Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add GripperGraspExample, separate from R2D2GraspExample

Browse Source
This commit is contained in:
Erwin Coumans
2016-07-25 12:30:47 -07:00
parent 6b0ceace7f
commit 8270096fad
6 changed files with 320 additions and 175 deletions
Download Patch File Download Diff File Expand all files Collapse all files

235
examples/RoboticsLearning/R2D2GraspExample.cpp
View File

@@ -9,15 +9,11 @@
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include <string>
#include "b3RobotSimAPI.h"
#include "../Utils/b3Clock.h"
static btScalar sGripperVerticalVelocity = -0.2f;
static btScalar sGripperClosingTargetVelocity = 0.5f;
///quick demo showing the right-handed coordinate system and positive rotations around each axis
class R2D2GraspExample : public CommonExampleInterface
{
@@ -26,8 +22,7 @@ class R2D2GraspExample : public CommonExampleInterface
b3RobotSimAPI m_robotSim;
int m_options;
int m_r2d2Index;
int m_gripperIndex;
float m_x;
float m_y;
float m_z;
@@ -44,7 +39,6 @@ public:
m_guiHelper(helper),
m_options(options),
m_r2d2Index(-1),
m_gripperIndex(-1),
m_x(0),
m_y(0),
m_z(0)
@@ -67,9 +61,36 @@ public:
b3Printf("robotSim connected = %d",connected);
if (m_options == eROBOTIC_LEARN_GRASP)
if ((m_options & eROBOTIC_LEARN_GRASP)!=0)
{
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "r2d2.urdf";
args.m_startPosition.setValue(0,0,.5);
b3RobotSimLoadFileResults results;
if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
{
int m_r2d2Index = results.m_uniqueObjectIds[0];
int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(m_r2d2Index,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
}
int wheelJointIndices[4]={2,3,6,7};
int wheelTargetVelocities[4]={-10,-10,-10,-10};
for (int i=0;i<4;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = wheelTargetVelocities[i];
controlArgs.m_maxTorqueValue = 1e30;
m_robotSim.setJointMotorControl(m_r2d2Index,wheelJointIndices[i],controlArgs);
}
}
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "kiva_shelf/model.sdf";
@@ -88,154 +109,38 @@ public:
args.m_forceOverrideFixedBase = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
m_robotSim.setGravity(b3MakeVector3(0,0,0));
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "r2d2.urdf";
args.m_startPosition.setValue(0,0,.5);
b3RobotSimLoadFileResults results;
if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
{
int m_r2d2Index = results.m_uniqueObjectIds[0];
int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(m_r2d2Index,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
}
int wheelJointIndices[4]={2,3,6,7};
int wheelTargetVelocities[4]={-10,-10,-10,-10};
for (int i=0;i<4;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = wheelTargetVelocities[i];
controlArgs.m_maxTorqueValue = 1e30;
m_robotSim.setJointMotorControl(m_r2d2Index,wheelJointIndices[i],controlArgs);
}
}
}
}
if (m_options == eROBOTIC_LEARN_COMPLIANT_CONTACT)
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
{
args.m_fileName = "cube.urdf";
args.m_startPosition.setValue(0,0,2.5);
args.m_startOrientation.setEulerZYX(0,0.2,0);
m_robotSim.loadFile(args,results);
}
{
args.m_fileName = "cube_no_friction.urdf";
args.m_startPosition.setValue(0,2,2.5);
args.m_startOrientation.setEulerZYX(0,0.2,0);
m_robotSim.loadFile(args,results);
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "plane.urdf";
args.m_startPosition.setValue(0,0,0);
args.m_startOrientation.setEulerZYX(0,0.2,0);
args.m_forceOverrideFixedBase = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
}
}
if (m_options == eROBOTIC_LEARN_GRASP_CONTACT)
{
{
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("");
args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf";
args.m_fileType = B3_SDF_FILE;
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);
}
/*
int fingerJointIndices[2]={1,3};
double fingerTargetPositions[2]={-0.04,0.04};
for (int i=0;i<2;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
controlArgs.m_targetPosition = fingerTargetPositions[i];
controlArgs.m_kp = 5.0;
controlArgs.m_kd = 3.0;
controlArgs.m_maxTorqueValue = 1.0;
m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
}
*/
int fingerJointIndices[3]={0,1,3};
double fingerTargetVelocities[3]={-0.2,.5,-.5};
double maxTorqueValues[3]={40.0,50.0,50.0};
for (int i=0;i<3;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);
}
}
}
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0,0,.107);
args.m_startOrientation.setEulerZYX(0,0,0);
m_robotSim.loadFile(args,results);
}
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;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
}
if ((m_options & eROBOTIC_LEARN_COMPLIANT_CONTACT)!=0)
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
{
args.m_fileName = "cube.urdf";
args.m_startPosition.setValue(0,0,2.5);
args.m_startOrientation.setEulerZYX(0,0.2,0);
m_robotSim.loadFile(args,results);
}
{
args.m_fileName = "cube_no_friction.urdf";
args.m_startPosition.setValue(0,2,2.5);
args.m_startOrientation.setEulerZYX(0,0.2,0);
m_robotSim.loadFile(args,results);
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "plane.urdf";
args.m_startPosition.setValue(0,0,0);
args.m_startOrientation.setEulerZYX(0,0.2,0);
args.m_forceOverrideFixedBase = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
}
}
}
@@ -245,22 +150,6 @@ public:
}
virtual void stepSimulation(float deltaTime)
{
if ((m_options == eROBOTIC_LEARN_GRASP_CONTACT) && (m_gripperIndex>=0))
{
int fingerJointIndices[3]={0,1,3};
double fingerTargetVelocities[3]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
,-sGripperClosingTargetVelocity
};
double maxTorqueValues[3]={40.0,50.0,50.0};
for (int i=0;i<3;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()
@@ -290,9 +179,9 @@ public:
virtual void resetCamera()
{
float dist = 1.5;
float pitch = 12;
float yaw = -10;
float dist = 3;
float pitch = -75;
float yaw = 30;
float targetPos[3]={-0.2,0.8,0.3};
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
{