erwincoumans
b1f8eb74a4
bump up shared memory version number
...
add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency
2017-09-26 10:05:17 -07:00
erwincoumans
270a036cd7
add experimental vrSyncPlugin, that syncs the position/orientation of a vr controller to a gripper (through a constraint)
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This is in C++ and the sync runs at the simulation speed (240 Hz), so there is less lag than in Python.
Modify the pybullet/examples/vr_kuka_setup.py at the end to do this:
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll")
controllerId = 3
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid],[50])
2017-09-25 18:14:50 -07:00
erwincoumans
6d68a67c79
fix a bug in a changeVisualShape/texture selection, out-of-bounds check was using the wrong array.
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May fix some internal texture mug bug.
2017-09-25 11:11:48 -07:00
erwincoumans
0f30c95734
fix a compile error on Windows (variables need to be declared together at the start of a block in C)
2017-09-25 07:38:00 -07:00
Erwin Coumans
d3d1b51c3a
fix compile warnings
2017-09-24 23:26:06 -07:00
Erwin Coumans
705a59ea73
Merge remote-tracking branch 'bp/master'
2017-09-24 22:50:55 -07:00
erwincoumans
27674e5289
Update b3PluginManager.cpp
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pre/post tick were wrong order in initializer list
2017-09-24 22:39:20 -07:00
Erwin Coumans
2d91e13886
tweak pybullet examples a bit (mac OSX OpenGL runs in mainloop, with python interpreter,
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so it needs some 'ping' command
bump up pybullet to version 1.4.6
2017-09-24 21:37:31 -07:00
Jeffrey Bingham
ee30ca93c5
[sharedmemory] Fill-out calculateJacobian command.
...
The server command processor actually didn't do anything with
the local point that was passed along with the calculateJacobian
command. Added in the necessary bit of math to return the
corresponding jacobian.
Also, fixed a typo in pybullet that was returning the same
jacobian for translation and rotation.
2017-09-24 18:57:48 -07:00
Erwin Coumans
97509dc9d0
add some missing files for premake, thanks to Jeff Bingham for the report
2017-09-24 16:10:14 -07:00
Erwin Coumans
70364445b8
Merge remote-tracking branch 'bp/master'
2017-09-24 09:49:53 -07:00
erwincoumans
b1d6f58981
Update pybullet.c
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fix compile issue
2017-09-24 09:16:54 -07:00
Erwin Coumans
63ee841bea
trigger build system
2017-09-23 21:01:56 -07:00
Jeffrey Bingham
1727e47beb
[pybullet] Add calculateJacobian.
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* Add the calculateJacobian method to the pybullet API.
* Adjust the shared memory interface to handle fixed/floating bases
in the calculateJacobian method.
* Fix a few comments.
2017-09-23 19:58:59 -07:00
erwincoumans
8e496036c6
More work on the C/C++ plugin system for pybullet/C-API:
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Add preTickPluginCallback/postTickPluginCallback
User pointer for b3PluginContext, to store objects (class/struct instances)
Pass ints and floats as optional argument for plugin executePluginCommand
2017-09-23 18:05:23 -07:00
erwincoumans
5373ca39e1
add example snippet for the testPlugin/testplugin.cpp
2017-09-23 09:26:51 -07:00
erwincoumans
815a56c9bc
Allow to load a urdf file in the testplugin.cpp, as first quick test, example pybullet script:
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import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)
2017-09-23 09:25:00 -07:00
erwincoumans
37cfce99b2
add arguments to plugin system
2017-09-23 07:52:10 -07:00
erwincoumans
240fff575d
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-23 07:22:50 -07:00
Erwin Coumans
3783dccaa3
create a C/C++ plugin system for pybullet / C-API.
2017-09-22 19:17:57 -07:00
erwincoumans
312e35964f
make some code const correct.
2017-09-22 07:53:21 -07:00
Erwin Coumans
b9b1b2dbca
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 16:40:19 -07:00
Erwin Coumans
37253443f9
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-21 14:24:44 -07:00
Erwin Coumans
cc0c46c4b0
re-update the VR camera
2017-09-21 14:24:22 -07:00
Erwin Coumans
176c2512de
add B3_SHARED_API definition for Mac / Linux / gcc
2017-09-21 08:37:00 -07:00
erwincoumans
6a7efac4c3
Quick first prototype/test to integrate pybullet into Unity,
...
see readme.txt for details.
2017-09-20 23:18:18 -07:00
Erwin Coumans
ae8f12e8ba
more fixes for retina + glfw + opengl2 fallback
2017-09-20 13:09:18 -07:00
Erwin Coumans
fb05763093
support retina / scale factor between pixel size and screen coordinate size
2017-09-20 10:07:18 -07:00
Erwin Coumans
3e0b72b632
allow to configure glfw on Mac OSX, disabled by default
2017-09-20 08:12:59 -07:00
erwincoumans
b079277d51
minor fixes in GLFWOpenGLWindow
2017-09-19 21:40:17 -07:00
erwincoumans
cadce37141
add GLFWOpenGLWindow and glad (replacement for glew)
2017-09-19 21:16:24 -07:00
erwincoumans
390f111547
enable option to use GLFW, instead of our own cross-platform X11/Cocoa/Windows OpenGLWindow classes
2017-09-19 21:10:54 -07:00
erwincoumans
2919e51d9d
fix loading of empty file (after header)
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remove debug printf
2017-09-17 15:44:14 -07:00
Erwin Coumans
f4b28dddce
fix rendering ("rgb_array") for pendulums/pendula
2017-09-15 16:33:22 -07:00
erwincoumans
1881f6679a
fix issue with rendering of certain capsules from MJCF files.
2017-09-15 15:38:24 -07:00
Erwin Coumans
81bf709ad7
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-15 13:12:06 -07:00
Erwin Coumans
3d7ee317db
fix pybullet gym environments: InvertedDoublePendulumBulletEnv-v0,
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InvertedPendulumBulletEnv-v0, InvertedPendulumSwingupBulletEnv-v0
motors were not disabled, extra gains applied etc.
2017-09-15 13:09:05 -07:00
Erwin Coumans
2e7c0cef38
pybullet/C-API: fix width/height when getCameraImage has a fallback from OpenGL hardware
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to TinyRenderer
2017-09-14 15:39:22 -07:00
erwincoumans
ffb05d74da
Merge pull request #1308 from benelot/fix-gyms
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Fix gyms to make them work just like robotschool
2017-09-14 07:40:51 -07:00
Benelot
3f57fb655a
Enable randomized reset for Humanoid.
2017-09-14 12:53:12 +02:00
Benelot
2e8a86462f
Remove tweaks added by me but not part of roboschool.
2017-09-14 12:52:21 +02:00
Erwin Coumans
74475479cf
fix pybullet, checked wrong type after connection
2017-09-13 17:05:23 -07:00
Erwin Coumans
7e0ca070e0
fix return values in pybullet to be Pythonic.
2017-09-13 16:08:30 -07:00
Erwin Coumans
6942a9f8ef
remove a debug printf
2017-09-13 13:48:37 -07:00
Erwin Coumans
c220513757
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-13 13:31:56 -07:00
Erwin Coumans
340a8f4704
add sigaction handler to Example Browser, to always shutdown shared memory
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make GUI_SERVER more reliable
next attempt to connect to SHARED_MEMORY in Gym envs, if available, before DIRECT/GUI
allow software rendering fallback, even if ER_BULLET_HARDWARE_OPENGL is chosen in getCameraImage
2017-09-13 13:30:16 -07:00
Erwin Coumans
97a62b33c0
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-13 12:07:59 -07:00
Erwin Coumans
2eaac410b5
remove memory of loadTexture.
2017-09-13 12:07:19 -07:00
Erwin Coumans
c250a5f0b9
re-enable shared memory connection for pybullet Gym envs (with fallback to GUI or DIRECT)
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suppress shared memory connection warnings
add fallback from ER_BULLET_HARDWARE_OPENGL to TinyRenderer if not available
2017-09-13 09:56:39 -07:00
erwincoumans
cc9995d44b
fix uninitialized camera position in 'VR' / 'camera rendering' mode (causing broken specular reflections in VR)
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use debug visualizer camera viewmatrix/projection matrix if not provided, in ER_BULLET_HARDWARE_OPENGL mode.
fix broken changeRGBAColor implementation, thanks to Laura for the report!
2017-09-12 22:14:00 -07:00
