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Expose rest pose for null space task to API.

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This commit is contained in:
yunfeibai
2016-09-30 01:03:40 -07:00
parent 1c1d3db26d
commit 7e8d8b0488
9 changed files with 50 additions and 33 deletions
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54
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -203,27 +203,39 @@ public:
ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
ikargs.m_endEffectorLinkIndex = 6;
ikargs.m_lowerLimits.push_back(-2.32);
ikargs.m_lowerLimits.push_back(-1.6);
ikargs.m_lowerLimits.push_back(-2.32);
ikargs.m_lowerLimits.push_back(-1.6);
ikargs.m_lowerLimits.push_back(-2.32);
ikargs.m_lowerLimits.push_back(-1.6);
ikargs.m_lowerLimits.push_back(-2.4);
ikargs.m_upperLimits.push_back(2.32);
ikargs.m_upperLimits.push_back(1.6);
ikargs.m_upperLimits.push_back(2.32);
ikargs.m_upperLimits.push_back(1.6);
ikargs.m_upperLimits.push_back(2.32);
ikargs.m_upperLimits.push_back(1.6);
ikargs.m_upperLimits.push_back(2.4);
ikargs.m_jointRanges.push_back(5.8);
ikargs.m_jointRanges.push_back(4);
ikargs.m_jointRanges.push_back(5.8);
ikargs.m_jointRanges.push_back(4);
ikargs.m_jointRanges.push_back(5.8);
ikargs.m_jointRanges.push_back(4);
ikargs.m_jointRanges.push_back(6);
// Settings based on default KUKA arm setting
ikargs.m_lowerLimits.resize(numJoints);
ikargs.m_upperLimits.resize(numJoints);
ikargs.m_jointRanges.resize(numJoints);
ikargs.m_restPoses.resize(numJoints);
ikargs.m_lowerLimits[0] = -2.32;
ikargs.m_lowerLimits[1] = -1.6;
ikargs.m_lowerLimits[2] = -2.32;
ikargs.m_lowerLimits[3] = -1.6;
ikargs.m_lowerLimits[4] = -2.32;
ikargs.m_lowerLimits[5] = -1.6;
ikargs.m_lowerLimits[6] = -2.4;
ikargs.m_upperLimits[0] = 2.32;
ikargs.m_upperLimits[1] = 1.6;
ikargs.m_upperLimits[2] = 2.32;
ikargs.m_upperLimits[3] = 1.6;
ikargs.m_upperLimits[4] = 2.32;
ikargs.m_upperLimits[5] = 1.6;
ikargs.m_upperLimits[6] = 2.4;
ikargs.m_jointRanges[0] = 5.8;
ikargs.m_jointRanges[1] = 4;
ikargs.m_jointRanges[2] = 5.8;
ikargs.m_jointRanges[3] = 4;
ikargs.m_jointRanges[4] = 5.8;
ikargs.m_jointRanges[5] = 4;
ikargs.m_jointRanges[6] = 6;
ikargs.m_restPoses[0] = 0;
ikargs.m_restPoses[1] = 0;
ikargs.m_restPoses[2] = 0;
ikargs.m_restPoses[3] = SIMD_HALF_PI;
ikargs.m_restPoses[4] = 0;
ikargs.m_restPoses[5] = -SIMD_HALF_PI*0.66;
ikargs.m_restPoses[6] = 0;
ikargs.m_numDegreeOfFreedom = numJoints;
if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))

4
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -487,13 +487,13 @@ bool b3RobotSimAPI::calculateInverseKinematics(const struct b3RobotSimInverseKin
b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClient,args.m_bodyUniqueId);
if ((args.m_flags & B3_HAS_IK_TARGET_ORIENTATION) && (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY))
{
b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, args.m_endEffectorTargetOrientation, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0]);
b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, args.m_endEffectorTargetOrientation, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0], &args.m_restPoses[0]);
} else if (args.m_flags & B3_HAS_IK_TARGET_ORIENTATION)
{
b3CalculateInverseKinematicsAddTargetPositionWithOrientation(command,args.m_endEffectorLinkIndex,args.m_endEffectorTargetPosition,args.m_endEffectorTargetOrientation);
} else if (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY)
{
b3CalculateInverseKinematicsPosWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0]);
b3CalculateInverseKinematicsPosWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0], &args.m_restPoses[0]);
} else
{
b3CalculateInverseKinematicsAddTargetPurePosition(command,args.m_endEffectorLinkIndex,args.m_endEffectorTargetPosition);

1
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -101,6 +101,7 @@ struct b3RobotSimInverseKinematicArgs
b3AlignedObjectArray<double> m_lowerLimits;
b3AlignedObjectArray<double> m_upperLimits;
b3AlignedObjectArray<double> m_jointRanges;
b3AlignedObjectArray<double> m_restPoses;
b3RobotSimInverseKinematicArgs()
:m_bodyUniqueId(-1),