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Create project file for BussIK inverse kinematics library (premake, cmake)

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URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision">
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h
Add a dummy return to stop a warning
Expose defaultContactERP in shared memory api/pybullet.
First start to expose IK in shared memory api/pybullet (not working yet)
This commit is contained in:
erwin coumans
2016-09-08 15:15:58 -07:00
parent 630fcda38b
commit 32eccdff61
43 changed files with 791 additions and 144 deletions
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1
data/cube_small.urdf
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@@ -5,6 +5,7 @@
<lateral_friction value="1.0"/>
<rolling_friction value="0.01"/>
<inertia_scaling value="3.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>

18
data/kiva_shelf/model.sdf
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@@ -2,18 +2,18 @@
<sdf version="1.4">
<model name="Amazon Pod">
<static>1</static>
<pose>0 2 0 0 0 0</pose>
<pose>0 1 0 0 0 0</pose>
<link name="pod_link">
<inertial>
<pose>0.0 .0 1.2045 0 0 0</pose>
<mass>76.26</mass>
<mass>0</mass>
<inertia>
<ixx>47</ixx>
<ixy>-0.003456</ixy>
<ixz>0.001474</ixz>
<izz>13.075</izz>
<iyz>-0.014439</iyz>
<iyy>47</iyy>
<ixx>0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<izz>0.0</izz>
<iyz>0.0</iyz>
<iyy>0.0</iyy>
</inertia>
</inertial>
@@ -30,7 +30,7 @@
</visual>
<collision name="pod_collision">
<collision concave="yes" name="pod_collision">
<pose>0 0 0 1.5707 0 0</pose>
<geometry>
<mesh>

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data/multibody.bullet
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29
data/samurai.urdf Normal file
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@@ -0,0 +1,29 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
<link concave="yes" name="baseLink">
<contact>
<rolling_friction value="0.3"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="1.5707963 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="samurai_monastry.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision concave="yes">
<origin rpy="1.5707963 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="samurai_monastry.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
</robot>