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
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
erwincoumans
666c8f47b7
Merge pull request #800 from bulletphysics/iktest
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Iktest
2016-09-23 07:40:09 -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
27fab2adb5
Create a demo for one motor gripper grasp.
2016-09-21 12:08:03 -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
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
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
yunfeibai
c94a8e0d35
Use body Jacobian from Bullet for IK.
2016-09-07 23:14:23 -07:00
yunfeibai
f635c64205
Expose Jacobian computation to RobotSimAPI.
2016-09-07 17:37:38 -07:00
Erwin Coumans
ecd814c9c5
export contact friction/damping through URDF and API
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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
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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
Erwin Coumans
a30ff20e6b
preparation for KUKA IK tracking example
2016-08-30 14:44:11 -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
4094b9f0df
Disable 'm_robotSim.setNumSimulationSubSteps' because it is not needed at the moment
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Fix issue in contact/friction between btMultibody and btRigidBody (external force/torque of btRigidBody was not taken into account during contact/friction setup)
Allow 0.1 mm slop in contact, to avoid loosing contact. Todo: allow contacts with positive distance in multibody solver.
2016-08-27 13:44:18 -07:00
yunfeibai
758ca025d5
Set physics clock subdivider.
2016-08-24 14:25:06 -07:00
yunfeibai
3b25489d89
Further fix for integration test.
2016-08-24 12:44:24 -07:00
yunfeibai
ecbf94abaa
Fix issues in build test.
2016-08-24 11:31:08 -07:00
yunfeibai
d46710e447
Expose fixed constraint in RobotSimAPI.
2016-08-22 18:14:29 -07:00
erwin coumans
62d5b7c5c0
add single step simulation, using 'o' key. use 'i' key to suspend simulation first
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default background color a bit darker, to show debug lines
tweaked contact point rendering a bit
2016-08-19 10:30:02 -07:00
yunfeibai
591f922d97
Support loading Urdf as btRigidBody with RobotSimAPI. Loading Sdf as btRigidBody is work in progress.
2016-08-16 17:56:30 -07:00
yunfeibai
4bc31394a0
Allow choosing loaded as btRigidBody with RobotSimAPI.
2016-08-16 16:57:48 -07:00
Erwin Coumans
3c30e2f821
add segmentation mask rendering to TinyRenderer and shared memory API
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similar to the zbuffer, but storing the object index (int) instead of float depth
2016-08-11 14:55:30 -07:00
Erwin Coumans
b880ddf76b
add pybullet render API with yaw/pitch/roll option
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add testrender.py file
allow option to enable OpenGL hardware renderer in multithreaded sim
b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
2016-08-08 14:23:44 -07:00
Erwin Coumans
8270096fad
add GripperGraspExample, separate from R2D2GraspExample
2016-07-25 12:30:47 -07:00
Erwin Coumans
a6216f4f24
add robotics learning grasp contact example
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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
0ae252fa35
fix issue, use bodyUniqueId/b3JointControlCommandInit2
2016-07-19 15:53:16 -07:00
Erwin Coumans
34187fba1c
fix camera update issue in previous commit
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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
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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
10cc6f14cb
add option to use hardware OpenGL renderer for synthetic camera
2016-07-12 18:16:13 -07:00
erwin coumans
7633cfb800
prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h
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prepare compliant contact work, urdf loading of parameters (see data/cube.urdf)
2016-07-11 00:26:40 -07:00
