Erwin Coumans
ee9575167d
expose PyBullet.calculateInverseKinematics2 that allows to specify multiple IK end effector locations (not multiple orientations)
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usage example:
jointPoses = p.calculateInverseKinematics2(bodyUniqueId, [endEffectorLinkIndices], [endEffectorTargetWorldPositions])
2019-07-10 17:21:18 -07:00
Erwin Coumans
bb8f621bf9
revert SHARED_MEMORY_GUI test
2019-07-03 12:10:24 -07:00
Erwin Coumans
9db6acd97d
support changeVisualShape(rgbaColor) through GraphicsServer/Client
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support getCameraInfo through GraphicsServer/Client
2019-07-02 09:48:34 -07:00
Erwin Coumans
d4aac235fc
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-06-19 12:08:52 -07:00
Erwin Coumans
16542aa740
tweak Mini Cheetah URDF/MTL
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use /tmp/timings on Linux/Mac as default location to save profile timings (when you press 'p' in example browser)
fix in Graphics Server Example when rendering is disabled
2019-06-19 12:07:26 -07:00
Erwin Coumans
ed4515ae17
for the GraphicsServer, expose a sync transform interval: only synchronize the transform once the stepSimulation exceeds this time interval.
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(for example, run the simulation at 1kHz but sync the graphics transforms to remove graphics server at 30Hz)
2019-06-19 09:45:29 -07:00
Erwin Coumans
c3b7f39aaf
expose shadowMapResolution (texture resolution) and shadowMapWorldSize (size in meters in world space)
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expose pybullet.ConfigureOpenGLVisualizerRequest(lightPosition=[x,y,z], shadowMapWorldSize=10.5, shadowMapResolution=16384)
See examples/pybullet/examples/configureDebugVisualizer.py for an example.
This reimplements https://github.com/bulletphysics/bullet3/pull/2295 but without creating a new command/status and explicitly referring to the debug visualizer
(since the 'getCameraImage' also has a lightPosition)
2019-06-19 09:01:16 -07:00
Erwin Coumans
7e76ee0ad7
make pybullet.getMeshData work for softbody
2019-06-17 21:43:38 -07:00
Chuyuan Fu
229e87c3c9
get mesh data api
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fix compile
fix typo
2019-06-17 19:00:53 -07:00
Erwin Coumans
9d21deb712
use GUI mode in IK example
2019-06-15 12:58:02 -07:00
Erwin Coumans
e286fbd9f2
fixes for RemoteGUIHelper
2019-06-15 10:30:48 -07:00
Erwin Coumans
ee3680765e
fixes for RemoteGUIHelper
2019-06-14 14:34:56 -07:00
Erwin Coumans
4318221d6d
Merge remote-tracking branch 'bp/master'
2019-06-14 07:51:09 -07:00
erwincoumans
e1326adff5
Revert "C api refactor build"
2019-06-14 07:49:24 -07:00
Erwin Coumans
95a79800ec
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-06-13 23:24:42 -07:00
Erwin Coumans
6160b52fd7
graphicsServer to workaround OpenGL issues on some servers.
2019-06-13 23:24:22 -07:00
Erwin Coumans
8f9fac99bd
add kinematic version that also updates the base position/orientation from the base
2019-06-13 13:26:52 -07:00
bla
3e32cf94e7
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-06-06 21:54:47 +00:00
bla
6ab09fe06e
fix testlaikago and pd_controller_stable
2019-06-06 21:54:22 +00:00
erwincoumans
36896db828
Merge remote-tracking branch 'bp/master'
2019-06-01 07:29:31 -07:00
erwincoumans
5e1d645a09
Merge pull request #2221 from goretkin/c_api_refactor_build
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C api refactor build
2019-05-31 19:06:18 -07:00
Erwin Coumans
4247104050
add toes to Mini Cheetah
2019-05-31 15:04:53 -07:00
Erwin Coumans
3c74ae8366
Add approximate Mini Cheetah URDF and example in pybullet
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Thanks to Sangbae Kim and Donghyun Kim at the MIT Biomimetics Robotics Lab
2019-05-31 14:21:10 -07:00
Erwin Coumans
1933661124
change quadruped, remove old files
2019-05-30 14:55:47 -07:00
erwincoumans
7a7652fd43
Merge pull request #2265 from akien-mga/dos2unix
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Convert DOS (CRLF) source files to Unix (LF) line endings
2019-05-30 09:41:35 -07:00
Erwin Coumans
093986f1ee
revert to previous leg style of Microtaur
2019-05-22 23:42:32 -04:00
Erwin Coumans
e13df4ce48
add toe endeffectors for IK of Microtaur
2019-05-22 22:08:45 -04:00
Erwin Coumans
d7e863e51a
update microtaur URDF and example, to be compatible with minitaur_rainbow_dash
2019-05-22 10:59:20 -04:00
Rémi Verschelde
d85b800702
Convert DOS (CRLF) source files to Unix (LF) line endings
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Excluded `examples/pybullet/gym/pybullet_data/` which has many (3000+)
CRLF data files (obj, mtl, urdf), and `docs/pybullet_quickstart_guide`
which has generated .js and .htm files with CRLF line endings too.
2019-05-22 10:01:32 +02:00
Erwin Coumans
af5bfb4089
added Microtaur URDF file, with basic system identification
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See https://www.youtube.com/watch?v=UmGnLgpEVTE
2019-05-21 22:33:16 -04:00
Erwin Coumans
36ed4419bf
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-05-07 19:43:33 -07:00
Erwin Coumans
de8013ff75
add minitaur extended to pybullet_envs
2019-05-07 19:43:02 -07:00
Chuyuan Fu
3be2ce0adf
set softbody start position and orientation in pybullet
2019-05-03 11:56:13 -07:00
Chuyuan Fu
3fb0a7c19b
add set starting position and orientation to softbody
2019-05-01 16:56:40 -07:00
Gustavo Goretkin
aff54a2397
Refactor C API part of pybullet out
2019-04-29 11:28:17 -04:00
Gustavo Goretkin
9009ca914e
Run cmake-format
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cmake-format --command-case upper --dangle-parens true CMakeLists.txt
2019-04-29 11:03:41 -04:00
Erwin Coumans
61c099460c
apply yapf
2019-04-27 14:22:02 -07:00
Erwin Coumans
efe73670ef
Merge remote-tracking branch 'bp/master'
2019-04-27 14:19:58 -07:00
Erwin Coumans
ef9570c315
add yapf style and apply yapf to format all Python files
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This recreates pull request #2192
2019-04-27 07:31:15 -07:00
erwincoumans
1da207efaa
Merge pull request #2209 from YungKC/patch-2
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Should sort best directions that gives the highest rewards
2019-04-26 16:43:32 +02:00
Erwin Coumans
0d4392af58
rename laikago_walk.json -> txt
2019-04-18 14:18:34 -07:00
YungKC
61987dea85
Should sort best directions that gives the highest rewards
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Found bug where the sort order would incorporate the lowest N rewards, instead of the highest. With this fix, one can now use fewer best directions instead.
2019-04-16 12:20:08 -07:00
erwincoumans
bf0eb4703d
Merge pull request #2200 from YungKC/patch-1
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Fix render issue in server render mode (e.g., docker)
2019-04-16 06:31:58 -07:00
erwincoumans
a929e8f2e5
Merge pull request #2203 from erwincoumans/master
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implement stablePD control version of testLaikago, fix getCameraImage in VR, only report solver analytics if enabled using setPhysicsEngineParameter
2019-04-15 08:52:03 -07:00
erwincoumans
e97a7d77af
only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1)
2019-04-14 18:20:20 -07:00
YungKC
8f9ff5e674
Fix render issue in server render mode (e.g., docker)
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px is an 1D array, and cause a runtime error when trying to strip the color channels into RGB. I fixed this by first reshape the px array into am image compatible format first.
2019-04-12 17:42:26 -07:00
erwincoumans
154c65ae4d
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-04-11 22:19:12 -07:00
erwincoumans
5ff52e47d9
report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error.
2019-04-11 22:19:02 -07:00
Jannik Vogel
4ca8b997f9
Reduce visibility of Bullet symbols in PyBullet
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Avoids version conflicts in programs using PyBullet, which also link against Bullet libraries
2019-04-08 02:59:24 +02:00
Erwin Coumans
4ae24083ee
implement stablePD control version of testLaikago, in preparation for quadruped DeepMimic
2019-04-05 16:45:33 -07:00