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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
erwincoumans
2016-11-04 13:16:55 -07:00
parent e35129ceaf a49d2b289e
commit ff2738db26
14 changed files with 817 additions and 20 deletions
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49
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -343,7 +343,6 @@ public:
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
if (1)
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";
@@ -374,12 +373,10 @@ public:
}
}
if (1)
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "plane.urdf";
args.m_startPosition.setValue(0,0,0);
args.m_startPosition.setValue(0,0,-0.2);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_forceOverrideFixedBase = true;
args.m_useMultiBody = true;
@@ -388,7 +385,7 @@ public:
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.loadBunny();
m_robotSim.loadBunny(0.1,0.1,0.02);
b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055;
@@ -431,6 +428,46 @@ public:
m_robotSim.createJoint(0, 2, 0, 4, &revoluteJoint1);
m_robotSim.createJoint(0, 3, 0, 6, &revoluteJoint2);
}
if ((m_options & eSOFTBODY_MULTIBODY_COUPLING)!=0)
{
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "kuka_iiwa/model_free_base.urdf";
args.m_startPosition.setValue(0,1.0,2.0);
args.m_startOrientation.setEulerZYX(0,0,1.57);
args.m_forceOverrideFixedBase = false;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
int kukaId = results.m_uniqueObjectIds[0];
int numJoints = m_robotSim.getNumJoints(kukaId);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(kukaId,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_maxTorqueValue = 0.0;
m_robotSim.setJointMotorControl(kukaId,i,controlArgs);
}
}
{
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 = false;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.loadBunny(0.5,10.0,0.1);
}
}
virtual void exitPhysics()
{
@@ -479,7 +516,7 @@ public:
int fingerJointIndices[2]={0,1};
double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
};
double maxTorqueValues[2]={50.0,50.0};
double maxTorqueValues[2]={50.0,10.0};
for (int i=0;i<2;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);

1
examples/RoboticsLearning/GripperGraspExample.h
View File

@@ -22,6 +22,7 @@ enum GripperGraspExampleOptions
eTWO_POINT_GRASP=2,
eONE_MOTOR_GRASP=4,
eGRASP_SOFT_BODY=8,
eSOFTBODY_MULTIBODY_COUPLING=16,
};
class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options);

7
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -1003,8 +1003,11 @@ void b3RobotSimAPI::getLinkState(int bodyUniqueId, int linkIndex, double* worldP
}
}
void b3RobotSimAPI::loadBunny()
void b3RobotSimAPI::loadBunny(double scale, double mass, double collisionMargin)
{
b3SharedMemoryCommandHandle command = b3LoadBunnyCommandInit(m_data->m_physicsClient);
b3LoadBunnySetScale(command, scale);
b3LoadBunnySetMass(command, mass);
b3LoadBunnySetCollisionMargin(command, collisionMargin);
b3SubmitClientCommand(m_data->m_physicsClient, command);
}
}

2
examples/RoboticsLearning/b3RobotSimAPI.h
View File

@@ -165,7 +165,7 @@ public:
void getLinkState(int bodyUniqueId, int linkIndex, double* worldPosition, double* worldOrientation);
void loadBunny();
void loadBunny(double scale, double mass, double collisionMargin);
};
#endif //B3_ROBOT_SIM_API_H