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Merge pull request #489 from erwincoumans/master

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Implement CMD_INIT_POSE to set base position, base orientation and jo…
This commit is contained in:
erwincoumans
2015-10-13 22:51:06 -07:00
parent 5b558a1f94 a0e507280c
commit cf79928d84
6 changed files with 207 additions and 45 deletions
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64
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -259,6 +259,70 @@ int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHan
return 0;
}
b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_INIT_POSE;
command->m_updateFlags =0;
command->m_initPoseArgs.m_bodyUniqueId = bodyIndex;
return (b3SharedMemoryCommandHandle) command;
}
int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |=INIT_POSE_HAS_INITIAL_POSITION;
command->m_initPoseArgs.m_initialStateQ[0] = startPosX;
command->m_initPoseArgs.m_initialStateQ[1] = startPosY;
command->m_initPoseArgs.m_initialStateQ[2] = startPosZ;
return 0;
}
int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |=INIT_POSE_HAS_INITIAL_ORIENTATION;
command->m_initPoseArgs.m_initialStateQ[3] = startOrnX;
command->m_initPoseArgs.m_initialStateQ[4] = startOrnY;
command->m_initPoseArgs.m_initialStateQ[5] = startOrnZ;
command->m_initPoseArgs.m_initialStateQ[6] = startOrnW;
return 0;
}
int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, double* jointPositions)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |=INIT_POSE_HAS_JOINT_STATE;
for (int i=0;i<numJointPositions;i++)
{
command->m_initPoseArgs.m_initialStateQ[i+7] = jointPositions[i];
}
return 0;
}
int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |=INIT_POSE_HAS_JOINT_STATE;
b3JointInfo info;
b3GetJointInfo(physClient, command->m_initPoseArgs.m_bodyUniqueId,jointIndex, &info);
command->m_initPoseArgs.m_initialStateQ[info.m_qIndex] = jointPosition;
return 0;
}
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

7
examples/SharedMemory/PhysicsClientC_API.h
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@@ -85,6 +85,13 @@ int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle
int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
///Initialize (teleport) the pose of a body/robot. You can individually set the base position, base orientation and joint angles.
///This will set all velocities of base and joints to zero.
b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, double* jointPositions);
int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient);
int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable);

124
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -116,7 +116,7 @@ public:
float color[4] = {1,1,0,1};
float color[4] = {0.2,0.2,1,1};
if (points.size() && indices.size())
{
@@ -221,6 +221,58 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
break;
};
case CMD_INIT_POSE:
{
if (m_selectedBody>=0)
{
b3SharedMemoryCommandHandle commandHandle = b3CreatePoseCommandInit(m_physicsClientHandle,m_selectedBody);
static int toggle = 0;
double pos[3] = {0,0,0};
pos[toggle] = 2;
toggle++;
if (toggle>2)
toggle=0;
btQuaternion orn;
orn.setValue(0,0,0,1);
switch (toggle)
{
case 0:
orn = btQuaternion(btVector3(1,0,0),SIMD_HALF_PI);
break;
case 1:
orn = btQuaternion(btVector3(0,1,0),SIMD_HALF_PI);
break;
case 2:
orn = btQuaternion(btVector3(0,0,1),SIMD_HALF_PI);
break;
default:
orn.setValue(0,0,0,1);
};
b3CreatePoseCommandSetBaseOrientation(commandHandle,orn[0],orn[1],orn[2],orn[3]);
b3CreatePoseCommandSetBasePosition(commandHandle, pos[0],pos[1],pos[2]);
int numJoints = b3GetNumJoints(m_physicsClientHandle,m_selectedBody);
static double jointPos = SIMD_PI/2.f;
for (int i=0;i<numJoints;i++)
{
b3JointInfo info;
b3GetJointInfo(m_physicsClientHandle, m_selectedBody,i, &info);
if ((info.m_jointType == 0) || (info.m_jointType == 1)) //revolute or prismatic
{
b3CreatePoseCommandSetJointPosition(m_physicsClientHandle,commandHandle,i,jointPos);
}
}
jointPos += SIMD_PI/8.0;
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
break;
}
case CMD_STEP_FORWARD_SIMULATION:
{
@@ -309,6 +361,7 @@ void PhysicsClientExample::createButtons()
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
createButton("Initialize Pose",CMD_INIT_POSE, isTrigger);
if (m_selectedBody>=0)
@@ -383,47 +436,53 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
createButtons();
m_prevSelectedBody = m_selectedBody;
}
b3SharedMemoryStatusHandle status = b3ProcessServerStatus(m_physicsClientHandle);
bool hasStatus = (status != 0);
if (hasStatus)
{
int statusType = b3GetStatusType(status);
if (statusType == CMD_URDF_LOADING_COMPLETED)
//while (!b3CanSubmitCommand(m_physicsClientHandle))
{
b3SharedMemoryStatusHandle status = b3ProcessServerStatus(m_physicsClientHandle);
bool hasStatus = (status != 0);
if (hasStatus)
{
int bodyIndex = b3GetStatusBodyIndex(status);
if (bodyIndex>=0)
{
int numJoints = b3GetNumJoints(m_physicsClientHandle,bodyIndex);
for (int i=0;i<numJoints;i++)
int statusType = b3GetStatusType(status);
if (statusType == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
//b3Printf("bla\n");
}
if (statusType == CMD_URDF_LOADING_COMPLETED)
{
int bodyIndex = b3GetStatusBodyIndex(status);
if (bodyIndex>=0)
{
b3JointInfo info;
b3GetJointInfo(m_physicsClientHandle,bodyIndex,i,&info);
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
int numJoints = b3GetNumJoints(m_physicsClientHandle,bodyIndex);
for (int i=0;i<numJoints;i++)
{
b3JointInfo info;
b3GetJointInfo(m_physicsClientHandle,bodyIndex,i,&info);
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
}
ComboBoxParams comboParams;
comboParams.m_comboboxId = bodyIndex;
comboParams.m_numItems = 1;
comboParams.m_startItem = 0;
comboParams.m_callback = MyComboBoxCallback;
comboParams.m_userPointer = this;
const char* bla = "bla";
const char* blarray[1];
blarray[0] = bla;
comboParams.m_items=blarray;//{&bla};
m_guiHelper->getParameterInterface()->registerComboBox(comboParams);
}
ComboBoxParams comboParams;
comboParams.m_comboboxId = bodyIndex;
comboParams.m_numItems = 1;
comboParams.m_startItem = 0;
comboParams.m_callback = MyComboBoxCallback;
comboParams.m_userPointer = this;
const char* bla = "bla";
const char* blarray[1];
blarray[0] = bla;
comboParams.m_items=blarray;//{&bla};
m_guiHelper->getParameterInterface()->registerComboBox(comboParams);
}
}
}
}
if (b3CanSubmitCommand(m_physicsClientHandle))
{
if (m_userCommandRequests.size())
@@ -447,6 +506,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
createButtons();
}
prepareAndSubmitCommand(commandId);
} else

6
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -235,8 +235,10 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
mb->m_links[link].m_jointName);
}
info.m_jointName = mb->m_links[link].m_jointName;
info.m_jointType = mb->m_links[link].m_jointType;
}
info.m_jointType = mb->m_links[link].m_jointType;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;
@@ -278,8 +280,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
mb->m_links[link].m_jointName);
}
info.m_jointName = mb->m_links[link].m_jointName;
info.m_jointType = mb->m_links[link].m_jointType;
}
info.m_jointType = mb->m_links[link].m_jointType;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;

41
examples/SharedMemory/PhysicsServer.cpp
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@@ -1252,15 +1252,38 @@ void PhysicsServerSharedMemory::processClientCommands()
if (body && body->m_multiBody)
{
btMultiBody* mb = body->m_multiBody;
mb->setBasePos(btVector3(
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[0],
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[1],
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[2]));
mb->setWorldToBaseRot(btQuaternion(
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[3],
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[4],
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[5],
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[6]));
if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_POSITION)
{
btVector3 zero(0,0,0);
mb->setBaseVel(zero);
mb->setBasePos(btVector3(
clientCmd.m_initPoseArgs.m_initialStateQ[0],
clientCmd.m_initPoseArgs.m_initialStateQ[1],
clientCmd.m_initPoseArgs.m_initialStateQ[2]));
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_ORIENTATION)
{
mb->setBaseOmega(btVector3(0,0,0));
mb->setWorldToBaseRot(btQuaternion(
clientCmd.m_initPoseArgs.m_initialStateQ[3],
clientCmd.m_initPoseArgs.m_initialStateQ[4],
clientCmd.m_initPoseArgs.m_initialStateQ[5],
clientCmd.m_initPoseArgs.m_initialStateQ[6]));
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_JOINT_STATE)
{
int dofIndex = 7;
for (int i=0;i<mb->getNumLinks();i++)
{
if (mb->getLink(i).m_dofCount==1)
{
mb->setJointPos(i,clientCmd.m_initPoseArgs.m_initialStateQ[dofIndex]);
mb->setJointVel(i,0);
}
dofIndex += mb->getLink(i).m_dofCount;
}
}
}
SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);

6
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -65,6 +65,12 @@ struct SetJointFeedbackArgs
int m_isEnabled;
};
enum EnumInitPoseFlags
{
INIT_POSE_HAS_INITIAL_POSITION=1,
INIT_POSE_HAS_INITIAL_ORIENTATION=2,
INIT_POSE_HAS_JOINT_STATE=4
};
///InitPoseArgs is mainly to initialize (teleport) the robot in a particular position