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Merge pull request #808 from YunfeiBai/master

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KUKA and gripper control in VR.
This commit is contained in:
erwincoumans
2016-09-27 19:24:13 -07:00
committed by GitHub
parent 3f805103dd a62d7957b6
commit cf046093ab
5 changed files with 546 additions and 133 deletions
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2
data/gripper/wsg50_one_motor_gripper.sdf
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@@ -385,4 +385,4 @@
</joint> </joint>
</model> </model>
</world> </world>
</sdf> </sdf>

385
data/gripper/wsg50_one_motor_gripper_free_base.sdf Normal file
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@@ -0,0 +1,385 @@
<?xml version="1.0" ?>
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<link name='world'>
<pose frame=''>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
</link>
<joint name='base_joint' type='fixed'>
<parent>world</parent>
<child>base_link</child>
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/WSG50_110.stl</uri>
</mesh>
</geometry>
<material>
</material>
</visual>
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
</box>
</geometry>
</visual>
</link>
<joint name='base_joint_motor' type='prismatic'>
<child>motor</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.047</lower>
<upper>0.001</upper>
<effort>10.0</effort>
<velocity>10.0</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_left_hinge_joint' type='revolute'>
<child>left_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_right_hinge_joint' type='revolute'>
<child>right_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_left_hinge_joint' type='revolute'>
<child>gripper_left</child>
<parent>left_hinge</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-4.0</lower>
<upper>4.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0.01</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_right_hinge_joint' type='revolute'>
<child>gripper_right</child>
<parent>right_hinge</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-4.0</lower>
<upper>4.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0.01</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='finger_right'>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_right' type='fixed'>
<parent>gripper_right</parent>
<child>finger_right</child>
</joint>
<link name='finger_left'>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_left' type='fixed'>
<parent>gripper_left</parent>
<child>finger_left</child>
</joint>
</model>
</world>
</sdf>

16
examples/SharedMemory/IKTrajectoryHelper.cpp
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@@ -43,7 +43,7 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
const double endEffectorWorldPosition[3], const double endEffectorWorldPosition[3],
const double endEffectorWorldOrientation[4], const double endEffectorWorldOrientation[4],
const double* q_current, int numQ,int endEffectorIndex, const double* q_current, int numQ,int endEffectorIndex,
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, double dampIk) double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, const double dampIk[6])
{ {
bool useAngularPart = (ikMethod==IK2_VEL_DLS_WITH_ORIENTATION) ? true : false; bool useAngularPart = (ikMethod==IK2_VEL_DLS_WITH_ORIENTATION) ? true : false;
@@ -69,7 +69,7 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
VectorRn deltaS(3); VectorRn deltaS(3);
for (int i = 0; i < 3; ++i) for (int i = 0; i < 3; ++i)
{ {
deltaS.Set(i,dampIk*(endEffectorTargetPosition[i]-endEffectorWorldPosition[i])); deltaS.Set(i,dampIk[i]*(endEffectorTargetPosition[i]-endEffectorWorldPosition[i]));
} }
// Set one end effector world orientation from Bullet // Set one end effector world orientation from Bullet
@@ -79,15 +79,13 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
btQuaternion deltaQ = endQ*startQ.inverse(); btQuaternion deltaQ = endQ*startQ.inverse();
float angle = deltaQ.getAngle(); float angle = deltaQ.getAngle();
btVector3 axis = deltaQ.getAxis(); btVector3 axis = deltaQ.getAxis();
float angleDot = angle*dampIk; float angleDot = angle;
btVector3 angularVel = angleDot*axis.normalize(); btVector3 angularVel = angleDot*axis.normalize();
for (int i = 0; i < 3; ++i) for (int i = 0; i < 3; ++i)
{ {
deltaR.Set(i,angularVel[i]); deltaR.Set(i,dampIk[i+3]*angularVel[i]);
} }
{ {
if (useAngularPart) if (useAngularPart)
@@ -128,9 +126,9 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
case IK2_JACOB_TRANS: case IK2_JACOB_TRANS:
m_data->m_ikJacobian->CalcDeltaThetasTranspose(); // Jacobian transpose method m_data->m_ikJacobian->CalcDeltaThetasTranspose(); // Jacobian transpose method
break; break;
case IK2_DLS: case IK2_DLS:
case IK2_VEL_DLS_WITH_ORIENTATION:
case IK2_VEL_DLS: case IK2_VEL_DLS:
case IK2_VEL_DLS_WITH_ORIENTATION:
m_data->m_ikJacobian->CalcDeltaThetasDLS(); // Damped least squares method m_data->m_ikJacobian->CalcDeltaThetasDLS(); // Damped least squares method
break; break;
case IK2_DLS_SVD: case IK2_DLS_SVD:
@@ -148,7 +146,7 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
} }
// Use for velocity IK, update theta dot // Use for velocity IK, update theta dot
m_data->m_ikJacobian->UpdateThetaDot(); //m_data->m_ikJacobian->UpdateThetaDot();
// Use for position IK, incrementally update theta // Use for position IK, incrementally update theta
//m_data->m_ikJacobian->UpdateThetas(); //m_data->m_ikJacobian->UpdateThetas();

13
examples/SharedMemory/IKTrajectoryHelper.h
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@@ -21,13 +21,12 @@ public:
IKTrajectoryHelper(); IKTrajectoryHelper();
virtual ~IKTrajectoryHelper(); virtual ~IKTrajectoryHelper();
bool computeIK(const double endEffectorTargetPosition[3],
bool computeIK(const double endEffectorTargetPosition[3], const double endEffectorTargetOrientation[4],
const double endEffectorTargetOrientation[4], const double endEffectorWorldPosition[3],
const double endEffectorWorldPosition[3], const double endEffectorWorldOrientation[4],
const double endEffectorWorldOrientation[4], const double* q_old, int numQ, int endEffectorIndex,
const double* q_old, int numQ,int endEffectorIndex, double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, const double dampIk[6]);
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, double dampIk=1.);
}; };
#endif //IK_TRAJECTORY_HELPER_H #endif //IK_TRAJECTORY_HELPER_H

263
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -387,9 +387,14 @@ struct PhysicsServerCommandProcessorInternalData
btMultiBodyFixedConstraint* m_gripperRigidbodyFixed; btMultiBodyFixedConstraint* m_gripperRigidbodyFixed;
btMultiBody* m_gripperMultiBody; btMultiBody* m_gripperMultiBody;
btMultiBodyFixedConstraint* m_kukaGripperFixed;
btMultiBody* m_kukaGripperMultiBody;
btMultiBodySliderConstraint* m_kukaGripperSlider1;
btMultiBodySliderConstraint* m_kukaGripperSlider2;
int m_huskyId; int m_huskyId;
int m_KukaId; int m_KukaId;
int m_sphereId; int m_sphereId;
int m_gripperId;
CommandLogger* m_commandLogger; CommandLogger* m_commandLogger;
CommandLogPlayback* m_logPlayback; CommandLogPlayback* m_logPlayback;
@@ -444,6 +449,7 @@ struct PhysicsServerCommandProcessorInternalData
m_huskyId(-1), m_huskyId(-1),
m_KukaId(-1), m_KukaId(-1),
m_sphereId(-1), m_sphereId(-1),
m_gripperId(-1),
m_commandLogger(0), m_commandLogger(0),
m_logPlayback(0), m_logPlayback(0),
m_physicsDeltaTime(1./240.), m_physicsDeltaTime(1./240.),
@@ -2584,7 +2590,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (ikHelperPtr && (endEffectorLinkIndex<bodyHandle->m_multiBody->getNumLinks())) if (ikHelperPtr && (endEffectorLinkIndex<bodyHandle->m_multiBody->getNumLinks()))
{ {
int numJoints1 = bodyHandle->m_multiBody->getNumLinks();
const int numDofs = bodyHandle->m_multiBody->getNumDofs(); const int numDofs = bodyHandle->m_multiBody->getNumDofs();
b3AlignedObjectArray<double> jacobian_linear; b3AlignedObjectArray<double> jacobian_linear;
@@ -2651,12 +2656,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
endEffectorPosWorld.serializeDouble(endEffectorWorldPosition); endEffectorPosWorld.serializeDouble(endEffectorWorldPosition);
endEffectorOri.serializeDouble(endEffectorWorldOrientation); endEffectorOri.serializeDouble(endEffectorWorldOrientation);
double dampIK[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, ikHelperPtr->computeIK(clientCmd.m_calculateInverseKinematicsArguments.m_targetPosition, clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation,
endEffectorWorldPosition.m_floats, endEffectorWorldOrientation.m_floats, endEffectorWorldPosition.m_floats, endEffectorWorldOrientation.m_floats,
&q_current[0], &q_current[0],
numDofs, clientCmd.m_calculateInverseKinematicsArguments.m_endEffectorLinkIndex, numDofs, clientCmd.m_calculateInverseKinematicsArguments.m_endEffectorLinkIndex,
&q_new[0], ikMethod, &jacobian_linear[0], &jacobian_angular[0], jacSize*2); &q_new[0], ikMethod, &jacobian_linear[0], &jacobian_angular[0], jacSize*2, dampIK);
serverCmd.m_inverseKinematicsResultArgs.m_bodyUniqueId =clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId; serverCmd.m_inverseKinematicsResultArgs.m_bodyUniqueId =clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId;
for (int i=0;i<numDofs;i++) for (int i=0;i<numDofs;i++)
@@ -2868,7 +2873,7 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
btVector3 gVRGripperPos(0,0,0.2); btVector3 gVRGripperPos(0,0,0.2);
btQuaternion gVRGripperOrn(0,0,0,1); btQuaternion gVRGripperOrn(0,0,0,1);
btVector3 gVRController2Pos(0,0,0.2);; btVector3 gVRController2Pos(0,0,0.2);
btQuaternion gVRController2Orn(0,0,0,1); btQuaternion gVRController2Orn(0,0,0,1);
btScalar gVRGripperAnalog = 0; btScalar gVRGripperAnalog = 0;
@@ -2909,8 +2914,6 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{ {
m_data->m_hasGround = true; m_data->m_hasGround = true;
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
@@ -2939,74 +2942,115 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
m_data->m_gripperMultiBody->setJointPos(0, 0); m_data->m_gripperMultiBody->setJointPos(0, 0);
m_data->m_gripperMultiBody->setJointPos(2, 0); m_data->m_gripperMultiBody->setJointPos(2, 0);
} }
m_data->m_gripperRigidbodyFixed->setMaxAppliedImpulse(10000); m_data->m_gripperRigidbodyFixed->setMaxAppliedImpulse(500);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*)m_data->m_dynamicsWorld; btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*)m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(m_data->m_gripperRigidbodyFixed); world->addMultiBodyConstraint(m_data->m_gripperRigidbodyFixed);
} }
} }
#if 1 }
for (int i = 0; i < 10; i++)
{
loadUrdf("cube.urdf", btVector3(3, -2, 0.5+i), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
}
loadUrdf("lego/lego.urdf", btVector3(-3, 0, .1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("kuka_iiwa/model.urdf", btVector3(0, -3.0, 0.0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("lego/lego.urdf", btVector3(-3, 0, .2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); m_data->m_KukaId = bodyId;
loadUrdf("lego/lego.urdf", btVector3(-3, 0, .3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("lego/lego.urdf", btVector3(0, -2.5, .1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("r2d2.urdf", btVector3(2, -2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("lego/lego.urdf", btVector3(0, -2.5, .2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("lego/lego.urdf", btVector3(0, -2.5, .3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("r2d2.urdf", btVector3(2, -2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("kuka_iiwa/model.urdf", btVector3(3, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); // Load one motor gripper for kuka
m_data->m_KukaId = bodyId; loadSdf("gripper/wsg50_one_motor_gripper_free_base.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
loadUrdf("cube_small.urdf", btVector3(0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); m_data->m_gripperId = bodyId + 1;
InteralBodyData* kukaBody = m_data->getHandle(m_data->m_KukaId);
InteralBodyData* gripperBody = m_data->getHandle(m_data->m_gripperId);
// loadUrdf("cube_small.urdf", btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
#endif // Reset the default gripper motor maximum torque for damping to 0
#if 0 for (int i = 0; i < gripperBody->m_multiBody->getNumLinks(); i++)
int jengaHeight = 10; {
for (int j = 0; j < jengaHeight; j++) if (supportsJointMotor(gripperBody->m_multiBody, i))
{ {
for (int i = 0; i < 3; i++) btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)gripperBody->m_multiBody->getLink(i).m_userPtr;
if (motor)
{ {
if (j & 1) motor->setMaxAppliedImpulse(0);
{
loadUrdf("jenga/jenga.urdf", btVector3(-0.5, 0.05*i, .03*0.5 + .03*j), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
}
else
{
btQuaternion orn(btVector3(0, 0, 1), SIMD_HALF_PI);
loadUrdf("jenga/jenga.urdf", btVector3(-0.5 -1 / 3.*0.15 + 0.05*i, +1 / 3.*0.15,0.03*0.5 + .03*j), orn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
}
} }
} }
#endif
for (int i = 0; i < 6; i++)
{
loadUrdf("jenga/jenga.urdf", btVector3(-1-0.1*i,-0.5, .07), btQuaternion(btVector3(0,1,0),SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
}
//loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("husky/husky.urdf", btVector3(5, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_huskyId = bodyId;
} }
loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); for (int i = 0; i < 6; i++)
loadUrdf("duck_vhacd.urdf", btVector3(-0.3, 0.6, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); {
//loadUrdf("cup/cup_small.urdf", btVector3(-0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("jenga/jenga.urdf", btVector3(-1-0.1*i,-0.5, .07), btQuaternion(btVector3(0,1,0),SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("cup/pitcher_small.urdf", btVector3(-0.3, 0.6, 1.15), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); }
//loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// Add slider joint for fingers
btVector3 pivotInParent1(0, 0, 0.06);
btVector3 pivotInChild1(0, 0, 0);
btMatrix3x3 frameInParent1(btQuaternion(0, 0, 0, 1.0));
btMatrix3x3 frameInChild1(btQuaternion(0, 0, 0, 1.0));
btVector3 jointAxis1(1.0, 0, 0);
btVector3 pivotInParent2(0, 0, 0.06);
btVector3 pivotInChild2(0, 0, 0);
btMatrix3x3 frameInParent2(btQuaternion(0, 0, 0, 1.0));
btMatrix3x3 frameInChild2(btQuaternion(0, 0, 1.0, 0));
btVector3 jointAxis2(1.0, 0, 0);
m_data->m_kukaGripperSlider1 = new btMultiBodySliderConstraint(gripperBody->m_multiBody, 0, gripperBody->m_multiBody, 3, pivotInParent1, pivotInChild1, frameInParent1, frameInChild1, jointAxis1);
m_data->m_kukaGripperSlider1->setMaxAppliedImpulse(500.0);
m_data->m_kukaGripperSlider2 = new btMultiBodySliderConstraint(gripperBody->m_multiBody, 0, gripperBody->m_multiBody, 6, pivotInParent2, pivotInChild2, frameInParent2, frameInChild2, jointAxis2);
m_data->m_kukaGripperSlider2->setMaxAppliedImpulse(500.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperSlider1);
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperSlider2);
if (kukaBody->m_multiBody)
{
gripperBody->m_multiBody->setHasSelfCollision(0);
btVector3 pivotInParent(0, 0, 0.05);
btMatrix3x3 frameInParent;
frameInParent.setIdentity();
btVector3 pivotInChild(0, 0, 0);
btMatrix3x3 frameInChild;
frameInChild.setIdentity();
m_data->m_kukaGripperFixed = new btMultiBodyFixedConstraint(kukaBody->m_multiBody, 6, gripperBody->m_multiBody, 0, pivotInParent, pivotInChild, frameInParent, frameInChild);
m_data->m_kukaGripperMultiBody = gripperBody->m_multiBody;
m_data->m_kukaGripperFixed->setMaxAppliedImpulse(500);
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperFixed);
}
for (int i = 0; i < 10; i++)
{
loadUrdf("cube.urdf", btVector3(3, -2, 0.5 + i), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
}
loadUrdf("sphere2.urdf", btVector3(-5, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere2.urdf", btVector3(-5, 0, 2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere2.urdf", btVector3(-5, 0, 3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// Shelf area
loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("cube_small.urdf", btVector3(0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("husky/husky.urdf", btVector3(5, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_huskyId = bodyId;
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10)); m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
} }
if (m_data->m_kukaGripperFixed && m_data->m_kukaGripperMultiBody)
{
InteralBodyData* childBody = m_data->getHandle(m_data->m_gripperId);
// Add gripper controller
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)childBody->m_multiBody->getLink(1).m_userPtr;
if (motor)
{
btScalar posTarget = (-0.045)*btMin(btScalar(0.75), gVRGripperAnalog) / 0.75;
motor->setPositionTarget(posTarget, 1.0);
motor->setMaxAppliedImpulse(50.0);
}
}
if (m_data->m_gripperRigidbodyFixed && m_data->m_gripperMultiBody) if (m_data->m_gripperRigidbodyFixed && m_data->m_gripperMultiBody)
{ {
m_data->m_gripperRigidbodyFixed->setFrameInB(btMatrix3x3(gVRGripperOrn)); m_data->m_gripperRigidbodyFixed->setFrameInB(btMatrix3x3(gVRGripperOrn));
@@ -3040,27 +3084,14 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
} }
} }
// Inverse kinematics for KUKA
{ {
InternalBodyHandle* bodyHandle = m_data->getHandle(m_data->m_KukaId); InternalBodyHandle* bodyHandle = m_data->getHandle(m_data->m_KukaId);
if (bodyHandle && bodyHandle->m_multiBody) if (bodyHandle && bodyHandle->m_multiBody)
{ {
btMultiBody* mb = bodyHandle->m_multiBody;
btVector3 spherePos(0,0,0);
InternalBodyHandle* sphereBodyHandle = m_data->getHandle(m_data->m_KukaId);
if (sphereBodyHandle && sphereBodyHandle->m_multiBody)
{
spherePos = sphereBodyHandle->m_multiBody->getBasePos();
}
btMultiBody* mb = bodyHandle->m_multiBody;
btScalar sqLen = (mb->getBaseWorldTransform().getOrigin() - gVRController2Pos).length2(); btScalar sqLen = (mb->getBaseWorldTransform().getOrigin() - gVRController2Pos).length2();
btScalar distanceThreshold = 2; btScalar distanceThreshold = 1.5;
bool closeToKuka=(sqLen<(distanceThreshold*distanceThreshold)); bool closeToKuka=(sqLen<(distanceThreshold*distanceThreshold));
int numDofs = bodyHandle->m_multiBody->getNumDofs(); int numDofs = bodyHandle->m_multiBody->getNumDofs();
@@ -3073,18 +3104,17 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
} }
q_new.resize(numDofs); q_new.resize(numDofs);
static btScalar t=0.f; q_new[0] = 1.376;
t+=0.01; q_new[1] = 1.102;
double dampIk = 0.99; q_new[2] = 1.634;
for (int i=0;i<numDofs;i++) q_new[3] = -0.406;
{ q_new[4] = 1.714;
btScalar desiredPosition = btSin(t*0.1)*SIMD_HALF_PI; q_new[5] = -2.023;
q_new[i] = dampIk*q_current[i]+(1-dampIk)*desiredPosition; q_new[6] = -1.306;
}
if (closeToKuka) if (closeToKuka)
{ {
dampIk = 1; double dampIk[6] = {1.0, 1.0, 1.0, 1.0, 1.0, 0.0};
IKTrajectoryHelper** ikHelperPtrPtr = m_data->m_inverseKinematicsHelpers.find(bodyHandle->m_multiBody); IKTrajectoryHelper** ikHelperPtrPtr = m_data->m_inverseKinematicsHelpers.find(bodyHandle->m_multiBody);
IKTrajectoryHelper* ikHelperPtr = 0; IKTrajectoryHelper* ikHelperPtr = 0;
@@ -3103,10 +3133,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
int endEffectorLinkIndex = 6; int endEffectorLinkIndex = 6;
if (ikHelperPtr && (endEffectorLinkIndex<bodyHandle->m_multiBody->getNumLinks())) if (ikHelperPtr && (endEffectorLinkIndex<bodyHandle->m_multiBody->getNumLinks()))
{ {
int numJoints1 = bodyHandle->m_multiBody->getNumLinks();
b3AlignedObjectArray<double> jacobian_linear; b3AlignedObjectArray<double> jacobian_linear;
jacobian_linear.resize(3*numDofs); jacobian_linear.resize(3*numDofs);
b3AlignedObjectArray<double> jacobian_angular; b3AlignedObjectArray<double> jacobian_angular;
@@ -3114,15 +3141,13 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
int jacSize = 0; int jacSize = 0;
btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody); btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody);
if (tree) if (tree)
{ {
jacSize = jacobian_linear.size(); jacSize = jacobian_linear.size();
// Set jacobian value // Set jacobian value
int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6; int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
btInverseDynamics::vecx nu(numDofs+baseDofs), qdot(numDofs + baseDofs), q(numDofs + baseDofs), joint_force(numDofs + baseDofs); btInverseDynamics::vecx nu(numDofs+baseDofs), qdot(numDofs + baseDofs), q(numDofs + baseDofs), joint_force(numDofs + baseDofs);
for (int i = 0; i < numDofs; i++) for (int i = 0; i < numDofs; i++)
{ {
@@ -3138,7 +3163,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force)) -1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
{ {
tree->calculateJacobians(q); tree->calculateJacobians(q);
btInverseDynamics::mat3x jac_t(3, numDofs); btInverseDynamics::mat3x jac_t(3,numDofs);
btInverseDynamics::mat3x jac_r(3,numDofs); btInverseDynamics::mat3x jac_r(3,numDofs);
tree->getBodyJacobianTrans(endEffectorLinkIndex, &jac_t); tree->getBodyJacobianTrans(endEffectorLinkIndex, &jac_t);
tree->getBodyJacobianRot(endEffectorLinkIndex, &jac_r); tree->getBodyJacobianRot(endEffectorLinkIndex, &jac_r);
@@ -3153,35 +3178,37 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
} }
} }
//int ikMethod= IK2_VEL_DLS;//IK2_VEL_DLS_WITH_ORIENTATION;//IK2_VEL_DLS; int ikMethod= IK2_VEL_DLS_WITH_ORIENTATION; //IK2_VEL_DLS;
int ikMethod= IK2_VEL_DLS_WITH_ORIENTATION;//IK2_VEL_DLS;
btVector3DoubleData endEffectorWorldPosition; btVector3DoubleData endEffectorWorldPosition;
btVector3DoubleData endEffectorWorldOrientation; btVector3DoubleData endEffectorWorldOrientation;
btVector3DoubleData targetWorldPosition; btVector3DoubleData targetWorldPosition;
btQuaternionDoubleData targetWorldOrientation; btVector3DoubleData targetWorldOrientation;
btVector3 endEffectorPosWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform.getOrigin(); btVector3 endEffectorPosWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform.getOrigin();
btQuaternion endEffectorOriWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform.getRotation(); btQuaternion endEffectorOriWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform.getRotation();
btVector4 endEffectorOri(endEffectorOriWorld.x(),endEffectorOriWorld.y(),endEffectorOriWorld.z(),endEffectorOriWorld.w()); btVector4 endEffectorOri(endEffectorOriWorld.x(),endEffectorOriWorld.y(),endEffectorOriWorld.z(),endEffectorOriWorld.w());
endEffectorPosWorld.serializeDouble(endEffectorWorldPosition); // Prescribed position and orientation
endEffectorOri.serializeDouble(endEffectorWorldOrientation);
gVRController2Pos.serializeDouble(targetWorldPosition);
gVRController2Orn.serializeDouble(targetWorldOrientation);
static btScalar time=0.f; static btScalar time=0.f;
time+=0.01; time+=0.01;
btVector3 targetPos(0.4-0.4*b3Cos( time), 0, 0.8+0.4*b3Cos( time)); btVector3 targetPos(0.4-0.4*b3Cos( time), 0, 0.8+0.4*b3Cos( time));
targetPos +=mb->getBasePos(); targetPos +=mb->getBasePos();
btQuaternion fwdOri(btVector3(1,0,0),-SIMD_HALF_PI); btVector4 downOrn(0,1,0,0);
(0, 1.0, 0, 0);
double downOrn[4] = {0,1,0,0};
//double downOrn[4] = {0,1,0,0};
fwdOri.serializeDouble(targetWorldOrientation);
ikHelperPtr->computeIK(targetWorldPosition.m_floats, targetWorldOrientation.m_floats, // Controller orientation
btVector4 controllerOrn(gVRController2Orn.x(), gVRController2Orn.y(), gVRController2Orn.z(), gVRController2Orn.w());
// Set position and orientation
endEffectorPosWorld.serializeDouble(endEffectorWorldPosition);
endEffectorOri.serializeDouble(endEffectorWorldOrientation);
downOrn.serializeDouble(targetWorldOrientation);
//targetPos.serializeDouble(targetWorldPosition);
gVRController2Pos.serializeDouble(targetWorldPosition);
//controllerOrn.serializeDouble(targetWorldOrientation);
ikHelperPtr->computeIK(targetWorldPosition.m_floats, targetWorldOrientation.m_floats,
endEffectorWorldPosition.m_floats, endEffectorWorldOrientation.m_floats, endEffectorWorldPosition.m_floats, endEffectorWorldOrientation.m_floats,
&q_current[0], &q_current[0],
numDofs, endEffectorLinkIndex, numDofs, endEffectorLinkIndex,
@@ -3190,13 +3217,14 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
} }
//directly set the position of the links, only for debugging IK, don't use this method! //directly set the position of the links, only for debugging IK, don't use this method!
//if (0) if (0)
//{ {
// for (int i=0;i<mb->getNumLinks();i++) for (int i=0;i<mb->getNumLinks();i++)
// { {
// mb->setJointPosMultiDof(i,&q_new[i]); btScalar desiredPosition = q_new[i];
// } mb->setJointPosMultiDof(i,&desiredPosition);
//} else }
} else
{ {
int numMotors = 0; int numMotors = 0;
//find the joint motors and apply the desired velocity and maximum force/torque //find the joint motors and apply the desired velocity and maximum force/torque
@@ -3213,9 +3241,12 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{ {
btScalar desiredVelocity = 0.f; btScalar desiredVelocity = 0.f;
btScalar desiredPosition = q_new[link]; btScalar desiredPosition = q_new[link];
motor->setVelocityTarget(desiredVelocity,1); //printf("link %d: %f", link, q_new[link]);
motor->setVelocityTarget(desiredVelocity,1.0);
motor->setPositionTarget(desiredPosition,0.6); motor->setPositionTarget(desiredPosition,0.6);
btScalar maxImp = 1.f; btScalar maxImp = 1.0;
if (link == 0)
maxImp = 5.0;
motor->setMaxAppliedImpulse(maxImp); motor->setMaxAppliedImpulse(maxImp);
numMotors++; numMotors++;
} }