mirror of
https://github.com/bulletphysics/bullet3
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ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
614 lines
20 KiB
C++
614 lines
20 KiB
C++
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#include "GripperGraspExample.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../SharedMemory/PhysicsServerSharedMemory.h"
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#include "../SharedMemory/PhysicsClientC_API.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include "../SharedMemory/SharedMemoryPublic.h"
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#include <string>
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#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
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#include "../Utils/b3Clock.h"
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static btScalar sGripperVerticalVelocity = 0.f;
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static btScalar sGripperClosingTargetVelocity = -0.7f;
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class GripperGraspExample : public CommonExampleInterface
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{
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CommonGraphicsApp* m_app;
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GUIHelperInterface* m_guiHelper;
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b3RobotSimulatorClientAPI m_robotSim;
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int m_options;
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int m_gripperIndex;
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double m_time;
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b3Vector3 m_targetPos;
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b3Vector3 m_worldPos;
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b3Vector4 m_targetOri;
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b3Vector4 m_worldOri;
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b3AlignedObjectArray<int> m_movingInstances;
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enum
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{
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numCubesX = 20,
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numCubesY = 20
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};
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public:
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GripperGraspExample(GUIHelperInterface* helper, int options)
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: m_app(helper->getAppInterface()),
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m_guiHelper(helper),
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m_options(options),
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m_gripperIndex(-1)
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{
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m_app->setUpAxis(2);
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}
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virtual ~GripperGraspExample()
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{
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}
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virtual void physicsDebugDraw(int debugDrawMode)
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{
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m_robotSim.debugDraw(debugDrawMode);
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}
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virtual void initPhysics()
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{
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int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
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m_robotSim.setGuiHelper(m_guiHelper);
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bool connected = m_robotSim.connect(mode);
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b3Printf("robotSim connected = %d", connected);
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if ((m_options & eGRIPPER_GRASP) != 0)
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{
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{
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SliderParams slider("Vertical velocity", &sGripperVerticalVelocity);
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slider.m_minVal = -2;
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slider.m_maxVal = 2;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
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slider.m_minVal = -1;
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slider.m_maxVal = 1;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0, 0, .107);
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args.m_startOrientation.setEulerZYX(0, 0, 0);
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args.m_useMultiBody = true;
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m_robotSim.loadURDF("cube_small.urdf", args);
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}
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{
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b3RobotSimulatorLoadFileResults results;
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m_robotSim.loadSDF("gripper/wsg50_with_r2d2_gripper.sdf", results);
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if (results.m_uniqueObjectIds.size() == 1)
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{
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m_gripperIndex = results.m_uniqueObjectIds[0];
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int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
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b3Printf("numJoints = %d", numJoints);
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for (int i = 0; i < numJoints; i++)
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{
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b3JointInfo jointInfo;
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m_robotSim.getJointInfo(m_gripperIndex, i, &jointInfo);
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b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
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}
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/*
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int fingerJointIndices[2]={1,3};
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double fingerTargetPositions[2]={-0.04,0.04};
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for (int i=0;i<2;i++)
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{
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
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controlArgs.m_targetPosition = fingerTargetPositions[i];
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controlArgs.m_kp = 5.0;
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controlArgs.m_kd = 3.0;
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controlArgs.m_maxTorqueValue = 1.0;
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m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
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}
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*/
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int fingerJointIndices[3] = {0, 1, 3};
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double fingerTargetVelocities[3] = {-0.2, .5, -.5};
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double maxTorqueValues[3] = {40.0, 50.0, 50.0};
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for (int i = 0; i < 3; i++)
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{
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = fingerTargetVelocities[i];
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controlArgs.m_maxTorqueValue = maxTorqueValues[i];
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controlArgs.m_kd = 1.;
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m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
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}
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}
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}
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if (1)
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{
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m_robotSim.loadURDF("plane.urdf");
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}
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m_robotSim.setGravity(btVector3(0, 0, -10));
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m_robotSim.setNumSimulationSubSteps(4);
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}
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if ((m_options & eTWO_POINT_GRASP) != 0)
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{
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0, 0, .107);
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m_robotSim.loadURDF("cube_small.urdf", args);
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}
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0.068, 0.02, 0.11);
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m_robotSim.loadURDF("cube_gripper_left.urdf", args);
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = -0.1;
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controlArgs.m_maxTorqueValue = 10.0;
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controlArgs.m_kd = 1.;
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m_robotSim.setJointMotorControl(1, 0, controlArgs);
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}
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(-0.068, 0.02, 0.11);
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m_robotSim.loadURDF("cube_gripper_right.urdf", args);
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = 0.1;
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controlArgs.m_maxTorqueValue = 10.0;
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controlArgs.m_kd = 1.;
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m_robotSim.setJointMotorControl(2, 0, controlArgs);
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}
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if (1)
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{
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m_robotSim.loadURDF("plane.urdf");
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}
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m_robotSim.setGravity(btVector3(0, 0, -10));
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m_robotSim.setNumSimulationSubSteps(4);
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}
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if ((m_options & eONE_MOTOR_GRASP) != 0)
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{
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m_robotSim.setNumSolverIterations(150);
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{
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SliderParams slider("Vertical velocity", &sGripperVerticalVelocity);
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slider.m_minVal = -2;
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slider.m_maxVal = 2;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
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slider.m_minVal = -1;
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slider.m_maxVal = 1;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0, -0.2, .47);
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args.m_startOrientation.setEulerZYX(SIMD_HALF_PI, 0, 0);
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m_robotSim.loadURDF("dinnerware/pan_tefal.urdf", args);
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}
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{
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b3RobotSimulatorLoadFileResults args;
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b3RobotSimulatorLoadFileResults results;
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m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", results);
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if (results.m_uniqueObjectIds.size() == 1)
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{
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m_gripperIndex = results.m_uniqueObjectIds[0];
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int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
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b3Printf("numJoints = %d", numJoints);
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for (int i = 0; i < numJoints; i++)
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{
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b3JointInfo jointInfo;
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m_robotSim.getJointInfo(m_gripperIndex, i, &jointInfo);
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b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
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}
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for (int i = 0; i < 8; i++)
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{
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_maxTorqueValue = 0.0;
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m_robotSim.setJointMotorControl(m_gripperIndex, i, controlArgs);
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}
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}
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}
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if (1)
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{
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m_robotSim.loadURDF("plane.urdf");
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}
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m_robotSim.setGravity(btVector3(0, 0, -10));
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b3JointInfo revoluteJoint1;
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revoluteJoint1.m_parentFrame[0] = -0.055;
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revoluteJoint1.m_parentFrame[1] = 0;
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revoluteJoint1.m_parentFrame[2] = 0.02;
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revoluteJoint1.m_parentFrame[3] = 0;
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revoluteJoint1.m_parentFrame[4] = 0;
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revoluteJoint1.m_parentFrame[5] = 0;
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revoluteJoint1.m_parentFrame[6] = 1.0;
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revoluteJoint1.m_childFrame[0] = 0;
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revoluteJoint1.m_childFrame[1] = 0;
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revoluteJoint1.m_childFrame[2] = 0;
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revoluteJoint1.m_childFrame[3] = 0;
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revoluteJoint1.m_childFrame[4] = 0;
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revoluteJoint1.m_childFrame[5] = 0;
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revoluteJoint1.m_childFrame[6] = 1.0;
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revoluteJoint1.m_jointAxis[0] = 1.0;
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revoluteJoint1.m_jointAxis[1] = 0.0;
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revoluteJoint1.m_jointAxis[2] = 0.0;
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revoluteJoint1.m_jointType = ePoint2PointType;
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b3JointInfo revoluteJoint2;
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revoluteJoint2.m_parentFrame[0] = 0.055;
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revoluteJoint2.m_parentFrame[1] = 0;
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revoluteJoint2.m_parentFrame[2] = 0.02;
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revoluteJoint2.m_parentFrame[3] = 0;
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revoluteJoint2.m_parentFrame[4] = 0;
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revoluteJoint2.m_parentFrame[5] = 0;
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revoluteJoint2.m_parentFrame[6] = 1.0;
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revoluteJoint2.m_childFrame[0] = 0;
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revoluteJoint2.m_childFrame[1] = 0;
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revoluteJoint2.m_childFrame[2] = 0;
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revoluteJoint2.m_childFrame[3] = 0;
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revoluteJoint2.m_childFrame[4] = 0;
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revoluteJoint2.m_childFrame[5] = 0;
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revoluteJoint2.m_childFrame[6] = 1.0;
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revoluteJoint2.m_jointAxis[0] = 1.0;
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revoluteJoint2.m_jointAxis[1] = 0.0;
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revoluteJoint2.m_jointAxis[2] = 0.0;
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revoluteJoint2.m_jointType = ePoint2PointType;
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m_robotSim.createConstraint(1, 2, 1, 4, &revoluteJoint1);
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m_robotSim.createConstraint(1, 3, 1, 6, &revoluteJoint2);
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}
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if ((m_options & eGRASP_SOFT_BODY) != 0)
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{
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{
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SliderParams slider("Vertical velocity", &sGripperVerticalVelocity);
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slider.m_minVal = -2;
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slider.m_maxVal = 2;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
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slider.m_minVal = -1;
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slider.m_maxVal = 1;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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b3RobotSimulatorLoadFileResults results;
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m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", results);
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if (results.m_uniqueObjectIds.size() == 1)
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{
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m_gripperIndex = results.m_uniqueObjectIds[0];
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int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
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b3Printf("numJoints = %d", numJoints);
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for (int i = 0; i < numJoints; i++)
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{
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b3JointInfo jointInfo;
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m_robotSim.getJointInfo(m_gripperIndex, i, &jointInfo);
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b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
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}
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for (int i = 0; i < 8; i++)
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{
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_maxTorqueValue = 0.0;
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m_robotSim.setJointMotorControl(m_gripperIndex, i, controlArgs);
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}
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}
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}
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0, 0, -0.2);
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args.m_startOrientation.setEulerZYX(0, 0, 0);
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m_robotSim.loadURDF("plane.urdf", args);
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}
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m_robotSim.setGravity(btVector3(0, 0, -10));
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m_robotSim.loadSoftBody("bunny.obj", 0.1, 0.1, 0.02);
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b3JointInfo revoluteJoint1;
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revoluteJoint1.m_parentFrame[0] = -0.055;
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revoluteJoint1.m_parentFrame[1] = 0;
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revoluteJoint1.m_parentFrame[2] = 0.02;
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revoluteJoint1.m_parentFrame[3] = 0;
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revoluteJoint1.m_parentFrame[4] = 0;
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revoluteJoint1.m_parentFrame[5] = 0;
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revoluteJoint1.m_parentFrame[6] = 1.0;
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revoluteJoint1.m_childFrame[0] = 0;
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revoluteJoint1.m_childFrame[1] = 0;
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revoluteJoint1.m_childFrame[2] = 0;
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revoluteJoint1.m_childFrame[3] = 0;
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revoluteJoint1.m_childFrame[4] = 0;
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revoluteJoint1.m_childFrame[5] = 0;
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revoluteJoint1.m_childFrame[6] = 1.0;
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revoluteJoint1.m_jointAxis[0] = 1.0;
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revoluteJoint1.m_jointAxis[1] = 0.0;
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revoluteJoint1.m_jointAxis[2] = 0.0;
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revoluteJoint1.m_jointType = ePoint2PointType;
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b3JointInfo revoluteJoint2;
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revoluteJoint2.m_parentFrame[0] = 0.055;
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revoluteJoint2.m_parentFrame[1] = 0;
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revoluteJoint2.m_parentFrame[2] = 0.02;
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revoluteJoint2.m_parentFrame[3] = 0;
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revoluteJoint2.m_parentFrame[4] = 0;
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revoluteJoint2.m_parentFrame[5] = 0;
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revoluteJoint2.m_parentFrame[6] = 1.0;
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revoluteJoint2.m_childFrame[0] = 0;
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revoluteJoint2.m_childFrame[1] = 0;
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revoluteJoint2.m_childFrame[2] = 0;
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revoluteJoint2.m_childFrame[3] = 0;
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revoluteJoint2.m_childFrame[4] = 0;
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revoluteJoint2.m_childFrame[5] = 0;
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revoluteJoint2.m_childFrame[6] = 1.0;
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revoluteJoint2.m_jointAxis[0] = 1.0;
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revoluteJoint2.m_jointAxis[1] = 0.0;
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revoluteJoint2.m_jointAxis[2] = 0.0;
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revoluteJoint2.m_jointType = ePoint2PointType;
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m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1);
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m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2);
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}
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if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0)
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{
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(-0.5, 0, 0.1);
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args.m_startOrientation.setEulerZYX(0, 0, 0);
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args.m_forceOverrideFixedBase = true;
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args.m_useMultiBody = true;
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int kukaId = m_robotSim.loadURDF("kuka_iiwa/model.urdf", args);
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int numJoints = m_robotSim.getNumJoints(kukaId);
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b3Printf("numJoints = %d", numJoints);
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for (int i = 0; i < numJoints; i++)
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{
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b3JointInfo jointInfo;
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m_robotSim.getJointInfo(kukaId, i, &jointInfo);
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b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_maxTorqueValue = 500.0;
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m_robotSim.setJointMotorControl(kukaId, i, controlArgs);
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}
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}
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0, 0, 0);
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args.m_startOrientation.setEulerZYX(0, 0, 0);
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args.m_forceOverrideFixedBase = true;
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args.m_useMultiBody = false;
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m_robotSim.loadURDF("plane.urdf", args);
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}
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m_robotSim.setGravity(btVector3(0, 0, -10));
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m_robotSim.loadSoftBody("bunny.obj", 0.3, 10.0, 0.1);
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}
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}
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virtual void exitPhysics()
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{
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m_robotSim.disconnect();
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}
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virtual void stepSimulation(float deltaTime)
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{
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if ((m_options & eGRIPPER_GRASP) != 0)
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{
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if ((m_gripperIndex >= 0))
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{
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int fingerJointIndices[3] = {0, 1, 3};
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double fingerTargetVelocities[3] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity, -sGripperClosingTargetVelocity};
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double maxTorqueValues[3] = {40.0, 50.0, 50.0};
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for (int i = 0; i < 3; i++)
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{
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = fingerTargetVelocities[i];
|
|
controlArgs.m_maxTorqueValue = maxTorqueValues[i];
|
|
controlArgs.m_kd = 1.;
|
|
m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
|
|
}
|
|
}
|
|
}
|
|
|
|
if ((m_options & eONE_MOTOR_GRASP) != 0)
|
|
{
|
|
int fingerJointIndices[2] = {0, 1};
|
|
double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
|
|
double maxTorqueValues[2] = {800.0, 800.0};
|
|
for (int i = 0; i < 2; i++)
|
|
{
|
|
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
|
controlArgs.m_targetVelocity = fingerTargetVelocities[i];
|
|
controlArgs.m_maxTorqueValue = maxTorqueValues[i];
|
|
controlArgs.m_kd = 1.;
|
|
m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
|
|
}
|
|
}
|
|
|
|
if ((m_options & eGRASP_SOFT_BODY) != 0)
|
|
{
|
|
int fingerJointIndices[2] = {0, 1};
|
|
double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
|
|
double maxTorqueValues[2] = {50.0, 10.0};
|
|
for (int i = 0; i < 2; i++)
|
|
{
|
|
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
|
controlArgs.m_targetVelocity = fingerTargetVelocities[i];
|
|
controlArgs.m_maxTorqueValue = maxTorqueValues[i];
|
|
controlArgs.m_kd = 1.;
|
|
m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
|
|
}
|
|
}
|
|
|
|
if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0)
|
|
{
|
|
float dt = deltaTime;
|
|
btClamp(dt, 0.0001f, 0.01f);
|
|
|
|
m_time += dt;
|
|
m_targetPos.setValue(0, 0, 0.5 + 0.2 * b3Cos(m_time));
|
|
m_targetOri.setValue(0, 1.0, 0, 0);
|
|
|
|
int numJoints = m_robotSim.getNumJoints(0);
|
|
|
|
if (numJoints == 7)
|
|
{
|
|
double q_current[7] = {0, 0, 0, 0, 0, 0, 0};
|
|
|
|
b3JointStates2 jointStates;
|
|
|
|
if (m_robotSim.getJointStates(0, jointStates))
|
|
{
|
|
//skip the base positions (7 values)
|
|
b3Assert(7 + numJoints == jointStates.m_numDegreeOfFreedomQ);
|
|
for (int i = 0; i < numJoints; i++)
|
|
{
|
|
q_current[i] = jointStates.m_actualStateQ[i + 7];
|
|
}
|
|
}
|
|
// compute body position and orientation
|
|
b3LinkState linkState;
|
|
bool computeVelocity = true;
|
|
bool computeForwardKinematics = true;
|
|
m_robotSim.getLinkState(0, 6, computeVelocity, computeForwardKinematics, &linkState);
|
|
|
|
m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
|
|
m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);
|
|
|
|
b3Vector3DoubleData targetPosDataOut;
|
|
m_targetPos.serializeDouble(targetPosDataOut);
|
|
b3Vector3DoubleData worldPosDataOut;
|
|
m_worldPos.serializeDouble(worldPosDataOut);
|
|
b3Vector3DoubleData targetOriDataOut;
|
|
m_targetOri.serializeDouble(targetOriDataOut);
|
|
b3Vector3DoubleData worldOriDataOut;
|
|
m_worldOri.serializeDouble(worldOriDataOut);
|
|
|
|
b3RobotSimulatorInverseKinematicArgs ikargs;
|
|
b3RobotSimulatorInverseKinematicsResults ikresults;
|
|
|
|
ikargs.m_bodyUniqueId = 0;
|
|
// ikargs.m_currentJointPositions = q_current;
|
|
// ikargs.m_numPositions = 7;
|
|
ikargs.m_endEffectorTargetPosition[0] = targetPosDataOut.m_floats[0];
|
|
ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
|
|
ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
|
|
|
|
ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION /* + B3_HAS_NULL_SPACE_VELOCITY*/;
|
|
|
|
ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
|
|
ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
|
|
ikargs.m_endEffectorTargetOrientation[2] = targetOriDataOut.m_floats[2];
|
|
ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
|
|
ikargs.m_endEffectorLinkIndex = 6;
|
|
|
|
// Settings based on default KUKA arm setting
|
|
ikargs.m_lowerLimits.resize(numJoints);
|
|
ikargs.m_upperLimits.resize(numJoints);
|
|
ikargs.m_jointRanges.resize(numJoints);
|
|
ikargs.m_restPoses.resize(numJoints);
|
|
ikargs.m_lowerLimits[0] = -2.32;
|
|
ikargs.m_lowerLimits[1] = -1.6;
|
|
ikargs.m_lowerLimits[2] = -2.32;
|
|
ikargs.m_lowerLimits[3] = -1.6;
|
|
ikargs.m_lowerLimits[4] = -2.32;
|
|
ikargs.m_lowerLimits[5] = -1.6;
|
|
ikargs.m_lowerLimits[6] = -2.4;
|
|
ikargs.m_upperLimits[0] = 2.32;
|
|
ikargs.m_upperLimits[1] = 1.6;
|
|
ikargs.m_upperLimits[2] = 2.32;
|
|
ikargs.m_upperLimits[3] = 1.6;
|
|
ikargs.m_upperLimits[4] = 2.32;
|
|
ikargs.m_upperLimits[5] = 1.6;
|
|
ikargs.m_upperLimits[6] = 2.4;
|
|
ikargs.m_jointRanges[0] = 5.8;
|
|
ikargs.m_jointRanges[1] = 4;
|
|
ikargs.m_jointRanges[2] = 5.8;
|
|
ikargs.m_jointRanges[3] = 4;
|
|
ikargs.m_jointRanges[4] = 5.8;
|
|
ikargs.m_jointRanges[5] = 4;
|
|
ikargs.m_jointRanges[6] = 6;
|
|
ikargs.m_restPoses[0] = 0;
|
|
ikargs.m_restPoses[1] = 0;
|
|
ikargs.m_restPoses[2] = 0;
|
|
ikargs.m_restPoses[3] = SIMD_HALF_PI;
|
|
ikargs.m_restPoses[4] = 0;
|
|
ikargs.m_restPoses[5] = -SIMD_HALF_PI * 0.66;
|
|
ikargs.m_restPoses[6] = 0;
|
|
ikargs.m_numDegreeOfFreedom = numJoints;
|
|
|
|
if (m_robotSim.calculateInverseKinematics(ikargs, ikresults))
|
|
{
|
|
//copy the IK result to the desired state of the motor/actuator
|
|
for (int i = 0; i < numJoints; i++)
|
|
{
|
|
b3RobotSimulatorJointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
|
|
t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
|
|
t.m_maxTorqueValue = 100.0;
|
|
t.m_kp = 1.0;
|
|
t.m_targetVelocity = 0;
|
|
t.m_kd = 1.0;
|
|
m_robotSim.setJointMotorControl(0, i, t);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
m_robotSim.stepSimulation();
|
|
}
|
|
virtual void renderScene()
|
|
{
|
|
m_robotSim.renderScene();
|
|
|
|
//m_app->m_renderer->renderScene();
|
|
}
|
|
|
|
virtual bool mouseMoveCallback(float x, float y)
|
|
{
|
|
return m_robotSim.mouseMoveCallback(x, y);
|
|
}
|
|
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
|
{
|
|
return m_robotSim.mouseButtonCallback(button, state, x, y);
|
|
}
|
|
virtual bool keyboardCallback(int key, int state)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
virtual void resetCamera()
|
|
{
|
|
float dist = 1.5;
|
|
float pitch = -10;
|
|
float yaw = 18;
|
|
float targetPos[3] = {-0.2, 0.8, 0.3};
|
|
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
|
|
{
|
|
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
|
|
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
|
|
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
|
|
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
|
|
}
|
|
}
|
|
};
|
|
|
|
class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
return new GripperGraspExample(options.m_guiHelper, options.m_option);
|
|
}
|