mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 05:10:08 +00:00
Add table and tray.
This commit is contained in:
YunfeiBai
parent
60d07a6f6e
commit
539fe505a4
400
data/gripper/wsg50_one_motor_gripper_new.sdf
Normal file
400
data/gripper/wsg50_one_motor_gripper_new.sdf
Normal file
@ -0,0 +1,400 @@
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|||||||
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<?xml version="1.0" ?>
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<sdf version='1.6'>
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<world name='default'>
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||||||
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<model name='wsg50_with_gripper'>
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||||||
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||||||
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<link name='world'>
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||||||
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<pose frame=''>0 0 0 0 0 0</pose>
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||||||
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<inertial>
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||||||
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<pose frame=''>0 0 0 0 0 0</pose>
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||||||
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<mass>0.1</mass>
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||||||
|
<inertia>
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||||||
|
<ixx>1</ixx>
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||||||
|
<ixy>0</ixy>
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||||||
|
<ixz>0</ixz>
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||||||
|
<iyy>1</iyy>
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||||||
|
<iyz>0</iyz>
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||||||
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<izz>1</izz>
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||||||
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</inertia>
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||||||
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</inertial>
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||||||
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</link>
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||||||
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||||||
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<joint name='base_joint' type='prismatic'>
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||||||
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<parent>world</parent>
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||||||
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<child>base_link</child>
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||||||
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<axis>
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||||||
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<xyz>0 0 1</xyz>
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||||||
|
<limit>
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||||||
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<lower>-0.0001</lower>
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||||||
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<upper>0.0001</upper>
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||||||
|
<effort>1</effort>
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||||||
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<velocity>1</velocity>
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||||||
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</limit>
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||||||
|
<dynamics>
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||||||
|
<damping>0</damping>
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||||||
|
<friction>0</friction>
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||||||
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<spring_reference>0</spring_reference>
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||||||
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<spring_stiffness>0</spring_stiffness>
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||||||
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</dynamics>
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||||||
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</axis>
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||||||
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</joint>
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||||||
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||||||
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<link name='base_link'>
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||||||
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<pose frame=''>0 0 0 0 0 0</pose>
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||||||
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<inertial>
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||||||
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<pose frame=''>0 0 0 0 0 0</pose>
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||||||
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<mass>1.2</mass>
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||||||
|
<inertia>
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||||||
|
<ixx>1</ixx>
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||||||
|
<ixy>0</ixy>
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||||||
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<ixz>0</ixz>
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||||||
|
<iyy>1</iyy>
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||||||
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<iyz>0</iyz>
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||||||
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<izz>1</izz>
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||||||
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</inertia>
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||||||
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</inertial>
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||||||
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||||||
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<visual name='base_link_visual'>
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||||||
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<pose frame=''>0 0 0 0 -0 0</pose>
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||||||
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<geometry>
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||||||
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<mesh>
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||||||
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<scale>1 1 1</scale>
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||||||
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<uri>meshes/WSG50_110.stl</uri>
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</mesh>
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||||||
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</geometry>
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||||||
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<material>
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||||||
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||||||
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</material>
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||||||
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</visual>
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||||||
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||||||
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</link>
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||||||
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<link name='motor'>
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<pose frame=''>0 0 0.03 0 0 0</pose>
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||||||
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<inertial>
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||||||
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<pose frame=''>0 0 0 0 0 0</pose>
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||||||
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<mass>0.1</mass>
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||||||
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<inertia>
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||||||
|
<ixx>0.1</ixx>
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||||||
|
<ixy>0</ixy>
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||||||
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<ixz>0</ixz>
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||||||
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<iyy>0.1</iyy>
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||||||
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<iyz>0</iyz>
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||||||
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<izz>0.1</izz>
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||||||
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</inertia>
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</inertial>
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||||||
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<visual name='motor_visual'>
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<pose frame=''>0 0 0.01 0 0 0</pose>
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<geometry>
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||||||
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<box>
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||||||
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<size>0.02 0.02 0.02 </size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name='base_joint_motor' type='prismatic'>
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<child>motor</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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||||||
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<limit>
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||||||
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<lower>-0.055</lower>
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||||||
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<upper>0.001</upper>
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<effort>10.0</effort>
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<velocity>10.0</velocity>
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</limit>
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||||||
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<dynamics>
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||||||
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<damping>0</damping>
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||||||
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<friction>0</friction>
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||||||
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<spring_reference>0</spring_reference>
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||||||
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name='left_hinge'>
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<pose frame=''>0 0 0.04 0 0 0</pose>
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<inertial>
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||||||
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<pose frame=''>0 0 0.035 0 0 0</pose>
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<mass>0.1</mass>
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||||||
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<inertia>
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||||||
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<ixx>0.1</ixx>
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||||||
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<ixy>0</ixy>
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||||||
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<ixz>0</ixz>
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||||||
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<iyy>0.1</iyy>
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||||||
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<iyz>0</iyz>
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||||||
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<izz>0.1</izz>
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</inertia>
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</inertial>
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||||||
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<visual name='motor_visual'>
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<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
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<geometry>
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<box>
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<size>0.02 0.02 0.07 </size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name='motor_left_hinge_joint' type='revolute'>
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<child>left_hinge</child>
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<parent>motor</parent>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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||||||
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<lower>-20.0</lower>
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<upper>20.0</upper>
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<effort>10</effort>
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<velocity>10</velocity>
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</limit>
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<dynamics>
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<damping>0</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='right_hinge'>
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<pose frame=''>0 0 0.04 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0 0.035 0 0 0</pose>
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||||||
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<mass>0.1</mass>
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||||||
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<inertia>
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||||||
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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||||||
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<ixz>0</ixz>
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||||||
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<iyy>0.1</iyy>
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<iyz>0</iyz>
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<izz>0.1</izz>
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</inertia>
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</inertial>
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||||||
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<visual name='motor_visual'>
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<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
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<geometry>
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<box>
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||||||
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<size>0.02 0.02 0.07 </size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name='motor_right_hinge_joint' type='revolute'>
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<child>right_hinge</child>
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<parent>motor</parent>
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<axis>
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||||||
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<xyz>0 1 0</xyz>
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||||||
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<limit>
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||||||
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<lower>-20.0</lower>
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||||||
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<upper>20.0</upper>
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||||||
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<effort>10</effort>
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<velocity>10</velocity>
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||||||
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</limit>
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||||||
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<dynamics>
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||||||
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<damping>0</damping>
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||||||
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<friction>0</friction>
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||||||
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<spring_reference>0</spring_reference>
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||||||
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<spring_stiffness>0</spring_stiffness>
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||||||
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</dynamics>
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||||||
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='gripper_left'>
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<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
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<inertial>
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||||||
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<pose frame=''>0 0 0.0115 0 -0 0</pose>
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||||||
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<mass>0.2</mass>
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||||||
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<inertia>
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||||||
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<ixx>0.1</ixx>
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||||||
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<ixy>0</ixy>
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||||||
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<ixz>0</ixz>
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||||||
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<iyy>0.1</iyy>
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||||||
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<iyz>0</iyz>
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||||||
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<izz>0.1</izz>
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||||||
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</inertia>
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||||||
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</inertial>
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<visual name='gripper_left_visual'>
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<pose frame=''>0 0 -0.06 0 0 0</pose>
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<geometry>
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||||||
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<mesh>
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||||||
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<scale>0.001 0.001 0.001</scale>
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||||||
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<uri>meshes/GUIDE_WSG50_110.stl</uri>
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</mesh>
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||||||
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</geometry>
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</visual>
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||||||
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<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
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||||||
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<pose frame=''>0 0 -0.037 0 0 0</pose>
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<geometry>
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||||||
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<mesh>
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||||||
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<scale>0.001 0.001 0.001</scale>
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||||||
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<uri>meshes/WSG-FMF.stl</uri>
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||||||
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='gripper_left_hinge_joint' type='revolute'>
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<child>gripper_left</child>
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<parent>left_hinge</parent>
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<axis>
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||||||
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<xyz>0 1 0</xyz>
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||||||
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<limit>
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||||||
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<lower>-1.0</lower>
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||||||
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<upper>1.0</upper>
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||||||
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<effort>10</effort>
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<velocity>10</velocity>
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</limit>
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||||||
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<dynamics>
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||||||
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<damping>0.01</damping>
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||||||
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<friction>0</friction>
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||||||
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<spring_reference>0</spring_reference>
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||||||
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<spring_stiffness>0</spring_stiffness>
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||||||
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='gripper_right'>
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<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
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<inertial>
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||||||
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<pose frame=''>0 0 0.0115 0 -0 0</pose>
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||||||
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<mass>0.2</mass>
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||||||
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<inertia>
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||||||
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<ixx>0.1</ixx>
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||||||
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<ixy>0</ixy>
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||||||
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<ixz>0</ixz>
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||||||
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<iyy>0.1</iyy>
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||||||
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<iyz>0</iyz>
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||||||
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<izz>0.1</izz>
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</inertia>
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</inertial>
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<visual name='gripper_right_visual'>
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<pose frame=''>0 0 -0.06 0 0 0</pose>
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||||||
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<geometry>
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||||||
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<mesh>
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||||||
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<scale>0.001 0.001 0.001</scale>
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<uri>meshes/GUIDE_WSG50_110.stl</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
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||||||
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<pose frame=''>0 0 -0.037 0 0 0</pose>
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<geometry>
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||||||
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<mesh>
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||||||
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<scale>0.001 0.001 0.001</scale>
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||||||
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<uri>meshes/WSG-FMF.stl</uri>
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</mesh>
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</geometry>
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||||||
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</visual>
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</link>
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<joint name='gripper_right_hinge_joint' type='revolute'>
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<child>gripper_right</child>
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<parent>right_hinge</parent>
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<axis>
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||||||
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<xyz>0 1 0</xyz>
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||||||
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<limit>
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||||||
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<lower>-1.0</lower>
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||||||
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<upper>1.0</upper>
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||||||
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<effort>10</effort>
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||||||
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<velocity>10</velocity>
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||||||
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</limit>
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||||||
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<dynamics>
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||||||
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<damping>0.01</damping>
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||||||
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<friction>0</friction>
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||||||
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<spring_reference>0</spring_reference>
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||||||
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<spring_stiffness>0</spring_stiffness>
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||||||
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</dynamics>
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||||||
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<use_parent_model_frame>0</use_parent_model_frame>
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||||||
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</axis>
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</joint>
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<link name='finger_right'>
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||||||
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<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
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||||||
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<inertial>
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||||||
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<mass>0.2</mass>
|
||||||
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<inertia>
|
||||||
|
<ixx>0.1</ixx>
|
||||||
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<ixy>0</ixy>
|
||||||
|
<ixz>0</ixz>
|
||||||
|
<iyy>0.1</iyy>
|
||||||
|
<iyz>0</iyz>
|
||||||
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<izz>0.1</izz>
|
||||||
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</inertia>
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||||||
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</inertial>
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||||||
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||||||
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<collision name='finger_right_collision'>
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||||||
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<pose frame=''>0 0 0.042 0 0 0 </pose>
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||||||
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<geometry>
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||||||
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<box>
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||||||
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<size>0.02 0.02 0.15 </size>
|
||||||
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</box>
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||||||
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||||||
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</geometry>
|
||||||
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</collision>
|
||||||
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||||||
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<visual name='finger_right_visual'>
|
||||||
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<pose frame=''>0 0 0 0 0 0 </pose>
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||||||
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<geometry>
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||||||
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<mesh>
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||||||
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<scale>1 1 1 </scale>
|
||||||
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<uri>meshes/l_gripper_tip_scaled.stl</uri>
|
||||||
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</mesh>
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||||||
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</geometry>
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||||||
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</visual>
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||||||
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</link>
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||||||
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||||||
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<joint name='gripper_finger_right' type='fixed'>
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||||||
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<parent>gripper_right</parent>
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||||||
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<child>finger_right</child>
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||||||
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</joint>
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||||||
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<link name='finger_left'>
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||||||
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<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
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||||||
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<inertial>
|
||||||
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<mass>0.2</mass>
|
||||||
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<inertia>
|
||||||
|
<ixx>0.1</ixx>
|
||||||
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<ixy>0</ixy>
|
||||||
|
<ixz>0</ixz>
|
||||||
|
<iyy>0.1</iyy>
|
||||||
|
<iyz>0</iyz>
|
||||||
|
<izz>0.1</izz>
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||||||
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</inertia>
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||||||
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</inertial>
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||||||
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||||||
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<collision name='finger_left_collision'>
|
||||||
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<pose frame=''>0 0 0.042 0 0 0 </pose>
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||||||
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<geometry>
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||||||
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<box>
|
||||||
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<size>0.02 0.02 0.15 </size>
|
||||||
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</box>
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||||||
|
|
||||||
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</geometry>
|
||||||
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</collision>
|
||||||
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|
||||||
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<visual name='finger_left_visual'>
|
||||||
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<pose frame=''>0 0 0 0 0 0 </pose>
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||||||
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<geometry>
|
||||||
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<mesh>
|
||||||
|
<scale>1 1 1 </scale>
|
||||||
|
<uri>meshes/l_gripper_tip_scaled.stl</uri>
|
||||||
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</mesh>
|
||||||
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</geometry>
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||||||
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</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name='gripper_finger_left' type='fixed'>
|
||||||
|
<parent>gripper_left</parent>
|
||||||
|
<child>finger_left</child>
|
||||||
|
</joint>
|
||||||
|
</model>
|
||||||
|
</world>
|
||||||
|
</sdf>
|
||||||
61
data/table.urdf
Normal file
61
data/table.urdf
Normal file
@ -0,0 +1,61 @@
|
|||||||
|
<?xml version="0.0" ?>
|
||||||
|
<robot name="urdf_table">
|
||||||
|
<link name="world"/>
|
||||||
|
<joint name="fixed" type="fixed">
|
||||||
|
<parent link="world"/>
|
||||||
|
<child link="baseLink"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="baseLink">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.6"/>
|
||||||
|
<mass value="0"/>
|
||||||
|
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.6"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="1.5 1.0 0.08"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="framemat0">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.65 -0.4 0.28"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.1 0.1 0.56"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="framemat0"/>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.65 0.4 0.28"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.1 0.1 0.56"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="framemat0"/>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0.65 -0.4 0.28"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.1 0.1 0.56"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="framemat0"/>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0.65 0.4 0.28"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.1 0.1 0.56"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.6"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="1.5 1.0 0.08"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
</robot>
|
||||||
|
|
||||||
91
data/tray.urdf
Normal file
91
data/tray.urdf
Normal file
@ -0,0 +1,91 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot name="tray">
|
||||||
|
<link name="baseLink">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value="0.0"/>
|
||||||
|
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.29 0.0 0.05"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.02 0.6 0.06"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="framemat0">
|
||||||
|
<color rgba="0.6 0.6 0.6 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.29 0.0 0.05"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.02 0.6 0.06"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0.29 0.0 0.05"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.02 0.6 0.06"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="framemat0">
|
||||||
|
<color rgba="0.6 0.6 0.6 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0.29 0.0 0.05"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.02 0.6 0.06"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 -0.29 0.05"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.56 0.02 0.06"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="framemat0">
|
||||||
|
<color rgba="0.6 0.6 0.6 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 -0.29 0.05"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.56 0.02 0.06"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.29 0.05"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.56 0.02 0.06"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="framemat0">
|
||||||
|
<color rgba="0.6 0.6 0.6 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.29 0.05"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.56 0.02 0.06"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<!-- base -->
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.01"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.6 0.6 0.02"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="framemat0"/>
|
||||||
|
<color rgba="0.4 0.4 0.4 1"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.01"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.6 0.6 0.02"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
</link>
|
||||||
|
</robot>
|
||||||
@ -2951,7 +2951,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
|
|||||||
loadUrdf("sphere2.urdf", btVector3(-5, 0, 3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
loadUrdf("sphere2.urdf", btVector3(-5, 0, 3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||||
loadUrdf("r2d2.urdf", btVector3(2, -2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
loadUrdf("r2d2.urdf", btVector3(2, -2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||||
|
|
||||||
loadUrdf("kuka_iiwa/model.urdf", btVector3(2.0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
loadUrdf("kuka_iiwa/model.urdf", btVector3(0, -2.3, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||||
m_data->m_KukaId = bodyId;
|
m_data->m_KukaId = bodyId;
|
||||||
|
|
||||||
// Load one motor gripper for kuka
|
// Load one motor gripper for kuka
|
||||||
@ -3070,11 +3070,14 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
|
|||||||
}
|
}
|
||||||
loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
|
loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
|
||||||
loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||||
loadUrdf("teddy_vhacd.urdf", btVector3(1.6, -0.2, 0.1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
|
||||||
loadUrdf("cube_small.urdf", btVector3(1.5, -0.3, 0.1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
|
||||||
//loadUrdf("cup_small.urdf", btVector3(3, 2, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
//loadUrdf("cup_small.urdf", btVector3(3, 2, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||||
//loadUrdf("pitcher_small.urdf", btVector3(4, 2, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
//loadUrdf("pitcher_small.urdf", btVector3(4, 2, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||||
loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||||
|
loadUrdf("table.urdf", btVector3(0, -1.9, 0.0), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||||
|
loadUrdf("tray.urdf", btVector3(0, -1.7, 0.64), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||||
|
loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, -1.9, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||||
|
loadUrdf("cube_small.urdf", btVector3(0.1, -1.8, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||||
|
loadUrdf("sphere_small.urdf", btVector3(-0.2, -1.7, 0.7), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||||
|
|
||||||
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
|
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
|
||||||
|
|
||||||
@ -3162,11 +3165,20 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
|
|||||||
static btScalar t=0.f;
|
static btScalar t=0.f;
|
||||||
t+=0.01;
|
t+=0.01;
|
||||||
double dampIk = 0.99;
|
double dampIk = 0.99;
|
||||||
|
/*
|
||||||
for (int i=0;i<numDofs;i++)
|
for (int i=0;i<numDofs;i++)
|
||||||
{
|
{
|
||||||
btScalar desiredPosition = btSin(t*0.1)*SIMD_HALF_PI;
|
btScalar desiredPosition = btSin(t*0.1)*SIMD_HALF_PI;
|
||||||
q_new[i] = dampIk*q_current[i]+(1-dampIk)*desiredPosition;
|
q_new[i] = dampIk*q_current[i]+(1-dampIk)*desiredPosition;
|
||||||
}
|
}
|
||||||
|
*/
|
||||||
|
q_new[0] = 1.376;
|
||||||
|
q_new[1] = 1.102;
|
||||||
|
q_new[2] = 1.634;
|
||||||
|
q_new[3] = -0.406;
|
||||||
|
q_new[4] = 1.714;
|
||||||
|
q_new[5] = -2.023;
|
||||||
|
q_new[6] = -1.306;
|
||||||
|
|
||||||
if (closeToKuka)
|
if (closeToKuka)
|
||||||
{
|
{
|
||||||
@ -3303,6 +3315,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
|
|||||||
{
|
{
|
||||||
btScalar desiredVelocity = 0.f;
|
btScalar desiredVelocity = 0.f;
|
||||||
btScalar desiredPosition = q_new[link];
|
btScalar desiredPosition = q_new[link];
|
||||||
|
//printf("link %d: %f", link, q_new[link]);
|
||||||
motor->setVelocityTarget(desiredVelocity,1);
|
motor->setVelocityTarget(desiredVelocity,1);
|
||||||
motor->setPositionTarget(desiredPosition,0.6);
|
motor->setPositionTarget(desiredPosition,0.6);
|
||||||
btScalar maxImp = 1.f;
|
btScalar maxImp = 1.f;
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user