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Author SHA1 Message Date
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
YunfeiBai
c0029135d8 Test IK in VR. 2016-09-25 14:24:28 -07:00
erwincoumans
666c8f47b7 Merge pull request #800 from bulletphysics/iktest 
Iktest
 2016-09-23 07:40:09 -07:00
erwincoumans
3df9d6c4ee Merge pull request #798 from YunfeiBai/master 
Create a demo for one motor gripper grasp.
 2016-09-23 07:39:24 -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
erwin coumans
310a330572 fix InverseKinematics+API for a case without tree (custom build Jacobian) 2016-09-22 13:27:09 -07:00
erwincoumans
46b32f17bb Add small sphere, make teddy small too 
Add physics time scale in VR mode
Fix compound collision margin in physics server
Enable visuals for rigid body (non-multi-body) URDF/SDF loading in physics server.
 2016-09-22 08:50:28 -07:00
yunfeibai
27fab2adb5 Create a demo for one motor gripper grasp. 2016-09-21 12:08:03 -07:00
erwincoumans
bb214e823b Merge pull request #786 from jamiesnape/policy-cmp0042-macosx-rpath 
Enable rpath on OS X when the CMake version supports it
 2016-09-21 08:15:42 -07:00
erwincoumans
ffa1e39d28 Merge pull request #797 from erwincoumans/master 
add simple pybullet robotcontrol.py example
 2016-09-21 08:14:30 -07:00
erwincoumans
36b144ffa6 Merge pull request #769 from iwilkes1/master 
Add Phong reflection to TinyRenderer
 2016-09-21 08:14:18 -07:00
erwincoumans
5c1d2f9a0e Merge pull request #789 from mwoehlke-kitware/remove-useless-const 
Remove useless const qualifiers from returns
 2016-09-21 08:12:11 -07:00
erwincoumans
e4e12828ca Merge pull request #790 from mwoehlke-kitware/fix-dl-link-errors 
Fix clew.c link errors
 2016-09-21 08:11:00 -07:00
erwincoumans
5a6db80d01 Merge pull request #788 from mwoehlke-kitware/fix-missing-virtual-dtor 
Add "missing" virtual dtor
 2016-09-21 08:09:14 -07:00
Erwin Coumans
89eef8e091 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-09-20 23:19:27 -07:00
Erwin Coumans
e1ba6e9736 add simple pybullet robotcontrol.py example 2016-09-20 23:19:03 -07:00
erwincoumans
5c74715927 Update build_visual_studio.bat 
remove some clutter form the .bat file
 2016-09-20 21:18:55 -07:00
erwincoumans
b8541cf721 Merge pull request #796 from erwincoumans/master 
decrease some gjk/epa tolerance to improve collision detection using …
 2016-09-20 17:51:49 -07:00
erwincoumans
cca2236f1a Merge pull request #795 from YunfeiBai/master 
Inverse kinematics with orientation constraint.
 2016-09-20 17:49:35 -07:00
erwin coumans
0a628f06cc decrease some gjk/epa tolerance to improve collision detection using very small collision margins (0.001/1mm) 
tweak pr2 gripper.
 2016-09-20 12:37:13 -07:00
yunfeibai
c01f6245d0 Quick fix of pybullet for IK with orientation constraint. 2016-09-20 11:10:13 -07:00
yunfeibai
cbda64c5e7 Update theta dot for velocity IK. 2016-09-20 10:24:48 -07:00
erwincoumans
8d4c99801e Merge pull request #783 from bingjeff/urdf_loader_changes 
[URDF] Edit loader to handle full inertia tensor.
 2016-09-20 04:39:38 -07:00
erwincoumans
2f5be6a319 Merge pull request #794 from erwincoumans/master 
URDF2Bullet: support revolute joint limits. Remove that odd triangle in the origin of samurai castle (VR)
 2016-09-20 04:35:43 -07:00
yunfeibai
bf16c87987 Add orientation constraint to IK. 2016-09-19 17:04:05 -07:00
erwin coumans
bb23f91578 disable some logging method 2016-09-19 14:40:17 -07:00
erwin coumans
a4165adddc more tweak in pr2_gripper.urdf (VR), remove some collision meshes (until interaction issues are resolved) 2016-09-19 14:40:01 -07:00
erwin coumans
3eb149ca75 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2016-09-19 14:33:55 -07:00
erwin coumans
a3aa8ef7f1 tune gripper parameters for VR demo 2016-09-19 14:31:47 -07:00
Erwin Coumans
e488c72496 fix build issue 2016-09-19 10:19:51 -07:00
erwin coumans
db3122233f remove that odd triangle in the origin of samurai castle (VR) 
add rolling/spinning friction to cube, remove it from plane/samurai.urdf
URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit)
add some profiling markers to improve performance
 2016-09-19 07:02:43 -07:00
erwincoumans
48d42c7c6e Merge pull request #792 from erwincoumans/master 
delete -> free due to the use of stb_image.h (which uses malloc)
 2016-09-17 00:38:32 +01:00
Erwin Coumans
8355f09b21 delete -> free due to the use of stb_image.h (which uses malloc) 2016-09-16 16:25:13 -07:00
Matthew Woehlke
7e1d72dfe4 Remove useless const qualifiers from returns 
Remove const qualifiers applied to POD return values, as these are
meaningless and ignored by the compiler and are therefore potentially
misleading. (They also trip -Wignored-qualifiers.)
 2016-09-16 11:01:03 -04:00
erwincoumans
dd791e2222 Merge pull request #791 from erwincoumans/master 
default contact erp (m_erp2) was too low in physics server
 2016-09-16 09:19:35 +01:00
Erwin Coumans
567b003654 separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction 
improvements in VR demo, add grasper etc.
 2016-09-16 00:57:00 +01:00
Erwin Coumans
1d88cf71e4 separate spinning friction (torsional friction around contact normal) from 
rolling friction (orthogonal to contact normal)
 2016-09-16 00:04:33 +01:00
Erwin Coumans
4d6a95017e default contact erp (m_erp2) was too low in physics server 
causing gripper to penetrate box
 2016-09-15 23:11:27 +01:00
Matthew Woehlke
ba3a1dcc98 Fix clew.c link errors 
Add missing link to CMAKE_DL_LIBS to resolve link errors from clew.c
using dlopen and friends but failing to link to libdl.

Fixes #787.
 2016-09-15 12:58:31 -04:00
Matthew Woehlke
ef943bdcf0 Add "missing" virtual dtor 
Make the dtor of b3DynamicBvhBroadphase virtual, to match that the type
has other virtual methods. This silences a -Wvirtual-dtor warning.
 2016-09-15 12:17:23 -04:00
Jamie Snape
9f42cf27ed Fix typo 2016-09-14 17:22:54 -04:00
Jamie Snape
b0ace4509a Enable rpath on OS X when the CMake version supports it 2016-09-14 13:00:51 -04:00
erwincoumans
79d24db60f Merge pull request #784 from erwincoumans/master 
experimental Inverse Kinematics for KUKA iiwa exposed in
 2016-09-14 02:52:09 +01:00
Erwin Coumans
f9679bd594 prevent an issue in TinyRendererSetup example 2016-09-14 00:30:58 +01:00
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
Jeffrey Bingham
26a464bf0b [URDF] Edit loader to handle full inertia tensor. 
Previous URDF loader did not handle off-diagonal elements
in the URDF. This commit adds functionality to allow
the loading of an inertia matrix that has not already
been reduced to its principal components. It diagonalizes
the inertia matrix, tests that the values are real and
updates the inertial frame.
 2016-09-13 08:42:33 -07:00
erwincoumans
e5a8eb2425 rolling friction -> combine using rolling*normal friction, add for both objects. 
rolling friction -> only along the normal, until we have separate rolling friction coefficients on normal and non-normal directions
Don't teleport with grasping controller (VR)
Tune VR grasping a bit.
 2016-09-12 19:10:20 +01:00
erwincoumans
af7c44d360 Merge pull request #775 from YunfeiBai/master 
Compute IK with Bullet body Jacobian
 2016-09-12 12:45:05 +01:00