mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-04-25 14:25:38 +00:00
* Adjustment: Update Bullet version to 3.24.
This commit is contained in:
Robert MacGregor
parent
35de012ee7
commit
4a3f31df2a
6148 changed files with 2112532 additions and 56873 deletions
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#include "GripperGraspExample.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../SharedMemory/PhysicsServerSharedMemory.h"
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#include "../SharedMemory/PhysicsClientC_API.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include "../SharedMemory/SharedMemoryPublic.h"
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#include <string>
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#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
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#include "../Utils/b3Clock.h"
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static btScalar sGripperVerticalVelocity = 0.f;
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static btScalar sGripperClosingTargetVelocity = -0.7f;
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class GripperGraspExample : public CommonExampleInterface
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{
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CommonGraphicsApp* m_app;
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GUIHelperInterface* m_guiHelper;
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b3RobotSimulatorClientAPI m_robotSim;
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int m_options;
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int m_gripperIndex;
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double m_time;
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b3Vector3 m_targetPos;
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b3Vector3 m_worldPos;
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b3Vector4 m_targetOri;
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b3Vector4 m_worldOri;
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b3AlignedObjectArray<int> m_movingInstances;
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enum
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{
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numCubesX = 20,
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numCubesY = 20
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};
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public:
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GripperGraspExample(GUIHelperInterface* helper, int options)
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: m_app(helper->getAppInterface()),
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m_guiHelper(helper),
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m_options(options),
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m_gripperIndex(-1)
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{
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m_app->setUpAxis(2);
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}
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virtual ~GripperGraspExample()
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{
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}
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virtual void physicsDebugDraw(int debugDrawMode)
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{
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m_robotSim.debugDraw(debugDrawMode);
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}
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virtual void initPhysics()
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{
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int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
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m_robotSim.setGuiHelper(m_guiHelper);
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bool connected = m_robotSim.connect(mode);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
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b3Printf("robotSim connected = %d", connected);
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if ((m_options & eGRIPPER_GRASP) != 0)
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{
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{
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SliderParams slider("Vertical velocity", &sGripperVerticalVelocity);
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slider.m_minVal = -2;
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slider.m_maxVal = 2;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
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slider.m_minVal = -1;
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slider.m_maxVal = 1;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0, 0, .107);
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args.m_startOrientation.setEulerZYX(0, 0, 0);
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args.m_useMultiBody = true;
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m_robotSim.loadURDF("cube_small.urdf", args);
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}
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{
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b3RobotSimulatorLoadFileResults results;
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m_robotSim.loadSDF("gripper/wsg50_with_r2d2_gripper.sdf", results);
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if (results.m_uniqueObjectIds.size() == 1)
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{
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m_gripperIndex = results.m_uniqueObjectIds[0];
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int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
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b3Printf("numJoints = %d", numJoints);
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for (int i = 0; i < numJoints; i++)
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{
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b3JointInfo jointInfo;
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m_robotSim.getJointInfo(m_gripperIndex, i, &jointInfo);
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b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
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}
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/*
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int fingerJointIndices[2]={1,3};
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double fingerTargetPositions[2]={-0.04,0.04};
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for (int i=0;i<2;i++)
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{
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
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controlArgs.m_targetPosition = fingerTargetPositions[i];
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controlArgs.m_kp = 5.0;
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controlArgs.m_kd = 3.0;
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controlArgs.m_maxTorqueValue = 1.0;
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m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
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}
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*/
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int fingerJointIndices[3] = {0, 1, 3};
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double fingerTargetVelocities[3] = {-0.2, .5, -.5};
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double maxTorqueValues[3] = {40.0, 50.0, 50.0};
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for (int i = 0; i < 3; i++)
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{
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = fingerTargetVelocities[i];
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controlArgs.m_maxTorqueValue = maxTorqueValues[i];
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controlArgs.m_kd = 1.;
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m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
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}
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}
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}
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if (1)
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{
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m_robotSim.loadURDF("plane.urdf");
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}
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m_robotSim.setGravity(btVector3(0, 0, -10));
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m_robotSim.setNumSimulationSubSteps(4);
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}
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if ((m_options & eTWO_POINT_GRASP) != 0)
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{
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0, 0, .107);
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m_robotSim.loadURDF("cube_small.urdf", args);
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}
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0.068, 0.02, 0.11);
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m_robotSim.loadURDF("cube_gripper_left.urdf", args);
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = -0.1;
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controlArgs.m_maxTorqueValue = 10.0;
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controlArgs.m_kd = 1.;
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m_robotSim.setJointMotorControl(1, 0, controlArgs);
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}
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(-0.068, 0.02, 0.11);
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m_robotSim.loadURDF("cube_gripper_right.urdf", args);
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = 0.1;
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controlArgs.m_maxTorqueValue = 10.0;
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controlArgs.m_kd = 1.;
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m_robotSim.setJointMotorControl(2, 0, controlArgs);
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}
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if (1)
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{
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m_robotSim.loadURDF("plane.urdf");
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}
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m_robotSim.setGravity(btVector3(0, 0, -10));
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m_robotSim.setNumSimulationSubSteps(4);
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}
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if ((m_options & eONE_MOTOR_GRASP) != 0)
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{
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m_robotSim.setNumSolverIterations(150);
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{
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SliderParams slider("Vertical velocity", &sGripperVerticalVelocity);
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slider.m_minVal = -2;
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slider.m_maxVal = 2;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
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slider.m_minVal = -1;
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slider.m_maxVal = 1;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0, -0.2, .47);
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args.m_startOrientation.setEulerZYX(SIMD_HALF_PI, 0, 0);
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m_robotSim.loadURDF("dinnerware/pan_tefal.urdf", args);
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}
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{
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b3RobotSimulatorLoadFileResults args;
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b3RobotSimulatorLoadFileResults results;
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m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", results);
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if (results.m_uniqueObjectIds.size() == 1)
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{
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m_gripperIndex = results.m_uniqueObjectIds[0];
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int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
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b3Printf("numJoints = %d", numJoints);
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for (int i = 0; i < numJoints; i++)
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{
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b3JointInfo jointInfo;
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m_robotSim.getJointInfo(m_gripperIndex, i, &jointInfo);
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b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
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}
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for (int i = 0; i < 8; i++)
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{
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_maxTorqueValue = 0.0;
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m_robotSim.setJointMotorControl(m_gripperIndex, i, controlArgs);
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}
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}
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}
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if (1)
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{
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m_robotSim.loadURDF("plane.urdf");
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}
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m_robotSim.setGravity(btVector3(0, 0, -10));
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b3JointInfo revoluteJoint1;
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revoluteJoint1.m_parentFrame[0] = -0.055;
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revoluteJoint1.m_parentFrame[1] = 0;
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revoluteJoint1.m_parentFrame[2] = 0.02;
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revoluteJoint1.m_parentFrame[3] = 0;
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revoluteJoint1.m_parentFrame[4] = 0;
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revoluteJoint1.m_parentFrame[5] = 0;
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revoluteJoint1.m_parentFrame[6] = 1.0;
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revoluteJoint1.m_childFrame[0] = 0;
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revoluteJoint1.m_childFrame[1] = 0;
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revoluteJoint1.m_childFrame[2] = 0;
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revoluteJoint1.m_childFrame[3] = 0;
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revoluteJoint1.m_childFrame[4] = 0;
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revoluteJoint1.m_childFrame[5] = 0;
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revoluteJoint1.m_childFrame[6] = 1.0;
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revoluteJoint1.m_jointAxis[0] = 1.0;
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revoluteJoint1.m_jointAxis[1] = 0.0;
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revoluteJoint1.m_jointAxis[2] = 0.0;
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revoluteJoint1.m_jointType = ePoint2PointType;
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b3JointInfo revoluteJoint2;
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revoluteJoint2.m_parentFrame[0] = 0.055;
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revoluteJoint2.m_parentFrame[1] = 0;
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revoluteJoint2.m_parentFrame[2] = 0.02;
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revoluteJoint2.m_parentFrame[3] = 0;
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revoluteJoint2.m_parentFrame[4] = 0;
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revoluteJoint2.m_parentFrame[5] = 0;
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revoluteJoint2.m_parentFrame[6] = 1.0;
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revoluteJoint2.m_childFrame[0] = 0;
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revoluteJoint2.m_childFrame[1] = 0;
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revoluteJoint2.m_childFrame[2] = 0;
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revoluteJoint2.m_childFrame[3] = 0;
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revoluteJoint2.m_childFrame[4] = 0;
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revoluteJoint2.m_childFrame[5] = 0;
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revoluteJoint2.m_childFrame[6] = 1.0;
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revoluteJoint2.m_jointAxis[0] = 1.0;
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revoluteJoint2.m_jointAxis[1] = 0.0;
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revoluteJoint2.m_jointAxis[2] = 0.0;
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revoluteJoint2.m_jointType = ePoint2PointType;
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m_robotSim.createConstraint(1, 2, 1, 4, &revoluteJoint1);
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m_robotSim.createConstraint(1, 3, 1, 6, &revoluteJoint2);
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}
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if ((m_options & eGRASP_SOFT_BODY) != 0)
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{
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{
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SliderParams slider("Vertical velocity", &sGripperVerticalVelocity);
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slider.m_minVal = -2;
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slider.m_maxVal = 2;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
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slider.m_minVal = -1;
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slider.m_maxVal = 1;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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b3RobotSimulatorLoadFileResults results;
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m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", results);
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if (results.m_uniqueObjectIds.size() == 1)
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{
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m_gripperIndex = results.m_uniqueObjectIds[0];
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int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
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b3Printf("numJoints = %d", numJoints);
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for (int i = 0; i < numJoints; i++)
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{
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b3JointInfo jointInfo;
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m_robotSim.getJointInfo(m_gripperIndex, i, &jointInfo);
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b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
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}
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for (int i = 0; i < 8; i++)
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{
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_maxTorqueValue = 0.0;
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m_robotSim.setJointMotorControl(m_gripperIndex, i, controlArgs);
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}
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}
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}
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0, 0, -0.2);
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args.m_startOrientation.setEulerZYX(0, 0, 0);
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m_robotSim.loadURDF("plane.urdf", args);
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}
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m_robotSim.setGravity(btVector3(0, 0, -10));
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b3RobotSimulatorLoadSoftBodyArgs args(0.1, 1, 0.02);
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args.m_startPosition.setValue(0, 0, 5);
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args.m_startOrientation.setValue(1, 0, 0, 1);
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m_robotSim.loadSoftBody("bunny.obj", args);
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b3JointInfo revoluteJoint1;
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revoluteJoint1.m_parentFrame[0] = -0.055;
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revoluteJoint1.m_parentFrame[1] = 0;
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revoluteJoint1.m_parentFrame[2] = 0.02;
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revoluteJoint1.m_parentFrame[3] = 0;
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revoluteJoint1.m_parentFrame[4] = 0;
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revoluteJoint1.m_parentFrame[5] = 0;
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revoluteJoint1.m_parentFrame[6] = 1.0;
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revoluteJoint1.m_childFrame[0] = 0;
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revoluteJoint1.m_childFrame[1] = 0;
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revoluteJoint1.m_childFrame[2] = 0;
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revoluteJoint1.m_childFrame[3] = 0;
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revoluteJoint1.m_childFrame[4] = 0;
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revoluteJoint1.m_childFrame[5] = 0;
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revoluteJoint1.m_childFrame[6] = 1.0;
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revoluteJoint1.m_jointAxis[0] = 1.0;
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revoluteJoint1.m_jointAxis[1] = 0.0;
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revoluteJoint1.m_jointAxis[2] = 0.0;
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revoluteJoint1.m_jointType = ePoint2PointType;
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b3JointInfo revoluteJoint2;
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revoluteJoint2.m_parentFrame[0] = 0.055;
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revoluteJoint2.m_parentFrame[1] = 0;
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revoluteJoint2.m_parentFrame[2] = 0.02;
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revoluteJoint2.m_parentFrame[3] = 0;
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revoluteJoint2.m_parentFrame[4] = 0;
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revoluteJoint2.m_parentFrame[5] = 0;
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revoluteJoint2.m_parentFrame[6] = 1.0;
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revoluteJoint2.m_childFrame[0] = 0;
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revoluteJoint2.m_childFrame[1] = 0;
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revoluteJoint2.m_childFrame[2] = 0;
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revoluteJoint2.m_childFrame[3] = 0;
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revoluteJoint2.m_childFrame[4] = 0;
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revoluteJoint2.m_childFrame[5] = 0;
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revoluteJoint2.m_childFrame[6] = 1.0;
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revoluteJoint2.m_jointAxis[0] = 1.0;
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revoluteJoint2.m_jointAxis[1] = 0.0;
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revoluteJoint2.m_jointAxis[2] = 0.0;
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revoluteJoint2.m_jointType = ePoint2PointType;
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m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1);
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m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2);
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}
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if ((m_options & eGRASP_DEFORMABLE_CLOTH) != 0)
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{
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m_robotSim.resetSimulation(RESET_USE_DEFORMABLE_WORLD);
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{
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SliderParams slider("Vertical velocity", &sGripperVerticalVelocity);
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slider.m_minVal = -2;
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slider.m_maxVal = 2;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
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slider.m_minVal = -1;
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slider.m_maxVal = 1;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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b3RobotSimulatorLoadFileResults results;
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m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", results);
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if (results.m_uniqueObjectIds.size() == 1)
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{
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m_gripperIndex = results.m_uniqueObjectIds[0];
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int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
|
||||
b3Printf("numJoints = %d", numJoints);
|
||||
|
||||
for (int i = 0; i < numJoints; i++)
|
||||
{
|
||||
b3JointInfo jointInfo;
|
||||
m_robotSim.getJointInfo(m_gripperIndex, i, &jointInfo);
|
||||
b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
|
||||
}
|
||||
|
||||
for (int i = 0; i < 8; i++)
|
||||
{
|
||||
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
||||
controlArgs.m_maxTorqueValue = 0.0;
|
||||
m_robotSim.setJointMotorControl(m_gripperIndex, i, controlArgs);
|
||||
}
|
||||
}
|
||||
}
|
||||
{
|
||||
b3RobotSimulatorLoadUrdfFileArgs args;
|
||||
args.m_startPosition.setValue(0, 0, -0.2);
|
||||
args.m_startOrientation.setEulerZYX(0, 0, 0);
|
||||
m_robotSim.loadURDF("plane.urdf", args);
|
||||
}
|
||||
m_robotSim.setGravity(btVector3(0, 0, -10));
|
||||
|
||||
m_robotSim.setGravity(btVector3(0, 0, -10));
|
||||
b3RobotSimulatorLoadDeformableBodyArgs args(2, .01, 0.006);
|
||||
args.m_springElasticStiffness = 1;
|
||||
args.m_springDampingStiffness = .01;
|
||||
args.m_springBendingStiffness = .1;
|
||||
args.m_frictionCoeff = 10;
|
||||
args.m_useSelfCollision = false;
|
||||
args.m_useFaceContact = true;
|
||||
args.m_useBendingSprings = true;
|
||||
args.m_startPosition.setValue(0, 0, 0);
|
||||
args.m_startOrientation.setValue(0, 0, 1, 1);
|
||||
//m_robotSim.loadDeformableBody("flat_napkin.obj", args);
|
||||
|
||||
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.createConstraint(0, 2, 0, 4, &revoluteJoint1);
|
||||
m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2);
|
||||
m_robotSim.setNumSimulationSubSteps(2);
|
||||
}
|
||||
|
||||
if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0)
|
||||
{
|
||||
{
|
||||
b3RobotSimulatorLoadUrdfFileArgs args;
|
||||
args.m_startPosition.setValue(-0.5, 0, 0.1);
|
||||
args.m_startOrientation.setEulerZYX(0, 0, 0);
|
||||
args.m_forceOverrideFixedBase = true;
|
||||
args.m_useMultiBody = true;
|
||||
int kukaId = m_robotSim.loadURDF("kuka_iiwa/model.urdf", args);
|
||||
|
||||
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);
|
||||
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
||||
controlArgs.m_maxTorqueValue = 500.0;
|
||||
m_robotSim.setJointMotorControl(kukaId, i, controlArgs);
|
||||
}
|
||||
}
|
||||
{
|
||||
b3RobotSimulatorLoadUrdfFileArgs args;
|
||||
args.m_startPosition.setValue(0, 0, 0);
|
||||
args.m_startOrientation.setEulerZYX(0, 0, 0);
|
||||
args.m_forceOverrideFixedBase = true;
|
||||
args.m_useMultiBody = false;
|
||||
m_robotSim.loadURDF("plane.urdf", args);
|
||||
}
|
||||
m_robotSim.setGravity(btVector3(0, 0, -10));
|
||||
b3RobotSimulatorLoadSoftBodyArgs args(0.3, 10, 0.1);
|
||||
m_robotSim.loadSoftBody("bunny.obj", args);
|
||||
}
|
||||
}
|
||||
virtual void exitPhysics()
|
||||
{
|
||||
m_robotSim.disconnect();
|
||||
}
|
||||
virtual void stepSimulation(float deltaTime)
|
||||
{
|
||||
if ((m_options & eGRIPPER_GRASP) != 0)
|
||||
{
|
||||
if ((m_gripperIndex >= 0))
|
||||
{
|
||||
int fingerJointIndices[3] = {0, 1, 3};
|
||||
double fingerTargetVelocities[3] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity, -sGripperClosingTargetVelocity};
|
||||
double maxTorqueValues[3] = {40.0, 50.0, 50.0};
|
||||
for (int i = 0; i < 3; i++)
|
||||
{
|
||||
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
||||
controlArgs.m_targetVelocity = fingerTargetVelocities[i];
|
||||
controlArgs.m_maxTorqueValue = maxTorqueValues[i];
|
||||
controlArgs.m_kd = 1.;
|
||||
m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if ((m_options & eONE_MOTOR_GRASP) != 0)
|
||||
{
|
||||
int fingerJointIndices[2] = {0, 1};
|
||||
double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
|
||||
double maxTorqueValues[2] = {800.0, 800.0};
|
||||
for (int i = 0; i < 2; i++)
|
||||
{
|
||||
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
||||
controlArgs.m_targetVelocity = fingerTargetVelocities[i];
|
||||
controlArgs.m_maxTorqueValue = maxTorqueValues[i];
|
||||
controlArgs.m_kd = 1.;
|
||||
m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
|
||||
}
|
||||
}
|
||||
|
||||
if ((m_options & eGRASP_SOFT_BODY) != 0)
|
||||
{
|
||||
int fingerJointIndices[2] = {0, 1};
|
||||
double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
|
||||
double maxTorqueValues[2] = {50.0, 10.0};
|
||||
for (int i = 0; i < 2; i++)
|
||||
{
|
||||
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
||||
controlArgs.m_targetVelocity = fingerTargetVelocities[i];
|
||||
controlArgs.m_maxTorqueValue = maxTorqueValues[i];
|
||||
controlArgs.m_kd = 1.;
|
||||
m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
|
||||
}
|
||||
}
|
||||
|
||||
if ((m_options & eGRASP_DEFORMABLE_CLOTH) != 0)
|
||||
{
|
||||
int fingerJointIndices[2] = {0, 1};
|
||||
double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
|
||||
double maxTorqueValues[2] = {250.0, 50.0};
|
||||
for (int i = 0; i < 2; i++)
|
||||
{
|
||||
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
||||
controlArgs.m_targetVelocity = fingerTargetVelocities[i];
|
||||
controlArgs.m_maxTorqueValue = maxTorqueValues[i];
|
||||
controlArgs.m_kd = 1.;
|
||||
m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
|
||||
}
|
||||
}
|
||||
|
||||
if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0)
|
||||
{
|
||||
float dt = deltaTime;
|
||||
btClamp(dt, 0.0001f, 0.01f);
|
||||
|
||||
m_time += dt;
|
||||
m_targetPos.setValue(0, 0, 0.5 + 0.2 * b3Cos(m_time));
|
||||
m_targetOri.setValue(0, 1.0, 0, 0);
|
||||
|
||||
int numJoints = m_robotSim.getNumJoints(0);
|
||||
|
||||
if (numJoints == 7)
|
||||
{
|
||||
double q_current[7] = {0, 0, 0, 0, 0, 0, 0};
|
||||
|
||||
b3JointStates2 jointStates;
|
||||
|
||||
if (m_robotSim.getJointStates(0, jointStates))
|
||||
{
|
||||
//skip the base positions (7 values)
|
||||
b3Assert(7 + numJoints == jointStates.m_numDegreeOfFreedomQ);
|
||||
for (int i = 0; i < numJoints; i++)
|
||||
{
|
||||
q_current[i] = jointStates.m_actualStateQ[i + 7];
|
||||
}
|
||||
}
|
||||
// compute body position and orientation
|
||||
b3LinkState linkState;
|
||||
bool computeVelocity = true;
|
||||
bool computeForwardKinematics = true;
|
||||
m_robotSim.getLinkState(0, 6, computeVelocity, computeForwardKinematics, &linkState);
|
||||
|
||||
m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
|
||||
m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);
|
||||
|
||||
b3Vector3DoubleData targetPosDataOut;
|
||||
m_targetPos.serializeDouble(targetPosDataOut);
|
||||
b3Vector3DoubleData worldPosDataOut;
|
||||
m_worldPos.serializeDouble(worldPosDataOut);
|
||||
b3Vector3DoubleData targetOriDataOut;
|
||||
m_targetOri.serializeDouble(targetOriDataOut);
|
||||
b3Vector3DoubleData worldOriDataOut;
|
||||
m_worldOri.serializeDouble(worldOriDataOut);
|
||||
|
||||
b3RobotSimulatorInverseKinematicArgs ikargs;
|
||||
b3RobotSimulatorInverseKinematicsResults ikresults;
|
||||
|
||||
ikargs.m_bodyUniqueId = 0;
|
||||
// ikargs.m_currentJointPositions = q_current;
|
||||
// ikargs.m_numPositions = 7;
|
||||
ikargs.m_endEffectorTargetPosition[0] = targetPosDataOut.m_floats[0];
|
||||
ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
|
||||
ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
|
||||
|
||||
ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION /* + B3_HAS_NULL_SPACE_VELOCITY*/;
|
||||
|
||||
ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
|
||||
ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
|
||||
ikargs.m_endEffectorTargetOrientation[2] = targetOriDataOut.m_floats[2];
|
||||
ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
|
||||
ikargs.m_endEffectorLinkIndex = 6;
|
||||
|
||||
// Settings based on default KUKA arm setting
|
||||
ikargs.m_lowerLimits.resize(numJoints);
|
||||
ikargs.m_upperLimits.resize(numJoints);
|
||||
ikargs.m_jointRanges.resize(numJoints);
|
||||
ikargs.m_restPoses.resize(numJoints);
|
||||
ikargs.m_lowerLimits[0] = -2.32;
|
||||
ikargs.m_lowerLimits[1] = -1.6;
|
||||
ikargs.m_lowerLimits[2] = -2.32;
|
||||
ikargs.m_lowerLimits[3] = -1.6;
|
||||
ikargs.m_lowerLimits[4] = -2.32;
|
||||
ikargs.m_lowerLimits[5] = -1.6;
|
||||
ikargs.m_lowerLimits[6] = -2.4;
|
||||
ikargs.m_upperLimits[0] = 2.32;
|
||||
ikargs.m_upperLimits[1] = 1.6;
|
||||
ikargs.m_upperLimits[2] = 2.32;
|
||||
ikargs.m_upperLimits[3] = 1.6;
|
||||
ikargs.m_upperLimits[4] = 2.32;
|
||||
ikargs.m_upperLimits[5] = 1.6;
|
||||
ikargs.m_upperLimits[6] = 2.4;
|
||||
ikargs.m_jointRanges[0] = 5.8;
|
||||
ikargs.m_jointRanges[1] = 4;
|
||||
ikargs.m_jointRanges[2] = 5.8;
|
||||
ikargs.m_jointRanges[3] = 4;
|
||||
ikargs.m_jointRanges[4] = 5.8;
|
||||
ikargs.m_jointRanges[5] = 4;
|
||||
ikargs.m_jointRanges[6] = 6;
|
||||
ikargs.m_restPoses[0] = 0;
|
||||
ikargs.m_restPoses[1] = 0;
|
||||
ikargs.m_restPoses[2] = 0;
|
||||
ikargs.m_restPoses[3] = SIMD_HALF_PI;
|
||||
ikargs.m_restPoses[4] = 0;
|
||||
ikargs.m_restPoses[5] = -SIMD_HALF_PI * 0.66;
|
||||
ikargs.m_restPoses[6] = 0;
|
||||
ikargs.m_numDegreeOfFreedom = numJoints;
|
||||
|
||||
if (m_robotSim.calculateInverseKinematics(ikargs, ikresults))
|
||||
{
|
||||
//copy the IK result to the desired state of the motor/actuator
|
||||
for (int i = 0; i < numJoints; i++)
|
||||
{
|
||||
b3RobotSimulatorJointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
|
||||
t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
|
||||
t.m_maxTorqueValue = 100.0;
|
||||
t.m_kp = 1.0;
|
||||
t.m_targetVelocity = 0;
|
||||
t.m_kd = 1.0;
|
||||
m_robotSim.setJointMotorControl(0, i, t);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
m_robotSim.stepSimulation();
|
||||
}
|
||||
virtual void renderScene()
|
||||
{
|
||||
m_robotSim.renderScene();
|
||||
|
||||
//m_app->m_renderer->renderScene();
|
||||
}
|
||||
|
||||
virtual bool mouseMoveCallback(float x, float y)
|
||||
{
|
||||
return m_robotSim.mouseMoveCallback(x, y);
|
||||
}
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
return m_robotSim.mouseButtonCallback(button, state, x, y);
|
||||
}
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 1.5;
|
||||
float pitch = -10;
|
||||
float yaw = 18;
|
||||
float targetPos[3] = {-0.2, 0.8, 0.3};
|
||||
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
|
||||
{
|
||||
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new GripperGraspExample(options.m_guiHelper, options.m_option);
|
||||
}
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 Google Inc. http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef GRIPPER_GRASP_EXAMPLE_H
|
||||
#define GRIPPER_GRASP_EXAMPLE_H
|
||||
|
||||
enum GripperGraspExampleOptions
|
||||
{
|
||||
eGRIPPER_GRASP = 1,
|
||||
eTWO_POINT_GRASP = 2,
|
||||
eONE_MOTOR_GRASP = 4,
|
||||
eGRASP_SOFT_BODY = 8,
|
||||
eSOFTBODY_MULTIBODY_COUPLING = 16,
|
||||
eGRASP_DEFORMABLE_CLOTH = 32,
|
||||
};
|
||||
|
||||
class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //GRIPPER_GRASP_EXAMPLE_H
|
||||
287
Engine/lib/bullet/examples/RoboticsLearning/KukaGraspExample.cpp
Normal file
287
Engine/lib/bullet/examples/RoboticsLearning/KukaGraspExample.cpp
Normal file
|
|
@ -0,0 +1,287 @@
|
|||
|
||||
#include "KukaGraspExample.h"
|
||||
#include "../SharedMemory/IKTrajectoryHelper.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
|
||||
#include "Bullet3Common/b3Quaternion.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
#include "../CommonInterfaces/CommonRenderInterface.h"
|
||||
#include "../CommonInterfaces/CommonExampleInterface.h"
|
||||
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
|
||||
#include "../SharedMemory/PhysicsServerSharedMemory.h"
|
||||
#include "../SharedMemory/PhysicsClientC_API.h"
|
||||
#include <string>
|
||||
#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
|
||||
|
||||
#include "../Utils/b3Clock.h"
|
||||
|
||||
///quick demo showing the right-handed coordinate system and positive rotations around each axis
|
||||
class KukaGraspExample : public CommonExampleInterface
|
||||
{
|
||||
CommonGraphicsApp* m_app;
|
||||
GUIHelperInterface* m_guiHelper;
|
||||
b3RobotSimulatorClientAPI m_robotSim;
|
||||
|
||||
int m_kukaIndex;
|
||||
|
||||
IKTrajectoryHelper m_ikHelper;
|
||||
int m_targetSphereInstance;
|
||||
b3Vector3 m_targetPos;
|
||||
b3Vector3 m_worldPos;
|
||||
b3Vector4 m_targetOri;
|
||||
b3Vector4 m_worldOri;
|
||||
double m_time;
|
||||
// int m_options;
|
||||
|
||||
b3AlignedObjectArray<int> m_movingInstances;
|
||||
enum
|
||||
{
|
||||
numCubesX = 20,
|
||||
numCubesY = 20
|
||||
};
|
||||
|
||||
public:
|
||||
KukaGraspExample(GUIHelperInterface* helper, int /* options */)
|
||||
: m_app(helper->getAppInterface()),
|
||||
m_guiHelper(helper),
|
||||
// m_options(options),
|
||||
m_kukaIndex(-1),
|
||||
m_time(0)
|
||||
{
|
||||
m_targetPos.setValue(0.5, 0, 1);
|
||||
m_worldPos.setValue(0, 0, 0);
|
||||
m_app->setUpAxis(2);
|
||||
}
|
||||
virtual ~KukaGraspExample()
|
||||
{
|
||||
}
|
||||
|
||||
virtual void initPhysics()
|
||||
{
|
||||
///create some graphics proxy for the tracking target
|
||||
///the endeffector tries to track it using Inverse Kinematics
|
||||
{
|
||||
int sphereId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_MEDIUM);
|
||||
b3Quaternion orn(0, 0, 0, 1);
|
||||
b3Vector4 color = b3MakeVector4(1., 0.3, 0.3, 1);
|
||||
b3Vector3 scaling = b3MakeVector3(.02, .02, .02);
|
||||
m_targetSphereInstance = m_app->m_renderer->registerGraphicsInstance(sphereId, m_targetPos, orn, color, scaling);
|
||||
}
|
||||
m_app->m_renderer->writeTransforms();
|
||||
|
||||
int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
|
||||
m_robotSim.setGuiHelper(m_guiHelper);
|
||||
bool connected = m_robotSim.connect(mode);
|
||||
m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
|
||||
m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
|
||||
m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
|
||||
|
||||
// 0;//m_robotSim.connect(m_guiHelper);
|
||||
b3Printf("robotSim connected = %d", connected);
|
||||
|
||||
{
|
||||
m_kukaIndex = m_robotSim.loadURDF("kuka_iiwa/model.urdf");
|
||||
if (m_kukaIndex >= 0)
|
||||
{
|
||||
int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
|
||||
b3Printf("numJoints = %d", numJoints);
|
||||
|
||||
for (int i = 0; i < numJoints; i++)
|
||||
{
|
||||
b3JointInfo jointInfo;
|
||||
m_robotSim.getJointInfo(m_kukaIndex, i, &jointInfo);
|
||||
b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
|
||||
}
|
||||
/*
|
||||
int wheelJointIndices[4]={2,3,6,7};
|
||||
int wheelTargetVelocities[4]={-10,-10,-10,-10};
|
||||
for (int i=0;i<4;i++)
|
||||
{
|
||||
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
||||
controlArgs.m_targetVelocity = wheelTargetVelocities[i];
|
||||
controlArgs.m_maxTorqueValue = 1e30;
|
||||
m_robotSim.setJointMotorControl(m_kukaIndex,wheelJointIndices[i],controlArgs);
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
{
|
||||
m_robotSim.loadURDF("plane.urdf");
|
||||
m_robotSim.setGravity(btVector3(0, 0, 0));
|
||||
}
|
||||
}
|
||||
}
|
||||
virtual void exitPhysics()
|
||||
{
|
||||
m_robotSim.disconnect();
|
||||
}
|
||||
virtual void stepSimulation(float deltaTime)
|
||||
{
|
||||
float dt = deltaTime;
|
||||
btClamp(dt, 0.0001f, 0.01f);
|
||||
|
||||
m_time += dt;
|
||||
m_targetPos.setValue(0.4 - 0.4 * b3Cos(m_time), 0, 0.8 + 0.4 * b3Cos(m_time));
|
||||
m_targetOri.setValue(0, 1.0, 0, 0);
|
||||
m_targetPos.setValue(0.2 * b3Cos(m_time), 0.2 * b3Sin(m_time), 1.1);
|
||||
|
||||
int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
|
||||
|
||||
if (numJoints == 7)
|
||||
{
|
||||
double q_current[7] = {0, 0, 0, 0, 0, 0, 0};
|
||||
|
||||
b3JointStates2 jointStates;
|
||||
|
||||
if (m_robotSim.getJointStates(m_kukaIndex, jointStates))
|
||||
{
|
||||
//skip the base positions (7 values)
|
||||
b3Assert(7 + numJoints == jointStates.m_numDegreeOfFreedomQ);
|
||||
for (int i = 0; i < numJoints; i++)
|
||||
{
|
||||
q_current[i] = jointStates.m_actualStateQ[i + 7];
|
||||
}
|
||||
}
|
||||
// compute body position and orientation
|
||||
b3LinkState linkState;
|
||||
bool computeVelocity = true;
|
||||
bool computeForwardKinematics = true;
|
||||
m_robotSim.getLinkState(0, 6, computeVelocity, computeForwardKinematics, &linkState);
|
||||
|
||||
m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
|
||||
m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);
|
||||
|
||||
b3Vector3DoubleData targetPosDataOut;
|
||||
m_targetPos.serializeDouble(targetPosDataOut);
|
||||
b3Vector3DoubleData worldPosDataOut;
|
||||
m_worldPos.serializeDouble(worldPosDataOut);
|
||||
b3Vector3DoubleData targetOriDataOut;
|
||||
m_targetOri.serializeDouble(targetOriDataOut);
|
||||
b3Vector3DoubleData worldOriDataOut;
|
||||
m_worldOri.serializeDouble(worldOriDataOut);
|
||||
|
||||
b3RobotSimulatorInverseKinematicArgs ikargs;
|
||||
b3RobotSimulatorInverseKinematicsResults ikresults;
|
||||
|
||||
ikargs.m_bodyUniqueId = m_kukaIndex;
|
||||
// ikargs.m_currentJointPositions = q_current;
|
||||
// ikargs.m_numPositions = 7;
|
||||
ikargs.m_endEffectorTargetPosition[0] = targetPosDataOut.m_floats[0];
|
||||
ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
|
||||
ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
|
||||
|
||||
//ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION;
|
||||
ikargs.m_flags |= B3_HAS_JOINT_DAMPING;
|
||||
|
||||
ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
|
||||
ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
|
||||
ikargs.m_endEffectorTargetOrientation[2] = targetOriDataOut.m_floats[2];
|
||||
ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
|
||||
ikargs.m_endEffectorLinkIndex = 6;
|
||||
|
||||
// Settings based on default KUKA arm setting
|
||||
ikargs.m_lowerLimits.resize(numJoints);
|
||||
ikargs.m_upperLimits.resize(numJoints);
|
||||
ikargs.m_jointRanges.resize(numJoints);
|
||||
ikargs.m_restPoses.resize(numJoints);
|
||||
ikargs.m_jointDamping.resize(numJoints, 0.5);
|
||||
ikargs.m_lowerLimits[0] = -2.32;
|
||||
ikargs.m_lowerLimits[1] = -1.6;
|
||||
ikargs.m_lowerLimits[2] = -2.32;
|
||||
ikargs.m_lowerLimits[3] = -1.6;
|
||||
ikargs.m_lowerLimits[4] = -2.32;
|
||||
ikargs.m_lowerLimits[5] = -1.6;
|
||||
ikargs.m_lowerLimits[6] = -2.4;
|
||||
ikargs.m_upperLimits[0] = 2.32;
|
||||
ikargs.m_upperLimits[1] = 1.6;
|
||||
ikargs.m_upperLimits[2] = 2.32;
|
||||
ikargs.m_upperLimits[3] = 1.6;
|
||||
ikargs.m_upperLimits[4] = 2.32;
|
||||
ikargs.m_upperLimits[5] = 1.6;
|
||||
ikargs.m_upperLimits[6] = 2.4;
|
||||
ikargs.m_jointRanges[0] = 5.8;
|
||||
ikargs.m_jointRanges[1] = 4;
|
||||
ikargs.m_jointRanges[2] = 5.8;
|
||||
ikargs.m_jointRanges[3] = 4;
|
||||
ikargs.m_jointRanges[4] = 5.8;
|
||||
ikargs.m_jointRanges[5] = 4;
|
||||
ikargs.m_jointRanges[6] = 6;
|
||||
ikargs.m_restPoses[0] = 0;
|
||||
ikargs.m_restPoses[1] = 0;
|
||||
ikargs.m_restPoses[2] = 0;
|
||||
ikargs.m_restPoses[3] = SIMD_HALF_PI;
|
||||
ikargs.m_restPoses[4] = 0;
|
||||
ikargs.m_restPoses[5] = -SIMD_HALF_PI * 0.66;
|
||||
ikargs.m_restPoses[6] = 0;
|
||||
ikargs.m_jointDamping[0] = 10.0;
|
||||
ikargs.m_numDegreeOfFreedom = numJoints;
|
||||
|
||||
if (m_robotSim.calculateInverseKinematics(ikargs, ikresults))
|
||||
{
|
||||
//copy the IK result to the desired state of the motor/actuator
|
||||
for (int i = 0; i < numJoints; i++)
|
||||
{
|
||||
b3RobotSimulatorJointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
|
||||
t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
|
||||
t.m_maxTorqueValue = 100.0;
|
||||
t.m_kp = 1.0;
|
||||
t.m_targetVelocity = 0;
|
||||
t.m_kd = 1.0;
|
||||
m_robotSim.setJointMotorControl(m_kukaIndex, i, t);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
m_robotSim.stepSimulation();
|
||||
}
|
||||
virtual void renderScene()
|
||||
{
|
||||
m_robotSim.renderScene();
|
||||
|
||||
b3Quaternion orn(0, 0, 0, 1);
|
||||
|
||||
m_app->m_renderer->writeSingleInstanceTransformToCPU(m_targetPos, orn, m_targetSphereInstance);
|
||||
m_app->m_renderer->writeTransforms();
|
||||
|
||||
//draw the end-effector target sphere
|
||||
|
||||
//m_app->m_renderer->renderScene();
|
||||
}
|
||||
|
||||
virtual void physicsDebugDraw(int debugDrawMode)
|
||||
{
|
||||
m_robotSim.debugDraw(debugDrawMode);
|
||||
}
|
||||
virtual bool mouseMoveCallback(float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 3;
|
||||
float pitch = -30;
|
||||
float yaw = 0;
|
||||
float targetPos[3] = {-0.2, 0.8, 0.3};
|
||||
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
|
||||
{
|
||||
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
class CommonExampleInterface* KukaGraspExampleCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new KukaGraspExample(options.m_guiHelper, options.m_option);
|
||||
}
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 Google Inc. http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef KUKA_GRASP_EXAMPLE_H
|
||||
#define KUKA_GRASP_EXAMPLE_H
|
||||
|
||||
enum KukaGraspExampleOptions
|
||||
{
|
||||
eKUKA_GRASP_DLS_IK = 1,
|
||||
};
|
||||
|
||||
class CommonExampleInterface* KukaGraspExampleCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //KUKA_GRASP_EXAMPLE_H
|
||||
201
Engine/lib/bullet/examples/RoboticsLearning/R2D2GraspExample.cpp
Normal file
201
Engine/lib/bullet/examples/RoboticsLearning/R2D2GraspExample.cpp
Normal file
|
|
@ -0,0 +1,201 @@
|
|||
|
||||
#include "R2D2GraspExample.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
|
||||
#include "Bullet3Common/b3Quaternion.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
#include "../CommonInterfaces/CommonRenderInterface.h"
|
||||
#include "../CommonInterfaces/CommonExampleInterface.h"
|
||||
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
|
||||
#include "../SharedMemory/PhysicsServerSharedMemory.h"
|
||||
#include "../SharedMemory/PhysicsClientC_API.h"
|
||||
#include <string>
|
||||
|
||||
#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
|
||||
#include "../Utils/b3Clock.h"
|
||||
|
||||
///quick demo showing the right-handed coordinate system and positive rotations around each axis
|
||||
class R2D2GraspExample : public CommonExampleInterface
|
||||
{
|
||||
CommonGraphicsApp* m_app;
|
||||
GUIHelperInterface* m_guiHelper;
|
||||
b3RobotSimulatorClientAPI m_robotSim;
|
||||
int m_options;
|
||||
int m_r2d2Index;
|
||||
|
||||
b3AlignedObjectArray<int> m_movingInstances;
|
||||
enum
|
||||
{
|
||||
numCubesX = 20,
|
||||
numCubesY = 20
|
||||
};
|
||||
|
||||
public:
|
||||
R2D2GraspExample(GUIHelperInterface* helper, int options)
|
||||
: m_app(helper->getAppInterface()),
|
||||
m_guiHelper(helper),
|
||||
m_options(options),
|
||||
m_r2d2Index(-1)
|
||||
{
|
||||
m_app->setUpAxis(2);
|
||||
}
|
||||
virtual ~R2D2GraspExample()
|
||||
{
|
||||
}
|
||||
|
||||
virtual void physicsDebugDraw(int debugDrawMode)
|
||||
{
|
||||
}
|
||||
virtual void initPhysics()
|
||||
{
|
||||
int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
|
||||
m_robotSim.setGuiHelper(m_guiHelper);
|
||||
bool connected = m_robotSim.connect(mode);
|
||||
m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
|
||||
m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
|
||||
m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
|
||||
|
||||
b3Printf("robotSim connected = %d", connected);
|
||||
|
||||
if ((m_options & eROBOTIC_LEARN_GRASP) != 0)
|
||||
{
|
||||
{
|
||||
b3RobotSimulatorLoadUrdfFileArgs args;
|
||||
args.m_startPosition.setValue(0, 0, .5);
|
||||
m_r2d2Index = m_robotSim.loadURDF("r2d2.urdf", args);
|
||||
|
||||
if (m_r2d2Index >= 0)
|
||||
{
|
||||
int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
|
||||
b3Printf("numJoints = %d", numJoints);
|
||||
|
||||
for (int i = 0; i < numJoints; i++)
|
||||
{
|
||||
b3JointInfo jointInfo;
|
||||
m_robotSim.getJointInfo(m_r2d2Index, i, &jointInfo);
|
||||
b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
|
||||
}
|
||||
int wheelJointIndices[4] = {2, 3, 6, 7};
|
||||
int wheelTargetVelocities[4] = {-10, -10, -10, -10};
|
||||
for (int i = 0; i < 4; i++)
|
||||
{
|
||||
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
||||
controlArgs.m_targetVelocity = wheelTargetVelocities[i];
|
||||
controlArgs.m_maxTorqueValue = 1e30;
|
||||
m_robotSim.setJointMotorControl(m_r2d2Index, wheelJointIndices[i], controlArgs);
|
||||
}
|
||||
}
|
||||
}
|
||||
{
|
||||
b3RobotSimulatorLoadFileResults results;
|
||||
m_robotSim.loadSDF("kiva_shelf/model.sdf", results);
|
||||
}
|
||||
{
|
||||
m_robotSim.loadURDF("plane.urdf");
|
||||
}
|
||||
|
||||
m_robotSim.setGravity(btVector3(0, 0, -10));
|
||||
}
|
||||
|
||||
if ((m_options & eROBOTIC_LEARN_COMPLIANT_CONTACT) != 0)
|
||||
{
|
||||
b3RobotSimulatorLoadUrdfFileArgs args;
|
||||
b3RobotSimulatorLoadFileResults results;
|
||||
{
|
||||
args.m_startPosition.setValue(0, 0, 2.5);
|
||||
args.m_startOrientation.setEulerZYX(0, 0.2, 0);
|
||||
m_r2d2Index = m_robotSim.loadURDF("cube_soft.urdf", args);
|
||||
}
|
||||
{
|
||||
args.m_startPosition.setValue(0, 2, 2.5);
|
||||
args.m_startOrientation.setEulerZYX(0, 0.2, 0);
|
||||
m_robotSim.loadURDF("cube_no_friction.urdf", args);
|
||||
}
|
||||
{
|
||||
args.m_startPosition.setValue(0, 0, 0);
|
||||
args.m_startOrientation.setEulerZYX(0, 0.2, 0);
|
||||
args.m_forceOverrideFixedBase = true;
|
||||
m_robotSim.loadURDF("plane.urdf", args);
|
||||
}
|
||||
|
||||
m_robotSim.setGravity(btVector3(0, 0, -10));
|
||||
}
|
||||
|
||||
if ((m_options & eROBOTIC_LEARN_ROLLING_FRICTION) != 0)
|
||||
{
|
||||
b3RobotSimulatorLoadUrdfFileArgs args;
|
||||
b3RobotSimulatorLoadFileResults results;
|
||||
{
|
||||
args.m_startPosition.setValue(0, 0, 2.5);
|
||||
args.m_startOrientation.setEulerZYX(0, 0, 0);
|
||||
args.m_useMultiBody = true;
|
||||
m_robotSim.loadURDF("sphere2_rolling_friction.urdf", args);
|
||||
}
|
||||
{
|
||||
args.m_startPosition.setValue(0, 2, 2.5);
|
||||
args.m_startOrientation.setEulerZYX(0, 0, 0);
|
||||
args.m_useMultiBody = true;
|
||||
m_robotSim.loadURDF("sphere2.urdf", args);
|
||||
}
|
||||
{
|
||||
args.m_startPosition.setValue(0, 0, 0);
|
||||
args.m_startOrientation.setEulerZYX(0, 0.2, 0);
|
||||
args.m_useMultiBody = true;
|
||||
args.m_forceOverrideFixedBase = true;
|
||||
m_robotSim.loadURDF("plane.urdf", args);
|
||||
}
|
||||
|
||||
m_robotSim.setGravity(btVector3(0, 0, -10));
|
||||
}
|
||||
}
|
||||
virtual void exitPhysics()
|
||||
{
|
||||
m_robotSim.disconnect();
|
||||
}
|
||||
virtual void stepSimulation(float deltaTime)
|
||||
{
|
||||
m_robotSim.stepSimulation();
|
||||
}
|
||||
virtual void renderScene()
|
||||
{
|
||||
m_robotSim.renderScene();
|
||||
|
||||
//m_app->m_renderer->renderScene();
|
||||
}
|
||||
|
||||
virtual void physicsDebugDraw()
|
||||
{
|
||||
}
|
||||
virtual bool mouseMoveCallback(float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 3;
|
||||
float pitch = -30;
|
||||
float yaw = -75;
|
||||
float targetPos[3] = {-0.2, 0.8, 0.3};
|
||||
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
|
||||
{
|
||||
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new R2D2GraspExample(options.m_guiHelper, options.m_option);
|
||||
}
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 Google Inc. http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef R2D2_GRASP_EXAMPLE_H
|
||||
#define R2D2_GRASP_EXAMPLE_H
|
||||
|
||||
enum RobotLearningExampleOptions
|
||||
{
|
||||
eROBOTIC_LEARN_GRASP = 1,
|
||||
eROBOTIC_LEARN_COMPLIANT_CONTACT = 2,
|
||||
eROBOTIC_LEARN_ROLLING_FRICTION = 4,
|
||||
};
|
||||
|
||||
class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //R2D2_GRASP_EXAMPLE_H
|
||||
Loading…
Add table
Add a link
Reference in a new issue