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OpenVR controller can pick/drag objects. Instructions, Windows only:

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Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR
Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll
App_SharedMemoryPhysics_VR
Run Python. Here are some Python lines to get going:
import pybullet as p
p.connect(p.SHARED_MEMORY)
p.loadURDF("cube.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)

Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it
Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky
Disabled the 'glFlush' commands in GLInstancingRenderer.
Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h
Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.
This commit is contained in:
erwin coumans
2016-07-17 23:50:11 -07:00
parent e1e76c19a3
commit c28cd03fbd
32 changed files with 295 additions and 50 deletions
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16
data/kuka_iiwa/model.urdf
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@@ -77,7 +77,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_0.stl"/>
<mesh filename="meshes/link_0.stl"/>
</geometry>
</collision>
</link>
@@ -106,7 +106,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_1.stl"/>
<mesh filename="meshes/link_1.stl"/>
</geometry>
</collision>
</link>
@@ -135,7 +135,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_2.stl"/>
<mesh filename="meshes/link_2.stl"/>
</geometry>
</collision>
</link>
@@ -164,7 +164,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_3.stl"/>
<mesh filename="meshes/link_3.stl"/>
</geometry>
</collision>
</link>
@@ -193,7 +193,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_4.stl"/>
<mesh filename="meshes/link_4.stl"/>
</geometry>
</collision>
</link>
@@ -222,7 +222,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_5.stl"/>
<mesh filename="meshes/link_5.stl"/>
</geometry>
</collision>
</link>
@@ -251,7 +251,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_6.stl"/>
<mesh filename="meshes/link_6.stl"/>
</geometry>
</collision>
</link>
@@ -280,7 +280,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_7.stl"/>
<mesh filename="meshes/link_7.stl"/>
</geometry>
</collision>
</link>