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tune gripper parameters for VR demo

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This commit is contained in:
erwin coumans
2016-09-19 14:31:47 -07:00
parent db3122233f
commit a3aa8ef7f1
4 changed files with 34 additions and 22 deletions
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data/l_finger_collision.stl Normal file
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38
data/pr2_gripper.urdf
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@@ -17,7 +17,7 @@
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/> <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
</collision> </collision>
<inertial> <inertial>
<mass value="100"/> <mass value="0.5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial> </inertial>
</link> </link>
@@ -32,7 +32,7 @@
<link name="left_gripper"> <link name="left_gripper">
<contact> <contact>
<lateral_friction value="50.0"/> <lateral_friction value="5.0"/>
<spinning_friction value="0.1"/> <spinning_friction value="0.1"/>
</contact> </contact>
<visual> <visual>
@@ -41,8 +41,14 @@
<mesh filename="l_finger.stl"/> <mesh filename="l_finger.stl"/>
</geometry> </geometry>
</visual> </visual>
<collision>
<geometry>
<mesh filename="l_finger_collision.stl" scale=".9 .9 .9"/>
</geometry>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
</collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value="0.5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial> </inertial>
</link> </link>
@@ -54,7 +60,7 @@
<link name="left_tip"> <link name="left_tip">
<contact> <contact>
<lateral_friction value="50.0"/> <lateral_friction value="5.0"/>
<spinning_friction value="0.1"/> <spinning_friction value="0.1"/>
</contact> </contact>
<visual> <visual>
@@ -65,12 +71,12 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size=".13 .03 .02"/> <box size=".03 .03 .02"/>
</geometry> </geometry>
<origin rpy="0.0 0 0" xyz="0.055 0.00495 0"/> <origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
</collision> </collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial> </inertial>
</link> </link>
@@ -85,8 +91,8 @@
<link name="right_gripper"> <link name="right_gripper">
<contact> <contact>
<lateral_friction value="50.0"/> <lateral_friction value="5.0"/>
<spinning_friction value="0.1"/> <spinning_friction value="0.3"/>
</contact> </contact>
<visual> <visual>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/> <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
@@ -94,6 +100,12 @@
<mesh filename="l_finger.stl"/> <mesh filename="l_finger.stl"/>
</geometry> </geometry>
</visual> </visual>
<collision>
<geometry>
<mesh filename="l_finger_collision.stl" scale=".9 .9 .9"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
</collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
@@ -107,8 +119,8 @@
<link name="right_tip"> <link name="right_tip">
<contact> <contact>
<lateral_friction value="50.0"/> <lateral_friction value="5.0"/>
<spinning_friction value="0.1"/> <spinning_friction value=".2"/>
</contact> </contact>
<visual> <visual>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/> <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
@@ -118,9 +130,9 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size=".13 .03 .02"/> <box size=".03 .03 .02"/>
</geometry> </geometry>
<origin rpy="-3.1415 0 0" xyz="0.055 0.00495 0"/> <origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
</collision> </collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value="0.05"/>

10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -557,7 +557,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
m_data = new PhysicsServerCommandProcessorInternalData(); m_data = new PhysicsServerCommandProcessorInternalData();
createEmptyDynamicsWorld(); createEmptyDynamicsWorld();
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0; m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0001;
} }
@@ -596,8 +596,8 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer(); m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0)); m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08; m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.04;
} }
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies() void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
@@ -2957,7 +2957,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)m_data->m_gripperMultiBody->getLink(i ).m_userPtr; btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)m_data->m_gripperMultiBody->getLink(i ).m_userPtr;
if (motor) if (motor)
{ {
motor->setErp(0.1); motor->setErp(0.2);
btScalar posTarget = 0.1 + (1 - btMin(0.75,gVRGripperAnalog)*1.5)*SIMD_HALF_PI*0.29; btScalar posTarget = 0.1 + (1 - btMin(0.75,gVRGripperAnalog)*1.5)*SIMD_HALF_PI*0.29;
btScalar maxPosTarget = 0.55; btScalar maxPosTarget = 0.55;
@@ -2972,7 +2972,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
motor->setPositionTarget(posTarget, 1); motor->setPositionTarget(posTarget, 1);
motor->setVelocityTarget(0, 0.5); motor->setVelocityTarget(0, 0.5);
btScalar maxImp = 500*m_data->m_physicsDeltaTime; btScalar maxImp = 1*m_data->m_physicsDeltaTime;
motor->setMaxAppliedImpulse(maxImp); motor->setMaxAppliedImpulse(maxImp);
} }
} }