Erwin Coumans
2336dfcb9e
Remove a temporary global static work matrix in the BussIK, since it conflicts with multithreaded applications.
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Instead, let the user pass it in explicitly.
2020-01-11 12:43:27 -08:00
Erwin Coumans
31688ffb34
fix in multi-endeffector IK, calculate jacobian uses dofs without base, fix premake build of some projects
2019-07-11 22:22:35 -07:00
Erwin Coumans
ee9575167d
expose PyBullet.calculateInverseKinematics2 that allows to specify multiple IK end effector locations (not multiple orientations)
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usage example:
jointPoses = p.calculateInverseKinematics2(bodyUniqueId, [endEffectorLinkIndices], [endEffectorTargetWorldPositions])
2019-07-10 17:21:18 -07:00
erwincoumans
ab8f16961e
Code-style consistency improvement:
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Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 14:17:31 -07:00
yunfeibai
dda1b05f4a
Expose IK solver options including DLS and SDLS.
2017-10-19 14:00:53 -07:00
yunfeibai
adcece7927
Adjust the IK setup to address the inverse kinematics issues mentioned in #1249 .
2017-09-27 14:14:57 -07:00
yunfeibai
abbd3ad884
minor fix.
2017-02-03 12:46:49 -08:00
yunfeibai
0022d0dafb
Modify damped least square IK formulation. Test setting joint damping coefficients for IK.
2017-01-31 22:58:37 -08:00
yunfeibai
7bd585fa87
Fix memory leak in IK.
2016-11-04 10:47:07 -07:00
yunfeibai
0d58ebb311
Fix the desired angular velocity in IK to prevent flip motion.
2016-10-05 14:24:49 -07:00
yunfeibai
7e8d8b0488
Expose rest pose for null space task to API.
2016-09-30 01:03:40 -07:00
yunfeibai
1c1d3db26d
An example to compare with and without null space task in IK.
2016-09-30 00:43:15 -07:00
yunfeibai
ee00696ae9
Test four IK modes: with and without orientation constraint, with and without null space task.
2016-09-30 00:15:51 -07:00
yunfeibai
fd3cb061cb
Expose IK with null space task to shared memory API and RobotSimAPI.
2016-09-30 00:05:00 -07:00
yunfeibai
29f890ae10
Add desired null space velocity computation.
2016-09-29 22:45:31 -07:00
yunfeibai
0ee12475af
Add matrix inverse computation in BussIK.
2016-09-29 15:45:57 -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
c0029135d8
Test IK in VR.
2016-09-25 14:24:28 -07:00
erwin coumans
e356f4f1f6
add test end-effector for Kuka iiwa (IK)
2016-09-22 19:48:26 -07:00
erwin coumans
310a330572
fix InverseKinematics+API for a case without tree (custom build Jacobian)
2016-09-22 13:27:09 -07:00
yunfeibai
cbda64c5e7
Update theta dot for velocity IK.
2016-09-20 10:24:48 -07:00
yunfeibai
bf16c87987
Add orientation constraint to IK.
2016-09-19 17:04:05 -07:00
Erwin Coumans
5e09b17baf
experimental Inverse Kinematics for KUKA iiwa exposed in
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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
yunfeibai
c952c50ad9
Merge remote-tracking branch 'upstream/master'
2016-09-11 04:11:51 -07:00
erwin coumans
32eccdff61
Create project file for BussIK inverse kinematics library (premake, cmake)
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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
