Exemplo n.º 1
0
void ViewerTest::SetViewer(OpenRAVE::EnvironmentBasePtr &penv, const std::string &viewername)
{
    OpenRAVE::ViewerBasePtr viewer = OpenRAVE::RaveCreateViewer(penv, viewername);
    BOOST_ASSERT(!!viewer);
    // attach it to the environment:
    penv->Add(viewer);
    // finally call the viewer's infinite loop (this is why a separate thread is needed)
    bool showgui = true;
    viewer->main(showgui);
}
Exemplo n.º 2
0
    void run() {
        foldnodeplot.reset(new PlotPoints());
        env->add(foldnodeplot);
        folddirplot.reset(new PlotLines(3));
        env->add(folddirplot);
        pickplot.reset(new PlotSpheres());
        env->add(pickplot);
        pickedNode = NULL;

        leftManipAxes.reset(new PlotAxes);
        env->add(leftManipAxes);
        rightManipAxes.reset(new PlotAxes);
        env->add(rightManipAxes);

        // load the robot
        pr2m.reset(new PR2Manager(*this));
        if (FlatteningConfig::useFakeGripper) {
            TelekineticGripper::Ptr fakeLeft(new TelekineticGripper(pr2m->pr2Left));
            fakeLeft->setTransform(pr2m->pr2Left->getTransform());
            env->add(fakeLeft);
            gleft.reset(new GenManip(fakeLeft));

            TelekineticGripper::Ptr fakeRight(new TelekineticGripper(pr2m->pr2Right));
            fakeRight->setTransform(pr2m->pr2Right->getTransform());
            gright.reset(new GenManip(fakeRight));
            env->add(fakeRight);

            pr2m->pr2->setTransform(btTransform(btQuaternion::getIdentity(), btVector3(0, 0, -100))); // out of view

        } else {
            gleft.reset(new GenManip(pr2m->pr2Left));
            gright.reset(new GenManip(pr2m->pr2Right));
        }

        // create the table
        const float table_height = .5;
        const float table_thickness = .05;
        tableExtents = GeneralConfig::scale * btVector3(.75,.75,table_thickness/2);
        tableTrans = btTransform(btQuaternion(0, 0, 0, 1), GeneralConfig::scale * btVector3(0.8, 0, table_height-table_thickness/2));
        BoxObject::Ptr table(new BoxObject(0, tableExtents, tableTrans));
        table->rigidBody->setFriction(0.1);
        env->add(table);
        cout << "table margin: " << table->rigidBody->getCollisionShape()->getMargin() << endl;

        // put the table in openrave
        /*
        OpenRAVE::KinBodyPtr raveTable = OpenRAVE::RaveCreateKinBody(rave->env);
        raveTable->SetName("table");
        vector<OpenRAVE::AABB> v;
        v.push_back(OpenRAVE::AABB(util::toRaveTransform(table_trans, 1./pr2m->pr2->scale).trans, 1./pr2m->pr2->scale * util::toRaveVector(table_extents)));
        raveTable->InitFromBoxes(v, true);
        rave->env->AddKinBody(raveTable);
        */

#if 0
        OpenRAVE::ViewerBasePtr raveViewer = OpenRAVE::RaveCreateViewer(rave->env, "qtcoin");
        rave->env->AddViewer(raveViewer);
        raveViewer->main(true);
#endif

        const int resx = 45, resy = 31;
//        const btScalar lenx = GeneralConfig::scale * 0.7, leny = GeneralConfig::scale * 0.5;
        const btScalar lenx = GeneralConfig::scale * 0.7/2, leny = GeneralConfig::scale * 0.5/2;
//        const btVector3 clothcenter = GeneralConfig::scale * btVector3(0.5, 0, table_height+0.01);
        const btVector3 clothcenter = GeneralConfig::scale * btVector3(0.3, 0.1, table_height+0.01);
//        cloth = makeSelfCollidingTowel(clothcenter, lenx, leny, resx, resy, env->bullet->softBodyWorldInfo);
        cloth.reset(new Cloth(resx, resy, lenx, leny, clothcenter, env->bullet->softBodyWorldInfo));
        env->add(cloth);

        facepicker.reset(new SoftBodyFacePicker(*this, viewer.getCamera(), cloth->softBody.get()));
        facepicker->setPickCallback(boost::bind(&CustomScene::pickCallback, this, _1));

        sbgripperleft.reset(new GenPR2SoftGripper(pr2m->pr2, gleft, true));
        sbgripperleft->setGrabOnlyOnContact(true);
        sbgripperleft->setTarget(cloth);

        GenPR2SoftGripperAction leftAction(pr2m->pr2, gleft->baseManip()->manip, sbgripperleft);
        leftAction.setTarget(cloth);
        leftAction.setExecTime(1.);
        addVoidKeyCallback('a', boost::bind(&CustomScene::runGripperAction, this, leftAction));
        addVoidKeyCallback('c', boost::bind(&CustomScene::graspPickedNode, this));
        addVoidKeyCallback('f', boost::bind(&CustomScene::greedyFlattenSingle, this));
        addVoidKeyCallback('F', boost::bind(&CustomScene::deepFlattenSingle, this));
        addVoidKeyCallback('g', boost::bind(&CustomScene::liftCloth, this));

        addPreDrawCallback(boost::bind(&CustomScene::markFolds, this));
        addPreDrawCallback(boost::bind(&CustomScene::drawPick, this));
        addPreDrawCallback(boost::bind(&CustomScene::drawManipAxes, this));
        addPreDrawCallback(boost::bind(&GenPR2SoftGripper::dbgDraw, sbgripperleft.get(), this));

        startViewer();
        startFixedTimestepLoop(BulletConfig::dt);
    }