Bart/bullet3
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add a tray, similar to those ones:

Browse Source 
https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html

tune the VR demo a bit, to make it more user friendly.
This commit is contained in:
Erwin Coumans
2016-11-29 17:08:47 -08:00
parent 8de35cf01c
commit 746c4d0d2a
7 changed files with 351 additions and 27 deletions
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13
data/tray/tray_textured2.mtl Normal file
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@@ -0,0 +1,13 @@
# Blender MTL File: 'tray_textured2.blend'
# Material Count: 1
newmtl None
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Kd tray.jpg

255
data/tray/tray_textured2.obj Normal file
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@@ -0,0 +1,255 @@
# Blender v2.78 (sub 0) OBJ File: 'tray_textured2.blend'
# www.blender.org
mtllib tray_textured2.mtl
o edge_1_Cube.003
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v -0.580000 0.573309 0.261247
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vt 0.8346 0.9187
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vn -0.0000 0.5446 0.8387
vn 0.0005 0.8383 -0.5452
vn -0.0005 -0.8394 0.5435
usemtl None
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v 0.409917 -0.419158 0.008840
vt 0.9410 0.8520
vt 0.7523 0.8566
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vt 0.8721 0.1430
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vt 0.7009 0.1472
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v -0.580000 -0.590083 0.250354
v 0.419883 -0.426691 -0.001731
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vt 0.8690 0.1040
vt 0.1365 0.1739
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vt 0.7517 0.1739
vt 0.0188 0.0968
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vt 0.1365 0.1668
vn -0.0002 0.8392 0.5438
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vn 0.8825 0.2562 -0.3945
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vn 0.0000 -0.8392 -0.5438
vn 0.0000 -0.8391 -0.5439
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vn 0.0005 0.5446 -0.8387
vn 0.0000 -0.5446 0.8387
vn -0.0003 0.8391 0.5440
vn 0.0003 -0.8397 -0.5430
usemtl None
s 1
f 17/17/25 18/18/26 19/19/27
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usemtl None
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usemtl None
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24
data/tray/tray_textured2.urdf Normal file
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@@ -0,0 +1,24 @@
<robot name="tabletop">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured2.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="tray_material">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured2.obj" scale="0.5 0.5 0.5"/>
</geometry>
</collision>
</link>
</robot>

72
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -43,11 +43,12 @@ bool gCloseToKuka=false;
bool gEnableRealTimeSimVR=false;
bool gCreateDefaultRobotAssets = false;
int gInternalSimFlags = 0;
bool gResetSimulation = 0;
int gHuskyId = -1;
btTransform huskyTr = btTransform::getIdentity();
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 0;
int gEnableKukaControl = 1;
btScalar simTimeScalingFactor = 1;
btScalar gRhsClamp = 1.f;
@@ -718,6 +719,19 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
}
void PhysicsServerCommandProcessor::deleteCachedInverseKinematicsBodies()
{
for (int i = 0; i < m_data->m_inverseKinematicsHelpers.size(); i++)
{
IKTrajectoryHelper** ikHelperPtr = m_data->m_inverseKinematicsHelpers.getAtIndex(i);
if (ikHelperPtr)
{
IKTrajectoryHelper* ikHelper = *ikHelperPtr;
delete ikHelper;
}
}
m_data->m_inverseKinematicsHelpers.clear();
}
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
{
for (int i = 0; i < m_data->m_inverseDynamicsBodies.size(); i++)
@@ -736,7 +750,7 @@ void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
void PhysicsServerCommandProcessor::deleteDynamicsWorld()
{
deleteCachedInverseDynamicsBodies();
deleteCachedInverseKinematicsBodies();
for (int i=0;i<m_data->m_multiBodyJointFeedbacks.size();i++)
{
@@ -2429,29 +2443,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_RESET_SIMULATION:
{
//clean up all data
deleteCachedInverseDynamicsBodies();
if (m_data && m_data->m_guiHelper)
{
m_data->m_guiHelper->removeAllGraphicsInstances();
}
if (m_data)
{
m_data->m_visualConverter.resetAll();
}
deleteDynamicsWorld();
createEmptyDynamicsWorld();
m_data->exitHandles();
m_data->initHandles();
resetSimulation();
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED;
hasStatus = true;
m_data->m_hasGround = false;
m_data->m_gripperRigidbodyFixed = 0;
break;
}
case CMD_CREATE_RIGID_BODY:
@@ -3940,6 +3937,12 @@ double gDtInSec = 0.f;
double gSubStep = 0.f;
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
if (gResetSimulation)
{
resetSimulation();
gResetSimulation = false;
}
if ((gEnableRealTimeSimVR || m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
{
@@ -3997,7 +4000,30 @@ void PhysicsServerCommandProcessor::applyJointDamping(int bodyUniqueId)
}
}
void PhysicsServerCommandProcessor::resetSimulation()
{
//clean up all data
deleteCachedInverseDynamicsBodies();
if (m_data && m_data->m_guiHelper)
{
m_data->m_guiHelper->removeAllGraphicsInstances();
}
if (m_data)
{
m_data->m_visualConverter.resetAll();
}
deleteDynamicsWorld();
createEmptyDynamicsWorld();
m_data->exitHandles();
m_data->initHandles();
m_data->m_hasGround = false;
m_data->m_gripperRigidbodyFixed = 0;
}
//todo: move this to Python/scripting
void PhysicsServerCommandProcessor::createDefaultRobotAssets()
{
@@ -4141,7 +4167,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
btTransform objectLocalTr[] = {
btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.0, 0.0, 0.0)),
btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.0, 0.15, 0.64)),
btTransform(btQuaternion(btVector3(0,0,1),-SIMD_HALF_PI), btVector3(0.0, 0.15, 0.64)),
btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.1, 0.15, 0.85)),
btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.4, 0.05, 0.85)),
btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.3, -0.05, 0.7)),
@@ -4168,7 +4194,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
// Table area
loadUrdf("table/table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("tray.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());

3
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -23,6 +23,8 @@ class PhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface
//todo: move this to physics client side / Python
void createDefaultRobotAssets();
void resetSimulation();
protected:
@@ -37,6 +39,7 @@ protected:
int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes);
void deleteCachedInverseDynamicsBodies();
void deleteCachedInverseKinematicsBodies();
public:
PhysicsServerCommandProcessor();

11
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -39,6 +39,7 @@ extern bool gEnableRealTimeSimVR;
extern bool gCreateDefaultRobotAssets;
extern int gInternalSimFlags;
extern int gCreateObjectSimVR;
extern bool gResetSimulation;
extern int gEnableKukaControl;
int gGraspingController = -1;
extern btScalar simTimeScalingFactor;
@@ -273,7 +274,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
args->m_physicsServerPtr->removePickingConstraint();
}
if (!gEnableKukaControl)
// if (!gEnableKukaControl)
{
if (args->m_isVrControllerPicking[c])
{
@@ -1670,7 +1671,8 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
{
if (button == 1 && state == 0)
{
// gVRTeleportPos = gLastPickPos;
gResetSimulation = true;
//gVRTeleportPos1 = gLastPickPos;
}
} else
{
@@ -1682,7 +1684,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
} else
{
gDebugRenderToggle = 0;
#if 0//it confuses people, make it into a debug option in a VR GUI?
if (simTimeScalingFactor==0)
{
simTimeScalingFactor = 1;
@@ -1697,6 +1699,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
simTimeScalingFactor = 0;
}
}
#endif
}
} else
{
@@ -1714,7 +1717,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
}
else
{
gEnableKukaControl = !gEnableKukaControl;
// gEnableKukaControl = !gEnableKukaControl;
}
}