erwincoumans
a651cb9ab4
Implement first pass of transparent graphics object for GLInstancingRenderer
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remove 'enableBlend' from API, graphics instances use alpha component instead
fix forward axis for SimpleCamera
2017-06-24 13:41:33 -07:00
yunfeibai
e6d1a8cf97
Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.
2017-06-01 15:30:37 -07:00
Erwin Coumans
ef7a7f9004
Potential fix for Linux slow performance (usleep(0) takes a lot of time)
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Remove b3RobotSimAPI, use RobotSimulator/b3RobotSimulatorClientAPI.h instead
2017-05-13 13:37:49 -07:00
Erwin Coumans
0944790577
migrating from b3RobotSimAPI to b3RobotSimulatorClientAPI (step by step)
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allow to run the client/server code in the example browser without this b3RobotSimAPI hack.
2017-05-13 11:15:20 -07:00
yunfeibai
ce9378f819
Add shared memory API and RobotSim API for setting joint damping in IK.
2017-02-03 11:08:44 -08:00
yunfeibai
0022d0dafb
Modify damped least square IK formulation. Test setting joint damping coefficients for IK.
2017-01-31 22:58:37 -08:00
Erwin Coumans
c0c4c8ba3f
fix many warnings
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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
2017-01-15 22:26:11 -08:00
yunfeibai
7e8d8b0488
Expose rest pose for null space task to API.
2016-09-30 01:03:40 -07:00
yunfeibai
1c1d3db26d
An example to compare with and without null space task in IK.
2016-09-30 00:43:15 -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
e356f4f1f6
add test end-effector for Kuka iiwa (IK)
2016-09-22 19:48:26 -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
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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
a00841a498
Compute delta S from Bullet link state.
2016-09-10 19:18:29 -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)
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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
c94a8e0d35
Use body Jacobian from Bullet for IK.
2016-09-07 23:14:23 -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
