Search found 4226 matches

by Erwin Coumans
Thu Apr 15, 2021 11:00 pm
Forum: PyBullet Support and Feedback
Topic: Issues for github.com/bullet3 have been removed? Apr 16 2021, 4:07 IST
Replies: 1
Views: 1261

Re: Issues for github.com/bullet3 have been removed? Apr 16 2021, 4:07 IST

They are not deleted, they are suspended for a while. Most of the issues belong in the forum (or in Twitter, Stackoverflow) as discussion, rather than a a reproducible bug report. I need to setup instructions to file a bug in github, and that each bug that doesn't have an easy to reproduce reproduct...
by Erwin Coumans
Sat Apr 10, 2021 11:59 pm
Forum: General Bullet Physics Support and Feedback
Topic: inverse kinematics
Replies: 1
Views: 1361

Re: inverse kinematics

Yes, PyBullet has inverse kinematics. If you set the base/torso to a specific location, you can set the IK targets for the feet, and you get joint angles that make the feet bend.
by Erwin Coumans
Tue Mar 09, 2021 2:32 am
Forum: PyBullet Support and Feedback
Topic: Create collision shape manually with API
Replies: 2
Views: 2670

Re: Create collision shape manually with API

The C++ bindings (b3RobotSimulatorClientAPI ) is limited and would need to be expanded. PyBullet uses the C-API, and so does b3RobotSimulatorClientAPI . You can just add the args you need, and look at pybullet.c how the methods are called.
by Erwin Coumans
Fri Nov 13, 2020 10:17 pm
Forum: PyBullet Support and Feedback
Topic: Doubts about setJointMotorControl2 implementation
Replies: 1
Views: 1867

Re: Doubts about setJointMotorControl2 implementation

PyBullet setJointMotorControl2 also has regular PD control. When using velocity control, it is up to the maximum force how fast the target is reached.
by Erwin Coumans
Fri Nov 13, 2020 10:15 pm
Forum: PyBullet Support and Feedback
Topic: Malloc error during creatiion of a soft body from a .vtk
Replies: 4
Views: 2573

Re: Malloc error during creatiion of a soft body from a .vtk

It could be the vtk file, can you attach (zipped) cube1.vtk?
by Erwin Coumans
Wed Oct 14, 2020 3:08 am
Forum: PyBullet Support and Feedback
Topic: maxVelocity in setJointMotorControlArray
Replies: 1
Views: 2297

Re: maxVelocity in setJointMotorControlArray

It hasn't been added yet, it can be done. Perhaps file an issue request on github.
by Erwin Coumans
Wed Oct 14, 2020 3:05 am
Forum: PyBullet Support and Feedback
Topic: Question Regarding stepSimulation()
Replies: 1
Views: 1799

Re: Question Regarding stepSimulation()

The position is achieved taken all constraints into account, including the maximum force and joint limits, contact, friction etc.

There is a maxVelocity argument to clamp the maximum velocity. Alternatively, keep the max force low.
You can also use classical PD control.
by Erwin Coumans
Thu Sep 17, 2020 2:22 am
Forum: Research and development discussion about Collision Detection and Physics Simulation
Topic: Baraff/Witkin's integration matrix not positive: what to do?
Replies: 14
Views: 9527

Re: Baraff/Witkin's integration matrix not positive: what to do?

Finally, it took 11 years but it was worth waiting: a new paper by Theodore Kim addresses the problem, and one of the references points to this forum thread. See http://www.tkim.graphics/FEMBW or https://twitter.com/_TheodoreKim/status ... 0997393409
by Erwin Coumans
Thu Aug 20, 2020 3:03 am
Forum: PyBullet Support and Feedback
Topic: How does one lock rotation on one axis?
Replies: 1
Views: 1389

Re: How does one lock rotation on one axis?

This forum is for PyBullet not panda.bullet
by Erwin Coumans
Thu Aug 20, 2020 3:02 am
Forum: PyBullet Support and Feedback
Topic: Simulate a rope for ball in the cup task
Replies: 1
Views: 1716

Re: Simulate a rope for ball in the cup task

You can use maximal coordinates for the rope, it is likely more stable. (loadURDF(..., useMaximalCoordinates=True)
Or use deformable bodies, see https://github.com/bulletphysics/bullet ... _anchor.py
by Erwin Coumans
Thu Aug 20, 2020 3:00 am
Forum: PyBullet Support and Feedback
Topic: Using Z Axis down in the debug visualizer
Replies: 1
Views: 1238

Re: Using Z Axis down in the debug visualizer

It is unfortunately not possible.
by Erwin Coumans
Thu Aug 20, 2020 2:59 am
Forum: PyBullet Support and Feedback
Topic: Read .bullet file to plot
Replies: 1
Views: 1075

Re: Read .bullet file to plot

Try using https://github.com/bulletphysics/bullet3/tree/master/Extras/Serialize/ReadBulletSample or alternatively, save the joints using another mechanism, for example save manually or using startStateLogging, for example using STATE_LOGGING_MINITAUR (see the PyBullet Quickstart Guide) There are Pyt...
by Erwin Coumans
Wed Jul 08, 2020 5:02 pm
Forum: PyBullet Support and Feedback
Topic: HopperMuJoCoEnv
Replies: 1
Views: 1180

Re: HopperMuJoCoEnv

PyBullet ships with HopperBulletEnv-v0, and other environments as listed here:

https://github.com/bulletphysics/bullet ... _init__.py

This forum is for PyBullet, if you want MuJoCo or Benelot's environments, try visiting another forum.