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743 Commits

Author SHA1 Message Date
Erwin Coumans
1bb133a01f update to OpenVR 1.07 from https://github.com/ValveSoftware/openvr 2017-05-03 08:40:29 -07:00
Erwin Coumans
9fef6c1d66 Add C++ version VRGloveSimulatorMain example, using the serial library. 
First run the App_PhysicsServer_SharedMemory_VR_vs2010.exe to run the VR server,
then run App_VRGloveHandSimulator. You likely need to tune the minV/maxV for each finger (check values using Arduino IDE Serial Monitor)
 2017-05-01 22:35:33 -07:00
yunfeibai
4da2c076a7 Add API to reset mass. 2017-05-01 22:18:54 -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
e8c1602232 add vrhand for vive tracker 
tweak 'saveWorld' feature a bit (mjcf, gui fallback if shared memory server is not available)
 2017-04-21 10:28:20 -07:00
erwincoumans
5b789ed67b reduce max ray hits to 256 2017-04-19 12:06:26 -07:00
yunfeibai
a7068bb57a Modify the link index when computing Jacobian. Add a test for end effector orientation IK. Inverse dynamics Jacobian uses zero-based indexing of bodies, not starting from -1 for base. 2017-04-17 16:54:45 -07:00
erwincoumans
ee753eef6f Merge pull request #1073 from devnexen/build_fix_bsd 
build fix for BSD systems
 2017-04-17 18:19:10 +00:00
Erwin Coumans
ad2099e107 address 2 issues pointed out by PVS-Studio: 
https://github.com/bulletphysics/bullet3/issues/1074
 2017-04-17 10:01:44 -07:00
David Carlier
756568ad9c build fix for BSD systems 2017-04-16 17:53:44 +01:00
Erwin Coumans
5158c1ae98 add python dumpLog.py utility to view log files created using 'startStateLogging' 
don't enable <CTRL> for hotkeys yet
add some more profile markers
log objectId and linkIndex as signed int ('i') and not unsigned int 'I'
fix issue in startStateLogging: number of parameters was wrong
 2017-04-12 15:02:47 -07:00
Erwin Coumans
80e87d5ccb re-create debug drawer after 'resetSimulation', also avoid memory leak after doing so. 
this fixes wireframe.
Also use <CTRL>+hotkey, to avoid conflicts with user-specified keyboard functions.
 2017-04-11 16:03:07 -07:00
Erwin Coumans
bdf366b045 implement pybullet.getDebugVisualizerCamera, width, height, providing viewmatrix, projection matrix 2017-04-10 11:03:41 -07:00
Erwin Coumans
82b6bc8770 apply the deviceTypeFilter also to VR state logging. 2017-04-08 11:48:12 -07:00
erwincoumans
2e47310e76 fix enum (has to be power of 2, to allow combination of devices) 
add vrtracker.py
 2017-04-08 10:37:32 -07:00
Erwin Coumans
440d445a02 also report VR events for HMD and generic tracked devices. Also expose those VR events to pybullet: expose a deviceTypeFilter, that defaults to VR_DEVICE_CONTROLLER 2017-04-07 22:53:36 -07:00
Erwin Coumans
82b576a390 fixed a bug that prevented kitchens/1.sdf to render properly (local scaling was double applied) 
disable some left-over clipping that was moved to another part of the code
 2017-04-06 21:13:23 -07:00
Erwin Coumans
deb95c758b TinyRenderer: implement triangle clipping against near-plane 
TinyRenderer: implement texture UV-repeat by default (instead of clamp(0,1))
 2017-04-06 14:31:34 -07:00
erwincoumans
2e13531493 Merge pull request #1061 from erwincoumans/master 
Implement rayTestBatch. At the moment, it is still testing individual…
 2017-04-06 04:56:49 +00:00
Erwin Coumans
6cbb00fd6b Implement rayTestBatch. At the moment, it is still testing individual rays on the physics server. We can enable multi-threaded version later. At least the python + shared-memory IPC overhead will be much lower. 2017-04-05 15:21:26 -07:00
erwincoumans
ac91896025 Merge pull request #1054 from erwincoumans/master 
pybullet setup.py / pip support for Windows, Linux and Mac! just run 'pip install pybullet' and wait until all compiled (like numpy, it is mainly source, except for a few wheels Mac 2.7 and Win32 3.5). Expose URDF_USE_SELF_COLLISION flag.
 2017-04-04 23:36:32 +00:00
Erwin Coumans
b095e1d917 expose pybullet.URDF_USE_SELF_COLLISION flag, experimental (likely doesn't work well for many URDF files) 2017-04-04 12:47:34 -07:00
yunfeibai
b168f53ed9 Rename body index to body unique id. 2017-04-04 10:38:25 -07:00
yunfeibai
1e91e78469 Add pybullet API for logging contacts. 2017-04-02 16:03:20 -07:00
yunfeibai
0d83667817 Add C API to log contact points. 2017-04-02 15:45:48 -07:00
yunfeibai
7c7d831767 Add contact point logger. 2017-04-02 15:09:40 -07:00
Erwin Coumans
9d05b46de2 expose width/height as ExampleBrowser options. 
suppress lack of 'site' support message in MJCF importer
suppress lack of 'plane' visual support in urdf/sdf import
getBodyName default to "" to avoid breaking cloudsim
expose bodyName when requesting body info (sdf/mjcf import)
pass optional "options" string to pybullet.connect method. this can be used for --opengl2 flag in GUI mode (or other flags)
 2017-03-30 11:01:33 -07:00
erwincoumans
dae13eee7f Merge pull request #1048 from erwincoumans/master 
expose linkIndexA/B as filter option in pybullet.getContactPoints
 2017-03-29 18:19:23 -07:00
Erwin Coumans
711431db5c first draft of VR controller state logging 2017-03-29 16:29:34 -07:00
yunfeibai
f062847038 Replace spaces with tabs. 2017-03-29 15:37:33 -07:00
yunfeibai
66a8685816 Merge remote-tracking branch 'upstream/master' 2017-03-29 15:06:15 -07:00
yunfeibai
64573c38e4 Remove getBodyName API. 2017-03-29 15:03:29 -07:00
yunfeibai
de3f91b64e Get body name from getBodyInfo. 2017-03-29 14:56:05 -07:00
erwincoumans
0750d502a8 Merge pull request #1041 from olegklimov/master 
Random improvements (MJCF, error messages, gravity)
 2017-03-29 09:12:48 -07:00
Erwin Coumans
fd2c0f58bc Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-03-27 17:25:40 -07:00
Oleg Klimov
77608154a3 MJCF: fix capsule length when given in size="", fix slider joint limits 2017-03-27 22:54:20 +03:00
Oleg Klimov
3048326add C API: fix b3SetContactFilterLink() when using b3RequestContactPoint() 2017-03-27 22:54:20 +03:00
Oleg Klimov
634f4cfdbc MJCF: support for angle units in <compile angle="...">, kill two stdout messages 2017-03-27 22:54:20 +03:00
Erwin Coumans
38ad1bfb89 revert to m_jointFriction (from m_jointFriction1) 2017-03-27 10:16:55 -07:00
Erwin Coumans
4911916937 Expose 'flags' option for loadURDF, to allow customization of the URDF loading process while maintaining backward compatibility. 
For example: URDF_USE_INERTIA_FROM_FILE flag. By default, URDF2Bullet will re-compute the inertia tensor based on mass and volume, because most URDF files have bogus Inertia values.
 2017-03-27 08:30:20 -07:00
Erwin Coumans
7503418c72 Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. 
Add several MSVC optimization flags to cmake.
Bump up VERSION because serialization format changed
Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo.

pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity
fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
 2017-03-26 13:06:46 -07:00
Erwin Coumans
21d1827c9f revert previous cmake copy->symlink (doesn't work on Windows) 
fix timing issues at small timestep, disable default linear damping for btMultiBody
 2017-03-23 17:30:59 -07:00
yunfeibai
0a552c3ba1 Merge remote-tracking branch 'upstream/master' 2017-03-23 13:55:44 -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
0a654c2d58 expose optional targetVelocity to pybullet.resetJointState 
add C-API: b3CreatePoseCommandSetJointVelocities and b3CreatePoseCommandSetJointVelocity
 2017-03-23 10:29:16 -07:00
yunfeibai
50f0cfca9e Add body name when loading urdf. 2017-03-23 10:16:39 -07:00
erwincoumans
a30b887595 Merge pull request #1025 from olegklimov/master 
URDF loader improvement 2
 2017-03-21 17:12:22 -07:00
Oleg Klimov
80a0b51a1d MJCF: fix cylinders in MJCF, also (possibly) fixes capsules in tiny renderer 2017-03-22 00:36:28 +03:00
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
Oleg Klimov
41df15a464 MJCF: fix B3_PI, fix colors, fix capsule without 'fromto' 2017-03-19 00:19:04 +03:00
Oleg Klimov
e8da7bb6f8 URDF loader: fix MuJoCo xml load, also closes #993 2017-03-17 02:11:47 +03:00
Erwin Coumans
32b9eacb34 fix compile issue 2017-03-16 13:26:44 -07:00
Erwin Coumans
59d16b2c42 expose video capture as logging command in b3RobotSimulatorClientAPI (C++) and pybullet (use STATE_LOGGING_VIDEO_MP4) 2017-03-16 09:13:33 -07:00
erwincoumans
c1c89e6fad Merge pull request #1000 from olegklimov/master 
URDF loader improvement 1
 2017-03-13 19:16:45 -07:00
Oleg Klimov
fa60cc5f56 URDF loader: fix SDF branch, warn about unsupported geometry 2017-03-14 02:32:02 +03:00
Oleg Klimov
82495f3c84 URDF loader: reuse the same resources finder routine for TinyRendererVisualShapeConverter 2017-03-10 18:17:38 +03:00
yunfeibai
3ad49ae5eb Set logging unique id at initialization. This fixed a bug that the second log couldn't be stopped properly. 2017-03-07 11:52:26 -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
erwincoumans
a7ad6c2860 Merge remote-tracking branch 'bp/master' 2017-03-04 15:31:02 -08:00
erwincoumans
c7579d7b82 fix quadruped, allow user to pick the maximum number of dofs to log 2017-03-04 15:30:57 -08:00
yunfeibai
6e3cd26f11 Log time stamp and step count. 2017-03-04 13:19:43 -08:00
erwincoumans
44b140dd38 disable the gMaxNumCmdPer1ms experiment by default (-1) 
fix minitaur_evaluate.py script, quadruped.py
 2017-03-04 12:59:21 -08:00
Erwin Coumans
7cb5898db6 fix body name in GUI more 
expose getBodyInfo to b3RobotSimulatorClientAPI
 2017-03-03 11:33:20 -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
erwincoumans
255b21a776 Merge pull request #979 from erwincoumans/master 
fix lack of collision scaling in pybullet URDF/SDF files (only graphi…
 2017-03-02 08:18:11 -08:00
yunfeibai
a33dcdb63d Modify logging and playback to handle fixed joint. 2017-03-01 23:37:01 -08:00
Erwin Coumans
6a40c1cca7 pybullet expose resetDebugVisualizerCamera 
example: pybullet.resetDebugVisualizerCamera(cameraDistance=3,cameraYaw=30,cameraPitch=52,cameraTargetPosition=[0,0,0])
 2017-03-01 15:04:07 -08:00
Erwin Coumans
2f3ba49357 expose some sleep timeout pybullet.setPhysicsEngineParameter(maxNumCmdPer1ms=100) or b3PhysicsParamSetMaxNumCommandsPer1ms, 
if more commands than those are processed per millisecond, a 1ms sleep will follow, to avoid other threads being stalled.
 2017-03-01 13:48:57 -08:00
erwincoumans
77538b04c2 Update PhysicsServerCommandProcessor.cpp 2017-02-24 16:01:18 -08:00
erwincoumans
929eb49029 Merge pull request #974 from erwincoumans/master 
expose timeout in pybullet/shared memory API
 2017-02-24 15:50:26 -08:00
Erwin Coumans
a4f1e34899 expose timeout in pybullet/shared memory API 
add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
 2017-02-24 15:34:11 -08:00
erwincoumans
f15722ffb1 Merge pull request #973 from erwincoumans/master 
allow to compile/run 64bit version of VR, co-exist of 64bit and 32bit openvr_api.dll
 2017-02-22 17:38:27 -08:00
Erwin Coumans
0b27edf172 allow to compile/run 64bit version of VR lib, workaround for issue that both 32bit and 64bit version is called openvr_api.dll 
Now 64bit version is called openvr64pi.dll (patched the 64bit binary library openvr_api.lib)
See also https://github.com/ValveSoftware/openvr/issues/412
 2017-02-22 15:50:09 -08:00
yunfeibai
86f0067266 A bug fix for logging the orientation of the base of the object. 2017-02-22 13:30:28 -08:00
Erwin Coumans
bd30ba30ce Replace large timeout (1024*1024*1024) using real-time clock timeout (10 seconds default) 
Change SHARED_MEMORY_MAGIC_NUMBER to make sure server/client are using the same version (shared memory)
add --realtimesimulation to physics server (GUI, VR)
remove --G Xcode from build_cmake_pybullet_double.sh
 2017-02-22 09:33:30 -08:00
Erwin Coumans
926c83f2ab Merge remote-tracking branch 'bp/master' 2017-02-21 17:38:42 -08:00
Erwin Coumans
3988d363b3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-02-21 17:38:32 -08:00
Erwin Coumans
37890e5a4d allow to enable/disable GUI, shadows, wireframe of OpenGL Visualizer from API 
(pybullet.configureDebugVisualizer)
 2017-02-21 17:36:54 -08:00
erwincoumans
61f05c7330 Update PhysicsServerCommandProcessor.cpp 2017-02-21 13:28:43 -08:00
Erwin Coumans
1cd65a324c update pybullet quickstart guide 2017-02-21 10:23:18 -08:00
erwincoumans
07bd911c36 Merge pull request #966 from erwincoumans/master 
add tiny clsocket cross-platform TCP  library, update pybullet PDF doc
 2017-02-20 21:17:22 -08:00
Erwin Coumans
28146e816f export TCP connection mode to pybullet 
made TCP disconnection detection more reliable
 2017-02-20 20:34:05 -08:00
Erwin Coumans
942015df9d use TCP in main thread, accumulate bytes until size matches. 2017-02-20 18:54:12 -08:00
Erwin Coumans
3d73a9d788 shmem preliminary TCP implementation (not working yet) 2017-02-20 16:46:25 -08:00
Erwin Coumans
bfcdb8c408 add App_PhysicsServerTCP and App_PhysicsServerSharedMemoryBridgeTCP 
(can be easier tunneled over SSH)
 2017-02-20 14:43:01 -08:00
Erwin Coumans
55361e262e fix 6dof sensors for fixed joints (recent bug left fields uninitialized in getJointInfo) 
add premake build support for Test_PhysicsClientUDP
 2017-02-20 13:18:33 -08:00
yunfeibai
e12981fd45 Enable logging a specified list of objects for generic robot logging. 2017-02-20 12:17:12 -08:00
yunfeibai
a3c1fec171 Add logging for generic robot and an example of logging state of kuka and cubes. 2017-02-17 17:41:57 -08:00
erwincoumans
45aa392a28 Update PhysicsServerCommandProcessor.cpp 2017-02-17 15:43:38 -08:00
Erwin Coumans
cfd35840f0 initial implementation of state logging. 
see examples/pybullet/logMinitaur.py for example. Other state logging will include general robot states and VR controllers state.
 2017-02-17 14:25:53 -08:00
Erwin Coumans
2b27ab2463 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-02-17 10:48:03 -08:00
Erwin Coumans
34c3fca8d5 prepare state logging system (log state of robot, vr controllers after each stepSimulation) 2017-02-17 10:47:55 -08:00
Erwin Coumans
8f546acbe8 disable keyboard toggle in Linux/X11 
revert num solver iterations to 50 (from 150)
set solver iterations for one gripper grasp to 150
 2017-02-16 15:56:42 -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
6db217b36a remove some sleep delays from PhysicsServerExample physics loop. 2017-02-09 18:27:51 -08:00
yunfeibai
ce69f27f32 Modify the depth buffer value in TinyRenderer to be consistent as in OpenGL. 2017-02-08 11:34:38 -08:00
erwincoumans
46c7974927 Merge pull request #947 from erwincoumans/master 
[pybullet] add some out-of-bounds checks, reduce run-time memory allocations
 2017-02-07 12:07:40 -08:00
Erwin Coumans
56b4ac278b pybullet workaround for very slow Mac OSX GUI mode, since OpenGL can only run in main thread, just like the Python interpreter 
improve quadruped.py script, to allow 'useRealTime' 0 or 1
 2017-02-07 08:08:55 -08:00
erwincoumans
88fdffba04 pybullet/shared memory API: add some more check for out-of-bounds indices when setting up a command. 
avoid many run-time memory allocations in btCompoundCompoundCollisionAlgorithm
 2017-02-04 12:32:42 -08:00
yunfeibai
abbd3ad884 minor fix. 2017-02-03 12:46:49 -08:00
yunfeibai
3442b6524a Merge remote-tracking branch 'upstream/master' 2017-02-03 12:32:08 -08:00
yunfeibai
ce9378f819 Add shared memory API and RobotSim API for setting joint damping in IK. 2017-02-03 11:08:44 -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
erwincoumans
3a42b356e2 Add profile markers for BenchmarkDemo raytest. 
Implement pybullet enableJointForceTorqueSensor, add forcetorquesensor.py example.
 2017-01-31 10:14:00 -08:00
erwincoumans
26a34e3cda Move ChromeTracing in its own file, and add tracing support for VR server (App_SharedMemoryPhysics_VR) 
Add a bit of extra sleep in PhysicsServer thread, to make rendering smoother.
 2017-01-29 20:59:47 -08:00
erwincoumans
446cb77a5e [UDP] disconnect needs to set m_data->m_isConnected=false 2017-01-28 23:18:26 -08:00
erwincoumans
d0e1ec8c48 add a usleep(0) to improve UDP performance on Windows (busy-loop eats all CPU time, other thread didn't proceed) 2017-01-28 22:46:23 -08:00
erwincoumans
87bce5eacf UDP networking improvements and experiments (send CMD_STEP_FORWARD_SIMULATION as 4 bytes command, status 8 bytes, instead of enormous command/status packages. 
Change some timeouts to use actual RTC time instead of dummy loops 1024*1024*1024.
Fix type conected -> connected
 2017-01-28 22:14:45 -08:00
erwincoumans
2b3c25d5f2 add a b3Clock::usleep in PhysicsClientUDP to avoid clogging all resources 
report more meaningful connection status for UDP.
 2017-01-28 12:42:04 -08:00
erwincoumans
37ed4b819a [cmake] only use BT_ENABLE_VR for the _VR target 
use -DUSE_DOUBLE_PRECISION=ON when building pybullet and/or VR targets
 2017-01-25 22:41:31 -08:00
Erwin Coumans
94c768bea8 cmake build support for VR demo (WIN32 only) 
update to latest OpenVR 1.05 SDK from https://github.com/ValveSoftware/openvr
add keyboard support to tune default camera VR position
VR revert to double 'distorted' views on Desktop, since the single view isn't showing full scene
 2017-01-25 19:17:57 -08:00
Erwin Coumans
e652696f52 report localVisualFrame instead localInertialFrame 2017-01-25 08:29:45 -08:00
Erwin Coumans
95e25d9942 fix a few warnings 2017-01-24 08:36:46 -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
73e83d6e84 fix OSX build, fix some warnings 2017-01-22 21:06:51 -08:00
Erwin Coumans
cf9f022d39 [pybullet] getNumConstraints, getConstraintInfo APIs. 
[pybullet] updated pybullet_quickstartguide.pdf
Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal.
pybullet getConstraintInfo
Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
 2017-01-22 19:08:31 -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
d81d62a70b Prepare for Bullet 2.86 release, update version to 2.86 (release will be tagged soon) 
protect some C-API methods against negative dof indices
add triangle mesh import from MJCF files
update to recent pybullet quickstart guide pdf
 2017-01-20 11:48:33 -08:00
erwincoumans
394196e5a2 Update PhysicsServerExample.cpp 2017-01-17 17:38:30 -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
966ebb04fe set the paircache filter 2017-01-16 21:04:02 -08:00
Erwin Coumans
12a391e1f9 [pybullet] expose collision filter mode and max constraint force: 
pybullet.changeUserConstraint(maxForce=<double>)
pybullet.setPhysicsEngineParameter(collisionFilterMode=<int>)
 2017-01-16 18:17:18 -08:00
Erwin Coumans
93471a1c31 cmake Win32 fixes 
fixed some more warnings
added alignment macros to some classes
btPersistentManifold from 128 to 16 bytes aligned
prepare command to select collision filter mode (SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
 2017-01-16 13:05:26 -08:00
Erwin Coumans
3d985ff7a5 add App_SharedMemoryPhysics and App_SharedMemoryPhysics_GUI to cmake 
fix 'connection' detection for shared memory (due to multiple shmem blocks)
add link to pybullet.so
 2017-01-16 11:17:32 -08:00
Erwin Coumans
8e9181f85c [MJCF import] add custom broadphase collision filter, for MJCF/MuJoCo compatibility 
[MJCF import] improve MuJoCo importer, support collision filters
fixed a few more warnings
 2017-01-16 08:23:49 -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
9aa5a839d5 add pybullet.changeConstraint / b3InitChangeUserConstraintCommand/ b3InitChangeUserConstraintSetPivotInB /b3InitChangeUserConstraintSetFrameInB command, to change an existing user constraint. 
add constraint.py example.
allow pybullet.createConstraint to create user constraint without a child body ('fixed' to the world)
 2017-01-12 10:30:46 -08:00
Erwin Coumans
1c79798583 make sure threads will get out of 'workerThreadWait' so they can exit at the end 2017-01-12 08:06:40 -08:00
Erwin Coumans
4897139dad pybullet.calculateInverseKinematics: expose null space method with and without orientation 
add inverse_kinematics.py and hello_pybullet.py pybullet examples
add m_worldLinkFramePosition/Orientation fields to b3LinkState, and in pybullet.getLinkState (URDF link frame in Cartesian/world coordinates)
 2017-01-11 21:39:22 -08:00
Erwin Coumans
3d6584962a remove some memory leaks in example code. 2017-01-10 14:57:16 -08:00
Erwin Coumans
0f51fb618d micro-sleep every 8 milliseconds in physics server, to not starve other threads. 2017-01-08 13:06:08 -08:00
Erwin Coumans
5e6cfd70b5 iOS platform and Android don't have __thread local storage, so avoid multi-threaded profiler on those (only on _WIN32, __linux__ and __APPLE__ and not TARGET_OS_IPHONE 
Add a Sleep(0) for Windows to yield threads (and not Sleep(1))
 2017-01-08 12:49:04 -08:00
Erwin Coumans
4fc697f646 fix _WIN32 lacking #include <inttypes.h> 
allow creation of multiple shared memory segments on win32.
fix pybullet compilation on Visual Studio 2010 (old compiler)
 2017-01-06 10:19:19 -08:00
Erwin Coumans
8f02e75d98 avoid creating shared memory segments with same key multiple times 2017-01-06 09:55:22 -08:00
Erwin Coumans
8e554a0c1b allow creation of multiple shared memory segments 2017-01-06 09:49:03 -08:00
Erwin Coumans
90b1026785 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-01-05 18:36:54 -08:00
Erwin Coumans
0cf869e56a add multiple shared memory blocks, to allow multiple 
simultaneous connections. At the moment, MAX_SHARED_MEMORY_BLOCKS = 2
Note that the amount of shared memory is limited on many systems,
32MB, while one block is already over 1MB at the moment...
You can connect to SHARED_MEMORY using the current key,
and key+1. There are a few commands that cannot currently be
executed in parallel among multiple connections,
since the implementation of the server
caches some data: rendering image (getCameraData),
getting contact point data and getting debug lines.
 2017-01-05 18:30:01 -08:00
Erwin Coumans
83e103ac15 Add pybullet setVRCameraState and b3SetVRCameraStateCommandInit to set the VR camera root transform (position/orientation) and optional tracking object unique id (-1 for no tracking) 
Fix robotcontrol.py script, getContactPointData -> getContactPoints
 2017-01-05 17:41:58 -08:00
Erwin Coumans
c940f0ec47 update pybullet quickstart quide PDF 
hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
 2016-12-31 14:43:15 -08:00
erwin coumans
c6650f9329 fix win32 UNICODE build 
re-enable VR teleport
 2016-12-31 11:35:56 -08:00
Erwin Coumans
82995a8343 pybullet, more robust multi-server connections 
Windows shared memory: allow to use custom key.
Improve GUI performance on Windows, submit letters in text as a batch (fewer draw-calls)
quadruped.py: first try to connect to SHARED_MEMORY, if it fails (<0) use GUI
increase Chrome about://tracing json export capacity (press 'p' in Example Browser)
UDP physics server: add --port and --sharedMemoryKey command-line arguments
PhysicsServerExample: add --sharedMemoryKey command-line option (for VR example too)
ExampleBrowser: sleep a few milliseconds if rendering is too fast, use --minUpdateTimeMicroSecs=0 to disable
 2016-12-28 21:51:54 -08:00
291d35ea6e fix some linux issues (cmake doesn't need to link against OpenGL, X11, Xext since we dynamically load those 
move some structures to global namespace
 2016-12-27 13:20:12 -08:00
Erwin Coumans
9c12e4edb0 don't reset the simulation (in C++), when pressing some VR button 
add some little tests in vrEvent.py
 2016-12-26 21:08:10 -08:00
Erwin Coumans
826c5854a8 See also pybullet quickstart guide here: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# 
vrevent.py: add a Tiltbrush-style drawing example using pybullet
Expose getVREvents to pybullet / shared memory API, access to any VR controller state & state changes.
Improve performance of user debug lines (pybullet/shared memory API) by batching lines with same color/width
expose rayTest to pybullet/shared memory API (single ray for now)
add pybullet getMatrixFromQuaterion
 2016-12-26 19:40:09 -08:00
Erwin Coumans
4c06fd27b3 Example Browser: add option (keypress 'p') to dump json timing profile trace, that you can open using Chrome about://tracing 
Make btQuickprof thread safe
Add option in btQuickprof to override custom timing profile (btSetCustomEnterProfileZoneFunc, btSetCustomLeaveProfileZoneFunc)
remove b3Printf in a user/physics thread (those added added, while drawing the GUI running in the main thread)
 2016-12-23 15:20:04 -08:00
Erwin Coumans
dcd02a1e15 add option to terminate PGS constraint solvers based on a least square residual threshold 
(for example solverInfo().m_leastSquaresResidualThreshold = 1e-7 and use large m_numSolverIterations
disable sphere-sphere contact cache, it is buggy (some contact point stay in the cache, when sphere penetrates more than total margins)
tweak some gpu demo settings
 2016-12-16 18:09:52 -08:00
Erwin Coumans
9ae40a59ba export joint types in pybullet for pybullet.createConstraint 
revert to premake4.exe, the targetsuffix etc doesn't seem to work in premake5.exe
 2016-12-14 20:44:10 -08:00
erwincoumans
0c26fee04d Merge pull request #886 from erwincoumans/master 
some VR tweaks and bugfix for issue #878
 2016-12-11 12:53:47 -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
yunfeibai
c253c750b9 Expose ambient, diffuse and specular coefficient of the light. 2016-12-06 15:21:35 -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
erwincoumans
383b30a4e4 reset also needs to reset iterations etc 
move from 100 to 50 iterations for VR demo
 2016-12-02 14:10:26 -08:00
yunfeibai
bf83c77dab Merge remote-tracking branch 'upstream/master' 2016-12-01 16:48:22 -08:00
yunfeibai
a88272de1b Restore the old constructor for TinyRenderObjectData for backward compatibility. 2016-12-01 16:47:11 -08:00
Erwin Coumans
15cda75130 add <restitution> in <contact> settings of URDF/SDF 
allow 'useMaximalCoordinates' and 'useFixedBase' in pybullet.loadURDF.
enable split impulse for btRigidBody, even in btMultiBodyDynamicsWorld.
allow initialization of velocity and apply force for btRigidBody in pybullet/shared memory API.
process contact parameters in URDF also for btRigidBody (friction, restitution etc)
add pybullet.setPhysicsEngineParameter with numSolverIterations, useSplitImpulse etc.
 2016-11-30 22:24:20 -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
e8ff969a6f Merge remote-tracking branch 'upstream/master' 2016-11-29 14:17:38 -08:00
yunfeibai
0cb2b21b5f Add pybullet API for shadow. 2016-11-29 14:10:07 -08:00
yunfeibai
1fbd78ece5 Add shared memory API for setting shadow and light source distance. 2016-11-29 13:19:35 -08:00
yunfeibai
8aa90a7427 Refactor shader and render pipeline code. 2016-11-29 12:53:50 -08:00
yunfeibai
86c5dfe8f4 Fix the light color issue in box rendering example. 2016-11-29 11:43:52 -08:00
yunfeibai
5fe36ca200 Clean global variables. 2016-11-29 11:11:41 -08:00
Erwin Coumans
2d42c7963a add pybullet getBaseVelocity / resetBaseVelocity 
C-API b3CreatePoseCommandSetBaseLinearVelocity/b3CreatePoseCommandSetBaseAngularVelocity
 2016-11-28 15:11:34 -08:00
yunfeibai
0bc4e0a4c3 Render multiple objects with shadow. 2016-11-27 16:53:15 -08:00
yunfeibai
529274a3f4 Render shadow of torus with shadow buffer and index from triangle order. 2016-11-27 15:32:55 -08:00
yunfeibai
29809a4471 Render depth buffer. 2016-11-23 13:00:26 -08:00
yunfeibai
24b3e137a6 Render shadow with depth from light. 2016-11-21 10:21:14 -08:00
erwincoumans
24c9020aac Merge remote-tracking branch 'bp/master' 2016-11-21 07:42:33 -08:00
erwincoumans
0d5dcb3cc5 setDebugObjectColor 2016-11-21 07:42:11 -08:00
erwincoumans
1f35697152 Merge pull request #866 from erwincoumans/master 
separate 'getClosestPointsAlgorithm', various pybullet improvements
 2016-11-21 07:41:45 -08:00
erwincoumans
1bc427df6b fix compile issue when using VR 2016-11-20 16:22:20 -08:00
erwincoumans
f9c1e19587 revert 'addUserDebugLine/Text' to lockless rendering on main thread, at the cost of slower add/remove for now. 2016-11-20 15:38:42 -08:00
yunfeibai
93ba8af023 Add shared memory API to change light color. 2016-11-20 12:52:12 -08:00
erwincoumans
9ee1c4ec24 regular OR wireframe rendering, not both 
add option to perform filtering of 'getClosestPoints' using linkA/linkB.
don't use 'realtimesimulation' as default
add/remove debug items within same thread
pybullet, report contact points and normal as [x,y,z] triplet/vector, not 3 scalars
separate 'getClosestPointsAlgorithm': box-box doesn't report closest points with positive distance, and the query shouldn't impact regular 'closesst points'
 2016-11-19 17:13:56 -08:00
erwincoumans
936a104fb2 re-enable samurai.urdf loading for VR demo 2016-11-18 08:08:46 -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
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
c0fb98861d add quadruped.py script to load and initialize the a Minitaur-like quadruped 
pybullet removeConstraint, createConstraint
rename b3CreateJoint to b3InitCreateUserConstraintCommand
add int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
 2016-11-14 14:08:05 -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
erwin coumans
7577c6d893 add pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF. 2016-11-11 18:07:42 -08:00
erwin coumans
b150edf76b Merge remote-tracking branch 'bp/master' 2016-11-11 14:45:09 -08:00
erwin coumans
35fc8306fd pybullet load/save .bullet files 2016-11-11 14:44:50 -08:00
Erwin Coumans
3b5d0f444b various fixes 
move btSimulationIslandManagerMt.cpp from BulletCollision to BulletDynamics
 2016-11-10 16:18:20 -08:00
erwincoumans
fd90589cc2 disable dead code 2016-11-10 15:44:03 -08:00
erwincoumans
9b5aa9a723 pybullet getOverlappingObjects added: report all object unique ids within a world space bounding box (aabb) 2016-11-10 11:22:22 -08:00
erwincoumans
b16d9abddd center the gripper 
fix collision issue, introduced in previous commit (uninitialized new variable)
 2016-11-09 22:14:04 -08:00
erwincoumans
6661b8d977 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-11-09 21:01:11 -08:00
erwincoumans
0d47d61007 pybullet getClosestPoints 2016-11-09 21:01:04 -08:00
Erwin Coumans
6701947684 fix compile issues 2016-11-09 12:22:05 -08:00
Erwin Coumans
c1f728ec86 immediately propagate forward kinematics + collision world transform, after 'INIT_POSE' command 2016-11-06 15:02:07 -08:00
erwin coumans
6a0f095d5b add proper 'App_PhysicsServerUDP' without shared memory usage, and renamed previous one into 'App_PhysicsServerSharedMemoryBridgeUDP' 
(premake only, no cmake build rules yet)
 2016-11-06 11:01:55 -08:00
erwincoumans
0bf3a96365 Merge pull request #852 from YunfeiBai/master 
Fix memory leak in IK.
 2016-11-05 13:31:31 -07:00
erwincoumans
214930922d make sure m_uniqueIdGenerator in btSerializer is initialized to zero, it can cause issues if not. 2016-11-05 12:53:40 -07:00
Erwin Coumans
17f3c40317 check for basename 2016-11-04 22:30:41 -07:00
erwincoumans
6ce6157c8a fix issue in DNA copy, reduce number of test iterations. 2016-11-04 20:53:57 -07:00
Erwin Coumans
cf21da4c9d fix a few issues in UDP networking 2016-11-04 17:44:16 -07:00
erwincoumans
5d66ce20e0 network UDP: transmit structural DNA to deal with version/platform differences. 
pybullet: allow to specify shared memory key and hostname/port for UDP.
 2016-11-04 17:06:55 -07:00
erwincoumans
ff2738db26 Merge remote-tracking branch 'bp/master' 2016-11-04 13:16:55 -07:00
erwincoumans
e35129ceaf Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-11-04 13:16:30 -07:00
erwincoumans
9708392322 work-in-progress 
add UDP network connection for physics client <-> server.
also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
 2016-11-04 13:15:10 -07:00
yunfeibai
7bd585fa87 Fix memory leak in IK. 2016-11-04 10:47:07 -07:00
yunfeibai
ff2c79e6bc Fix a bug in softbody contact handling. 2016-11-03 12:14:39 -07:00
yunfeibai
295c1b7c88 Modify the setup for grasping bunny example. 2016-11-02 12:49:51 -07:00
yunfeibai
3c37db0804 Add API to set bunny properties. Add example to show coupling between softbody and multibody. 2016-11-01 16:45:10 -07:00
yunfeibai
9d54f0cf8d Grasp soft body with rigid fingers. 2016-11-01 15:46:09 -07:00
erwincoumans
f01389ded2 Merge pull request #842 from erwincoumans/master 
added b3PhysicsParamSetInternalSimFlags command, and pybullet setInte…
 2016-10-23 08:26:52 -07:00
erwincoumans
c2ca88bf44 added b3PhysicsParamSetInternalSimFlags command, and pybullet setInternalSimFlags API. 
//Use at own risk: magic things may or my not happen when calling this API.

This allows to enable/disable robot assets (samurai world, gripper, KUKA robot etc) in Physics Server (and App_PhysicsServerVR etc)
1 = create robot assets
2 = create experimental box-vr-gui

Add optional command-line parameter for App_PhysicsServerVR, --norobotassets, to start with an empty world, no assets in VR (no gripper, no kuka)
 2016-10-23 07:14:50 -07:00
erwincoumans
c83dde6344 Merge pull request #841 from YunfeiBai/master 
Programmatic render API for changing texture in TinyRenderer.
 2016-10-22 07:16:06 -07:00
yunfeibai
1b312dab3c Remove the temporary test code. 2016-10-21 12:42:42 -07:00
yunfeibai
3d79961725 Add API to change texture with object id and link index. 2016-10-21 11:55:27 -07:00
yunfeibai
4911b14271 Add loading texture API. 2016-10-20 23:40:30 -07:00
yunfeibai
05be92d006 Add API to load texture file. 2016-10-20 22:11:38 -07:00
yunfeibai
1c04da23db Change texture with loaded texture file. 2016-10-20 21:40:44 -07:00
yunfeibai
35688e4ecf Change texture for one body. 2016-10-20 14:20:09 -07:00
Erwin Coumans
0ca1cee6f0 add a few virtual destructors, remove physics client from server 2016-10-20 14:08:55 -07:00
yunfeibai
6ef96a4027 Add programmatic render API and a basic test. 2016-10-20 10:56:44 -07:00
erwin coumans
eda400d14c Merge remote-tracking branch 'bp/master' 2016-10-19 07:43:46 -07:00
erwin coumans
f97cb7002d first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API 
b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
 2016-10-18 22:05:28 -07:00
yunfeibai
7630bf62d5 Add USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD option. 2016-10-18 17:38:43 -07:00
yunfeibai
e112b15281 Move btSoftMultiBodyDynamicsWorld to BulletSoftBody. 2016-10-17 23:40:38 -07:00
yunfeibai
3ffd95fbab Merge remote-tracking branch 'origin/master' 2016-10-17 13:20:31 -07:00
yunfeibai
b07df4d504 Load bunny through shared memory API and RobotSimAPI. Create grasp bunny example. 2016-10-17 13:01:04 -07:00
erwin coumans
29f3afe2a4 don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps 
optimize gpu upload (use glBufferSubData instead of glMapBuffer
Avoid checking char array against zero.
 2016-10-14 15:06:09 -07:00
erwincoumans
1a62f21143 Merge remote-tracking branch 'bp/master' 2016-10-12 23:07:41 -07:00
erwincoumans
33d9603e16 Add rudimentary 'saveWorld' command in shared memory API and pybullet, see examples/pybullet/saveWorld.py 
Use trilinear filtering instead of bilinear
 2016-10-12 23:03:36 -07:00
yunfeibai
880ee097fa Simulate bunny in grasp demo and set collision margin. 2016-10-12 15:34:45 -07:00
erwincoumans
729ae8d3d6 Merge pull request #833 from matpalm/process_server_status_warning 
handle CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED/FAILED in PhysicsCl…
 2016-10-12 12:03:24 -07:00
yunfeibai
379f2ac933 Load bunny to to the world in the grasp demo. 2016-10-12 11:51:04 -07:00
Mat Kelcey
9387ef763d handle CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED/FAILED in PhysicsClientSharedMemory::processServerStatus 2016-10-12 10:46:07 -07:00
yunfeibai
9ab28ed466 Fix the link transform in world frame in IK. 2016-10-12 09:57:14 -07:00
erwin coumans
a6225d4cd0 add check for #dof of KUKA in VR demo 
disable debug drawing again in VR demo
 2016-10-09 21:48:56 -07:00
erwincoumans
bbb2fac940 App_SharedMemoryPhysics_VR: Add a command-line flag (--emptyworld) to disable the Samurai/KUKA robot creation in the VR demo, and use pybullet to populate the VR world. Note that either way, you can use pybullet to interact and control the world. 2016-10-08 18:40:09 -07:00
erwincoumans
c5d4f7b3b3 disable VSYNC for VR 
clamp KUKA motor motion to be less abrupt
 2016-10-08 07:51:45 -07:00
erwin coumans
4cd401212c SharedMemory API: don't enable rolling friction by default for programmatic created rigid bodies 2016-10-07 17:52:14 -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
0d58ebb311 Fix the desired angular velocity in IK to prevent flip motion. 2016-10-05 14:24:49 -07:00
erwin coumans
d6f449762b avoid wavefront obj texture index out-of-bounds (most obj out-of-bounds are not checked) 
use second controller button
 2016-10-04 08:53:59 -07:00
YunfeiBai
ebe5d9bb84 Add null space task as an option for IK in VR. 2016-09-30 16:47:33 -07:00
YunfeiBai
65091c309e Remove chess pieces. 2016-09-30 13:18:54 -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
bcfb0aa473 enable textured table (no legs), place a few jenga/domino on table 2016-09-30 08:40:24 -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
f181ea4ccd Add new gripper in VR. 2016-09-29 12:07:54 -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
a62d7957b6 Keep one r2d2. 2016-09-27 16:55:10 -07:00
YunfeiBai
51963fdea3 Merge branch 'master' of https://github.com/bulletphysics/bullet3 2016-09-27 16:51:41 -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
erwin coumans
0936ae6600 expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world. 2016-09-27 12:13:45 -07:00
YunfeiBai
2837958bca Merge remote-tracking branch 'bp/master' 2016-09-26 12:44:19 -07:00
YunfeiBai
539fe505a4 Add table and tray. 2016-09-26 11:31:30 -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
YunfeiBai
c0029135d8 Test IK in VR. 2016-09-25 14:24:28 -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
fe6c8775da fix uninitialized variable in btMultiBody 
use btAssert to detect 0 determinant in btMatrix3x3 inverse
Remove obsolete comment in PosixSharedMemory, the Windows shared memory implementation was done over a year ago
 2016-09-23 21:59:38 -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
erwin coumans
310a330572 fix InverseKinematics+API for a case without tree (custom build Jacobian) 2016-09-22 13:27:09 -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
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
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
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
Erwin Coumans
8355f09b21 delete -> free due to the use of stb_image.h (which uses malloc) 2016-09-16 16:25:13 -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
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
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
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
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
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
e921f1b9b7 remove duplicate definitions of SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE 2016-09-11 08:40:58 +01:00
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
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
yunfeibai
f635c64205 Expose Jacobian computation to RobotSimAPI. 2016-09-07 17:37:38 -07:00
yunfeibai
c198029cb9 Expose body Jacobian in shared memory API. 2016-09-07 16:00:38 -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