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3262 Commits

Author SHA1 Message Date
Erwin Coumans
d88d0e92ef also update m_jointLowerLimit/m_jointUpperLimit in multibody link. 2020-07-07 19:49:29 -07:00
Erwin Coumans
c517c434e6 pybullet allow to enable/change joint limits: 
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLowerLimit=..., jointUpperLimit=...) # jointLowerLimit <= jointUpperLimit

and joint limit max force:
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLimitForce=...)

For example:
p.changeDynamics(sphereUid,linkIndex, jointLowerLimit=1, jointUpperLimit=3, jointLimitForce=10.5)

add b3ChangeDynamicsInfoSetJointLimit/b3ChangeDynamicsInfoSetJointLimitForce
add getConstraintType for btMultiBodyConstraint
 2020-07-07 19:42:23 -07:00
Erwin Coumans
9de78ab6b3 fix array size in inverse kinematics orientation command 
bump up shared memory version, since this was a potentially incompatible change
 2020-07-06 22:57:03 -07:00
erwincoumans
63e1d7d840 Merge pull request #2888 from AiRuiChen/change-env-name 
Ensure naming consistency in gym registry
 2020-06-30 19:06:53 -07:00
Erwin Coumans
9a61abde37 Merge remote-tracking branch 'bp/master' 2020-06-30 16:41:23 -07:00
Erwin Coumans
4c63a5019e fix removeConstraint for deformables, thanks to Daniel Seita for reporting the issue. 2020-06-30 16:39:15 -07:00
Eric Yihan Chen
0f05cdba18 Add missing names in pybullet_envs.getList() 2020-06-29 11:29:43 -07:00
erwincoumans
d8c7f97dbb Merge pull request #2872 from xhan0619/implicit-contact 
Corotated Linear Elasticity
 2020-06-29 10:05:14 -07:00
ManifoldFR
45b061c879 variable timestep for deepmimic env 2020-06-29 10:30:09 +02:00
Eric Yihan Chen
6cdebabd2b rename bullet envs for consistency 2020-06-27 15:10:20 -07:00
Xuchen Han
c9a0ebb24e reduce the picking force in self-collision demo 2020-06-26 14:19:50 -07:00
Xuchen Han
70a0ef65d8 fix bug in deformable replulsion force and adjust parameter in deformable self collision 2020-06-26 14:19:44 -07:00
ManifoldFR
b925988821 DeepMimic Gym enhancements 
* fix render() camera up axis
* make render() camera track character
* increase render resolution
* add option to restart mocap clip at t=0 at reset (default=random time)
* Gym env: option for "test mode" (episode starts at mocap clip start)
* Gym env: option to offset/rescale actions and obs (like original code)
 2020-06-25 12:03:30 +02:00
Xuchen Han
bf8cf19665 support implicit integration in picking force 2020-06-24 17:48:43 -07:00
Erwin Coumans
b4624ad237 fix pybullet_utils import 2020-06-23 16:14:18 -07:00
Xuchen Han
e0b554787f Merge remote-tracking branch 'origin/master' into implicit-contact 2020-06-19 15:05:34 -07:00
Xuchen Han
b969f14d21 run clang format 2020-06-19 14:52:44 -07:00
Xuchen Han
43d256633e allow for larger range of stiffness values in implicit demos 2020-06-19 14:51:31 -07:00
Xuchen Han
3fd743a069 add a colliding demo to for easier implcit contact testing 2020-06-19 14:50:56 -07:00
erwincoumans
036e51c637 Merge pull request #2870 from erwincoumans/master 
Fix applyExternalForce command for multibody links. Thanks to Avik fo…
 2020-06-18 20:52:47 -07:00
Erwin Coumans
ebef331bbf Fix applyExternalForce command for multibody links. Thanks to Avik for the report. 2020-06-19 03:37:30 -07:00
erwincoumans
01bfdc643c Merge pull request #2858 from CGJiaxiLiu/fix_softbody 
Fix potential undefined softbody member in PhysicsServerCommandProcessor
 2020-06-18 20:45:59 -07:00
Xuchen Han
92f2f56b3d add mass damping into damping model 2020-06-18 16:43:53 -07:00
Xuchen Han
abaf278c2d add extreme deformation demo 2020-06-17 18:49:09 -07:00
Xuchen Han
f23e745666 clang format PhysicsServerCommandProcessor and BulletSoftBody 2020-06-17 17:20:39 -07:00
Erwin Coumans
4786ca1df2 Merge remote-tracking branch 'bp/master' 2020-06-16 16:20:17 -07:00
Xuchen Han
9cfe16abb4 add corotated linear elasticity 2020-06-16 15:57:58 -07:00
Erwin Coumans
a7b8b54c44 implement mouse picking for deformable objects in PyBullet (the one using p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD), not position based dynamics version) 2020-06-16 11:54:50 -07:00
Jiaxi
daaea3a4fb Fix potentially send data to invalid port 2020-06-14 21:57:43 -04:00
Jiaxi
f034e64cc6 Check for availability of soft body 2020-06-14 21:42:32 -04:00
Jiaxi
a848c1d6e9 Check for availability of soft body 2020-06-14 21:26:54 -04:00
erwincoumans
da50438c3c Merge pull request #2826 from xhan0619/grav-factor 
Deformable gravity factor
 2020-06-05 10:07:27 -07:00
Erwin Coumans
a2cdadb9b4 add check to avoid crash, if link is out of bounds. 2020-06-04 00:24:51 -07:00
Erwin Coumans
e82a4ecc6d Apply patch to apply force at softbody nodes, thanks to Robert Lee, see 
https://github.com/bulletphysics/bullet3/issues/2699#issuecomment-610734583
 2020-06-04 00:09:11 -07:00
Erwin Coumans
c09007e005 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-06-04 00:00:44 -07:00
Erwin Coumans
e6a0206d47 Allow to remove soft body anchors, using pybullet.removeConstraint (untested). 
Usage example:
anchors = []
anchors.append(p.createSoftBodyAnchor(clothId  ,0,-1,-1))
anchors.append(p.createSoftBodyAnchor(clothId ,3,boxId,-1, [0.5,-0.5,0]))
for a in anchors:
  p.removeConstraint(a)
 2020-06-04 00:00:19 -07:00
Erwin Coumans
d1ded7d704 use pybullet.URDF_GOOGLEY_UNDEFINED_COLORS for standard gym envs 2020-06-01 23:38:59 -07:00
erwincoumans
a1522b3891 Merge pull request #2822 from ManifoldFR/patch-1 
Modify DeepMimic Gym env step() to query policy at 30Hz
 2020-06-01 17:23:25 -07:00
erwincoumans
50af23e487 Merge pull request #2832 from xhan0619/pybullet-api 
Set numNonContactInnerIterations from Pybullet
 2020-06-01 17:19:45 -07:00
erwincoumans
eea724bc02 Merge pull request #2837 from erwincoumans/master 
also allow reportHitNumber for single pybullet.rayTest, better mtl/urdf color selection
 2020-06-01 17:18:24 -07:00
Erwin Coumans
84cb577622 Improve link color choice: 
1) use URDF when available, unless URDF_USE_MATERIAL_COLORS_FROM_MTL and MTL color is available.
2) if URDF color is not specified, use MTL color if available
3) otherwise use white, unless URDF_GOOGLEY_UNDEFINED_COLORS flag is set (if set, semi-randomly pick one of the 4 Google colors)
 2020-06-01 10:28:07 -07:00
Daniele Reda
409b0eaa39 fix double humanoid instantiation 2020-05-31 21:38:38 -07:00
Xuchen Han
a33a9412fa add numNonContactInnerIterations to getPhysicsParameters 2020-05-29 08:28:52 -07:00
Xuchen Han
e6fdaebea9 add api for setting non contact iteration for pybullet 2020-05-28 17:58:21 -07:00
Xuchen Han
8c0192d639 turn on deformable rigid face contact 2020-05-26 16:52:40 -07:00
Xuchen Han
8a189763df support configuring gravity factor from client 2020-05-26 16:51:45 -07:00
Wilson
829475c38a Set DeepMimic Gym env to query policy at 30Hz 
Addresses issue #2821
 2020-05-24 16:30:47 +02:00
Erwin Coumans
a3c4b2995e also allow reportHitNumber for single pybullet.rayTest (not just rayTestBatch) 2020-05-22 15:13:56 -07:00
erwincoumans
5233b72160 Merge pull request #2800 from xhan0619/splitImpulseMulti 
Stability improvements for deformable.
 2020-05-21 09:47:33 -07:00
Xuchen Han
04efc9124d tune exampleBrowser demo parameters 2020-05-20 17:56:41 -07:00