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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)
This commit is contained in:
erwin coumans
2016-09-08 15:15:58 -07:00
parent 630fcda38b
commit 32eccdff61
43 changed files with 791 additions and 144 deletions
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38
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -1,6 +1,6 @@
#include "KukaGraspExample.h"
#include "IKTrajectoryHelper.h"
#include "../SharedMemory/IKTrajectoryHelper.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "Bullet3Common/b3Quaternion.h"
@@ -138,8 +138,11 @@ public:
}
virtual void stepSimulation(float deltaTime)
{
m_time+=deltaTime;
m_targetPos.setValue(0.5, 0, 0.5+0.4*b3Sin(3 * m_time));
float dt = deltaTime;
btClamp(dt,0.0001f,0.01f);
m_time+=dt;
m_targetPos.setValue(0.4-0.4*b3Cos( m_time), 0, 0.8+0.4*b3Cos( m_time));
@@ -158,11 +161,36 @@ public:
q_current[i] = jointStates.m_actualStateQ[i+7];
}
}
b3Vector3DoubleData dataOut;
m_targetPos.serializeDouble(dataOut);
// m_robotSim.getJointInfo(m_kukaIndex,jointIndex,jointInfo);
/*
b3RobotSimInverseKinematicArgs ikargs;
b3RobotSimInverseKinematicsResults ikresults;
ikargs.m_bodyUniqueId = m_kukaIndex;
ikargs.m_currentJointPositions = q_current;
ikargs.m_numPositions = 7;
ikargs.m_endEffectorTargetPosition[0] = dataOut.m_floats[0];
ikargs.m_endEffectorTargetPosition[1] = dataOut.m_floats[1];
ikargs.m_endEffectorTargetPosition[2] = dataOut.m_floats[2];
ikargs.m_endEffectorTargetOrientation[0] = 0;
ikargs.m_endEffectorTargetOrientation[1] = 0;
ikargs.m_endEffectorTargetOrientation[2] = 0;
ikargs.m_endEffectorTargetOrientation[3] = 1;
if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))
{
}
*/
double q_new[7];
int ikMethod=IK2_SDLS;
b3Vector3DoubleData dataOut;
m_targetPos.serializeDouble(dataOut);
m_ikHelper.computeIK(dataOut.m_floats,q_current, numJoints, q_new, ikMethod);
printf("q_new = %f,%f,%f,%f,%f,%f,%f\n", q_new[0],q_new[1],q_new[2],
q_new[3],q_new[4],q_new[5],q_new[6]);