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Load bunny to to the world in the grasp demo.

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This commit is contained in:
yunfeibai
2016-10-12 11:51:04 -07:00
parent 4fe86d2a1d
commit 379f2ac933
7 changed files with 59 additions and 15 deletions
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10
examples/RoboticsLearning/GripperGraspExample.cpp
View File

@@ -232,6 +232,7 @@ public:
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
if (0)
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
@@ -241,7 +242,7 @@ public:
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
}
if (1)
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";
@@ -329,6 +330,7 @@ public:
m_robotSim.createJoint(1, 0, 1, 3, &sliderJoint1);
m_robotSim.createJoint(1, 0, 1, 6, &sliderJoint2);
*/
/*
b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055;
revoluteJoint1.m_parentFrame[1] = 0;
@@ -369,6 +371,7 @@ public:
revoluteJoint2.m_jointType = ePoint2PointType;
m_robotSim.createJoint(1, 2, 1, 4, &revoluteJoint1);
m_robotSim.createJoint(1, 3, 1, 6, &revoluteJoint2);
*/
}
}
@@ -398,6 +401,7 @@ public:
}
}
/*
if ((m_options & eONE_MOTOR_GRASP)!=0)
{
int fingerJointIndices[2]={0,1};
@@ -413,9 +417,9 @@ public:
m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
}
}
*/
m_robotSim.stepSimulation();
//m_robotSim.stepSimulation();
}
virtual void renderScene()
{

2
examples/RoboticsLearning/KukaGraspExample.cpp
View File

@@ -256,7 +256,7 @@ public:
}
m_robotSim.stepSimulation();
//m_robotSim.stepSimulation();
}
virtual void renderScene()
{

2
examples/RoboticsLearning/R2D2GraspExample.cpp
View File

@@ -179,7 +179,7 @@ public:
}
virtual void stepSimulation(float deltaTime)
{
m_robotSim.stepSimulation();
//m_robotSim.stepSimulation();
}
virtual void renderScene()
{

2
examples/RoboticsLearning/b3RobotSimAPI.cpp
View File

@@ -967,7 +967,7 @@ void b3RobotSimAPI::renderScene()
m_data->m_clientServerDirect->renderScene();
}
m_data->m_physicsServer.renderScene();
//m_data->m_physicsServer.renderScene();
}
void b3RobotSimAPI::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)