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debug pybullet setup

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This commit is contained in:
jyc-n 2021-12-01 22:39:23 -05:00
parent 96605f7a8c
commit a018d63fb3
3 changed files with 32 additions and 10 deletions
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12
examples/RobotSimulator/HelloBulletRobotics.cpp
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@ -18,7 +18,8 @@ int main(int argc, char* argv[])
} }
//remove all existing objects (if any) //remove all existing objects (if any)
sim->resetSimulation(); // sim->resetSimulation();
sim->resetSimulation(RESET_USE_REDUCED_DEFORMABLE_WORLD);
sim->setGravity(btVector3(0, 0, -9.8)); sim->setGravity(btVector3(0, 0, -9.8));
sim->setNumSolverIterations(100); sim->setNumSolverIterations(100);
b3RobotSimulatorSetPhysicsEngineParameters args; b3RobotSimulatorSetPhysicsEngineParameters args;
@ -27,10 +28,11 @@ int main(int argc, char* argv[])
int planeUid = sim->loadURDF("plane.urdf"); int planeUid = sim->loadURDF("plane.urdf");
printf("planeUid = %d\n", planeUid); printf("planeUid = %d\n", planeUid);
int r2d2Uid = sim->loadURDF("r2d2.urdf"); int r2d2Uid = sim->loadURDF("reduced_bottle_coarse/reduced_bottle_coarse.urdf");
printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid)); // int r2d2Uid = sim->loadURDF("r2d2.urdf");
// printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
btVector3 basePosition = btVector3(0, 0, 0.5); btVector3 basePosition = btVector3(0, 0.5, 0.2);
btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1); btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1);
sim->resetBasePositionAndOrientation(r2d2Uid, basePosition, baseOrientation); sim->resetBasePositionAndOrientation(r2d2Uid, basePosition, baseOrientation);
@ -40,7 +42,7 @@ int main(int argc, char* argv[])
btVector3 basePos; btVector3 basePos;
btQuaternion baseOrn; btQuaternion baseOrn;
sim->getBasePositionAndOrientation(r2d2Uid, basePos, baseOrn); sim->getBasePositionAndOrientation(r2d2Uid, basePos, baseOrn);
printf("r2d2 basePosition = [%f,%f,%f]\n", basePos[0], basePos[1], basePos[2]); // printf("r2d2 basePosition = [%f,%f,%f]\n", basePos[0], basePos[1], basePos[2]);
sim->stepSimulation(); sim->stepSimulation();
} }

20
examples/RobotSimulator/RobotSimulatorMain.cpp
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@ -55,12 +55,24 @@ int main(int argc, char* argv[])
sim->loadURDF("plane.urdf"); sim->loadURDF("plane.urdf");
{ {
int deformableUID = sim->loadURDF("reduced_cube/reduced_cube.urdf"); int cubeID = sim->loadURDF("cube.urdf");
// int deformableUID = sim->loadURDF("reduced_cube/deform_cube.urdf");
// int deformableUID = sim->loadURDF("reduced_torus/reduced_torus.urdf");
// int deformableUID = sim->loadURDF("torus_deform.urdf");
btVector3 basePosition = btVector3(0, 0, 2); btVector3 basePosition = btVector3(0, 0, 2);
btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1); btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1);
sim->resetBasePositionAndOrientation(cubeID, basePosition, baseOrientation);
}
{
// int deformableUID = sim->loadURDF("reduced_torus/reduced_torus.urdf");
int deformableUID = sim->loadURDF("reduced_cube/reduced_cube.urdf");
// int deformableUID = sim->loadURDF("reduced_bottle/reduced_bottle.urdf");
// int deformableUID = sim->loadURDF("reduced_bottle_coarse/reduced_bottle_coarse.urdf");
// int deformableUID = sim->loadURDF("reduced_bottle/deform_bottle.urdf");
// int deformableUID = sim->loadURDF("torus_deform.urdf");
btVector3 basePosition = btVector3(0, 3, 3);
// btVector3 basePosition = btVector3(0, 0, 0.2);
// btVector3 basePosition = btVector3(0, 0.5, 0.2);
// btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1);
btQuaternion baseOrientation = btQuaternion(btVector3(1, 0, 0), SIMD_PI / 2.0);
sim->resetBasePositionAndOrientation(deformableUID, basePosition, baseOrientation); sim->resetBasePositionAndOrientation(deformableUID, basePosition, baseOrientation);
} }

10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -9216,6 +9216,10 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
psb->setGravityFactor(deformable.m_gravFactor); psb->setGravityFactor(deformable.m_gravFactor);
psb->setCacheBarycenter(deformable.m_cache_barycenter); psb->setCacheBarycenter(deformable.m_cache_barycenter);
psb->initializeFaceTree(); psb->initializeFaceTree();
deformWorld->setImplicit(true);
deformWorld->setLineSearch(false);
deformWorld->setUseProjection(true);
} }
#endif //SKIP_DEFORMABLE_BODY #endif //SKIP_DEFORMABLE_BODY
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@ -9646,7 +9650,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
// collion between deformable and deformable and self-collision // collion between deformable and deformable and self-collision
// rsb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; // rsb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
rsb->setCollisionFlags(0); rsb->setCollisionFlags(0);
rsb->setTotalMass(reduced_deformable.m_mass);
rsb->setSelfCollision(useSelfCollision); rsb->setSelfCollision(useSelfCollision);
rsb->initializeFaceTree(); rsb->initializeFaceTree();
} }
@ -9681,6 +9684,11 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
deformWorld->addSoftBody(rsb); deformWorld->addSoftBody(rsb);
deformWorld->getSolverInfo().m_deformable_erp = reduced_deformable.m_erp; deformWorld->getSolverInfo().m_deformable_erp = reduced_deformable.m_erp;
deformWorld->getSolverInfo().m_deformable_cfm = reduced_deformable.m_cfm; deformWorld->getSolverInfo().m_deformable_cfm = reduced_deformable.m_cfm;
deformWorld->getSolverInfo().m_friction = reduced_deformable.m_friction;
deformWorld->getSolverInfo().m_splitImpulse = false;
deformWorld->setImplicit(false);
deformWorld->setLineSearch(false);
deformWorld->setUseProjection(false);
} }
else else
#endif //SKIP_DEFORMABLE_BODY #endif //SKIP_DEFORMABLE_BODY