Grasp soft body with rigid fingers.
This commit is contained in:
yunfeibai
27
data/gripper/wsg50_one_motor_gripper_left_finger.urdf
Normal file
27
data/gripper/wsg50_one_motor_gripper_left_finger.urdf
Normal file
@@ -0,0 +1,27 @@
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<?xml version="0.0" ?>
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<robot name="left_finger.urdf">
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<link name="baseLink">
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<contact>
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<lateral_friction value="1.0"/>
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<inertia_scaling value="3.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.05"/>
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<mass value=".2"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 4.71239" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.042"/>
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<geometry>
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<box size="0.02 0.02 0.15"/>
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</geometry>
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</collision>
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</link>
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</robot>
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307
data/gripper/wsg50_one_motor_gripper_no_finger.sdf
Normal file
307
data/gripper/wsg50_one_motor_gripper_no_finger.sdf
Normal file
@@ -0,0 +1,307 @@
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<?xml version="1.0" ?>
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<sdf version='1.6'>
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<world name='default'>
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<model name='wsg50_with_gripper'>
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<pose frame=''>0 0 0.4 3.14 0 0</pose>
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<link name='world'>
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</link>
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<joint name='base_joint' type='prismatic'>
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<parent>world</parent>
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<child>base_link</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-10</lower>
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<upper>10</upper>
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<effort>1</effort>
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<velocity>1</velocity>
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</limit>
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<dynamics>
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<damping>0</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name='base_link'>
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<pose frame=''>0 0 0 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0 0 0 0 0</pose>
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<mass>1.2</mass>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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</inertial>
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<visual name='base_link_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/WSG50_110.stl</uri>
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</mesh>
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</geometry>
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<material>
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</material>
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</visual>
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</link>
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<link name='motor'>
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<pose frame=''>0 0 0.03 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0 0 0 0 0</pose>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1</iyy>
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<iyz>0</iyz>
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<izz>0.1</izz>
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</inertia>
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</inertial>
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<visual name='motor_visual'>
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<pose frame=''>0 0 0.01 0 0 0</pose>
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<geometry>
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<box>
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<size>0.02 0.02 0.02 </size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name='base_joint_motor' type='prismatic'>
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<child>motor</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-0.055</lower>
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<upper>0.001</upper>
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<effort>10.0</effort>
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<velocity>10.0</velocity>
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</limit>
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<dynamics>
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<damping>0</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name='left_hinge'>
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<pose frame=''>0 0 0.04 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0 0.035 0 0 0</pose>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1</iyy>
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<iyz>0</iyz>
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<izz>0.1</izz>
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</inertia>
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</inertial>
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<visual name='motor_visual'>
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<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
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<geometry>
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<box>
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<size>0.02 0.02 0.07 </size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name='motor_left_hinge_joint' type='revolute'>
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<child>left_hinge</child>
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<parent>motor</parent>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-20.0</lower>
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<upper>20.0</upper>
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<effort>10</effort>
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<velocity>10</velocity>
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</limit>
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<dynamics>
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<damping>0</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='right_hinge'>
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<pose frame=''>0 0 0.04 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0 0.035 0 0 0</pose>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1</iyy>
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<iyz>0</iyz>
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<izz>0.1</izz>
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</inertia>
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</inertial>
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<visual name='motor_visual'>
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<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
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<geometry>
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<box>
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<size>0.02 0.02 0.07 </size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name='motor_right_hinge_joint' type='revolute'>
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<child>right_hinge</child>
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<parent>motor</parent>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-20.0</lower>
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<upper>20.0</upper>
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<effort>10</effort>
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<velocity>10</velocity>
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</limit>
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<dynamics>
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<damping>0</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='gripper_left'>
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<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
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<inertial>
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<pose frame=''>0 0 0.0115 0 -0 0</pose>
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<mass>0.2</mass>
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<inertia>
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||||||
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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||||||
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<ixz>0</ixz>
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||||||
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<iyy>0.1</iyy>
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<iyz>0</iyz>
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<izz>0.1</izz>
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</inertia>
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</inertial>
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<visual name='gripper_left_visual'>
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<pose frame=''>0 0 -0.06 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>0.001 0.001 0.001</scale>
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<uri>meshes/GUIDE_WSG50_110.stl</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
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<pose frame=''>0 0 -0.037 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>0.001 0.001 0.001</scale>
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<uri>meshes/WSG-FMF.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='gripper_left_hinge_joint' type='prismatic'>
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<child>gripper_left</child>
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<parent>base_link</parent>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>-0.01</lower>
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<upper>0.04</upper>
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<effort>1</effort>
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<velocity>1</velocity>
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</limit>
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<dynamics>
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<damping>0</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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||||||
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name='gripper_right'>
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<pose frame=''>0.055 0 0.06 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0 0.0115 0 -0 0</pose>
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||||||
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<mass>0.2</mass>
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||||||
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<inertia>
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||||||
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<ixx>0.1</ixx>
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||||||
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<ixy>0</ixy>
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||||||
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<ixz>0</ixz>
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||||||
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<iyy>0.1</iyy>
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||||||
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<iyz>0</iyz>
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||||||
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<izz>0.1</izz>
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</inertia>
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</inertial>
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<visual name='gripper_right_visual'>
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<pose frame=''>0 0 -0.06 0 0 3.14159</pose>
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<geometry>
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||||||
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<mesh>
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||||||
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<scale>0.001 0.001 0.001</scale>
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||||||
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<uri>meshes/GUIDE_WSG50_110.stl</uri>
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</mesh>
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</geometry>
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</visual>
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||||||
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<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
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||||||
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<pose frame=''>0 0 -0.037 0 0 3.14159</pose>
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||||||
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<geometry>
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||||||
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<mesh>
|
||||||
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<scale>0.001 0.001 0.001</scale>
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||||||
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<uri>meshes/WSG-FMF.stl</uri>
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||||||
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</mesh>
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||||||
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</geometry>
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||||||
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</visual>
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</link>
|
||||||
|
|
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<joint name='gripper_right_hinge_joint' type='prismatic'>
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||||||
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<child>gripper_right</child>
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||||||
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<parent>base_link</parent>
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||||||
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<axis>
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||||||
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<xyz>1 0 0</xyz>
|
||||||
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<limit>
|
||||||
|
<lower>-0.04</lower>
|
||||||
|
<upper>0.01</upper>
|
||||||
|
<effort>1</effort>
|
||||||
|
<velocity>1</velocity>
|
||||||
|
</limit>
|
||||||
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<dynamics>
|
||||||
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<damping>0</damping>
|
||||||
|
<friction>0</friction>
|
||||||
|
<spring_reference>0</spring_reference>
|
||||||
|
<spring_stiffness>0</spring_stiffness>
|
||||||
|
</dynamics>
|
||||||
|
</axis>
|
||||||
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</joint>
|
||||||
|
|
||||||
|
</model>
|
||||||
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</world>
|
||||||
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</sdf>
|
||||||
27
data/gripper/wsg50_one_motor_gripper_right_finger.urdf
Normal file
27
data/gripper/wsg50_one_motor_gripper_right_finger.urdf
Normal file
@@ -0,0 +1,27 @@
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|||||||
|
<?xml version="0.0" ?>
|
||||||
|
<robot name="right_finger.urdf">
|
||||||
|
<link name="baseLink">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<inertia_scaling value="3.0"/>
|
||||||
|
</contact>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.05"/>
|
||||||
|
<mass value=".2"/>
|
||||||
|
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 1.5708" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.042"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.02 0.02 0.15"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
</robot>
|
||||||
|
|
||||||
@@ -346,7 +346,7 @@ public:
|
|||||||
if (1)
|
if (1)
|
||||||
{
|
{
|
||||||
b3RobotSimLoadFileArgs args("");
|
b3RobotSimLoadFileArgs args("");
|
||||||
args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";
|
args.m_fileName = "gripper/wsg50_one_motor_gripper_no_finger.sdf";
|
||||||
args.m_fileType = B3_SDF_FILE;
|
args.m_fileType = B3_SDF_FILE;
|
||||||
args.m_useMultiBody = true;
|
args.m_useMultiBody = true;
|
||||||
b3RobotSimLoadFileResults results;
|
b3RobotSimLoadFileResults results;
|
||||||
@@ -365,7 +365,7 @@ public:
|
|||||||
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
|
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
|
||||||
}
|
}
|
||||||
|
|
||||||
for (int i=0;i<8;i++)
|
for (int i=0;i<6;i++)
|
||||||
{
|
{
|
||||||
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
||||||
controlArgs.m_maxTorqueValue = 0.0;
|
controlArgs.m_maxTorqueValue = 0.0;
|
||||||
@@ -374,7 +374,27 @@ public:
|
|||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
{
|
||||||
|
b3RobotSimLoadFileArgs args("");
|
||||||
|
args.m_fileName = "gripper/wsg50_one_motor_gripper_left_finger.urdf";
|
||||||
|
args.m_startPosition.setValue(-0.05,0,0.27);
|
||||||
|
args.m_startOrientation.setEulerZYX(0,0,3.14);
|
||||||
|
args.m_forceOverrideFixedBase = false;
|
||||||
|
args.m_useMultiBody = false;
|
||||||
|
b3RobotSimLoadFileResults results;
|
||||||
|
m_robotSim.loadFile(args,results);
|
||||||
|
|
||||||
|
}
|
||||||
|
{
|
||||||
|
b3RobotSimLoadFileArgs args("");
|
||||||
|
args.m_fileName = "gripper/wsg50_one_motor_gripper_right_finger.urdf";
|
||||||
|
args.m_startPosition.setValue(0.05,0,0.27);
|
||||||
|
args.m_startOrientation.setEulerZYX(0,0,3.14);
|
||||||
|
args.m_forceOverrideFixedBase = false;
|
||||||
|
args.m_useMultiBody = false;
|
||||||
|
b3RobotSimLoadFileResults results;
|
||||||
|
m_robotSim.loadFile(args,results);
|
||||||
|
}
|
||||||
if (1)
|
if (1)
|
||||||
{
|
{
|
||||||
b3RobotSimLoadFileArgs args("");
|
b3RobotSimLoadFileArgs args("");
|
||||||
@@ -391,16 +411,16 @@ public:
|
|||||||
m_robotSim.loadBunny();
|
m_robotSim.loadBunny();
|
||||||
|
|
||||||
b3JointInfo revoluteJoint1;
|
b3JointInfo revoluteJoint1;
|
||||||
revoluteJoint1.m_parentFrame[0] = -0.055;
|
revoluteJoint1.m_parentFrame[0] = -0.007;
|
||||||
revoluteJoint1.m_parentFrame[1] = 0;
|
revoluteJoint1.m_parentFrame[1] = 0;
|
||||||
revoluteJoint1.m_parentFrame[2] = 0.02;
|
revoluteJoint1.m_parentFrame[2] = 0.0735;
|
||||||
revoluteJoint1.m_parentFrame[3] = 0;
|
revoluteJoint1.m_parentFrame[3] = 0;
|
||||||
revoluteJoint1.m_parentFrame[4] = 0;
|
revoluteJoint1.m_parentFrame[4] = 0;
|
||||||
revoluteJoint1.m_parentFrame[5] = 0;
|
revoluteJoint1.m_parentFrame[5] = 0;
|
||||||
revoluteJoint1.m_parentFrame[6] = 1.0;
|
revoluteJoint1.m_parentFrame[6] = 1.0;
|
||||||
revoluteJoint1.m_childFrame[0] = 0;
|
revoluteJoint1.m_childFrame[0] = 0;
|
||||||
revoluteJoint1.m_childFrame[1] = 0;
|
revoluteJoint1.m_childFrame[1] = 0;
|
||||||
revoluteJoint1.m_childFrame[2] = 0;
|
revoluteJoint1.m_childFrame[2] = -0.05;
|
||||||
revoluteJoint1.m_childFrame[3] = 0;
|
revoluteJoint1.m_childFrame[3] = 0;
|
||||||
revoluteJoint1.m_childFrame[4] = 0;
|
revoluteJoint1.m_childFrame[4] = 0;
|
||||||
revoluteJoint1.m_childFrame[5] = 0;
|
revoluteJoint1.m_childFrame[5] = 0;
|
||||||
@@ -410,16 +430,16 @@ public:
|
|||||||
revoluteJoint1.m_jointAxis[2] = 0.0;
|
revoluteJoint1.m_jointAxis[2] = 0.0;
|
||||||
revoluteJoint1.m_jointType = ePoint2PointType;
|
revoluteJoint1.m_jointType = ePoint2PointType;
|
||||||
b3JointInfo revoluteJoint2;
|
b3JointInfo revoluteJoint2;
|
||||||
revoluteJoint2.m_parentFrame[0] = 0.055;
|
revoluteJoint2.m_parentFrame[0] = 0.007;
|
||||||
revoluteJoint2.m_parentFrame[1] = 0;
|
revoluteJoint2.m_parentFrame[1] = 0;
|
||||||
revoluteJoint2.m_parentFrame[2] = 0.02;
|
revoluteJoint2.m_parentFrame[2] = 0.0735;
|
||||||
revoluteJoint2.m_parentFrame[3] = 0;
|
revoluteJoint2.m_parentFrame[3] = 0;
|
||||||
revoluteJoint2.m_parentFrame[4] = 0;
|
revoluteJoint2.m_parentFrame[4] = 0;
|
||||||
revoluteJoint2.m_parentFrame[5] = 0;
|
revoluteJoint2.m_parentFrame[5] = 0;
|
||||||
revoluteJoint2.m_parentFrame[6] = 1.0;
|
revoluteJoint2.m_parentFrame[6] = 1.0;
|
||||||
revoluteJoint2.m_childFrame[0] = 0;
|
revoluteJoint2.m_childFrame[0] = 0;
|
||||||
revoluteJoint2.m_childFrame[1] = 0;
|
revoluteJoint2.m_childFrame[1] = 0;
|
||||||
revoluteJoint2.m_childFrame[2] = 0;
|
revoluteJoint2.m_childFrame[2] = -0.05;
|
||||||
revoluteJoint2.m_childFrame[3] = 0;
|
revoluteJoint2.m_childFrame[3] = 0;
|
||||||
revoluteJoint2.m_childFrame[4] = 0;
|
revoluteJoint2.m_childFrame[4] = 0;
|
||||||
revoluteJoint2.m_childFrame[5] = 0;
|
revoluteJoint2.m_childFrame[5] = 0;
|
||||||
@@ -428,8 +448,128 @@ public:
|
|||||||
revoluteJoint2.m_jointAxis[1] = 0.0;
|
revoluteJoint2.m_jointAxis[1] = 0.0;
|
||||||
revoluteJoint2.m_jointAxis[2] = 0.0;
|
revoluteJoint2.m_jointAxis[2] = 0.0;
|
||||||
revoluteJoint2.m_jointType = ePoint2PointType;
|
revoluteJoint2.m_jointType = ePoint2PointType;
|
||||||
m_robotSim.createJoint(0, 2, 0, 4, &revoluteJoint1);
|
b3JointInfo revoluteJoint3;
|
||||||
m_robotSim.createJoint(0, 3, 0, 6, &revoluteJoint2);
|
revoluteJoint3.m_parentFrame[0] = -0.207;
|
||||||
|
revoluteJoint3.m_parentFrame[1] = 0;
|
||||||
|
revoluteJoint3.m_parentFrame[2] = 0.0735;
|
||||||
|
revoluteJoint3.m_parentFrame[3] = 0;
|
||||||
|
revoluteJoint3.m_parentFrame[4] = 0;
|
||||||
|
revoluteJoint3.m_parentFrame[5] = 0;
|
||||||
|
revoluteJoint3.m_parentFrame[6] = 1.0;
|
||||||
|
revoluteJoint3.m_childFrame[0] = -0.2;
|
||||||
|
revoluteJoint3.m_childFrame[1] = 0;
|
||||||
|
revoluteJoint3.m_childFrame[2] = -0.05;
|
||||||
|
revoluteJoint3.m_childFrame[3] = 0;
|
||||||
|
revoluteJoint3.m_childFrame[4] = 0;
|
||||||
|
revoluteJoint3.m_childFrame[5] = 0;
|
||||||
|
revoluteJoint3.m_childFrame[6] = 1.0;
|
||||||
|
revoluteJoint3.m_jointAxis[0] = 1.0;
|
||||||
|
revoluteJoint3.m_jointAxis[1] = 0.0;
|
||||||
|
revoluteJoint3.m_jointAxis[2] = 0.0;
|
||||||
|
revoluteJoint3.m_jointType = ePoint2PointType;
|
||||||
|
b3JointInfo revoluteJoint4;
|
||||||
|
revoluteJoint4.m_parentFrame[0] = 0.207;
|
||||||
|
revoluteJoint4.m_parentFrame[1] = 0;
|
||||||
|
revoluteJoint4.m_parentFrame[2] = 0.0735;
|
||||||
|
revoluteJoint4.m_parentFrame[3] = 0;
|
||||||
|
revoluteJoint4.m_parentFrame[4] = 0;
|
||||||
|
revoluteJoint4.m_parentFrame[5] = 0;
|
||||||
|
revoluteJoint4.m_parentFrame[6] = 1.0;
|
||||||
|
revoluteJoint4.m_childFrame[0] = 0.2;
|
||||||
|
revoluteJoint4.m_childFrame[1] = 0;
|
||||||
|
revoluteJoint4.m_childFrame[2] = -0.05;
|
||||||
|
revoluteJoint4.m_childFrame[3] = 0;
|
||||||
|
revoluteJoint4.m_childFrame[4] = 0;
|
||||||
|
revoluteJoint4.m_childFrame[5] = 0;
|
||||||
|
revoluteJoint4.m_childFrame[6] = 1.0;
|
||||||
|
revoluteJoint4.m_jointAxis[0] = 1.0;
|
||||||
|
revoluteJoint4.m_jointAxis[1] = 0.0;
|
||||||
|
revoluteJoint4.m_jointAxis[2] = 0.0;
|
||||||
|
revoluteJoint4.m_jointType = ePoint2PointType;
|
||||||
|
b3JointInfo revoluteJoint5;
|
||||||
|
revoluteJoint5.m_parentFrame[0] = -0.007;
|
||||||
|
revoluteJoint5.m_parentFrame[1] = 0;
|
||||||
|
revoluteJoint5.m_parentFrame[2] = 0.2735;
|
||||||
|
revoluteJoint5.m_parentFrame[3] = 0;
|
||||||
|
revoluteJoint5.m_parentFrame[4] = 0;
|
||||||
|
revoluteJoint5.m_parentFrame[5] = 0;
|
||||||
|
revoluteJoint5.m_parentFrame[6] = 1.0;
|
||||||
|
revoluteJoint5.m_childFrame[0] = 0;
|
||||||
|
revoluteJoint5.m_childFrame[1] = 0;
|
||||||
|
revoluteJoint5.m_childFrame[2] = 0.15;
|
||||||
|
revoluteJoint5.m_childFrame[3] = 0;
|
||||||
|
revoluteJoint5.m_childFrame[4] = 0;
|
||||||
|
revoluteJoint5.m_childFrame[5] = 0;
|
||||||
|
revoluteJoint5.m_childFrame[6] = 1.0;
|
||||||
|
revoluteJoint5.m_jointAxis[0] = 1.0;
|
||||||
|
revoluteJoint5.m_jointAxis[1] = 0.0;
|
||||||
|
revoluteJoint5.m_jointAxis[2] = 0.0;
|
||||||
|
revoluteJoint5.m_jointType = ePoint2PointType;
|
||||||
|
b3JointInfo revoluteJoint6;
|
||||||
|
revoluteJoint6.m_parentFrame[0] = 0.007;
|
||||||
|
revoluteJoint6.m_parentFrame[1] = 0;
|
||||||
|
revoluteJoint6.m_parentFrame[2] = 0.2735;
|
||||||
|
revoluteJoint6.m_parentFrame[3] = 0;
|
||||||
|
revoluteJoint6.m_parentFrame[4] = 0;
|
||||||
|
revoluteJoint6.m_parentFrame[5] = 0;
|
||||||
|
revoluteJoint6.m_parentFrame[6] = 1.0;
|
||||||
|
revoluteJoint6.m_childFrame[0] = 0;
|
||||||
|
revoluteJoint6.m_childFrame[1] = 0;
|
||||||
|
revoluteJoint6.m_childFrame[2] = 0.15;
|
||||||
|
revoluteJoint6.m_childFrame[3] = 0;
|
||||||
|
revoluteJoint6.m_childFrame[4] = 0;
|
||||||
|
revoluteJoint6.m_childFrame[5] = 0;
|
||||||
|
revoluteJoint6.m_childFrame[6] = 1.0;
|
||||||
|
revoluteJoint6.m_jointAxis[0] = 1.0;
|
||||||
|
revoluteJoint6.m_jointAxis[1] = 0.0;
|
||||||
|
revoluteJoint6.m_jointAxis[2] = 0.0;
|
||||||
|
revoluteJoint6.m_jointType = ePoint2PointType;
|
||||||
|
b3JointInfo revoluteJoint7;
|
||||||
|
revoluteJoint7.m_parentFrame[0] = -0.055;
|
||||||
|
revoluteJoint7.m_parentFrame[1] = 0;
|
||||||
|
revoluteJoint7.m_parentFrame[2] = 0.02;
|
||||||
|
revoluteJoint7.m_parentFrame[3] = 0;
|
||||||
|
revoluteJoint7.m_parentFrame[4] = 0;
|
||||||
|
revoluteJoint7.m_parentFrame[5] = 0;
|
||||||
|
revoluteJoint7.m_parentFrame[6] = 1.0;
|
||||||
|
revoluteJoint7.m_childFrame[0] = 0;
|
||||||
|
revoluteJoint7.m_childFrame[1] = 0;
|
||||||
|
revoluteJoint7.m_childFrame[2] = 0;
|
||||||
|
revoluteJoint7.m_childFrame[3] = 0;
|
||||||
|
revoluteJoint7.m_childFrame[4] = 0;
|
||||||
|
revoluteJoint7.m_childFrame[5] = 0;
|
||||||
|
revoluteJoint7.m_childFrame[6] = 1.0;
|
||||||
|
revoluteJoint7.m_jointAxis[0] = 1.0;
|
||||||
|
revoluteJoint7.m_jointAxis[1] = 0.0;
|
||||||
|
revoluteJoint7.m_jointAxis[2] = 0.0;
|
||||||
|
revoluteJoint7.m_jointType = ePoint2PointType;
|
||||||
|
b3JointInfo revoluteJoint8;
|
||||||
|
revoluteJoint8.m_parentFrame[0] = 0.055;
|
||||||
|
revoluteJoint8.m_parentFrame[1] = 0;
|
||||||
|
revoluteJoint8.m_parentFrame[2] = 0.02;
|
||||||
|
revoluteJoint8.m_parentFrame[3] = 0;
|
||||||
|
revoluteJoint8.m_parentFrame[4] = 0;
|
||||||
|
revoluteJoint8.m_parentFrame[5] = 0;
|
||||||
|
revoluteJoint8.m_parentFrame[6] = 1.0;
|
||||||
|
revoluteJoint8.m_childFrame[0] = 0;
|
||||||
|
revoluteJoint8.m_childFrame[1] = 0;
|
||||||
|
revoluteJoint8.m_childFrame[2] = 0;
|
||||||
|
revoluteJoint8.m_childFrame[3] = 0;
|
||||||
|
revoluteJoint8.m_childFrame[4] = 0;
|
||||||
|
revoluteJoint8.m_childFrame[5] = 0;
|
||||||
|
revoluteJoint8.m_childFrame[6] = 1.0;
|
||||||
|
revoluteJoint8.m_jointAxis[0] = 1.0;
|
||||||
|
revoluteJoint8.m_jointAxis[1] = 0.0;
|
||||||
|
revoluteJoint8.m_jointAxis[2] = 0.0;
|
||||||
|
revoluteJoint8.m_jointType = ePoint2PointType;
|
||||||
|
m_robotSim.createJoint(0, 4, 1, 0, &revoluteJoint1);
|
||||||
|
m_robotSim.createJoint(0, 5, 2, 0, &revoluteJoint2);
|
||||||
|
m_robotSim.createJoint(0, 4, 1, 0, &revoluteJoint3);
|
||||||
|
m_robotSim.createJoint(0, 5, 2, 0, &revoluteJoint4);
|
||||||
|
m_robotSim.createJoint(0, 4, 1, 0, &revoluteJoint5);
|
||||||
|
m_robotSim.createJoint(0, 5, 2, 0, &revoluteJoint6);
|
||||||
|
m_robotSim.createJoint(0, 2, 0, 4, &revoluteJoint7);
|
||||||
|
m_robotSim.createJoint(0, 3, 0, 5, &revoluteJoint8);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
virtual void exitPhysics()
|
virtual void exitPhysics()
|
||||||
@@ -479,7 +619,7 @@ public:
|
|||||||
int fingerJointIndices[2]={0,1};
|
int fingerJointIndices[2]={0,1};
|
||||||
double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
|
double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
|
||||||
};
|
};
|
||||||
double maxTorqueValues[2]={50.0,50.0};
|
double maxTorqueValues[2]={50.0,10.0};
|
||||||
for (int i=0;i<2;i++)
|
for (int i=0;i<2;i++)
|
||||||
{
|
{
|
||||||
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
||||||
|
|||||||
@@ -1643,14 +1643,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
|
|||||||
pm->m_kLST = 1.0;
|
pm->m_kLST = 1.0;
|
||||||
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
|
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
|
||||||
psb->generateBendingConstraints(2,pm);
|
psb->generateBendingConstraints(2,pm);
|
||||||
psb->m_cfg.piterations = 2;
|
psb->m_cfg.piterations = 15;
|
||||||
psb->m_cfg.kDF = 0.5;
|
psb->m_cfg.kDF = 0.5;
|
||||||
psb->randomizeConstraints();
|
psb->randomizeConstraints();
|
||||||
psb->rotate(btQuaternion(0.70711,0,0,0.70711));
|
psb->rotate(btQuaternion(0.70711,0,0,0.70711));
|
||||||
psb->translate(btVector3(0,0,3.0));
|
psb->translate(btVector3(0,0,1.0));
|
||||||
psb->scale(btVector3(0.1,0.1,0.1));
|
psb->scale(btVector3(0.1,0.1,0.1));
|
||||||
psb->setTotalMass(1,true);
|
psb->setTotalMass(0.1,true);
|
||||||
psb->getCollisionShape()->setMargin(0.01);
|
psb->getCollisionShape()->setMargin(0.02);
|
||||||
|
|
||||||
m_data->m_dynamicsWorld->addSoftBody(psb);
|
m_data->m_dynamicsWorld->addSoftBody(psb);
|
||||||
#endif
|
#endif
|
||||||
|
|||||||
Reference in New Issue
Block a user