jingyuc
c2072b5538
add mass scaling for reduced deformable model
2021-11-11 12:27:36 -05:00
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
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
jingyuc
e2f6430d19
fixed a assertion error in btReducedDeformableSolver. clean up outputs
2021-10-25 17:28:19 -04:00
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
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
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
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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
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
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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
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
