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e1ba6e9736996446c684ac24dacda685af927d14
Commit Graph
17 Commits
Author SHA1 Message Date
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
yunfeibai c952c50ad9 Merge remote-tracking branch 'upstream/master' 2016-09-11 04:11:51 -07:00
yunfeibai 1b72b91bcf Expose link state in RobotSimAPI. 2016-09-10 18:48:57 -07:00
erwin coumans 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)
 2016-09-08 15:15:58 -07:00
yunfeibai f635c64205 Expose Jacobian computation to RobotSimAPI. 2016-09-07 17:37:38 -07:00
Erwin Coumans a30ff20e6b preparation for KUKA IK tracking example 2016-08-30 14:44:11 -07:00
Erwin Coumans 900fd86d58 fix R2D2GraspExample 2016-08-29 12:35:02 -07:00
yunfeibai 758ca025d5 Set physics clock subdivider. 2016-08-24 14:25:06 -07:00
yunfeibai 3b25489d89 Further fix for integration test. 2016-08-24 12:44:24 -07:00
yunfeibai ecbf94abaa Fix issues in build test. 2016-08-24 11:31:08 -07:00
yunfeibai d46710e447 Expose fixed constraint in RobotSimAPI. 2016-08-22 18:14:29 -07:00
erwin coumans 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
 2016-08-19 10:30:02 -07:00
yunfeibai 4bc31394a0 Allow choosing loaded as btRigidBody with RobotSimAPI. 2016-08-16 16:57:48 -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
Erwin Coumans 34187fba1c fix camera update issue in previous commit 
fix Mac OSX build issue
 2016-07-14 09:49:49 -07:00
erwin coumans 4a705d1e03 Add kiva_shelf to prepare for picking/grasping task 
Fix uninitialized variable jointDamping/jointFriction in SDF importer
Add SDF <pose> parsing in visual, inertial, collision elements.
Slight improvement in TinyRender loading performance of largish meshes (30k vertices)
Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is.
b3RobotSimAPI support SDF file loading
Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures
 2016-07-14 00:05:57 -07:00
erwin coumans 7633cfb800 prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h 
prepare compliant contact work, urdf loading of parameters (see data/cube.urdf)
 2016-07-11 00:26:40 -07:00