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save default VR camera tuning, requires MIDI controller

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tweak some values in VR demo
This commit is contained in:
erwincoumans
2016-12-02 17:44:00 -08:00
parent 383b30a4e4
commit 61cfa18923
4 changed files with 97 additions and 13 deletions
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40
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -48,7 +48,7 @@ int gHuskyId = -1;
btTransform huskyTr = btTransform::getIdentity();
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 1;
int gEnableKukaControl = 0;
btScalar simTimeScalingFactor = 1;
btScalar gRhsClamp = 1.f;
@@ -4016,7 +4016,7 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
}
btVector3 gVRGripperPos(0,0,0.2);
btVector3 gVRGripperPos(0.6, 0.4, 0.7);
btQuaternion gVRGripperOrn(0,0,0,1);
btVector3 gVRController2Pos(0,0,0.2);
btQuaternion gVRController2Orn(0,0,0,1);
@@ -4156,7 +4156,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
{
int bodyId = 0;
if (loadUrdf("pr2_gripper.urdf", btVector3(0, 0, 0.1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()))
if (loadUrdf("pr2_gripper.urdf", btVector3(-0.2, 0.15, 0.9), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()))
{
InteralBodyData* parentBody = m_data->getHandle(bodyId);
if (parentBody->m_multiBody)
@@ -4186,6 +4186,30 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
loadUrdf("kuka_iiwa/model_vr_limits.urdf", btVector3(1.4, -0.2, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_KukaId = bodyId;
InteralBodyData* kukaBody = m_data->getHandle(m_data->m_KukaId);
if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs() == 7)
{
btScalar q[7];
q[0] = 0;// -SIMD_HALF_PI;
q[1] = 0;
q[2] = 0;
q[3] = SIMD_HALF_PI;
q[4] = 0;
q[5] = -SIMD_HALF_PI*0.66;
q[6] = 0;
for (int i = 0; i < 7; i++)
{
kukaBody->m_multiBody->setJointPos(i, q[i]);
}
btAlignedObjectArray<btQuaternion> scratch_q;
btAlignedObjectArray<btVector3> scratch_m;
kukaBody->m_multiBody->forwardKinematics(scratch_q, scratch_m);
int nLinks = kukaBody->m_multiBody->getNumLinks();
scratch_q.resize(nLinks + 1);
scratch_m.resize(nLinks + 1);
kukaBody->m_multiBody->updateCollisionObjectWorldTransforms(scratch_q, scratch_m);
}
loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .8), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .9), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
@@ -4194,7 +4218,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
// Load one motor gripper for kuka
loadSdf("gripper/wsg50_one_motor_gripper_new_free_base.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
m_data->m_gripperId = bodyId + 1;
InteralBodyData* kukaBody = m_data->getHandle(m_data->m_KukaId);
InteralBodyData* gripperBody = m_data->getHandle(m_data->m_gripperId);
// Reset the default gripper motor maximum torque for damping to 0
@@ -4236,6 +4260,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute1);
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute2);
kukaBody = m_data->getHandle(m_data->m_KukaId);
if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs()==7)
{
gripperBody->m_multiBody->setHasSelfCollision(0);
@@ -4289,7 +4314,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
// Table area
loadUrdf("table/table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("tray/tray_textured.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("tray/tray_textured.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("pitcher_small.urdf", objectWorldTr[3].getOrigin(), objectWorldTr[3].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("teddy_vhacd.urdf", objectWorldTr[4].getOrigin(), objectWorldTr[4].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
@@ -4330,9 +4355,10 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
if (motor)
{
btScalar posTarget = (-0.048)*btMin(btScalar(0.75), gVRGripper2Analog) / 0.75;
motor->setPositionTarget(posTarget, .2);
motor->setPositionTarget(posTarget, .8);
motor->setVelocityTarget(0.0, .5);
motor->setMaxAppliedImpulse(5.0);
motor->setMaxAppliedImpulse(1.0);
}
}