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add robotics learning grasp contact example

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add wsg50 gripper with modified r2d2 gripper tip
expose a fudge factor to scale inertia, to make grasping more stable
(until we have better grasping contact model/implementation)
This commit is contained in:
Erwin Coumans
2016-07-25 11:48:44 -07:00
parent 77b9e1a3e2
commit a6216f4f24
16 changed files with 558 additions and 72 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -249,6 +249,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"R2D2 Grasp","Load the R2D2 robot from URDF file and control it to grasp objects", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_GRASP),
ExampleEntry(1,"URDF Compliant Contact","Work-in-progress, experiment/improve compliant rigid contact using parameters from URDF file (contact_cfm, contact_erp, lateral_friction, rolling_friction)", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_COMPLIANT_CONTACT),
ExampleEntry(1,"Contact for Grasp","Grasp experiment to improve contact model", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_GRASP_CONTACT),

2
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -519,6 +519,8 @@ void MyStatusBarError(const char* msg)
gui2->textOutput(msg);
gui2->forceUpdateScrollBars();
}
btAssert(0);
}
struct MyMenuItemHander :public Gwen::Event::Handler

7
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -232,6 +232,13 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
if (mass)
{
compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
//temporary inertia scaling until we load inertia from URDF
if (contactInfo.m_flags & URDF_CONTACT_HAS_INERTIA_SCALING)
{
localInertiaDiagonal*=contactInfo.m_inertiaScaling;
}
}
btRigidBody* linkRigidBody = 0;

5
examples/Importers/ImportURDFDemo/URDFJointTypes.h
View File

@@ -17,7 +17,8 @@ enum URDF_LinkContactFlags
{
URDF_CONTACT_HAS_LATERAL_FRICTION=1,
URDF_CONTACT_HAS_ROLLING_FRICTION=2,
URDF_CONTACT_HAS_CONTACT_CFM=4,
URDF_CONTACT_HAS_INERTIA_SCALING=2,
URDF_CONTACT_HAS_CONTACT_CFM=4,
URDF_CONTACT_HAS_CONTACT_ERP=8
};
@@ -25,6 +26,7 @@ struct URDFLinkContactInfo
{
btScalar m_lateralFriction;
btScalar m_rollingFriction;
btScalar m_inertiaScaling;
btScalar m_contactCfm;
btScalar m_contactErp;
int m_flags;
@@ -32,6 +34,7 @@ struct URDFLinkContactInfo
URDFLinkContactInfo()
:m_lateralFriction(0.5),
m_rollingFriction(0),
m_inertiaScaling(1),
m_contactCfm(0),
m_contactErp(0)
{

23
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@@ -606,6 +606,28 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
TiXmlElement* ci = config->FirstChildElement("contact");
if (ci)
{
TiXmlElement *damping_xml = ci->FirstChildElement("inertia_scaling");
if (damping_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_inertiaScaling = urdfLexicalCast<double>(damping_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_INERTIA_SCALING;
} else
{
if (!damping_xml->Attribute("value"))
{
logger->reportError("Link/contact: damping element must have value attribute");
return false;
}
link.m_contactInfo.m_inertiaScaling = urdfLexicalCast<double>(damping_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_INERTIA_SCALING;
}
}
{
TiXmlElement *friction_xml = ci->FirstChildElement("lateral_friction");
if (friction_xml)
{
@@ -623,6 +645,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
link.m_contactInfo.m_lateralFriction = urdfLexicalCast<double>(friction_xml->Attribute("value"));
}
}
}
}
}

235
examples/RoboticsLearning/R2D2GraspExample.cpp
View File

@@ -9,11 +9,15 @@
#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
{
@@ -22,7 +26,8 @@ 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;
@@ -39,6 +44,7 @@ public:
m_guiHelper(helper),
m_options(options),
m_r2d2Index(-1),
m_gripperIndex(-1),
m_x(0),
m_y(0),
m_z(0)
@@ -61,36 +67,9 @@ public:
b3Printf("robotSim connected = %d",connected);
if ((m_options & eROBOTIC_LEARN_GRASP)!=0)
if (m_options == eROBOTIC_LEARN_GRASP)
{
{
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";
@@ -109,38 +88,154 @@ public:
args.m_forceOverrideFixedBase = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.setGravity(b3MakeVector3(0,0,0));
}
{
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);
}
}
}
}
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));
}
}
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));
}
}
@@ -150,6 +245,22 @@ 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()
@@ -179,9 +290,9 @@ public:
virtual void resetCamera()
{
float dist = 3;
float pitch = -75;
float yaw = 30;
float dist = 1.5;
float pitch = 12;
float yaw = -10;
float targetPos[3]={-0.2,0.8,0.3};
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
{

1
examples/RoboticsLearning/R2D2GraspExample.h
View File

@@ -20,6 +20,7 @@ enum RobotLearningExampleOptions
{
eROBOTIC_LEARN_GRASP=1,
eROBOTIC_LEARN_COMPLIANT_CONTACT=2,
eROBOTIC_LEARN_GRASP_CONTACT=3,
};
class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options);

2
examples/RoboticsLearning/b3RobotSimAPI.cpp
View File

@@ -560,6 +560,7 @@ void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
b3JointControlSetKd(command,uIndex,args.m_kd);
b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
@@ -627,6 +628,7 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
}
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
statusType = b3GetStatusType(statusHandle);
b3Assert(statusType==CMD_URDF_LOADING_COMPLETED);
robotUniqueId = b3GetStatusBodyIndex(statusHandle);
results.m_uniqueObjectIds.push_back(robotUniqueId);

2
examples/RoboticsLearning/b3RobotSimAPI.h
View File

@@ -61,7 +61,7 @@ struct b3JointMotorArgs
m_targetPosition(0),
m_kp(0.1),
m_targetVelocity(0),
m_kd(0.1),
m_kd(0.9),
m_maxTorqueValue(1000)
{
}

21
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -1216,16 +1216,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes);
//serverStatusOut.m_type = CMD_SDF_LOADING_FAILED;
serverStatusOut.m_sdfLoadedArgs.m_numBodies = m_data->m_sdfRecentLoadedBodies.size();
int maxBodies = btMin(MAX_SDF_BODIES, serverStatusOut.m_sdfLoadedArgs.m_numBodies);
for (int i=0;i<maxBodies;i++)
if (completedOk)
{
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[i] = m_data->m_sdfRecentLoadedBodies[i];
}
//serverStatusOut.m_type = CMD_SDF_LOADING_FAILED;
serverStatusOut.m_sdfLoadedArgs.m_numBodies = m_data->m_sdfRecentLoadedBodies.size();
int maxBodies = btMin(MAX_SDF_BODIES, serverStatusOut.m_sdfLoadedArgs.m_numBodies);
for (int i=0;i<maxBodies;i++)
{
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[i] = m_data->m_sdfRecentLoadedBodies[i];
}
serverStatusOut.m_type = CMD_SDF_LOADING_COMPLETED;
serverStatusOut.m_type = CMD_SDF_LOADING_COMPLETED;
} else
{
serverStatusOut.m_type = CMD_SDF_LOADING_FAILED;
}
hasStatus = true;
break;
}