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bullet3/examples/SharedMemory/RobotControlExample.cpp

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mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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#include "RobotControlExample.h"
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
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#if 0
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#include "../CommonInterfaces/CommonParameterInterface.h"
#include "PhysicsServer.h"
#include "PhysicsClient.h"
#include "SharedMemoryCommon.h"
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#include "../Utils/b3Clock.h"
minor refactoring
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#include "PhysicsClientC_API.h"
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#include "../Utils/b3ResourcePath.h"
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#include <string>
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mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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//const char* blaatnaam = "basename";
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struct MyMotorInfo
{
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std::string m_jointName;
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btScalar m_velTarget;
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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btScalar m_posTarget;
position/velocity control through constraint for shared memory server
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btScalar m_kp;
btScalar m_kd;
allow to control of powered joints after loading a URDF file, through shared memory more refactor of shared memory joint control API
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btScalar m_maxForce;
int m_uIndex;
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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int m_posIndex;
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int m_jointIndex;
btScalar m_measuredJointPosition;
btScalar m_measuredJointVelocity;
btVector3 m_measuredJointForce;
btVector3 m_measuredJointTorque;
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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allow to control of powered joints after loading a URDF file, through shared memory more refactor of shared memory joint control API
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};
#define MAX_NUM_MOTORS 128
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class RobotControlExample : public SharedMemoryCommon
{
PhysicsServerSharedMemory m_physicsServer;
PhysicsClientSharedMemory m_physicsClient;
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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b3Clock m_realtimeClock;
int m_sequenceNumberGenerator;
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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bool m_wantsShutdown;
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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btAlignedObjectArray<SharedMemoryCommand> m_userCommandRequests;
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mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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void createButton(const char* name, int id, bool isTrigger );
public:
allow to control of powered joints after loading a URDF file, through shared memory more refactor of shared memory joint control API
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//@todo, add accessor methods
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MyMotorInfo m_motorTargetState[MAX_NUM_MOTORS];
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int m_numMotors;
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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int m_option;
bool m_verboseOutput;
allow to control of powered joints after loading a URDF file, through shared memory more refactor of shared memory joint control API
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initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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RobotControlExample(GUIHelperInterface* helper, int option);
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virtual ~RobotControlExample();
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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void prepareControlCommand(SharedMemoryCommand& cmd);
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void enqueueCommand(const SharedMemoryCommand& orgCommand)
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{
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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m_userCommandRequests.push_back(orgCommand);
SharedMemoryCommand& cmd = m_userCommandRequests[m_userCommandRequests.size()-1];
cmd.m_sequenceNumber = m_sequenceNumberGenerator++;
cmd.m_timeStamp = m_realtimeClock.getTimeMicroseconds();
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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if (m_verboseOutput)
{
b3Printf("User put command request %d on queue (queue length = %d)\n",cmd.m_type, m_userCommandRequests.size());
}
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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}
virtual void resetCamera()
{
float dist = 5;
float pitch = 50;
float yaw = 35;
float targetPos[3]={0,0,0};//-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
virtual bool wantsTermination();
fixes in shared memory: only allow server to create and initialize shared memory, client will report failure intercept signals to cleanup shared memory in standalone app, thanks to Roland Philippsen.
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virtual bool isConnected();
Improved simple TimeSeriesCanvas Fixes in RobotControlExample Disable gravity by default in PhysicsServer
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virtual void renderScene()
{
m_physicsServer.renderScene();
}
add command-line argument for example browser and shared memory app, --shared_memory_key=<int> fix some shared memory issues, client uses attach/detach, server uses create/remove shared memory implement CMD_RESET_SIMULATION
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virtual void exitPhysics(){}
Improved simple TimeSeriesCanvas Fixes in RobotControlExample Disable gravity by default in PhysicsServer
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virtual void physicsDebugDraw(int debugFlags)
{
m_physicsServer.physicsDebugDraw(debugFlags);
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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Improved simple TimeSeriesCanvas Fixes in RobotControlExample Disable gravity by default in PhysicsServer
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}
add command-line argument for example browser and shared memory app, --shared_memory_key=<int> fix some shared memory issues, client uses attach/detach, server uses create/remove shared memory implement CMD_RESET_SIMULATION
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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 setSharedMemoryKey(int key)
{
m_physicsServer.setSharedMemoryKey(key);
m_physicsClient.setSharedMemoryKey(key);
}
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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};
fixes in shared memory: only allow server to create and initialize shared memory, client will report failure intercept signals to cleanup shared memory in standalone app, thanks to Roland Philippsen.
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bool RobotControlExample::isConnected()
{
return m_physicsClient.isConnected();
}
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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void MyCallback2(int buttonId, bool buttonState, void* userPtr)
{
RobotControlExample* cl = (RobotControlExample*) userPtr;
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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SharedMemoryCommand command;
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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switch (buttonId)
{
case CMD_LOAD_URDF:
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{
command.m_type =CMD_LOAD_URDF;
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command.m_updateFlags = URDF_ARGS_FILE_NAME|URDF_ARGS_INITIAL_POSITION|URDF_ARGS_INITIAL_ORIENTATION;
Allow batches of debug lines. The PhysicsClientExample rendering is still slow (one line at a time, instead of batches) Prepare for IMU sensor in Shared Memory Server
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sprintf(command.m_urdfArguments.m_urdfFileName,"r2d2.urdf");//kuka_lwr/kuka.urdf");//r2d2.urdf");
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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command.m_urdfArguments.m_initialPosition[0] = 0.0;
command.m_urdfArguments.m_initialPosition[1] = 0.0;
command.m_urdfArguments.m_initialPosition[2] = 0.0;
command.m_urdfArguments.m_initialOrientation[0] = 0.0;
command.m_urdfArguments.m_initialOrientation[1] = 0.0;
command.m_urdfArguments.m_initialOrientation[2] = 0.0;
command.m_urdfArguments.m_initialOrientation[3] = 1.0;
command.m_urdfArguments.m_useFixedBase = false;
command.m_urdfArguments.m_useMultiBody = true;
cl->enqueueCommand(command);
break;
}
Separate SharedMemoryStatus from SharedMemoryCommand Added CMD_CMD_SEND_PHYSICS_SIMULATION_PARAMETERS (set gravity as example) and CMD_INIT_POSE, not fully implemented yet.
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case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
minor refactoring
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//#ifdef USE_C_API
b3InitPhysicsParamCommand(&command);
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b3PhysicsParamSetGravity(&command, 1,1,-10);
minor refactoring
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// #else
//
// command.m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
// command.m_physSimParamArgs.m_gravityAcceleration[0] = 0;
// command.m_physSimParamArgs.m_gravityAcceleration[1] = 0;
// command.m_physSimParamArgs.m_gravityAcceleration[2] = -10;
// command.m_physSimParamArgs.m_updateFlags = SIM_PARAM_UPDATE_GRAVITY;
// #endif // USE_C_API
Separate SharedMemoryStatus from SharedMemoryCommand Added CMD_CMD_SEND_PHYSICS_SIMULATION_PARAMETERS (set gravity as example) and CMD_INIT_POSE, not fully implemented yet.
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cl->enqueueCommand(command);
break;
};
case CMD_INIT_POSE:
{
///@todo: implement this
command.m_type = CMD_INIT_POSE;
cl->enqueueCommand(command);
break;
}
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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case CMD_CREATE_BOX_COLLISION_SHAPE:
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{
command.m_type =CMD_CREATE_BOX_COLLISION_SHAPE;
fixes in shared memory: only allow server to create and initialize shared memory, client will report failure intercept signals to cleanup shared memory in standalone app, thanks to Roland Philippsen.
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command.m_updateFlags = BOX_SHAPE_HAS_INITIAL_POSITION;
command.m_createBoxShapeArguments.m_initialPosition[0] = 0;
command.m_createBoxShapeArguments.m_initialPosition[1] = 0;
command.m_createBoxShapeArguments.m_initialPosition[2] = -3;
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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cl->enqueueCommand(command);
break;
}
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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case CMD_REQUEST_ACTUAL_STATE:
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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{
command.m_type =CMD_REQUEST_ACTUAL_STATE;
cl->enqueueCommand(command);
break;
};
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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case CMD_STEP_FORWARD_SIMULATION:
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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{
command.m_type =CMD_STEP_FORWARD_SIMULATION;
cl->enqueueCommand(command);
break;
}
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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case CMD_SEND_DESIRED_STATE:
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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{
allow to control of powered joints after loading a URDF file, through shared memory more refactor of shared memory joint control API
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initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
command.m_type =CMD_SEND_DESIRED_STATE;
cl->prepareControlCommand(command);
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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cl->enqueueCommand(command);
break;
}
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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case CMD_SEND_BULLET_DATA_STREAM:
{
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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command.m_type = buttonId;
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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sprintf(command.m_dataStreamArguments.m_bulletFileName,"slope.bullet");
command.m_dataStreamArguments.m_streamChunkLength = 0;
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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cl->enqueueCommand(command);
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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break;
}
default:
{
b3Error("Unknown buttonId");
btAssert(0);
}
};
}
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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void RobotControlExample::prepareControlCommand(SharedMemoryCommand& command)
{
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[i] = 0;
command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 0;
}
switch (m_option)
{
case ROBOT_VELOCITY_CONTROL:
{
command.m_sendDesiredStateCommandArgument.m_controlMode = CONTROL_MODE_VELOCITY;
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[i] = 0;
command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 1000;
}
for (int i=0;i<m_numMotors;i++)
{
btScalar targetVel = m_motorTargetState[i].m_velTarget;
int uIndex = m_motorTargetState[i].m_uIndex;
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[uIndex] = targetVel;
}
break;
}
case ROBOT_PD_CONTROL:
{
command.m_sendDesiredStateCommandArgument.m_controlMode = CONTROL_MODE_POSITION_VELOCITY_PD;
for (int i=0;i<m_numMotors;i++)
{
int uIndex = m_motorTargetState[i].m_uIndex;
position/velocity control through constraint for shared memory server
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command.m_sendDesiredStateCommandArgument.m_Kp[uIndex] = m_motorTargetState[i].m_kp;
command.m_sendDesiredStateCommandArgument.m_Kd[uIndex] = m_motorTargetState[i].m_kd;
command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[uIndex] = 10000;//max force
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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btScalar targetVel = m_motorTargetState[i].m_velTarget;
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[uIndex] = targetVel;
int posIndex = m_motorTargetState[i].m_posIndex;
btScalar targetPos = m_motorTargetState[i].m_posTarget;
command.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex] = targetPos;
}
break;
}
add a robot joint sensor example, reading joint reaction forces/torques using the shared memory API
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case ROBOT_PING_PONG_JOINT_FEEDBACK:
{
command.m_sendDesiredStateCommandArgument.m_controlMode = CONTROL_MODE_VELOCITY;
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[i] = 0;
command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 1000;
}
for (int i=0;i<m_numMotors;i++)
{
btScalar targetVel = m_motorTargetState[i].m_velTarget;
int uIndex = m_motorTargetState[i].m_uIndex;
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[uIndex] = m_motorTargetState[i].m_velTarget;
}
break;
}
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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default:
{
b3Warning("Unknown control mode in RobotControlExample::prepareControlCommand");
}
};
}
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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void RobotControlExample::createButton(const char* name, int buttonId, bool isTrigger )
{
ButtonParams button(name,buttonId, isTrigger);
button.m_callback = MyCallback2;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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RobotControlExample::RobotControlExample(GUIHelperInterface* helper, int option)
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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:SharedMemoryCommon(helper),
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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m_wantsShutdown(false),
allow to control of powered joints after loading a URDF file, through shared memory more refactor of shared memory joint control API
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m_sequenceNumberGenerator(0),
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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m_numMotors(0),
m_option(option),
m_verboseOutput(false)
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{
bool useServer = true;
}
RobotControlExample::~RobotControlExample()
{
bool deInitializeSharedMemory = true;
fixes in shared memory: only allow server to create and initialize shared memory, client will report failure intercept signals to cleanup shared memory in standalone app, thanks to Roland Philippsen.
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m_physicsClient.disconnectSharedMemory();
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m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
}
void RobotControlExample::initPhysics()
{
///for this testing we use Z-axis up
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
add command-line argument for example browser and shared memory app, --shared_memory_key=<int> fix some shared memory issues, client uses attach/detach, server uses create/remove shared memory implement CMD_RESET_SIMULATION
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/* createEmptyDynamicsWorld();
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//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
btVector3 grav(0,0,0);
grav[upAxis] = 0;//-9.8;
this->m_dynamicsWorld->setGravity(grav);
add command-line argument for example browser and shared memory app, --shared_memory_key=<int> fix some shared memory issues, client uses attach/detach, server uses create/remove shared memory implement CMD_RESET_SIMULATION
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*/
m_physicsServer.connectSharedMemory( m_guiHelper);
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if (m_guiHelper && m_guiHelper->getParameterInterface())
{
bool isTrigger = false;
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
Separate SharedMemoryStatus from SharedMemoryCommand Added CMD_CMD_SEND_PHYSICS_SIMULATION_PARAMETERS (set gravity as example) and CMD_INIT_POSE, not fully implemented yet.
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createButton("Set Physics Params",CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,isTrigger);
createButton("Init Pose",CMD_INIT_POSE,isTrigger);
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} else
{
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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/*
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m_userCommandRequests.push_back(CMD_LOAD_URDF);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
m_userCommandRequests.push_back(CMD_SEND_DESIRED_STATE);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
//m_userCommandRequests.push_back(CMD_SET_JOINT_FEEDBACK);
m_userCommandRequests.push_back(CMD_CREATE_BOX_COLLISION_SHAPE);
//m_userCommandRequests.push_back(CMD_CREATE_RIGID_BODY);
m_userCommandRequests.push_back(CMD_STEP_FORWARD_SIMULATION);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
m_userCommandRequests.push_back(CMD_SHUTDOWN);
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
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*/
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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}
if (!m_physicsClient.connect())
{
b3Warning("Cannot eonnect to physics client");
}
}
bool RobotControlExample::wantsTermination()
{
return m_wantsShutdown;
}
void RobotControlExample::stepSimulation(float deltaTime)
{
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m_physicsServer.processClientCommands();
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if (m_physicsClient.isConnected())
{
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minor refactoring
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SharedMemoryStatus status;
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bool hasStatus = m_physicsClient.processServerStatus(status);
fix force/torque feedback
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if ((m_option==ROBOT_PING_PONG_JOINT_FEEDBACK) && hasStatus && status.m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
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{
//update sensor feedback: joint force/torque data and measured joint positions
for (int i=0;i<m_numMotors;i++)
{
int jointIndex = m_motorTargetState[i].m_jointIndex;
int positionIndex = m_motorTargetState[i].m_posIndex;
int velocityIndex = m_motorTargetState[i].m_uIndex;
m_motorTargetState[i].m_measuredJointPosition = status.m_sendActualStateArgs.m_actualStateQ[positionIndex];
m_motorTargetState[i].m_measuredJointVelocity = status.m_sendActualStateArgs.m_actualStateQdot[velocityIndex];
m_motorTargetState[i].m_measuredJointForce.setValue(status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex],
status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+1],
status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+2]);
m_motorTargetState[i].m_measuredJointTorque.setValue(status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+3],
status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+4],
status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+5]);
if (m_motorTargetState[i].m_measuredJointPosition>0.1)
{
m_motorTargetState[i].m_velTarget = -1.5;
} else
{
m_motorTargetState[i].m_velTarget = 1.5;
}
b3Printf("Joint Force (Linear) [%s]=(%f,%f,%f)\n",m_motorTargetState[i].m_jointName.c_str(),m_motorTargetState[i].m_measuredJointForce.x(),m_motorTargetState[i].m_measuredJointForce.y(),m_motorTargetState[i].m_measuredJointForce.z());
b3Printf("Joint Torque (Angular) [%s]=(%f,%f,%f)\n",m_motorTargetState[i].m_jointName.c_str(),m_motorTargetState[i].m_measuredJointTorque.x(),m_motorTargetState[i].m_measuredJointTorque.y(),m_motorTargetState[i].m_measuredJointTorque.z());
}
}
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if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
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SharedMemoryCommand sensorCommand;
sensorCommand.m_type = CMD_CREATE_SENSOR;
sensorCommand.m_createSensorArguments.m_numJointSensorChanges = 0;
for (int jointIndex=0;jointIndex<m_physicsClient.getNumJoints();jointIndex++)
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{
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
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b3JointInfo info;
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m_physicsClient.getJointInfo(jointIndex,info);
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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if (m_verboseOutput)
{
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
}
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further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
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if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
{
if (m_numMotors<MAX_NUM_MOTORS)
{
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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switch (m_option)
{
case ROBOT_VELOCITY_CONTROL:
{
char motorName[1024];
sprintf(motorName,"%s q'", info.m_jointName);
MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
add a robot joint sensor example, reading joint reaction forces/torques using the shared memory API
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motorInfo->m_jointName = info.m_jointName;
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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motorInfo->m_velTarget = 0.f;
motorInfo->m_posTarget = 0.f;
position/velocity control through constraint for shared memory server
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initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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motorInfo->m_uIndex = info.m_uIndex;
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
m_numMotors++;
break;
}
case ROBOT_PD_CONTROL:
{
char motorName[1024];
position/velocity control through constraint for shared memory server
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initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
add a robot joint sensor example, reading joint reaction forces/torques using the shared memory API
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motorInfo->m_jointName = info.m_jointName;
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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motorInfo->m_velTarget = 0.f;
motorInfo->m_posTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
motorInfo->m_posIndex = info.m_qIndex;
position/velocity control through constraint for shared memory server
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motorInfo->m_kp = 1;
motorInfo->m_kd = 0;
{
sprintf(motorName,"%s kp", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_kp);
slider.m_minVal=0;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
sprintf(motorName,"%s q", info.m_jointName);
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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SliderParams slider(motorName,&motorInfo->m_posTarget);
slider.m_minVal=-SIMD_PI;
slider.m_maxVal=SIMD_PI;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
position/velocity control through constraint for shared memory server
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}
{
sprintf(motorName,"%s kd", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_kd);
slider.m_minVal=0;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
sprintf(motorName,"%s q'", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-10;
slider.m_maxVal=10;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
m_numMotors++;
break;
}
add a robot joint sensor example, reading joint reaction forces/torques using the shared memory API
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case ROBOT_PING_PONG_JOINT_FEEDBACK:
{
if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
{
if (m_numMotors<MAX_NUM_MOTORS)
{
MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
motorInfo->m_jointName = info.m_jointName;
motorInfo->m_velTarget = 0.f;
motorInfo->m_posTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
motorInfo->m_posIndex = info.m_qIndex;
motorInfo->m_jointIndex = jointIndex;
Allow batches of debug lines. The PhysicsClientExample rendering is still slow (one line at a time, instead of batches) Prepare for IMU sensor in Shared Memory Server
2015-09-03 21:18:22 +00:00
sensorCommand.m_createSensorArguments.m_sensorType[sensorCommand.m_createSensorArguments.m_numJointSensorChanges] = SENSOR_FORCE_TORQUE;
add a robot joint sensor example, reading joint reaction forces/torques using the shared memory API
2015-08-24 22:26:29 +00:00
sensorCommand.m_createSensorArguments.m_jointIndex[sensorCommand.m_createSensorArguments.m_numJointSensorChanges] = jointIndex;
sensorCommand.m_createSensorArguments.m_enableJointForceSensor[sensorCommand.m_createSensorArguments.m_numJointSensorChanges] = true;
sensorCommand.m_createSensorArguments.m_numJointSensorChanges++;
m_numMotors++;
}
}
break;
}
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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default:
{
b3Warning("Unknown control mode in RobotControlExample::stepSimulation");
}
};
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
}
}
allow to control of powered joints after loading a URDF file, through shared memory more refactor of shared memory joint control API
2015-07-21 06:35:29 +00:00
}
add a robot joint sensor example, reading joint reaction forces/torques using the shared memory API
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if (sensorCommand.m_createSensorArguments.m_numJointSensorChanges)
{
enqueueCommand(sensorCommand);
}
allow to control of powered joints after loading a URDF file, through shared memory more refactor of shared memory joint control API
2015-07-21 06:35:29 +00:00
}
add a robot joint sensor example, reading joint reaction forces/torques using the shared memory API
2015-08-24 22:26:29 +00:00
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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if (m_physicsClient.canSubmitCommand())
{
if (m_userCommandRequests.size())
{
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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if (m_verboseOutput)
{
b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
}
SharedMemoryCommand cmd = m_userCommandRequests[0];
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
for (int i=1;i<m_userCommandRequests.size();i++)
{
m_userCommandRequests[i-1] = m_userCommandRequests[i];
}
m_userCommandRequests.pop_back();
add a robot joint sensor example, reading joint reaction forces/torques using the shared memory API
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if (cmd.m_type == CMD_CREATE_SENSOR)
{
b3Printf("CMD_CREATE_SENSOR!\n");
}
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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if (cmd.m_type == CMD_SEND_BULLET_DATA_STREAM)
{
char relativeFileName[1024];
bool fileFound = b3ResourcePath::findResourcePath(cmd.m_dataStreamArguments.m_bulletFileName,relativeFileName,1024);
if (fileFound)
{
FILE *fp = fopen(relativeFileName, "rb");
if (fp)
{
fseek(fp, 0L, SEEK_END);
int mFileLen = ftell(fp);
fseek(fp, 0L, SEEK_SET);
if (mFileLen<SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
{
char* data = (char*)malloc(mFileLen);
fread(data, mFileLen, 1, fp);
fclose(fp);
cmd.m_dataStreamArguments.m_streamChunkLength = mFileLen;
m_physicsClient.uploadBulletFileToSharedMemory(data,mFileLen);
if (m_verboseOutput)
{
b3Printf("Loaded bullet data chunks into shared memory\n");
}
free(data);
} else
{
b3Warning("Bullet file size (%d) exceeds of streaming memory chunk size (%d)\n", mFileLen,SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
} else
{
b3Warning("Cannot open file %s\n", relativeFileName);
}
} else
{
b3Warning("Cannot find file %s\n", cmd.m_dataStreamArguments.m_bulletFileName);
}
}
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
2015-07-15 22:23:40 +00:00
m_physicsClient.submitClientCommand(cmd);
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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} else
{
if (m_numMotors)
{
SharedMemoryCommand command;
command.m_type =CMD_SEND_DESIRED_STATE;
prepareControlCommand(command);
enqueueCommand(command);
command.m_type =CMD_STEP_FORWARD_SIMULATION;
enqueueCommand(command);
add a robot joint sensor example, reading joint reaction forces/torques using the shared memory API
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command.m_type = CMD_REQUEST_ACTUAL_STATE;
enqueueCommand(command);
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
}
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
}
}
}
}
add command-line argument for example browser and shared memory app, --shared_memory_key=<int> fix some shared memory issues, client uses attach/detach, server uses create/remove shared memory implement CMD_RESET_SIMULATION
2015-08-07 07:13:26 +00:00
extern int gSharedMemoryKey;
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
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class CommonExampleInterface* RobotControlExampleCreateFunc(struct CommonExampleOptions& options)
{
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
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RobotControlExample* example = new RobotControlExample(options.m_guiHelper, options.m_option);
add command-line argument for example browser and shared memory app, --shared_memory_key=<int> fix some shared memory issues, client uses attach/detach, server uses create/remove shared memory implement CMD_RESET_SIMULATION
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if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);
}
return example;
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
}
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
#endif
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