erwincoumans
5c74715927
Update build_visual_studio.bat
...
remove some clutter form the .bat file
2016-09-20 21:18:55 -07:00
erwincoumans
b8541cf721
Merge pull request #796 from erwincoumans/master
...
decrease some gjk/epa tolerance to improve collision detection using …
2016-09-20 17:51:49 -07:00
erwincoumans
cca2236f1a
Merge pull request #795 from YunfeiBai/master
...
Inverse kinematics with orientation constraint.
2016-09-20 17:49:35 -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
yunfeibai
c01f6245d0
Quick fix of pybullet for IK with orientation constraint.
2016-09-20 11:10:13 -07:00
yunfeibai
cbda64c5e7
Update theta dot for velocity IK.
2016-09-20 10:24:48 -07:00
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
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
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
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