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Merge remote-tracking branch 'origin/master'

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merge origin/master
This commit is contained in:
Xuchen Han
2019-12-18 23:18:16 -08:00
parent 89553c44e7 4414136f32
commit 4ab0387262
37 changed files with 28200 additions and 57 deletions
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2
build_visual_studio_vr_pybullet_double.bat
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@@ -18,7 +18,7 @@ rem SET myvar=c:\python-3.5.2
cd build3 cd build3
premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 premake4 --double --standalone-examples --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
rem premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010 rem premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010
rem premake4 --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010 rem premake4 --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010

1
examples/ExampleBrowser/premake4.lua
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@@ -199,7 +199,6 @@ project "App_BulletExampleBrowser"
"../RigidBody/RigidBodySoftContact.cpp", "../RigidBody/RigidBodySoftContact.cpp",
"../ThirdPartyLibs/stb_image/stb_image.cpp", "../ThirdPartyLibs/stb_image/stb_image.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*", "../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
"../ThirdPartyLibs/BussIK/*",
"../GyroscopicDemo/GyroscopicSetup.cpp", "../GyroscopicDemo/GyroscopicSetup.cpp",
"../GyroscopicDemo/GyroscopicSetup.h", "../GyroscopicDemo/GyroscopicSetup.h",
"../ThirdPartyLibs/tinyxml2/tinyxml2.cpp", "../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",

2
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3171,6 +3171,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHand
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO); b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId; command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = -1;
command->m_changeDynamicsInfoArgs.m_linearDamping = linearDamping; command->m_changeDynamicsInfoArgs.m_linearDamping = linearDamping;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING; command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING;
return 0; return 0;
@@ -3181,6 +3182,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHan
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO); b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId; command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = -1;
command->m_changeDynamicsInfoArgs.m_angularDamping = angularDamping; command->m_changeDynamicsInfoArgs.m_angularDamping = angularDamping;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING; command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING;
return 0; return 0;

4
examples/SharedMemory/premake4.lua
View File

@@ -72,8 +72,6 @@ myfiles =
"plugins/collisionFilterPlugin/collisionFilterPlugin.cpp", "plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"plugins/pdControlPlugin/pdControlPlugin.cpp", "plugins/pdControlPlugin/pdControlPlugin.cpp",
"plugins/pdControlPlugin/pdControlPlugin.h", "plugins/pdControlPlugin/pdControlPlugin.h",
"../OpenGLWindow/SimpleCamera.cpp",
"../OpenGLWindow/SimpleCamera.h",
"../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h", "../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
"../Importers/ImportURDFDemo/MultiBodyCreationInterface.h", "../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp", "../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
@@ -115,6 +113,8 @@ myfiles =
files { files {
myfiles, myfiles,
"../OpenGLWindow/SimpleCamera.cpp",
"../OpenGLWindow/SimpleCamera.h",
"main.cpp", "main.cpp",
} }

10
examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl Normal file
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@@ -0,0 +1,10 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

2497
examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj Normal file
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File diff suppressed because it is too large Load Diff

13
examples/pybullet/gym/pybullet_data/laikago/chassis_zup.mtl Normal file
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@@ -0,0 +1,13 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None.003
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Kd laikago_tex.jpg

24050
examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj Normal file
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File diff suppressed because it is too large Load Diff

598
examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf Normal file
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@@ -0,0 +1,598 @@
<?xml version="1.0" ?>
<robot name="plane">
<link name="chassis">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="13.715"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz=" 0 0 0"/>
<geometry>
<mesh filename="chassis_zup.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="chassis_vhacd_mod_zup.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<link name="FR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="FR_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="0.199095 -0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_hip_motor"/>
<child link="FR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_upper_leg"/>
<child link="FR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="FL_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="0.199095 0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_hip_motor"/>
<child link="FL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_upper_leg"/>
<child link="FL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="RR_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="-0.238195 -0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror2.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_hip_motor"/>
<child link="RR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_upper_leg"/>
<child link="RR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="RL_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="-0.238195 0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left2.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_hip_motor"/>
<child link="RL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_upper_leg"/>
<child link="RL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="toeRL">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeRL" type="fixed">
<parent link="RL_lower_leg"/>
<child link="toeRL"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeRR">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeRR" type="fixed">
<parent link="RR_lower_leg"/>
<child link="toeRR"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeFL">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeFL" type="fixed">
<parent link="FL_lower_leg"/>
<child link="toeFL"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeFR">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeFR" type="fixed">
<parent link="FR_lower_leg"/>
<child link="toeFR"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</robot>

69
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_base">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
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<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link_base">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
</inertial>
</link>
</robot>

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@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_base">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
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<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
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<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
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<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
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<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
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<material name="Silver">
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<link name="link_base">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.09103"/>
<material name="Blue"/>
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<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
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</inertial>
</link>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link1">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
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<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
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<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
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<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
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<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
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<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Red"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertial>
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</inertial>
</link>
</robot>

69
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@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link1">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0.002 -0.02692 0.01332"/>
<material name="Red"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
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<origin rpy="0 0 0" xyz="0.002 -0.02692 0.01332"/>
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<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="2.16"/>
<inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
</inertial>
</link>
</robot>

70
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link2">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link2"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Yellow"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/>
<mass value="1.71"/>
<inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
</inertial>
</link>
</robot>

70
examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf Normal file
View File

@@ -0,0 +1,70 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link2">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link2"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.03531 0.21398 -0.03386"/>
<material name="Yellow"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
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<origin rpy="0 0 0" xyz="-0.03531 0.21398 -0.03386"/>
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<inertial>
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</inertial>
</link>
</robot>

69
examples/pybullet/gym/pybullet_data/xarm/link3.urdf Normal file
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@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link3">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link3"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
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<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
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<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link3">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/>
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<inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
</inertial>
</link>
</robot>

69
examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf Normal file
View File

@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link3">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link3"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
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<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link3">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.06781 -0.10749 -0.01457"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.06781 -0.10749 -0.01457"/>
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<inertial>
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<mass value="1.384"/>
<inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
</inertial>
</link>
</robot>

70
examples/pybullet/gym/pybullet_data/xarm/link4.urdf Normal file
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@@ -0,0 +1,70 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link4">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link4"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
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<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
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<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link4">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Green"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/>
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<inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
</inertial>
</link>
</robot>

70
examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf Normal file
View File

@@ -0,0 +1,70 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link4">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link4"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link4">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0.00021 -0.02578 0.02538"/>
<material name="Green"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0.00021 -0.02578 0.02538"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.115"/>
<inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
</inertial>
</link>
</robot>

69
examples/pybullet/gym/pybullet_data/xarm/link5.urdf Normal file
View File

@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link5">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link5">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Red"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/>
<mass value="1.275"/>
<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
</inertial>
</link>
</robot>

69
examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf Normal file
View File

@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link5">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link5">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.05428 -0.01781 -0.00543"/>
<material name="Red"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.05428 -0.01781 -0.00543"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.275"/>
<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
</inertial>
</link>
</robot>

70
examples/pybullet/gym/pybullet_data/xarm/link6.urdf Normal file
View File

@@ -0,0 +1,70 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link6">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link6"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link6">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Silver"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
<mass value="0.1096"/>
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
</inertial>
</link>
</robot>

70
examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf Normal file
View File

@@ -0,0 +1,70 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link6">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link6"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link6">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -0.00064 0.00952"/>
<material name="Silver"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -0.00064 0.00952"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.1096"/>
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
</inertial>
</link>
</robot>

2
examples/pybullet/gym/pybullet_envs/examples/batchsim3.py
View File

@@ -5,7 +5,7 @@ parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0, parentdir) os.sys.path.insert(0, parentdir)
from pybullet_utils import bullet_client from pybullet_utils import bullet_client
import panda_sim from pybullet_envs.examples import panda_sim
import time import time

2
examples/pybullet/gym/pybullet_envs/examples/loadpanda.py
View File

@@ -3,7 +3,7 @@ import pybullet_data as pd
import math import math
import time import time
import numpy as np import numpy as np
import panda_sim from pybullet_envs.examples import panda_sim
p.connect(p.GUI) p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1)

25
examples/pybullet/gym/pybullet_envs/examples/xarm.py
View File

@@ -1,7 +1,7 @@
import pybullet as p import pybullet as p
import pybullet_data as pd import pybullet_data as pd
import time import time
p.connect(p.GUI) p.connect(p.GUI)#, options="--background_color_red=1.0 --background_color_blue=1.0 --background_color_green=1.0")
p.setAdditionalSearchPath(pd.getDataPath()) p.setAdditionalSearchPath(pd.getDataPath())
@@ -14,7 +14,30 @@ table_pos = [0,0,-0.625]
table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase) table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase)
xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase) xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase)
jointIds = []
paramIds = []
for j in range(p.getNumJoints(xarm)):
p.changeDynamics(xarm, j, linearDamping=0, angularDamping=0)
info = p.getJointInfo(xarm, j)
#print(info)
jointName = info[1]
jointType = info[2]
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
jointIds.append(j)
paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4, 0))
skip_cam_frames = 10
while (1): while (1):
p.stepSimulation() p.stepSimulation()
for i in range(len(paramIds)):
c = paramIds[i]
targetPos = p.readUserDebugParameter(c)
p.setJointMotorControl2(xarm, jointIds[i], p.POSITION_CONTROL, targetPos, force=5 * 240.)
skip_cam_frames -= 1
if (skip_cam_frames<0):
p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL )
skip_cam_frames = 10
time.sleep(1./240.) time.sleep(1./240.)

4
examples/pybullet/premake4.lua
View File

@@ -109,8 +109,6 @@ if not _OPTIONS["no-enet"] then
"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h", "../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp", "../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h", "../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h",
"../../examples/OpenGLWindow/SimpleCamera.cpp",
"../../examples/OpenGLWindow/SimpleCamera.h",
"../../examples/TinyRenderer/geometry.cpp", "../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp", "../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp", "../../examples/TinyRenderer/tgaimage.cpp",
@@ -157,8 +155,6 @@ if not _OPTIONS["no-enet"] then
"../../examples/SharedMemory/PosixSharedMemory.h", "../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/SharedMemory/SharedMemoryCommands.h", "../../examples/SharedMemory/SharedMemoryCommands.h",
"../../examples/SharedMemory/SharedMemoryPublic.h", "../../examples/SharedMemory/SharedMemoryPublic.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp", "../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h", "../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",

2
setup.py
View File

@@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
setup( setup(
name='pybullet', name='pybullet',
version='2.5.8', version='2.6.0',
description= description=
'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description= long_description=

16
src/Bullet3Common/b3Logging.h
View File

@@ -14,20 +14,8 @@ extern "C"
//#define b3Printf b3OutputPrintfVarArgsInternal //#define b3Printf b3OutputPrintfVarArgsInternal
//#define b3Printf(...) printf(__VA_ARGS__) //#define b3Printf(...) printf(__VA_ARGS__)
//#define b3Printf(...) //#define b3Printf(...)
#define b3Warning(...) do{ b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__);b3OutputWarningMessageVarArgsInternal(__VA_ARGS__);} while (0)
#define b3Warning(...) \ #define b3Error(...)do {b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__);b3OutputErrorMessageVarArgsInternal(__VA_ARGS__);} while (0)
do \
{ \
b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__); \
b3OutputWarningMessageVarArgsInternal(__VA_ARGS__); \
} while (0)
#define b3Error(...) \
do \
{ \
b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__); \
b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); \
} while (0)
#ifndef B3_NO_PROFILE #ifndef B3_NO_PROFILE
void b3EnterProfileZone(const char* name); void b3EnterProfileZone(const char* name);

26
src/Bullet3Common/b3Scalar.h
View File

@@ -71,7 +71,17 @@ inline int b3GetVersion()
#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION)) #if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION))
#if (defined(_M_IX86) || defined(_M_X64)) #if (defined(_M_IX86) || defined(_M_X64))
#ifdef __clang__
//#define B3_NO_SIMD_OPERATOR_OVERLOADS
#define B3_DISABLE_SSE
#endif //__clang__
#ifndef B3_DISABLE_SSE
#define B3_USE_SSE #define B3_USE_SSE
#endif //B3_DISABLE_SSE
#ifdef B3_USE_SSE #ifdef B3_USE_SSE
//B3_USE_SSE_IN_API is disabled under Windows by default, because //B3_USE_SSE_IN_API is disabled under Windows by default, because
//it makes it harder to integrate Bullet into your application under Windows //it makes it harder to integrate Bullet into your application under Windows
@@ -92,17 +102,7 @@ inline int b3GetVersion()
#ifdef B3_DEBUG #ifdef B3_DEBUG
#ifdef _MSC_VER #ifdef _MSC_VER
#include <stdio.h> #include <stdio.h>
#define b3Assert(x) \ #define b3Assert(x) { if(!(x)){b3Error("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }}
{ \
if (!(x)) \
{ \
b3Error( \
"Assert "__FILE__ \
":%u (" #x ")\n", \
__LINE__); \
__debugbreak(); \
} \
}
#else //_MSC_VER #else //_MSC_VER
#include <assert.h> #include <assert.h>
#define b3Assert assert #define b3Assert assert
@@ -297,7 +297,7 @@ static int b3NanMask = 0x7F800001;
static int b3InfinityMask = 0x7F800000; static int b3InfinityMask = 0x7F800000;
#define B3_INFINITY_MASK (*(float *)&b3InfinityMask) #define B3_INFINITY_MASK (*(float *)&b3InfinityMask)
#endif #endif
#ifndef B3_NO_SIMD_OPERATOR_OVERLOADS
inline __m128 operator+(const __m128 A, const __m128 B) inline __m128 operator+(const __m128 A, const __m128 B)
{ {
return _mm_add_ps(A, B); return _mm_add_ps(A, B);
@@ -312,7 +312,7 @@ inline __m128 operator*(const __m128 A, const __m128 B)
{ {
return _mm_mul_ps(A, B); return _mm_mul_ps(A, B);
} }
#endif //B3_NO_SIMD_OPERATOR_OVERLOADS
#define b3CastfTo128i(a) (_mm_castps_si128(a)) #define b3CastfTo128i(a) (_mm_castps_si128(a))
#define b3CastfTo128d(a) (_mm_castps_pd(a)) #define b3CastfTo128d(a) (_mm_castps_pd(a))
#define b3CastiTo128f(a) (_mm_castsi128_ps(a)) #define b3CastiTo128f(a) (_mm_castsi128_ps(a))

7
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
View File

@@ -187,13 +187,6 @@ btBroadphasePair
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();
btBroadphasePair(const btBroadphasePair& other)
: m_pProxy0(other.m_pProxy0),
m_pProxy1(other.m_pProxy1),
m_algorithm(other.m_algorithm),
m_internalInfo1(other.m_internalInfo1)
{
}
btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1) btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1)
{ {
//keep them sorted, so the std::set operations work //keep them sorted, so the std::set operations work

1
src/BulletCollision/BroadphaseCollision/btDbvt.h
View File

@@ -131,7 +131,6 @@ subject to the following restrictions:
struct btDbvtAabbMm struct btDbvtAabbMm
{ {
DBVT_INLINE btDbvtAabbMm(){} DBVT_INLINE btDbvtAabbMm(){}
DBVT_INLINE btDbvtAabbMm(const btDbvtAabbMm& other): mi(other.mi), mx(other.mx){}
DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); } DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); }
DBVT_INLINE btVector3 Lengths() const { return (mx - mi); } DBVT_INLINE btVector3 Lengths() const { return (mx - mi); }
DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); } DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); }

2
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
View File

@@ -68,7 +68,7 @@ public:
virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0; virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0;
virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo) virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& /*dispatchInfo*/)
{ {
processAllOverlappingPairs(callback, dispatcher); processAllOverlappingPairs(callback, dispatcher);
} }

4
src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
View File

@@ -292,8 +292,8 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(btCollisionSha
} }
break; break;
} }
#endif //SUPPORT_GIMPACT_SHAPE_IMPORT \ #endif //SUPPORT_GIMPACT_SHAPE_IMPORT
//The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API \ //The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API
//so deal with this //so deal with this
case CAPSULE_SHAPE_PROXYTYPE: case CAPSULE_SHAPE_PROXYTYPE:
{ {

4
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View File

@@ -503,8 +503,8 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw); gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw);
//gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw); //gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif //ZERO_MARGIN \ #endif //ZERO_MARGIN
//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); \ //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
//if (l2>SIMD_EPSILON) //if (l2>SIMD_EPSILON)
{ {
sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld; //gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2); sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld; //gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);

7
src/LinearMath/btScalar.h
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@@ -110,11 +110,16 @@ inline int btIsDoublePrecision()
#if defined (_M_ARM) #if defined (_M_ARM)
//Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however) //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however)
#elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) #elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
#ifdef __clang__
#define __BT_DISABLE_SSE__
#endif
#ifndef __BT_DISABLE_SSE__
#if _MSC_VER>1400 #if _MSC_VER>1400
#define BT_USE_SIMD_VECTOR3 #define BT_USE_SIMD_VECTOR3
#endif #endif
#define BT_USE_SSE #define BT_USE_SSE
#endif//__BT_DISABLE_SSE__
#ifdef BT_USE_SSE #ifdef BT_USE_SSE
#if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default) #if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default)

2
test/SharedMemory/premake4.lua
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@@ -413,8 +413,6 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
"../../examples/TinyRenderer/tgaimage.cpp", "../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp", "../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp", "../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp", "../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h", "../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",