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remove pose frame from SDF,

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allow plane collision shape in SDF
load the Roboschool stadium.sdf in humanoid_knee_position_control.py
This commit is contained in:
erwincoumans
2017-06-01 20:13:39 -07:00
parent baa8c3adc2
commit 3987bdd333
8 changed files with 64 additions and 42 deletions
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11
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -568,6 +568,15 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
switch (collision->m_geometry.m_type)
{
case URDF_GEOM_PLANE:
{
btVector3 planeNormal = collision->m_geometry.m_planeNormal;
btScalar planeConstant = 0;//not available?
btStaticPlaneShape* plane = new btStaticPlaneShape(planeNormal,planeConstant);
shape = plane;
shape ->setMargin(gUrdfDefaultCollisionMargin);
break;
}
case URDF_GEOM_CAPSULE:
{
btScalar radius = collision->m_geometry.m_capsuleRadius;
@@ -789,7 +798,7 @@ upAxisMat.setIdentity();
default:
b3Warning("Error: unknown collision geometry type %i\n", collision->m_geometry.m_type);
// for example, URDF_GEOM_PLANE
}
return shape;
}

54
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3940,38 +3940,40 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
else
{
if (mb->getLinkCollider(linkIndex))
if (linkIndex >= 0 && linkIndex < mb->getNumLinks())
{
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
if (mb->getLinkCollider(linkIndex))
{
mb->getLinkCollider(linkIndex)->setRestitution(restitution);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
{
mb->getLinkCollider(linkIndex)->setSpinningFriction(spinningFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
{
mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
{
mb->getLinkCollider(linkIndex)->setRestitution(restitution);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
{
mb->getLinkCollider(linkIndex)->setSpinningFriction(spinningFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
{
mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
{
mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
{
mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
{
mb->getLink(linkIndex).m_mass = mass;
if (mb->getLinkCollider(linkIndex) && mb->getLinkCollider(linkIndex)->getCollisionShape())
{
btVector3 localInertia;
mb->getLinkCollider(linkIndex)->getCollisionShape()->calculateLocalInertia(mass,localInertia);
mb->getLink(linkIndex).m_inertiaLocal = localInertia;
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
{
mb->getLink(linkIndex).m_mass = mass;
if (mb->getLinkCollider(linkIndex) && mb->getLinkCollider(linkIndex)->getCollisionShape())
{
btVector3 localInertia;
mb->getLinkCollider(linkIndex)->getCollisionShape()->calculateLocalInertia(mass,localInertia);
mb->getLink(linkIndex).m_inertiaLocal = localInertia;
}
}
}
}
} else

2
examples/pybullet/examples/humanoid_knee_position_control.py
View File

@@ -13,7 +13,7 @@ p.setRealTimeSimulation(useRealTime)
p.setGravity(0,0,-10)
p.loadURDF("plane.urdf")
p.loadSDF("stadium.sdf")
obUids = p.loadMJCF("mjcf/humanoid_fixed.xml")
human = obUids[0]

19
examples/pybullet/tensorflow/humanoid_running.py
View File

@@ -1,21 +1,30 @@
import tensorflow as tf
import sys
import numpy as np
import argparse
import pybullet as p
import time
p.connect(p.GUI) #DIRECT is much faster, but GUI shows the running gait
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
cid = p.connect(p.GUI) #DIRECT is much faster, but GUI shows the running gait
p.setGravity(0,0,-9.8)
p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2)
#this mp4 recording requires ffmpeg installed
#mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
p.loadSDF("stadium.sdf")
#p.loadURDF("plane.urdf")
plane, human = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
human = objs[0]
ordered_joints = []
ordered_joint_indices = []
parser = argparse.ArgumentParser()
parser.add_argument('--profile')
jdict = {}
for j in range( p.getNumJoints(human) ):
@@ -175,7 +184,7 @@ def demo_run():
p.setJointMotorControlArray(human, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
p.stepSimulation()
#time.sleep(0.01)
time.sleep(0.01)
distance=5
yaw = 0
humanPos, humanOrn = p.getBasePositionAndOrientation(human)