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update RobotSimulator/MinitaurSetup to use data/quadruped/minitaur.urdf

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add b3RobotSimulatorClientAPI::getBaseVelocity and resetBaseVelocity
add b3Quaternion::getEulerZYX
This commit is contained in:
Erwin Coumans
2017-03-15 17:09:17 -07:00
parent 4db6fa9e29
commit b7b46b12d3
5 changed files with 427 additions and 381 deletions
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36
examples/RobotSimulator/RobotSimulatorMain.cpp
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@@ -19,14 +19,19 @@ int main(int argc, char* argv[])
//syncBodies is only needed when connecting to an existing physics server that has already some bodies
sim->syncBodies();
sim->setTimeStep(1./240.);
b3Scalar fixedTimeStep = 1./240.;
sim->setGravity(b3MakeVector3(0,0,-10));
sim->setTimeStep(fixedTimeStep);
int blockId = sim->loadURDF("cube.urdf");
b3BodyInfo bodyInfo;
sim->getBodyInfo(blockId,&bodyInfo);
b3Quaternion q = sim->getQuaternionFromEuler(b3MakeVector3(0.1,0.2,0.3));
b3Vector3 rpy;
rpy = sim->getEulerFromQuaternion(q);
sim->setGravity(b3MakeVector3(0,0,-9.8));
//int blockId = sim->loadURDF("cube.urdf");
//b3BodyInfo bodyInfo;
//sim->getBodyInfo(blockId,&bodyInfo);
sim->loadURDF("plane.urdf");
@@ -34,15 +39,15 @@ int main(int argc, char* argv[])
int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,.3));
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(2,0,1);
int r2d2 = sim->loadURDF("r2d2.urdf",args);
//b3RobotSimulatorLoadUrdfFileArgs args;
//args.m_startPosition.setValue(2,0,1);
//int r2d2 = sim->loadURDF("r2d2.urdf",args);
b3RobotSimulatorLoadFileResults sdfResults;
if (!sim->loadSDF("two_cubes.sdf",sdfResults))
{
b3Warning("Can't load SDF!\n");
}
//b3RobotSimulatorLoadFileResults sdfResults;
//if (!sim->loadSDF("two_cubes.sdf",sdfResults))
//{
// b3Warning("Can't load SDF!\n");
//}
b3Clock clock;
double startTime = clock.getTimeInSeconds();
@@ -69,7 +74,8 @@ int main(int argc, char* argv[])
printf("keyEvent[%d].m_keyCode = %d, state = %d\n", i,keyEvents.m_keyboardEvents[i].m_keyCode,keyEvents.m_keyboardEvents[i].m_keyState);
}
}
b3Clock::usleep(1000*1000);
sim->stepSimulation();
b3Clock::usleep(1000.*1000.*fixedTimeStep);
}
printf("sim->disconnect\n");