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0092a1a55d23de3843ad6354be79336f02c156fc
Commit Graph

34 Commits

Author SHA1 Message Date
Erwin Coumans
0092a1a55d fix API to use b3InitCreateUserConstraintCommand instead of b3CreateJoint 2016-11-14 16:14:27 -08:00
Erwin Coumans
c521d816c6 add user debug line/text features in pybullet + shared memory API: 
addUserDebugLine,
addUserDebugText
removeUserDebugItem
removeAllUserDebugItems
 2016-11-14 07:39:34 -08:00
erwincoumans
ff2738db26 Merge remote-tracking branch 'bp/master' 2016-11-04 13:16:55 -07:00
erwincoumans
9708392322 work-in-progress 
add UDP network connection for physics client <-> server.
also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
 2016-11-04 13:15:10 -07:00
yunfeibai
3c37db0804 Add API to set bunny properties. Add example to show coupling between softbody and multibody. 2016-11-01 16:45:10 -07:00
yunfeibai
14fc8ae8c2 Restore original demo settings. 2016-10-17 13:19:34 -07:00
yunfeibai
b07df4d504 Load bunny through shared memory API and RobotSimAPI. Create grasp bunny example. 2016-10-17 13:01:04 -07:00
yunfeibai
379f2ac933 Load bunny to to the world in the grasp demo. 2016-10-12 11:51:04 -07:00
yunfeibai
4fe86d2a1d Add btSoftMultiBodyDynamicsWorld. 2016-10-11 16:15:44 -07:00
yunfeibai
7e8d8b0488 Expose rest pose for null space task to API. 2016-09-30 01:03:40 -07:00
yunfeibai
ee00696ae9 Test four IK modes: with and without orientation constraint, with and without null space task. 2016-09-30 00:15:51 -07:00
yunfeibai
fd3cb061cb Expose IK with null space task to shared memory API and RobotSimAPI. 2016-09-30 00:05:00 -07:00
erwin coumans
310a330572 fix InverseKinematics+API for a case without tree (custom build Jacobian) 2016-09-22 13:27:09 -07:00
yunfeibai
bf16c87987 Add orientation constraint to IK. 2016-09-19 17:04:05 -07:00
Erwin Coumans
5e09b17baf experimental Inverse Kinematics for KUKA iiwa exposed in 
shared memory api and pybullet. Will be extended for arbitrary bodies
and with target orientation (besides target position)
 2016-09-13 23:37:46 +01:00
yunfeibai
c952c50ad9 Merge remote-tracking branch 'upstream/master' 2016-09-11 04:11:51 -07:00
yunfeibai
1b72b91bcf Expose link state in RobotSimAPI. 2016-09-10 18:48:57 -07:00
erwin coumans
32eccdff61 Create project file for BussIK inverse kinematics library (premake, cmake) 
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)
 2016-09-08 15:15:58 -07:00
yunfeibai
f635c64205 Expose Jacobian computation to RobotSimAPI. 2016-09-07 17:37:38 -07:00
Erwin Coumans
a30ff20e6b preparation for KUKA IK tracking example 2016-08-30 14:44:11 -07:00
yunfeibai
758ca025d5 Set physics clock subdivider. 2016-08-24 14:25:06 -07:00
yunfeibai
3b25489d89 Further fix for integration test. 2016-08-24 12:44:24 -07:00
yunfeibai
ecbf94abaa Fix issues in build test. 2016-08-24 11:31:08 -07:00
yunfeibai
d46710e447 Expose fixed constraint in RobotSimAPI. 2016-08-22 18:14:29 -07:00
erwin coumans
62d5b7c5c0 add single step simulation, using 'o' key. use 'i' key to suspend simulation first 
default background color a bit darker, to show debug lines
tweaked contact point rendering a bit
 2016-08-19 10:30:02 -07:00
yunfeibai
591f922d97 Support loading Urdf as btRigidBody with RobotSimAPI. Loading Sdf as btRigidBody is work in progress. 2016-08-16 17:56:30 -07:00
yunfeibai
4bc31394a0 Allow choosing loaded as btRigidBody with RobotSimAPI. 2016-08-16 16:57:48 -07:00
Erwin Coumans
3c30e2f821 add segmentation mask rendering to TinyRenderer and shared memory API 
similar to the zbuffer, but storing the object index (int) instead of float depth
 2016-08-11 14:55:30 -07:00
Erwin Coumans
b880ddf76b add pybullet render API with yaw/pitch/roll option 
add testrender.py file
allow option to enable OpenGL hardware renderer in multithreaded sim

b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
 2016-08-08 14:23:44 -07:00
Erwin Coumans
a6216f4f24 add robotics learning grasp contact example 
add wsg50 gripper with modified r2d2 gripper tip
expose a fudge factor to scale inertia, to make grasping more stable
(until we have better grasping contact model/implementation)
 2016-07-25 11:48:44 -07:00
Erwin Coumans
0ae252fa35 fix issue, use bodyUniqueId/b3JointControlCommandInit2 2016-07-19 15:53:16 -07:00
erwin coumans
4a705d1e03 Add kiva_shelf to prepare for picking/grasping task 
Fix uninitialized variable jointDamping/jointFriction in SDF importer
Add SDF <pose> parsing in visual, inertial, collision elements.
Slight improvement in TinyRender loading performance of largish meshes (30k vertices)
Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is.
b3RobotSimAPI support SDF file loading
Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures
 2016-07-14 00:05:57 -07:00
Erwin Coumans
10cc6f14cb add option to use hardware OpenGL renderer for synthetic camera 2016-07-12 18:16:13 -07:00
erwin coumans
7633cfb800 prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h 
prepare compliant contact work, urdf loading of parameters (see data/cube.urdf)
 2016-07-11 00:26:40 -07:00