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479497997cfe57404d2dfee00cf6c8a90e175e46
Commit Graph

715 Commits

Author SHA1 Message Date
Erwin Coumans
ab8f498d18 avoid infinite recursion in b3Clock::usleep 2016-08-18 13:44:04 -07:00
erwin coumans
5b0253ed47 Remove undesired assert, it makes pybullet mistakes fail in c++ 
Shared memory api/pybullet: by default, set joint motors in position PD mode with target 0, to maintain 0 joint angle.
pybullet: allow setJointControlMode(body, link, POSITION_CONTROL,targetPos etc.
 2016-08-18 13:10:28 -07:00
erwin coumans
6005e54aa1 Fix some inconsistencies in URDF file handling between btRigidBody and btMultiBody 
(rotation order and application of root-inertial-frame offset)
 2016-08-18 09:44:33 -07:00
Erwin Coumans
8f21e2bca9 fix compile issue 2016-08-17 20:01:45 -07:00
Erwin Coumans
17c16ccfa0 pybullet, deal with overflow of joints (maximum of 128 joints/links per multibody at the moment) 
increase from 64 to 128 joints in shared memory API/pybullet
fix potential issue in tinyrenderer, related to missing segmentation mask buffer
report error if CMD_REQUEST_ACTUAL_STATE command on a multibody that exceed the number of links,
todo: stream data to allow arbitrary large number of links in shared memory API
 2016-08-17 19:35:52 -07:00
Erwin Coumans
7c9441c3f5 by default, have a strong force keep the robot together, instead of floppy joints. 2016-08-17 10:30:50 -07:00
Erwin Coumans
dce73f48ae Merge remote-tracking branch 'bp/master' 2016-08-17 10:24:12 -07:00
Erwin Coumans
463f3e59c8 minor tweak in F1/screenshot handling. Note you can use --png_skip_frames=x command-line argument 2016-08-17 10:18:33 -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
yunfeibai
9c4cfde3d6 Fixed constraint for btMultiBody and btRigidBody. 2016-08-15 13:19:00 -07:00
Erwin Coumans
985a6c203f fix typo 2016-08-13 12:38:40 -07:00
erwin coumans
3bdcf23a05 Add sleep to avoid 100% busy CPU loop in PhysicsServerExample 
Added btClock::usleep
Fix broken TinyRenderer example code.
 2016-08-13 12:21:18 -07:00
Erwin Coumans
238ba8c642 remote a c++11-style constructor 2016-08-12 14:28:02 -07:00
Erwin Coumans
ceceaa16be make some changes to make the previous example code changes backward compatible 2016-08-12 14:18:46 -07:00
Erwin Coumans
c75bebcafe revert accidently renaming of m_depthvalues4 2016-08-12 13:55:37 -07:00
Erwin Coumans
4abe083388 fix pybullet 2016-08-11 15:58:51 -07:00
Erwin Coumans
4bb488f65e reset canvas location 2016-08-11 15:02:00 -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
f416644481 set the camera, even in multi-threaded mode 2016-08-11 11:20:31 -07:00
erwin coumans
a9b1544a9f Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. 
Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and
b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage.
Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option
Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc])
Thanks to Jeff Bingham for the suggestion.
 2016-08-09 18:40:12 -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
Benjamin Ellenberger
dcfa5a3ee2 Clear gContactProcessedCallback on exiting physics. 2016-08-02 20:38:36 +02:00
Erwin Coumans
f5fca86d49 remove debug printf 2016-08-02 11:14:21 -07:00
Erwin Coumans
f304fd7611 add one more pybullet renderImage API and testrender.py example 
tweak Bullet Inverse Dynamics, work-around compiler issue
 2016-08-02 11:12:23 -07:00
Erwin Coumans
93db3d7ba6 fix CMD_INIT_POSE+INIT_POSE_HAS_INITIAL_ORIENTATION, 
setWorldToBaseRot takes inverse orientation (need to remove that API!)
 2016-08-02 09:30:33 -07:00
Erwin Coumans
04cd9e18d6 add [] in error message of texture loading, to show leading/trailing spaces 2016-08-01 23:53:38 -07:00
Erwin Coumans
a608f9bfdd fix trailing space issue in tinyobjloader/mtl files. 2016-08-01 23:46:35 -07:00
Erwin Coumans
b759ab8a91 fix overflow visual shape in COLLADA .dae file importer. 2016-08-01 23:45:14 -07:00
Benjamin Ellenberger
4622ab4299 Merge commit. 2016-07-31 16:22:50 +02:00
Benjamin Ellenberger
46af3ddc54 Normal settings. 2016-07-31 16:07:38 +02:00
erwincoumans
0c0b4be665 Merge pull request #722 from matpalm/fixSetIdentity 
fix setidentity bug
 2016-07-29 14:50:16 -07:00
Mat Kelcey
80dfec170b fix setidentity bug 2016-07-29 14:43:55 -07:00
erwincoumans
d605897d13 Merge pull request #719 from erwincoumans/master 
fix ffmpeg stream to create quicktime compatible videos
 2016-07-29 09:07:46 -07:00
erwin coumans
72e329962e fix ffmpeg mp4 generation under Windows as well. 
remove static variables, make them local, to avoid multithreading issues.
 2016-07-28 18:06:03 -07:00
Mat Kelcey
a7a9182953 fix warning: extra tokens at end of #endif directive 2016-07-28 16:47:05 -07:00
Erwin Coumans
daf91de778 fix ffmpeg stream to create quicktime compatible videos 2016-07-27 09:11:08 -07:00
erwincoumans
9451923dbd Merge pull request #717 from matpalm/pyJointMotorControlArgs 
update pybullet_setJointMotorControl with seperate args for targetPosition, targetVelocity, kp and kd
 2016-07-26 16:18:28 -07:00
erwincoumans
745743ac53 Merge pull request #718 from erwincoumans/master 
fix screen width/height issue on Intel/Linux
 2016-07-26 16:17:48 -07:00
Mat Kelcey
b4cfee8745 set dft for kd to be 1.0. note: this is only applicable to CONTROL_MODE_VELOCITY 2016-07-26 16:16:18 -07:00
Erwin Coumans (Google)
98c6181ba8 fix screen width/height issue on Intel/Linux 
add command-line option to set png_skip_frames when taking screenshot series
 2016-07-26 15:36:21 -07:00
Mat Kelcey
4b75c5d9d0 add another combo of args to allow kd to be configured in the CONTROL_MODE_VELOCITY case 2016-07-26 11:36:34 -07:00
Mat Kelcey
b221d2ad18 add targetPosition, targetValue, kp & kd to pybullet_setJointMotorControl 2016-07-26 11:09:12 -07:00
erwincoumans
a6e5c6a273 Merge pull request #716 from erwincoumans/master 
Add robotics learning add GripperGraspExample
 2016-07-25 16:01:15 -07:00
Erwin Coumans
8270096fad add GripperGraspExample, separate from R2D2GraspExample 2016-07-25 12:30:47 -07:00
Erwin Coumans
6b0ceace7f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-07-25 11:49:56 -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
erwincoumans
299243d49b Merge pull request #715 from erwincoumans/master 
Add inverse kinematics example with implementations by Sam Buss.
 2016-07-25 00:02:50 -07:00
Erwin Coumans
53fa57bdc4 make IK compile on Mac OSX 2016-07-24 23:50:18 -07:00
erwin coumans
75e86051c2 Add inverse kinematics example with implementations by Sam Buss. 
Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.
 2016-07-24 22:22:42 -07:00