Erwin Coumans
7241fe19b9
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-12-13 09:21:00 -08:00
Erwin Coumans
30b42a14f0
add single-link arm urdf files for debugging
2019-12-13 09:20:46 -08:00
Erwin Coumans
3668bc5e2a
tweak premake4 default batch file.
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add manual control for joint angles in XArm6 example.
2019-12-12 07:02:27 -08:00
Erwin Coumans
1a245f4e11
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-12-11 16:49:04 -08:00
Erwin Coumans
2f6eb59e16
add z-up version of Laikago, centered along the chassis center of mass
2019-12-11 16:47:52 -08:00
erwincoumans
08321b96ba
Update main_opengl_single_example.cpp
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Apply fix from PR #2526 manually, thanks to Andrew Meadows
2019-12-11 13:59:44 -08:00
Erwin Coumans
202cf18995
allow to compile using clang-cl on visual studio (disable SSE)
2019-12-11 13:07:53 -08:00
Erwin Coumans
d254b65fee
Merge remote-tracking branch 'bp/master'
2019-12-10 15:48:24 -08:00
Erwin Coumans
e7778502e7
fix pybullet_envs path
2019-12-10 15:48:07 -08:00
erwincoumans
6c722f8f94
Merge pull request #2528 from jackson-waschura/master
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Actually use self collisions when specified
2019-12-09 09:35:06 -08:00
erwincoumans
880faef997
Merge pull request #2535 from erwincoumans/master
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Googley colors for xarm (debugging) and tweak example with table etc.…
2019-12-09 09:26:47 -08:00
Erwin Coumans
1a491dc700
Googley colors for xarm (debugging) and tweak example with table etc. Add missing link6_vhacd.obj
2019-12-09 09:25:15 -08:00
erwincoumans
e0a43fb116
Merge pull request #2534 from erwincoumans/master
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remove duplicate xarm6.urdf
2019-12-09 08:57:00 -08:00
Erwin Coumans
0a8ade5233
remove duplicate xarm6.urdf
2019-12-09 08:54:56 -08:00
erwincoumans
1b8d7be2b6
Merge pull request #2533 from erwincoumans/master
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also enable simplified convex decomposition collision meshes for xarm…
2019-12-09 08:53:27 -08:00
Erwin Coumans
67905efd0f
also enable simplified convex decomposition collision meshes for xarm6_robot.urdf
2019-12-09 08:51:02 -08:00
David Rusu
dd3bdf0da1
Use pybullet_utils.bullet_client for all our BulletClient needs
2019-12-08 20:10:12 -05:00
jackson-waschura
0b33d940e4
Actually use self collisions when specified
2019-12-08 13:54:38 +01:00
Erwin Coumans
70329ca2ad
added Apache 2 license for Panda Franka URDF
2019-12-08 00:40:10 -08:00
Erwin Coumans
4cfd30f19c
add Franka Panda URDF and example (python3 -m pybullet_envs.examples.loadpanda)
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add XArm6 URDF with optimized collision meshes and example (XArm gripper needs more work) python3 -m pybullet_envs.examples.xarm
2019-12-08 00:38:49 -08:00
Erwin Coumans
146a751eb4
enable intermediate log for walk, so you can restart if stuck in local maximum
2019-12-05 08:34:34 -08:00
erwincoumans
c74b88b436
Merge pull request #2522 from erwincoumans/master
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update Laikago robot with textures, and a version with toes to enable…
2019-12-04 21:14:21 -08:00
Erwin Coumans
91328f9280
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-12-04 15:49:30 -08:00
Erwin Coumans
7f3059c7a9
increase max number of parameters (to around 300) in debug GUI
2019-12-04 15:49:06 -08:00
Erwin Coumans
7c5796b67d
update Laikago robot with textures, and a version with toes to enable inverse kinematics.
2019-12-04 14:48:28 -08:00
erwincoumans
ef08e9b415
Merge pull request #2517 from erwincoumans/master
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enable self-collision for deep_mimic pybullet_envs, fix Mac Catalina pybullet pip build
2019-12-04 08:56:42 -08:00
erwincoumans
44f21e462a
Merge pull request #2509 from xhan0619/separate-bending-stiffness
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Separate in-plane and bending stiffness for mass spring model
2019-12-04 07:34:28 -08:00
Erwin Coumans
763e25dd37
fix Mac Catalina pybullet build (setup.py)
2019-12-03 20:49:08 -08:00
Erwin Coumans
7f9f514b7e
enable self-collision for deep_mimic pybullet_envs and make it easier to try it out:
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python3 -m pybullet_envs.deep_mimic.testrl
2019-11-30 13:19:28 -08:00
Erwin Coumans
cf67e7af0a
Merge remote-tracking branch 'bp/master'
2019-11-29 08:06:53 -08:00
Erwin Coumans
56d0b7a09a
deep_mimic, read velocity from poseInterpolator, not kinematic model
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This fixes issue #2401
2019-11-29 08:05:54 -08:00
Xuchen Han
8fde74ecea
update SHARED_MEMORY_MAGIC_NUMBER
2019-11-28 12:14:40 -08:00
Xuchen Han
7bce5d61f4
separate in-plane and bending stiffness for mass spring model for easier parameter tuning
2019-11-27 11:40:10 -08:00
Xuchen Han
39df98465e
set a smaller dt for deformable_ball.py for stability and typo fix
2019-11-25 17:07:00 -08:00
Xuchen Han
abd7a556e1
Merge remote-tracking branch 'origin/master'
2019-11-25 15:29:25 -08:00
Erwin Coumans
d9ab536682
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-11-21 19:37:11 -08:00
Erwin Coumans
824fd6410f
Use -> Set in API
2019-11-21 19:07:11 -08:00
erwincoumans
574343405d
Merge pull request #2499 from xhan0619/fix-render-mesh
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Fix render mesh
2019-11-21 16:38:54 -08:00
Xuchen Han
f237a40621
add a pybullet example to compare the result of soft body and deformable body
2019-11-21 00:09:32 -08:00
Xuchen Han
fa7cb25c95
revert the default world to SOFT_MULTIBODY_WORLD
2019-11-20 23:47:15 -08:00
Erwin Coumans
46a7fbe92f
fix old threading examples
2019-11-20 17:06:05 -08:00
Chuyuan Fu
593fc872ab
get correct AABB for softbody
2019-11-20 16:42:04 -08:00
Xuchen Han
edffb0cc55
update pybullet examples
2019-11-19 23:10:13 -08:00
Xuchen Han
00add5490f
fix separate render and sim mesh
2019-11-19 23:10:08 -08:00
Xuchen Han
64e5e007e3
load render mesh from command
2019-11-19 21:07:26 -08:00
Erwin Coumans
66951ac102
fix Mac version of deformable_anchor.py
2019-11-19 19:35:28 -08:00
Erwin Coumans
96deb42aa5
pybullet.createSoftBodyAnchor
2019-11-19 19:20:08 -08:00
Erwin Coumans
d42cf2d0ca
enable compilation without deformables/soft bodies (for some unit tests
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in premake)
2019-11-19 12:20:33 -08:00
Xuchen Han
6c34c91ca7
load render mesh from command
2019-11-18 23:37:23 -08:00
Xuchen Han
f5400b40d2
Add faces to volumetric objects in deformable demos
2019-11-18 23:37:23 -08:00
Erwin Coumans
e5ed15c3b2
fix memory issues in btSparseSDF.h
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(hash function on structure with uninitialized padding, and Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
2019-11-18 23:37:23 -08:00
Xuchen Han
6268911a43
enable real time simulation
2019-11-18 23:37:22 -08:00
Xuchen Han
22fb2cfb5e
add python binding to allow loading deformable objects
2019-11-18 23:37:22 -08:00
Erwin Coumans
655981c6ad
fix load_soft_body.py example.
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add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
2019-11-18 23:37:22 -08:00
Erwin Coumans
dc26d2e360
PyBullet: fix memory leak in changeTexture command
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Fixes #2481
2019-11-18 23:37:22 -08:00
Erwin Coumans
8f16332708
expose the double sided flag
2019-11-18 23:37:22 -08:00
Erwin Coumans
920b253e87
Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering.
2019-11-18 23:37:22 -08:00
erwincoumans
d26752b232
Merge pull request #2496 from xhan0619/add-deformable-faces
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Add faces to volumetric objects in deformable demos
2019-11-18 16:07:07 -08:00
Xuchen Han
c4e73ec8a7
Add faces to volumetric objects in deformable demos
2019-11-18 14:47:57 -08:00
Erwin Coumans
1f6d504e44
fix memory issues in btSparseSDF.h
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(hash function on structure with uninitialized padding, and Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
2019-11-18 10:22:56 -08:00
Xuchen Han
bca87426f4
enable real time simulation
2019-11-15 22:38:47 -08:00
Xuchen Han
a86710c5b6
add python binding to allow loading deformable objects
2019-11-15 21:25:11 -08:00
Erwin Coumans
72e0e7c223
fix load_soft_body.py example.
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add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
2019-11-14 21:20:42 -08:00
Erwin Coumans
24a76614f8
PyBullet: fix memory leak in changeTexture command
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Fixes #2481
2019-11-14 17:07:08 -08:00
Erwin Coumans
cabef63b1c
expose the double sided flag
2019-11-12 20:36:20 -08:00
Erwin Coumans
9ca957387f
Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering.
2019-11-12 20:08:49 -08:00
Xuchen Han
2edd94c722
add option to approximate face contact with collision quadrature points
2019-11-12 17:10:39 -08:00
Xuchen Han
794614f269
change collision detection between deformables to from continuous to discrete
2019-11-11 13:58:03 -08:00
erwincoumans
b25d806b14
Merge pull request #2475 from xhan0619/fix-issue-#2473
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Fix issue #2473
2019-11-08 20:45:05 -08:00
erwincoumans
886895e0bd
Merge pull request #2478 from xhan0619/fix-pd
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fix the bug that prevents the pd control forces/torques being added
2019-11-08 20:44:17 -08:00
Xuchen Han
362bc6d9a3
fix the bug that prevents the pd control forces/torques being added
2019-11-08 17:08:59 -08:00
Erwin Coumans
bbf983bfbb
reserve faces (minor performance improvement?)
2019-11-08 16:10:05 -08:00
Xuchen Han
baa9dcdf08
move erp for deformable into a separate parameter
2019-11-07 12:13:51 -08:00
Erwin Coumans
9f44d76b67
fix issue in BulletClient (pybullet_utils.bullet_client) that may disconnect multiple times, causing issues when repeatedly creating a gym env
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bump up pybullet to version 2.5.7
2019-11-07 10:47:56 -08:00
erwincoumans
35c028880d
Merge pull request #2465 from erwincoumans/master
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add simple sceneAABB example
2019-11-06 14:23:38 -08:00
Xuchen Han
13314360a8
add option for deformable rigid split impulse
2019-11-05 18:07:58 -08:00
Chuyuan Fu
09ca930ca8
make consistent for other models
2019-11-05 18:07:58 -08:00
Chuyuan Fu
05bc387081
update example to use absolute path
2019-11-05 18:07:58 -08:00
Erwin Coumans
b5715c96cf
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-11-04 15:46:23 -08:00
Erwin Coumans
f1f04aef53
add simple sceneAABB example
2019-11-04 15:45:58 -08:00
Chuyuan Fu
74571d79e7
add compute softbody com
2019-10-31 12:53:12 -07:00
Chuyuan Fu
618c85325c
give softbody name
2019-10-31 12:53:12 -07:00
erwincoumans
8aa7f93bf1
Merge pull request #2448 from fuchuyuan/mergechange
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merge warmstart
2019-10-30 10:31:43 -07:00
erwincoumans
959a48a1a0
Merge pull request #2454 from krishpop/patch-1
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Fix call to convert_to_leg_model
2019-10-29 21:16:01 -07:00
Krishnan Srinivasan
0d4108f307
Fix call to convert_to_leg_model
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Fix call to convert_to_leg_model which is defined as a static method without an underscore in MinitaurExtendedEnv
2019-10-29 16:00:55 -07:00
Erwin Coumans
136607151e
use mult instead of max to combine friction properties
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use 0.5 friction for ground for a demo, and also a larger grid size
update description of deformable algorithm
disable SVD for now, has some issue with some compilers
2019-10-28 12:53:59 -07:00
Xuchen Han
23dbea16f3
initialize m_useSelfCollision
2019-10-24 15:28:21 -07:00
Xuchen Han
270028363b
Fix some performance issues caused by unneccessarily small sdf grid size.
2019-10-24 15:03:23 -07:00
Chuyuan Fu
913400eba1
add SOLVER_USE_ARTICULATED_WARMSTARTING option and APIs
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fix compile
2019-10-23 21:36:26 -07:00
Xuchen Han
c6af3aa3f8
fix bug in deformable vs. deformable friction
2019-10-23 12:17:21 -07:00
Xuchen Han
36f7441790
support anchor constraint between deformable and multibody
2019-10-17 16:45:28 -07:00
Xuchen Han
60dfe1fe69
add support for anchor constraint between deformable and rigid
2019-10-16 19:23:01 -07:00
Xuchen Han
3ae193ff15
bool->int
2019-10-15 15:43:26 -07:00
Xuchen Han
30238b2fbc
remove std::copysign
2019-10-15 13:51:33 -07:00
Xuchen Han
a7222d8a9f
add option to set stress clamping limit
2019-10-15 13:51:33 -07:00
Xuchen Han
45c4497711
fix compile
2019-10-15 13:50:13 -07:00
Xuchen Han
992e1454b6
turn on SKIP_DEFORMABLE
2019-10-15 13:50:13 -07:00
Xuchen Han
c808bb78c7
delete lagrangian force when deleting dynamics world from command processor
2019-10-15 13:50:13 -07:00
Xuchen Han
94facf0029
typo fix
2019-10-15 13:50:13 -07:00
Xuchen Han
c610ba49df
fix bug in computing rhs in momentum solve
2019-10-15 13:47:55 -07:00