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Potential fix for Linux slow performance (usleep(0) takes a lot of time)

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Remove b3RobotSimAPI, use RobotSimulator/b3RobotSimulatorClientAPI.h instead
This commit is contained in:
Erwin Coumans
2017-05-13 13:37:49 -07:00
parent 0944790577
commit ef7a7f9004
10 changed files with 204 additions and 1434 deletions
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77
examples/RoboticsLearning/R2D2GraspExample.cpp
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@@ -11,7 +11,7 @@
#include "../SharedMemory/PhysicsClientC_API.h"
#include <string>
#include "b3RobotSimAPI.h"
#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
#include "../Utils/b3Clock.h"
///quick demo showing the right-handed coordinate system and positive rotations around each axis
@@ -19,7 +19,7 @@ class R2D2GraspExample : public CommonExampleInterface
{
CommonGraphicsApp* m_app;
GUIHelperInterface* m_guiHelper;
b3RobotSimAPI m_robotSim;
b3RobotSimulatorClientAPI m_robotSim;
int m_options;
int m_r2d2Index;
@@ -51,20 +51,22 @@ public:
}
virtual void initPhysics()
{
bool connected = m_robotSim.connect(m_guiHelper);
int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
m_robotSim.setGuiHelper(m_guiHelper);
bool connected = m_robotSim.connect(mode);
b3Printf("robotSim connected = %d",connected);
if ((m_options & eROBOTIC_LEARN_GRASP)!=0)
{
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "r2d2.urdf";
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0,0,.5);
b3RobotSimLoadFileResults results;
if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
m_r2d2Index = m_robotSim.loadURDF("r2d2.urdf",args);
if (m_r2d2Index>=0)
{
m_r2d2Index = results.m_uniqueObjectIds[0];
int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
b3Printf("numJoints = %d",numJoints);
@@ -78,7 +80,7 @@ public:
int wheelTargetVelocities[4]={-10,-10,-10,-10};
for (int i=0;i<4;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = wheelTargetVelocities[i];
controlArgs.m_maxTorqueValue = 1e30;
m_robotSim.setJointMotorControl(m_r2d2Index,wheelJointIndices[i],controlArgs);
@@ -86,84 +88,67 @@ public:
}
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "kiva_shelf/model.sdf";
args.m_forceOverrideFixedBase = true;
args.m_fileType = B3_SDF_FILE;
args.m_startOrientation = b3Quaternion(0,0,0,1);
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
b3RobotSimulatorLoadFileResults results;
m_robotSim.loadSDF("kiva_shelf/model.sdf",results);
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "plane.urdf";
args.m_startPosition.setValue(0,0,0);
args.m_forceOverrideFixedBase = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.loadURDF("results");
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
}
if ((m_options & eROBOTIC_LEARN_COMPLIANT_CONTACT)!=0)
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
b3RobotSimulatorLoadUrdfFileArgs args;
b3RobotSimulatorLoadFileResults results;
{
args.m_fileName = "cube_soft.urdf";
args.m_startPosition.setValue(0,0,2.5);
args.m_startOrientation.setEulerZYX(0,0.2,0);
m_robotSim.loadFile(args,results);
m_r2d2Index = m_robotSim.loadURDF("cube_soft.urdf",args);
}
{
args.m_fileName = "cube_no_friction.urdf";
args.m_startPosition.setValue(0,2,2.5);
args.m_startOrientation.setEulerZYX(0,0.2,0);
m_robotSim.loadFile(args,results);
m_robotSim.loadURDF("cube_no_friction.urdf",args);
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "plane.urdf";
args.m_startPosition.setValue(0,0,0);
args.m_startOrientation.setEulerZYX(0,0.2,0);
args.m_forceOverrideFixedBase = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.loadURDF("plane.urdf",args);
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
}
if ((m_options & eROBOTIC_LEARN_ROLLING_FRICTION)!=0)
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
b3RobotSimulatorLoadUrdfFileArgs args;
b3RobotSimulatorLoadFileResults results;
{
args.m_fileName = "sphere2_rolling_friction.urdf";
args.m_startPosition.setValue(0,0,2.5);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = true;
m_robotSim.loadFile(args,results);
m_robotSim.loadURDF("sphere2_rolling_friction.urdf",args);
}
{
args.m_fileName = "sphere2.urdf";
args.m_startPosition.setValue(0,2,2.5);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = true;
m_robotSim.loadFile(args,results);
m_robotSim.loadURDF("sphere2.urdf", args);
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "plane.urdf";
args.m_startPosition.setValue(0,0,0);
args.m_startOrientation.setEulerZYX(0,0.2,0);
args.m_useMultiBody = true;
args.m_forceOverrideFixedBase = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.loadURDF("plane.urdf", args);
}
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
}
}