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
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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
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
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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
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
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
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
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
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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
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
jingyuc
e70fc6453b
add support for initial rotation
2021-09-02 21:32:16 -04:00
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
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
erwin coumans
7de63bdbc5
fix tiny_renderer standalone example
2021-09-01 15:00:01 -07:00
jingyuc
c2601663e4
debugging moving rigid vs reduced deformable contact
2021-09-01 16:36:52 -04:00
jingyuc
634c8b7b38
Merge branch 'bulletphysics:master' into master
2021-08-31 20:16:15 -04:00
jingyuc
42fac2e364
fixed a minor issue: disable deactivation for the reduced collision example
2021-08-31 01:33:38 -04:00
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
Erwin Coumans
68424feb2d
don't use empty frame for pose in sdf files
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use hint for clang that if (0) is intentional
2021-08-30 19:40:20 +00:00
jingyuc
b1803afbb9
collision with moving rigid body seems to be working. checking why there is side motion
2021-08-30 13:19:33 -04:00
erwincoumans
5ec0820c0e
Merge pull request #3920 from araffin/feat/sb3
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Migrate to Stable-Baselines3
2021-08-29 15:01:27 -07:00
jingyuc
3e76b11d46
add check for momentum conservation
2021-08-26 13:41:26 -04:00
jingyuc
f26e3d133d
set up the reduced vs rigid collision example
2021-08-26 12:47:09 -04:00
jingyuc
6a87310d3c
friction is working now
2021-08-25 16:38:57 -04:00
jingyuc
52abe35e41
friction seems to be working. However, when the block is only sliding on the surface, there is no friction because no delta normal impulse...need to think
2021-08-25 00:38:29 -04:00
jingyuc
c735830f0a
more stable rigid contact
2021-08-24 15:08:57 -04:00
jingyuc
840db372b9
delta impulse version is working
2021-08-24 00:40:27 -04:00
jingyuc
d9152b9cf5
WIP warm starting
2021-08-23 01:17:58 -04:00
jingyuc
368385d5ad
need to project the impulse on the normal to prevent sliding
2021-08-21 15:54:34 -04:00
Chuyuan Fu
e16c9bb1cc
implement request deformable contact info
2021-08-18 18:48:35 -07:00
jingyuc
70ec2f9d46
use the correct relative position to apply the impulse
2021-08-18 16:24:46 -04:00
jingyuc
0444fea9eb
collision impulse starts to look reasonable, but the motion is still strange.
2021-08-18 14:31:59 -04:00
erwin coumans
7ac95be8cd
add training and run/eval scripts to train envs_v2 Laikago pmtg
2021-08-17 08:56:30 -07:00
jingyuc
eacdbe67a0
reduced velocity should be updated from i-th iteration instead of from the predicted state, because thexternal force has no memory of the previous iteration
2021-08-16 14:36:35 -04:00
jingyuc
9a17391a9a
modified the code. explicit time stepping should only be implicit in velocity
2021-08-13 16:34:34 -04:00
jingyuc
35f7a1a569
add new reduced deformable contact constraint class. able to call the reduced soft body's apply impulse function
2021-08-12 12:31:44 -04:00
