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VR video recording, use command-line --mp4=videoname.mp4

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tune gripper grasp example with tefal pan, 800Newton force.
URDF importer: if using single transform 1 child shape, don't use compound shape.
if renderGUI is false, don't intercept mouse clicks
add manyspheres.py example (performance is pretty bad, will look into it)
[pybullet] expose contactBreakingThreshold
This commit is contained in:
Erwin Coumans
2017-02-16 14:19:09 -08:00
parent 08b83c3cd8
commit 63486a712c
18 changed files with 140 additions and 82 deletions
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16
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -16,8 +16,8 @@
#include "b3RobotSimAPI.h"
#include "../Utils/b3Clock.h"
static btScalar sGripperVerticalVelocity = -0.2f;
static btScalar sGripperClosingTargetVelocity = 0.5f;
static btScalar sGripperVerticalVelocity = 0.f;
static btScalar sGripperClosingTargetVelocity = -0.7f;
class GripperGraspExample : public CommonExampleInterface
{
@@ -226,9 +226,9 @@ public:
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "sphere_small.urdf";
args.m_startPosition.setValue(0, 0, .107);
args.m_startOrientation.setEulerZYX(0, 0, 0);
args.m_fileName = "dinnerware/pan_tefal.urdf";
args.m_startPosition.setValue(0, -0.2, .47);
args.m_startOrientation.setEulerZYX(SIMD_HALF_PI, 0, 0);
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
}
@@ -492,7 +492,7 @@ public:
int fingerJointIndices[2]={0,1};
double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
};
double maxTorqueValues[2]={50.0,50.0};
double maxTorqueValues[2]={800.0,800.0};
for (int i=0;i<2;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
@@ -550,8 +550,8 @@ public:
virtual void resetCamera()
{
float dist = 1.5;
float pitch = 12;
float yaw = -10;
float pitch = 18;
float yaw = 10;
float targetPos[3]={-0.2,0.8,0.3};
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
{