Erwin Coumans
af295b6eed
optimize hand (hand.py, vrhand.py) MPL.xml STL meshes for better collision detection performance (using Blender decimation tool)
2017-03-07 19:07:45 -08:00
erwincoumans
00361afea5
allow user to specify the maximum number of dofs to log in GenericRobotStateLogger (default = 12)
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add minitaur quadruped playback of minitaur log files (real robot and simulated create the same log files)
add improved minitaur.urdf file, see https://youtu.be/lv7lybtOzeo for a preview.
2017-03-05 21:49:20 -08:00
Erwin Coumans
34fc2fb589
create premake/cmake file for Bullet/Extras/obj2sdf
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add missing 1.sdf for Bullet/data/kitchens/1.sdf
add support for getting keyboard events (pybullet.getKeyboardEvents and b3RobotSimulatorClientAPI::getKeyboardEvents)
2017-03-02 12:33:22 -08:00
Erwin Coumans
2eb019cdc3
Created Wavefront obj to sdf converter, to make it easier to import complex obj models with many materials. See kitchen for example.
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Fix in tinyobj, make sure material is initialized
Add fatihrmutfak kitchen model, for Virtual Reality and some research
2017-03-01 10:06:10 -08:00
Jie Tan
83e5e816f5
Merge remote-tracking branch 'bp/master' into pullRequest
2017-02-16 15:13:12 -08:00
Erwin Coumans
65deeee64b
add optimized tray/traybox.urdf
2017-02-16 14:29:51 -08:00
Erwin Coumans
63486a712c
VR video recording, use command-line --mp4=videoname.mp4
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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
08b83c3cd8
Merge remote-tracking branch 'bp/master'
2017-02-16 13:41:12 -08:00
Jie Tan
4df8b27626
make the motorId corresponds to that of the real minitaur. change the mass of the quadruped.urdf, change the friction of plane.urdf.
2017-02-08 17:26:36 -08:00
Erwin Coumans
d0fa10db63
add spinning_friction to sphere2_rolling_friction.urd
2017-01-31 12:01:10 -08:00
erwincoumans
7e59cecd13
removed some link from MJCF hand, the parser doesn't handle that root link properly (yet)
2017-01-26 17:52:12 -08:00
Erwin Coumans
76dcf3a751
remove the contype=0 in inverted_pendulum.xml, so we can 'mouse-pick' the pendulum.
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[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
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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
Erwin Coumans
64957ece9f
add hand.py/hand.ino used to create this VR glove, using MuJoCo Haptix MPL hand (Apache 2 license)
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https://www.youtube.com/watch?v=VMJyZtHQL50
added b3InitSyncBodyInfoCommand, to retrieve body info, when connecting to a server with existing bodies
pybullet will call this b3InitSyncBodyInfoCommand automatically after connecting
Avoid overriding the py.setVRCameraState setting in VR
2017-01-20 18:13:24 -08:00
Erwin Coumans
52761f5578
[pybullet] implement addUserDebugParameter / readUserDebugParameter
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fix inertial frame for door.urdf
allow picking of links of multi-bodies with a fixed base
2017-01-17 15:42:32 -08:00
Erwin Coumans
c0c4c8ba3f
fix many warnings
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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
2017-01-15 22:26:11 -08:00
Erwin Coumans
310fabcd7e
Further improvements in Bullet MuJoCo MJCF import:
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[MJCF import] improved humanoid.xml, inverted_pendulum.xml import (automatically add dummy-links to connect multiple joints between bodies)
[MJCF import] fix bug in quaternion conversion (w,x,y,z) -> (x,y,z,w)
2017-01-15 11:22:24 -08:00
Erwin Coumans
fdd517e00f
First step towards a MuJoCo MJCF importer for Bullet. It can load the humanoid.xml, ant.xml and some other OpenAI GYM asset files. Not all fields are converted, so it is work-in-progress. This is useful for Reinforcement Learning experiments, and would also help integration with DeepMind Lab.
2016-12-30 18:32:57 -08:00
Erwin Coumans
17570c4700
tweak color of quadruped robot URDF, tweak quadruped.py script to make it more compatible with VR demo
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allow VR physics server to run with or without 'realTimeSimulation'
2016-12-11 09:28:36 -08:00
erwincoumans
61cfa18923
save default VR camera tuning, requires MIDI controller
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tweak some values in VR demo
2016-12-02 17:44:00 -08:00
Erwin Coumans
898517b1e3
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2016-11-29 19:14:20 -08:00
Erwin Coumans
746c4d0d2a
add a tray, similar to those ones:
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https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html
tune the VR demo a bit, to make it more user friendly.
2016-11-29 17:08:47 -08:00
yunfeibai
0bc4e0a4c3
Render multiple objects with shadow.
2016-11-27 16:53:15 -08:00
yunfeibai
583dc1cac7
Add torus.
2016-11-27 15:34:01 -08:00
erwincoumans
8c69fa13ca
add pybullet getCameraImage, replacing renderImage, cleaner API:
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always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir
added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV
see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use
add missing base_link.stl for husky.urdf
2016-11-17 15:15:52 -08:00
Erwin Coumans
ee7a5a470f
tweak quadruped script to make a few more moves
2016-11-16 21:36:51 -08:00
erwincoumans
2329c00faa
Add RtMidi for midi control, use the --midi option in premake, and see
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update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr
add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc)
tweak quadruped.py to move a bit
add mouse picking to physics server
2016-11-16 16:12:59 -08:00
erwin coumans
d0cbfc5905
add humanoid/nao.urdf (BSD license)
2016-11-14 14:09:57 -08:00
Erwin Coumans
c521d816c6
add user debug line/text features in pybullet + shared memory API:
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addUserDebugLine,
addUserDebugText
removeUserDebugItem
removeAllUserDebugItems
2016-11-14 07:39:34 -08:00
erwincoumans
9bad64fed9
allow obsolete OpenGL2 drawer to render with z-up axis.
2016-11-12 11:59:40 -08:00
erwincoumans
0d47d61007
pybullet getClosestPoints
2016-11-09 21:01:04 -08:00
erwincoumans
502f4b7d40
update .bullet file
2016-11-05 11:32:31 -07:00
yunfeibai
b7482c1142
Add model file for kuka with free base.
2016-11-03 09:54:56 -07:00
yunfeibai
9d54f0cf8d
Grasp soft body with rigid fingers.
2016-11-01 15:46:09 -07:00
erwin coumans
24593ed11a
fix r2d2.urdf and avoid self-penetrating limbs
2016-10-19 16:21:33 -07:00
erwin coumans
eda400d14c
Merge remote-tracking branch 'bp/master'
2016-10-19 07:43:46 -07:00
erwin coumans
d1ab6c144b
change some defaults in MultiBody example, a slider constraint without limits is a bad idea
2016-10-16 11:52:38 -07:00
yunfeibai
880ee097fa
Simulate bunny in grasp demo and set collision margin.
2016-10-12 15:34:45 -07:00
yunfeibai
379f2ac933
Load bunny to to the world in the grasp demo.
2016-10-12 11:51:04 -07:00
erwincoumans
d853500997
add kuka iiwa with different limits (experiment with inverse kinematics null space)
2016-10-09 21:16:01 -07:00
erwincoumans
0aa2bbfe07
Merge pull request #817 from erwincoumans/master
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avoid wavefront obj texture index out-of-bounds (most obj out-of-boun…
2016-10-05 17:28:23 -07:00
erwin coumans
d59b0f05a4
expose b3PhysicsParamSetNumSolverIterations
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split Visual Studio project generation batch file in regular and VR+pybullet+double precision build.
disable KUKA iiwa joint limit hack
2016-10-05 16:31:48 -07:00
YunfeiBai
ebe5d9bb84
Add null space task as an option for IK in VR.
2016-09-30 16:47:33 -07:00
YunfeiBai
8befdcba1a
Modify table rendering.
2016-09-30 12:30:34 -07:00
YunfeiBai
a2dacce3d4
Move object around to reset the scene in VR.
2016-09-30 11:57:30 -07:00
erwincoumans
032ffe427e
jenga brick was way too heavy
2016-09-29 22:03:29 -07:00
erwincoumans
d8c54e3e31
no spinning friction for jenga block
2016-09-29 21:51:28 -07:00
erwincoumans
a1fa2b8056
add a basic table top (no legs yet)
2016-09-29 21:45:39 -07:00
yunfeibai
dd10dd6a3f
Add a new one motor gripper to use Featherstone for slider and constraint for revolute joint.
2016-09-29 12:07:00 -07:00
YunfeiBai
619f0d9d13
fixes in default VR setup
2016-09-28 16:07:55 -07:00