Commit Graph

3705 Commits

Author SHA1 Message Date
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
Jingyu Chen
c9a2d733ad modified benchmark example 2021-12-09 20:39:40 -05:00
Jingyu Chen
f19133e410 allow multiple reduced deformable object in one sim 2021-12-09 16:55:10 -05:00
Jingyu Chen
1feb81463a change reduced deformable example set up in pybullet 2021-12-09 14:21:03 -05:00
erwincoumans
578523eab4
Merge branch 'master' into master 2021-12-06 12:38:25 -08:00
jingyuc
4634077733 debug setup again 2021-12-02 11:51:00 -05:00
jyc-n
a018d63fb3 debug pybullet setup 2021-12-01 22:39:23 -05:00
Chase Kew
adf75169d8 Import Aliengo URDF
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
jingyuc
6fb7bd9a94 add visual mesh support for the reduced deformable model 2021-11-24 11:41:11 -05:00
jingyuc
f729fbda95 add missing flag RESET_USE_REDUCED_DEFORMABLE_WORLD in pybullet.c 2021-11-23 18:23:41 -05:00
jingyuc
9fae47667b add a flag to switch between the reduced deformable and full deformable 2021-11-23 17:40:04 -05:00
jingyuc
8efd0296ab test full deform 2021-11-23 17:07:41 -05:00
jingyuc
bc8adf7bd1 clean up urdf mesh input names 2021-11-22 13:26:46 -05:00
jingyuc
0b641b51d7 add benchmark comparison example. change ReduceddMotorGrasp example to the real world dimensions 2021-11-21 02:11:55 -05:00
jingyuc
0279a5a500 add reduced deformable torus. minor clean up in btReducedSoftBodyHelpers 2021-11-17 01:09:18 -05:00
jingyuc
8c118515b8 Now only reduced deformable files in bullet3/data/ folder 2021-11-17 00:50:45 -05:00
jingyuc
007eea15cb no longer need to use start_modes, because all the rigid modes are not saved in .bin files in the preprocessor 2021-11-16 21:05:48 -05:00
jingyuc
18f81dcaea re-compute all the modes using the new python preprocessor. clean up initialization 2021-11-16 17:23:19 -05:00
jingyuc
676221fb3e clean up the binary files loader, so that it can work with files without the non-rigid modes 2021-11-14 02:17:22 -05:00
erwincoumans
10f72b9b5d
Merge pull request #3921 from ayzaan/patch-1
Create URDF for white xarm
2021-11-13 22:41:05 -08:00
erwincoumans
ccafe333d1
Merge pull request #3979 from johbrust/deformableForces
Add deformable contact forces info
2021-11-13 22:32:43 -08:00
erwincoumans
691ad46baa
Merge pull request #4024 from BlGene/egl_device_selection
EGL device selection by environment variable
2021-11-13 22:20:13 -08:00
erwincoumans
a9a103fc8c
Merge pull request #4010 from erwincoumans/master
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
Fix bug in server handling of inverse dynamics
2021-11-12 05:28:32 +00:00
Erwin Coumans
a3005879bb use mainthread on __APPLE__
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
jingyuc
c2072b5538 add mass scaling for reduced deformable model 2021-11-11 12:27:36 -05:00
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
jingyuc
7fafbd7718 reduced deformable is now working with pybullet 2021-11-05 18:02:15 -04:00
jingyuc
e386b55543 add reduced deformable urdf parser 2021-11-04 16:12:08 -04:00
jingyuc
3ec4d68323 add grasping comparison 2021-11-02 17:54:56 -04:00
jingyuc
0a6f278663 reduced deformable cube free fall example is now working in pybullet 2021-11-02 01:12:09 -04:00
jingyuc
d7fb9e8a92 c++ example for reduced deformable object 2021-11-01 16:10:27 -04:00
jingyuc
df661fde15 allow set gravity in deformable world. add transformTo for the reduced deformable object 2021-11-01 15:49:00 -04:00
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
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
jingyuc
2255e26e14 add a function to compute the total angular momentum 2021-10-28 14:12:19 -04:00
jingyuc
3540400a9d
Merge branch 'bulletphysics:master' into master 2021-10-28 01:39:07 -04:00
Tigran Gasparian
740d2b9783 Adds a request body info command for the physics direct command. This is
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
jingyuc
e2f6430d19 fixed a assertion error in btReducedDeformableSolver. clean up outputs 2021-10-25 17:28:19 -04:00
Kentaro Wada
fd98afe764 Add new members at the last of a struct 2021-10-25 21:07:06 +01:00
Kentaro Wada
b22a2432b5 Fix pybullet.addUserDebugPoints help 2021-10-25 21:04:42 +01:00
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
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
jingyuc
b5325a265f much better convergence after separating impulse in different directions 2021-10-22 01:44:02 -04:00
jingyuc
3a3d8c7a3a re-write the fixed constraint. the drift is smaller, but still need some improvements 2021-10-21 23:14:12 -04:00
Johannes Brust
61d5bdb783 Fix bug due to missing swap 2021-10-21 17:38:13 +02:00
Kentaro Wada
00dcce85f5 Add pybullet.addUserDebugPoints 2021-10-16 17:38:05 +01:00
jingyuc
d945e48af2 clean up the damping codes 2021-10-13 23:39:36 -04:00
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
remote tensorflow requirement
2021-10-11 12:14:45 -07:00
jingyuc
07cfa9a433 add cfm and penetration correction to the velocity error for the contact constraint. clean up btReducedSoftBody class. momenumtum conservation WIP 2021-10-07 15:10:57 -04:00
Erwin Coumans
6390db4bd6 Merge remote-tracking branch 'bp/master' 2021-10-04 15:37:12 -07:00
jingyuc
1949710131 clean up momentum conservation test example and the springboard example 2021-10-04 17:36:17 -04:00
jingyuc
c4da596778 now support scaling of reduced deformable object. the order of applying impulse is changeable now 2021-10-04 11:56:29 -04:00
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
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
- 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
jingyuc
1bee1ba4c4 support applying impulse in alternating order. change several example setups. 2021-09-28 00:55:12 -04:00
jingyuc
354c5a6e62
Merge branch 'bulletphysics:master' into master 2021-09-26 17:49:41 -04:00
jingyuc
107c5526eb reduced motor grasp example is working 2021-09-24 13:16:33 -04:00
jingyuc
5e0a805d73 separate two tangential direction for the multibody vs reduced deformable contact 2021-09-21 17:35:35 -04:00
jingyuc
9de3d25172 testing multibody vs reduced deformable friction. save files 2021-09-21 16:22:12 -04:00
erwincoumans
9c37ca5185
Merge pull request #3950 from bttner/fix_external_force_command
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
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
jingyuc
064fdc40bd
Merge branch 'bulletphysics:master' into master 2021-09-16 16:09:55 -04:00
jingyuc
bfd3d1cd8d normal impulse for multibody vs reduced deformable contact is working 2021-09-15 16:45:20 -04:00
jingyuc
19375d6569 grasping cube set up 2021-09-13 23:05:21 -04:00
jingyuc
593f387a06 demo setup 2021-09-13 22:48:08 -04:00
Aaron Franke
ad74cfe6c8
Update Bullet URL in copyright statements 2021-09-13 09:06:14 -05:00
jingyuc
1c8afcf54f clean up reduced body creation 2021-09-12 23:21:20 -04:00
jingyuc
b4efd91476 add support for damping. the fixed constraint is working again with the deltaImpulse form 2021-09-12 21:53:23 -04:00
jingyuc
9d1aafc51c better support of initial rotation. 2021-09-10 13:34:34 -04:00
jingyuc
e62c42f54c rotate the modes when the mesh has a initial transformation. new grasping example with motor WIP 2021-09-09 18:35:07 -04:00
jingyuc
ce765a8a88 friction is now applied in a way similar to what the rigid body solver does 2021-09-08 19:00:55 -04:00
jingyuc
eef3b73cd2 fixed a sign issue in the friction of the reduced deformable vs moving rigid body contact 2021-09-07 18:38:13 -04:00
jingyuc
3a70641c65
Merge branch 'bulletphysics:master' into master 2021-09-07 15:25:11 -04:00
jingyuc
3a84b05058 Added a new friction slope example (ground is rotating). Fixed a problem in the reduced deformable's friction (now clamp the maximum tangential impulse based on the tangential velocity impulse at the current iteration, not the total tangential velocity at the beginning) 2021-09-06 17:56:32 -04:00
jingyuc
df07b42318 contact with moving rigid body is working. There is a sign error when calculating the deltaVelocity of the solverBody 2021-09-03 17:32:26 -04:00
jingyuc
f2e114fc81 fixed the wrong dimension used to calculate the inertia tensor in btReducedSoftBodyHelpers 2021-09-03 14:47:31 -04:00
jingyuc
e70fc6453b add support for initial rotation 2021-09-02 21:32:16 -04:00
erwincoumans
b638300fe4
Merge pull request #3951 from erwincoumans/master
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
jingyuc
93e00054e3 set up reduced grasping example 2021-09-02 13:35:14 -04:00
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