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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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23
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -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"));
}
}
}
}
}