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Commit Graph
298 Commits
Author SHA1 Message Date
Erwin Coumans 310fabcd7e Further improvements in Bullet MuJoCo MJCF import: 
[MJCF import] improved humanoid.xml, inverted_pendulum.xml import (automatically add dummy-links to connect multiple joints between bodies)
[MJCF import] fix bug in quaternion conversion (w,x,y,z) -> (x,y,z,w)
 2017-01-15 11:22:24 -08:00
Erwin Coumans fdd517e00f First step towards a MuJoCo MJCF importer for Bullet. It can load the humanoid.xml, ant.xml and some other OpenAI GYM asset files. Not all fields are converted, so it is work-in-progress. This is useful for Reinforcement Learning experiments, and would also help integration with DeepMind Lab. 2016-12-30 18:32:57 -08:00
Erwin Coumans 17570c4700 tweak color of quadruped robot URDF, tweak quadruped.py script to make it more compatible with VR demo 
allow VR physics server to run with or without 'realTimeSimulation'
 2016-12-11 09:28:36 -08:00
erwincoumans 61cfa18923 save default VR camera tuning, requires MIDI controller 
tweak some values in VR demo
 2016-12-02 17:44:00 -08:00
Erwin Coumans 898517b1e3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-11-29 19:14:20 -08:00
Erwin Coumans 746c4d0d2a add a tray, similar to those ones: 
https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html

tune the VR demo a bit, to make it more user friendly.
 2016-11-29 17:08:47 -08:00
yunfeibai 0bc4e0a4c3 Render multiple objects with shadow. 2016-11-27 16:53:15 -08:00
yunfeibai 583dc1cac7 Add torus. 2016-11-27 15:34:01 -08:00
erwincoumans 8c69fa13ca add pybullet getCameraImage, replacing renderImage, cleaner API: 
always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir
added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV
see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use
add missing base_link.stl for husky.urdf
 2016-11-17 15:15:52 -08:00
Erwin Coumans ee7a5a470f tweak quadruped script to make a few more moves 2016-11-16 21:36:51 -08:00
erwincoumans 2329c00faa Add RtMidi for midi control, use the --midi option in premake, and see 
update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr
add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc)
tweak quadruped.py to move a bit
add mouse picking to physics server
 2016-11-16 16:12:59 -08:00
erwin coumans d0cbfc5905 add humanoid/nao.urdf (BSD license) 2016-11-14 14:09:57 -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 9bad64fed9 allow obsolete OpenGL2 drawer to render with z-up axis. 2016-11-12 11:59:40 -08:00
erwincoumans 0d47d61007 pybullet getClosestPoints 2016-11-09 21:01:04 -08:00
erwincoumans 502f4b7d40 update .bullet file 2016-11-05 11:32:31 -07:00
yunfeibai b7482c1142 Add model file for kuka with free base. 2016-11-03 09:54:56 -07:00
yunfeibai 9d54f0cf8d Grasp soft body with rigid fingers. 2016-11-01 15:46:09 -07:00
erwin coumans 24593ed11a fix r2d2.urdf and avoid self-penetrating limbs 2016-10-19 16:21:33 -07:00
erwin coumans eda400d14c Merge remote-tracking branch 'bp/master' 2016-10-19 07:43:46 -07:00
erwin coumans d1ab6c144b change some defaults in MultiBody example, a slider constraint without limits is a bad idea 2016-10-16 11:52:38 -07:00
yunfeibai 880ee097fa Simulate bunny in grasp demo and set collision margin. 2016-10-12 15:34:45 -07:00
yunfeibai 379f2ac933 Load bunny to to the world in the grasp demo. 2016-10-12 11:51:04 -07:00
erwincoumans d853500997 add kuka iiwa with different limits (experiment with inverse kinematics null space) 2016-10-09 21:16:01 -07:00
erwincoumans 0aa2bbfe07 Merge pull request #817 from erwincoumans/master 
avoid wavefront obj texture index out-of-bounds (most obj out-of-boun…
 2016-10-05 17:28:23 -07:00
erwin coumans d59b0f05a4 expose b3PhysicsParamSetNumSolverIterations 
split Visual Studio project generation batch file in regular and VR+pybullet+double precision build.
disable KUKA iiwa joint limit hack
 2016-10-05 16:31:48 -07:00
YunfeiBai ebe5d9bb84 Add null space task as an option for IK in VR. 2016-09-30 16:47:33 -07:00
YunfeiBai 8befdcba1a Modify table rendering. 2016-09-30 12:30:34 -07:00
YunfeiBai a2dacce3d4 Move object around to reset the scene in VR. 2016-09-30 11:57:30 -07:00
erwincoumans 032ffe427e jenga brick was way too heavy 2016-09-29 22:03:29 -07:00
erwincoumans d8c54e3e31 no spinning friction for jenga block 2016-09-29 21:51:28 -07:00
erwincoumans a1fa2b8056 add a basic table top (no legs yet) 2016-09-29 21:45:39 -07:00
yunfeibai dd10dd6a3f Add a new one motor gripper to use Featherstone for slider and constraint for revolute joint. 2016-09-29 12:07:00 -07:00
YunfeiBai 619f0d9d13 fixes in default VR setup 2016-09-28 16:07:55 -07:00
YunfeiBai dacca09614 Merge remote-tracking branch 'bp/master' 2016-09-28 13:54:35 -07:00
YunfeiBai 032156fbf2 Merge branch 'master' of https://github.com/bulletphysics/bullet3 2016-09-28 13:54:18 -07:00
YunfeiBai a967163665 Add chess pieces. 2016-09-28 13:46:41 -07:00
erwin coumans b81eb79ef5 ping-pong back/forward in PGS solving iterations to reduce bias in constraint order 
add experimental rhs clamp in btMultiBodyJointMotor to control maximum error resolution.
 2016-09-28 11:17:11 -07:00
YunfeiBai 51963fdea3 Merge branch 'master' of https://github.com/bulletphysics/bullet3 2016-09-27 16:51:41 -07:00
YunfeiBai 7101cf013e Remove unused model. 2016-09-27 16:41:02 -07:00
YunfeiBai 3910003e0a Add IK damping coefficient vector. 2016-09-27 16:37:49 -07:00
YunfeiBai 61fccba5be Control two orientation components for kuka. 2016-09-27 14:10:20 -07:00
YunfeiBai 539fe505a4 Add table and tray. 2016-09-26 11:31:30 -07:00
Erwin Coumans 96c1ee4256 revert default contact 'erp' (error-reduction-parameter) from 0.8 to 0.2 
as it used to be.
 2016-09-26 07:55:30 -07:00
YunfeiBai 60d07a6f6e Kuka grasp with one motor gripper. 2016-09-25 21:13:31 -07:00
YunfeiBai b803f4e7cf Attach gripper to kuka arm. 2016-09-25 16:05:53 -07:00
erwincoumans f5e65197f4 fix pybullet.c compilation for Windows 
add lego.urdf, duck.urdf (optimized using VHACD convex decomposition)
optimize Kiva shelf collision model (by hand, using boxes/Blender)
physics timescale toggle between  1 -> 0,25 -> 0
 2016-09-24 11:25:05 -07:00
erwincoumans 666c8f47b7 Merge pull request #800 from bulletphysics/iktest 
Iktest
 2016-09-23 07:40:09 -07:00
erwincoumans b6bb937dc0 URDF: don't parse joint limit for continuous joints 
tweak KUKA iiwa inverse kinematics test in physics server
 2016-09-22 23:21:24 -07:00
erwin coumans e356f4f1f6 add test end-effector for Kuka iiwa (IK) 2016-09-22 19:48:26 -07:00