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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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2
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -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);