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165427de01cbe557ed6a6b24d3acfedcaecbd8ec
Commit Graph
3021 Commits
Author SHA1 Message Date
Xuchen Han 165427de01 refactor to support both CG+projection and KKT 2020-04-15 17:46:01 -07:00
Xuchen Han b3e23cfaa4 parameter tuning for new solver 2020-04-15 14:49:07 -07:00
Xuchen Han 80aa523825 Tune deformable collision parameters for more stable deformable vs. deformable contact 2020-04-01 17:46:37 -07:00
Erwin Coumans 05efff3c4f move pickup.zip inside pickup2.zip 2020-03-30 14:59:41 -07:00
Erwin Coumans d725b3fd0e add pickup2.zip (that contains pickup.zip) 2020-03-30 14:35:28 -07:00
Erwin Coumans 762c21601f cache zipfile, and also allow to read zipfile from memory 
this allows zipfiles to be stored anywhere in already registed fileIO (such as zipfiles inside other zipfiles)
see Bullet/examples/pybullet/examples/fileIOPlugin.py
enable vhacd, fileIO and zipFileIO in premake version of PyBullet
fix potential memory leak in mtl loading
 2020-03-30 14:24:20 -07:00
Erwin Coumans e20b858a28 add pybullet_utils.transformations from ROS geometry: 
https://github.com/ros/geometry/blob/melodic-devel/tf/src/tf/transformations.py
 2020-03-24 10:34:02 -07:00
erwincoumans dd2f2e3128 Merge pull request #2682 from xhan0619/master 
Add support for getPose for deformable objects and separate deformable vs. rigid face contact and deformable vs. multibody face contact for flexibility.
 2020-03-22 18:44:18 -07:00
erwincoumans eab851635e Merge pull request #2679 from erwincoumans/master 
Embed TCP remote graphics server in PyBullet (enable WFH), fixes for compilation on Visual C++ for Python 9.0
 2020-03-22 14:04:35 -07:00
Erwin Coumans bd8c537c86 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-03-22 20:12:21 -07:00
Erwin Coumans 7d499c4e2d fix userDataTest.py 2020-03-22 20:12:07 -07:00
Erwin Coumans 0b6457d318 fix cmake/premake builds 2020-03-22 11:58:39 -07:00
Erwin Coumans 377069bfa5 add laikago/xarm in pybullet_robots 2020-03-22 11:37:08 -07:00
Antonin RAFFIN a6314958a6 Add CheckpointCallback and load best automatically 2020-03-22 13:44:05 +01:00
Erwin Coumans e09dc74bd8 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-03-21 18:52:30 -07:00
Erwin Coumans d71a787481 more tcp networking stuff (remove shared memory from tcp example) 2020-03-21 18:47:55 -07:00
Erwin Coumans 663c7ddc54 more TCP remote fixes 2020-03-20 21:12:45 -07:00
Erwin Coumans 1e3bc22483 linux fixes 2020-03-20 20:19:15 -07:00
Erwin Coumans c4898ed3e3 more tcp tuning 2020-03-20 18:46:10 -07:00
Erwin Coumans 6cedf26f24 more tcp fixes 2020-03-20 17:47:13 -07:00
Erwin Coumans 4cbc8c2a8d set tcp timeouts for send/receive 2020-03-20 16:58:18 -07:00
Erwin Coumans 99c7c32b10 tcp fixes and allow to run graphics server on mainloop (for Mac) 2020-03-20 16:50:44 -07:00
Erwin Coumans 911355fe62 fixes for Mac OSX 2020-03-20 15:57:19 -07:00
Erwin Coumans 344bd629ee embed TCP graphics server in PyBullet for easier working-from-home 
This allows to render at a different machine, sending all assets across the TCP network, using port 6667 by default.
You can use ssh port forwarding to get this working:
ssh -R 6667:localhost:6667 username@remotehost.com -v

python3 -m pybullet_utils.graphicsServer
python3 -m pybullet_utils.graphicsClient

Note that there are still some tcp networking issues that can cause a hang, just restart graphics server and graphics client if it hangs.
 2020-03-20 15:43:52 -07:00
Erwin Coumans c06859723b Embed graphics server (shared memory) in PyBullet. Use pybullet.connect(pybullet.GRAPHICS_SERVER) to enable it. 
TODO: enable for Mac OSX on mainloop, add tcp bridges from and to shared memory.
 2020-03-19 14:18:35 -07:00
Xuchen Han 5d26efd988 formatting and minor bug fix 2020-03-19 12:29:00 -07:00
Xuchen Han 19ed1c952a separate face contact between deformable and rigid and multibodies 2020-03-18 17:58:46 -07:00
Xuchen Han cab8b84a8f Support get body state for deformable objects so that it retrieves the best fit rigid transform 2020-03-18 17:11:20 -07:00
Erwin Coumans d3fdf434ed few more fixes in pybullet setup.py 2020-03-17 10:38:51 -07:00
Erwin Coumans 88ce0be26b fix int64_t 2020-03-17 17:20:57 -07:00
Erwin Coumans d31c248751 fixes for compilation on Visual C++ for Python 9.0 
bump up to PyBullet 2.6.9
 2020-03-17 17:10:47 -07:00
Erwin Coumans fde6cffecc create BulletRoboticsGUI CMake target, pybullet links against it 
fix BulletRobotics header install
 2020-03-16 23:15:18 -07:00
Erwin Coumans 1640eef937 pybullet: enable getMeshData for multibody/rigid body (and filter on collisionShapeIndex for compound shapes) 2020-03-17 00:38:12 -07:00
Erwin Coumans 7991012f9d pybullet: fixes in polyhedral feature generation 2020-03-16 23:32:26 -07:00
Erwin Coumans 27fbbfee7f pybullet removeAllParameters (sliders, buttons) 
pybullet addUserDebugParameter adds button instead of slider, if min > max.
 2020-03-16 21:29:30 -07:00
erwincoumans 07b9194e15 Merge pull request #2667 from xhan0619/teleport 
Teleport deformables
 2020-03-15 21:12:26 -07:00
Xuchen Han 27d2cdaef0 Merge remote-tracking branch 'xuchen/master' into teleport 2020-03-15 19:29:06 -07:00
erwincoumans e8c873a5cd Merge pull request #2672 from erwincoumans/master 
embed V-HACD directly into PyBullet
 2020-03-15 19:18:11 -07:00
Erwin Coumans 17c6839a77 add example of using vhacd in pybullet 2020-03-15 18:15:14 -07:00
Erwin Coumans f0528db5e9 embed V-HACD directly into Pybullet to make it easier to use: 
pip3 install pybulle
import pybullet as p
p.connect(p.DIRECT)
p.vhacd("teddy.obj", "teddy_large_newout.obj", "newlog.txt", depth=2,resolution=1000000)
 2020-03-16 00:38:52 -07:00
erwincoumans 8721482e7b Merge pull request #2670 from erwincoumans/master 
convert upper/lower limits in urdfEditor.py
 2020-03-15 12:53:54 -07:00
Erwin Coumans 2d5e8ea1f3 convert upper/lower limits in urdfEditor.py 2020-03-13 20:49:39 -07:00
Xuchen Han 0a66818841 Use latest mouse position for picking force 2020-03-13 14:52:13 -07:00
Xuchen Han 4730dab4bb Address PR comments 2020-03-13 14:52:13 -07:00
Chuyuan Fu f43c40f694 fix space 2020-03-13 14:52:13 -07:00
Chuyuan Fu b4bfe4fa99 fix rigidbody activation 2020-03-13 14:52:13 -07:00
Erwin Coumans 4d0d8a189c increase the number of steps from 1000 to 2000, to mimic multiple cycles 2020-03-13 14:52:13 -07:00
Erwin Coumans ca5061fac3 set correct reward for deep_mimic gymenv (max episode = 1000 steps, 1 reward at each step) 
terminate testrl.py at 1000, show reward
 2020-03-13 14:52:12 -07:00
Erwin Coumans 9ecd0884d9 Connect deep_mimic_env.py to internal pybullet_deep_mimic_env.py 
This adds two untested Gym environments to pybullet_envs. todo: train using PPO2 etc
HumanoidDeepMimicBackflipBulletEnv-v1
HumanoidDeepMimicWalkBulletEnv-v1
 2020-03-13 14:52:12 -07:00
Erwin Coumans 812c675d4c prepare towards HumanoidDeepMimicBackflipBulletEnv-v1 and HumanoidDeepMimicWalkBulletEnv-v1 
remove unused SubprocVecEnv from stable_baselines/enjoy.py
 2020-03-13 14:52:12 -07:00