Chris E. Mower
713392b789
Fix import error in humanoid running examples.
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Note, RuntimeError thrown when eager execution is enabled.
2022-02-21 15:05:16 +00:00
erwincoumans
22ef34bb69
Revert "Add deformable contact forces info"
2022-02-18 16:14:53 -08:00
Erwin Coumans
5cd8160086
add spherical_joint_limit.py example
2022-01-30 13:00:52 -08:00
Erwin Coumans
b602045665
Implement joint limit for btMultiBody spherical joint. In URDF, add
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<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
effort is max force/impulse
lower = swing range in X
upper = swing range in Y
twist = twist range around Z
(ranges all in radians)
lower, upper, twist and effort need to be > 0, otherwise no limit is created
See examples/pybullet/examples/spherical_joint_limit.py and
examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
2022-01-30 13:00:11 -08:00
James Braza
51a5aa8026
Added forgotten capitalization of code tag
2022-01-02 15:30:23 -05:00
James Braza
0e114e9f9b
Added comment about why H x W differ from expected
2022-01-02 15:20:30 -05:00
James Braza
72dc1bb4dd
Added numpy reshapings to raw image
2022-01-02 15:11:17 -05:00
James Braza
878e3d57f6
Added comment giving confidence in the changing w x h orderings
2022-01-02 15:08:16 -05:00
Erwin Coumans
0ab3b9d9f7
fix texture coordinates for aliengo trunk
2021-12-10 17:25:39 -08:00
Erwin Coumans
610fb2c117
prettify aliengo trunk a bit
2021-12-10 16:12:41 -08:00
Erwin Coumans
0aecbb9cdc
delete MPL licensed meshes, replace by manual textured meshes.
2021-12-10 15:51:25 -08:00
Chase Kew
adf75169d8
Import Aliengo URDF
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from github.com/unitreerobotics/unitree_pybullet. Reduced all meshes by
50% due to concerns about the size of pybullet_data. Also renamed some
links and joints in the URDF to match conventions and added an example
script.
2021-11-24 10:30:13 -08:00
erwincoumans
10f72b9b5d
Merge pull request #3921 from ayzaan/patch-1
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Create URDF for white xarm
2021-11-13 22:41:05 -08:00
erwincoumans
ccafe333d1
Merge pull request #3979 from johbrust/deformableForces
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Add deformable contact forces info
2021-11-13 22:32:43 -08:00
erwincoumans
691ad46baa
Merge pull request #4024 from BlGene/egl_device_selection
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EGL device selection by environment variable
2021-11-13 22:20:13 -08:00
erwincoumans
a9a103fc8c
Merge pull request #4010 from erwincoumans/master
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add missing bunny.obj to pybullet_data
2021-11-12 05:38:24 +00:00
erwincoumans
88c04a8eae
Merge pull request #4016 from stephentu/patch-1
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Fix bug in server handling of inverse dynamics
2021-11-12 05:28:32 +00:00
Erwin Coumans
a3005879bb
use mainthread on __APPLE__
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remove duplicate SimpleCamera.cpp from cmakelists.txt
2021-11-11 21:18:57 -08:00
Erwin Coumans
e3b98615f1
add Eigen-3.4
2021-11-11 21:06:39 -08:00
Erwin Coumans
a84071ee67
Merge branch 'master' of github.com:erwincoumans/bullet3 into master
2021-11-05 21:08:36 -07:00
Erwin Coumans
6088293149
update to Eigen 3.4.0, to fix Issue 4013
2021-11-05 21:08:24 -07:00
Chuyuan Fu
a2aada62ae
add user data to deformable urdf
2021-10-29 17:46:03 -07:00
Stephen Tu
63446558cd
Fix bug in server handling of inverse dynamics
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The current implementation of processInverseDynamicsCommand has two issues:
1. For floating bases, the handler is not properly copying over the position and orientation from the client inputs.
2. For floating bases, the handler is ignoring the position of the joint angles from the client inputs.
This CL fixes both issues. While the fix for (2) is straightforward, I am not sure whether or not the right pybullet API convention is to have (x, y, z, orn) passed in, or instead (orn, x, y, z). The former makes more sense to me and is what I implemented.
2021-10-28 12:52:15 -07:00
Tigran Gasparian
740d2b9783
Adds a request body info command for the physics direct command. This is
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useful to incrementally sync the body state in the physics clients of
plugins (e.g. in response to a Body Added notification).
2021-10-26 18:31:33 +02:00
Erwin Coumans
1a670681f7
Merge branch 'master' of github.com:erwincoumans/bullet3
2021-10-25 09:44:29 -07:00
Erwin Coumans
e1ac14b23d
add missing bunny.obj
2021-10-25 09:44:10 -07:00
erwincoumans
33cceed500
Merge pull request #3982 from RedTachyon/patch-1
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Explicitly state the datatypes in creating action/obs spaces
2021-10-25 09:09:47 -07:00
Max Argus
3c4cb80157
EGL device selection by env param.
2021-10-22 09:26:59 +02:00
Johannes Brust
61d5bdb783
Fix bug due to missing swap
2021-10-21 17:38:13 +02:00
Wenhao Yu
af0bfc62ec
Merge branch 'bulletphysics:master' into master
2021-10-13 15:53:04 -07:00
Wenhao Yu
fd96062972
Add config for visual locomotion env with two cameras and random stepstone.
2021-10-13 15:48:47 -07:00
Erwin Coumans
a8f088d4d3
Merge branch 'master' of github.com:erwincoumans/bullet3 into master
2021-10-11 12:56:29 -07:00
Erwin Coumans
00567a5261
remote tensorflow requirement from envs_v2
2021-10-11 12:56:15 -07:00
erwincoumans
aa49e19385
Update README.md
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remote tensorflow requirement
2021-10-11 12:14:45 -07:00
Erwin Coumans
6390db4bd6
Merge remote-tracking branch 'bp/master'
2021-10-04 15:37:12 -07:00
Erwin Coumans
931f93d266
Merge remote-tracking branch 'bp/master' into master
2021-10-03 15:19:58 -07:00
Erwin Coumans
9d211393e4
Merge branch 'master' of github.com:erwincoumans/bullet3 into master
2021-10-03 15:19:26 -07:00
Erwin Coumans
34d77242e5
tweak gear (mimic) constraint example, enable erp (to avoid positional relative drift) and position camera at the gears.
2021-10-03 15:18:40 -07:00
Ariel Kwiatkowski
496e614f77
Explicitly state the datatypes in creating action/obs spaces
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This should get rid of the annoying warnings that pop up whenever an environment is created. Numpy's default datatype is float64, gym's is float32, the env is actually float32, but the initialization doesn't make it explicit so it causes redundant warnings.
```
/path/lib/python3.9/site-packages/gym/logger.py:34: UserWarning: WARN: Box bound precision lowered by casting to float32 warnings.warn(colorize("%s: %s" % ("WARN", msg % args), "yellow"))
```
2021-09-29 23:10:18 +02:00
Johannes Brust
5795bd676f
Add deformable contact forces info
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- add contact information for collisions between rigid and soft bodies
- collisions between different soft bodies are not supported
- uses impulse acting on tetrahedral nodes for calculation of forces
- contact points are approximated by node positions
- multiple forces acting on identical nodes are accumulated
2021-09-28 22:39:31 +02:00
erwincoumans
9c37ca5185
Merge pull request #3950 from bttner/fix_external_force_command
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Fix: reference frame issue of external force command processor (Physics Server)
2021-09-20 14:34:52 -07:00
erwincoumans
47c3f5e994
Merge pull request #3963 from erwincoumans/master
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revert linkNames in createMultiBody, we cannot pass pointers pointing… …
2021-09-20 13:07:30 -07:00
Erwin Coumans
87605ca4c8
revert linkNames in createMultiBody, we cannot pass pointers pointing to local memory (storing the string) around into shared memory or over the network.
2021-09-20 12:22:30 -07:00
Aaron Franke
ad74cfe6c8
Update Bullet URL in copyright statements
2021-09-13 09:06:14 -05:00
erwincoumans
b638300fe4
Merge pull request #3951 from erwincoumans/master
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implement resetMeshData for deformable bodies, fix tiny_renderer standalone example
2021-09-02 18:03:23 -07:00
Erwin Coumans
b6df08b553
implement resetMeshData for deformable bodies, this allows better reset for reinforcement learning algorithms.
2021-09-02 17:27:05 -07:00
Felix Büttner
4b6ec20b30
External force and torque frame fix
2021-09-02 17:40:18 +02:00
erwin coumans
3577ef8108
Merge branch 'master' of github.com:erwincoumans/bullet3 into master
2021-09-01 15:00:10 -07:00
erwin coumans
7de63bdbc5
fix tiny_renderer standalone example
2021-09-01 15:00:01 -07:00
erwincoumans
31b8841efc
Merge pull request #3948 from erwincoumans/master
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add low-resolution Laikago (for faster rendering in CPU renderer) and cleanup sdf files
2021-08-30 13:01:15 -07:00
