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-rw-r--r--examples/ExampleBrowser/ExampleEntries.cpp2
-rw-r--r--examples/RoboticsLearning/GripperGraspExample.cpp131
-rw-r--r--examples/RoboticsLearning/GripperGraspExample.h1
-rw-r--r--examples/SharedMemory/PhysicsServerCommandProcessor.cpp12
-rw-r--r--examples/SharedMemory/SharedMemoryPublic.h1
5 files changed, 140 insertions, 7 deletions
diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index aa7217502..0608f0bd1 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -266,7 +266,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Rolling friction","Experiment on multibody rolling friction", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_ROLLING_FRICTION),
ExampleEntry(1,"Gripper Grasp","Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc,eGRIPPER_GRASP),
ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP),
-
+ ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP),
#ifdef ENABLE_LUA
diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp
index 9a7ab8e7b..7aa2f2571 100644
--- a/examples/RoboticsLearning/GripperGraspExample.cpp
+++ b/examples/RoboticsLearning/GripperGraspExample.cpp
@@ -10,6 +10,7 @@
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
+#include "../SharedMemory/SharedMemoryPublic.h"
#include <string>
#include "b3RobotSimAPI.h"
@@ -213,6 +214,120 @@ public:
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.setNumSimulationSubSteps(4);
}
+
+ if ((m_options & eONE_MOTOR_GRASP)!=0)
+ {
+
+ {
+ SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
+ slider.m_minVal=-2;
+ slider.m_maxVal=2;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+ }
+
+ {
+ SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
+ );
+ slider.m_minVal=-1;
+ slider.m_maxVal=1;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+ }
+ {
+ b3RobotSimLoadFileArgs args("");
+ b3RobotSimLoadFileResults results;
+ args.m_fileName = "cube_small.urdf";
+ args.m_startPosition.setValue(0, 0, .107);
+ args.m_startOrientation.setEulerZYX(0, 0, 0);
+ args.m_useMultiBody = true;
+ m_robotSim.loadFile(args, results);
+ }
+
+ {
+ b3RobotSimLoadFileArgs args("");
+ args.m_fileName = "gripper/wsg50_one_motor_gripper.sdf";
+ args.m_fileType = B3_SDF_FILE;
+ args.m_useMultiBody = true;
+ b3RobotSimLoadFileResults results;
+
+ if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
+ {
+
+ m_gripperIndex = results.m_uniqueObjectIds[0];
+ 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++)
+ {
+ b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+ controlArgs.m_maxTorqueValue = 0.0;
+ m_robotSim.setJointMotorControl(m_gripperIndex,i,controlArgs);
+ }
+
+ }
+ }
+
+ if (1)
+ {
+ 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 = true;
+ b3RobotSimLoadFileResults results;
+ m_robotSim.loadFile(args,results);
+
+ }
+ m_robotSim.setGravity(b3MakeVector3(0,0,-10));
+
+ b3JointInfo sliderJoint1;
+ sliderJoint1.m_parentFrame[0] = 0;
+ sliderJoint1.m_parentFrame[1] = 0;
+ sliderJoint1.m_parentFrame[2] = 0.06;
+ sliderJoint1.m_parentFrame[3] = 0;
+ sliderJoint1.m_parentFrame[4] = 0;
+ sliderJoint1.m_parentFrame[5] = 0;
+ sliderJoint1.m_parentFrame[6] = 1.0;
+ sliderJoint1.m_childFrame[0] = 0;
+ sliderJoint1.m_childFrame[1] = 0;
+ sliderJoint1.m_childFrame[2] = 0;
+ sliderJoint1.m_childFrame[3] = 0;
+ sliderJoint1.m_childFrame[4] = 0;
+ sliderJoint1.m_childFrame[5] = 0;
+ sliderJoint1.m_childFrame[6] = 1.0;
+ sliderJoint1.m_jointAxis[0] = 1.0;
+ sliderJoint1.m_jointAxis[1] = 0.0;
+ sliderJoint1.m_jointAxis[2] = 0.0;
+ sliderJoint1.m_jointType = ePrismaticType;
+ b3JointInfo sliderJoint2;
+ sliderJoint2.m_parentFrame[0] = 0;
+ sliderJoint2.m_parentFrame[1] = 0;
+ sliderJoint2.m_parentFrame[2] = 0.06;
+ sliderJoint2.m_parentFrame[3] = 0;
+ sliderJoint2.m_parentFrame[4] = 0;
+ sliderJoint2.m_parentFrame[5] = 0;
+ sliderJoint2.m_parentFrame[6] = 1.0;
+ sliderJoint2.m_childFrame[0] = 0;
+ sliderJoint2.m_childFrame[1] = 0;
+ sliderJoint2.m_childFrame[2] = 0;
+ sliderJoint2.m_childFrame[3] = 0;
+ sliderJoint2.m_childFrame[4] = 0;
+ sliderJoint2.m_childFrame[5] = 1.0;
+ sliderJoint2.m_childFrame[6] = 0;
+ sliderJoint2.m_jointAxis[0] = 1.0;
+ sliderJoint2.m_jointAxis[1] = 0.0;
+ sliderJoint2.m_jointAxis[2] = 0.0;
+ sliderJoint2.m_jointType = ePrismaticType;
+ m_robotSim.createJoint(1, 0, 1, 3, &sliderJoint1);
+ m_robotSim.createJoint(1, 0, 1, 6, &sliderJoint2);
+ }
}
virtual void exitPhysics()
@@ -241,6 +356,22 @@ public:
}
}
+ if ((m_options & eONE_MOTOR_GRASP)!=0)
+ {
+ int fingerJointIndices[2]={0,1};
+ double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
+ };
+ double maxTorqueValues[2]={50.0,50.0};
+ for (int i=0;i<2;i++)
+ {
+ b3JointMotorArgs 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);
+ }
+ }
+
m_robotSim.stepSimulation();
}
virtual void renderScene()
diff --git a/examples/RoboticsLearning/GripperGraspExample.h b/examples/RoboticsLearning/GripperGraspExample.h
index 94835878c..37177823f 100644
--- a/examples/RoboticsLearning/GripperGraspExample.h
+++ b/examples/RoboticsLearning/GripperGraspExample.h
@@ -20,6 +20,7 @@ enum GripperGraspExampleOptions
{
eGRIPPER_GRASP=1,
eTWO_POINT_GRASP=2,
+ eONE_MOTOR_GRASP=4,
};
class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 85839e322..9217ac88c 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -2502,34 +2502,34 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btMatrix3x3 frameInParent(btQuaternion(clientCmd.m_createJointArguments.m_parentFrame[3], clientCmd.m_createJointArguments.m_parentFrame[4], clientCmd.m_createJointArguments.m_parentFrame[5], clientCmd.m_createJointArguments.m_parentFrame[6]));
btMatrix3x3 frameInChild(btQuaternion(clientCmd.m_createJointArguments.m_childFrame[3], clientCmd.m_createJointArguments.m_childFrame[4], clientCmd.m_createJointArguments.m_childFrame[5], clientCmd.m_createJointArguments.m_childFrame[6]));
btVector3 jointAxis(clientCmd.m_createJointArguments.m_jointAxis[0], clientCmd.m_createJointArguments.m_jointAxis[1], clientCmd.m_createJointArguments.m_jointAxis[2]);
- if (clientCmd.m_createJointArguments.m_jointType == btMultibodyLink::eFixed)
+ if (clientCmd.m_createJointArguments.m_jointType == eFixedType)
{
if (childBody->m_multiBody)
{
btMultiBodyFixedConstraint* multibodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild);
- multibodyFixed->setMaxAppliedImpulse(2.0);
+ multibodyFixed->setMaxAppliedImpulse(500.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyFixed);
}
else
{
btMultiBodyFixedConstraint* rigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild);
- rigidbodyFixed->setMaxAppliedImpulse(2.0);
+ rigidbodyFixed->setMaxAppliedImpulse(500.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodyFixed);
}
}
- else if (clientCmd.m_createJointArguments.m_jointType == btMultibodyLink::ePrismatic)
+ else if (clientCmd.m_createJointArguments.m_jointType == ePrismaticType)
{
if (childBody->m_multiBody)
{
btMultiBodySliderConstraint* multibodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
- multibodySlider->setMaxAppliedImpulse(2.0);
+ multibodySlider->setMaxAppliedImpulse(500.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodySlider);
}
else
{
btMultiBodySliderConstraint* rigidbodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
- rigidbodySlider->setMaxAppliedImpulse(2.0);
+ rigidbodySlider->setMaxAppliedImpulse(500.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodySlider);
}
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index b9a5c9eb5..dbb4dcd19 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -98,6 +98,7 @@ enum
enum JointType {
eRevoluteType = 0,
ePrismaticType = 1,
+ eFixedType = 2,
};
struct b3JointInfo
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