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/* -------------------------------------------------------------------------- *
* Simbody(tm) Example: Universal Robotics UR10 Arm *
* -------------------------------------------------------------------------- *
* This is part of the SimTK biosimulation toolkit originating from *
* Simbios, the NIH National Center for Physics-Based Simulation of *
* Biological Structures at Stanford, funded under the NIH Roadmap for *
* Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
* *
* Portions copyright (c) 2014 Stanford University and the Authors. *
* Authors: Michael Sherman *
* Contributors: Jack Wang, Chris Dembia, John Hsu *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may *
* not use this file except in compliance with the License. You may obtain a *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* -------------------------------------------------------------------------- */
#include "Simbody.h"
#include "UR10.h"
#include <cstdio>
#include <iostream>
using namespace SimTK;
namespace {
// This local event handler is called periodically to sample the robot's
// sensors.
class UR10JointSampler : public PeriodicEventHandler {
public:
UR10JointSampler(const UR10& realRobot,
Real interval)
: PeriodicEventHandler(interval), m_realRobot(realRobot) {}
// This method is called whenever this event occurs.
void handleEvent(State& state, Real, bool&) const override;
private:
const UR10& m_realRobot;
Random::Gaussian m_gaussian; // mean=0, stddev=1
};
}
//------------------------------------------------------------------------------
// UR10 CONSTRUCTOR
//------------------------------------------------------------------------------
// Build a Simbody System of the Universal Robotics UR10 robot arm.
UR10::UR10(const std::string& auxDir)
: m_matter(*this), m_forces(*this),
m_sampledAngles(*this, Stage::Dynamics, Vector(NumCoords, Zero)),
m_sampledRates(*this, Stage::Dynamics, Vector(NumCoords, Zero)),
m_sampledEndEffectorPos(*this, Stage::Dynamics, Vec3(0)),
m_qNoise(*this,Stage::Dynamics,Zero), m_uNoise(*this,Stage::Dynamics,Zero)
{
setUpDirection(ZAxis);
m_matter.setShowDefaultGeometry(false);
// Set the sensor sampling rate. TODO: should be settable.
addEventHandler(new UR10JointSampler(*this, 0.002));
//--------------------------------------------------------------------------
// Gravity
//--------------------------------------------------------------------------
m_gravity = Force::Gravity(m_forces, m_matter, -SimTK::ZAxis, 9.8066);
//--------------------------------------------------------------------------
// Body information
//--------------------------------------------------------------------------
// Mass properties.
Body baseInfo(MassProperties(4., Vec3(0),
Inertia(0.0061063308908,
0.0061063308908,
0.01125)));
Body shoulderInfo(MassProperties(7.778, Vec3(0),
Inertia(0.0314743125769,
0.0314743125769,
0.021875625)));
const Real upperArmMass = 12.93;
const Vec3 upperArmCOM(0,0,.306);
const Inertia upperArmCentral(0.421753803798,
0.421753803798,
0.036365625);
Body upperArmInfo(MassProperties(upperArmMass, upperArmCOM,
upperArmCentral.shiftFromMassCenter(-upperArmCOM, upperArmMass)));
const Real forearmMass = 3.87;
const Vec3 forearmCOM(0,0,0.28615);
const Inertia forearmCentral(0.111069694097,
0.111069694097,
0.010884375);
Body forearmInfo(MassProperties(forearmMass, forearmCOM,
forearmCentral.shiftFromMassCenter(-forearmCOM, forearmMass)));
Body wrist1Info(MassProperties(1.96, Vec3(0),
Inertia(0.0051082479567,
0.0051082479567,
0.0055125)));
Body wrist2Info = wrist1Info;
Body wrist3Info(MassProperties(0.202, Vec3(0),
Inertia(0.000526462289415,
0.000526462289415,
0.000568125)));
const Vec3 eeHdims(.02,.02,.02); // cube
Body endEffectorInfo(MassProperties(.1, Vec3(0),
UnitInertia::brick(eeHdims)));
// Geometry
PolygonalMesh baseMesh, shoulderMesh, upperArmMesh, forearmMesh,
wrist1Mesh, wrist2Mesh, wrist3Mesh;
baseMesh.loadObjFile(auxDir + "geometry/Base.obj");
shoulderMesh.loadObjFile(auxDir + "geometry/Shoulder.obj");
upperArmMesh.loadObjFile(auxDir + "geometry/UpperArm.obj");
forearmMesh.loadObjFile(auxDir + "geometry/Forearm.obj");
wrist1Mesh.loadObjFile(auxDir + "geometry/Wrist1.obj");
wrist2Mesh.loadObjFile(auxDir + "geometry/Wrist2.obj");
wrist3Mesh.loadObjFile(auxDir + "geometry/Wrist3.obj");
m_matter.updGround().addBodyDecoration(Vec3(0),
DecorativeFrame(0.5));
baseInfo.addDecoration(DecorativeMesh(baseMesh).setColor(Gray));
shoulderInfo.addDecoration(DecorativeMesh(shoulderMesh).setColor(Cyan));
upperArmInfo.addDecoration(DecorativeMesh(upperArmMesh).setColor(Gray));
forearmInfo.addDecoration(DecorativeMesh(forearmMesh).setColor(Gray));
wrist1Info.addDecoration(DecorativeMesh(wrist1Mesh).setColor(Cyan));
wrist2Info.addDecoration(DecorativeMesh(wrist2Mesh).setColor(Gray));
wrist3Info.addDecoration(DecorativeMesh(wrist3Mesh).setColor(Cyan));
endEffectorInfo.addDecoration(DecorativeBrick(eeHdims)
.setColor(Purple).setOpacity(.5));
//--------------------------------------------------------------------------
// Mobilized Bodies
//--------------------------------------------------------------------------
const Rotation ZtoY(-Pi/2, XAxis); // zero angle will be vertical
// Use this orientation when you want the zero position horizontal.
const Rotation ZtoY90(BodyRotationSequence, -Pi/2, XAxis, Pi/2, ZAxis);
m_bodies[Ground] = m_matter.updGround();
m_bodies[Base] = MobilizedBody::Weld(
m_matter.updGround(), Vec3(0),
baseInfo, Vec3(0));
m_bodies[Shoulder] = MobilizedBody::Pin( // shoulder_pan about Z
m_bodies[Base], Vec3(0, 0, .1273),
shoulderInfo, Vec3(0));
m_bodies[UpperArm] = MobilizedBody::Pin( // shoulder_lift about Y
m_bodies[Shoulder], Transform(ZtoY90, Vec3(0, 0.220941, 0)),
upperArmInfo, ZtoY);
m_bodies[Forearm] = MobilizedBody::Pin( // elbow about Y
m_bodies[UpperArm], Transform(ZtoY, Vec3(0, -0.1719, 0.612)),
forearmInfo, ZtoY);
m_bodies[Wrist1] = MobilizedBody::Pin( // wrist1 about Y
m_bodies[Forearm], Transform(ZtoY90, Vec3(0, 0, 0.5723)),
wrist1Info, ZtoY);
m_bodies[Wrist2] = MobilizedBody::Pin( // wrist2 about Z
m_bodies[Wrist1], Vec3(0, 0.1149, 0),
wrist2Info, Vec3(0));
m_bodies[Wrist3] = MobilizedBody::Pin( // wrist3 about Y
m_bodies[Wrist2], Transform(ZtoY, Vec3(0, 0, 0.1157)),
wrist3Info, ZtoY);
m_bodies[EndEffector] = MobilizedBody::Weld(
m_bodies[Wrist3], Vec3(0, 0.1149, 0),
endEffectorInfo, Vec3(0));
//TODO: joint stops
}
//------------------------------------------------------------------------------
// UR10 JOINT SAMPLER :: HANDLE EVENT
//------------------------------------------------------------------------------
// This method is called whenever this event occurs.
void UR10JointSampler::handleEvent
(State& state, Real, bool&) const
{
const Vector& q = state.getQ();
const Vector& u = state.getU();
const Real qNoise = m_realRobot.getAngleNoise(state);
const Real uNoise = m_realRobot.getRateNoise(state);
Vector qSample(UR10::NumCoords), uSample(UR10::NumCoords);
for (int i=0; i<UR10::NumCoords; ++i) {
qSample[i] = q[i] + qNoise * m_gaussian.getValue();
uSample[i] = u[i] + uNoise * m_gaussian.getValue();
}
m_realRobot.setSampledAngles(state, qSample);
m_realRobot.setSampledRates(state, uSample);
m_realRobot.setSampledEndEffectorPos(state,
m_realRobot.getActualEndEffectorPosition(state));
}
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