You can use linkPositions and linkOrientations for this. The naming is confusing, it is the joint origin/orientation with respect to the parent.
(usually the 'link frame' adds the rotation of its own joint, if any)
Search found 21 matches
- Fri Feb 21, 2020 9:05 pm
- Forum: PyBullet Support and Feedback
- Topic: How to set joint origin when using pb.createMultiBody()
- Replies: 1
- Views: 5876
- Fri Feb 21, 2020 9:01 pm
- Forum: PyBullet Support and Feedback
- Topic: Hollow shapes
- Replies: 5
- Views: 11419
Re: Hollow shapes
It can be 1 obj file that has multiple convex parts. That's how the vhacd util works.
See for example this file:
https://github.com/bulletphysics/bullet ... CD_CHs.obj
Each convex object is marked with 'o'
See for example this file:
https://github.com/bulletphysics/bullet ... CD_CHs.obj
Each convex object is marked with 'o'
- Fri Feb 21, 2020 8:59 pm
- Forum: PyBullet Support and Feedback
- Topic: Model keeps swinging back and forth and is not fixed to the ground
- Replies: 5
- Views: 11781
Re: Model keeps swinging back and forth and is not fixed to the ground
You should fix the base, using the 'useFixedBase=True' option in pybullet.loadURDF Alternatively, set the mass of the first (base) link to zero. See also the PyBullet quickstart guide for more info in general. https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#headi...
- Fri Feb 21, 2020 8:57 pm
- Forum: Release Announcements
- Topic: PyBullet and Bullet 2.89 with FEM deformables, PyBullet deep_mimic and Laikago
- Replies: 1
- Views: 148802
PyBullet and Bullet 2.89 with FEM deformables, PyBullet deep_mimic and Laikago
Note we are making regular Pybullet releases but don't make announcements here every time. You can see the PyBullet release history here . Bullet 2.89 includes a new implementation of volumetric deformable objects and cloth based on the Finite Element Method, thanks to Xuchen Han. Two-way coupling b...
- Mon Dec 31, 2018 9:14 pm
- Forum: Release Announcements
- Topic: Bullet Physics SDK 2.88 and PyBullet
- Replies: 0
- Views: 43399
Bullet Physics SDK 2.88 and PyBullet
A lot of work this year went into improving PyBullet for robotics and reinforcement learning research. The SDK was used in several published research papers by Google Brain Robotics , including our RSS 2018 paper "Sim-to-Real: Learning Agile Locomotion For Quadruped Robots" , see the [vide...
- Sat Oct 08, 2016 2:31 am
- Forum: Release Announcements
- Topic: Bullet 2.85 released: pybullet, VR, inverse dynamics, IK
- Replies: 0
- Views: 46213
Bullet 2.85 released: pybullet, VR, inverse dynamics, IK
You can download the Bullet 2.85 release from github here: https://github.com/bulletphysics/bullet3/releases Note this release was previously called 2.84, but due to serialization/version mismatch, it has been bumped up to 2.85. Updated documentation will be added soon, as well as possible show-stop...
- Mon May 04, 2015 6:38 am
- Forum: Release Announcements
- Topic: Bullet 2.83 released on github: Example Browser, URDF
- Replies: 8
- Views: 120408
Bullet 2.83 released on github: Example Browser, URDF
You can download the Bullet 2.83 release from github here: https://github.com/bulletphysics/bullet3/releases See the docs/BulletQuickstart.pdf guide as part of the SDK download. Some of the features include: A new example browser, based on OpenGL 3+. It is still work-in-progress and not all demos ha...
- Sat May 17, 2014 10:12 pm
- Forum: Release Announcements
- Topic: Preparing Bullet 2.83 and 3.x at github, clone and test!
- Replies: 2
- Views: 75934
Preparing Bullet 2.83 and 3.x at github, clone and test!
The Bullet Physics SDK source code repository is now located at github: http://github.com/bulletphysics/bullet3 I am preparing an initial Bullet 2.83 version from that repo, please clone and test the code and discuss in this forum if there are serious issues. You can clone using either git or subver...
- Thu Oct 24, 2013 3:15 am
- Forum: Release Announcements
- Topic: Bullet 2.82 released: Featherstone and direct MLCP solvers
- Replies: 1
- Views: 70481
Bullet 2.82 released: Featherstone and direct MLCP solvers
The new Bullet 2.82 SDK is available for download: https://code.google.com/p/bullet/downloads/list, svn revision 2704 Some of the features include: Featherstone Articulated btMultiBody, with two-way interaction with regular btRigidBody. See Bullet/Demos/FeatherstoneMultiBodyDemo. Thanks to Stephen T...
- Mon Oct 08, 2012 7:48 pm
- Forum: Release Announcements
- Topic: Bullet 2.81 Released: Rolling Friction, XML, iOS Neon
- Replies: 5
- Views: 114831
Bullet 2.81 Released: Rolling Friction, XML, iOS Neon
The new Bullet 2.81 SDK is available for download: https://code.google.com/p/bullet/downloads/list Some of the features of the new release are: SIMD and Neon optimizations for iOS and Mac OSX , thanks to a contribution from Apple. Rolling Friction using a constraint, thanks to Erin Catto for the ide...
- Mon Mar 05, 2012 6:36 am
- Forum: Release Announcements
- Topic: Bullet 2.80 SP1 release :OpenCL rigid bodies & Android
- Replies: 17
- Views: 226319
Bullet 2.80 SP1 release :OpenCL rigid bodies & Android
You can download Bullet 2.80 SP1 now. Make sure to get SP1 revision 2531 , it includes some last minute fixes and a new VoronoiFractureDemo. We fixed some performance regression after the initial 2527 release. Aside from numerous bug fixes, the main features are: A preview of the upcoming Bullet 3.x...
- Sat Sep 17, 2011 1:11 am
- Forum: Release Announcements
- Topic: Bullet 2.79 release: new convex decomposition and premake
- Replies: 4
- Views: 93807
Bullet 2.79 release: new convex decomposition and premake
You can download Bullet 2.79 now, based on SVN revision 2440. Bullet 2.79 is mainly a bugfix release, but there are also some improvements, for example: New convex decomposition method, based on the HACD library. Thanks to Khaled Mamou for HACD and Sujeon Kim for the integration into Bullet. See Bul...
- Sat Apr 09, 2011 4:42 am
- Forum: Release Announcements
- Topic: Bullet 2.78 released: FractureDemo, CCD,SAT contact clipping
- Replies: 6
- Views: 110351
Bullet 2.78 released: FractureDemo, CCD,SAT contact clipping
You can download Bullet 2.78 now, based on SVN revision 2384. New in Bullet 2.78 Fracture and glueing demo that can break or glue child shapes of a btCompoundShape when certain impulse thresholds are exceeded. See Bullet/Demos/FractureDemo Breakable constraints, based on an applied impulse threshold...
- Wed Sep 22, 2010 11:37 pm
- Forum: Release Announcements
- Topic: Bullet 2.77 is released! OpenCL & DX11 cloth, 3ds Max plugin
- Replies: 8
- Views: 120340
Bullet 2.77 is released! OpenCL & DX11 cloth, 3ds Max plugin
You can download the Bullet 2.77 from the usual place at http://code.google.com/p/bullet/downloads/list (based on svn revision 2218) The main new feature is the OpenCL and DirectCompute hardware accelerated cloth simulation. Thanks to Lee Howes from AMD for this contribution and thanks to NVIDIA for...
- Thu Feb 25, 2010 1:46 pm
- Forum: Release Announcements
- Topic: Bullet 2.76 is released! New .bullet binary file format
- Replies: 0
- Views: 65787
Bullet 2.76 is released! New .bullet binary file format
You can download the Bullet 2.76 from the usual place at http://code.google.com/p/bullet/downloads/list (based on svn revision 2046) The main new feature is the new .bullet binary physics file format . The .bullet serialization has been build directly in the SDK, so there is no need to link against ...