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Commit Graph

1587 Commits

Author SHA1 Message Date
Erwin Coumans
dbd82f26ba fix TinyRenderer activateShapeTexture 2017-10-06 17:19:14 -07:00
Erwin Coumans
027178ae6f fix some compile issues/bugs 2017-10-06 15:34:25 -07:00
Erwin Coumans
4d803c104b #include <string.h> // for memcpy 2017-10-06 14:04:43 -07:00
Erwin Coumans
26d32f2aa8 improve loading performance of large textures:
option to disable tinyrenderer, use p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
also make sure to use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loadURDF, and enable rendering afterwards using p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
reorder 2 loops, making the flip texels twice as fast (cache coherency),
single memcpy of entire texture in tinyrenderer, instead of per-pixel copy (memory layout is the same)
add lots of B3_PROFILE timings, to see where time is going
2017-10-06 13:46:24 -07:00
erwincoumans
b572fe43f9 fix signal handling in ExampleBrowser on linux/mac on termination
expose all analogue axes from OpenVR (5 controllers, each x,y -> 10 floats) in pybullet.getVREvents(allAnalogAxes=1)
2017-10-05 12:59:58 -07:00
erwincoumans
822ff077c7 expose some parameters through pybullet.getPhysicsEngineParameters (C-API: b3InitRequestPhysicsParamCommand + b3GetStatusPhysicsSimulationParameters) 2017-10-05 11:43:14 -07:00
erwincoumans
1262adeaec build a named tuple for 'getConnectionInfo'
remove debug code
2017-10-05 09:57:17 -07:00
erwincoumans
9303891468 Allow to configure Y=up, default is Z=up, using pybullet.configureDebugVisualizer(COV_ENABLE_Y_AXIS_UP,0/1)
Implement pybullet.getConnectionInfo, returns [isConnected, connectionMethod], where isConnected=0 or 1
2017-10-05 09:02:33 -07:00
erwincoumans
f467f325f7 store mass matrix in streaming part of shared memory (no support for unlimited mass matrix sizes at the moment) 2017-10-05 08:23:10 -07:00
erwincoumans
a2d6a2e822 Merge pull request from bingjeff/add_mass_matrix
[pybullet] Add calculateMassMatrix.
2017-10-05 07:45:30 -07:00
erwincoumans
05b71a521d update unity3d/examples/NewBehaviourScript.cs to load a plane and cube, synchronize the world transform
added debug rendering from CjLib (with DrawLine from my fork here: https://github.com/erwincoumans/unity-cj-lib)
2017-10-04 12:21:52 -07:00
erwincoumans
1b03871b4d use explicit size for name, to avoid issue converting/marshalling data to C#
example to call b3VisualShapeInformation from C# and marshall b3VisualShapeData (after loadURDF)
See examples\pybullet\unity3d\examples\NewBehaviourScript.cs
2017-10-03 18:01:53 -07:00
erwincoumans
9577875fe9 remove debug printf 2017-10-03 16:16:09 -07:00
Erwin Coumans
acbe457d31 add option to statically link a plugin, select the postFix (to avoid naming conflict of multiple plugins functions ('initPlugin' becomes initPlugin_postFix)
pass events (keyboard, mouse, vr controllers etc) to the plugin, and clear them after the tick callback, so that it doesn't interfere with Python 'getEvents'
2017-10-03 15:00:52 -07:00
Erwin Coumans
0be9dde36c Merge remote-tracking branch 'bp/master' 2017-10-03 09:09:56 -07:00
Srajan Garg
05ad68015d add new example for btCompoundShape 2017-10-03 01:38:20 +05:30
Erwin Coumans
cd88614a22 search for the controller, instead of using a hard-coded number. 2017-10-02 12:22:46 -07:00
Jeffrey Bingham
e04820af73 Add calculateMassMatrix to pybullet.c 2017-09-30 20:39:56 -07:00
Jeffrey Bingham
d9782f953d Add calculateMassMatrix to physics server command processor. 2017-09-30 13:56:40 -07:00
Jeffrey Bingham
7dfed65287 Add calculateMass to shared memory interface. 2017-09-30 13:39:11 -07:00
Jeffrey Bingham
31ee8bf8bc Fix small typo in b3PluginArguments. 2017-09-30 13:17:48 -07:00
erwincoumans
a632b6c6a4 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-29 08:01:11 -07:00
erwincoumans
e0dbd25cb7 remove some unneeded/debug BT_PROFILE markers 2017-09-29 07:50:48 -07:00
erwincoumans
dd2c7af2b2 Update pybullet autogenerated C# bindings, with very basic example script that runs inside Unity 3D 2017-09-29 07:47:31 -07:00
Erwin Coumans
0948ce5984 import missing functools 2017-09-28 10:42:02 -07:00
Erwin Coumans
345836d670 revert to original agents train/visualize scripts, but using pybullet envs in configs.py (agents lacks a convenient way to extend environments) 2017-09-28 10:19:41 -07:00
Jeffrey Bingham
cd231c030e more formatting. 2017-09-27 22:35:02 -07:00
Jeffrey Bingham
d49fade704 fix some formatting. 2017-09-27 22:30:32 -07:00
Jeffrey Bingham
d8b80bce40 Fix the translation jacobian. 2017-09-27 22:25:39 -07:00
Jeffrey Bingham
6da931d0bd Adjust jacobian.py to show mismatch between joint state and link state. 2017-09-27 22:25:39 -07:00
Jeffrey Bingham
0b239e8bc0 [pybullet] Add an example for jacobian. 2017-09-27 22:25:39 -07:00
yunfeibai
54eada7579 Fix memory leak. 2017-09-27 16:42:29 -07:00
yunfeibai
85be3b43dd Merge remote-tracking branch 'upstream/master' 2017-09-27 15:20:11 -07:00
yunfeibai
113e103bc2 Modify the joint damping input check, and output error message when it doesn't pass the size check. Modify the kuka grasping example accordingly. Setting joint damping in this example was a no-op before. 2017-09-27 15:18:08 -07:00
yunfeibai
adcece7927 Adjust the IK setup to address the inverse kinematics issues mentioned in . 2017-09-27 14:14:57 -07:00
Erwin Coumans
4dca5b3ef5 fix typos in agents config 2017-09-27 12:17:59 -07:00
Erwin Coumans
a716752915 add __init__.py file in agents folder 2017-09-27 10:30:05 -07:00
Erwin Coumans
5082d6af15 bump up pybullet version, instruction to visualize agents ppo:
python -m pybullet_envs.agents.visualize_ppo -config=pybullet_pendulum --logdir=pendulum/20170927T101514-pybullet_pendulum/ --outdir=vid

tensorboard --logdir=20170927T101514-pybullet_pendulum --port=2222
2017-09-27 10:26:45 -07:00
Erwin Coumans
e4a3b3fe38 add TensorFlow Agents PPO training script for various pybullet environments:
example:

python -m pybullet_envs.agents.train_ppo --config=pybullet_pendulum --logdir=pendulum
2017-09-27 10:20:38 -07:00
Erwin Coumans
c37919604f add minitaur environment randomizer, enable it by default
this improves PPO training ( more stable)
2017-09-27 09:07:21 -07:00
erwincoumans
12f28c5f76 fix compile issue on MSVC 2017-09-26 19:58:24 -07:00
erwincoumans
e72ebc95de Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-26 19:54:57 -07:00
erwincoumans
8a265b8af2 expose gear erp/relative position target to C-API/pybullet
finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
2017-09-26 19:54:36 -07:00
Erwin Coumans
b03e5dec5f return -1 for debugDrawItems in DIRECT mode, instead of failing the API 2017-09-26 11:40:38 -07:00
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)
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.
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