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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2016-09-11 04:11:51 -07:00
parent a00841a498 30bd1d7362
commit c952c50ad9
66 changed files with 2812 additions and 1923 deletions
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2
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -153,7 +153,7 @@ public:
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
//m_robotSim.setNumSimulationSubSteps(4);
m_robotSim.setNumSimulationSubSteps(4);
}
if ((m_options & eTWO_POINT_GRASP)!=0)

169
examples/RoboticsLearning/IKTrajectoryHelper.cpp
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@@ -1,169 +0,0 @@
#include "IKTrajectoryHelper.h"
#include "BussIK/Node.h"
#include "BussIK/Tree.h"
#include "BussIK/Jacobian.h"
#include "BussIK/VectorRn.h"
#include "BussIK/MatrixRmn.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#define RADIAN(X) ((X)*RadiansToDegrees)
//use BussIK and Reflexxes to convert from Cartesian endeffector future target to
//joint space positions at each real-time (simulation) step
struct IKTrajectoryHelperInternalData
{
VectorR3 m_endEffectorTargetPosition;
Tree m_ikTree;
b3AlignedObjectArray<Node*> m_ikNodes;
Jacobian* m_ikJacobian;
IKTrajectoryHelperInternalData()
{
m_endEffectorTargetPosition.SetZero();
}
};
IKTrajectoryHelper::IKTrajectoryHelper()
{
m_data = new IKTrajectoryHelperInternalData;
}
IKTrajectoryHelper::~IKTrajectoryHelper()
{
delete m_data;
}
void IKTrajectoryHelper::createKukaIIWA()
{
const VectorR3& unitx = VectorR3::UnitX;
const VectorR3& unity = VectorR3::UnitY;
const VectorR3& unitz = VectorR3::UnitZ;
const VectorR3 unit1(sqrt(14.0) / 8.0, 1.0 / 8.0, 7.0 / 8.0);
const VectorR3& zero = VectorR3::Zero;
float minTheta = -4 * PI;
float maxTheta = 4 * PI;
m_data->m_ikNodes.resize(8);//7DOF+additional endeffector
m_data->m_ikNodes[0] = new Node(VectorR3(0.100000, 0.000000, 0.087500), unitz, 0.08, JOINT, -1e30, 1e30, RADIAN(0.));
m_data->m_ikTree.InsertRoot(m_data->m_ikNodes[0]);
m_data->m_ikNodes[1] = new Node(VectorR3(0.100000, -0.000000, 0.290000), unity, 0.08, JOINT, -0.5, 0.4, RADIAN(0.));
m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[0], m_data->m_ikNodes[1]);
m_data->m_ikNodes[2] = new Node(VectorR3(0.100000, -0.000000, 0.494500), unitz, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[1], m_data->m_ikNodes[2]);
m_data->m_ikNodes[3] = new Node(VectorR3(0.100000, 0.000000, 0.710000), -unity, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[2], m_data->m_ikNodes[3]);
m_data->m_ikNodes[4] = new Node(VectorR3(0.100000, 0.000000, 0.894500), unitz, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[3], m_data->m_ikNodes[4]);
m_data->m_ikNodes[5] = new Node(VectorR3(0.100000, 0.000000, 1.110000), unity, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[4], m_data->m_ikNodes[5]);
m_data->m_ikNodes[6] = new Node(VectorR3(0.100000, 0.000000, 1.191000), unitz, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[5], m_data->m_ikNodes[6]);
m_data->m_ikNodes[7] = new Node(VectorR3(0.100000, 0.000000, 1.20000), zero, 0.08, EFFECTOR);
m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[6], m_data->m_ikNodes[7]);
m_data->m_ikJacobian = new Jacobian(&m_data->m_ikTree);
// Reset(m_ikTree,m_ikJacobian);
m_data->m_ikTree.Init();
m_data->m_ikTree.Compute();
m_data->m_ikJacobian->Reset();
}
bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
const double endEffectorWorldPosition[3],
const double* q_current, int numQ,
double* q_new, int ikMethod, const double* linear_jacobian, int jacobian_size)
{
if (numQ != 7)
{
return false;
}
for (int i=0;i<numQ;i++)
{
m_data->m_ikNodes[i]->SetTheta(q_current[i]);
}
bool UseJacobianTargets1 = false;
if ( UseJacobianTargets1 ) {
m_data->m_ikJacobian->SetJtargetActive();
}
else {
m_data->m_ikJacobian->SetJendActive();
}
VectorR3 targets;
targets.Set(endEffectorTargetPosition[0],endEffectorTargetPosition[1],endEffectorTargetPosition[2]);
m_data->m_ikJacobian->ComputeJacobian(&targets); // Set up Jacobian and deltaS vectors
// Set one end effector world position from Bullet
VectorRn deltaS(3);
for (int i = 0; i < 3; ++i)
{
deltaS.Set(i,endEffectorTargetPosition[i]-endEffectorWorldPosition[i]);
}
m_data->m_ikJacobian->SetDeltaS(deltaS);
// Set Jacobian from Bullet body Jacobian
int nRow = m_data->m_ikJacobian->GetNumRows();
int nCol = m_data->m_ikJacobian->GetNumCols();
b3Assert(jacobian_size==nRow*nCol);
MatrixRmn linearJacobian(nRow,nCol);
for (int i = 0; i < nRow; ++i)
{
for (int j = 0; j < nCol; ++j)
{
linearJacobian.Set(i,j,linear_jacobian[i*nCol+j]);
}
}
m_data->m_ikJacobian->SetJendTrans(linearJacobian);
// Calculate the change in theta values
switch (ikMethod) {
case IK2_JACOB_TRANS:
m_data->m_ikJacobian->CalcDeltaThetasTranspose(); // Jacobian transpose method
break;
case IK2_DLS:
m_data->m_ikJacobian->CalcDeltaThetasDLS(); // Damped least squares method
break;
case IK2_DLS_SVD:
m_data->m_ikJacobian->CalcDeltaThetasDLSwithSVD();
break;
case IK2_PURE_PSEUDO:
m_data->m_ikJacobian->CalcDeltaThetasPseudoinverse(); // Pure pseudoinverse method
break;
case IK2_SDLS:
m_data->m_ikJacobian->CalcDeltaThetasSDLS(); // Selectively damped least squares method
break;
default:
m_data->m_ikJacobian->ZeroDeltaThetas();
break;
}
m_data->m_ikJacobian->UpdateThetas();
// Apply the change in the theta values
m_data->m_ikJacobian->UpdatedSClampValue(&targets);
for (int i=0;i<numQ;i++)
{
q_new[i] = m_data->m_ikNodes[i]->GetTheta();
}
return true;
}

31
examples/RoboticsLearning/IKTrajectoryHelper.h
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@@ -1,31 +0,0 @@
#ifndef IK_TRAJECTORY_HELPER_H
#define IK_TRAJECTORY_HELPER_H
enum IK2_Method
{
IK2_JACOB_TRANS=0,
IK2_PURE_PSEUDO,
IK2_DLS,
IK2_SDLS ,
IK2_DLS_SVD
};
class IKTrajectoryHelper
{
struct IKTrajectoryHelperInternalData* m_data;
public:
IKTrajectoryHelper();
virtual ~IKTrajectoryHelper();
///todo: replace createKukaIIWA with a generic way of create an IK tree
void createKukaIIWA();
bool computeIK(const double endEffectorTargetPosition[3],
const double endEffectorWorldPosition[3],
const double* q_old, int numQ,
double* q_new, int ikMethod, const double* linear_jacobian, int jacobian_size);
};
#endif //IK_TRAJECTORY_HELPER_H

31
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -1,6 +1,6 @@
#include "KukaGraspExample.h"
#include "IKTrajectoryHelper.h"
#include "../SharedMemory/IKTrajectoryHelper.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "Bullet3Common/b3Quaternion.h"
@@ -140,8 +140,11 @@ public:
}
virtual void stepSimulation(float deltaTime)
{
m_time+=deltaTime;
m_targetPos.setValue(0.5, 0, 0.5+0.4*b3Sin(3 * m_time));
float dt = deltaTime;
btClamp(dt,0.0001f,0.01f);
m_time+=dt;
m_targetPos.setValue(0.4-0.4*b3Cos( m_time), 0, 0.8+0.4*b3Cos( m_time));
@@ -174,6 +177,28 @@ public:
m_robotSim.getBodyJacobian(0, 6, local_position, q_current, qdot_current, qddot_current, jacobian_linear, jacobian_angular);
// m_robotSim.getJointInfo(m_kukaIndex,jointIndex,jointInfo);
/*
b3RobotSimInverseKinematicArgs ikargs;
b3RobotSimInverseKinematicsResults ikresults;
ikargs.m_bodyUniqueId = m_kukaIndex;
ikargs.m_currentJointPositions = q_current;
ikargs.m_numPositions = 7;
ikargs.m_endEffectorTargetPosition[0] = dataOut.m_floats[0];
ikargs.m_endEffectorTargetPosition[1] = dataOut.m_floats[1];
ikargs.m_endEffectorTargetPosition[2] = dataOut.m_floats[2];
ikargs.m_endEffectorTargetOrientation[0] = 0;
ikargs.m_endEffectorTargetOrientation[1] = 0;
ikargs.m_endEffectorTargetOrientation[2] = 0;
ikargs.m_endEffectorTargetOrientation[3] = 1;
if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))
{
}
*/
double q_new[7];
int ikMethod=IK2_DLS;
b3Vector3DoubleData dataOut;

2
examples/RoboticsLearning/R2D2GraspExample.cpp
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@@ -117,7 +117,7 @@ public:
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
{
args.m_fileName = "cube.urdf";
args.m_fileName = "cube_soft.urdf";
args.m_startPosition.setValue(0,0,2.5);
args.m_startOrientation.setEulerZYX(0,0.2,0);
m_robotSim.loadFile(args,results);

27
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -469,6 +469,33 @@ void b3RobotSimAPI::setNumSimulationSubSteps(int numSubSteps)
b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
}
/*
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double* jointPositionsQ, double targetPosition[3]);
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,
double* jointPositions);
*/
bool b3RobotSimAPI::calculateInverseKinematics(const struct b3RobotSimInverseKinematicArgs& args, struct b3RobotSimInverseKinematicsResults& results)
{
b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClient,args.m_bodyUniqueId,
args.m_currentJointPositions,args.m_endEffectorTargetPosition);
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
bool result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
&results.m_bodyUniqueId,
&results.m_numPositions,
results.m_calculatedJointPositions);
return result;
}
b3RobotSimAPI::~b3RobotSimAPI()
{
delete m_data;

32
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -50,6 +50,7 @@ struct b3RobotSimLoadFileArgs
}
};
struct b3RobotSimLoadFileResults
{
b3AlignedObjectArray<int> m_uniqueObjectIds;
@@ -81,6 +82,35 @@ struct b3JointMotorArgs
}
};
enum b3InverseKinematicsFlags
{
B3_HAS_IK_TARGET_ORIENTATION=1,
};
struct b3RobotSimInverseKinematicArgs
{
int m_bodyUniqueId;
double* m_currentJointPositions;
int m_numPositions;
double m_endEffectorTargetPosition[3];
double m_endEffectorTargetOrientation[3];
int m_flags;
b3RobotSimInverseKinematicArgs()
:m_bodyUniqueId(-1),
m_currentJointPositions(0),
m_numPositions(0),
m_flags(0)
{
}
};
struct b3RobotSimInverseKinematicsResults
{
int m_bodyUniqueId;
double* m_calculatedJointPositions;
int m_numPositions;
};
class b3RobotSimAPI
{
@@ -113,6 +143,8 @@ public:
void setNumSimulationSubSteps(int numSubSteps);
bool calculateInverseKinematics(const struct b3RobotSimInverseKinematicArgs& args, struct b3RobotSimInverseKinematicsResults& results);
void renderScene();
void debugDraw(int debugDrawMode);