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Good enough for a alpha release? #2

Merged
merged 127 commits into from
Mar 2, 2021
Merged

Good enough for a alpha release? #2

merged 127 commits into from
Mar 2, 2021

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marcbone
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Marco Boneberger and others added 30 commits December 8, 2020 12:36
add panda demo and necessary functions for it
aa55fea 
This includes getting the joint infos, calculate inverse kinemtatics, setting joint motor commands and some debug visualizer settings
fix clippy warnings
ffe343d
fix more clippy warnings
479722b
implement inverse dynamics and joint control via arrays
8f23542
add get_link_state and get_link_states
9d2c168
add camera image and fix tricky segmentation fault in calculate_inver…
10492a3 
…se_kinemeatics
fix inverse dynamics error
2eb243b
add calculate jacobi matrix, add tests, add PostionWithPD control mode
27fcc59
implement mass matrix
e83f5a2
reformat
c0a1169
add reset simulation
eadf443
refactor inverse kinematics to use Optional arguments via the builder…
b38c7cf 
… pattern
add debug slider
cc9c724
add apply external force and torque
0f96008
add add_debug_text
7f4598d
use body_id for debug parameter
85ed6fd
add add_user_debug_line
bbd1380
add get_keyboard_events
46eb7f4
add get_mouse_events
c7368c5
use char in keyboard event
acccb73
add reset_base_transform
3312b60
add enable_joint_torque sensor
28d4067
add_set_debug_color
7f002ee
fix ser debug object color
eba51b2
split ffi into separate crate
620117e
fix clippy warnings + reformat
5359bf5
add tests to ci
64b04c0
@marcbone
use ubuntu 20.04 instead of ubuntu latest in ci
5e937c1
use new JointState struct instead of b3JointSensorState
991c38b
use new JointState struct instead of b3JointSensorState
a87adf4
@marcbone
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marcbone commented Feb 24, 2021 •
edited
Loading

only for the scale or for everything?

For almost everything, we could make the function generic over Into<nalgebra::EquivalentType>. The user's code would be clean and they would be able to decide between e.g. [f64; 3] and Point3<f64> depending on what works best for them and the generic bounds would document exactly the expected type. The implementation would get messier, though.

Is done.

I do agree on the potential confusion with the function names, though. Maybe we also create a set_joint_motor_control that we mark as deprecated? It could just call set_joint_motor_control_2. Or maybe it doesn't matter and I'm just being too picky about a *_2 function appearing without a matching previous.

I renamed it to set_joint_motor_control. Seems like the function got deprecated in pybullet over 4 years ago. I guess no one is using it anymore. Are you fine with that? I also added "setJointMotorControl2" and "set_joint_motor_control_2" as doc aliases

@neachdainn
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I renamed it to set_joint_motor_control. Seems like the function got deprecated in pybullet over 4 years ago. I guess no one is using it anymore. Are you fine with that? I also added "setJointMotorControl2" and "set_joint_motor_control_2" as doc aliases

Good by me! I'll have to look up the doc aliases - I'm vaguely aware that they exist but I've never actually read up on them.

Marco Boneberger added 20 commits February 25, 2021 10:32
convert link indices to usizes in client.rs
dce4a6b
convert link indices to usizes in types.rs
72c4b75
make VisualId and CollisionId pub(crate) and introduce VisualId::NONE…
3355b5e 
… and CollisionId::NONE
make parent index in JointInfo a Option<usize>
7576019
use asserts for checking inputs
6ba0845
assert positive bodyid and that we can submit a command in remove_bod…
4cfe8da 
…y method
rename mesh_scale to mesh_scaling and make it an Option<Vectro3<f64>>
20abf3e
minor doc change
3aefd0a
convert colors from slices to arrays
9cf72c2
optimize reexports
3347474
convert unwrap_or to unwrap_or_else
e3dbc49
Introduce JointInfoFlags and hide its documentation
e59efe8
improve error messages for exceeding the body capacity while loading …
a48efa5 
…models
remove allow dead code and adapt gui_marker
f12d820
remove unnecessary error checking
ff37e8f
remove sync_body_info
39947f9
use assert for linear and angular damping
8e0db59
delete comment about file representation in windows
882c11a
fix format
00f4500
let ffi return Option<b3PhysicsClientHandle>
95ce3cc
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marcbone commented Mar 1, 2021

Good by me! I'll have to look up the doc aliases - I'm vaguely aware that they exist but I've never actually read up on them.

If you type the aliases into the search function the set_joint_motor_control_2 will light up.

I guess we have everything. Can I merge it? 😅

@neachdainn
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You're good to merge whenever!

@marcbone marcbone merged commit b6a5569 into master Mar 2, 2021
@marcbone marcbone deleted the marco_dev branch April 17, 2021 14:25
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@marcbone @neachdainn