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Author SHA1 Message Date
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
erwincoumans
2f5be6a319 Merge pull request #794 from erwincoumans/master 
URDF2Bullet: support revolute joint limits. Remove that odd triangle in the origin of samurai castle (VR)
 2016-09-20 04:35:43 -07:00
yunfeibai
bf16c87987 Add orientation constraint to IK. 2016-09-19 17:04:05 -07:00
erwin coumans
bb23f91578 disable some logging method 2016-09-19 14:40:17 -07:00
erwin coumans
a4165adddc more tweak in pr2_gripper.urdf (VR), remove some collision meshes (until interaction issues are resolved) 2016-09-19 14:40:01 -07:00
erwin coumans
3eb149ca75 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2016-09-19 14:33:55 -07:00
erwin coumans
a3aa8ef7f1 tune gripper parameters for VR demo 2016-09-19 14:31:47 -07:00
Erwin Coumans
e488c72496 fix build issue 2016-09-19 10:19:51 -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
Benelot
062236af70 Fix running headless to be nearly completely headless. 2016-09-18 01:03:41 +02:00
Benelot
51e51ca848 Print out effective speedup. Reduce application tick to 60/s. 2016-09-18 00:52:08 +02:00
Benelot
7cf4a2352c Simplify the parameter interface for NNWalkers. Keys 1-9 cause speedup. 2016-09-18 00:42:34 +02:00
erwincoumans
48d42c7c6e Merge pull request #792 from erwincoumans/master 
delete -> free due to the use of stb_image.h (which uses malloc)
 2016-09-17 00:38:32 +01:00
Erwin Coumans
8355f09b21 delete -> free due to the use of stb_image.h (which uses malloc) 2016-09-16 16:25:13 -07:00
Matthew Woehlke
7e1d72dfe4 Remove useless const qualifiers from returns 
Remove const qualifiers applied to POD return values, as these are
meaningless and ignored by the compiler and are therefore potentially
misleading. (They also trip -Wignored-qualifiers.)
 2016-09-16 11:01:03 -04:00
erwincoumans
dd791e2222 Merge pull request #791 from erwincoumans/master 
default contact erp (m_erp2) was too low in physics server
 2016-09-16 09:19:35 +01:00
Benelot
f0f694145d Implement TimeWarpBase. 
-------------------------------------
This commit implements speeding up and slowing down examples. The
example can be influenced by the parameters. A separate example will be
added to show off the capabilities of the TimeWarpBase for other
examples. 

The walkers work quite well, a successful evolution was run over night
and reached a walker distance of 7.2m.
 2016-09-16 09:49:18 +02:00
Erwin Coumans
567b003654 separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction 
improvements in VR demo, add grasper etc.
 2016-09-16 00:57:00 +01:00
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
Erwin Coumans
4d6a95017e default contact erp (m_erp2) was too low in physics server 
causing gripper to penetrate box
 2016-09-15 23:11:27 +01:00
Matthew Woehlke
ba3a1dcc98 Fix clew.c link errors 
Add missing link to CMAKE_DL_LIBS to resolve link errors from clew.c
using dlopen and friends but failing to link to libdl.

Fixes #787.
 2016-09-15 12:58:31 -04:00
Matthew Woehlke
ef943bdcf0 Add "missing" virtual dtor 
Make the dtor of b3DynamicBvhBroadphase virtual, to match that the type
has other virtual methods. This silences a -Wvirtual-dtor warning.
 2016-09-15 12:17:23 -04:00
Jamie Snape
9f42cf27ed Fix typo 2016-09-14 17:22:54 -04:00
Jamie Snape
b0ace4509a Enable rpath on OS X when the CMake version supports it 2016-09-14 13:00:51 -04:00
erwincoumans
79d24db60f Merge pull request #784 from erwincoumans/master 
experimental Inverse Kinematics for KUKA iiwa exposed in
 2016-09-14 02:52:09 +01:00
Erwin Coumans
f9679bd594 prevent an issue in TinyRendererSetup example 2016-09-14 00:30:58 +01:00
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
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
Benelot
faada023be Fix error happening when using btQuaternion() to create Unit quaternion 
instead of btQuaternion::getIdentity(). Fix problems raised by Bullet CI.
 2016-09-13 09:48:45 +02:00
erwincoumans
e5a8eb2425 rolling friction -> combine using rolling*normal friction, add for both objects. 
rolling friction -> only along the normal, until we have separate rolling friction coefficients on normal and non-normal directions
Don't teleport with grasping controller (VR)
Tune VR grasping a bit.
 2016-09-12 19:10:20 +01:00
Benelot
c0285bc425 Add slider to control number of parallel evaluations. 2016-09-12 19:42:07 +02:00
Benelot
229d2501af Add 2m ground circles. Make population config printable. Add timeseries 
plot of individual fitnesses of each generation.
 2016-09-12 16:36:37 +02:00
erwincoumans
af7c44d360 Merge pull request #775 from YunfeiBai/master 
Compute IK with Bullet body Jacobian
 2016-09-12 12:45:05 +01:00
Benelot
88edbf8524 Implement basic evoluationary algorithm. 2016-09-11 22:25:22 +02:00
yunfeibai
ae2d256f57 Merge remote-tracking branch 'upstream/master' 2016-09-11 04:17:05 -07:00
yunfeibai
c952c50ad9 Merge remote-tracking branch 'upstream/master' 2016-09-11 04:11:51 -07:00
erwincoumans
81749e7065 Merge pull request #780 from erwincoumans/master 
pybullet: add option to use NumPy to speed up, thanks to moof2k
 2016-09-11 12:03:20 +01:00
Erwin Coumans
7df9b69039 pybullet: add option to use NumPy to speed up, thanks to moof2k 
option is disabled by default. When using cmake, use
cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON
then both testrender.py and testrender_np.py will work
without numpy only testrender.py works.
The numpy.reshape is likely a no-op when using numpy array,
so we could remove testrender_np.py...

See https://github.com/bulletphysics/bullet3/pull/774
 2016-09-11 11:35:12 +01:00
Erwin Coumans
5c76b01659 allow pybullet with or without NumPy 2016-09-11 11:09:51 +01:00
Erwin Coumans
c75bbd4608 allow pybullet with or without numpy using PYBULLET_USE_NUMPY define (in build system) 2016-09-11 11:09:10 +01:00
Erwin Coumans
ec46934e22 Merge remote-tracking branch 'bp/master' 2016-09-11 10:56:55 +01:00
erwincoumans
18ef164e7c revert numpy test/travis.yml 2016-09-11 10:47:00 +01:00
erwincoumans
c093c04be0 Update .travis.yml 2016-09-11 10:37:23 +01:00
erwincoumans
6a9d2d6084 Update appveyor.yml 2016-09-11 10:10:25 +01:00
erwincoumans
055ea49eff numpy update test travis.yml 2016-09-11 08:57:05 +01:00
Erwin Coumans
e921f1b9b7 remove duplicate definitions of SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE 2016-09-11 08:40:58 +01:00
erwincoumans
5abe6d7e38 Merge pull request #777 from erwincoumans/master 
init ERP for second btMultiBodyJointMotor,
 2016-09-11 07:09:32 +01:00
Erwin Coumans
82661d98cd init ERP for second btMultiBodyJointMotor, 
comment-out debug printf in Kuka IK example
 2016-09-11 05:54:47 +01:00
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