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Rolling friction demo for sphere and torsional friction demo for two point contact.

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This commit is contained in:
yunfeibai
2016-08-30 17:50:37 -07:00
parent d784c61b61
commit 9c124b5896
10 changed files with 79 additions and 18 deletions
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12
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -172,15 +172,13 @@ public:
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_gripper_left.urdf";
//args.m_startPosition.setValue(0.0675, 0.02, 0.13);
args.m_startPosition.setValue(0.068, 0.02, 0.11);
//args.m_startOrientation.setEulerZYX(0, 0.785398, 0.785398);
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = -0.5;
controlArgs.m_maxTorqueValue = 50.0;
controlArgs.m_targetVelocity = -0.1;
controlArgs.m_maxTorqueValue = 10.0;
controlArgs.m_kd = 1.;
m_robotSim.setJointMotorControl(1,0,controlArgs);
}
@@ -189,15 +187,13 @@ public:
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_gripper_right.urdf";
//args.m_startPosition.setValue(-0.0675, 0.02, 0.13);
args.m_startPosition.setValue(-0.068, 0.02, 0.11);
//args.m_startOrientation.setEulerZYX(0, -0.785398, -0.785398);
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = 0.5;
controlArgs.m_maxTorqueValue = 50.0;
controlArgs.m_targetVelocity = 0.1;
controlArgs.m_maxTorqueValue = 10.0;
controlArgs.m_kd = 1.;
m_robotSim.setJointMotorControl(2,0,controlArgs);
}

31
examples/RoboticsLearning/R2D2GraspExample.cpp
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@@ -142,6 +142,37 @@ public:
}
}
if ((m_options & eROBOTIC_LEARN_ROLLING_FRICTION)!=0)
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
{
args.m_fileName = "sphere2_rolling_friction.urdf";
args.m_startPosition.setValue(0,0,2.5);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = true;
m_robotSim.loadFile(args,results);
}
{
args.m_fileName = "sphere2.urdf";
args.m_startPosition.setValue(0,2,2.5);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = true;
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_useMultiBody = true;
args.m_forceOverrideFixedBase = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
}
}
}
virtual void exitPhysics()

1
examples/RoboticsLearning/R2D2GraspExample.h
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@@ -20,6 +20,7 @@ enum RobotLearningExampleOptions
{
eROBOTIC_LEARN_GRASP=1,
eROBOTIC_LEARN_COMPLIANT_CONTACT=2,
eROBOTIC_LEARN_ROLLING_FRICTION=4,
};
class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options);