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Code Issues Releases Wiki Activity

Add grasp bunny example with multibody gripper.

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This commit is contained in:
yunfeibai 2016-11-02 14:53:28 -07:00
parent ab6ce65abe
commit 479497997c
2 changed files with 11 additions and 154 deletions
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163
examples/RoboticsLearning/GripperGraspExample.cpp
View File

@ -343,10 +343,9 @@ public:
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
if (1)
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_one_motor_gripper_no_finger.sdf";
args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";
args.m_fileType = B3_SDF_FILE;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
@ -365,7 +364,7 @@ public:
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
}
for (int i=0;i<6;i++)
for (int i=0;i<8;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_maxTorqueValue = 0.0;
@ -374,28 +373,6 @@ public:
}
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_one_motor_gripper_left_finger.urdf";
args.m_startPosition.setValue(-0.1,0,0.5);
args.m_startOrientation.setEulerZYX(0,0,3.14);
args.m_forceOverrideFixedBase = false;
args.m_useMultiBody = false;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_one_motor_gripper_right_finger.urdf";
args.m_startPosition.setValue(0.1,0,0.5);
args.m_startOrientation.setEulerZYX(0,0,3.14);
args.m_forceOverrideFixedBase = false;
args.m_useMultiBody = false;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);
}
if (1)
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "plane.urdf";
@ -411,16 +388,16 @@ public:
m_robotSim.loadBunny(0.1,0.1,0.02);
b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.007;
revoluteJoint1.m_parentFrame[0] = -0.055;
revoluteJoint1.m_parentFrame[1] = 0;
revoluteJoint1.m_parentFrame[2] = 0.0735;
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] = -0.05;
revoluteJoint1.m_childFrame[2] = 0;
revoluteJoint1.m_childFrame[3] = 0;
revoluteJoint1.m_childFrame[4] = 0;
revoluteJoint1.m_childFrame[5] = 0;
@ -430,16 +407,16 @@ public:
revoluteJoint1.m_jointAxis[2] = 0.0;
revoluteJoint1.m_jointType = ePoint2PointType;
b3JointInfo revoluteJoint2;
revoluteJoint2.m_parentFrame[0] = 0.007;
revoluteJoint2.m_parentFrame[0] = 0.055;
revoluteJoint2.m_parentFrame[1] = 0;
revoluteJoint2.m_parentFrame[2] = 0.0735;
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] = -0.05;
revoluteJoint2.m_childFrame[2] = 0;
revoluteJoint2.m_childFrame[3] = 0;
revoluteJoint2.m_childFrame[4] = 0;
revoluteJoint2.m_childFrame[5] = 0;
@ -448,128 +425,8 @@ public:
revoluteJoint2.m_jointAxis[1] = 0.0;
revoluteJoint2.m_jointAxis[2] = 0.0;
revoluteJoint2.m_jointType = ePoint2PointType;
b3JointInfo revoluteJoint3;
revoluteJoint3.m_parentFrame[0] = -0.207;
revoluteJoint3.m_parentFrame[1] = 0;
revoluteJoint3.m_parentFrame[2] = 0.0735;
revoluteJoint3.m_parentFrame[3] = 0;
revoluteJoint3.m_parentFrame[4] = 0;
revoluteJoint3.m_parentFrame[5] = 0;
revoluteJoint3.m_parentFrame[6] = 1.0;
revoluteJoint3.m_childFrame[0] = -0.2;
revoluteJoint3.m_childFrame[1] = 0;
revoluteJoint3.m_childFrame[2] = -0.05;
revoluteJoint3.m_childFrame[3] = 0;
revoluteJoint3.m_childFrame[4] = 0;
revoluteJoint3.m_childFrame[5] = 0;
revoluteJoint3.m_childFrame[6] = 1.0;
revoluteJoint3.m_jointAxis[0] = 1.0;
revoluteJoint3.m_jointAxis[1] = 0.0;
revoluteJoint3.m_jointAxis[2] = 0.0;
revoluteJoint3.m_jointType = ePoint2PointType;
b3JointInfo revoluteJoint4;
revoluteJoint4.m_parentFrame[0] = 0.207;
revoluteJoint4.m_parentFrame[1] = 0;
revoluteJoint4.m_parentFrame[2] = 0.0735;
revoluteJoint4.m_parentFrame[3] = 0;
revoluteJoint4.m_parentFrame[4] = 0;
revoluteJoint4.m_parentFrame[5] = 0;
revoluteJoint4.m_parentFrame[6] = 1.0;
revoluteJoint4.m_childFrame[0] = 0.2;
revoluteJoint4.m_childFrame[1] = 0;
revoluteJoint4.m_childFrame[2] = -0.05;
revoluteJoint4.m_childFrame[3] = 0;
revoluteJoint4.m_childFrame[4] = 0;
revoluteJoint4.m_childFrame[5] = 0;
revoluteJoint4.m_childFrame[6] = 1.0;
revoluteJoint4.m_jointAxis[0] = 1.0;
revoluteJoint4.m_jointAxis[1] = 0.0;
revoluteJoint4.m_jointAxis[2] = 0.0;
revoluteJoint4.m_jointType = ePoint2PointType;
b3JointInfo revoluteJoint5;
revoluteJoint5.m_parentFrame[0] = -0.007;
revoluteJoint5.m_parentFrame[1] = 0;
revoluteJoint5.m_parentFrame[2] = 0.2735;
revoluteJoint5.m_parentFrame[3] = 0;
revoluteJoint5.m_parentFrame[4] = 0;
revoluteJoint5.m_parentFrame[5] = 0;
revoluteJoint5.m_parentFrame[6] = 1.0;
revoluteJoint5.m_childFrame[0] = 0;
revoluteJoint5.m_childFrame[1] = 0;
revoluteJoint5.m_childFrame[2] = 0.15;
revoluteJoint5.m_childFrame[3] = 0;
revoluteJoint5.m_childFrame[4] = 0;
revoluteJoint5.m_childFrame[5] = 0;
revoluteJoint5.m_childFrame[6] = 1.0;
revoluteJoint5.m_jointAxis[0] = 1.0;
revoluteJoint5.m_jointAxis[1] = 0.0;
revoluteJoint5.m_jointAxis[2] = 0.0;
revoluteJoint5.m_jointType = ePoint2PointType;
b3JointInfo revoluteJoint6;
revoluteJoint6.m_parentFrame[0] = 0.007;
revoluteJoint6.m_parentFrame[1] = 0;
revoluteJoint6.m_parentFrame[2] = 0.2735;
revoluteJoint6.m_parentFrame[3] = 0;
revoluteJoint6.m_parentFrame[4] = 0;
revoluteJoint6.m_parentFrame[5] = 0;
revoluteJoint6.m_parentFrame[6] = 1.0;
revoluteJoint6.m_childFrame[0] = 0;
revoluteJoint6.m_childFrame[1] = 0;
revoluteJoint6.m_childFrame[2] = 0.15;
revoluteJoint6.m_childFrame[3] = 0;
revoluteJoint6.m_childFrame[4] = 0;
revoluteJoint6.m_childFrame[5] = 0;
revoluteJoint6.m_childFrame[6] = 1.0;
revoluteJoint6.m_jointAxis[0] = 1.0;
revoluteJoint6.m_jointAxis[1] = 0.0;
revoluteJoint6.m_jointAxis[2] = 0.0;
revoluteJoint6.m_jointType = ePoint2PointType;
b3JointInfo revoluteJoint7;
revoluteJoint7.m_parentFrame[0] = -0.055;
revoluteJoint7.m_parentFrame[1] = 0;
revoluteJoint7.m_parentFrame[2] = 0.02;
revoluteJoint7.m_parentFrame[3] = 0;
revoluteJoint7.m_parentFrame[4] = 0;
revoluteJoint7.m_parentFrame[5] = 0;
revoluteJoint7.m_parentFrame[6] = 1.0;
revoluteJoint7.m_childFrame[0] = 0;
revoluteJoint7.m_childFrame[1] = 0;
revoluteJoint7.m_childFrame[2] = 0;
revoluteJoint7.m_childFrame[3] = 0;
revoluteJoint7.m_childFrame[4] = 0;
revoluteJoint7.m_childFrame[5] = 0;
revoluteJoint7.m_childFrame[6] = 1.0;
revoluteJoint7.m_jointAxis[0] = 1.0;
revoluteJoint7.m_jointAxis[1] = 0.0;
revoluteJoint7.m_jointAxis[2] = 0.0;
revoluteJoint7.m_jointType = ePoint2PointType;
b3JointInfo revoluteJoint8;
revoluteJoint8.m_parentFrame[0] = 0.055;
revoluteJoint8.m_parentFrame[1] = 0;
revoluteJoint8.m_parentFrame[2] = 0.02;
revoluteJoint8.m_parentFrame[3] = 0;
revoluteJoint8.m_parentFrame[4] = 0;
revoluteJoint8.m_parentFrame[5] = 0;
revoluteJoint8.m_parentFrame[6] = 1.0;
revoluteJoint8.m_childFrame[0] = 0;
revoluteJoint8.m_childFrame[1] = 0;
revoluteJoint8.m_childFrame[2] = 0;
revoluteJoint8.m_childFrame[3] = 0;
revoluteJoint8.m_childFrame[4] = 0;
revoluteJoint8.m_childFrame[5] = 0;
revoluteJoint8.m_childFrame[6] = 1.0;
revoluteJoint8.m_jointAxis[0] = 1.0;
revoluteJoint8.m_jointAxis[1] = 0.0;
revoluteJoint8.m_jointAxis[2] = 0.0;
revoluteJoint8.m_jointType = ePoint2PointType;
m_robotSim.createJoint(0, 4, 1, 0, &revoluteJoint1);
m_robotSim.createJoint(0, 5, 2, 0, &revoluteJoint2);
m_robotSim.createJoint(0, 4, 1, 0, &revoluteJoint3);
m_robotSim.createJoint(0, 5, 2, 0, &revoluteJoint4);
m_robotSim.createJoint(0, 4, 1, 0, &revoluteJoint5);
m_robotSim.createJoint(0, 5, 2, 0, &revoluteJoint6);
m_robotSim.createJoint(0, 2, 0, 4, &revoluteJoint7);
m_robotSim.createJoint(0, 3, 0, 5, &revoluteJoint8);
m_robotSim.createJoint(0, 2, 0, 4, &revoluteJoint1);
m_robotSim.createJoint(0, 3, 0, 6, &revoluteJoint2);
}
if ((m_options & eSOFTBODY_MULTIBODY_COUPLING)!=0)

2
src/BulletSoftBody/btSoftBody.cpp
View File

@ -3084,7 +3084,7 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
{
if (multibodyLinkCol)
{
double multiplier = 0.2;
double multiplier = 0.5;
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV,-impulse.length()*multiplier);
}
}