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initial implementation to send debug lines from physics server to client,

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need to add streaming because memory is too small to store all lines
initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
This commit is contained in:
erwincoumans
2015-08-19 22:51:16 -07:00
parent 89765ceccf
commit 081a40d254
14 changed files with 750 additions and 168 deletions
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52
data/hinge.urdf
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@@ -2,48 +2,72 @@
<robot name="urdf_robot">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<mass value="0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<geometry>
<box size="0.1 .1 .1"/>
<box size="0.08 0.16 0.7"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<geometry>
<box size="0.1 .1 .1"/>
<box size="0.08 0.16 0.7"/>
</geometry>
</collision>
</link>
<link name="childA">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<mass value="1.0"/>
<inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<box size="0.1 .1 .1"/>
<box size="0.1 0.2 0.72"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<box size="0.1 .1 .1"/>
<box size="0.1 0.2 0.72 "/>
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="continuous">
<parent link="baseLink"/>
<child link="childA"/>
<origin xyz="0 0 1.0"/>
<axis xyz="0 0 1"/>
<origin xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="childB">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<mass value="1.0"/>
<inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<sphere radius="0.2"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<sphere radius="0.2"/>
</geometry>
</collision>
</link>
<joint name="joint_childA_childB" type="fixed">
<parent link="childA"/>
<child link="childB"/>
<origin xyz="0 0 -0.2"/>
</joint>
</robot>