 yunfeibai
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113e103bc2
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Modify the joint damping input check, and output error message when it doesn't pass the size check. Modify the kuka grasping example accordingly. Setting joint damping in this example was a no-op before.
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2017-09-27 15:18:08 -07:00 |
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yunfeibai
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adcece7927
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Adjust the IK setup to address the inverse kinematics issues mentioned in #1249.
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2017-09-27 14:14:57 -07:00 |
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yunfeibai
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cfc7917586
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Add init function and module for pybullet with EGL.
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2017-07-18 13:52:29 -07:00 |
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yunfeibai
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037043467a
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Bug fix. Only return friction coefficient when there is a valid link collider.
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2017-06-08 18:59:11 -07:00 |
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yunfeibai
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708a430e30
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comment out btThreadsAreRunning which does not build.
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2017-06-02 18:32:39 -07:00 |
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yunfeibai
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bfcbb339cf
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Merge remote-tracking branch 'upstream/master'
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2017-06-02 18:26:04 -07:00 |
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yunfeibai
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0a29c8d9af
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Get debug visualizer camera yaw, pitch, dist, and target.
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2017-06-02 18:24:51 -07:00 |
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yunfeibai
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e2a9fc33dc
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Remove debug code.
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2017-06-02 17:40:50 -07:00 |
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yunfeibai
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3506603d60
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Test conversion from view matrix to yaw pitch roll.
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2017-06-02 16:56:05 -07:00 |
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yunfeibai
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f350a506a6
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Enable rgba color update for TinyRender.
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2017-06-01 23:32:26 -07:00 |
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yunfeibai
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e97bb9d494
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Add utility function to convert view matrix to camera yaw pitch roll.
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2017-06-01 21:44:02 -07:00 |
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yunfeibai
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e6d1a8cf97
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Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.
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2017-06-01 15:30:37 -07:00 |
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yunfeibai
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dacdcb0508
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Add the pybullet example.
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2017-05-22 22:26:57 -07:00 |
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yunfeibai
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d383799d97
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Merge remote-tracking branch 'upstream/master'
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2017-05-22 22:23:55 -07:00 |
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yunfeibai
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3eb974f66f
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Add kuka grasping block playback.
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2017-05-22 22:23:01 -07:00 |
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yunfeibai
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c9aad0b6b0
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format change
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2017-05-10 16:15:13 -07:00 |
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yunfeibai
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719dba5cd1
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keep the original dumpLog, and create a dumpVrLog
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2017-05-10 16:12:45 -07:00 |
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yunfeibai
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c3e3e1e983
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modify vr button log parse example
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2017-05-10 15:33:58 -07:00 |
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yunfeibai
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cfb8316297
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Add an example to decode the packed button events from vr log.
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2017-05-10 15:07:49 -07:00 |
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yunfeibai
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c938e42a19
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Optimize tinyrender by precompute matrix multiplication in vertex shader.
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2017-05-09 14:11:01 -07:00 |
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yunfeibai
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28de699e70
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Add back face culling based on world space coordinates.
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2017-05-09 13:49:13 -07:00 |
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yunfeibai
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a587d4fec4
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Use "change" instead of "reset" for changing dynamics info.
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2017-05-09 10:44:33 -07:00 |
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yunfeibai
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98654a0cb4
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Change dynamic to dynamics in dynamics info.
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2017-05-09 10:31:28 -07:00 |
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yunfeibai
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92de4ecd31
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Add pybullet example to get dynamic info.
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2017-05-07 22:41:05 -07:00 |
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yunfeibai
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5fe4c6bb5b
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Add API to get dynamic info.
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2017-05-07 22:21:38 -07:00 |
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yunfeibai
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e363e12ea4
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Add default specular when there is not specular map. Add example for adjusting specular coefficient.
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2017-05-07 21:09:08 -07:00 |
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yunfeibai
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939d6ead32
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Add API to reset lateral friction coefficient.
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2017-05-03 21:47:53 -07:00 |
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yunfeibai
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1841a41f2a
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Add pybullet example for resetting dynamics.
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2017-05-03 21:30:42 -07:00 |
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yunfeibai
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c7e9a31898
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Add API to get user constraint id.
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2017-05-03 18:25:25 -07:00 |
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yunfeibai
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4da2c076a7
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Add API to reset mass.
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2017-05-01 22:18:54 -07:00 |
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yunfeibai
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56f9c38226
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Use float when clipping the shadow map index, because the index before clipping can be out of the range for int.
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2017-04-25 18:28:56 -07:00 |
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yunfeibai
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a7068bb57a
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Modify the link index when computing Jacobian. Add a test for end effector orientation IK. Inverse dynamics Jacobian uses zero-based indexing of bodies, not starting from -1 for base.
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2017-04-17 16:54:45 -07:00 |
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yunfeibai
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fedf718d9e
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minor fix for pybullet comment.
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2017-04-04 13:45:49 -07:00 |
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yunfeibai
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b168f53ed9
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Rename body index to body unique id.
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2017-04-04 10:38:25 -07:00 |
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yunfeibai
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1e91e78469
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Add pybullet API for logging contacts.
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2017-04-02 16:03:20 -07:00 |
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yunfeibai
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0d83667817
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Add C API to log contact points.
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2017-04-02 15:45:48 -07:00 |
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yunfeibai
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7c7d831767
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Add contact point logger.
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2017-04-02 15:09:40 -07:00 |
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yunfeibai
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f062847038
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Replace spaces with tabs.
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2017-03-29 15:37:33 -07:00 |
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yunfeibai
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66a8685816
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Merge remote-tracking branch 'upstream/master'
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2017-03-29 15:06:15 -07:00 |
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yunfeibai
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64573c38e4
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Remove getBodyName API.
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2017-03-29 15:03:29 -07:00 |
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yunfeibai
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de3f91b64e
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Get body name from getBodyInfo.
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2017-03-29 14:56:05 -07:00 |
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yunfeibai
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0a552c3ba1
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Merge remote-tracking branch 'upstream/master'
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2017-03-23 13:55:44 -07:00 |
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yunfeibai
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d717b1db84
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Add the API to get the body name and pybullet example call.
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2017-03-23 13:54:44 -07:00 |
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yunfeibai
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50f0cfca9e
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Add body name when loading urdf.
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2017-03-23 10:16:39 -07:00 |
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yunfeibai
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753f1d3d2f
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Add lateral and spinning friction coefficients to gripper sdf model.
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2017-03-20 10:16:15 -07:00 |
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yunfeibai
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6695268fba
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Fix the issue with indentation in pr2 setup.
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2017-03-20 09:52:24 -07:00 |
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yunfeibai
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3ad49ae5eb
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Set logging unique id at initialization. This fixed a bug that the second log couldn't be stopped properly.
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2017-03-07 11:52:26 -08:00 |
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yunfeibai
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e0c74a46ac
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Set renderer in pybullet.
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2017-03-04 13:31:30 -08:00 |
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yunfeibai
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6e3cd26f11
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Log time stamp and step count.
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2017-03-04 13:19:43 -08:00 |
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yunfeibai
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a33dcdb63d
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Modify logging and playback to handle fixed joint.
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2017-03-01 23:37:01 -08:00 |
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yunfeibai
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2751b34894
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Add maximum joint angle.
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2017-02-22 14:01:03 -08:00 |
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yunfeibai
|
6f2a7220a5
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Modify controller constraint in the pybullet vr gripper setup.
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2017-02-22 13:52:49 -08:00 |
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yunfeibai
|
86f0067266
|
A bug fix for logging the orientation of the base of the object.
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2017-02-22 13:30:28 -08:00 |
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yunfeibai
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e12981fd45
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Enable logging a specified list of objects for generic robot logging.
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2017-02-20 12:17:12 -08:00 |
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yunfeibai
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a3c1fec171
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Add logging for generic robot and an example of logging state of kuka and cubes.
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2017-02-17 17:41:57 -08:00 |
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yunfeibai
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ce69f27f32
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Modify the depth buffer value in TinyRenderer to be consistent as in OpenGL.
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2017-02-08 11:34:38 -08:00 |
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yunfeibai
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8034a6f7fc
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Merge remote-tracking branch 'upstream/master'
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2017-02-07 17:21:14 -08:00 |
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yunfeibai
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151bc8e12c
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Add depth image when using hardware renderer.
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2017-02-07 17:19:48 -08:00 |
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yunfeibai
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c92fd6120d
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EGL OpenGL window.
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2017-02-06 16:22:17 -08:00 |
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yunfeibai
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be77fb269f
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Add joint damping in pybullet IK example.
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2017-02-03 16:36:20 -08:00 |
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yunfeibai
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df07f2aaaa
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minor fix
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2017-02-03 14:44:25 -08:00 |
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yunfeibai
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abbd3ad884
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minor fix.
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2017-02-03 12:46:49 -08:00 |
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yunfeibai
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3442b6524a
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Merge remote-tracking branch 'upstream/master'
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2017-02-03 12:32:08 -08:00 |
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yunfeibai
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ac5a8aa2d6
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Set joint damping in pybullet.
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2017-02-03 12:03:07 -08:00 |
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yunfeibai
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ce9378f819
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Add shared memory API and RobotSim API for setting joint damping in IK.
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2017-02-03 11:08:44 -08:00 |
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yunfeibai
|
0022d0dafb
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Modify damped least square IK formulation. Test setting joint damping coefficients for IK.
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2017-01-31 22:58:37 -08:00 |
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yunfeibai
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4af7ee3b2e
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Fix a bug when rendering texture.
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2016-12-09 17:17:24 -08:00 |
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yunfeibai
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388cba152e
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Fix error in integration test.
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2016-12-07 11:41:55 -08:00 |
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yunfeibai
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9c4222ea9e
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Modify shader so that the color of the light and the shadow don't affect the ambient component.
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2016-12-07 11:33:26 -08:00 |
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yunfeibai
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9cd27b8456
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Add pybullet API for changing ambient, diffuse, and specular coefficients.
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2016-12-06 15:38:09 -08:00 |
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yunfeibai
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c253c750b9
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Expose ambient, diffuse and specular coefficient of the light.
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2016-12-06 15:21:35 -08:00 |
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yunfeibai
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08b449f149
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Adjust magic number to prevent z-fighting.
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2016-12-06 13:36:41 -08:00 |
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yunfeibai
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bf83c77dab
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Merge remote-tracking branch 'upstream/master'
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2016-12-01 16:48:22 -08:00 |
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yunfeibai
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a88272de1b
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Restore the old constructor for TinyRenderObjectData for backward compatibility.
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2016-12-01 16:47:11 -08:00 |
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yunfeibai
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e8ff969a6f
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Merge remote-tracking branch 'upstream/master'
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2016-11-29 14:17:38 -08:00 |
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yunfeibai
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0cb2b21b5f
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Add pybullet API for shadow.
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2016-11-29 14:10:07 -08:00 |
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yunfeibai
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b40c9cde96
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Add torus shadow render example.
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2016-11-29 13:50:49 -08:00 |
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yunfeibai
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1fbd78ece5
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Add shared memory API for setting shadow and light source distance.
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2016-11-29 13:19:35 -08:00 |
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yunfeibai
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8aa90a7427
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Refactor shader and render pipeline code.
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2016-11-29 12:53:50 -08:00 |
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yunfeibai
|
86c5dfe8f4
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Fix the light color issue in box rendering example.
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2016-11-29 11:43:52 -08:00 |
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yunfeibai
|
5fe36ca200
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Clean global variables.
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2016-11-29 11:11:41 -08:00 |
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yunfeibai
|
d48b03f23b
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Use the barycentric coordinate to get the coordinate in shadow buffer.
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2016-11-28 10:13:09 -08:00 |
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yunfeibai
|
0bc4e0a4c3
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Render multiple objects with shadow.
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2016-11-27 16:53:15 -08:00 |
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yunfeibai
|
583dc1cac7
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Add torus.
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2016-11-27 15:34:01 -08:00 |
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yunfeibai
|
529274a3f4
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Render shadow of torus with shadow buffer and index from triangle order.
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2016-11-27 15:32:55 -08:00 |
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yunfeibai
|
29809a4471
|
Render depth buffer.
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2016-11-23 13:00:26 -08:00 |
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yunfeibai
|
24b3e137a6
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Render shadow with depth from light.
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2016-11-21 10:21:14 -08:00 |
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yunfeibai
|
5be4409a1a
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Render shadow buffer.
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2016-11-21 09:13:20 -08:00 |
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yunfeibai
|
be5b8a3d7b
|
Set light color in pybullet.
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2016-11-20 13:14:18 -08:00 |
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yunfeibai
|
93ba8af023
|
Add shared memory API to change light color.
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2016-11-20 12:52:12 -08:00 |
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yunfeibai
|
7bd585fa87
|
Fix memory leak in IK.
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2016-11-04 10:47:07 -07:00 |
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|
yunfeibai
|
ff2c79e6bc
|
Fix a bug in softbody contact handling.
|
2016-11-03 12:14:39 -07:00 |
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|
yunfeibai
|
e8635932cf
|
Merge remote-tracking branch 'upstream/master'
|
2016-11-03 10:26:52 -07:00 |
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|
yunfeibai
|
b7482c1142
|
Add model file for kuka with free base.
|
2016-11-03 09:54:56 -07:00 |
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yunfeibai
|
479497997c
|
Add grasp bunny example with multibody gripper.
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2016-11-02 14:53:28 -07:00 |
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yunfeibai
|
ab6ce65abe
|
Add contact handling between multibody and softbody.
|
2016-11-02 13:21:01 -07:00 |
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yunfeibai
|
295c1b7c88
|
Modify the setup for grasping bunny example.
|
2016-11-02 12:49:51 -07:00 |
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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 |
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yunfeibai
|
9d54f0cf8d
|
Grasp soft body with rigid fingers.
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2016-11-01 15:46:09 -07:00 |
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yunfeibai
|
9c00b4d9f4
|
Add texture reset API to pybullet.
|
2016-10-21 17:48:06 -07:00 |
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