void prepareControlCommand(b3SharedMemoryCommandHandle commandHandle)
{
for (int i=0;i<m_numMotors;i++)
{
btScalar targetPos = m_motorTargetPositions[i].m_posTarget;
int qIndex = m_motorTargetPositions[i].m_qIndex;
int uIndex = m_motorTargetPositions[i].m_uIndex;
b3JointControlSetDesiredPosition(commandHandle, qIndex, targetPos);
b3JointControlSetKp(commandHandle, uIndex, 0.1);
b3JointControlSetMaximumForce(commandHandle,uIndex,1000);
}
}
void prepareControlCommand(b3SharedMemoryCommandHandle commandHandle)
{
for (int i = 0; i < m_numMotors; i++)
{
btScalar targetPos = m_motorTargetPositions[i].m_posTarget;
int qIndex = m_motorTargetPositions[i].m_qIndex;
int uIndex = m_motorTargetPositions[i].m_uIndex;
static int serial = 0;
serial++;
// b3Printf("# motors = %d, cmd[%d] qIndex = %d, uIndex = %d, targetPos = %f", m_numMotors, serial, qIndex,uIndex,targetPos);
b3JointControlSetDesiredPosition(commandHandle, qIndex, targetPos);
b3JointControlSetDesiredVelocity(commandHandle, uIndex, 0);
b3JointControlSetKp(commandHandle, qIndex, 0.2);
b3JointControlSetKd(commandHandle, uIndex, 1.);
b3JointControlSetMaximumForce(commandHandle, uIndex, 5000);
}
}
B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass*)context->m_userPointer;
if (obj && obj->m_controllerId >= 0)
{
{
int i = 0;
{
for (int n = 0; n < context->m_numVRControllerEvents; n++)
{
const b3VRControllerEvent& event = context->m_vrControllerEvents[n];
if (event.m_controllerId == obj->m_controllerId)
{
if (obj->m_constraintId >= 0)
{
struct b3UserConstraint constraintInfo;
if (b3GetUserConstraintInfo(context->m_physClient, obj->m_constraintId, &constraintInfo))
{
//this is basically equivalent to doing this in Python/pybullet:
//p.changeConstraint(pr2_cid, e[POSITION], e[ORIENTATION], maxForce=...)
b3SharedMemoryCommandHandle commandHandle;
int userConstraintUniqueId = obj->m_constraintId;
commandHandle = b3InitChangeUserConstraintCommand(context->m_physClient, userConstraintUniqueId);
double pos[4] = {event.m_pos[0], event.m_pos[1], event.m_pos[2], 1};
b3InitChangeUserConstraintSetPivotInB(commandHandle, pos);
double orn[4] = {event.m_orn[0], event.m_orn[1], event.m_orn[2], event.m_orn[3]};
b3InitChangeUserConstraintSetFrameInB(commandHandle, orn);
b3InitChangeUserConstraintSetMaxForce(commandHandle, obj->m_maxForce);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
}
}
// apply the analogue button to close the constraint, using a gear constraint with position target
if (obj->m_constraintId2 >= 0)
{
struct b3UserConstraint constraintInfo;
if (b3GetUserConstraintInfo(context->m_physClient, obj->m_constraintId2, &constraintInfo))
{
//this block is similar to
//p.changeConstraint(c,gearRatio=1, erp=..., relativePositionTarget=relPosTarget, maxForce=...)
//printf("obj->m_constraintId2=%d\n", obj->m_constraintId2);
b3SharedMemoryCommandHandle commandHandle;
commandHandle = b3InitChangeUserConstraintCommand(context->m_physClient, obj->m_constraintId2);
//0 -> open, 1 = closed
double openPos = 1.;
double relPosTarget = openPos - (event.m_analogAxis * openPos);
b3InitChangeUserConstraintSetRelativePositionTarget(commandHandle, relPosTarget);
b3InitChangeUserConstraintSetERP(commandHandle, 1);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
}
}
//printf("event.m_analogAxis=%f\n", event.m_analogAxis);
// use the pr2_gripper motors to keep the gripper centered/symmetric around the center axis
if (obj->m_gripperId >= 0)
{
//this block is similar to
//b = p.getJointState(pr2_gripper,2)[0]
//print("b = " + str(b))
//p.setJointMotorControl2(pr2_gripper, 0, p.POSITION_CONTROL, targetPosition=b, force=3)
//printf("obj->m_gripperId=%d\n", obj->m_gripperId);
{
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(context->m_physClient, obj->m_gripperId);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(context->m_physClient, cmd_handle);
int status_type = b3GetStatusType(status_handle);
if (status_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
//printf("status_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED\n");
b3JointSensorState sensorState;
if (b3GetJointState(context->m_physClient, status_handle, 2, &sensorState))
{
b3SharedMemoryCommandHandle commandHandle;
double targetPosition = sensorState.m_jointPosition;
//printf("targetPosition =%f\n", targetPosition);
if (1)
{
b3JointInfo info;
b3GetJointInfo(context->m_physClient, obj->m_gripperId, 0, &info);
commandHandle = b3JointControlCommandInit2(context->m_physClient, obj->m_gripperId, CONTROL_MODE_POSITION_VELOCITY_PD);
double kp = .1;
double targetVelocity = 0;
double kd = .6;
b3JointControlSetDesiredPosition(commandHandle, info.m_qIndex, targetPosition);
b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetVelocity);
b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, obj->m_maxForce2);
b3SubmitClientCommandAndWaitStatus(context->m_physClient, cmd_handle);
}
}
else
{
//printf("???\n");
}
}
else
{
//printf("no\n");
}
}
}
}
}
}
}
}
return 0;
}
