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Add rolling friction, set rolling friction coefficient from urdf, and set up two point contact experiment.

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This commit is contained in:
yunfeibai
2016-08-30 11:19:23 -07:00
parent c741b17da8
commit d784c61b61
9 changed files with 536 additions and 24 deletions
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95
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -65,6 +65,7 @@ public:
bool connected = m_robotSim.connect(m_guiHelper);
b3Printf("robotSim connected = %d",connected);
if ((m_options & eGRIPPER_GRASP)!=0)
{
{
@@ -87,7 +88,7 @@ public:
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0, 0, .107);
args.m_startOrientation.setEulerZYX(0, 0, 0);
args.m_useMultiBody = false;
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
}
@@ -152,10 +153,70 @@ public:
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.setNumSimulationSubSteps(4);
//m_robotSim.setNumSimulationSubSteps(4);
}
if ((m_options & eTWO_POINT_GRASP)!=0)
{
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0, 0, .107);
args.m_startOrientation.setEulerZYX(0, 0, 0);
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
}
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_gripper_left.urdf";
//args.m_startPosition.setValue(0.0675, 0.02, 0.13);
args.m_startPosition.setValue(0.068, 0.02, 0.11);
//args.m_startOrientation.setEulerZYX(0, 0.785398, 0.785398);
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = -0.5;
controlArgs.m_maxTorqueValue = 50.0;
controlArgs.m_kd = 1.;
m_robotSim.setJointMotorControl(1,0,controlArgs);
}
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_gripper_right.urdf";
//args.m_startPosition.setValue(-0.0675, 0.02, 0.13);
args.m_startPosition.setValue(-0.068, 0.02, 0.11);
//args.m_startOrientation.setEulerZYX(0, -0.785398, -0.785398);
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = 0.5;
controlArgs.m_maxTorqueValue = 50.0;
controlArgs.m_kd = 1.;
m_robotSim.setJointMotorControl(2,0,controlArgs);
}
if (1)
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "plane.urdf";
args.m_startPosition.setValue(0,0,0);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_forceOverrideFixedBase = true;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.setNumSimulationSubSteps(4);
}
}
virtual void exitPhysics()
@@ -164,22 +225,26 @@ public:
}
virtual void stepSimulation(float deltaTime)
{
if ((m_gripperIndex>=0))
if ((m_options & eGRIPPER_GRASP)!=0)
{
int fingerJointIndices[3]={0,1,3};
double fingerTargetVelocities[3]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
,-sGripperClosingTargetVelocity
};
double maxTorqueValues[3]={40.0,50.0,50.0};
for (int i=0;i<3;i++)
if ((m_gripperIndex>=0))
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = fingerTargetVelocities[i];
controlArgs.m_maxTorqueValue = maxTorqueValues[i];
controlArgs.m_kd = 1.;
m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
int fingerJointIndices[3]={0,1,3};
double fingerTargetVelocities[3]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
,-sGripperClosingTargetVelocity
};
double maxTorqueValues[3]={40.0,50.0,50.0};
for (int i=0;i<3;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = fingerTargetVelocities[i];
controlArgs.m_maxTorqueValue = maxTorqueValues[i];
controlArgs.m_kd = 1.;
m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
}
}
}
m_robotSim.stepSimulation();
}
virtual void renderScene()