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Author SHA1 Message Date
erwincoumans
9451923dbd Merge pull request #717 from matpalm/pyJointMotorControlArgs 
update pybullet_setJointMotorControl with seperate args for targetPosition, targetVelocity, kp and kd
 2016-07-26 16:18:28 -07:00
erwincoumans
745743ac53 Merge pull request #718 from erwincoumans/master 
fix screen width/height issue on Intel/Linux
 2016-07-26 16:17:48 -07:00
Mat Kelcey
b4cfee8745 set dft for kd to be 1.0. note: this is only applicable to CONTROL_MODE_VELOCITY 2016-07-26 16:16:18 -07:00
Erwin Coumans (Google)
98c6181ba8 fix screen width/height issue on Intel/Linux 
add command-line option to set png_skip_frames when taking screenshot series
 2016-07-26 15:36:21 -07:00
Mat Kelcey
4b75c5d9d0 add another combo of args to allow kd to be configured in the CONTROL_MODE_VELOCITY case 2016-07-26 11:36:34 -07:00
Mat Kelcey
b221d2ad18 add targetPosition, targetValue, kp & kd to pybullet_setJointMotorControl 2016-07-26 11:09:12 -07:00
erwincoumans
a6e5c6a273 Merge pull request #716 from erwincoumans/master 
Add robotics learning add GripperGraspExample
 2016-07-25 16:01:15 -07:00
Erwin Coumans
8270096fad add GripperGraspExample, separate from R2D2GraspExample 2016-07-25 12:30:47 -07:00
Erwin Coumans
6b0ceace7f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-07-25 11:49:56 -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
299243d49b Merge pull request #715 from erwincoumans/master 
Add inverse kinematics example with implementations by Sam Buss.
 2016-07-25 00:02:50 -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
erwincoumans
a285a72c62 Merge pull request #704 from hujiajie/w4373 
[WIP] Suppress compiler warnings.
 2016-07-21 17:03:28 -07:00
erwincoumans
e55628c7ac Merge pull request #708 from matpalm/paramNameFix 
GetJointInfo used linkIndex param, switched to jointIndex for naming consistency
 2016-07-21 17:02:55 -07:00
erwincoumans
d26ef6cee1 Merge pull request #709 from erwincoumans/master 
fix one more multi-threading issue
 2016-07-21 17:02:13 -07:00
Erwin Coumans
77b9e1a3e2 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-07-20 15:46:25 -07:00
erwincoumans
e88de13cc6 fix Parse joint dynamics in SDF 2016-07-20 15:41:58 -07:00
Erwin Coumans
d3a94248d4 fix one more multi-threading issue 2016-07-20 12:48:01 -07:00
Mat Kelcey
51ec707230 fix GetJointInfo to use a param called jointIndex (not linkIndex) for naming consistency 2016-07-20 11:01:02 -07:00
erwincoumans
2278385802 Merge pull request #707 from matpalm/loadErrorMsgTypo 
fix error msg when loading sdfs
 2016-07-20 10:50:31 -07:00
erwincoumans
628d029e30 Merge pull request #706 from erwincoumans/master 
Improve OpenVR support, fix some multi-threading issue (disable CProfileManager singleton), fix/remove old API
 2016-07-20 10:31:11 -07:00
Mat Kelcey
9369f9b764 fix error msg when loading sdfs 2016-07-20 10:24:34 -07:00
erwin coumans
81af5db2da Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-07-19 15:56:34 -07:00
erwin coumans
25a1714754 disable CProfileManager, might reduce some multi-threading conflicts 2016-07-19 15:55:52 -07:00
Erwin Coumans
0ae252fa35 fix issue, use bodyUniqueId/b3JointControlCommandInit2 2016-07-19 15:53:16 -07:00
erwin coumans
2302709e2d OpenVR support: track multiple controllers and buttons 2016-07-18 23:13:46 -07:00
erwincoumans
73ac7c89c6 Merge pull request #703 from erwincoumans/master 
OpenVR controller can pick/drag objects
 2016-07-18 11:46:53 -07:00
hujiajie
c9c837cc67 [WIP] Suppress compiler warnings. 
Fix Visual Studio warning C4373: previous versions of the compiler did
not override when parameters only differed by const/volatile qualifiers.
 2016-07-18 23:09:44 +08:00
erwin coumans
c28cd03fbd OpenVR controller can pick/drag objects. Instructions, Windows only: 
Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR
Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll
App_SharedMemoryPhysics_VR
Run Python. Here are some Python lines to get going:
import pybullet as p
p.connect(p.SHARED_MEMORY)
p.loadURDF("cube.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)

Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it
Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky
Disabled the 'glFlush' commands in GLInstancingRenderer.
Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h
Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.
 2016-07-17 23:50:11 -07:00
erwin coumans
e1e76c19a3 Merge remote-tracking branch 'bp/master' 2016-07-17 21:29:17 -07:00
Erwin Coumans
5cb97baba0 add husky, quadcopter and plane 100x100 meter urdf files, 
to prepare for a bit of robotics, machine learning and VR fun
 2016-07-16 23:14:16 -07:00
Erwin Coumans
fcc9d4ebcb fix SIMD/16-byte alignment issue causing issue in one of the old benchmarks 2016-07-16 22:33:15 -07:00
erwincoumans
260e5d2b3d Merge pull request #701 from erwincoumans/master 
Remove many memory leaks/technical debt in example code.
 2016-07-16 22:01:19 -07:00
Erwin Coumans
f9096c2e30 typo/case sensitivity BroadphaseCollision vs NarrowPhaseCollision, aargh 2016-07-16 21:47:07 -07:00
Erwin Coumans
8c69bfb042 fix: accidently enable memory-leak debug test 2016-07-16 21:36:40 -07:00
Erwin Coumans
c54a61b97a More example code is memory-leak free now, in particular PhysicsServerExample. 
/PhysicsServerCommandProcessor
also fixed some memory issue in InverseDynamicsExample (the base class is supposed to delete collision shape memory)
 2016-07-16 21:29:31 -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
a12d25e6ce remove #include of visual leak detector (used to find memory leaks in ExampleBrowser/main.cpp) 2016-07-16 00:58:09 -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
797680a535 Remove memory leak in SimpleOpenGL3 example code 2016-07-14 20:42:00 -07:00
erwincoumans
4cbc741f66 Merge pull request #693 from hujiajie/master 
[WIP] Suppress compiler warnings.
 2016-07-14 10:52:59 -07:00
erwincoumans
93e98ddbd0 Merge pull request #698 from matpalm/linkIdFix 
pybullet_applyExternalForce linkId bug
 2016-07-14 10:51:49 -07:00
erwincoumans
824c721710 Merge pull request #699 from erwincoumans/master 
Add kiva_shelf to prepare for picking/grasping task
 2016-07-14 10:51:34 -07:00
Erwin Coumans
34187fba1c fix camera update issue in previous commit 
fix Mac OSX build issue
 2016-07-14 09:49:49 -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
Mat Kelcey
588bd007e7 bug fix for pybullet_applyExternalForce where linkId wasn't actually being used in b3ApplyExternalForce call 2016-07-13 21:20:41 -07:00