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:
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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
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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'
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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)
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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 #1350 from bingjeff/add_mass_matrix
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[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
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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#
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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)
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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 #1249 .
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:
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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:
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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
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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
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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
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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