Search found 12 matches

by MIT
Sun Mar 10, 2019 6:26 pm
Forum: PyBullet Support and Feedback
Topic: Spherical Joints
Replies: 10
Views: 1881

Re: Spherical Joints

Doh, in the end it was in fact something stupid on my part. My reading comprehension is indeed in need of some work, sorry for asking you to debug stuff for me. To be fair though even in the example you provided disabling the joints is below the reset call, so any easy mistake to make if you're not ...
by MIT
Sat Mar 09, 2019 5:50 pm
Forum: PyBullet Support and Feedback
Topic: Spherical Joints
Replies: 10
Views: 1881

Re: Spherical Joints

Spherical joints themselves work fine for me, and the file you linked is the example I figured out the API from. My issue is with the behavior I'm seeing of p.resetJointStateMultiDof(). Did you happen to run the example I provided? If not, I've attached an even simpler version to this reply. All it ...
by MIT
Fri Mar 01, 2019 11:48 pm
Forum: PyBullet Support and Feedback
Topic: Spherical Joints
Replies: 10
Views: 1881

Re: Spherical Joints

Erwin, I'm seeing two different sets of weird behavior with spherical joints that might partly explain why joint motor control with them isn't working for you (or I might just be doing something dumb). In order to help demonstrate what's going on, I created the attached example.py. It loads your hum...
by MIT
Thu Feb 28, 2019 6:07 pm
Forum: PyBullet Support and Feedback
Topic: Spherical Joints
Replies: 10
Views: 1881

Re: Spherical Joints

Awesome, giving spherical joint motors a try now (note: I'm not using the DeepMimic code). I'll let you know if it works to give you another data point to debug with (and likely be joining in the debugging efforts if it doesn't work ;).
by MIT
Tue Feb 26, 2019 1:44 am
Forum: PyBullet Support and Feedback
Topic: Spherical Joints
Replies: 10
Views: 1881

Re: Spherical Joints

Erwin,

Thanks for the information and work on the spherical joints. Using setJointMotorControlMultiDof to model joint friction is very interesting and apologies for presuming it was a mistake. Looking forward to being able to switch to spherical joints inside my project.
by MIT
Sat Feb 23, 2019 11:18 pm
Forum: PyBullet Support and Feedback
Topic: Spherical Joints
Replies: 10
Views: 1881

Spherical Joints

Now that pybullet supports spherical joints, I have some questions around their usage: 1) getJointState() still returns a single float for the spherical joint jointPosition field. Shouldn't this be a quaternion? Is there another method I should be calling to get the state of a spherical joint? 2) se...
by MIT
Fri Apr 20, 2018 8:22 pm
Forum: PyBullet Support and Feedback
Topic: pybullet collision masks
Replies: 2
Views: 1095

pybullet collision masks

Is there any way to use collision masks via pybullet? Being able to specify masks inside a urdf would also be acceptable. Right now I'm stuck either turning off self collisions or trying to approximate the geometry with cylinders, but the later isn't really a good solution for my current model.
by MIT
Sun Jan 14, 2018 10:00 pm
Forum: PyBullet Support and Feedback
Topic: Limit video framerate of STATE_LOGGING_VIDEO_MP4
Replies: 2
Views: 886

Re: Limit video framerate of STATE_LOGGING_VIDEO_MP4

Thanks for following up, that explains the behavior I'm seeing. I'll file an issue with the tracker as I think it's a worthwhile option. That said, just grabbing the images and compositing them into a video later is a good solution, so I'll use that as a workaround in the meantime. Didn't realize th...
by MIT
Sat Jan 06, 2018 7:30 pm
Forum: PyBullet Support and Feedback
Topic: Limit video framerate of STATE_LOGGING_VIDEO_MP4
Replies: 2
Views: 886

Limit video framerate of STATE_LOGGING_VIDEO_MP4

As the title states, is there a way to constrain the framerate of the video created using the command: p.startStateLogging( p.STATE_LOGGING_VIDEO_MP4, filename ) As of now, the framerate fluctuates based on the cpu load of my computer. If this is connected to the framerate that the Physics simulator...
by MIT
Sat Nov 04, 2017 6:55 am
Forum: PyBullet Support and Feedback
Topic: URDF_USE_SELF_COLLISION_EXCLUDE_PARENT issue
Replies: 2
Views: 1355

Re: URDF_USE_SELF_COLLISION_EXCLUDE_PARENT issue

Here's the solution I settled on in case someone with similar issues comes across this. After numerous attempts I was unable to get the URDF_USE_SELF_COLLISION_EXCLUDE_PARENT to work correctly, so I went the route of using the URDF_USE_SELF_COLLISION flag and removing all overlapping collision volum...
by MIT
Fri Nov 03, 2017 10:02 pm
Forum: PyBullet Support and Feedback
Topic: URDF_USE_SELF_COLLISION_EXCLUDE_PARENT issue
Replies: 2
Views: 1355

Re: URDF_USE_SELF_COLLISION_EXCLUDE_PARENT issue

Alright, I'm a step closer. Combining the flags p.URDF_USE_SELF_COLLISION_EXCLUDE_PARENT|p.URDF_USE_INERTIA_FROM_FILE appears to enforce collisions, however it causes the mesh go to crazy as the parent and child appear to interact. Am I combining flags incorrectly here?
by MIT
Fri Nov 03, 2017 8:42 pm
Forum: PyBullet Support and Feedback
Topic: URDF_USE_SELF_COLLISION_EXCLUDE_PARENT issue
Replies: 2
Views: 1355

URDF_USE_SELF_COLLISION_EXCLUDE_PARENT issue

I'm attempting to use the flag p.URDF_USE_SELF_COLLISION_EXCLUDE_PARENT when loading a URDF via pybullet. model = p.loadURDF( "model.urdf"), [0, 0, 0.7], [0, 0, 0, 0.7], globalScaling=1.0, flags=p.URDF_USE_SELF_COLLISION_EXCLUDE_PARENT ) However, when doing so self collisions are no longer detected ...