Commit Graph

100 Commits

Author SHA1 Message Date
Erwin Coumans
310fabcd7e Further improvements in Bullet MuJoCo MJCF import:
[MJCF import] improved humanoid.xml, inverted_pendulum.xml import (automatically add dummy-links to connect multiple joints between bodies)
[MJCF import] fix bug in quaternion conversion (w,x,y,z) -> (x,y,z,w)
2017-01-15 11:22:24 -08:00
Erwin Coumans
3d6584962a remove some memory leaks in example code. 2017-01-10 14:57:16 -08:00
Erwin Coumans
afdcf69837 implement some dummy methods in URDFImporterInterface, some code
breaks because of un-implemented methods
2017-01-07 09:30:06 -08:00
Erwin Coumans
c940f0ec47 update pybullet quickstart quide PDF
hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
2016-12-31 14:43:15 -08:00
Erwin Coumans
fdd517e00f First step towards a MuJoCo MJCF importer for Bullet. It can load the humanoid.xml, ant.xml and some other OpenAI GYM asset files. Not all fields are converted, so it is work-in-progress. This is useful for Reinforcement Learning experiments, and would also help integration with DeepMind Lab. 2016-12-30 18:32:57 -08:00
Erwin Coumans
82995a8343 pybullet, more robust multi-server connections
Windows shared memory: allow to use custom key.
Improve GUI performance on Windows, submit letters in text as a batch (fewer draw-calls)
quadruped.py: first try to connect to SHARED_MEMORY, if it fails (<0) use GUI
increase Chrome about://tracing json export capacity (press 'p' in Example Browser)
UDP physics server: add --port and --sharedMemoryKey command-line arguments
PhysicsServerExample: add --sharedMemoryKey command-line option (for VR example too)
ExampleBrowser: sleep a few milliseconds if rendering is too fast, use --minUpdateTimeMicroSecs=0 to disable
2016-12-28 21:51:54 -08:00
Erwin Coumans
15cda75130 add <restitution> in <contact> settings of URDF/SDF
allow 'useMaximalCoordinates' and 'useFixedBase' in pybullet.loadURDF.
enable split impulse for btRigidBody, even in btMultiBodyDynamicsWorld.
allow initialization of velocity and apply force for btRigidBody in pybullet/shared memory API.
process contact parameters in URDF also for btRigidBody (friction, restitution etc)
add pybullet.setPhysicsEngineParameter with numSolverIterations, useSplitImpulse etc.
2016-11-30 22:24:20 -08:00
erwincoumans
0d47d61007 pybullet getClosestPoints 2016-11-09 21:01:04 -08:00
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
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
Logan Su
3b779ad3e9 Do not add limits for continuous joints. 2016-09-23 11:45:46 -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
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
erwin coumans
0a628f06cc decrease some gjk/epa tolerance to improve collision detection using very small collision margins (0.001/1mm)
tweak pr2 gripper.
2016-09-20 12:37:13 -07:00
erwincoumans
8d4c99801e Merge pull request #783 from bingjeff/urdf_loader_changes
[URDF] Edit loader to handle full inertia tensor.
2016-09-20 04:39:38 -07:00
erwin coumans
db3122233f remove that odd triangle in the origin of samurai castle (VR)
add rolling/spinning friction to cube, remove it from plane/samurai.urdf
URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit)
add some profiling markers to improve performance
2016-09-19 07:02:43 -07:00
Erwin Coumans
1d88cf71e4 separate spinning friction (torsional friction around contact normal) from
rolling friction (orthogonal to contact normal)
2016-09-16 00:04:33 +01:00
Jeffrey Bingham
26a464bf0b [URDF] Edit loader to handle full inertia tensor.
Previous URDF loader did not handle off-diagonal elements
in the URDF. This commit adds functionality to allow
the loading of an inertia matrix that has not already
been reduced to its principal components. It diagonalizes
the inertia matrix, tests that the values are real and
updates the inertial frame.
2016-09-13 08:42:33 -07:00
erwin coumans
4ab02a07e5 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-09-08 15:22:41 -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
erwincoumans
ba2f522e05 Update BulletUrdfImporter.cpp
use free (and not delete), since b3ImportMeshUtility/stbi_load uses malloc (and not new)
2016-09-07 16:02:16 -07:00
erwincoumans
4c9b009d5b Merge pull request #770 from erwincoumans/master
export contact friction/damping through URDF and API
2016-09-02 18:18:21 -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
Logan Su
9d2d286c46 Fix joint orientations when loading URDF files. 2016-09-01 18:12:14 -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
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
Logan Su
f86ce4d44b Add flags to load inertia values from URDF. 2016-08-29 15:09:18 -07:00
erwin coumans
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.
2016-08-26 10:00:29 -07:00
erwin coumans
6005e54aa1 Fix some inconsistencies in URDF file handling between btRigidBody and btMultiBody
(rotation order and application of root-inertial-frame offset)
2016-08-18 09:44:33 -07:00
Erwin Coumans
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
2016-08-11 14:55:30 -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
erwincoumans
e88de13cc6 fix Parse joint dynamics in SDF 2016-07-20 15:41:58 -07:00
Mat Kelcey
9369f9b764 fix error msg when loading sdfs 2016-07-20 10:24:34 -07:00
Erwin Coumans
589fa376b3 only add compound child shapes to 'allocated' list once 2016-07-16 17:58:06 -07:00
Erwin Coumans
e2bdd7dbb1 fix more memory leaks, ImportURDFExample is now leak-free
eliminate all run-time memory allocation (except for mouse-pick/ray-intersection) in ImportURDFExample
2016-07-16 17:40:44 -07:00
Erwin Coumans
2caa2b7ff4 removed more memory leaks and improve btAlignedAllocator memory-leak debugging 2016-07-16 14:58:11 -07:00
Erwin Coumans
bbefc6b108 fix an issue in previous commit 2016-07-16 01:11:53 -07:00
erwin coumans
f9762d63ab Removed many memoryleaks in Example Browser, reducing some technical debt.
When running the Example Browser with Basic Example, 'visual leak detector' show no leak.
Many other individual examples still leak, so it is work-in-progress.
Disabled the profiler window (too many leaks)
2016-07-16 00:55:56 -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
10cc6f14cb add option to use hardware OpenGL renderer for synthetic camera 2016-07-12 18:16:13 -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
erwin coumans
60d2b99151 Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary)
Improve rendering performance. OpenVR experience is smooth now.
commit needs a bit more testing before pushing in main repo.
2016-07-07 19:24:44 -07:00
Erwin Coumans
2b8bd58e1c support single-scalar scale values in URDF, even though "officially" it should be a vector3. This will load quadcopter.urdf in Drake:
https://github.com/RobotLocomotion/drake/blob/master/drake/examples/Quadrotor/quadrotor.urdf
2016-06-22 09:59:25 -07:00
Erwin Coumans
e3b2b1a969 add texture support in SDF, URDF for both OpenGL and software renderer (TinyRenderer) 2016-06-18 18:02:20 -07:00
yunfeibai
d51320be2c Check diffuse field in sdf. 2016-06-17 15:47:11 -07:00
Erwin Coumans
26f6618f00 colors for sdf 2016-06-17 12:07:38 -07:00
erwin coumans
0b69ba7f61 Support the <static> field under <model> in SDF to make the model immovable, similar to setting the mass to zero.
Add joint velocity motors in ImportSDF example.
2016-06-02 18:04:22 -07:00
erwin coumans
f469a2cb49 update to tinyrenderer synthetic camera 2016-05-31 22:55:13 -07:00
erwincoumans
ef19248daf Update URDFImporterInterface.h 2016-05-24 10:30:04 -07:00
Erwin Coumans
b1adc0d9ef avoid API change in URDFImporterInterface
fix .obj texture loading issue
2016-05-24 09:01:03 -07:00