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
jingyuc
e4e8f1ad93
add tree updates in predict motion.
2021-08-11 15:58:40 -04:00
jingyuc
6355b06a8b
use deformable contact detection for the reduced deformable model
2021-08-10 16:31:53 -04:00
jyc-n
3425c01acc
created new free fall example. WIP
2021-08-09 16:26:17 -04:00
jyc-n
042a1f75c9
clean up
2021-08-09 14:54:58 -04:00
jingyuc
a56ce358f3
reduced dofs and interpolated transform needs to be updated from the time_n states in the iteration
2021-08-09 12:43:59 -04:00
jingyuc
0acf18f246
need to update the rigid frame every time when the impulse is applied. reduced external force needs to be zeroed in every iteration.
2021-08-09 11:23:52 -04:00
jingyuc
4f66d8bb87
update reduced variables and full space position every time applied the force
2021-08-06 17:10:58 -04:00
jingyuc
32398d4d7f
multiple fixed nodes seem okay
2021-08-05 00:00:12 -04:00
jingyuc
fdfb08b72f
single fixed constraint for the rigid frame is working
2021-08-04 22:44:53 -04:00
erwin coumans
e399944982
add simplified Laikago model for faster CPU rendering (getCameraImage in direct mode using TinyRenderer)
2021-08-03 13:26:39 -07:00
jingyuc
35ec8b39a7
re-work the external force application. clean up position and velocity update
2021-08-02 11:31:09 -04:00
jingyuc
a37d23fa24
re-work the simulation time loop in order to support fixed constraints. still wip
2021-07-30 02:08:27 -04:00
Ayzaan Wahid
83fbd60d5b
Create URDF for white xarm
2021-07-29 17:08:50 -04:00
jingyuc
5d17353269
add rigidTransformWorld to make the rendering works after applying initial translation. Center of mass looks right. Tested with rotating free fall
2021-07-29 11:45:44 -04:00
Antonin Raffin
13f3778c22
Fix SB3 comment
2021-07-29 15:24:46 +02:00
Antonin Raffin
2f8b44c702
Migrate to Stable-Baselines3
2021-07-29 15:21:49 +02:00
jingyuc
c6c7533167
fixed constraints wip
2021-07-28 16:36:15 -04:00
jingyuc
549b57df77
clean up
2021-07-28 14:36:42 -04:00
jingyuc
6c2023e330
add mode visualizer example.
2021-07-28 12:34:01 -04:00
jyc-n
bfa74dbacd
initial translation WIP
2021-07-28 00:03:51 -04:00
jingyuc
67b58428e8
clean up. now the inertia tensor is calculated based on geometry, and it is updated everytime step
2021-07-27 15:59:25 -04:00
jyc-n
0983d36eff
rotation is working
2021-07-26 21:48:57 -04:00
jyc-n
7678545e76
clean up initialzation
2021-07-26 15:30:35 -04:00
jingyuc
9baee29300
simple rigid translation is working.
2021-07-26 11:28:37 -04:00
jingyuc
6f3dd32f37
add new btReducedSoftBody and btReduceDeformableSolver class
2021-07-23 16:20:09 -04:00
jyc-n
87e20f450b
save files. misc
2021-07-22 21:55:34 -04:00
jyc-n
c325da8b34
add new ReducedSoftBody class. move read files functions to btReducedSoftBodyHelpers
2021-07-22 11:43:26 -04:00
jingyuc
237333d030
make the impulse scaled with nodal mass. all binary mode files contains all modes info.
2021-07-19 15:26:00 -04:00
jingyuc
4119d8812e
add initial impulse
2021-07-18 00:52:13 -04:00
jingyuc
c24f2a72ef
add internal force
2021-07-16 15:01:44 -04:00
jingyuc
4b6eaeed4c
kinematic tested. specified delta_v as a cosine function.
2021-07-15 17:30:08 -04:00
jingyuc
d390360f9e
clean up kinematic test setup
2021-07-14 20:01:50 -04:00
jingyuc
f1e86bf257
test modes kinematics
2021-07-14 16:00:28 -04:00
jingyuc
fa00ee2bbd
Start the reduced deformable example. Read in mesh and modes files.
2021-07-13 00:45:11 -04:00
erwincoumans
0e124cb2f1
Merge pull request #3841 from erwincoumans/master
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fix some msan (memory sanitizer) issues
2021-05-12 13:54:56 -07:00
erwincoumans
a435fb7a41
Merge pull request #3819 from cadop/bullet-client-subprocess-safety
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Fix for bullet_client to be used from a class instance during multiprocessing
2021-05-12 13:54:00 -07:00
Erwin Coumans
92fb2db0a3
fix some msan (memory sanitizer) issues
2021-05-12 20:14:15 +00:00
erwin coumans
adcf785a4a
re-enable eGUIHelperSetRgbBackground
2021-05-07 09:07:40 -07:00
Erwin Coumans
cd76d605a9
more fixes for tsan
2021-05-07 15:37:56 +00:00
erwin coumans
f14911c998
fix a tsan test failure
2021-05-06 18:34:43 -07:00
erwin coumans
e952ac6f63
Add pybullet.configureDebugVisualizer(rgbBackground=[red,green,blue]) (each component a float in the range [0,1])
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This is an alternative to passing options="--background_color_red=red --background_color_green=green --background_color_blue=blue" in the connect method.
2021-05-06 18:08:22 -07:00
erwin coumans
8e85dedaa9
PyUnicode_AsUTF8 breaks python 2.x compatibility
2021-05-06 10:19:15 -07:00
erwin coumans
b696ed7d7b
enable roll angle in pybullet.computeViewMatrixFromYawPitchRoll / b3ComputeViewMatrixFromYawPitchRoll
2021-04-28 12:13:31 -07:00
cadop
ace34c4d08
check the process id before disconnecting
2021-04-27 19:33:37 -04:00
erwincoumans
45d3ead747
Merge pull request #3356 from erwincoumans/master
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LICENSE should have no txt extension
2021-04-22 16:46:07 -07:00
Erwin Coumans
184b7816d0
LICENSE should have no txt extension
2021-04-22 16:45:29 -07:00
erwincoumans
a7832e3a18
Merge pull request #3355 from erwincoumans/master
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sync recent changes
2021-04-22 16:37:01 -07:00
Erwin Coumans
c915e82d49
Merge branch 'master' of github.com:erwincoumans/bullet3
2021-04-22 16:20:31 -07:00
erwincoumans
00dcc77885
Merge pull request #3352 from erwincoumans/master
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getDynamicsInfo report local inertia diagonal for useMaxima… …
2021-04-20 20:22:38 -07:00
erwin coumans
a5761f2b10
pybullet: getDynamicsInfo report local inertia diagonal for useMaximalCoordinates
2021-04-20 20:20:55 -07:00
Erwin Coumans
9f91e6837a
remove type annotations
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bump up pybullet version
2021-04-20 15:50:12 -07:00
erwincoumans
201e7159d6
Merge pull request #3351 from erwincoumans/master
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PyBullet: expose useMultiBody argument for loadMJCF command, expose sleeping threshold
2021-04-20 14:42:42 -07:00
erwin coumans
e58e5bdf95
PyBullet:
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expose pybullet.changeDynamics(sleepThreshold), default 0.05, for both useMaximalCoordinates=False and True
When the dot(vel,vel) < sleepThreshold for longer than 2 seconds (this timeout is hard coded) objects that have the ACTIVATION_STATE_ENABLE_SLEEPING enabled with be deactivated
Example:
p.changeDynamics(ob, -1, activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING, sleepThreshold=0.05)
2021-04-20 11:29:27 -07:00
erwin coumans
fd154cee8f
set default sleeping threshold for useMaximalCoordinate btRigidBody to be similar to btMultiBody (0.05)
2021-04-20 11:14:28 -07:00
erwin coumans
78f5b141f9
fix for 'useMaximalCoordinates' rigid body in PyBullet: activate a rigid body after picking
2021-04-20 10:24:09 -07:00
erwin coumans
84a63cf221
allow to use the useMultiBody argument for loadMJCF command
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note that for dynamic and static objects (without joints) it is best to set useMultiBody=False
2021-04-19 20:37:26 -07:00
r-a-sattarov
a923ce184e
examples/RobotSimulator/CMake: fixed warning (mis-matching arguments)
2021-04-19 23:32:57 +03:00
erwincoumans
48ba5a37ad
Merge pull request #3348 from erwincoumans/master
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disable texture release, it causes crashes, need to figure out better…
2021-04-15 20:30:13 -07:00
erwin coumans
910c20334f
disable texture release, it causes crashes, need to figure out better solution
2021-04-15 20:26:01 -07:00
Erwin Coumans
973d8c128f
Merge branch 'master' of github.com:erwincoumans/bullet3
2021-04-07 22:13:18 -07:00
jaraujo98
dcf9c8d6a5
Replace xrange with range
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The xrange function was deprecated in Python 3. Removing it for compatibility.
2021-04-06 11:26:39 -07:00
erwincoumans
21d1b8fc71
Merge pull request #3339 from erwincoumans/master
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add pybullet_examples, fix pybullet_envs.minitaur.envs_v2, bump up pybullet 3.1.2
2021-04-05 19:53:38 -07:00
Erwin Coumans
5205dafcc2
add __init__.py
2021-04-05 19:51:38 -07:00
Erwin Coumans
29f388a5d8
add selected examples under pybullet_examples
2021-04-05 19:50:46 -07:00
Erwin Coumans
513e3a7db4
add more __init__.py files
2021-04-05 18:07:39 -07:00
Erwin Coumans
674c82db89
bump up pybullet version to 3.1.2
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add missing __init__.py files
2021-04-05 17:58:25 -07:00
erwincoumans
2c3318f86d
Merge pull request #3331 from erwincoumans/master
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add performCollisionDetection (stepSimulation also calls this, but do…
2021-04-05 12:54:39 -07:00
erwin coumans
8b8c1af6a4
Cleaned-up/fixed version of this Pull Request #3239 , thanks to Wenlong Lu
2021-04-05 11:40:45 -07:00
erwin coumans
4d34ba7310
add updated Laikago envs_v2, with PMTG and MPC examples.
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python -m pybullet_envs.minitaur.envs_v2.locomotion_gym_env_test
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_mpc_wrapper_example
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_static_gait_example
python -m pybullet_envs.minitaur.agents.baseline_controller.locomotion_controller_example
PMTG example, not well tuned:
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_pmtg_example
2021-04-05 11:35:19 -07:00
Erwin Coumans
58d47935a3
Merge remote-tracking branch 'bp/master'
2021-03-26 11:53:37 -07:00
erwin coumans
d1c4c41b9a
add performCollisionDetection (stepSimulation also calls this, but does more, including solving constraints and integration)
2021-03-26 10:31:13 -07:00
erwincoumans
93be7e6440
Merge pull request #3311 from erwincoumans/master
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allow to compile pybullet using btDiscreteDynamicsWorld (no btMultiBody, no btSoftBody, no btDeformableBody)
2021-03-26 10:29:04 -07:00
erwin coumans
0196edd4d2
update single aabb, during resetJointState/resetBasePositionAndOrientation, to allow raycast/collision queries.
2021-03-26 09:11:59 -07:00
erwin coumans
546212b158
add mug obj
2021-03-22 16:53:17 -07:00
erwin coumans
6f7d458679
add missing line in previous commit
2021-03-16 18:17:23 -07:00
erwincoumans
395e17c7bf
Merge pull request #3238 from yycho0108/add-link-names-to-createmultibody
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Add linkNames argument to CreateMultibody
2021-03-15 22:48:33 -07:00
erwin coumans
5cf8ee3360
Allow to compile pybullet using btDiscreteDynamicsWorld (no multibodies and no deformables), this allows to create Jacobian and Mass matrix (and A=J*M-1*J_transpose) with MLCP solvers
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Add examples/pybullet/gym/pybullet_utils/readwriteurdf.py, this allows to read a URDF and write the URDF with more reasonable inertia tensors (based on mass and collision volumes)
2021-03-15 22:44:55 -07:00
erwincoumans
0c7ea68709
Merge pull request #3246 from Danfoa/master
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Fix Stable-PD Control bug on First Order Taylor approximation of next `q` state
2021-03-07 08:19:37 -08:00
mbennice
296cd85f60
Fix tab/spaces
2021-03-05 09:54:53 -08:00
mbennice
237843b93a
Default user data text to empty string when null.
2021-03-05 09:52:10 -08:00
Erwin Coumans
b619763569
Merge remote-tracking branch 'bp/master'
2021-03-04 09:38:13 -08:00
erwin coumans
3963f077fc
Fix memory leak in EGL / GUI mode, resetSimulation with textures in GUI mode.
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Fixes Issue #3285
2021-03-04 09:13:22 -08:00
erwincoumans
7b84fabb1e
Merge pull request #3291 from vabr-g/efficient-find
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Optimize calls to find*() for a single char.
2021-03-02 10:06:54 -08:00
Vaclav Brozek
364e98c92d
Optimize calls to find*() for a single char.
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The character literal overload is more efficient.
2021-03-02 18:59:31 +01:00
Erwin Coumans
adcaa75777
enable v-hacd in cmake for BulletRobotics and pybullet build (use cmake -DENABLE_VHACD=OFF .. to disable)
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cmake: enable stable PD plugin (-DDSTATIC_LINK_SPD_PLUGIN)
btMultibody, make some args const in mulMatrix
2021-03-01 14:03:48 -08:00
vabr-g
e4963f73f2
Fix a null dereference in UrdfParser
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When the parser sees no <inertial> tag inside a <deformable>, it logs an error but does not return false. So in the next step, a null pointer is dereferenced.
This can be tested with loading the following URDF:
```
<?xml version="1.0"?>
<robot name="rhythm_carrot_sticks">
<deformable name="bag">
</deformable>
</robot>
```
2021-03-01 21:21:11 +01:00
Erwin Coumans
97add36b9f
update bullet_client.py to accept options
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p.connect(p.GUI, options="--background_color_red=1 --background_color_blue=1 --background_color_green=1")
If you use bullet_client.py, you can use:
p = bc.BulletClient(connection_mode=pybullet.GUI,options="--background_color_red=1 --background_color_blue=1 --background_color_green=1")
--mouse_move_multiplier=0.4
--mouse_wheel_multiplier=0.01
--mp4=moviename.mp4
2021-02-25 16:32:39 -08:00
erwincoumans
abea1a8484
Create LICENSE.txt
2021-02-08 08:06:16 -08:00
erwincoumans
af6aa5fb99
Create LICENSE.txt
2021-02-08 08:05:46 -08:00
erwincoumans
c3f137773b
Create LICENSE.txt
2021-02-08 08:05:22 -08:00
erwincoumans
ecbbf24d2a
Create LICENSE.txt
2021-02-08 08:04:10 -08:00
erwincoumans
1257ab5915
Create LICENSE.txt
2021-02-08 08:03:23 -08:00
erwincoumans
b582287943
Create LICENSE.txt
2021-02-08 08:02:52 -08:00
erwincoumans
7a6fb20da8
Create LICENSE.txt
2021-02-08 08:02:02 -08:00
erwincoumans
a061644454
Create LICENSE.txt
2021-02-08 08:01:18 -08:00
erwincoumans
643f9c90be
Create LICENSE.txt
2021-02-08 08:00:22 -08:00
erwincoumans
5d149250ba
Create LICENSE.txt
2021-02-08 07:58:30 -08:00
erwincoumans
062860e455
Create LICENSE.txt
2021-02-08 07:57:53 -08:00
erwincoumans
1fbee5299a
Create LICENSE.txt
2021-02-08 07:57:25 -08:00
erwincoumans
6ad7e8fa6e
Create LICENSE.txt
2021-02-08 07:57:00 -08:00
