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Commit Graph
1463 Commits
Author SHA1 Message Date
erwincoumans 4fbecfeddc Revert "Revert "Reduced Deformable Model"" 2022-03-07 16:35:07 -08:00
erwincoumans 3df6e1a721 Revert "Reduced Deformable Model" 2022-03-07 15:38:32 -08:00
erwincoumans a8e1ce8273 Merge pull request #3996 from wkentaro/addUserDebugPoints 
Add pybullet.addUserDebugPoints
 2022-03-06 20:54:09 -08:00
erwincoumans 0c40b73b0e Merge pull request #4167 from simjaecheol/master 
urdfEditor - handle joint limits
 2022-03-05 13:50:58 -08:00
erwincoumans 103db13379 Merge pull request #4175 from cmower/cmower-fix-import-error 
Fix import error in humanoid running examples.
 2022-03-05 13:50:07 -08:00
jingyuc ca9d9b3ee6 Merge branch 'bulletphysics:master' into master 2022-02-28 14:30:10 -08:00
jingyuc c89a7054e9 pybullet reduced deformable examples setup updated 2022-02-28 01:04:14 -08:00
Chris E. Mower 713392b789 Fix import error in humanoid running examples. 
Note, RuntimeError thrown when eager execution is enabled.
 2022-02-21 15:05:16 +00:00
Peng Xu 19d6304d8d Update push randomizer to use the new randomize_sub_step hook. This fixes issue that causes application of push force/torque is only valid for single simulation step. 2022-02-20 15:47:08 -08:00
Peng Xu 751fd3fb65 Adding new randomization hook for sim steps (sub steps). This is necessary for correctly implement force / torque randomization. 2022-02-20 15:35:06 -08:00
jaecheol.sim 7d7fb1e291 urdfEditor - handle joint limits 2022-02-15 15:30:10 +09:00
jingyuc fbeafa0249 Merge branch 'bulletphysics:master' into master 2022-01-30 14:32:06 -08:00
Erwin Coumans 5cd8160086 add spherical_joint_limit.py example 2022-01-30 13:00:52 -08:00
Erwin Coumans b602045665 Implement joint limit for btMultiBody spherical joint. In URDF, add 
<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
effort is max force/impulse
lower = swing range in X
upper = swing range in Y
twist = twist range around Z
(ranges all in radians)
lower, upper, twist and effort need to be > 0, otherwise no limit is created

See examples/pybullet/examples/spherical_joint_limit.py and
    examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
 2022-01-30 13:00:11 -08:00
James Braza 51a5aa8026 Added forgotten capitalization of code tag 2022-01-02 15:30:23 -05:00
James Braza 0e114e9f9b Added comment about why H x W differ from expected 2022-01-02 15:20:30 -05:00
James Braza 72dc1bb4dd Added numpy reshapings to raw image 2022-01-02 15:11:17 -05:00
James Braza 878e3d57f6 Added comment giving confidence in the changing w x h orderings 2022-01-02 15:08:16 -05:00
Erwin Coumans 0ab3b9d9f7 fix texture coordinates for aliengo trunk 2021-12-10 17:25:39 -08:00
Erwin Coumans 610fb2c117 prettify aliengo trunk a bit 2021-12-10 16:12:41 -08:00
Erwin Coumans 0aecbb9cdc delete MPL licensed meshes, replace by manual textured meshes. 2021-12-10 15:51:25 -08:00
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
Chase Kew adf75169d8 Import Aliengo URDF 
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 8efd0296ab test full deform 2021-11-23 17:07:41 -05:00
erwincoumans 10f72b9b5d Merge pull request #3921 from ayzaan/patch-1 
Create URDF for white xarm
 2021-11-13 22:41:05 -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
jingyuc c2072b5538 add mass scaling for reduced deformable model 2021-11-11 12:27:36 -05:00
jingyuc 7fafbd7718 reduced deformable is now working with pybullet 2021-11-05 18:02:15 -04:00
jingyuc 0a6f278663 reduced deformable cube free fall example is now working in pybullet 2021-11-02 01:12:09 -04:00
Kentaro Wada b22a2432b5 Fix pybullet.addUserDebugPoints help 2021-10-25 21:04:42 +01:00
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
Kentaro Wada 00dcce85f5 Add pybullet.addUserDebugPoints 2021-10-16 17:38:05 +01:00
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 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
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
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
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