mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
320 lines
10 KiB
C++
320 lines
10 KiB
C++
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#include "KukaGraspExample.h"
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#include "../SharedMemory/IKTrajectoryHelper.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 <string>
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#include "b3RobotSimAPI.h"
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#include "../Utils/b3Clock.h"
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///quick demo showing the right-handed coordinate system and positive rotations around each axis
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class KukaGraspExample : public CommonExampleInterface
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{
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CommonGraphicsApp* m_app;
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GUIHelperInterface* m_guiHelper;
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b3RobotSimAPI m_robotSim;
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int m_kukaIndex;
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IKTrajectoryHelper m_ikHelper;
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int m_targetSphereInstance;
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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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double m_time;
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int m_options;
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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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KukaGraspExample(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_kukaIndex(-1),
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m_time(0)
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{
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m_targetPos.setValue(0.5,0,1);
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m_worldPos.setValue(0, 0, 0);
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m_app->setUpAxis(2);
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}
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virtual ~KukaGraspExample()
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{
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m_app->m_renderer->enableBlend(false);
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}
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virtual void physicsDebugDraw(int debugDrawMode)
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{
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}
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virtual void initPhysics()
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{
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///create some graphics proxy for the tracking target
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///the endeffector tries to track it using Inverse Kinematics
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{
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int sphereId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_MEDIUM);
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b3Quaternion orn(0, 0, 0, 1);
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b3Vector4 color = b3MakeVector4(1., 0.3, 0.3, 1);
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b3Vector3 scaling = b3MakeVector3(.02, .02, .02);
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m_targetSphereInstance = m_app->m_renderer->registerGraphicsInstance(sphereId, m_targetPos, orn, color, scaling);
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}
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m_app->m_renderer->writeTransforms();
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bool connected = m_robotSim.connect(m_guiHelper);
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b3Printf("robotSim connected = %d",connected);
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "kuka_iiwa/model.urdf";
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args.m_startPosition.setValue(0,0,0);
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b3RobotSimLoadFileResults results;
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if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
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{
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m_kukaIndex = results.m_uniqueObjectIds[0];
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int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
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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_kukaIndex,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 wheelJointIndices[4]={2,3,6,7};
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int wheelTargetVelocities[4]={-10,-10,-10,-10};
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for (int i=0;i<4;i++)
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{
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b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = wheelTargetVelocities[i];
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controlArgs.m_maxTorqueValue = 1e30;
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m_robotSim.setJointMotorControl(m_kukaIndex,wheelJointIndices[i],controlArgs);
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}
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*/
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}
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if (0)
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "kiva_shelf/model.sdf";
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args.m_forceOverrideFixedBase = true;
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args.m_fileType = B3_SDF_FILE;
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args.m_startOrientation = b3Quaternion(0,0,0,1);
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b3RobotSimLoadFileResults results;
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m_robotSim.loadFile(args,results);
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}
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "plane.urdf";
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args.m_startPosition.setValue(0,0,0);
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args.m_forceOverrideFixedBase = true;
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b3RobotSimLoadFileResults results;
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m_robotSim.loadFile(args,results);
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m_robotSim.setGravity(b3MakeVector3(0,0,0));
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}
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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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float dt = deltaTime;
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btClamp(dt,0.0001f,0.01f);
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m_time+=dt;
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m_targetPos.setValue(0.4-0.4*b3Cos( m_time), 0, 0.8+0.4*b3Cos( m_time));
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m_targetOri.setValue(0, 1.0, 0, 0);
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int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
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if (numJoints==7)
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{
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double q_current[7]={0,0,0,0,0,0,0};
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double world_position[3]={0,0,0};
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double world_orientation[4]={0,0,0,0};
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b3JointStates jointStates;
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if (m_robotSim.getJointStates(m_kukaIndex,jointStates))
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{
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//skip the base positions (7 values)
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b3Assert(7+numJoints == jointStates.m_numDegreeOfFreedomQ);
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for (int i=0;i<numJoints;i++)
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{
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q_current[i] = jointStates.m_actualStateQ[i+7];
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}
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}
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// compute body position and orientation
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m_robotSim.getLinkState(0, 6, world_position, world_orientation);
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m_worldPos.setValue(world_position[0], world_position[1], world_position[2]);
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m_worldOri.setValue(world_orientation[0], world_orientation[1], world_orientation[2], world_orientation[3]);
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b3Vector3DoubleData targetPosDataOut;
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m_targetPos.serializeDouble(targetPosDataOut);
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b3Vector3DoubleData worldPosDataOut;
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m_worldPos.serializeDouble(worldPosDataOut);
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b3Vector3DoubleData targetOriDataOut;
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m_targetOri.serializeDouble(targetOriDataOut);
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b3Vector3DoubleData worldOriDataOut;
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m_worldOri.serializeDouble(worldOriDataOut);
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b3RobotSimInverseKinematicArgs ikargs;
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b3RobotSimInverseKinematicsResults ikresults;
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ikargs.m_bodyUniqueId = m_kukaIndex;
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// ikargs.m_currentJointPositions = q_current;
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// ikargs.m_numPositions = 7;
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ikargs.m_endEffectorTargetPosition[0] = targetPosDataOut.m_floats[0];
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ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
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ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
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ikargs.m_flags |= /*B3_HAS_IK_TARGET_ORIENTATION +*/ B3_HAS_NULL_SPACE_VELOCITY;
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ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
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ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
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ikargs.m_endEffectorTargetOrientation[2] = targetOriDataOut.m_floats[2];
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ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
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ikargs.m_endEffectorLinkIndex = 6;
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// Settings based on default KUKA arm setting
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ikargs.m_lowerLimits.resize(numJoints);
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ikargs.m_upperLimits.resize(numJoints);
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ikargs.m_jointRanges.resize(numJoints);
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ikargs.m_restPoses.resize(numJoints);
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ikargs.m_lowerLimits[0] = -2.32;
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ikargs.m_lowerLimits[1] = -1.6;
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ikargs.m_lowerLimits[2] = -2.32;
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ikargs.m_lowerLimits[3] = -1.6;
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ikargs.m_lowerLimits[4] = -2.32;
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ikargs.m_lowerLimits[5] = -1.6;
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ikargs.m_lowerLimits[6] = -2.4;
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ikargs.m_upperLimits[0] = 2.32;
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ikargs.m_upperLimits[1] = 1.6;
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ikargs.m_upperLimits[2] = 2.32;
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ikargs.m_upperLimits[3] = 1.6;
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ikargs.m_upperLimits[4] = 2.32;
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ikargs.m_upperLimits[5] = 1.6;
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ikargs.m_upperLimits[6] = 2.4;
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ikargs.m_jointRanges[0] = 5.8;
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ikargs.m_jointRanges[1] = 4;
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ikargs.m_jointRanges[2] = 5.8;
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ikargs.m_jointRanges[3] = 4;
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ikargs.m_jointRanges[4] = 5.8;
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ikargs.m_jointRanges[5] = 4;
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ikargs.m_jointRanges[6] = 6;
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ikargs.m_restPoses[0] = 0;
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ikargs.m_restPoses[1] = 0;
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ikargs.m_restPoses[2] = 0;
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ikargs.m_restPoses[3] = SIMD_HALF_PI;
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ikargs.m_restPoses[4] = 0;
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ikargs.m_restPoses[5] = -SIMD_HALF_PI*0.66;
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ikargs.m_restPoses[6] = 0;
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ikargs.m_numDegreeOfFreedom = numJoints;
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if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))
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{
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//copy the IK result to the desired state of the motor/actuator
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for (int i=0;i<numJoints;i++)
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{
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b3JointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
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t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
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t.m_maxTorqueValue = 100.0;
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t.m_kp= 1.0;
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t.m_targetVelocity = 0;
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t.m_kd = 1.0;
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m_robotSim.setJointMotorControl(m_kukaIndex,i,t);
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}
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}
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}
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//m_robotSim.stepSimulation();
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}
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virtual void renderScene()
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{
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m_robotSim.renderScene();
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b3Quaternion orn(0, 0, 0, 1);
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m_app->m_renderer->writeSingleInstanceTransformToCPU(m_targetPos, orn, m_targetSphereInstance);
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m_app->m_renderer->writeTransforms();
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//draw the end-effector target sphere
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//m_app->m_renderer->renderScene();
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}
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virtual void physicsDebugDraw()
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{
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}
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virtual bool mouseMoveCallback(float x,float y)
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{
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return false;
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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return false;
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}
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virtual bool keyboardCallback(int key, int state)
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{
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return false;
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}
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virtual void resetCamera()
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{
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float dist = 3;
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float pitch = 0;
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float yaw = 30;
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float targetPos[3]={-0.2,0.8,0.3};
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if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
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{
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m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
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m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
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m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
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m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
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}
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}
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};
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class CommonExampleInterface* KukaGraspExampleCreateFunc(struct CommonExampleOptions& options)
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{
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return new KukaGraspExample(options.m_guiHelper, options.m_option);
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}
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