Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add robotics learning grasp contact example

Browse Source 
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

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;
}