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Add shared memory API and RobotSim API for setting joint damping in IK.

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This commit is contained in:
yunfeibai
2017-02-03 11:08:44 -08:00
parent 0022d0dafb
commit ce9378f819
7 changed files with 44 additions and 5 deletions
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5
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -196,7 +196,8 @@ public:
ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
//ikargs.m_flags |= /*B3_HAS_IK_TARGET_ORIENTATION +*/ B3_HAS_NULL_SPACE_VELOCITY;
//ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION;
ikargs.m_flags |= B3_HAS_JOINT_DAMPING;
ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
@@ -209,6 +210,7 @@ public:
ikargs.m_upperLimits.resize(numJoints);
ikargs.m_jointRanges.resize(numJoints);
ikargs.m_restPoses.resize(numJoints);
ikargs.m_jointDamping.resize(numJoints,0.5);
ikargs.m_lowerLimits[0] = -2.32;
ikargs.m_lowerLimits[1] = -1.6;
ikargs.m_lowerLimits[2] = -2.32;
@@ -237,6 +239,7 @@ public:
ikargs.m_restPoses[4] = 0;
ikargs.m_restPoses[5] = -SIMD_HALF_PI*0.66;
ikargs.m_restPoses[6] = 0;
ikargs.m_jointDamping[0] = 10.0;
ikargs.m_numDegreeOfFreedom = numJoints;
if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))

6
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -516,7 +516,11 @@ bool b3RobotSimAPI::calculateInverseKinematics(const struct b3RobotSimInverseKin
{
b3CalculateInverseKinematicsAddTargetPurePosition(command,args.m_endEffectorLinkIndex,args.m_endEffectorTargetPosition);
}
if (args.m_flags & B3_HAS_JOINT_DAMPING)
{
b3CalculateInverseKinematicsSetJointDamping(command, args.m_numDegreeOfFreedom, &args.m_jointDamping[0]);
}
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);

2
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -86,6 +86,7 @@ enum b3InverseKinematicsFlags
{
B3_HAS_IK_TARGET_ORIENTATION=1,
B3_HAS_NULL_SPACE_VELOCITY=2,
B3_HAS_JOINT_DAMPING=4,
};
struct b3RobotSimInverseKinematicArgs
@@ -102,6 +103,7 @@ struct b3RobotSimInverseKinematicArgs
b3AlignedObjectArray<double> m_upperLimits;
b3AlignedObjectArray<double> m_jointRanges;
b3AlignedObjectArray<double> m_restPoses;
b3AlignedObjectArray<double> m_jointDamping;
b3RobotSimInverseKinematicArgs()
:m_bodyUniqueId(-1),

13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2341,6 +2341,19 @@ void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHan
}
void b3CalculateInverseKinematicsSetJointDamping(b3SharedMemoryCommandHandle commandHandle, int numDof, const double* jointDampingCoeff)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CALCULATE_INVERSE_KINEMATICS);
command->m_updateFlags |= IK_HAS_JOINT_DAMPING;
for (int i = 0; i < numDof; ++i)
{
command->m_calculateInverseKinematicsArguments.m_jointDamping[i] = jointDampingCoeff[i];
}
}
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -236,6 +236,7 @@ void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHand
void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4]);
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
void b3CalculateInverseKinematicsSetJointDamping(b3SharedMemoryCommandHandle commandHandle, int numDof, const double* jointDampingCoeff);
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,

18
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4012,8 +4012,22 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
endEffectorPosWorld.serializeDouble(endEffectorWorldPosition);
endEffectorOri.serializeDouble(endEffectorWorldOrientation);
double jointDampCoeff[7] = {20.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0};
ikHelperPtr->setDampingCoeff(numDofs, jointDampCoeff);
// Set joint damping coefficents. A small default
// damping constant is added to prevent singularity
// with pseudo inverse. The user can set joint damping
// coefficients differently for each joint. The larger
// the damping coefficient is, the less we rely on
// this joint to achieve the IK target.
btAlignedObjectArray<double> joint_damping;
joint_damping.resize(numDofs,0.5);
if (clientCmd.m_updateFlags& IK_HAS_JOINT_DAMPING)
{
for (int i = 0; i < numDofs; ++i)
{
joint_damping[i] = clientCmd.m_calculateInverseKinematicsArguments.m_jointDamping[i];
}
}
ikHelperPtr->setDampingCoeff(numDofs, &joint_damping[0]);
double targetDampCoeff[6] = { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 };
ikHelperPtr->computeIK(clientCmd.m_calculateInverseKinematicsArguments.m_targetPosition, clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation,

4
examples/SharedMemory/SharedMemoryCommands.h
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@@ -512,7 +512,8 @@ enum EnumCalculateInverseKinematicsFlags
IK_HAS_TARGET_POSITION=1,
IK_HAS_TARGET_ORIENTATION=2,
IK_HAS_NULL_SPACE_VELOCITY=4,
//IK_HAS_CURRENT_JOINT_POSITIONS=8,//not used yet
IK_HAS_JOINT_DAMPING=8,
//IK_HAS_CURRENT_JOINT_POSITIONS=16,//not used yet
};
struct CalculateInverseKinematicsArgs
@@ -526,6 +527,7 @@ struct CalculateInverseKinematicsArgs
double m_upperLimit[MAX_DEGREE_OF_FREEDOM];
double m_jointRange[MAX_DEGREE_OF_FREEDOM];
double m_restPose[MAX_DEGREE_OF_FREEDOM];
double m_jointDamping[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateInverseKinematicsResultArgs