diff --git a/data/gripper/wsg50_one_motor_gripper_new.sdf b/data/gripper/wsg50_one_motor_gripper_new.sdf new file mode 100644 index 000000000..4e703d668 --- /dev/null +++ b/data/gripper/wsg50_one_motor_gripper_new.sdf @@ -0,0 +1,400 @@ + + + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.1 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + world + base_link + + 0 0 1 + + -0.0001 + 0.0001 + 1 + 1 + + + 0 + 0 + 0 + 0 + + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 1.2 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/WSG50_110.stl + + + + + + + + + + + 0 0 0.03 0 0 0 + + 0 0 0 0 0 0 + 0.1 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + 0 0 0.01 0 0 0 + + + 0.02 0.02 0.02 + + + + + + + motor + base_link + + 0 0 1 + + -0.055 + 0.001 + 10.0 + 10.0 + + + 0 + 0 + 0 + 0 + + + + + + 0 0 0.04 0 0 0 + + 0 0 0.035 0 0 0 + 0.1 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + -0.03 0 0.01 0 -1.2 0 + + + 0.02 0.02 0.07 + + + + + + + left_hinge + motor + + 0 1 0 + + -20.0 + 20.0 + 10 + 10 + + + 0 + 0 + 0 + 0 + + 0 + + + + + 0 0 0.04 0 0 0 + + 0 0 0.035 0 0 0 + 0.1 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + 0.03 0 0.01 0 1.2 0 + + + 0.02 0.02 0.07 + + + + + + + right_hinge + motor + + 0 1 0 + + -20.0 + 20.0 + 10 + 10 + + + 0 + 0 + 0 + 0 + + 0 + + + + + -0.055 0 0.06 0 -0 0 + + 0 0 0.0115 0 -0 0 + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + 0 0 -0.06 0 0 0 + + + 0.001 0.001 0.001 + meshes/GUIDE_WSG50_110.stl + + + + + 0 0 -0.037 0 0 0 + + + 0.001 0.001 0.001 + meshes/WSG-FMF.stl + + + + + + + + gripper_left + left_hinge + + 0 1 0 + + -1.0 + 1.0 + 10 + 10 + + + 0.01 + 0 + 0 + 0 + + 0 + + + + + 0.055 0 0.06 0 0 3.14159 + + 0 0 0.0115 0 -0 0 + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + 0 0 -0.06 0 0 0 + + + 0.001 0.001 0.001 + meshes/GUIDE_WSG50_110.stl + + + + + 0 0 -0.037 0 0 0 + + + 0.001 0.001 0.001 + meshes/WSG-FMF.stl + + + + + + + gripper_right + right_hinge + + 0 1 0 + + -1.0 + 1.0 + 10 + 10 + + + 0.01 + 0 + 0 + 0 + + 0 + + + + + 0.062 0 0.145 0 0 1.5708 + + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + 0 0 0.042 0 0 0 + + + 0.02 0.02 0.15 + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + meshes/l_gripper_tip_scaled.stl + + + + + + + gripper_right + finger_right + + + + -0.062 0 0.145 0 0 4.71239 + + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + 0 0 0.042 0 0 0 + + + 0.02 0.02 0.15 + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + meshes/l_gripper_tip_scaled.stl + + + + + + + gripper_left + finger_left + + + + \ No newline at end of file diff --git a/data/table.urdf b/data/table.urdf new file mode 100644 index 000000000..07d819315 --- /dev/null +++ b/data/table.urdf @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/tray.urdf b/data/tray.urdf new file mode 100644 index 000000000..32325a815 --- /dev/null +++ b/data/tray.urdf @@ -0,0 +1,91 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index edb3a9c0a..e18148b3e 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2951,7 +2951,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) loadUrdf("sphere2.urdf", btVector3(-5, 0, 3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("r2d2.urdf", btVector3(2, -2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); - loadUrdf("kuka_iiwa/model.urdf", btVector3(2.0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + loadUrdf("kuka_iiwa/model.urdf", btVector3(0, -2.3, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); m_data->m_KukaId = bodyId; // Load one motor gripper for kuka @@ -3070,11 +3070,14 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) } loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true); loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); - loadUrdf("teddy_vhacd.urdf", btVector3(1.6, -0.2, 0.1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); - loadUrdf("cube_small.urdf", btVector3(1.5, -0.3, 0.1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); //loadUrdf("cup_small.urdf", btVector3(3, 2, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); //loadUrdf("pitcher_small.urdf", btVector3(4, 2, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + loadUrdf("table.urdf", btVector3(0, -1.9, 0.0), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + loadUrdf("tray.urdf", btVector3(0, -1.7, 0.64), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, -1.9, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + loadUrdf("cube_small.urdf", btVector3(0.1, -1.8, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + loadUrdf("sphere_small.urdf", btVector3(-0.2, -1.7, 0.7), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10)); @@ -3162,11 +3165,20 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) static btScalar t=0.f; t+=0.01; double dampIk = 0.99; + /* for (int i=0;isetVelocityTarget(desiredVelocity,1); motor->setPositionTarget(desiredPosition,0.6); btScalar maxImp = 1.f;