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fix pybullet.c compilation for Windows

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add lego.urdf, duck.urdf (optimized using VHACD convex decomposition)
optimize Kiva shelf collision model (by hand, using boxes/Blender)
physics timescale toggle between  1 -> 0,25 -> 0
This commit is contained in:
erwincoumans
2016-09-24 11:25:05 -07:00
parent 0dfe20c036
commit f5e65197f4
13 changed files with 16333 additions and 38 deletions
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13
data/duck.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl blinn3
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Ka duckCM.png
map_Kd duckCM.png

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data/duck_vhacd.obj Normal file
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32
data/duck_vhacd.urdf Normal file
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@@ -0,0 +1,32 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.02 0.0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="duck.obj" scale=".05 .05 .05"/>
</geometry>
<material name="yellow">
<color rgba="1 1 0.4 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="duck_vhacd.obj" scale=".05 .05 .05"/>
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</collision>
</link>
</robot>

180
data/kiva_shelf/model.sdf
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@@ -31,25 +31,175 @@
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<surface>
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<mu2>0.8</mu2>
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</friction>
</surface>
</collision> </collision>
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<box>
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</collision>
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</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
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</box>
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</box>
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<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0.43 0.81 0 0 0 </pose>
<geometry>
<box>
<size>0.856 0.018 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 -0.43 0.81 0 0 0 </pose>
<geometry>
<box>
<size>0.856 0.018 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0.43 1.08 0 0 0 </pose>
<geometry>
<box>
<size>0.856 0.018 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 -0.43 1.08 0 0 0 </pose>
<geometry>
<box>
<size>0.856 0.018 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 0.37 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.29 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.53 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.78 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
</link> </link>
</model> </model>
</sdf> </sdf>

3751
data/lego/lego.obj Normal file
View File

File diff suppressed because it is too large Load Diff

32
data/lego/lego.urdf Normal file
View File

@@ -0,0 +1,32 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="legobrick">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="1.570796 0 0" xyz="-0.016 -0.016 -0.0115"/>
<geometry>
<mesh filename="lego.obj" scale=".1 .1 .1"/>
</geometry>
<material name="yellow">
<color rgba="1 1 0.4 1"/>
</material>
</visual>
<collision>
<origin rpy="1.570796 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.032 0.023 0.032"/>
</geometry>
</collision>
</link>
</robot>

3072
data/lego/lego_vhacd.obj Normal file
View File

File diff suppressed because it is too large Load Diff

5
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -225,7 +225,8 @@ void ConvertURDF2BulletInternal(
{ {
btVector3 color = selectColor2(); btVector4 color = selectColor2();
u2b.getLinkColor(urdfLinkIndex,color);
/* /*
if (visual->material.get()) if (visual->material.get())
{ {
@@ -255,7 +256,7 @@ void ConvertURDF2BulletInternal(
btRigidBody* body = creation.allocateRigidBody(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrameInWorldSpace, compoundShape); btRigidBody* body = creation.allocateRigidBody(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrameInWorldSpace, compoundShape);
linkRigidBody = body; linkRigidBody = body;
world1->addRigidBody(body, bodyCollisionFilterGroup, bodyCollisionFilterMask); world1->addRigidBody(body);
compoundShape->setUserIndex(graphicsIndex); compoundShape->setUserIndex(graphicsIndex);

32
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -1,6 +1,5 @@
#include "PhysicsServerCommandProcessor.h" #include "PhysicsServerCommandProcessor.h"
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h" #include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h" #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
@@ -563,7 +562,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
m_data = new PhysicsServerCommandProcessorInternalData(); m_data = new PhysicsServerCommandProcessorInternalData();
createEmptyDynamicsWorld(); createEmptyDynamicsWorld();
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0001; m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 100; m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
} }
@@ -604,7 +603,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0)); m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.05; m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
} }
@@ -1887,6 +1886,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
applyJointDamping(i); applyJointDamping(i);
} }
btScalar deltaTimeScaled = m_data->m_physicsDeltaTime*simTimeScalingFactor; btScalar deltaTimeScaled = m_data->m_physicsDeltaTime*simTimeScalingFactor;
if (m_data->m_numSimulationSubSteps > 0) if (m_data->m_numSimulationSubSteps > 0)
@@ -2820,6 +2822,7 @@ void PhysicsServerCommandProcessor::removePickingConstraint()
m_data->m_dynamicsWorld->removeConstraint(m_data->m_pickedConstraint); m_data->m_dynamicsWorld->removeConstraint(m_data->m_pickedConstraint);
delete m_data->m_pickedConstraint; delete m_data->m_pickedConstraint;
m_data->m_pickedConstraint = 0; m_data->m_pickedConstraint = 0;
m_data->m_pickedBody->forceActivationState(ACTIVE_TAG);
m_data->m_pickedBody = 0; m_data->m_pickedBody = 0;
} }
if (m_data->m_pickingMultiBodyPoint2Point) if (m_data->m_pickingMultiBodyPoint2Point)
@@ -2889,11 +2892,12 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
btVector3 shiftPos = spawnDir*spawnDistance; btVector3 shiftPos = spawnDir*spawnDistance;
btVector3 spawnPos = gVRGripperPos + shiftPos; btVector3 spawnPos = gVRGripperPos + shiftPos;
loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("lego/lego.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_sphereId = bodyId; m_data->m_sphereId = bodyId;
InteralBodyData* parentBody = m_data->getHandle(bodyId); InteralBodyData* parentBody = m_data->getHandle(bodyId);
if (parentBody->m_multiBody) if (parentBody->m_multiBody)
{ {
parentBody->m_multiBody->setBaseVel(spawnDir * 3); parentBody->m_multiBody->setBaseVel(spawnDir * 5);
} }
} }
@@ -2942,9 +2946,9 @@ 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("cube.urdf", btVector3(3, -2, 0.5+i), 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("lego/lego.urdf", btVector3(-3, 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("lego/lego.urdf", btVector3(-3, 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("lego/lego.urdf", btVector3(-3, 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("r2d2.urdf", btVector3(2, -2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
@@ -2974,6 +2978,13 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
} }
#endif #endif
for (int i = 0; i < 6; i++)
{
loadUrdf("jenga/jenga.urdf", btVector3(-1-0.1*i,-0.5, .07), btQuaternion(btVector3(0,1,0),SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
}
//loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); //loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("husky/husky.urdf", btVector3(5, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("husky/husky.urdf", btVector3(5, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_huskyId = bodyId; m_data->m_huskyId = bodyId;
@@ -2981,7 +2992,12 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
} }
loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true); loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("duck_vhacd.urdf", btVector3(-0.3, 0.6, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("cup/cup_small.urdf", btVector3(-0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("cup/pitcher_small.urdf", btVector3(-0.3, 0.6, 1.15), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10)); m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));

10
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -1181,16 +1181,22 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
} else } else
{ {
gDebugRenderToggle = 0; gDebugRenderToggle = 0;
simTimeScalingFactor *= 0.5;
if (simTimeScalingFactor==0) if (simTimeScalingFactor==0)
{ {
simTimeScalingFactor = 1; simTimeScalingFactor = 1;
} else
{
if (simTimeScalingFactor==1)
{
simTimeScalingFactor = 0.25;
} }
if (simTimeScalingFactor<0.01) else
{ {
simTimeScalingFactor = 0; simTimeScalingFactor = 0;
} }
} }
}
} else } else
{ {

21
examples/pybullet/pybullet.c
View File

@@ -909,6 +909,11 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args) {
if (size == 2) // get body index and joint index if (size == 2) // get body index and joint index
{ {
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex)) { if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex)) {
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle status_handle;
if (bodyIndex < 0) { if (bodyIndex < 0) {
PyErr_SetString(SpamError, "getJointState failed; invalid bodyIndex"); PyErr_SetString(SpamError, "getJointState failed; invalid bodyIndex");
return NULL; return NULL;
@@ -918,10 +923,10 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args) {
return NULL; return NULL;
} }
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle = cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex); b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle = status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_handle); status_type = b3GetStatusType(status_handle);
@@ -984,6 +989,10 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args) {
if (PySequence_Size(args) == 2) // body index and link index if (PySequence_Size(args) == 2) // body index and link index
{ {
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &linkIndex)) { if (PyArg_ParseTuple(args, "ii", &bodyIndex, &linkIndex)) {
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle status_handle;
if (bodyIndex < 0) { if (bodyIndex < 0) {
PyErr_SetString(SpamError, "getLinkState failed; invalid bodyIndex"); PyErr_SetString(SpamError, "getLinkState failed; invalid bodyIndex");
return NULL; return NULL;
@@ -993,10 +1002,10 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args) {
return NULL; return NULL;
} }
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle = cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex); b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle = status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_handle); status_type = b3GetStatusType(status_handle);