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Commit Graph
3542 Commits
Author SHA1 Message Date
erwincoumans ccafe333d1 Merge pull request #3979 from johbrust/deformableForces 
Add deformable contact forces info
 2021-11-13 22:32:43 -08:00
erwincoumans 691ad46baa Merge pull request #4024 from BlGene/egl_device_selection 
EGL device selection by environment variable
 2021-11-13 22:20:13 -08:00
erwincoumans a9a103fc8c Merge pull request #4010 from erwincoumans/master 
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 
Fix bug in server handling of inverse dynamics
 2021-11-12 05:28:32 +00:00
Erwin Coumans a3005879bb use mainthread on __APPLE__ 
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
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
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 
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
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
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 
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
Johannes Brust 61d5bdb783 Fix bug due to missing swap 2021-10-21 17:38:13 +02:00
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 
remote tensorflow requirement
 2021-10-11 12:14:45 -07:00
Erwin Coumans 6390db4bd6 Merge remote-tracking branch 'bp/master' 2021-10-04 15:37:12 -07:00
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 
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 
- 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
erwincoumans 9c37ca5185 Merge pull request #3950 from bttner/fix_external_force_command 
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 
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
Aaron Franke ad74cfe6c8 Update Bullet URL in copyright statements 2021-09-13 09:06:14 -05:00
erwincoumans b638300fe4 Merge pull request #3951 from erwincoumans/master 
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
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
erwincoumans 31b8841efc Merge pull request #3948 from erwincoumans/master 
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 
use hint for clang that if (0) is intentional
 2021-08-30 19:40:20 +00:00
erwincoumans 5ec0820c0e Merge pull request #3920 from araffin/feat/sb3 
Migrate to Stable-Baselines3
 2021-08-29 15:01:27 -07:00
Chuyuan Fu e16c9bb1cc implement request deformable contact info 2021-08-18 18:48:35 -07:00
erwin coumans 7ac95be8cd add training and run/eval scripts to train envs_v2 Laikago pmtg 2021-08-17 08:56:30 -07:00
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
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
erwincoumans 0e124cb2f1 Merge pull request #3841 from erwincoumans/master 
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 
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