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expose gear erp/relative position target to C-API/pybullet

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finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
This commit is contained in:
erwincoumans
2017-09-26 19:54:36 -07:00
parent b1f8eb74a4
commit 8a265b8af2
12 changed files with 301 additions and 31 deletions
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25
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2131,6 +2131,31 @@ B3_SHARED_API int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommand
return 0;
}
B3_SHARED_API int b3InitChangeUserConstraintSetRelativePositionTarget(b3SharedMemoryCommandHandle commandHandle, double relativePositionTarget)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_CONSTRAINT);
b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
command->m_updateFlags |=USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET;
command->m_userConstraintArguments.m_relativePositionTarget = relativePositionTarget;
return 0;
}
B3_SHARED_API int b3InitChangeUserConstraintSetERP(b3SharedMemoryCommandHandle commandHandle, double erp)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_CONSTRAINT);
b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
command->m_updateFlags |=USER_CONSTRAINT_CHANGE_ERP;
command->m_userConstraintArguments.m_erp = erp;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -136,6 +136,8 @@ B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHan
B3_SHARED_API int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
B3_SHARED_API int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio);
B3_SHARED_API int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink);
B3_SHARED_API int b3InitChangeUserConstraintSetRelativePositionTarget(b3SharedMemoryCommandHandle commandHandle, double relativePositionTarget);
B3_SHARED_API int b3InitChangeUserConstraintSetERP(b3SharedMemoryCommandHandle commandHandle, double erp);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);

9
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7278,6 +7278,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
userConstraintPtr->m_mbConstraint->setGearRatio(clientCmd.m_userConstraintArguments.m_gearRatio);
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET)
{
userConstraintPtr->m_mbConstraint->setRelativePositionTarget(clientCmd.m_userConstraintArguments.m_relativePositionTarget);
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_ERP)
{
userConstraintPtr->m_mbConstraint->setErp(clientCmd.m_userConstraintArguments.m_erp);
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
{
userConstraintPtr->m_mbConstraint->setGearAuxLink(clientCmd.m_userConstraintArguments.m_gearAuxLink);

4
examples/SharedMemory/SharedMemoryCommands.h
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@@ -678,7 +678,9 @@ enum EnumUserConstraintFlags
USER_CONSTRAINT_CHANGE_MAX_FORCE=32,
USER_CONSTRAINT_REQUEST_INFO=64,
USER_CONSTRAINT_CHANGE_GEAR_RATIO=128,
USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK=256,
USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK=256,
USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET=512,
USER_CONSTRAINT_CHANGE_ERP=1024,
};

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -247,6 +247,8 @@ struct b3UserConstraint
int m_userConstraintUniqueId;
double m_gearRatio;
int m_gearAuxLink;
double m_relativePositionTarget;
double m_erp;
};

123
examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp
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@@ -6,7 +6,6 @@
//plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll")
//could also be plugin = p.loadPlugin("vrSyncPlugin.so") on Mac/Linux
//controllerId = 3
//p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid],[50])
#include "vrSyncPlugin.h"
#include "../../SharedMemoryPublic.h"
@@ -19,12 +18,18 @@ struct MyClass
int m_controllerId;
int m_constraintId;
int m_constraintId2;
int m_gripperId;
float m_maxForce;
float m_maxForce2;
MyClass()
:m_testData(42),
m_controllerId(-1),
m_constraintId(-1),
m_maxForce(0)
m_constraintId2(-1),
m_gripperId(-1),
m_maxForce(0),
m_maxForce2(0)
{
}
virtual ~MyClass()
@@ -56,7 +61,7 @@ B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context)
if (statusType == CMD_REQUEST_VR_EVENTS_DATA_COMPLETED)
{
struct b3VREventsData vrEvents;
int i = 0;
b3GetVREventsData(context->m_physClient, &vrEvents);
if (vrEvents.m_numControllerEvents)
@@ -66,18 +71,95 @@ B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context)
b3VRControllerEvent& event = vrEvents.m_controllerEvents[n];
if (event.m_controllerId ==obj->m_controllerId)
{
b3SharedMemoryCommandHandle commandHandle;
int userConstraintUniqueId = obj->m_constraintId;
commandHandle = b3InitChangeUserConstraintCommand(context->m_physClient, userConstraintUniqueId);
double pos[4] = {event.m_pos[0],event.m_pos[1],event.m_pos[2],1};
b3InitChangeUserConstraintSetPivotInB(commandHandle, pos);
double orn[4] = {event.m_orn[0],event.m_orn[1],event.m_orn[2],event.m_orn[3]};
b3InitChangeUserConstraintSetFrameInB(commandHandle, orn);
b3InitChangeUserConstraintSetMaxForce(commandHandle, obj->m_maxForce);
if (obj->m_constraintId>=0)
{
//this is basically equivalent to doing this in Python/pybullet:
//p.changeConstraint(pr2_cid, e[POSITION], e[ORIENTATION], maxForce=...)
b3SharedMemoryCommandHandle commandHandle;
int userConstraintUniqueId = obj->m_constraintId;
commandHandle = b3InitChangeUserConstraintCommand(context->m_physClient, userConstraintUniqueId);
double pos[4] = {event.m_pos[0],event.m_pos[1],event.m_pos[2],1};
b3InitChangeUserConstraintSetPivotInB(commandHandle, pos);
double orn[4] = {event.m_orn[0],event.m_orn[1],event.m_orn[2],event.m_orn[3]};
b3InitChangeUserConstraintSetFrameInB(commandHandle, orn);
b3InitChangeUserConstraintSetMaxForce(commandHandle, obj->m_maxForce);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
}
// apply the analogue button to close the constraint, using a gear constraint with position target
if (obj->m_constraintId2>=0)
{
//this block is similar to
//p.changeConstraint(c,gearRatio=1, erp=..., relativePositionTarget=relPosTarget, maxForce=...)
//printf("obj->m_constraintId2=%d\n", obj->m_constraintId2);
b3SharedMemoryCommandHandle commandHandle;
commandHandle = b3InitChangeUserConstraintCommand(context->m_physClient, obj->m_constraintId2);
//0 -> open, 1 = closed
double openPos = 1.;
double relPosTarget = openPos - (event.m_analogAxis*openPos);
b3InitChangeUserConstraintSetRelativePositionTarget(commandHandle, relPosTarget);
b3InitChangeUserConstraintSetERP(commandHandle,1);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
}
//printf("event.m_analogAxis=%f\n", event.m_analogAxis);
// use the pr2_gripper motors to keep the gripper centered/symmetric around the center axis
if (obj->m_gripperId>=0)
{
//this block is similar to
//b = p.getJointState(pr2_gripper,2)[0]
//print("b = " + str(b))
//p.setJointMotorControl2(pr2_gripper, 0, p.POSITION_CONTROL, targetPosition=b, force=3)
//printf("obj->m_gripperId=%d\n", obj->m_gripperId);
{
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(context->m_physClient, obj->m_gripperId);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(context->m_physClient, cmd_handle);
int status_type = b3GetStatusType(status_handle);
if (status_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
//printf("status_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED\n");
b3JointSensorState sensorState;
if (b3GetJointState(context->m_physClient, status_handle, 2, &sensorState))
{
b3SharedMemoryCommandHandle commandHandle;
double targetPosition = sensorState.m_jointPosition;
//printf("targetPosition =%f\n", targetPosition);
if (1)
{
b3JointInfo info;
b3GetJointInfo(context->m_physClient, obj->m_gripperId, 0, &info);
commandHandle = b3JointControlCommandInit2(context->m_physClient, obj->m_gripperId, CONTROL_MODE_POSITION_VELOCITY_PD);
double kp = .1;
double targetVelocity = 0;
double kd = .6;
b3JointControlSetDesiredPosition(commandHandle, info.m_qIndex, targetPosition);
b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex,targetVelocity);
b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, obj->m_maxForce2);
b3SubmitClientCommandAndWaitStatus(context->m_physClient, cmd_handle);
}
} else
{
//printf("???\n");
}
} else
{
//printf("no\n");
}
}
}
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
//this is basically equivalent to doing this in Python/pybullet:
//p.changeConstraint(pr2_cid, e[POSITION], e[ORIENTATION], maxForce=500)
}
}
}
@@ -92,15 +174,26 @@ B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context)
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
MyClass* obj = (MyClass*) context->m_userPointer;
if (arguments->m_numInts>=2 && arguments->m_numFloats >= 0)
if (arguments->m_numInts>=4 && arguments->m_numFloats >= 2)
{
obj->m_constraintId = arguments->m_ints[1];
obj->m_constraintId2 = arguments->m_ints[2];
obj->m_gripperId = arguments->m_ints[3];
printf("obj->m_constraintId=%d\n", obj->m_constraintId);
obj->m_maxForce = arguments->m_floats[0];
obj->m_maxForce2 = arguments->m_floats[1];
printf("obj->m_maxForce = %f\n", obj->m_maxForce);
obj->m_controllerId = arguments->m_ints[0];
printf("obj->m_controllerId=%d\n", obj->m_controllerId);
b3SharedMemoryCommandHandle command = b3InitSyncBodyInfoCommand(context->m_physClient);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, command);
int statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SYNC_BODY_INFO_COMPLETED)
{
}
}
return 0;
}