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Untrack Grasp box example for now. This example needs more adjustment.

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fix compile
This commit is contained in:
Chuyuan Fu
2019-03-07 16:49:24 -08:00
parent e818452494
commit 1660957f75
4 changed files with 3 additions and 210 deletions
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186
examples/BulletRobotics/GraspBox.cpp
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@@ -1,186 +0,0 @@
#include "GraspBox.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../SharedMemory/SharedMemoryPublic.h"
#include <string>
#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
static btScalar x = 0.401f;
static btScalar y = 0.025f;
static btScalar z = 0.44f;
class GraspBox : public CommonExampleInterface
{
GUIHelperInterface* m_guiHelper;
b3RobotSimulatorClientAPI m_robotSim;
int m_options;
int m_armIndex;
int boxId;
public:
GraspBox(GUIHelperInterface* helper, int options)
: m_guiHelper(helper),
m_options(options)
{
}
virtual ~GraspBox()
{
}
virtual void physicsDebugDraw(int debugDrawMode)
{
m_robotSim.debugDraw(debugDrawMode);
}
virtual void initPhysics()
{
int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
m_robotSim.setGuiHelper(m_guiHelper);
bool connected = m_robotSim.connect(mode);
b3Printf("robotSim connected = %d", connected);
m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
double cubePos[3] = {0.41, 0, 0.5};
double cubeHalfLength = 0.025;
{
SliderParams slider("position x", &x);
slider.m_minVal = 0;
slider.m_maxVal = 1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("position y", &y);
slider.m_minVal = 0;
slider.m_maxVal = 1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("position z", &z);
slider.m_minVal = 0;
slider.m_maxVal = 1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
b3RobotSimulatorLoadFileResults results;
m_robotSim.loadSDF("kuka_iiwa/kuka_with_gripper.sdf", results);
if (results.m_uniqueObjectIds.size() == 1)
{
m_armIndex = results.m_uniqueObjectIds[0];
int numJoints = m_robotSim.getNumJoints(m_armIndex);
b3Printf("numJoints = %d", numJoints);
for (int i = 0; i < numJoints; i++)
{
b3RobotJointInfo jointInfo;
m_robotSim.getJointInfo(m_armIndex, i, &jointInfo);
b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
}
//adjust arm position
m_robotSim.resetJointState(m_armIndex, 3, -SIMD_HALF_PI);
m_robotSim.resetJointState(m_armIndex, 5, SIMD_HALF_PI);
// adjust gripper position
m_robotSim.resetJointState(m_armIndex, 8, -0.12);
m_robotSim.resetJointState(m_armIndex, 11, 0.12);
m_robotSim.resetJointState(m_armIndex, 10, -0.12);
m_robotSim.resetJointState(m_armIndex, 13, 0.12);
// {
// b3RobotJointInfo jointInfo;
// m_robotSim.getJointInfo(m_armIndex, 8, &jointInfo);
// jointInfo.m_jointType = eGearType;
// m_robotSim.createConstraint(m_armIndex, , cubeIds[i - 1], -1, &jointInfo);
// }
// for(int i = 0; i<14; i++){
// b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
// controlArgs.m_maxTorqueValue = 0.0;
// m_robotSim.setJointMotorControl(m_armIndex, i, controlArgs);
// }
}
}
{
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(x, y, z);
boxId = m_robotSim.loadURDF("cube_small.urdf", args);
}
m_robotSim.loadURDF("plane.urdf");
m_robotSim.setGravity(btVector3(0, 0, -10));
}
virtual void exitPhysics()
{
m_robotSim.disconnect();
}
virtual void stepSimulation(float deltaTime)
{
btScalar sGripperVerticalVelocity = 0.f;
btScalar sGripperClosingTargetVelocity = -0.7f;
int fingerJointIndices[4] = {8, 10, 11, 13};
double fingerTargetVelocities[4] = {0.4, 0.4, -0.4, -0.4};
double maxTorqueValues[4] = {20.0, 20.0, 20.0, 20.0};
for (int i = 0; i < 4; i++)
{
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = fingerTargetVelocities[i];
controlArgs.m_maxTorqueValue = maxTorqueValues[i];
controlArgs.m_kd = 1.;
m_robotSim.setJointMotorControl(m_armIndex, fingerJointIndices[i], controlArgs);
}
m_robotSim.stepSimulation();
}
virtual void renderScene()
{
m_robotSim.renderScene();
}
virtual bool mouseMoveCallback(float x, float y)
{
return m_robotSim.mouseMoveCallback(x, y);
}
virtual bool mouseButtonCallback(int button, int state, float x, float y)
{
return m_robotSim.mouseButtonCallback(button, state, x, y);
}
virtual bool keyboardCallback(int key, int state)
{
return false;
}
virtual void resetCamera()
{
float dist = 0.8;
float pitch = 0;
float yaw = 0;
float targetPos[3] = {.4, 0.6, 0.45};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
};
class CommonExampleInterface* GraspBoxCreateFunc(struct CommonExampleOptions& options)
{
return new GraspBox(options.m_guiHelper, options.m_option);
}

21
examples/BulletRobotics/GraspBox.h
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@@ -1,21 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef GRASP_BOX_EXAMPLE_H
#define GRASP_BOX_EXAMPLE_H
class CommonExampleInterface* GraspBoxCreateFunc(struct CommonExampleOptions& options);
#endif //GRASP_BOX_EXAMPLE_H

2
examples/ExampleBrowser/CMakeLists.txt
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@@ -148,7 +148,7 @@ SET(BulletExampleBrowser_SRCS
../BulletRobotics/BoxStack.cpp
../BulletRobotics/JointLimit.cpp
../BulletRobotics/GraspBox.cpp
# ../BulletRobotics/GraspBox.cpp
../BulletRobotics/FixJointBoxes.cpp
../TinyRenderer/geometry.cpp

4
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -6,7 +6,7 @@
#include "../BulletRobotics/BoxStack.h"
#include "../BulletRobotics/FixJointBoxes.h"
#include "../BulletRobotics/JointLimit.h"
#include "../BulletRobotics/GraspBox.h"
// #include "../BulletRobotics/GraspBox.h"
#include "../BulletRobotics/FixJointBoxes.h"
#include "../RenderingExamples/RenderInstancingDemo.h"
#include "../RenderingExamples/CoordinateSystemDemo.h"
@@ -138,7 +138,7 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(0, "Bullet Robotics"),
ExampleEntry(1, "Box Stack", "Create a stack of boxes of large mass ratio.", BoxStackExampleCreateFunc),
ExampleEntry(1, "Joint Limit", "Create three objects joint together", JointLimitCreateFunc),
ExampleEntry(1, "Grasp Box", "A robot arm of large mass tries to grasp a box of small mass", GraspBoxCreateFunc),
// ExampleEntry(1, "Grasp Box", "A robot arm of large mass tries to grasp a box of small mass", GraspBoxCreateFunc),
ExampleEntry(1, "FixJoint Boxes", "FixJoint Boxes", FixJointBoxesCreateFunc),
ExampleEntry(0, "MultiBody"),