0a628f06cc
decrease some gjk/epa tolerance to improve collision detection using very small collision margins (0.001/1mm) tweak pr2 gripper.
erwin coumans
2016-09-20 12:37:13 -07:00
c01f6245d0
Quick fix of pybullet for IK with orientation constraint.
yunfeibai
2016-09-20 11:10:13 -07:00
bf16c87987
Add orientation constraint to IK.
yunfeibai
2016-09-19 17:04:05 -07:00
bb23f91578
disable some logging method
erwin coumans
2016-09-19 14:40:17 -07:00
a4165adddc
more tweak in pr2_gripper.urdf (VR), remove some collision meshes (until interaction issues are resolved)
erwin coumans
2016-09-19 14:40:01 -07:00
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
erwin coumans
2016-09-19 07:02:43 -07:00
062236af70
Fix running headless to be nearly completely headless.
Benelot
2016-09-18 01:03:41 +02:00
51e51ca848
Print out effective speedup. Reduce application tick to 60/s.
Benelot
2016-09-18 00:52:08 +02:00
7cf4a2352c
Simplify the parameter interface for NNWalkers. Keys 1-9 cause speedup.
Benelot
2016-09-18 00:42:34 +02:00
567b003654
separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction improvements in VR demo, add grasper etc.
Erwin Coumans
2016-09-16 00:57:00 +01:00
1d88cf71e4
separate spinning friction (torsional friction around contact normal) from rolling friction (orthogonal to contact normal)
Erwin Coumans
2016-09-16 00:04:33 +01:00
4d6a95017e
default contact erp (m_erp2) was too low in physics server causing gripper to penetrate box
Erwin Coumans
2016-09-15 23:11:27 +01:00
ba3a1dcc98
Fix clew.c link errors
Matthew Woehlke
2016-09-15 12:58:31 -04:00
ef943bdcf0
Add "missing" virtual dtor
Matthew Woehlke
2016-09-15 12:17:23 -04:00
f9679bd594
prevent an issue in TinyRendererSetup example
Erwin Coumans
2016-09-14 00:30:58 +01:00
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)
Erwin Coumans
2016-09-13 23:37:46 +01:00
26a464bf0b
[URDF] Edit loader to handle full inertia tensor.
Jeffrey Bingham
2016-09-10 18:05:14 -07:00
faada023be
Fix error happening when using btQuaternion() to create Unit quaternion instead of btQuaternion::getIdentity(). Fix problems raised by Bullet CI.
Benelot
2016-09-12 23:59:42 +02:00
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.
erwincoumans
2016-09-12 19:10:20 +01:00
c0285bc425
Add slider to control number of parallel evaluations.
Benelot
2016-09-12 19:42:07 +02:00
229d2501af
Add 2m ground circles. Make population config printable. Add timeseries plot of individual fitnesses of each generation.
Benelot
2016-09-12 16:36:37 +02:00
7df9b69039
pybullet: add option to use NumPy to speed up, thanks to moof2k option is disabled by default. When using cmake, use cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON then both testrender.py and testrender_np.py will work without numpy only testrender.py works. The numpy.reshape is likely a no-op when using numpy array, so we could remove testrender_np.py...
Erwin Coumans
2016-09-11 11:35:12 +01:00
5c76b01659
allow pybullet with or without NumPy
Erwin Coumans
2016-09-11 11:09:51 +01:00
c75bbd4608
allow pybullet with or without numpy using PYBULLET_USE_NUMPY define (in build system)
Erwin Coumans
2016-09-11 11:09:10 +01:00
32eccdff61
Create project file for BussIK inverse kinematics library (premake, cmake) 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)
erwin coumans
2016-09-08 15:15:58 -07:00
de5d1b5cfc
make husky wheels soft/compliant reduce shadow size to make VR on older GPU (Mac Pro 2013) perform more smooth less sleep in physics thread.
erwin coumans
2016-09-03 08:39:40 -07:00
ecd814c9c5
export contact friction/damping through URDF and API convert from contact friction/damping to cfm/erp btCollisionObject::setContactFrictionAndDamping
Erwin Coumans
2016-09-02 16:40:56 -07:00
2336be02e4
Added Phong refelction to the TinyRenderer Shader.
Ian Wilkes
2016-09-02 11:41:18 -07:00
ba583feb7f
Updated TinyRenderer intensity paramater.
Ian Wilkes
2016-09-02 09:52:45 -07:00
e98fca1e5e
implement pybullet.getContactPointData(), two optional object unique ids as filter returns a pylist of contact points. Each point has the following data:
Erwin Coumans
2016-09-01 18:28:39 -07:00
9d2d286c46
Fix joint orientations when loading URDF files.
Logan Su
2016-09-01 18:12:14 -07:00
85fd7f560c
add first draft of contact point query in shared memory API b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient); void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA); void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB); void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData); Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet. Add btCollisionObject::setUserIndex2
erwincoumans
2016-09-01 13:30:07 -07:00
erwincoumans
Erwin Coumans
yunfeibai
Benelot
Matthew Woehlke
Jamie Snape
Jeffrey Bingham
Ian Wilkes
Logan Su