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4,660 Commits 19 Branches 27 Tags 326 MiB
0022d0dafb
Commit Graph

59 Commits

Author SHA1 Message Date
yunfeibai
0022d0dafb Modify damped least square IK formulation. Test setting joint damping coefficients for IK. 2017-01-31 22:58:37 -08:00
Erwin Coumans
8e9181f85c [MJCF import] add custom broadphase collision filter, for MJCF/MuJoCo compatibility 
[MJCF import] improve MuJoCo importer, support collision filters
fixed a few more warnings
 2017-01-16 08:23:49 -08:00
Erwin Coumans
c0c4c8ba3f fix many warnings 
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
 2017-01-15 22:26:11 -08:00
Erwin Coumans
3d6584962a remove some memory leaks in example code. 2017-01-10 14:57:16 -08:00
Erwin Coumans
0092a1a55d fix API to use b3InitCreateUserConstraintCommand instead of b3CreateJoint 2016-11-14 16:14:27 -08:00
Erwin Coumans
c521d816c6 add user debug line/text features in pybullet + shared memory API: 
addUserDebugLine,
addUserDebugText
removeUserDebugItem
removeAllUserDebugItems
 2016-11-14 07:39:34 -08:00
erwincoumans
ff2738db26 Merge remote-tracking branch 'bp/master' 2016-11-04 13:16:55 -07:00
erwincoumans
9708392322 work-in-progress 
add UDP network connection for physics client <-> server.
also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
 2016-11-04 13:15:10 -07:00
yunfeibai
479497997c Add grasp bunny example with multibody gripper. 2016-11-02 14:53:28 -07:00
yunfeibai
ab6ce65abe Add contact handling between multibody and softbody. 2016-11-02 13:21:01 -07:00
yunfeibai
295c1b7c88 Modify the setup for grasping bunny example. 2016-11-02 12:49:51 -07:00
yunfeibai
3c37db0804 Add API to set bunny properties. Add example to show coupling between softbody and multibody. 2016-11-01 16:45:10 -07:00
yunfeibai
9d54f0cf8d Grasp soft body with rigid fingers. 2016-11-01 15:46:09 -07:00
yunfeibai
14fc8ae8c2 Restore original demo settings. 2016-10-17 13:19:34 -07:00
yunfeibai
b07df4d504 Load bunny through shared memory API and RobotSimAPI. Create grasp bunny example. 2016-10-17 13:01:04 -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
4fe86d2a1d Add btSoftMultiBodyDynamicsWorld. 2016-10-11 16:15:44 -07:00
yunfeibai
7e8d8b0488 Expose rest pose for null space task to API. 2016-09-30 01:03:40 -07:00
yunfeibai
1c1d3db26d An example to compare with and without null space task in IK. 2016-09-30 00:43:15 -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
29f890ae10 Add desired null space velocity computation. 2016-09-29 22:45:31 -07:00
yunfeibai
dd10dd6a3f Add a new one motor gripper to use Featherstone for slider and constraint for revolute joint. 2016-09-29 12:07:00 -07:00
erwincoumans
666c8f47b7 Merge pull request #800 from bulletphysics/iktest 
Iktest
 2016-09-23 07:40:09 -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
yunfeibai
27fab2adb5 Create a demo for one motor gripper grasp. 2016-09-21 12:08:03 -07:00
yunfeibai
bf16c87987 Add orientation constraint to IK. 2016-09-19 17:04:05 -07:00
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
yunfeibai
c952c50ad9 Merge remote-tracking branch 'upstream/master' 2016-09-11 04:11:51 -07:00
yunfeibai
a00841a498 Compute delta S from Bullet link state. 2016-09-10 19:18:29 -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
c94a8e0d35 Use body Jacobian from Bullet for IK. 2016-09-07 23:14:23 -07:00
yunfeibai
f635c64205 Expose Jacobian computation to RobotSimAPI. 2016-09-07 17:37:38 -07:00
Erwin Coumans
ecd814c9c5 export contact friction/damping through URDF and API 
convert from contact friction/damping to cfm/erp
btCollisionObject::setContactFrictionAndDamping
 2016-09-02 16:40:56 -07:00
erwincoumans
a370c3bbac Merge pull request #765 from YunfeiBai/master 
Torsional and rolling friction for btMultiBody
 2016-09-01 14:57:46 -07:00
yunfeibai
9c124b5896 Rolling friction demo for sphere and torsional friction demo for two point contact. 2016-08-30 17:50:37 -07:00
Erwin Coumans
a30ff20e6b preparation for KUKA IK tracking example 2016-08-30 14:44:11 -07:00
yunfeibai
d784c61b61 Add rolling friction, set rolling friction coefficient from urdf, and set up two point contact experiment. 2016-08-30 11:19:23 -07:00
Erwin Coumans
900fd86d58 fix R2D2GraspExample 2016-08-29 12:35:02 -07:00
erwin coumans
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.
 2016-08-27 13:44:18 -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
591f922d97 Support loading Urdf as btRigidBody with RobotSimAPI. Loading Sdf as btRigidBody is work in progress. 2016-08-16 17:56:30 -07:00
yunfeibai
4bc31394a0 Allow choosing loaded as btRigidBody with RobotSimAPI. 2016-08-16 16:57:48 -07:00