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
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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
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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
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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
