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Load bunny through shared memory API and RobotSimAPI. Create grasp bunny example.

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This commit is contained in:
yunfeibai
2016-10-17 13:01:04 -07:00
parent 880ee097fa
commit b07df4d504
10 changed files with 196 additions and 101 deletions
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1
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -267,6 +267,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Gripper Grasp","Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc,eGRIPPER_GRASP), ExampleEntry(1,"Gripper Grasp","Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc,eGRIPPER_GRASP),
ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP), ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP),
ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP), ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP),
ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),
#ifdef ENABLE_LUA #ifdef ENABLE_LUA

167
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -217,7 +217,6 @@ public:
if ((m_options & eONE_MOTOR_GRASP)!=0) if ((m_options & eONE_MOTOR_GRASP)!=0)
{ {
{ {
SliderParams slider("Vertical velocity",&sGripperVerticalVelocity); SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
slider.m_minVal=-2; slider.m_minVal=-2;
@@ -232,7 +231,7 @@ public:
slider.m_maxVal=1; slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
} }
if (0) if (1)
{ {
b3RobotSimLoadFileArgs args(""); b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results; b3RobotSimLoadFileResults results;
@@ -288,49 +287,6 @@ public:
} }
m_robotSim.setGravity(b3MakeVector3(0,0,-10)); m_robotSim.setGravity(b3MakeVector3(0,0,-10));
/*
b3JointInfo sliderJoint1;
sliderJoint1.m_parentFrame[0] = 0;
sliderJoint1.m_parentFrame[1] = 0;
sliderJoint1.m_parentFrame[2] = 0.06;
sliderJoint1.m_parentFrame[3] = 0;
sliderJoint1.m_parentFrame[4] = 0;
sliderJoint1.m_parentFrame[5] = 0;
sliderJoint1.m_parentFrame[6] = 1.0;
sliderJoint1.m_childFrame[0] = 0;
sliderJoint1.m_childFrame[1] = 0;
sliderJoint1.m_childFrame[2] = 0;
sliderJoint1.m_childFrame[3] = 0;
sliderJoint1.m_childFrame[4] = 0;
sliderJoint1.m_childFrame[5] = 0;
sliderJoint1.m_childFrame[6] = 1.0;
sliderJoint1.m_jointAxis[0] = 1.0;
sliderJoint1.m_jointAxis[1] = 0.0;
sliderJoint1.m_jointAxis[2] = 0.0;
sliderJoint1.m_jointType = ePrismaticType;
b3JointInfo sliderJoint2;
sliderJoint2.m_parentFrame[0] = 0;
sliderJoint2.m_parentFrame[1] = 0;
sliderJoint2.m_parentFrame[2] = 0.06;
sliderJoint2.m_parentFrame[3] = 0;
sliderJoint2.m_parentFrame[4] = 0;
sliderJoint2.m_parentFrame[5] = 0;
sliderJoint2.m_parentFrame[6] = 1.0;
sliderJoint2.m_childFrame[0] = 0;
sliderJoint2.m_childFrame[1] = 0;
sliderJoint2.m_childFrame[2] = 0;
sliderJoint2.m_childFrame[3] = 0;
sliderJoint2.m_childFrame[4] = 0;
sliderJoint2.m_childFrame[5] = 1.0;
sliderJoint2.m_childFrame[6] = 0;
sliderJoint2.m_jointAxis[0] = 1.0;
sliderJoint2.m_jointAxis[1] = 0.0;
sliderJoint2.m_jointAxis[2] = 0.0;
sliderJoint2.m_jointType = ePrismaticType;
m_robotSim.createJoint(1, 0, 1, 3, &sliderJoint1);
m_robotSim.createJoint(1, 0, 1, 6, &sliderJoint2);
*/
/*
b3JointInfo revoluteJoint1; b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055; revoluteJoint1.m_parentFrame[0] = -0.055;
revoluteJoint1.m_parentFrame[1] = 0; revoluteJoint1.m_parentFrame[1] = 0;
@@ -371,9 +327,112 @@ public:
revoluteJoint2.m_jointType = ePoint2PointType; revoluteJoint2.m_jointType = ePoint2PointType;
m_robotSim.createJoint(1, 2, 1, 4, &revoluteJoint1); m_robotSim.createJoint(1, 2, 1, 4, &revoluteJoint1);
m_robotSim.createJoint(1, 3, 1, 6, &revoluteJoint2); m_robotSim.createJoint(1, 3, 1, 6, &revoluteJoint2);
*/
} }
if ((m_options & eGRASP_SOFT_BODY)!=0)
{
{
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);
}
if (1)
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";
args.m_fileType = B3_SDF_FILE;
args.m_useMultiBody = true;
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);
}
for (int i=0;i<8;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_maxTorqueValue = 0.0;
m_robotSim.setJointMotorControl(m_gripperIndex,i,controlArgs);
}
}
}
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;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.loadBunny();
b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055;
revoluteJoint1.m_parentFrame[1] = 0;
revoluteJoint1.m_parentFrame[2] = 0.02;
revoluteJoint1.m_parentFrame[3] = 0;
revoluteJoint1.m_parentFrame[4] = 0;
revoluteJoint1.m_parentFrame[5] = 0;
revoluteJoint1.m_parentFrame[6] = 1.0;
revoluteJoint1.m_childFrame[0] = 0;
revoluteJoint1.m_childFrame[1] = 0;
revoluteJoint1.m_childFrame[2] = 0;
revoluteJoint1.m_childFrame[3] = 0;
revoluteJoint1.m_childFrame[4] = 0;
revoluteJoint1.m_childFrame[5] = 0;
revoluteJoint1.m_childFrame[6] = 1.0;
revoluteJoint1.m_jointAxis[0] = 1.0;
revoluteJoint1.m_jointAxis[1] = 0.0;
revoluteJoint1.m_jointAxis[2] = 0.0;
revoluteJoint1.m_jointType = ePoint2PointType;
b3JointInfo revoluteJoint2;
revoluteJoint2.m_parentFrame[0] = 0.055;
revoluteJoint2.m_parentFrame[1] = 0;
revoluteJoint2.m_parentFrame[2] = 0.02;
revoluteJoint2.m_parentFrame[3] = 0;
revoluteJoint2.m_parentFrame[4] = 0;
revoluteJoint2.m_parentFrame[5] = 0;
revoluteJoint2.m_parentFrame[6] = 1.0;
revoluteJoint2.m_childFrame[0] = 0;
revoluteJoint2.m_childFrame[1] = 0;
revoluteJoint2.m_childFrame[2] = 0;
revoluteJoint2.m_childFrame[3] = 0;
revoluteJoint2.m_childFrame[4] = 0;
revoluteJoint2.m_childFrame[5] = 0;
revoluteJoint2.m_childFrame[6] = 1.0;
revoluteJoint2.m_jointAxis[0] = 1.0;
revoluteJoint2.m_jointAxis[1] = 0.0;
revoluteJoint2.m_jointAxis[2] = 0.0;
revoluteJoint2.m_jointType = ePoint2PointType;
m_robotSim.createJoint(0, 2, 0, 4, &revoluteJoint1);
m_robotSim.createJoint(0, 3, 0, 6, &revoluteJoint2);
}
} }
virtual void exitPhysics() virtual void exitPhysics()
{ {
@@ -402,6 +461,22 @@ public:
} }
if ((m_options & eONE_MOTOR_GRASP)!=0) if ((m_options & eONE_MOTOR_GRASP)!=0)
{
int fingerJointIndices[2]={0,1};
double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
};
double maxTorqueValues[2]={50.0,50.0};
for (int i=0;i<2;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);
}
}
if ((m_options & eGRASP_SOFT_BODY)!=0)
{ {
int fingerJointIndices[2]={0,1}; int fingerJointIndices[2]={0,1};
double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity

1
examples/RoboticsLearning/GripperGraspExample.h
View File

@@ -21,6 +21,7 @@ enum GripperGraspExampleOptions
eGRIPPER_GRASP=1, eGRIPPER_GRASP=1,
eTWO_POINT_GRASP=2, eTWO_POINT_GRASP=2,
eONE_MOTOR_GRASP=4, eONE_MOTOR_GRASP=4,
eGRASP_SOFT_BODY=8,
}; };
class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options); class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options);

2
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -256,7 +256,7 @@ public:
} }
//m_robotSim.stepSimulation(); m_robotSim.stepSimulation();
} }
virtual void renderScene() virtual void renderScene()
{ {

6
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -999,3 +999,9 @@ void b3RobotSimAPI::getLinkState(int bodyUniqueId, int linkIndex, double* worldP
worldOrientation[3] = linkState.m_worldOrientation[3]; worldOrientation[3] = linkState.m_worldOrientation[3];
} }
} }
void b3RobotSimAPI::loadBunny()
{
b3SharedMemoryCommandHandle command = b3LoadBunnyCommandInit(m_data->m_physicsClient);
b3SubmitClientCommand(m_data->m_physicsClient, command);
}

2
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -164,6 +164,8 @@ public:
void getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian); void getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
void getLinkState(int bodyUniqueId, int linkIndex, double* worldPosition, double* worldOrientation); void getLinkState(int bodyUniqueId, int linkIndex, double* worldPosition, double* worldOrientation);
void loadBunny();
}; };
#endif //B3_ROBOT_SIM_API_H #endif //B3_ROBOT_SIM_API_H

14
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -55,6 +55,20 @@ b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClie
return (b3SharedMemoryCommandHandle) command; return (b3SharedMemoryCommandHandle) command;
} }
b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_LOAD_BUNNY;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody) int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -215,6 +215,8 @@ b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandl
void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[3], const double position[3], int flags); void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[3], const double position[3], int flags);
void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flags); void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flags);
b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

73
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -605,23 +605,14 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
//m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration(); //m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations(); //m_collisionConfiguration->setConvexConvexMultipointIterations();
m_data->m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); m_data->m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_data->m_dispatcher = new btCollisionDispatcher(m_data->m_collisionConfiguration); m_data->m_dispatcher = new btCollisionDispatcher(m_data->m_collisionConfiguration);
m_data->m_softBodyWorldInfo.m_dispatcher = m_data->m_dispatcher; m_data->m_broadphase = new btDbvtBroadphase();
//m_data->m_broadphase = new btDbvtBroadphase();
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
int maxProxies = 32766;
m_data->m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
m_data->m_solver = new btMultiBodyConstraintSolver; m_data->m_solver = new btMultiBodyConstraintSolver;
m_data->m_softbodySolver = 0; m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration, m_data->m_softbodySolver);
//Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it //Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(8192); m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(8192);
@@ -629,36 +620,9 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer(); m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10)); m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08; m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
m_data->m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_data->m_softBodyWorldInfo.water_density = 0;
m_data->m_softBodyWorldInfo.water_offset = 0;
m_data->m_softBodyWorldInfo.water_normal = btVector3(0,0,0);
m_data->m_softBodyWorldInfo.m_gravity.setValue(0,0,-10);
m_data->m_softBodyWorldInfo.m_broadphase = m_data->m_broadphase;
m_data->m_softBodyWorldInfo.m_sparsesdf.Initialize();
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(m_data->m_softBodyWorldInfo,gVerticesBunny,
&gIndicesBunny[0][0],
BUNNY_NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 1.0
;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.kDF = 0.5;
psb->randomizeConstraints();
psb->rotate(btQuaternion(0.70711,0,0,0.70711));
psb->translate(btVector3(0,0,3.0));
psb->scale(btVector3(0.1,0.1,0.1));
psb->setTotalMass(1,true);
psb->getCollisionShape()->setMargin(0.01);
m_data->m_dynamicsWorld->addSoftBody(psb);
} }
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies() void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
@@ -1464,6 +1428,35 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_LOAD_BUNNY:
{
m_data->m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_data->m_softBodyWorldInfo.water_density = 0;
m_data->m_softBodyWorldInfo.water_offset = 0;
m_data->m_softBodyWorldInfo.water_normal = btVector3(0,0,0);
m_data->m_softBodyWorldInfo.m_gravity.setValue(0,0,-10);
m_data->m_softBodyWorldInfo.m_broadphase = m_data->m_broadphase;
m_data->m_softBodyWorldInfo.m_sparsesdf.Initialize();
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(m_data->m_softBodyWorldInfo,gVerticesBunny, &gIndicesBunny[0][0], BUNNY_NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 1.0;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.kDF = 0.5;
psb->randomizeConstraints();
psb->rotate(btQuaternion(0.70711,0,0,0.70711));
psb->translate(btVector3(0,0,3.0));
psb->scale(btVector3(0.1,0.1,0.1));
psb->setTotalMass(1,true);
psb->getCollisionShape()->setMargin(0.01);
m_data->m_dynamicsWorld->addSoftBody(psb);
break; break;
} }
case CMD_CREATE_SENSOR: case CMD_CREATE_SENSOR:
@@ -2813,7 +2806,7 @@ void PhysicsServerCommandProcessor::renderScene()
btSoftBody* psb=(btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i]; btSoftBody* psb=(btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];
if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{ {
btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer()); //btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb,m_data->m_dynamicsWorld->getDebugDrawer(),m_data->m_dynamicsWorld->getDrawFlags()); btSoftBodyHelpers::Draw(psb,m_data->m_dynamicsWorld->getDebugDrawer(),m_data->m_dynamicsWorld->getDrawFlags());
} }
} }

1
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -7,6 +7,7 @@ enum EnumSharedMemoryClientCommand
{ {
CMD_LOAD_SDF, CMD_LOAD_SDF,
CMD_LOAD_URDF, CMD_LOAD_URDF,
CMD_LOAD_BUNNY,
CMD_SEND_BULLET_DATA_STREAM, CMD_SEND_BULLET_DATA_STREAM,
CMD_CREATE_BOX_COLLISION_SHAPE, CMD_CREATE_BOX_COLLISION_SHAPE,
// CMD_DELETE_BOX_COLLISION_SHAPE, // CMD_DELETE_BOX_COLLISION_SHAPE,