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292 Commits

Author SHA1 Message Date
Erwin Coumans
fd40ba424b test for knee joint limits under position control 2017-05-21 11:00:15 -07:00
Erwin Coumans
79e2c10506 add second humanoid_running_3.py example with 3 humanoids, for testing. Created a humanoid_symmetric_no_ground.xml and ground.xml: 
if the ground is duplicated, simulation is unstable (too many contacts in the same area?)
 2017-05-12 17:17:27 -07:00
yunfeibai
cfb8316297 Add an example to decode the packed button events from vr log. 2017-05-10 15:07:49 -07:00
Erwin Coumans
385156cbc5 add simple humanoid_benchmark.py and mjcf file 2017-05-05 17:24:35 -07:00
Erwin Coumans
61999ef789 b3ResizablePool: only remove a handle, if it is currently in-use 
also remove user constraints, if removing a body
 2017-05-04 13:14:24 -07:00
Erwin Coumans
eb7cf38293 Add option to --useKitchen=1 to VRGloveSimulatorMain 2017-05-02 22:33:42 -07:00
Erwin Coumans
07992fe61d Improve MJCF import, to allow reading of friction parameters, including spinning and rolling friction, with some rudimentary 'default class' support. 
Tweak VRGloveSimulatorMain to work better with MPL/mpl2.xml hand.
 2017-05-02 18:05:36 -07:00
Erwin Coumans
af6bf8ddc8 plumb URDF/SDF audio_source into PhysicsServerCommandProcessor, allow to play sounds on collision ! 
See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds:
https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf
Add the --audio flag to enable sound in pybullet/Bullet-C-API
 2017-05-01 11:14:09 -07:00
Erwin Coumans
2a2c18e959 add more tinyaudio preparation, some test wav files, play sound on collision events. Will expose this in the C-API to pick wav files and collision threshold levels etc. Use the premake --audio flag to try it out. The TinyAudio example in the ExampleBrowser works on Mac, Linux and Windows, you can play notes by pressing keys. 2017-04-29 10:32:30 -07:00
Erwin Coumans
dfc1800065 remove the goto's from the source code (came from http://github.com/thestk/stk toolkit) 
add test wav file
 2017-04-27 08:39:57 -07:00
erwincoumans
0f2771b1d1 Merge pull request #1059 from jietan/pullRequest 
make the URDF and the minitaur.py consistent with the real robot
 2017-04-06 04:57:26 +00:00
Erwin Coumans
e32debdca4 improvements in MJCF importer: fix capsule shape inertia (for fromto definition) 
add cylinder support
don't crash when no "quat" is provided
inertia fix in btMinkowskiSumShape (based on AABB)
 2017-04-05 12:22:38 -07:00
Jie Tan
1cd513024a make the URDF and the minitaur.py consistent with the real robot 2017-04-05 11:54:54 -07:00
yunfeibai
66a8685816 Merge remote-tracking branch 'upstream/master' 2017-03-29 15:06:15 -07:00
Erwin Coumans
544f289b24 better pr2_gripper collision model 2017-03-23 15:31:17 -07:00
yunfeibai
d717b1db84 Add the API to get the body name and pybullet example call. 2017-03-23 13:54:44 -07:00
Erwin Coumans
f498670798 :%s/STL/stl/g for Bullet/data/MPL/MPL.xml 2017-03-21 18:10:50 -07:00
erwincoumans
a30b887595 Merge pull request #1025 from olegklimov/master 
URDF loader improvement 2
 2017-03-21 17:12:22 -07:00
erwincoumans
cb08d077f0 Merge pull request #1030 from erwincoumans/master 
friction anchors, arm64 premake
 2017-03-20 11:48:44 -07:00
Erwin Coumans
0b017b0f53 fix issue with btMultiBody friction in combination with soft contacts (friction should not re-use normal contact cfm/erp) 
implement friction anchors, position friction correction, disabled by default. Use colObj->setCollisionFlag(flag | CF_HAS_FRICTION_ANCHOR); See test/RobotClientAPI/SlopeFrictionMain.cpp. In URDF or SDF, add <friction_anchor/> in <contact> section of <link> to enable.
PhysicsServer: properly restore old activation state after releasing picked object
btMultiBodyConstraintSolver: disable flip/flop of contact/friction constraint solving by default (it breaks some internal flaky unit tests)
 2017-03-20 10:58:07 -07:00
yunfeibai
753f1d3d2f Add lateral and spinning friction coefficients to gripper sdf model. 2017-03-20 10:16:15 -07:00
Oleg Klimov
fa7397cc92 Rename *.STL to *.stl for case-sensitive filesystems 2017-03-17 02:11:47 +03:00
Erwin Coumans
4db6fa9e29 update minitaur.py to use minitaur.urdf (instead of quadruped.urdf), also sort the legs in the same order as real hardware 
added test urdf files for minitaur with all fixed joints, or fixed knees.
added some stiffness/damping to minitaur legs (testing)
tiny_obj_loader, don't crash on invalid texture coordinates
btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
 2017-03-15 15:38:50 -07:00
Erwin Coumans
a613911c84 Merge remote-tracking branch 'bp/master' 2017-03-15 11:05:16 -07:00
erwincoumans
f67299de8e Merge pull request #1020 from jietan/pullRequest 
add cartpole urdf
 2017-03-14 17:06:10 -07:00
Erwin Coumans
6e2850e08a fix names (case) for Linux for MPL/hand 2017-03-14 17:03:11 -07:00
Jie Tan
f90986d6f0 add cartpole urdf 2017-03-14 15:04:43 -07:00
Mohi
43b0a8b6fb Fixing a bug on Visualizer Camera and a few more 
- resetDebugVisualizerCamera now accepts negative values for pitch and
yaw angles

- Defining kitchen model to be concave, so as to be able to put floating
objects inside

- Fixed an indention error in testrender_np.py
 2017-03-13 10:41:54 -07:00
Erwin Coumans
af295b6eed optimize hand (hand.py, vrhand.py) MPL.xml STL meshes for better collision detection performance (using Blender decimation tool) 2017-03-07 19:07:45 -08:00
erwincoumans
00361afea5 allow user to specify the maximum number of dofs to log in GenericRobotStateLogger (default = 12) 
add minitaur quadruped playback of minitaur log files (real robot and simulated create the same log files)
add improved minitaur.urdf file, see https://youtu.be/lv7lybtOzeo for a preview.
 2017-03-05 21:49:20 -08:00
Erwin Coumans
34fc2fb589 create premake/cmake file for Bullet/Extras/obj2sdf 
add missing 1.sdf for Bullet/data/kitchens/1.sdf
add support for getting keyboard events (pybullet.getKeyboardEvents and b3RobotSimulatorClientAPI::getKeyboardEvents)
 2017-03-02 12:33:22 -08:00
Erwin Coumans
2eb019cdc3 Created Wavefront obj to sdf converter, to make it easier to import complex obj models with many materials. See kitchen for example. 
Fix in tinyobj, make sure material is initialized
Add fatihrmutfak kitchen model, for Virtual Reality and some research
 2017-03-01 10:06:10 -08:00
Jie Tan
83e5e816f5 Merge remote-tracking branch 'bp/master' into pullRequest 2017-02-16 15:13:12 -08:00
Erwin Coumans
65deeee64b add optimized tray/traybox.urdf 2017-02-16 14:29:51 -08:00
Erwin Coumans
63486a712c VR video recording, use command-line --mp4=videoname.mp4 
tune gripper grasp example with tefal pan, 800Newton force.
URDF importer: if using single transform 1 child shape, don't use compound shape.
if renderGUI is false, don't intercept mouse clicks
add manyspheres.py example (performance is pretty bad, will look into it)
[pybullet] expose contactBreakingThreshold
 2017-02-16 14:19:09 -08:00
Erwin Coumans
08b83c3cd8 Merge remote-tracking branch 'bp/master' 2017-02-16 13:41:12 -08:00
Jie Tan
4df8b27626 make the motorId corresponds to that of the real minitaur. change the mass of the quadruped.urdf, change the friction of plane.urdf. 2017-02-08 17:26:36 -08:00
Erwin Coumans
d0fa10db63 add spinning_friction to sphere2_rolling_friction.urd 2017-01-31 12:01:10 -08:00
erwincoumans
7e59cecd13 removed some link from MJCF hand, the parser doesn't handle that root link properly (yet) 2017-01-26 17:52:12 -08:00
Erwin Coumans
76dcf3a751 remove the contype=0 in inverted_pendulum.xml, so we can 'mouse-pick' the pendulum. 
[mjcf importer] add rudimentary support for inertial frame computation, for 'fromto' capsules.
 2017-01-24 21:10:21 -08:00
Erwin Coumans
d465e1eea5 add capsule support in urdf parser (non-standard extension), capsule.urdf 
fix btCapsuleShape (X,Y,Z) margin issue
fix uninitialized variables in TinyRenderer: m_hasLightDistance, m_hasLightAmbientCoeff, m_hasLightDiffuseCoeff, m_hasLightSpecularCoeff
pybullet/shared memory API 'getClosestPoints' / b3InitClosestDistanceQuery, only report contacts equal/smaller distance than given
 2017-01-23 16:45:18 -08:00
Erwin Coumans
64957ece9f add hand.py/hand.ino used to create this VR glove, using MuJoCo Haptix MPL hand (Apache 2 license) 
https://www.youtube.com/watch?v=VMJyZtHQL50
added b3InitSyncBodyInfoCommand, to retrieve body info, when connecting to a server with existing bodies
pybullet will call this b3InitSyncBodyInfoCommand automatically after connecting
Avoid overriding the py.setVRCameraState setting in VR
 2017-01-20 18:13:24 -08:00
Erwin Coumans
52761f5578 [pybullet] implement addUserDebugParameter / readUserDebugParameter 
fix inertial frame for door.urdf
allow picking of links of multi-bodies with a fixed base
 2017-01-17 15:42:32 -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
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
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
17570c4700 tweak color of quadruped robot URDF, tweak quadruped.py script to make it more compatible with VR demo 
allow VR physics server to run with or without 'realTimeSimulation'
 2016-12-11 09:28:36 -08:00
erwincoumans
61cfa18923 save default VR camera tuning, requires MIDI controller 
tweak some values in VR demo
 2016-12-02 17:44:00 -08:00
Erwin Coumans
898517b1e3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-11-29 19:14:20 -08:00
Erwin Coumans
746c4d0d2a add a tray, similar to those ones: 
https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html

tune the VR demo a bit, to make it more user friendly.
 2016-11-29 17:08:47 -08:00
yunfeibai
0bc4e0a4c3 Render multiple objects with shadow. 2016-11-27 16:53:15 -08:00
yunfeibai
583dc1cac7 Add torus. 2016-11-27 15:34:01 -08:00
erwincoumans
8c69fa13ca add pybullet getCameraImage, replacing renderImage, cleaner API: 
always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir
added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV
see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use
add missing base_link.stl for husky.urdf
 2016-11-17 15:15:52 -08:00
Erwin Coumans
ee7a5a470f tweak quadruped script to make a few more moves 2016-11-16 21:36:51 -08:00
erwincoumans
2329c00faa Add RtMidi for midi control, use the --midi option in premake, and see 
update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr
add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc)
tweak quadruped.py to move a bit
add mouse picking to physics server
 2016-11-16 16:12:59 -08:00
erwin coumans
d0cbfc5905 add humanoid/nao.urdf (BSD license) 2016-11-14 14:09:57 -08:00
Erwin Coumans
c521d816c6 add user debug line/text features in pybullet + shared memory API: 
addUserDebugLine,
addUserDebugText
removeUserDebugItem
removeAllUserDebugItems
 2016-11-14 07:39:34 -08:00
erwincoumans
9bad64fed9 allow obsolete OpenGL2 drawer to render with z-up axis. 2016-11-12 11:59:40 -08:00
erwincoumans
0d47d61007 pybullet getClosestPoints 2016-11-09 21:01:04 -08:00
erwincoumans
502f4b7d40 update .bullet file 2016-11-05 11:32:31 -07:00
yunfeibai
b7482c1142 Add model file for kuka with free base. 2016-11-03 09:54:56 -07:00
yunfeibai
9d54f0cf8d Grasp soft body with rigid fingers. 2016-11-01 15:46:09 -07:00
erwin coumans
24593ed11a fix r2d2.urdf and avoid self-penetrating limbs 2016-10-19 16:21:33 -07:00
erwin coumans
eda400d14c Merge remote-tracking branch 'bp/master' 2016-10-19 07:43:46 -07:00
erwin coumans
d1ab6c144b change some defaults in MultiBody example, a slider constraint without limits is a bad idea 2016-10-16 11:52:38 -07:00
yunfeibai
880ee097fa Simulate bunny in grasp demo and set collision margin. 2016-10-12 15:34:45 -07:00
yunfeibai
379f2ac933 Load bunny to to the world in the grasp demo. 2016-10-12 11:51:04 -07:00
erwincoumans
d853500997 add kuka iiwa with different limits (experiment with inverse kinematics null space) 2016-10-09 21:16:01 -07:00
erwincoumans
0aa2bbfe07 Merge pull request #817 from erwincoumans/master 
avoid wavefront obj texture index out-of-bounds (most obj out-of-boun…
 2016-10-05 17:28:23 -07:00
erwin coumans
d59b0f05a4 expose b3PhysicsParamSetNumSolverIterations 
split Visual Studio project generation batch file in regular and VR+pybullet+double precision build.
disable KUKA iiwa joint limit hack
 2016-10-05 16:31:48 -07:00
YunfeiBai
ebe5d9bb84 Add null space task as an option for IK in VR. 2016-09-30 16:47:33 -07:00
YunfeiBai
8befdcba1a Modify table rendering. 2016-09-30 12:30:34 -07:00
YunfeiBai
a2dacce3d4 Move object around to reset the scene in VR. 2016-09-30 11:57:30 -07:00
erwincoumans
032ffe427e jenga brick was way too heavy 2016-09-29 22:03:29 -07:00
erwincoumans
d8c54e3e31 no spinning friction for jenga block 2016-09-29 21:51:28 -07:00
erwincoumans
a1fa2b8056 add a basic table top (no legs yet) 2016-09-29 21:45:39 -07:00
yunfeibai
dd10dd6a3f Add a new one motor gripper to use Featherstone for slider and constraint for revolute joint. 2016-09-29 12:07:00 -07:00
YunfeiBai
619f0d9d13 fixes in default VR setup 2016-09-28 16:07:55 -07:00
YunfeiBai
dacca09614 Merge remote-tracking branch 'bp/master' 2016-09-28 13:54:35 -07:00
YunfeiBai
032156fbf2 Merge branch 'master' of https://github.com/bulletphysics/bullet3 2016-09-28 13:54:18 -07:00
YunfeiBai
a967163665 Add chess pieces. 2016-09-28 13:46:41 -07:00
erwin coumans
b81eb79ef5 ping-pong back/forward in PGS solving iterations to reduce bias in constraint order 
add experimental rhs clamp in btMultiBodyJointMotor to control maximum error resolution.
 2016-09-28 11:17:11 -07:00
YunfeiBai
51963fdea3 Merge branch 'master' of https://github.com/bulletphysics/bullet3 2016-09-27 16:51:41 -07:00
YunfeiBai
7101cf013e Remove unused model. 2016-09-27 16:41:02 -07:00
YunfeiBai
3910003e0a Add IK damping coefficient vector. 2016-09-27 16:37:49 -07:00
YunfeiBai
61fccba5be Control two orientation components for kuka. 2016-09-27 14:10:20 -07:00
YunfeiBai
539fe505a4 Add table and tray. 2016-09-26 11:31:30 -07:00
Erwin Coumans
96c1ee4256 revert default contact 'erp' (error-reduction-parameter) from 0.8 to 0.2 
as it used to be.
 2016-09-26 07:55:30 -07:00
YunfeiBai
60d07a6f6e Kuka grasp with one motor gripper. 2016-09-25 21:13:31 -07:00
YunfeiBai
b803f4e7cf Attach gripper to kuka arm. 2016-09-25 16:05:53 -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
erwincoumans
666c8f47b7 Merge pull request #800 from bulletphysics/iktest 
Iktest
 2016-09-23 07:40:09 -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
erwin coumans
e356f4f1f6 add test end-effector for Kuka iiwa (IK) 2016-09-22 19:48:26 -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
yunfeibai
27fab2adb5 Create a demo for one motor gripper grasp. 2016-09-21 12:08:03 -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
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
a3aa8ef7f1 tune gripper parameters for VR demo 2016-09-19 14:31:47 -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
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
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
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
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
erwin coumans
de5d1b5cfc make husky wheels soft/compliant 
reduce shadow size to make VR on older GPU (Mac Pro 2013) perform more smooth
less sleep in physics thread.
 2016-09-03 08:39:40 -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
erwincoumans
a370c3bbac Merge pull request #765 from YunfeiBai/master 
Torsional and rolling friction for btMultiBody
 2016-09-01 14:57:46 -07:00
yunfeibai
9c124b5896 Rolling friction demo for sphere and torsional friction demo for two point contact. 2016-08-30 17:50:37 -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
Erwin Coumans
900fd86d58 fix R2D2GraspExample 2016-08-29 12:35:02 -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
yunfeibai
4bc31394a0 Allow choosing loaded as btRigidBody with RobotSimAPI. 2016-08-16 16:57:48 -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
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
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
2caa2b7ff4 removed more memory leaks and improve btAlignedAllocator memory-leak debugging 2016-07-16 14:58:11 -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
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
e3b2b1a969 add texture support in SDF, URDF for both OpenGL and software renderer (TinyRenderer) 2016-06-18 18:02:20 -07:00
Erwin Coumans
26f6618f00 colors for sdf 2016-06-17 12:07:38 -07:00
erwin coumans
4b2c0f6d89 make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF 
add an example using 'direct'
fix the send-desired-state commands, to add flags for arguments set, using default values.
Start exposing SDF loading in shared memory api, not fully implemented yet.
 2016-06-03 19:03:56 -07:00
Erwin Coumans
5bf125cab5 fix some compile issues using premake 
use textured cube/sphere model for test
 2016-06-02 13:54:52 -07:00
Erwin Coumans
b1adc0d9ef avoid API change in URDFImporterInterface 
fix .obj texture loading issue
 2016-05-24 09:01:03 -07:00
erwin coumans
2fc0358750 Expose a better API to allow any render engine to be used for the physics simulation when loading URDF/SDF files. 
See bullet3/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
Give the kuka_iiwa/model.urdf some blue color, not just orange, to mimick the original a bit better
Preparation for the CMD_CAMERA_IMAGE_COMPLETED command, to expose a virtual camera to the robotics API
 2016-05-19 18:37:15 -07:00
Erwin Coumans
c2a5b08e35 add a few test files for TinyRenderer software renderer 2016-05-18 17:58:44 -07:00
erwin coumans
606f78da43 work-in-progress tinyrenderer -> shared memory API synthetic camera image 2016-05-17 23:57:19 -07:00
Erwin Coumans
876c9e57fe fixes 2016-05-13 22:57:41 -07:00
yunfeibai
7929bee128 parse root transformation and test loading two robots 2016-05-11 15:52:50 -07:00
yunfeibai
06a2669b32 test load kuka arm sdf 2016-05-11 13:43:50 -07:00
yunfeibai
1bebcc6d9a Merge remote-tracking branch 'upstream/master' 2016-05-10 10:18:27 -07:00
Erwin Coumans
e9c6abff47 add initial SDF importer, work-in-progress (still too incomplete to be useful) 2016-05-09 17:25:07 -07:00
Erwin Coumans
fb65c29033 use "world" to make door static (instead of using mass = 0) 
minor improvements to pybullet
 2016-05-03 12:59:21 -07:00
erwin coumans
40841e9078 revert floor.obj test file, load it by default in TinyRenderer/main.cpp 2016-04-26 21:01:46 -07:00
erwin coumans
03bdcc8737 patch TinyRenderer so it software-renders in an OpenGL texture, for testing 
fix texture support: flip texture to make OpenGL happy (lower-left is origin)
add path prefix to .obj loader, so materials/textures are loaded ok.
 2016-04-26 20:52:52 -07:00
Erwin Coumans
778ce5296d add example of rendering a cube in SimpleOpenGL3 2016-04-25 13:21:56 -07:00
yunfeibai
cbeddfc897 Modify shared memory client example to test joint motor torque measurement. 2016-04-19 16:52:47 -07:00
Erwin Coumans
59b32b7af1 re-enable command log and playback in physics server 
report applied motor torque in physics server
 2016-04-08 18:17:17 -07:00
Erwin Coumans
643cf5ab1d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-03-17 16:12:48 -07:00
Erwin Coumans
7e4dfb7207 remove SimpleOpenGL3 demo, it breaks some builds 
reset callback to 0 after exiting a demo to avoid issues
 2016-03-17 16:11:53 -07:00
erwincoumans
fe92de3e50 add infrastructure float btMultiBodyLink m_jointDamping, m_jointFriction (actual damping/friction is in a separate commit) 
add door.urdf for testing damping/friction
 2016-03-17 14:54:46 -07:00
Erwin Coumans
6c9815c8f9 fix axis in r2d2.urdf 
enable SimpleOpenGL3 demo for CMake
 2016-03-16 08:13:53 -07:00
Erwin Coumans
aa3daaa8c6 turn test/SharedMemory/test.c into a gtest for CI unit testing in github 
remove overly verbose printfs in importers
fix axis in r2d2.urdf
 2016-03-15 22:47:53 -07:00
Erwin Coumans
6bc3f94f52 add a Pendulum example that is also used as unit test. 
Gold data is created by numerically solving a second-order non-linear differential equation.
(see examples/MultiBody/pendulum_gold.h)
 2016-01-06 18:08:49 -08:00
Erwin Coumans
433a7aa9b6 fix C++11 issue 2015-12-07 11:44:43 -08:00
Erwin Coumans
03cc4f0554 add InverseDynamics example for example browser 
add CMake support for BulletInverseDynamics and BulletInverseDynamicsUtils
 2015-11-24 11:12:02 -08:00
Erwin Coumans
163b797d8b Update to ZLib license for GWEN files. 
Note that our copy of GWEN is modified and GWEN is not under active development anymore.
We plan to integrate and modify GWEN further into the Bullet Example Browser or rewrite the GUI and drop GWEN

fix cube.obj and cube.mtl to enable textures
 2015-10-25 11:30:34 -07:00
erwincoumans
081a40d254 initial implementation to send debug lines from physics server to client, 
need to add streaming because memory is too small to store all lines
initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
 2015-08-19 22:51:16 -07:00
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89765ceccf update kuka urdf 2015-08-19 16:05:32 -07:00