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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
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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"));
}
}
}
}
}