Erwin Coumans
e35b0c5643
remove obsolete 'register' from BussIK
2017-11-17 12:09:21 -08:00
yunfeibai
dda1b05f4a
Expose IK solver options including DLS and SDLS.
2017-10-19 14:00:53 -07:00
yunfeibai
adcece7927
Adjust the IK setup to address the inverse kinematics issues mentioned in #1249 .
2017-09-27 14:14:57 -07:00
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
c0c4c8ba3f
fix many warnings
...
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
2017-01-15 22:26:11 -08:00
Erwin Coumans
2bb53b311d
silence warning
2016-11-07 21:13:48 -08:00
yunfeibai
29f890ae10
Add desired null space velocity computation.
2016-09-29 22:45:31 -07:00
yunfeibai
94c7bbe8e3
Add null space task for IK.
2016-09-29 17:12:51 -07:00
yunfeibai
0ee12475af
Add matrix inverse computation in BussIK.
2016-09-29 15:45:57 -07:00
Ian Wilkes
a2baf446ea
Fixed mismatched new and delete in BussIK VectorRn and MatrixRmn
2016-09-28 13:55:16 -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
cbda64c5e7
Update theta dot for velocity IK.
2016-09-20 10:24:48 -07:00
yunfeibai
bf16c87987
Add orientation constraint to IK.
2016-09-19 17:04:05 -07:00
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
erwin coumans
32eccdff61
Create project file for BussIK inverse kinematics library (premake, cmake)
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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
c198029cb9
Expose body Jacobian in shared memory API.
2016-09-07 16:00:38 -07:00
Erwin Coumans
a30ff20e6b
preparation for KUKA IK tracking example
2016-08-30 14:44:11 -07:00
erwincoumans
0c0b4be665
Merge pull request #722 from matpalm/fixSetIdentity
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fix setidentity bug
2016-07-29 14:50:16 -07:00
Mat Kelcey
80dfec170b
fix setidentity bug
2016-07-29 14:43:55 -07:00
Mat Kelcey
a7a9182953
fix warning: extra tokens at end of #endif directive
2016-07-28 16:47:05 -07:00
Erwin Coumans
53fa57bdc4
make IK compile on Mac OSX
2016-07-24 23:50:18 -07:00
erwin coumans
75e86051c2
Add inverse kinematics example with implementations by Sam Buss.
...
Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.
2016-07-24 22:22:42 -07:00
