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Add a new one motor gripper to use Featherstone for slider and constraint for revolute joint.

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This commit is contained in:
yunfeibai
2016-09-29 12:07:00 -07:00
parent f0d03c5751
commit dd10dd6a3f
3 changed files with 814 additions and 2 deletions
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47
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -235,7 +235,7 @@ public:
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.urdf";
args.m_fileName = "sphere_small.urdf";
args.m_startPosition.setValue(0, 0, .107);
args.m_startOrientation.setEulerZYX(0, 0, 0);
args.m_useMultiBody = true;
@@ -244,7 +244,7 @@ public:
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_one_motor_gripper.sdf";
args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";
args.m_fileType = B3_SDF_FILE;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
@@ -287,6 +287,7 @@ public:
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
/*
b3JointInfo sliderJoint1;
sliderJoint1.m_parentFrame[0] = 0;
sliderJoint1.m_parentFrame[1] = 0;
@@ -327,6 +328,47 @@ public:
sliderJoint2.m_jointType = ePrismaticType;
m_robotSim.createJoint(1, 0, 1, 3, &sliderJoint1);
m_robotSim.createJoint(1, 0, 1, 6, &sliderJoint2);
*/
b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055;
revoluteJoint1.m_parentFrame[1] = 0;
revoluteJoint1.m_parentFrame[2] = 0.02;
revoluteJoint1.m_parentFrame[3] = 0;
revoluteJoint1.m_parentFrame[4] = 0;
revoluteJoint1.m_parentFrame[5] = 0;
revoluteJoint1.m_parentFrame[6] = 1.0;
revoluteJoint1.m_childFrame[0] = 0;
revoluteJoint1.m_childFrame[1] = 0;
revoluteJoint1.m_childFrame[2] = 0;
revoluteJoint1.m_childFrame[3] = 0;
revoluteJoint1.m_childFrame[4] = 0;
revoluteJoint1.m_childFrame[5] = 0;
revoluteJoint1.m_childFrame[6] = 1.0;
revoluteJoint1.m_jointAxis[0] = 1.0;
revoluteJoint1.m_jointAxis[1] = 0.0;
revoluteJoint1.m_jointAxis[2] = 0.0;
revoluteJoint1.m_jointType = ePoint2PointType;
b3JointInfo revoluteJoint2;
revoluteJoint2.m_parentFrame[0] = 0.055;
revoluteJoint2.m_parentFrame[1] = 0;
revoluteJoint2.m_parentFrame[2] = 0.02;
revoluteJoint2.m_parentFrame[3] = 0;
revoluteJoint2.m_parentFrame[4] = 0;
revoluteJoint2.m_parentFrame[5] = 0;
revoluteJoint2.m_parentFrame[6] = 1.0;
revoluteJoint2.m_childFrame[0] = 0;
revoluteJoint2.m_childFrame[1] = 0;
revoluteJoint2.m_childFrame[2] = 0;
revoluteJoint2.m_childFrame[3] = 0;
revoluteJoint2.m_childFrame[4] = 0;
revoluteJoint2.m_childFrame[5] = 0;
revoluteJoint2.m_childFrame[6] = 1.0;
revoluteJoint2.m_jointAxis[0] = 1.0;
revoluteJoint2.m_jointAxis[1] = 0.0;
revoluteJoint2.m_jointAxis[2] = 0.0;
revoluteJoint2.m_jointType = ePoint2PointType;
m_robotSim.createJoint(1, 2, 1, 4, &revoluteJoint1);
m_robotSim.createJoint(1, 3, 1, 6, &revoluteJoint2);
}
}
@@ -372,6 +414,7 @@ public:
}
}
m_robotSim.stepSimulation();
}
virtual void renderScene()