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add test end-effector for Kuka iiwa (IK)

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This commit is contained in:
erwin coumans
2016-09-22 19:48:26 -07:00
parent 310a330572
commit e356f4f1f6
6 changed files with 230 additions and 9 deletions
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4
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -210,8 +210,10 @@ public:
{
b3JointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
t.m_maxTorqueValue = 1000;
t.m_maxTorqueValue = 100;
t.m_kp= 1;
t.m_targetVelocity = 0;
t.m_kp = 0.5;
m_robotSim.setJointMotorControl(m_kukaIndex,i,t);
}

6
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 endEffectorWorldOrientation[4],
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* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, double dampIk)
{
bool useAngularPart = (ikMethod==IK2_VEL_DLS_WITH_ORIENTATION) ? true : false;
@@ -69,7 +69,7 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
VectorRn deltaS(3);
for (int i = 0; i < 3; ++i)
{
deltaS.Set(i,(endEffectorTargetPosition[i]-endEffectorWorldPosition[i]));
deltaS.Set(i,dampIk*(endEffectorTargetPosition[i]-endEffectorWorldPosition[i]));
}
// Set one end effector world orientation from Bullet
@@ -79,7 +79,7 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
btQuaternion deltaQ = endQ*startQ.inverse();
float angle = deltaQ.getAngle();
btVector3 axis = deltaQ.getAxis();
float angleDot = angle;
float angleDot = angle*dampIk;
btVector3 angularVel = angleDot*axis.normalize();
for (int i = 0; i < 3; ++i)
{

2
examples/SharedMemory/IKTrajectoryHelper.h
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@@ -27,7 +27,7 @@ public:
const double endEffectorWorldPosition[3],
const double endEffectorWorldOrientation[4],
const double* q_old, int numQ,int endEffectorIndex,
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size);
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, double dampIk=1.);
};
#endif //IK_TRAJECTORY_HELPER_H

205
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -389,6 +389,8 @@ struct PhysicsServerCommandProcessorInternalData
btMultiBodyFixedConstraint* m_gripperRigidbodyFixed;
btMultiBody* m_gripperMultiBody;
int m_huskyId;
int m_KukaId;
int m_sphereId;
CommandLogger* m_commandLogger;
CommandLogPlayback* m_logPlayback;
@@ -440,7 +442,9 @@ struct PhysicsServerCommandProcessorInternalData
m_gripperRigidbodyFixed(0),
m_gripperMultiBody(0),
m_allowRealTimeSimulation(false),
m_huskyId(0),
m_huskyId(-1),
m_KukaId(-1),
m_sphereId(-1),
m_commandLogger(0),
m_logPlayback(0),
m_physicsDeltaTime(1./240.),
@@ -2854,8 +2858,12 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
m_data->m_logPlayback = pb;
}
btVector3 gVRGripperPos(0,0,0.2);
btQuaternion gVRGripperOrn(0,0,0,1);
btVector3 gVRController2Pos(0,0,0.2);;
btQuaternion gVRController2Orn(0,0,0,1);
btScalar gVRGripperAnalog = 0;
bool gVRGripperClosed = false;
@@ -2881,6 +2889,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
btVector3 shiftPos = spawnDir*spawnDistance;
btVector3 spawnPos = gVRGripperPos + shiftPos;
loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_sphereId = bodyId;
InteralBodyData* parentBody = m_data->getHandle(bodyId);
if (parentBody->m_multiBody)
{
@@ -2933,13 +2942,14 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
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(-2, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere2.urdf", btVector3(-2, 0, 2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere2.urdf", btVector3(-2, 0, 3), 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());
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());
m_data->m_KukaId = bodyId;
loadUrdf("cube_small.urdf", btVector3(0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
@@ -3010,6 +3020,193 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
}
}
{
InternalBodyHandle* bodyHandle = m_data->getHandle(m_data->m_KukaId);
if (bodyHandle && 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 distanceThreshold = 2;
bool closeToKuka=(sqLen<(distanceThreshold*distanceThreshold));
int numDofs = bodyHandle->m_multiBody->getNumDofs();
btAlignedObjectArray<double> q_new;
btAlignedObjectArray<double> q_current;
q_current.resize(numDofs);
for (int i = 0; i < numDofs; i++)
{
q_current[i] = bodyHandle->m_multiBody->getJointPos(i);
}
q_new.resize(numDofs);
static btScalar t=0.f;
t+=0.01;
double dampIk = 0.99;
for (int i=0;i<numDofs;i++)
{
btScalar desiredPosition = btSin(t*0.1)*SIMD_HALF_PI;
q_new[i] = dampIk*q_current[i]+(1-dampIk)*desiredPosition;
}
if (closeToKuka)
{
dampIk = 1;
IKTrajectoryHelper** ikHelperPtrPtr = m_data->m_inverseKinematicsHelpers.find(bodyHandle->m_multiBody);
IKTrajectoryHelper* ikHelperPtr = 0;
if (ikHelperPtrPtr)
{
ikHelperPtr = *ikHelperPtrPtr;
}
else
{
IKTrajectoryHelper* tmpHelper = new IKTrajectoryHelper;
m_data->m_inverseKinematicsHelpers.insert(bodyHandle->m_multiBody, tmpHelper);
ikHelperPtr = tmpHelper;
}
int endEffectorLinkIndex = 7;
if (ikHelperPtr && (endEffectorLinkIndex<bodyHandle->m_multiBody->getNumLinks()))
{
int numJoints1 = bodyHandle->m_multiBody->getNumLinks();
b3AlignedObjectArray<double> jacobian_linear;
jacobian_linear.resize(3*numDofs);
b3AlignedObjectArray<double> jacobian_angular;
jacobian_angular.resize(3*numDofs);
int jacSize = 0;
btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody);
if (tree)
{
jacSize = jacobian_linear.size();
// Set jacobian value
int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
btInverseDynamics::vecx nu(numDofs+baseDofs), qdot(numDofs + baseDofs), q(numDofs + baseDofs), joint_force(numDofs + baseDofs);
for (int i = 0; i < numDofs; i++)
{
q_current[i] = bodyHandle->m_multiBody->getJointPos(i);
q[i+baseDofs] = bodyHandle->m_multiBody->getJointPos(i);
qdot[i + baseDofs] = 0;
nu[i+baseDofs] = 0;
}
// Set the gravity to correspond to the world gravity
btInverseDynamics::vec3 id_grav(m_data->m_dynamicsWorld->getGravity());
if (-1 != tree->setGravityInWorldFrame(id_grav) &&
-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
{
tree->calculateJacobians(q);
btInverseDynamics::mat3x jac_t(3, numDofs);
btInverseDynamics::mat3x jac_r(3,numDofs);
tree->getBodyJacobianTrans(endEffectorLinkIndex, &jac_t);
tree->getBodyJacobianRot(endEffectorLinkIndex, &jac_r);
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < numDofs; ++j)
{
jacobian_linear[i*numDofs+j] = jac_t(i,j);
jacobian_angular[i*numDofs+j] = jac_r(i,j);
}
}
}
}
//int ikMethod= IK2_VEL_DLS;//IK2_VEL_DLS_WITH_ORIENTATION;//IK2_VEL_DLS;
int ikMethod= IK2_VEL_DLS_WITH_ORIENTATION;//IK2_VEL_DLS;
btVector3DoubleData endEffectorWorldPosition;
btVector3DoubleData endEffectorWorldOrientation;
btVector3 endEffectorPosWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform.getOrigin();
btQuaternion endEffectorOriWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform.getRotation();
btVector4 endEffectorOri(endEffectorOriWorld.x(),endEffectorOriWorld.y(),endEffectorOriWorld.z(),endEffectorOriWorld.w());
endEffectorPosWorld.serializeDouble(endEffectorWorldPosition);
endEffectorOri.serializeDouble(endEffectorWorldOrientation);
static btScalar time=0.f;
time+=0.01;
btVector3 targetPos(0.4-0.4*b3Cos( time), 0, 0.8+0.4*b3Cos( time));
targetPos +=mb->getBasePos();
btQuaternion targetOri(0, 1.0, 0, 0);
btQuaternion downOrn(0,1,0,0);
ikHelperPtr->computeIK( //targetPos,targetOri,
gVRController2Pos, downOrn,//gVRController2Orn,
endEffectorWorldPosition.m_floats, endEffectorWorldOrientation.m_floats,
&q_current[0],
numDofs, endEffectorLinkIndex,
&q_new[0], ikMethod, &jacobian_linear[0], &jacobian_angular[0], jacSize*2, dampIk);
for (int i=0;i<numDofs;i++)
{
//printf("q_new[i] = %f\n", q_new[i]);
}
}
}
//directly set the position of the links, only for debugging IK, don't use this method!
//if (0)
//{
// for (int i=0;i<mb->getNumLinks();i++)
// {
// mb->setJointPosMultiDof(i,&q_new[i]);
// }
//} else
{
int numMotors = 0;
//find the joint motors and apply the desired velocity and maximum force/torque
{
int velIndex = 6;//skip the 3 linear + 3 angular degree of freedom velocity entries of the base
int posIndex = 7;//skip 3 positional and 4 orientation (quaternion) positional degrees of freedom of the base
for (int link=0;link<mb->getNumLinks();link++)
{
if (supportsJointMotor(mb,link))
{
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr;
if (motor)
{
btScalar desiredVelocity = 0.f;
btScalar desiredPosition = q_new[link];
motor->setVelocityTarget(desiredVelocity,1);
motor->setPositionTarget(desiredPosition,0.6);
btScalar maxImp = 1.f;
motor->setMaxAppliedImpulse(maxImp);
numMotors++;
}
}
velIndex += mb->getLink(link).m_dofCount;
posIndex += mb->getLink(link).m_posVarCount;
}
}
}
}
}
int maxSteps = m_data->m_numSimulationSubSteps+3;
if (m_data->m_numSimulationSubSteps)
{

6
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -21,6 +21,8 @@ btVector3 gVRTeleportPos(0,0,0);
btQuaternion gVRTeleportOrn(0, 0, 0,1);
extern btVector3 gVRGripperPos;
extern btQuaternion gVRGripperOrn;
extern btVector3 gVRController2Pos;
extern btQuaternion gVRController2Orn;
extern btScalar gVRGripperAnalog;
extern bool gEnableRealTimeSimVR;
extern int gCreateObjectSimVR;
@@ -1246,6 +1248,10 @@ void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[
}
else
{
gVRController2Pos.setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
btQuaternion orgOrn(orn[0], orn[1], orn[2], orn[3]);
gVRController2Orn = orgOrn*btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI);
m_args[0].m_vrControllerPos[controllerId].setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0], orn[1], orn[2], orn[3]);
}