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Merge pull request #798 from YunfeiBai/master

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Create a demo for one motor gripper grasp.
This commit is contained in:
erwincoumans
2016-09-23 07:39:24 -07:00
committed by GitHub
parent bb214e823b 27fab2adb5
commit 3df9d6c4ee
6 changed files with 528 additions and 7 deletions
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388
data/gripper/wsg50_one_motor_gripper.sdf Normal file
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@@ -0,0 +1,388 @@
<?xml version="1.0" ?>
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.26 3.14 0 0</pose>
<link name='world'>
</link>
<joint name='base_joint' type='prismatic'>
<parent>world</parent>
<child>base_link</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.5</lower>
<upper>10</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/WSG50_110.stl</uri>
</mesh>
</geometry>
<material>
</material>
</visual>
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
</box>
</geometry>
</visual>
</link>
<joint name='base_joint_motor' type='prismatic'>
<child>motor</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.047</lower>
<upper>0.001</upper>
<effort>10.0</effort>
<velocity>10.0</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_left_hinge_joint' type='revolute'>
<child>left_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_right_hinge_joint' type='revolute'>
<child>right_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_left_hinge_joint' type='revolute'>
<child>gripper_left</child>
<parent>left_hinge</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1.0</lower>
<upper>1.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0.01</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_right_hinge_joint' type='revolute'>
<child>gripper_right</child>
<parent>right_hinge</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1.0</lower>
<upper>1.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0.01</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='finger_right'>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_right' type='fixed'>
<parent>gripper_right</parent>
<child>finger_right</child>
</joint>
<link name='finger_left'>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_left' type='fixed'>
<parent>gripper_left</parent>
<child>finger_left</child>
</joint>
</model>
</world>
</sdf>

2
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -266,7 +266,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Rolling friction","Experiment on multibody rolling friction", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_ROLLING_FRICTION),
ExampleEntry(1,"Gripper Grasp","Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc,eGRIPPER_GRASP),
ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP),
ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP),
#ifdef ENABLE_LUA

131
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -10,6 +10,7 @@
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../SharedMemory/SharedMemoryPublic.h"
#include <string>
#include "b3RobotSimAPI.h"
@@ -214,6 +215,120 @@ public:
m_robotSim.setNumSimulationSubSteps(4);
}
if ((m_options & eONE_MOTOR_GRASP)!=0)
{
{
SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
slider.m_minVal=-2;
slider.m_maxVal=2;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
);
slider.m_minVal=-1;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0, 0, .107);
args.m_startOrientation.setEulerZYX(0, 0, 0);
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_one_motor_gripper.sdf";
args.m_fileType = B3_SDF_FILE;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
{
m_gripperIndex = results.m_uniqueObjectIds[0];
int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(m_gripperIndex,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
}
for (int i=0;i<8;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_maxTorqueValue = 0.0;
m_robotSim.setJointMotorControl(m_gripperIndex,i,controlArgs);
}
}
}
if (1)
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "plane.urdf";
args.m_startPosition.setValue(0,0,0);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_forceOverrideFixedBase = true;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
b3JointInfo sliderJoint1;
sliderJoint1.m_parentFrame[0] = 0;
sliderJoint1.m_parentFrame[1] = 0;
sliderJoint1.m_parentFrame[2] = 0.06;
sliderJoint1.m_parentFrame[3] = 0;
sliderJoint1.m_parentFrame[4] = 0;
sliderJoint1.m_parentFrame[5] = 0;
sliderJoint1.m_parentFrame[6] = 1.0;
sliderJoint1.m_childFrame[0] = 0;
sliderJoint1.m_childFrame[1] = 0;
sliderJoint1.m_childFrame[2] = 0;
sliderJoint1.m_childFrame[3] = 0;
sliderJoint1.m_childFrame[4] = 0;
sliderJoint1.m_childFrame[5] = 0;
sliderJoint1.m_childFrame[6] = 1.0;
sliderJoint1.m_jointAxis[0] = 1.0;
sliderJoint1.m_jointAxis[1] = 0.0;
sliderJoint1.m_jointAxis[2] = 0.0;
sliderJoint1.m_jointType = ePrismaticType;
b3JointInfo sliderJoint2;
sliderJoint2.m_parentFrame[0] = 0;
sliderJoint2.m_parentFrame[1] = 0;
sliderJoint2.m_parentFrame[2] = 0.06;
sliderJoint2.m_parentFrame[3] = 0;
sliderJoint2.m_parentFrame[4] = 0;
sliderJoint2.m_parentFrame[5] = 0;
sliderJoint2.m_parentFrame[6] = 1.0;
sliderJoint2.m_childFrame[0] = 0;
sliderJoint2.m_childFrame[1] = 0;
sliderJoint2.m_childFrame[2] = 0;
sliderJoint2.m_childFrame[3] = 0;
sliderJoint2.m_childFrame[4] = 0;
sliderJoint2.m_childFrame[5] = 1.0;
sliderJoint2.m_childFrame[6] = 0;
sliderJoint2.m_jointAxis[0] = 1.0;
sliderJoint2.m_jointAxis[1] = 0.0;
sliderJoint2.m_jointAxis[2] = 0.0;
sliderJoint2.m_jointType = ePrismaticType;
m_robotSim.createJoint(1, 0, 1, 3, &sliderJoint1);
m_robotSim.createJoint(1, 0, 1, 6, &sliderJoint2);
}
}
virtual void exitPhysics()
{
@@ -241,6 +356,22 @@ public:
}
}
if ((m_options & eONE_MOTOR_GRASP)!=0)
{
int fingerJointIndices[2]={0,1};
double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
};
double maxTorqueValues[2]={50.0,50.0};
for (int i=0;i<2;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = fingerTargetVelocities[i];
controlArgs.m_maxTorqueValue = maxTorqueValues[i];
controlArgs.m_kd = 1.;
m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
}
}
m_robotSim.stepSimulation();
}
virtual void renderScene()

1
examples/RoboticsLearning/GripperGraspExample.h
View File

@@ -20,6 +20,7 @@ enum GripperGraspExampleOptions
{
eGRIPPER_GRASP=1,
eTWO_POINT_GRASP=2,
eONE_MOTOR_GRASP=4,
};
class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options);

12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -2502,34 +2502,34 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btMatrix3x3 frameInParent(btQuaternion(clientCmd.m_createJointArguments.m_parentFrame[3], clientCmd.m_createJointArguments.m_parentFrame[4], clientCmd.m_createJointArguments.m_parentFrame[5], clientCmd.m_createJointArguments.m_parentFrame[6]));
btMatrix3x3 frameInChild(btQuaternion(clientCmd.m_createJointArguments.m_childFrame[3], clientCmd.m_createJointArguments.m_childFrame[4], clientCmd.m_createJointArguments.m_childFrame[5], clientCmd.m_createJointArguments.m_childFrame[6]));
btVector3 jointAxis(clientCmd.m_createJointArguments.m_jointAxis[0], clientCmd.m_createJointArguments.m_jointAxis[1], clientCmd.m_createJointArguments.m_jointAxis[2]);
if (clientCmd.m_createJointArguments.m_jointType == btMultibodyLink::eFixed)
if (clientCmd.m_createJointArguments.m_jointType == eFixedType)
{
if (childBody->m_multiBody)
{
btMultiBodyFixedConstraint* multibodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild);
multibodyFixed->setMaxAppliedImpulse(2.0);
multibodyFixed->setMaxAppliedImpulse(500.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyFixed);
}
else
{
btMultiBodyFixedConstraint* rigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild);
rigidbodyFixed->setMaxAppliedImpulse(2.0);
rigidbodyFixed->setMaxAppliedImpulse(500.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodyFixed);
}
}
else if (clientCmd.m_createJointArguments.m_jointType == btMultibodyLink::ePrismatic)
else if (clientCmd.m_createJointArguments.m_jointType == ePrismaticType)
{
if (childBody->m_multiBody)
{
btMultiBodySliderConstraint* multibodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
multibodySlider->setMaxAppliedImpulse(2.0);
multibodySlider->setMaxAppliedImpulse(500.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodySlider);
}
else
{
btMultiBodySliderConstraint* rigidbodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
rigidbodySlider->setMaxAppliedImpulse(2.0);
rigidbodySlider->setMaxAppliedImpulse(500.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodySlider);
}

1
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -98,6 +98,7 @@ enum
enum JointType {
eRevoluteType = 0,
ePrismaticType = 1,
eFixedType = 2,
};
struct b3JointInfo