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20667bd7d0
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1321 Commits

Author SHA1 Message Date
Peng Xu
20667bd7d0 Pybullet fast numpy input support for rayTestBatch. 2020-08-11 02:19:23 -07:00
Erwin Coumans
a17df118f1 re-add constraints.py I wanted to delete the changes, not the file! 
(confusing github UI!)
 2020-08-07 09:32:30 -07:00
erwincoumans
d1505e187a
Merge pull request #2950 from DarioUrbina/develop_dario 
Inverted Pendulum Actuated by Tendons
 2020-08-07 09:30:32 -07:00
erwincoumans
2bc3d87d8d
Delete constraint.py 2020-08-07 09:29:39 -07:00
Xuchen Han
eef0d647cd Tune parameters to effectively reduce the stiffness of the picking force. 2020-08-03 23:05:08 -07:00
erwincoumans
b623f5d123
Merge pull request #2967 from erwincoumans/master 
fix raycast filter masks, they can be negative
 2020-08-03 13:18:27 -07:00
erwincoumans
eb32f48000
Merge pull request #2958 from buoyancy99/patch-1 
fix bug of using undefined name p
 2020-08-03 11:37:19 -07:00
Erwin Coumans
d12d886e13 raycast filter masks can be negative, always apply the mask (-1 default). Thanks to Tingnan for reporting/reproduction case. 2020-08-03 11:00:14 -07:00
Erwin Coumans
51aed38377 fix import 2020-07-31 15:30:53 -07:00
buoyancy99
1edb8d17f9
fix bug of using undefined name p 2020-07-29 23:51:40 -07:00
Xuchen Han
fa0d452651 Initialize proper collision margin for deformable_ball.py 2020-07-28 21:00:27 -07:00
Erwin Coumans
1e8f39b492 improve premake4 build in case X11 headers are missing 
improve video_sync_mp4.py example
allow to create a heightfield from file or programmatically in C++ robotics api. Example:

{
		b3RobotSimulatorCreateCollisionShapeArgs shapeArgs;
		shapeArgs.m_shapeType = GEOM_HEIGHTFIELD;
		bool useFile = true;
		if (useFile)
		{
			shapeArgs.m_fileName = "D:/dev/bullet3/data/heightmaps/gimp_overlay_out.png";
			shapeArgs.m_meshScale.setValue(.05, .05, 1);
		}
		else
		{
			shapeArgs.m_numHeightfieldColumns = 256;
			shapeArgs.m_numHeightfieldRows = 256;
			shapeArgs.m_meshScale.setValue(.05, .05, 1);
			shapeArgs.m_heightfieldData.resize(shapeArgs.m_numHeightfieldRows * shapeArgs.m_numHeightfieldColumns);
			double heightPerturbationRange = 0.05;
			for (int j = 0; j<int(shapeArgs.m_numHeightfieldColumns / 2); j++)
			{
				for (int i = 0; i < (int(shapeArgs.m_numHeightfieldRows / 2)); i++)
				{
					double height = ((double)rand() / (RAND_MAX)) * heightPerturbationRange;
					shapeArgs.m_heightfieldData[2 * i + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + 1 + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + 1 + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
				}
			}
		}
		int shape = sim->createCollisionShape(shapeArgs.m_shapeType, shapeArgs);
		b3RobotSimulatorCreateMultiBodyArgs bodyArgs;
		bodyArgs.m_baseCollisionShapeIndex = shape;
		int groundId = sim->createMultiBody(bodyArgs);
		int texId = sim->loadTexture(shapeArgs.m_fileName);
		b3RobotSimulatorChangeVisualShapeArgs args;
		args.m_objectUniqueId = groundId;
		args.m_linkIndex = -1;
		args.m_textureUniqueId = texId;
		sim->changeVisualShape(args);
	}
 2020-07-24 18:09:13 -07:00
Darío Urbina
370b2f72ff valerolab 2020-07-23 09:32:46 -07:00
Darío Urbina
5081ac5b34 Inverted Pendulum Tendon Actutation 2020-07-22 11:19:10 -07:00
Erwin Coumans
c9ca9cb6c6 disable Center of Mass tracking reward by default, since resulting policies don't work well. 
See also https://github.com/bulletphysics/bullet3/issues/2928#issuecomment-658349531
 2020-07-14 12:10:15 -07:00
Darío Urbina
01d74be777 Seeing the relatonship and understanding of the creation of two contraints 2020-07-13 12:22:49 -07:00
erwincoumans
d19cd89b4a
Merge pull request #2912 from ManifoldFR/deepmimic-gym-fixes 
DeepMimic: add COM reward
 2020-07-08 10:54:20 -07:00
ManifoldFR
1f6ae38040 DeepMimic: add retrained walk motion with COM 2020-07-08 17:03:46 +02:00
Erwin Coumans
c517c434e6 pybullet allow to enable/change joint limits: 
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLowerLimit=..., jointUpperLimit=...) # jointLowerLimit <= jointUpperLimit

and joint limit max force:
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLimitForce=...)

For example:
p.changeDynamics(sphereUid,linkIndex, jointLowerLimit=1, jointUpperLimit=3, jointLimitForce=10.5)

add b3ChangeDynamicsInfoSetJointLimit/b3ChangeDynamicsInfoSetJointLimitForce
add getConstraintType for btMultiBodyConstraint
 2020-07-07 19:42:23 -07:00
ManifoldFR
a3810d15ef fix setting useComReward=false 2020-07-06 16:56:24 +02:00
ManifoldFR
2fe3fe945d DeepMimic: Make COM reward optional 2020-07-06 16:47:22 +02:00
ManifoldFR
53a3af8918 Merge branch 'master' into deepmimic-gym-fixes 2020-07-02 10:12:06 +02:00
ManifoldFR
b200bf59e0 DeepMimic: add COM reward 2020-07-01 19:15:21 +02:00
erwincoumans
63e1d7d840
Merge pull request #2888 from AiRuiChen/change-env-name 
Ensure naming consistency in gym registry
 2020-06-30 19:06:53 -07:00
Eric Yihan Chen
0f05cdba18 Add missing names in pybullet_envs.getList() 2020-06-29 11:29:43 -07:00
ManifoldFR
45b061c879 variable timestep for deepmimic env 2020-06-29 10:30:09 +02:00
ManifoldFR
d0838d3bcb variable timestep for deepmimic env 2020-06-29 10:26:08 +02:00
Eric Yihan Chen
6cdebabd2b rename bullet envs for consistency 2020-06-27 15:10:20 -07:00
ManifoldFR
04350bc9ab add COM reward to DeepMimic 2020-06-25 15:59:13 +02:00
ManifoldFR
b925988821 DeepMimic Gym enhancements 
* fix render() camera up axis
* make render() camera track character
* increase render resolution
* add option to restart mocap clip at t=0 at reset (default=random time)
* Gym env: option for "test mode" (episode starts at mocap clip start)
* Gym env: option to offset/rescale actions and obs (like original code)
 2020-06-25 12:03:30 +02:00
Erwin Coumans
b4624ad237 fix pybullet_utils import 2020-06-23 16:14:18 -07:00
Erwin Coumans
d1ded7d704 use pybullet.URDF_GOOGLEY_UNDEFINED_COLORS for standard gym envs 2020-06-01 23:38:59 -07:00
erwincoumans
a1522b3891
Merge pull request #2822 from ManifoldFR/patch-1 
Modify DeepMimic Gym env step() to query policy at 30Hz
 2020-06-01 17:23:25 -07:00
erwincoumans
50af23e487
Merge pull request #2832 from xhan0619/pybullet-api 
Set numNonContactInnerIterations from Pybullet
 2020-06-01 17:19:45 -07:00
erwincoumans
eea724bc02
Merge pull request #2837 from erwincoumans/master 
also allow reportHitNumber for single pybullet.rayTest, better mtl/urdf color selection
 2020-06-01 17:18:24 -07:00
Daniele Reda
409b0eaa39 fix double humanoid instantiation 2020-05-31 21:38:38 -07:00
Xuchen Han
a33a9412fa add numNonContactInnerIterations to getPhysicsParameters 2020-05-29 08:28:52 -07:00
Xuchen Han
e6fdaebea9 add api for setting non contact iteration for pybullet 2020-05-28 17:58:21 -07:00
Wilson
829475c38a
Set DeepMimic Gym env to query policy at 30Hz 
Addresses issue #2821
 2020-05-24 16:30:47 +02:00
Erwin Coumans
a3c4b2995e also allow reportHitNumber for single pybullet.rayTest (not just rayTestBatch) 2020-05-22 15:13:56 -07:00
erwincoumans
5233b72160
Merge pull request #2800 from xhan0619/splitImpulseMulti 
Stability improvements for deformable.
 2020-05-21 09:47:33 -07:00
Erwin Coumans
754dbd5fda add pybullet.unsupportedChangeScaling feature for some small experiments, this is not general and has many limitations that are not likely are going to be resolved, 
so unless it does what you want, ignore this api, it is unsupported!
 2020-05-17 13:46:11 -07:00
Xuchen Han
fb751361a6 tune deformable_torus.py so the tori don't sink into each other 2020-05-11 18:51:32 -07:00
Xuchen Han
adf9e74dcb match API in pybullet.c 2020-05-11 18:51:26 -07:00
Xuchen Han
b75dd02f68 make cloth in deformable anchor come to stop 2020-05-11 17:41:32 -07:00
Xuchen Han
644fd5f311 add API for two different damping modes for mass spring 2020-05-11 16:42:17 -07:00
Erwin Coumans
53b65b795f add fractionEpsilon to filter rays with similar hit fraction 
remove debug printf
 2020-05-09 02:42:47 -07:00
erwincoumans
959b3e8258
Merge pull request #2790 from erwincoumans/master 
add reportHitNumber to allow reporting a specific ray intersection hit
 2020-05-08 12:59:06 -07:00
Erwin Coumans
f0cccf0faa add collisionFilterMask to rayTestBatch and rayTest 
This will allow to exclude (filter) certain bodies.
By default, static bodies have collision group 2, and dynamic (mass=1) bodies have collision group 1.
As long as mask & group != 0, a raytest will be performed.
 2020-05-08 11:57:25 -07:00
Erwin Coumans
8f380b3fd2 use white as default undefined color instead of the googley colors. 
use loadURDF(..., flags = pybullet.URDF_GOOGLEY_UNDEFINED_COLORS) to get Googley colors when colors are undefined.
 2020-05-08 10:44:39 -07:00