virtual void stepSimulation(float deltaTime)
{
if ((m_options & eGRIPPER_GRASP)!=0)
{
if ((m_gripperIndex>=0))
{
int fingerJointIndices[3]={0,1,3};
double fingerTargetVelocities[3]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
,-sGripperClosingTargetVelocity
};
double maxTorqueValues[3]={40.0,50.0,50.0};
for (int i=0;i<3;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 & 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);
}
}
m_robotSim.stepSimulation();
}
virtual void renderScene()
{
m_robotSim.renderScene();
//m_app->m_renderer->renderScene();
}
virtual void initPhysics()
{
///create some graphics proxy for the tracking target
///the endeffector tries to track it using Inverse Kinematics
{
int sphereId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_MEDIUM);
b3Quaternion orn(0, 0, 0, 1);
b3Vector4 color = b3MakeVector4(1., 0.3, 0.3, 1);
b3Vector3 scaling = b3MakeVector3(.02, .02, .02);
m_targetSphereInstance = m_app->m_renderer->registerGraphicsInstance(sphereId, m_targetPos, orn, color, scaling);
}
m_app->m_renderer->writeTransforms();
int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
m_robotSim.setGuiHelper(m_guiHelper);
bool connected = m_robotSim.connect(mode);
// 0;//m_robotSim.connect(m_guiHelper);
b3Printf("robotSim connected = %d",connected);
{
m_kukaIndex = m_robotSim.loadURDF("kuka_iiwa/model.urdf");
if (m_kukaIndex >=0)
{
int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(m_kukaIndex,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
}
/*
int wheelJointIndices[4]={2,3,6,7};
int wheelTargetVelocities[4]={-10,-10,-10,-10};
for (int i=0;i<4;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = wheelTargetVelocities[i];
controlArgs.m_maxTorqueValue = 1e30;
m_robotSim.setJointMotorControl(m_kukaIndex,wheelJointIndices[i],controlArgs);
}
*/
}
{
m_robotSim.loadURDF("plane.urdf");
m_robotSim.setGravity(b3MakeVector3(0,0,0));
}
}
}
virtual void renderScene()
{
m_robotSim.renderScene();
b3Quaternion orn(0, 0, 0, 1);
m_app->m_renderer->writeSingleInstanceTransformToCPU(m_targetPos, orn, m_targetSphereInstance);
m_app->m_renderer->writeTransforms();
//draw the end-effector target sphere
//m_app->m_renderer->renderScene();
}
virtual void initPhysics()
{
int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
m_robotSim.setGuiHelper(m_guiHelper);
bool connected = m_robotSim.connect(mode);
b3Printf("robotSim connected = %d",connected);
if ((m_options & eGRIPPER_GRASP)!=0)
{
{
SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
slider.m_minVal=-2;
slider.m_maxVal=2;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
);
slider.m_minVal=-1;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0, 0, .107);
args.m_startOrientation.setEulerZYX(0, 0, 0);
args.m_useMultiBody = true;
m_robotSim.loadURDF("cube_small.urdf", args);
}
{
b3RobotSimulatorLoadFileResults results;
m_robotSim.loadSDF("gripper/wsg50_with_r2d2_gripper.sdf",results);
if (results.m_uniqueObjectIds.size()==1)
{
m_gripperIndex = results.m_uniqueObjectIds[0];
int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(m_gripperIndex,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
}
/*
int fingerJointIndices[2]={1,3};
double fingerTargetPositions[2]={-0.04,0.04};
for (int i=0;i<2;i++)
{
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
controlArgs.m_targetPosition = fingerTargetPositions[i];
controlArgs.m_kp = 5.0;
controlArgs.m_kd = 3.0;
controlArgs.m_maxTorqueValue = 1.0;
m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
}
*/
int fingerJointIndices[3]={0,1,3};
double fingerTargetVelocities[3]={-0.2,.5,-.5};
double maxTorqueValues[3]={40.0,50.0,50.0};
for (int i=0;i<3;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 (1)
{
m_robotSim.loadURDF("plane.urdf");
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.setNumSimulationSubSteps(4);
}
if ((m_options & eTWO_POINT_GRASP)!=0)
{
{
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0, 0, .107);
m_robotSim.loadURDF("cube_small.urdf", args);
}
{
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0.068, 0.02, 0.11);
m_robotSim.loadURDF("cube_gripper_left.urdf", args);
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = -0.1;
controlArgs.m_maxTorqueValue = 10.0;
controlArgs.m_kd = 1.;
m_robotSim.setJointMotorControl(1,0,controlArgs);
}
{
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(-0.068, 0.02, 0.11);
m_robotSim.loadURDF("cube_gripper_right.urdf", args);
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = 0.1;
controlArgs.m_maxTorqueValue = 10.0;
controlArgs.m_kd = 1.;
m_robotSim.setJointMotorControl(2,0,controlArgs);
}
if (1)
{
m_robotSim.loadURDF("plane.urdf");
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.setNumSimulationSubSteps(4);
}
if ((m_options & eONE_MOTOR_GRASP)!=0)
{
m_robotSim.setNumSolverIterations(150);
{
SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
slider.m_minVal=-2;
slider.m_maxVal=2;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
);
slider.m_minVal=-1;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0, -0.2, .47);
args.m_startOrientation.setEulerZYX(SIMD_HALF_PI, 0, 0);
m_robotSim.loadURDF("dinnerware/pan_tefal.urdf", args);
}
{
b3RobotSimulatorLoadFileResults args;
b3RobotSimulatorLoadFileResults results;
m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf",results);
if (results.m_uniqueObjectIds.size()==1)
{
m_gripperIndex = results.m_uniqueObjectIds[0];
int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(m_gripperIndex,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
}
for (int i=0;i<8;i++)
{
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_maxTorqueValue = 0.0;
m_robotSim.setJointMotorControl(m_gripperIndex,i,controlArgs);
}
}
}
if (1)
{
m_robotSim.loadURDF("plane.urdf");
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055;
revoluteJoint1.m_parentFrame[1] = 0;
revoluteJoint1.m_parentFrame[2] = 0.02;
revoluteJoint1.m_parentFrame[3] = 0;
revoluteJoint1.m_parentFrame[4] = 0;
revoluteJoint1.m_parentFrame[5] = 0;
revoluteJoint1.m_parentFrame[6] = 1.0;
revoluteJoint1.m_childFrame[0] = 0;
revoluteJoint1.m_childFrame[1] = 0;
revoluteJoint1.m_childFrame[2] = 0;
revoluteJoint1.m_childFrame[3] = 0;
revoluteJoint1.m_childFrame[4] = 0;
revoluteJoint1.m_childFrame[5] = 0;
revoluteJoint1.m_childFrame[6] = 1.0;
revoluteJoint1.m_jointAxis[0] = 1.0;
revoluteJoint1.m_jointAxis[1] = 0.0;
revoluteJoint1.m_jointAxis[2] = 0.0;
revoluteJoint1.m_jointType = ePoint2PointType;
b3JointInfo revoluteJoint2;
revoluteJoint2.m_parentFrame[0] = 0.055;
revoluteJoint2.m_parentFrame[1] = 0;
revoluteJoint2.m_parentFrame[2] = 0.02;
revoluteJoint2.m_parentFrame[3] = 0;
revoluteJoint2.m_parentFrame[4] = 0;
revoluteJoint2.m_parentFrame[5] = 0;
revoluteJoint2.m_parentFrame[6] = 1.0;
revoluteJoint2.m_childFrame[0] = 0;
revoluteJoint2.m_childFrame[1] = 0;
revoluteJoint2.m_childFrame[2] = 0;
revoluteJoint2.m_childFrame[3] = 0;
revoluteJoint2.m_childFrame[4] = 0;
revoluteJoint2.m_childFrame[5] = 0;
revoluteJoint2.m_childFrame[6] = 1.0;
revoluteJoint2.m_jointAxis[0] = 1.0;
revoluteJoint2.m_jointAxis[1] = 0.0;
revoluteJoint2.m_jointAxis[2] = 0.0;
revoluteJoint2.m_jointType = ePoint2PointType;
m_robotSim.createConstraint(1, 2, 1, 4, &revoluteJoint1);
m_robotSim.createConstraint(1, 3, 1, 6, &revoluteJoint2);
}
if ((m_options & eGRASP_SOFT_BODY)!=0)
{
{
SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
slider.m_minVal=-2;
slider.m_maxVal=2;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
);
slider.m_minVal=-1;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
b3RobotSimulatorLoadFileResults results;
m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf",results);
if (results.m_uniqueObjectIds.size()==1)
{
m_gripperIndex = results.m_uniqueObjectIds[0];
int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(m_gripperIndex,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
}
for (int i=0;i<8;i++)
{
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_maxTorqueValue = 0.0;
m_robotSim.setJointMotorControl(m_gripperIndex,i,controlArgs);
}
}
}
{
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0,0,-0.2);
args.m_startOrientation.setEulerZYX(0,0,0);
m_robotSim.loadURDF("plane.urdf", args);
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.loadBunny(0.1,0.1,0.02);
b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055;
revoluteJoint1.m_parentFrame[1] = 0;
revoluteJoint1.m_parentFrame[2] = 0.02;
revoluteJoint1.m_parentFrame[3] = 0;
revoluteJoint1.m_parentFrame[4] = 0;
revoluteJoint1.m_parentFrame[5] = 0;
revoluteJoint1.m_parentFrame[6] = 1.0;
revoluteJoint1.m_childFrame[0] = 0;
revoluteJoint1.m_childFrame[1] = 0;
revoluteJoint1.m_childFrame[2] = 0;
revoluteJoint1.m_childFrame[3] = 0;
revoluteJoint1.m_childFrame[4] = 0;
revoluteJoint1.m_childFrame[5] = 0;
revoluteJoint1.m_childFrame[6] = 1.0;
revoluteJoint1.m_jointAxis[0] = 1.0;
revoluteJoint1.m_jointAxis[1] = 0.0;
revoluteJoint1.m_jointAxis[2] = 0.0;
revoluteJoint1.m_jointType = ePoint2PointType;
b3JointInfo revoluteJoint2;
revoluteJoint2.m_parentFrame[0] = 0.055;
revoluteJoint2.m_parentFrame[1] = 0;
revoluteJoint2.m_parentFrame[2] = 0.02;
revoluteJoint2.m_parentFrame[3] = 0;
revoluteJoint2.m_parentFrame[4] = 0;
revoluteJoint2.m_parentFrame[5] = 0;
revoluteJoint2.m_parentFrame[6] = 1.0;
revoluteJoint2.m_childFrame[0] = 0;
revoluteJoint2.m_childFrame[1] = 0;
revoluteJoint2.m_childFrame[2] = 0;
revoluteJoint2.m_childFrame[3] = 0;
revoluteJoint2.m_childFrame[4] = 0;
revoluteJoint2.m_childFrame[5] = 0;
revoluteJoint2.m_childFrame[6] = 1.0;
revoluteJoint2.m_jointAxis[0] = 1.0;
revoluteJoint2.m_jointAxis[1] = 0.0;
revoluteJoint2.m_jointAxis[2] = 0.0;
revoluteJoint2.m_jointType = ePoint2PointType;
m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1);
m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2);
}
if ((m_options & eSOFTBODY_MULTIBODY_COUPLING)!=0)
{
{
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0,1.0,2.0);
args.m_startOrientation.setEulerZYX(0,0,1.57);
args.m_forceOverrideFixedBase = false;
args.m_useMultiBody = true;
int kukaId = m_robotSim.loadURDF("kuka_iiwa/model_free_base.urdf", args);
int numJoints = m_robotSim.getNumJoints(kukaId);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(kukaId,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_maxTorqueValue = 0.0;
m_robotSim.setJointMotorControl(kukaId,i,controlArgs);
}
}
{
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0,0,0);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_forceOverrideFixedBase = true;
args.m_useMultiBody = false;
m_robotSim.loadURDF("plane.urdf", args);
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.loadBunny(0.5,10.0,0.1);
}
}
virtual void physicsDebugDraw(int debugDrawMode)
{
m_robotSim.debugDraw(debugDrawMode);
}
virtual bool mouseButtonCallback(int button, int state, float x, float y)
{
return m_robotSim.mouseButtonCallback(button,state,x,y);
}
virtual bool mouseMoveCallback(float x,float y)
{
return m_robotSim.mouseMoveCallback(x,y);
}
virtual void exitPhysics()
{
m_robotSim.disconnect();
}
virtual void stepSimulation(float deltaTime)
{
float dt = deltaTime;
btClamp(dt,0.0001f,0.01f);
m_time+=dt;
m_targetPos.setValue(0.4-0.4*b3Cos( m_time), 0, 0.8+0.4*b3Cos( m_time));
m_targetOri.setValue(0, 1.0, 0, 0);
m_targetPos.setValue(0.2*b3Cos( m_time), 0.2*b3Sin( m_time), 1.1);
int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
if (numJoints==7)
{
double q_current[7]={0,0,0,0,0,0,0};
b3JointStates2 jointStates;
if (m_robotSim.getJointStates(m_kukaIndex,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;
m_robotSim.getLinkState(0, 6, &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 = m_kukaIndex;
// 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;
ikargs.m_flags |= B3_HAS_JOINT_DAMPING;
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_jointDamping.resize(numJoints,0.5);
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_jointDamping[0] = 10.0;
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(m_kukaIndex,i,t);
}
}
}
m_robotSim.stepSimulation();
}
virtual void initPhysics()
{
int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
m_robotSim.setGuiHelper(m_guiHelper);
bool connected = m_robotSim.connect(mode);
b3Printf("robotSim connected = %d",connected);
if ((m_options & eROBOTIC_LEARN_GRASP)!=0)
{
{
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0,0,.5);
m_r2d2Index = m_robotSim.loadURDF("r2d2.urdf",args);
if (m_r2d2Index>=0)
{
int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(m_r2d2Index,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
}
int wheelJointIndices[4]={2,3,6,7};
int wheelTargetVelocities[4]={-10,-10,-10,-10};
for (int i=0;i<4;i++)
{
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = wheelTargetVelocities[i];
controlArgs.m_maxTorqueValue = 1e30;
m_robotSim.setJointMotorControl(m_r2d2Index,wheelJointIndices[i],controlArgs);
}
}
}
{
b3RobotSimulatorLoadFileResults results;
m_robotSim.loadSDF("kiva_shelf/model.sdf",results);
}
{
m_robotSim.loadURDF("plane.urdf");
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
}
if ((m_options & eROBOTIC_LEARN_COMPLIANT_CONTACT)!=0)
{
b3RobotSimulatorLoadUrdfFileArgs args;
b3RobotSimulatorLoadFileResults results;
{
args.m_startPosition.setValue(0,0,2.5);
args.m_startOrientation.setEulerZYX(0,0.2,0);
m_r2d2Index = m_robotSim.loadURDF("cube_soft.urdf",args);
}
{
args.m_startPosition.setValue(0,2,2.5);
args.m_startOrientation.setEulerZYX(0,0.2,0);
m_robotSim.loadURDF("cube_no_friction.urdf",args);
}
{
args.m_startPosition.setValue(0,0,0);
args.m_startOrientation.setEulerZYX(0,0.2,0);
args.m_forceOverrideFixedBase = true;
m_robotSim.loadURDF("plane.urdf",args);
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
}
if ((m_options & eROBOTIC_LEARN_ROLLING_FRICTION)!=0)
{
b3RobotSimulatorLoadUrdfFileArgs args;
b3RobotSimulatorLoadFileResults results;
{
args.m_startPosition.setValue(0,0,2.5);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = true;
m_robotSim.loadURDF("sphere2_rolling_friction.urdf",args);
}
{
args.m_startPosition.setValue(0,2,2.5);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = true;
m_robotSim.loadURDF("sphere2.urdf", args);
}
{
args.m_startPosition.setValue(0,0,0);
args.m_startOrientation.setEulerZYX(0,0.2,0);
args.m_useMultiBody = true;
args.m_forceOverrideFixedBase = true;
m_robotSim.loadURDF("plane.urdf", args);
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
}
}
virtual void stepSimulation(float deltaTime)
{
m_robotSim.stepSimulation();
}
