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6,368 Commits 19 Branches 27 Tags
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Commit Graph
416 Commits
Author SHA1 Message Date
erwin coumans f97cb7002d first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API 
b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
 2016-10-18 22:05:28 -07:00
yunfeibai 7630bf62d5 Add USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD option. 2016-10-18 17:38:43 -07:00
yunfeibai e112b15281 Move btSoftMultiBodyDynamicsWorld to BulletSoftBody. 2016-10-17 23:40:38 -07:00
yunfeibai 3ffd95fbab Merge remote-tracking branch 'origin/master' 2016-10-17 13:20:31 -07:00
yunfeibai b07df4d504 Load bunny through shared memory API and RobotSimAPI. Create grasp bunny example. 2016-10-17 13:01:04 -07:00
erwin coumans 29f3afe2a4 don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps 
optimize gpu upload (use glBufferSubData instead of glMapBuffer
Avoid checking char array against zero.
 2016-10-14 15:06:09 -07:00
erwincoumans 1a62f21143 Merge remote-tracking branch 'bp/master' 2016-10-12 23:07:41 -07:00
erwincoumans 33d9603e16 Add rudimentary 'saveWorld' command in shared memory API and pybullet, see examples/pybullet/saveWorld.py 
Use trilinear filtering instead of bilinear
 2016-10-12 23:03:36 -07:00
yunfeibai 880ee097fa Simulate bunny in grasp demo and set collision margin. 2016-10-12 15:34:45 -07:00
yunfeibai 379f2ac933 Load bunny to to the world in the grasp demo. 2016-10-12 11:51:04 -07:00
yunfeibai 9ab28ed466 Fix the link transform in world frame in IK. 2016-10-12 09:57:14 -07:00
erwin coumans a6225d4cd0 add check for #dof of KUKA in VR demo 
disable debug drawing again in VR demo
 2016-10-09 21:48:56 -07:00
erwincoumans bbb2fac940 App_SharedMemoryPhysics_VR: Add a command-line flag (--emptyworld) to disable the Samurai/KUKA robot creation in the VR demo, and use pybullet to populate the VR world. Note that either way, you can use pybullet to interact and control the world. 2016-10-08 18:40:09 -07:00
erwincoumans c5d4f7b3b3 disable VSYNC for VR 
clamp KUKA motor motion to be less abrupt
 2016-10-08 07:51:45 -07:00
erwin coumans 4cd401212c SharedMemory API: don't enable rolling friction by default for programmatic created rigid bodies 2016-10-07 17:52:14 -07:00
erwincoumans 0aa2bbfe07 Merge pull request #817 from erwincoumans/master 
avoid wavefront obj texture index out-of-bounds (most obj out-of-boun…
 2016-10-05 17:28:23 -07:00
erwin coumans d59b0f05a4 expose b3PhysicsParamSetNumSolverIterations 
split Visual Studio project generation batch file in regular and VR+pybullet+double precision build.
disable KUKA iiwa joint limit hack
 2016-10-05 16:31:48 -07:00
yunfeibai 0d58ebb311 Fix the desired angular velocity in IK to prevent flip motion. 2016-10-05 14:24:49 -07:00
erwin coumans d6f449762b avoid wavefront obj texture index out-of-bounds (most obj out-of-bounds are not checked) 
use second controller button
 2016-10-04 08:53:59 -07:00
YunfeiBai ebe5d9bb84 Add null space task as an option for IK in VR. 2016-09-30 16:47:33 -07:00
YunfeiBai 65091c309e Remove chess pieces. 2016-09-30 13:18:54 -07:00
YunfeiBai 8befdcba1a Modify table rendering. 2016-09-30 12:30:34 -07:00
YunfeiBai a2dacce3d4 Move object around to reset the scene in VR. 2016-09-30 11:57:30 -07:00
erwincoumans bcfb0aa473 enable textured table (no legs), place a few jenga/domino on table 2016-09-30 08:40:24 -07:00
yunfeibai 7e8d8b0488 Expose rest pose for null space task to API. 2016-09-30 01:03:40 -07:00
yunfeibai ee00696ae9 Test four IK modes: with and without orientation constraint, with and without null space task. 2016-09-30 00:15:51 -07:00
yunfeibai fd3cb061cb Expose IK with null space task to shared memory API and RobotSimAPI. 2016-09-30 00:05:00 -07:00
YunfeiBai f181ea4ccd Add new gripper in VR. 2016-09-29 12:07:54 -07:00
YunfeiBai 619f0d9d13 fixes in default VR setup 2016-09-28 16:07:55 -07:00
YunfeiBai dacca09614 Merge remote-tracking branch 'bp/master' 2016-09-28 13:54:35 -07:00
YunfeiBai 032156fbf2 Merge branch 'master' of https://github.com/bulletphysics/bullet3 2016-09-28 13:54:18 -07:00
YunfeiBai a967163665 Add chess pieces. 2016-09-28 13:46:41 -07:00
erwin coumans b81eb79ef5 ping-pong back/forward in PGS solving iterations to reduce bias in constraint order 
add experimental rhs clamp in btMultiBodyJointMotor to control maximum error resolution.
 2016-09-28 11:17:11 -07:00
YunfeiBai a62d7957b6 Keep one r2d2. 2016-09-27 16:55:10 -07:00
YunfeiBai 51963fdea3 Merge branch 'master' of https://github.com/bulletphysics/bullet3 2016-09-27 16:51:41 -07:00
YunfeiBai 3910003e0a Add IK damping coefficient vector. 2016-09-27 16:37:49 -07:00
YunfeiBai 61fccba5be Control two orientation components for kuka. 2016-09-27 14:10:20 -07:00
erwin coumans 0936ae6600 expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world. 2016-09-27 12:13:45 -07:00
YunfeiBai 539fe505a4 Add table and tray. 2016-09-26 11:31:30 -07:00
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 f5e65197f4 fix pybullet.c compilation for Windows 
add lego.urdf, duck.urdf (optimized using VHACD convex decomposition)
optimize Kiva shelf collision model (by hand, using boxes/Blender)
physics timescale toggle between  1 -> 0,25 -> 0
 2016-09-24 11:25:05 -07:00
erwincoumans 666c8f47b7 Merge pull request #800 from bulletphysics/iktest 
Iktest
 2016-09-23 07:40:09 -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 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