a30ff20e6b
preparation for KUKA IK tracking example
Erwin Coumans
2016-08-30 14:44:11 -07:00
d784c61b61
Add rolling friction, set rolling friction coefficient from urdf, and set up two point contact experiment.
yunfeibai
2016-08-30 11:19:23 -07:00
4094b9f0df
Disable 'm_robotSim.setNumSimulationSubSteps' because it is not needed at the moment Fix issue in contact/friction between btMultibody and btRigidBody (external force/torque of btRigidBody was not taken into account during contact/friction setup) Allow 0.1 mm slop in contact, to avoid loosing contact. Todo: allow contacts with positive distance in multibody solver.
erwin coumans
2016-08-27 13:44:18 -07:00
5b9b5178f9
Expose slider constraint in RobotSimAPI.
yunfeibai
2016-08-26 10:35:10 -07:00
c5164e503f
fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBodyDoubleData causing serialization issue in URDF/SDF loading in double-precision mode on Windows 32bit. (it was fine on Mac/Linux 64bit) bump serialization version to 2.85, as we change the file format fix in name clash in makesdna.cpp -> intptr_t is already defined.
erwin coumans
2016-08-26 10:00:29 -07:00
8eccac6fd8
Update CMakeLists to be the same as upstream.
yunfeibai
2016-08-22 10:26:56 -07:00
ba4c389c84
Fixed btKinematicController from clipping through walls in corners.
Will Smith
2016-08-19 18:46:07 -05:00
6751648bce
add some micro-sleep to prevent 100% CPU/memory bus hogging, preventing the graphics thread from making progress. debug draw color black for contact normal move debug draw option for constraint frames into 'k' key.
YunfeiBai
2016-08-19 13:58:53 -07:00
62d5b7c5c0
add single step simulation, using 'o' key. use 'i' key to suspend simulation first default background color a bit darker, to show debug lines tweaked contact point rendering a bit
erwin coumans
2016-08-19 10:30:02 -07:00
a68c9ca845
avoid MT crash in VR/physics server due to printf from separate thread. add fps display in VR use 1./240. internal substep for real-time physics sim in VR/physics server for more accurate robotics sim.
erwin coumans
2016-08-18 21:43:43 -07:00
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.
erwin coumans
2016-08-18 13:10:28 -07:00
6005e54aa1
Fix some inconsistencies in URDF file handling between btRigidBody and btMultiBody (rotation order and application of root-inertial-frame offset)
erwin coumans
2016-08-18 09:44:33 -07:00
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
Erwin Coumans
2016-08-17 19:35:52 -07:00
7c9441c3f5
by default, have a strong force keep the robot together, instead of floppy joints.
Erwin Coumans
2016-08-17 10:30:50 -07:00
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
Erwin Coumans
2016-08-11 14:55:30 -07:00
f416644481
set the camera, even in multi-threaded mode
Erwin Coumans
2016-08-11 11:20:31 -07:00
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.
erwin coumans
2016-08-09 18:40:12 -07:00
b880ddf76b
add pybullet render API with yaw/pitch/roll option add testrender.py file allow option to enable OpenGL hardware renderer in multithreaded sim
Erwin Coumans
2016-08-08 14:23:44 -07:00
f304fd7611
add one more pybullet renderImage API and testrender.py example tweak Bullet Inverse Dynamics, work-around compiler issue
Erwin Coumans
2016-08-02 11:12:23 -07:00
erwincoumans
Jeffrey Bingham
yunfeibai
Erwin Coumans
Logan Su
Michael Mc Donnell
Will Smith
Giovanni Petrantoni
Benjamin Ellenberger