFImporter constructor
 2017-08-16 12:33:25 -07:00
erwincoumans
2e0a987750 pybullet only allow one GUI/GUI_SERVER instance. 
Fix LINK_FRAME/WORLD_FRAME coordinate issue in pybullet applyExternalForce
 2017-08-15 14:15:30 -07:00
Erwin Coumans
99beb44625 fix build issues in previous commit 2017-08-15 10:46:09 -07:00
erwincoumans
9d0f875c5b fix compile issues due to API change (additional argument) 2017-08-15 09:34:44 -07:00
Erwin Coumans
60b60ef9fd add pybullet.connect(pybullet.GUI_SERVER) option. This allows shared memory connections, acting as a physics server. You can connect using SHARED_MEMORY to this GUI_SERVER. 2017-08-14 17:02:20 -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
dfaa717fed Merge pull request #1252 from erwincoumans/master 
fix pybullet GUI performance issue on Mac OSX, fix potential memory leak in loadSDF when visuals have the same name.
 2017-08-11 18:11:53 -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
erwincoumans
0eb3898c76 Merge pull request #1244 from erwincoumans/master 
add 'createObstacleCourse.py' example, helps reproducing
 2017-07-29 13:20:14 +02:00
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
yunfeibai
cfc7917586 Add init function and module for pybullet with EGL. 2017-07-18 13:52:29 -07:00
Erwin Coumans
c9b41737c0 add example of faster URDF/SDF loading in VR/GUI mode, 
by temporary disabling rendering
 2017-07-14 23:32:53 +01:00
Erwin Coumans
0df8887990 improve pybullet performance of loadURDF/SDF/MJCF and 'createCollisionShape'/'createMultiBody' for GUI/VR/SHARED_MEMORY, 
use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loading and
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) afterwards
 2017-07-14 23:12:16 +01:00
Erwin Coumans
5178ad4abc add proper pointer casts 2017-07-01 10:28:28 -07:00
Erwin Coumans
9cf747b35b a few compile/warning fixes 2017-07-01 10:01:55 -07:00
Erwin Coumans
c17625a4d0 texture check fix 2017-07-01 09:15:00 -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
dd3d55610b fixes in pybullet.loadTexture, changeVisualShape replacing texture. 
(also works for OpenGL3 renderer now)
 2017-06-30 13:35:07 -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
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
erwincoumans
a651cb9ab4 Implement first pass of transparent graphics object for GLInstancingRenderer 
remove 'enableBlend' from API, graphics instances use alpha component instead
fix forward axis for SimpleCamera
 2017-06-24 13:41:33 -07:00
erwincoumans
c777e61d48 fix pybullet compilation on some WIN32 version of MSVC 2017-06-23 20:36:19 -07:00
Erwin Coumans
65e22ba3e9 allow auxilary link to be used for gear btMultiBodyGearConstraint. 2017-06-23 20:24:04 -07:00
Erwin Coumans
8e9f5ef3f3 fix compile issue 2017-06-23 16:22:38 -07:00
Erwin Coumans
9672c3a330 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-23 16:19:10 -07:00
Erwin Coumans
9aed6b08f1 don't set the numSolverIterations that high, was a debug left-over 2017-06-23 16:18:42 -07:00
Erwin Coumans
2ab56b4d62 Allow to create concave collision meshes. Note that this is only supported for static (mass 0) multibodies. 2017-06-23 14:43:28 -07:00
Erwin Coumans
a136098120 add a few more discrete actions to cartpole_bullet.py so it trains faster + add option to train without rendering, enjoy with rendering. 2017-06-22 16:49:14 -07:00
Erwin Coumans
9e5e0da9f4 move stb_image/stb_truetype.h and stb_image/stb_image_write.h to ThirdPartyLibs/stb_image folder 2017-06-22 08:48:18 -07:00
Erwin Coumans
97f6a161f1 fix stb_image.h include path to be consistent. 2017-06-22 08:09:33 -07:00
Erwin Coumans
9213f944f1 add kukaCamGymEnv.py with camera observations (preliminary) 
show camera position in example browser
disable per-vertex and per-fragment profile timings
 2017-06-21 09:33:46 -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
Erwin Coumans
61f27a5c72 also add baseInertialFramePositionObj and baseInertialFrameOrientationObj to pybullet.createMultiBody 
updated createMultiBodyLinks.py example.
 2017-06-19 17:13:20 -07:00
Erwin Coumans
7441515c0e Preliminary version of pybullet.createMultiBody including links connected to parent by a joint. 
See createMultiBodyLinks.py example.
 2017-06-19 13:15:05 -07:00
Erwin Coumans
f3c11b6f31 add capsule, cylinder, plane, mesh support for pybullet.createCollisionShape 
preparation to add links to pybullet.createMultiBody
 2017-06-19 10:14:26 -07:00
Erwin Coumans
2e6f8c271e allow to disable/enable default keyboard shortcuts ('w', 'd' 's' etc) and default mouse picking 
pybullet.getMouseEvents / b3RequestMouseEventsCommandInit
 2017-06-17 13:29:14 -07:00
Erwin Coumans
3a826a5997 getCameraImage: use debug visualizer camera viewmatrix/projection matrix if possible (only if view/proj matrix is not provided) 2017-06-17 11:21:10 -07:00
Erwin Coumans
5ea4da87d7 improve getAABB.py drawing 2017-06-16 19:11:35 -07:00
Erwin Coumans
23b155a2b4 add getAABB.py example. 
fix getAABB / b3RequestCollisionInfoCommandInit to use less stack memory
 2017-06-16 18:10:10 -07:00
Erwin Coumans
40cb8006ee fix gym/envs/bullet/cartpole_bullet.py (velocity hyperparameter still needs to be tuned) 
add enjoy_pybullet_cartpole.py
 2017-06-16 17:06:11 -07:00
Erwin Coumans
bb8cfe3c9a pybullet.getAABB and getAPIVersion 
fix btMultiBody::getLinkCollider
bump up Bullet C-API version
 2017-06-15 19:46:27 -07:00
erwincoumans
c903bd8a49 tune kuka grasp gym env (make it a bit too easy) 2017-06-15 11:18:08 -07:00
erwincoumans
16f439d774 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-14 23:42:40 -07:00
erwincoumans
a547c8f3fc hook up kuka grasping to OpenAI dqn 2017-06-14 23:42:14 -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
erwincoumans
f8af33dc73 Merge pull request #1183 from lunkhound/pr-browser-gui 
example browser: GUI improvements for CommonRigidBodyMT based demos
 2017-06-14 08:12:37 -07:00
erwincoumans
3921ea88fa Merge pull request #1177 from YunfeiBai/master 
Bug fix. Only return friction coefficient when there is a valid link …
 2017-06-14 08:11:57 -07:00
erwincoumans
ff7a2bbc3b Merge pull request #1180 from lunkhound/pr-remove-override 
fix a stray override keyword (C++11) that slipped in
 2017-06-14 08:11:15 -07:00
erwincoumans
cc34ebab25 add humanoid and kuka gym environments (experimental) 2017-06-14 00:54:41 -07:00