Search found 4221 matches
- Wed Oct 14, 2020 3:08 am
- Forum: PyBullet Support and Feedback
- Topic: maxVelocity in setJointMotorControlArray
- Replies: 1
- Views: 7726
Re: maxVelocity in setJointMotorControlArray
It hasn't been added yet, it can be done. Perhaps file an issue request on github.
- Wed Oct 14, 2020 3:05 am
- Forum: PyBullet Support and Feedback
- Topic: Question Regarding stepSimulation()
- Replies: 1
- Views: 7870
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.
There is a maxVelocity argument to clamp the maximum velocity. Alternatively, keep the max force low.
You can also use classical PD control.
- 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: 82512
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
- Thu Aug 20, 2020 3:03 am
- Forum: PyBullet Support and Feedback
- Topic: How does one lock rotation on one axis?
- Replies: 1
- Views: 6341
Re: How does one lock rotation on one axis?
This forum is for PyBullet not panda.bullet
- 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: 7718
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
Or use deformable bodies, see https://github.com/bulletphysics/bullet ... _anchor.py
- Thu Aug 20, 2020 3:00 am
- Forum: PyBullet Support and Feedback
- Topic: Using Z Axis down in the debug visualizer
- Replies: 1
- Views: 6373
Re: Using Z Axis down in the debug visualizer
It is unfortunately not possible.
- Thu Aug 20, 2020 2:59 am
- Forum: PyBullet Support and Feedback
- Topic: Read .bullet file to plot
- Replies: 1
- Views: 6286
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...
- Wed Jul 08, 2020 6:06 pm
- Forum: PyBullet Support and Feedback
- Topic: Programmatically set the revolute (hinge) joint limits?
- Replies: 7
- Views: 17389
- Wed Jul 08, 2020 5:02 pm
- Forum: PyBullet Support and Feedback
- Topic: HopperMuJoCoEnv
- Replies: 1
- Views: 6269
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.
https://github.com/bulletphysics/bullet ... _init__.py
This forum is for PyBullet, if you want MuJoCo or Benelot's environments, try visiting another forum.
- Wed Jul 08, 2020 12:08 am
- Forum: PyBullet Support and Feedback
- Topic: Programmatically set the revolute (hinge) joint limits?
- Replies: 7
- Views: 17389
Re: Programmatically set the revolute (hinge) joint limits?
This is currently not exposed/supported.
See https://github.com/bulletphysics/bullet3/issues/2810 for progress/updates.
See https://github.com/bulletphysics/bullet3/issues/2810 for progress/updates.
- Wed Jul 08, 2020 12:05 am
- Forum: PyBullet Support and Feedback
- Topic: setJointMotorControl2 won't assign correct force value to certain joints
- Replies: 5
- Views: 14104
Re: setJointMotorControl2 won't assign correct force value to certain joints
Don't enable 'realtime' simulation, but stepSimulation instead, when applying forces like this. Also, best to keep using a small time step (1./240. is default), not 1 second. Watch the various examples/gym environments, for example https://github.com/bulletphysics/bullet3/tree/master/examples/pybull...
- Mon Jun 29, 2020 11:08 pm
- Forum: PyBullet Support and Feedback
- Topic: error: Not connected to physics server
- Replies: 2
- Views: 8134
Re: error: Not connected to physics server
We don't support those envs. Please try using the envs included with pybullet_envs (after pip install pybullet --upgrade --user) HalfCheetahBulletEnv-v0 etc. Here is a list: https://github.com/pat-coady/trpo HumanoidDeepMimicBulletEnv-v1 CartPoleBulletEnv-v1 MinitaurBulletEnv-v0 MinitaurBulletDuckEn...
- Fri Jun 19, 2020 4:09 pm
- Forum: PyBullet Support and Feedback
- Topic: [SOLVED in pybullet 2.8.2] Simple two-link URDF applyExternalForce unexpected response
- Replies: 4
- Views: 12445
Re: Simple two-link URDF applyExternalForce unexpected response
Ah, I disabled the velocity/position motors by setting the force to zero. You can certainly leave the motors enabled, with a force of your choice to model joint friction or other effects such as springyness. I was assuming metric units (meter, seconds etc). If you are using different units, you need...
- Fri Jun 19, 2020 3:48 am
- Forum: PyBullet Support and Feedback
- Topic: [SOLVED in pybullet 2.8.2] Simple two-link URDF applyExternalForce unexpected response
- Replies: 4
- Views: 12445
Re: Simple two-link URDF applyExternalForce unexpected response
Thanks Avik, I had a look and found a few issues. One of them is in the applyExternalForce imlpementation, I fixed this now. https://github.com/bulletphysics/bullet3/pull/2870/commits/ebef331bbffb4631259648f5858a3a396dd3718a (it was a copy/paste bug, we never used applyExternalForce, since we always...
- Tue Jun 16, 2020 5:54 pm
- Forum: PyBullet Support and Feedback
- Topic: JointMotor for urdf robot franka_panda
- Replies: 1
- Views: 6218
Re: JointMotor for urdf robot franka_panda
It appears as if you are driving a strong motor against a joint limit, this won't work properly so try to avoid doing that.