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tweak color of quadruped robot URDF, tweak quadruped.py script to make it more compatible with VR demo

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allow VR physics server to run with or without 'realTimeSimulation'
This commit is contained in:
Erwin Coumans
2016-12-11 09:28:36 -08:00
parent 27d38a1ba8
commit 17570c4700
7 changed files with 70 additions and 67 deletions
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100
data/quadruped/quadruped.urdf
View File

@@ -5,8 +5,8 @@
<geometry> <geometry>
<box size=".226 0.16 .07"/> <box size=".226 0.16 .07"/>
</geometry> </geometry>
<material name="blue"> <material name="black">
<color rgba="0 0 .8 1"/> <color rgba="0 0 0 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -26,9 +26,7 @@
<geometry> <geometry>
<cylinder length="0.026" radius="0.0434"/> <cylinder length="0.026" radius="0.0434"/>
</geometry> </geometry>
<material name="blue"> <material name="black"/>
<color rgba="0 0 .8 1"/>
</material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
@@ -55,9 +53,7 @@
<geometry> <geometry>
<cylinder length="0.026" radius="0.0434"/> <cylinder length="0.026" radius="0.0434"/>
</geometry> </geometry>
<material name="blue"> <material name="black"/>
<color rgba="0 0 .8 1"/>
</material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
@@ -84,9 +80,7 @@
<geometry> <geometry>
<cylinder length="0.026" radius="0.0434"/> <cylinder length="0.026" radius="0.0434"/>
</geometry> </geometry>
<material name="blue"> <material name="black"/>
<color rgba="0 0 .8 1"/>
</material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
@@ -113,9 +107,7 @@
<geometry> <geometry>
<cylinder length="0.026" radius="0.0434"/> <cylinder length="0.026" radius="0.0434"/>
</geometry> </geometry>
<material name="blue"> <material name="black"/>
<color rgba="0 0 .8 1"/>
</material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
@@ -142,9 +134,7 @@
<geometry> <geometry>
<cylinder length="0.026" radius="0.0434"/> <cylinder length="0.026" radius="0.0434"/>
</geometry> </geometry>
<material name="blue"> <material name="black"/>
<color rgba="0 0 .8 1"/>
</material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
@@ -171,9 +161,7 @@
<geometry> <geometry>
<cylinder length="0.026" radius="0.0434"/> <cylinder length="0.026" radius="0.0434"/>
</geometry> </geometry>
<material name="blue"> <material name="black"/>
<color rgba="0 0 .8 1"/>
</material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
@@ -200,9 +188,7 @@
<geometry> <geometry>
<cylinder length="0.026" radius="0.0434"/> <cylinder length="0.026" radius="0.0434"/>
</geometry> </geometry>
<material name="blue"> <material name="black"/>
<color rgba="0 0 .8 1"/>
</material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
@@ -229,9 +215,7 @@
<geometry> <geometry>
<cylinder length="0.026" radius="0.0434"/> <cylinder length="0.026" radius="0.0434"/>
</geometry> </geometry>
<material name="blue"> <material name="black"/>
<color rgba="0 0 .8 1"/>
</material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
@@ -258,8 +242,8 @@
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".01 0.01 .11"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -286,8 +270,8 @@
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".01 0.01 .11"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -315,8 +299,8 @@
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".01 0.01 .2"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -345,8 +329,8 @@
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".01 0.01 .2"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -374,8 +358,8 @@
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".01 0.01 .11"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -402,8 +386,8 @@
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".01 0.01 .11"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -431,8 +415,8 @@
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".01 0.01 .2"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -461,8 +445,8 @@
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".01 0.01 .2"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -493,8 +477,8 @@
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".01 0.01 .11"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -521,8 +505,8 @@
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".01 0.01 .11"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -550,8 +534,8 @@
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".01 0.01 .2"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -580,8 +564,8 @@
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".01 0.01 .2"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -609,8 +593,8 @@
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".01 0.01 .11"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -637,8 +621,8 @@
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".01 0.01 .11"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -666,8 +650,8 @@
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".01 0.01 .2"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
@@ -696,8 +680,8 @@
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".01 0.01 .2"/>
</geometry> </geometry>
<material name="blue"> <material name="grey">
<color rgba="0 0 .8 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>

8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -4030,6 +4030,12 @@ int gDroppedSimulationSteps = 0;
int gNumSteps = 0; int gNumSteps = 0;
double gDtInSec = 0.f; double gDtInSec = 0.f;
double gSubStep = 0.f; double gSubStep = 0.f;
void PhysicsServerCommandProcessor::enableRealTimeSimulation(bool enableRealTimeSim)
{
m_data->m_allowRealTimeSimulation = enableRealTimeSim;
}
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{ {
if (gResetSimulation) if (gResetSimulation)
@@ -4038,7 +4044,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
gResetSimulation = false; gResetSimulation = false;
} }
if ((gEnableRealTimeSimVR || m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper) if ((m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
{ {
///this hardcoded C++ scene creation is temporary for demo purposes. It will be done in Python later... ///this hardcoded C++ scene creation is temporary for demo purposes. It will be done in Python later...

1
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -85,6 +85,7 @@ public:
void replayFromLogFile(const char* fileName); void replayFromLogFile(const char* fileName);
void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes ); void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
void stepSimulationRealTime(double dtInSec); void stepSimulationRealTime(double dtInSec);
void enableRealTimeSimulation(bool enableRealTimeSim);
void applyJointDamping(int bodyUniqueId); void applyJointDamping(int bodyUniqueId);
}; };

8
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -1584,7 +1584,11 @@ void PhysicsServerExample::renderScene()
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera()) if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{ {
gEnableRealTimeSimVR = true; if (!gEnableRealTimeSimVR)
{
gEnableRealTimeSimVR = true;
m_physicsServer.enableRealTimeSimulation(1);
}
} }
@@ -1819,8 +1823,6 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis) void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis)
{ {
gEnableRealTimeSimVR = true;
if (controllerId <= 0 || controllerId >= MAX_VR_CONTROLLERS) if (controllerId <= 0 || controllerId >= MAX_VR_CONTROLLERS)
{ {
printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS); printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS);

6
examples/SharedMemory/PhysicsServerSharedMemory.cpp
View File

@@ -241,6 +241,12 @@ void PhysicsServerSharedMemory::stepSimulationRealTime(double dtInSec)
m_data->m_commandProcessor->stepSimulationRealTime(dtInSec); m_data->m_commandProcessor->stepSimulationRealTime(dtInSec);
} }
void PhysicsServerSharedMemory::enableRealTimeSimulation(bool enableRealTimeSim)
{
m_data->m_commandProcessor->enableRealTimeSimulation(enableRealTimeSim);
}
void PhysicsServerSharedMemory::processClientCommands() void PhysicsServerSharedMemory::processClientCommands()
{ {

2
examples/SharedMemory/PhysicsServerSharedMemory.h
View File

@@ -28,6 +28,8 @@ public:
virtual void stepSimulationRealTime(double dtInSec); virtual void stepSimulationRealTime(double dtInSec);
virtual void enableRealTimeSimulation(bool enableRealTimeSim);
//bool supportsJointMotor(class btMultiBody* body, int linkIndex); //bool supportsJointMotor(class btMultiBody* body, int linkIndex);

12
examples/pybullet/quadruped.py
View File

@@ -4,9 +4,10 @@ import math
p.connect(p.SHARED_MEMORY) p.connect(p.SHARED_MEMORY)
p.loadURDF("plane.urdf") p.loadURDF("plane.urdf")
quadruped = p.loadURDF("quadruped/quadruped.urdf",0,0,.3) p.setGravity(0,0,-1)
p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/quadruped.urdf",10,-2,2)
#p.getNumJoints(1) #p.getNumJoints(1)
#right front leg #right front leg
p.resetJointState(quadruped,0,1.57) p.resetJointState(quadruped,0,1.57)
p.resetJointState(quadruped,2,-2.2) p.resetJointState(quadruped,2,-2.2)
@@ -64,16 +65,17 @@ p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1)
p.setJointMotorControl(quadruped,22,p.VELOCITY_CONTROL,0,0) p.setJointMotorControl(quadruped,22,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,23,p.VELOCITY_CONTROL,0,0) p.setJointMotorControl(quadruped,23,p.VELOCITY_CONTROL,0,0)
p.setGravity(0,0,-10)
p_gain = 2 p_gain = 2
speed = 10 speed = 10
amplitude = 1.3 amplitude = 1.3
#stand still #stand still
t_end = time.time() + 5 t_end = time.time() + 2
while time.time() < t_end: while time.time() < t_end:
p.stepSimulation() p.stepSimulation()
p.setGravity(0,0,-10)
jump_amp = 0.5 jump_amp = 0.5
@@ -125,4 +127,4 @@ while time.time() < t_end:
p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1) p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1)
p.stepSimulation() p.stepSimulation()
p.setRealTimeSimulation(1)