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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
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
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
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
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
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
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
erwincoumans
af7c44d360 Merge pull request #775 from YunfeiBai/master 
Compute IK with Bullet body Jacobian
 2016-09-12 12:45:05 +01:00
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
erwincoumans
30bd1d7362 Merge pull request #773 from erwincoumans/master 
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
 2016-09-09 15:22:12 -07:00
erwin coumans
c5d775a635 disable real-time by default 2016-09-09 14:41:23 -07:00
erwin coumans
3c706306cd add experimental pr2-gripper support in VR physics server 
add setErp to btMultiBodyJointMotor
 2016-09-09 14:30:37 -07:00
erwin coumans
f72982306e fix issues with VR physics server 2016-09-09 11:28:38 -07:00
Erwin Coumans
016dc273c6 fix an SSE/SIMD 16-byte alignment issue 2016-09-09 09:01:04 -07:00
Erwin Coumans
3e23c793ad Merge remote-tracking branch 'bp/master' 2016-09-09 08:24:50 -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
00babd507f Merge pull request #772 from erwincoumans/master 
merge pybullet, make husky wheels soft/compliant as a test.
 2016-09-08 12:41:06 -07:00
Erwin Coumans
e0127bdb54 merge pybullet.c after conflicts due to Jeff's formatting pull request. 2016-09-08 11:12:58 -07:00
Erwin Coumans
8ba9a04dd9 Merge remote-tracking branch 'bp/master' 2016-09-08 07:39:48 -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
erwincoumans
f4ac577baf Merge pull request #771 from bingjeff/master 
pybullet tweaks for double precision
 2016-09-07 17:36:01 -07:00