From 65a64db192c1893b6b87c8abe4a6634ca053edd7 Mon Sep 17 00:00:00 2001 From: Daniel Larby Date: Thu, 27 Feb 2025 15:00:56 +0000 Subject: [PATCH 01/12] Partially successful tests for frame angular velocity in RNE tests --- src/coordinates/coordinate_implementations.jl | 11 ++++++++ src/interface.jl | 12 ++++----- test/inverse_dynamics_test.jl | 26 ++++++++++--------- test/runtests.jl | 2 +- 4 files changed, 32 insertions(+), 19 deletions(-) diff --git a/src/coordinates/coordinate_implementations.jl b/src/coordinates/coordinate_implementations.jl index ea9e32c..fa2276d 100644 --- a/src/coordinates/coordinate_implementations.jl +++ b/src/coordinates/coordinate_implementations.jl @@ -489,6 +489,17 @@ _velocity(cache::CacheBundle, c::CMC{<:FrameAngularVelocity}) = get_angular_vel( _jacobian(cache::CacheBundle, c::CMC{<:FrameAngularVelocity}) = J_cache_view(cache, c) _acceleration(cache::CacheBundle, c::CMC{<:FrameAngularVelocity}) = _get_angular_acc(cache, c.coord_data.frameID) +function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:FrameAngularVelocity}) + c = mc.coord_data + f_view = f_cache_view(cache, mc) + @assert length(f_view) == 3 + f = f_cache_view(cache, mc)[SVector(1, 2, 3)] # Get the force applied to the coord as an SVector + fID = c.frameID + get_frame_torques(cache)[fID] += f + nothing +end + + #################################################################################################### # CoordNorm #################################################################################################### diff --git a/src/interface.jl b/src/interface.jl index 73b384c..514b50b 100644 --- a/src/interface.jl +++ b/src/interface.jl @@ -505,20 +505,20 @@ function _inverse_dynamics!(bundle::MechRNEBundle) # Backward pass foreach(get_force_components(m)) do component # add forces for each component to coordinates _add_opspace_force!(bundle, component) - @show f_cache_view(bundle, m[component.coord]) + # @show f_cache_view(bundle, m[component.coord]) end - @show frame_forces - println("Backward pass part 1") + # @show frame_forces + # println("Backward pass part 1") compute_in_reverse_coordinate_order(coordinates(m)) do coord # propagate forces through coordinates __propagate_opspace_force!(bundle, coord) - @show frame_forces + # @show frame_forces end - println("Backward pass part 2") + # println("Backward pass part 2") for (parent, child) in Iterators.reverse(m.rbtree.walk) # propagate forces through frames/joints frame_forces[parent] += frame_forces[child] δ = origin(get_transform(cache, CompiledFrameID(parent))) - origin(get_transform(cache, CompiledFrameID(child))) frame_torques[parent] += frame_torques[child] - cross(δ, frame_forces[child]) - @show frame_forces + # @show frame_forces end # Project forces to joints foreach(joints(m)) do joint diff --git a/test/inverse_dynamics_test.jl b/test/inverse_dynamics_test.jl index c05ac96..5551719 100644 --- a/test/inverse_dynamics_test.jl +++ b/test/inverse_dynamics_test.jl @@ -1,15 +1,17 @@ -function test_inverse_dynamics(m) +function test_inverse_dynamics(m; N=20) rng = MersenneTwister(1234) - # q = rand!(rng, zero_q(Float64, m)) - # q̇ = rand!(rng, zero_q̇(Float64, m)) - # u = rand!(rng, zero_u(Float64, m)) - # u = zero_u(Float64, m) - q = [0., π/2] - q̇ = [0., 0.] - u = [1., 0.] - time = 0.0 # Time is irrelevant to these tests as no `TimeFuncJoint`s - gravity = SVector(0.0, 0.0, -10.) + for i = 1:N + t = 0.0 + q = rand!(rng, zero_q(Float64, m)) + q̇ = rand!(rng, zero_q̇(Float64, m)) + gravity = randn(rng, SVector{3, Float64}) + _test_inverse_dynamics(m, t, q, q̇, gravity) + end +end + +function _test_inverse_dynamics(m, time, q, q̇, gravity) + u = zero_u(Float64, m) icache = new_inverse_dynamics_cache(m) dcache = new_dynamics_cache(m) @@ -18,8 +20,8 @@ function test_inverse_dynamics(m) q̈ = get_q̈(dcache) inverse_dynamics!(icache, time, q, q̇, q̈, gravity) - @show get_u(icache) - @show u + # u is the control input used to compute forward dynamics, and is correct + # get_u(icache) is the result of the inverse dynamics computation, and should be equal to u @test get_u(icache) ≈ u atol=1e-7 rtol=1e-7 # @show icache.cache.frame_cache.forces[6] - icache.cache.frame_cache.rbstates[6].acceleration.linear diff --git a/test/runtests.jl b/test/runtests.jl index b973b90..7f69b31 100644 --- a/test/runtests.jl +++ b/test/runtests.jl @@ -143,7 +143,7 @@ results = @testset "All tests" begin results = @testset "Velocity Kinematics AD" test_on_mechanisms(test_velocity_kinematics_vs_autodiff, small_immut_mechanisms); results = @testset "Coordinate tests" test_on_mechanisms(test_coordinates, compiled_systems); results = @testset "Dynamics tests" test_on_mechanisms(test_dynamics, systems_with_inertances); - # results = @testset "Inverse Dynamics tests" test_on_mechanisms(test_inverse_dynamics, compiled_mechanisms); # TODO + results = @testset "Inverse Dynamics tests" test_on_mechanisms(test_inverse_dynamics, compiled_mechanisms); # TODO results = @testset "Energy tests" test_on_mechanisms(test_energy, systems_with_inertances); results = @testset "RSON tests" test_on_mechanisms(test_rson, systems); # TODO ForwardDiff compat tests From e805bd6ddb45c36ccc6b9c30cc01906c04df035e Mon Sep 17 00:00:00 2001 From: Daniel Larby Date: Fri, 28 Feb 2025 14:19:26 +0000 Subject: [PATCH 02/12] Added visualization --- examples/rne_visualization.jl | 104 ++++++++++++++++++++++++++++++++++ 1 file changed, 104 insertions(+) create mode 100644 examples/rne_visualization.jl diff --git a/examples/rne_visualization.jl b/examples/rne_visualization.jl new file mode 100644 index 0000000..488d696 --- /dev/null +++ b/examples/rne_visualization.jl @@ -0,0 +1,104 @@ +# ## RNE Visualization + +using + GLMakie, + LinearAlgebra, + StaticArrays, + VMRobotControl + +X = SVector{3, Float64}(1.0, 0.0, 0.0) +Y = SVector{3, Float64}(0.0, 1.0, 0.0) +Z = SVector{3, Float64}(0.0, 0.0, 1.0) + +T1 = zero(Transform{Float64}) +J1 = Revolute(Y, T1) + +T2 = Transform(Z) +J2 = Revolute(Y, T2) + +T3 = Transform(Z) +J3 = Rigid(T3) + +mech = Mechanism{Float64}("2Link") +cart_frame = add_frame!(mech, "Cart") +L2_frame = add_frame!(mech, "L2") +EE_frame = add_frame!(mech, "EE") + +add_joint!(mech, J1; parent="root_frame", child=cart_frame, id="J1") +add_joint!(mech, J2; parent=cart_frame, child=L2_frame, id="J2") +add_joint!(mech, J3, parent=L2_frame, child=EE_frame; id="J3") + +# Then, we add a coordinate to the mechanism to represent the tip of the pendulum, and a +# coordinate to represent the position of the cart. These are used to add point masses to +# the mechanism. +add_coordinate!(mech, FrameOrigin(EE_frame); id="tip_pos") +add_coordinate!(mech, FrameOrigin(cart_frame); id="cart_pos") +add_component!(mech, PointMass(1.0, "cart_pos"); id="cart_mass") +add_component!(mech, PointMass(1.0, "tip_pos"); id="pendulum_mass") + +# We compile the mechanism, and setup an ODE problem to simulate the dynamics of the rail robot. +m = compile(mech) +cache = Observable(new_inverse_dynamics_cache(m)) + + +begin +t = 0.0 +q = [0.0, π/2] +q̇ = zero_q̇(m) +q̈ = zero_q̈(m) +g = SVector{3, Float64}(0.0, 0.0, -9.81) +inverse_dynamics!(cache[], t, q, q̇, q̈, g) + +fig = Figure() +display(fig) +ls = LScene(fig[1, 1]; show_axis=false) +robotsketch!(ls, cache; linewidth=3) + +frameIDs = get_compiled_frameID.((cache[],), frames(cache[])) +tfs = map(cache) do cache + tfs = map(id -> get_transform(cache, id), frameIDs) +end +positions = map(tfs) do tfs + map(tf -> Point3f(origin(tf)...), tfs) +end +fs = map(cache) do cache + fs = map(id -> VMRobotControl.get_frame_force(cache, id), frameIDs) +end +f_scale = map(fs) do fs + 0.1/norm(maximum(fs)) +end +τs = map(cache) do cache + map(id -> VMRobotControl.get_frame_torque(cache, id), frameIDs) +end + +arrows!(ls, positions, fs; lengthscale=f_scale, arrowsize=0.1, color=:red, ) +arrows!(ls, positions, τs; lengthscale=f_scale, arrowsize=0.1, color=:red, ) + + +end + +using Test, Random +Revise.includet("../test/inverse_dynamics_test.jl") +@testset test_inverse_dynamics(m) + +# function create_rotated_cylinder_mesh(N1, N2, r1, r2, ϕ) +# for θ2 = LinRange(0, ϕ, N2) +# pᶜ = Point3f(r2*cos(θ2), r2*sin(θ2), 0) +# for θ1 = LinRange(0, 2π, N1) +# points = Point3f() +# end + +# end +# end + + + +# module_path = joinpath(splitpath(splitdir(pathof(VMRobotControl))[1])[1:end-1]) +# savepath = joinpath(module_path, "docs/src/assets/rail_robot.mp4") +# animate_robot_odesolution(fig, sol, cache, savepath; f_setup=animate_f_setup, f_control=animate_f_control); + +# ```@raw html +# +# ``` From 90ccc6c72b9e51cb9c570a34c64a9b0da854d931 Mon Sep 17 00:00:00 2001 From: Daniel Larby Date: Fri, 28 Feb 2025 16:54:14 +0000 Subject: [PATCH 03/12] Added docstring for add_deadzone_springs! --- src/components/storages.jl | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/src/components/storages.jl b/src/components/storages.jl index bea2021..61621bf 100644 --- a/src/components/storages.jl +++ b/src/components/storages.jl @@ -314,6 +314,17 @@ end const ReLUSpring{T, C} = RectifiedSpring{T, C} ReLUSpring(args...;kwargs...) = RectifiedSpring(args...; kwargs...) +""" +add_deadzone_springs!(mechanism, stiffness, bounds, coord_id) + + Creates a spring with a deadzone, that acts with stiffness `stiffness` outside of + bounds `bounds`, e.g. (-1.0, 1.0), on the coordinate `coord_id`. + + The deadzone is implemented as two ReLU springs on two new coordinates, which are + offset from the original coordinate by the bounds. This is because the ReLU spring + is centered at zero, so the new coordinates are used to shift the 'zero point' to + match the bounds. +""" function add_deadzone_springs!(mechanism, stiffness, bounds, coord_id) lb, ub = bounds lb_coord_id = add_coordinate!(mechanism, ConstCoord(lb); id="lb_$coord_id") From 361c4cdd2463eecaa6065dc00299f11e5517b1b1 Mon Sep 17 00:00:00 2001 From: Daniel Larby Date: Tue, 4 Mar 2025 14:36:33 +0000 Subject: [PATCH 04/12] Renamed panda mechanisms, split tests into runtests_manual.jl and setup_test_mechanisms.jl to make running tests independently simpler. Fixed projecting joint torque for revolute joints. --- RSONs/rsons/franka_panda/pandaDrill.rson | 2 +- .../franka_panda/pandaDummyInstrument.rson | 2 +- RSONs/rsons/franka_panda/pandaSurgical.rson | 2 +- .../franka_panda/pandaSurgicalStryker.rson | 2 +- RSONs/rsons/franka_panda/pandaSurgicalV2.rson | 2 +- .../rsons/franka_panda/pandaVeterinarian.rson | 2 +- examples/rne_visualization.jl | 117 ++++++++++++------ src/components/components.jl | 6 +- src/coordinates/coordinate_implementations.jl | 4 +- src/interface.jl | 89 ++++++++----- src/joints/joint_definitions.jl | 10 +- test/inverse_dynamics_test.jl | 2 - test/runtests.jl | 109 +--------------- test/runtests_manual.jl | 38 ++++++ test/setup_test_mechanisms.jl | 102 +++++++++++++++ 15 files changed, 293 insertions(+), 196 deletions(-) create mode 100644 test/runtests_manual.jl create mode 100644 test/setup_test_mechanisms.jl diff --git a/RSONs/rsons/franka_panda/pandaDrill.rson b/RSONs/rsons/franka_panda/pandaDrill.rson index d133af8..87388a9 100644 --- a/RSONs/rsons/franka_panda/pandaDrill.rson +++ b/RSONs/rsons/franka_panda/pandaDrill.rson @@ -1,7 +1,7 @@ { "rson_version": "0.1.0", "type": "mechanism", - "name": "panda", + "name": "panda_drill", "frames": [ "root_frame", "L1_frame", diff --git a/RSONs/rsons/franka_panda/pandaDummyInstrument.rson b/RSONs/rsons/franka_panda/pandaDummyInstrument.rson index 950e6fa..1e6eaa9 100644 --- a/RSONs/rsons/franka_panda/pandaDummyInstrument.rson +++ b/RSONs/rsons/franka_panda/pandaDummyInstrument.rson @@ -1,7 +1,7 @@ { "rson_version": "0.1.0", "type": "mechanism", - "name": "panda", + "name": "panda_dummy_instrument", "frames": [ "root_frame", "L1_frame", diff --git a/RSONs/rsons/franka_panda/pandaSurgical.rson b/RSONs/rsons/franka_panda/pandaSurgical.rson index 07869fe..5f31608 100644 --- a/RSONs/rsons/franka_panda/pandaSurgical.rson +++ b/RSONs/rsons/franka_panda/pandaSurgical.rson @@ -1,7 +1,7 @@ { "rson_version": "0.1.0", "type": "mechanism", - "name": "panda", + "name": "panda_surgical", "frames": [ "root_frame", "L1_frame", diff --git a/RSONs/rsons/franka_panda/pandaSurgicalStryker.rson b/RSONs/rsons/franka_panda/pandaSurgicalStryker.rson index bbbd121..924012b 100644 --- a/RSONs/rsons/franka_panda/pandaSurgicalStryker.rson +++ b/RSONs/rsons/franka_panda/pandaSurgicalStryker.rson @@ -1,7 +1,7 @@ { "rson_version": "0.1.0", "type": "mechanism", - "name": "panda", + "name": "panda_surgical_stryker", "frames": [ "root_frame", "L1_frame", diff --git a/RSONs/rsons/franka_panda/pandaSurgicalV2.rson b/RSONs/rsons/franka_panda/pandaSurgicalV2.rson index da0ccfe..d1be519 100644 --- a/RSONs/rsons/franka_panda/pandaSurgicalV2.rson +++ b/RSONs/rsons/franka_panda/pandaSurgicalV2.rson @@ -1,7 +1,7 @@ { "rson_version": "0.1.0", "type": "mechanism", - "name": "panda", + "name": "panda_surgical_v2", "frames": [ "root_frame", "L1_frame", diff --git a/RSONs/rsons/franka_panda/pandaVeterinarian.rson b/RSONs/rsons/franka_panda/pandaVeterinarian.rson index a0fb1c1..3c89feb 100644 --- a/RSONs/rsons/franka_panda/pandaVeterinarian.rson +++ b/RSONs/rsons/franka_panda/pandaVeterinarian.rson @@ -1,7 +1,7 @@ { "rson_version": "0.1.0", "type": "mechanism", - "name": "panda", + "name": "panda_veterinarian", "frames": [ "root_frame", "L1_frame", diff --git a/examples/rne_visualization.jl b/examples/rne_visualization.jl index 488d696..2c67890 100644 --- a/examples/rne_visualization.jl +++ b/examples/rne_visualization.jl @@ -5,54 +5,87 @@ using LinearAlgebra, StaticArrays, VMRobotControl - -X = SVector{3, Float64}(1.0, 0.0, 0.0) -Y = SVector{3, Float64}(0.0, 1.0, 0.0) -Z = SVector{3, Float64}(0.0, 0.0, 1.0) - -T1 = zero(Transform{Float64}) -J1 = Revolute(Y, T1) - -T2 = Transform(Z) -J2 = Revolute(Y, T2) - -T3 = Transform(Z) -J3 = Rigid(T3) - -mech = Mechanism{Float64}("2Link") -cart_frame = add_frame!(mech, "Cart") -L2_frame = add_frame!(mech, "L2") -EE_frame = add_frame!(mech, "EE") - -add_joint!(mech, J1; parent="root_frame", child=cart_frame, id="J1") -add_joint!(mech, J2; parent=cart_frame, child=L2_frame, id="J2") -add_joint!(mech, J3, parent=L2_frame, child=EE_frame; id="J3") - -# Then, we add a coordinate to the mechanism to represent the tip of the pendulum, and a -# coordinate to represent the position of the cart. These are used to add point masses to -# the mechanism. -add_coordinate!(mech, FrameOrigin(EE_frame); id="tip_pos") -add_coordinate!(mech, FrameOrigin(cart_frame); id="cart_pos") -add_component!(mech, PointMass(1.0, "cart_pos"); id="cart_mass") -add_component!(mech, PointMass(1.0, "tip_pos"); id="pendulum_mass") - +# begin +# X = SVector{3, Float64}(1.0, 0.0, 0.0) +# Y = SVector{3, Float64}(0.0, 1.0, 0.0) +# Z = SVector{3, Float64}(0.0, 0.0, 1.0) + +# T1 = zero(Transform{Float64}) +# J1 = Revolute(Y, T1) + +# T2 = Transform(Z) +# J2 = Revolute(Y, T2) + +# T3 = Transform(Z) +# J3 = Rigid(T3) + +# mech = Mechanism{Float64}("2Link") +# cart_frame = add_frame!(mech, "Cart") +# L2_frame = add_frame!(mech, "L2") +# EE_frame = add_frame!(mech, "EE") + +# add_joint!(mech, J1; parent="root_frame", child=cart_frame, id="J1") +# add_joint!(mech, J2; parent=cart_frame, child=L2_frame, id="J2") +# add_joint!(mech, J3, parent=L2_frame, child=EE_frame; id="J3") + +# # Then, we add a coordinate to the mechanism to represent the tip of the pendulum, and a +# # coordinate to represent the position of the cart. These are used to add point masses to +# # the mechanism. +# add_coordinate!(mech, FrameOrigin(EE_frame); id="tip_pos") +# add_coordinate!(mech, FrameOrigin(cart_frame); id="cart_pos") +# add_component!(mech, PointMass(1.0, "cart_pos"); id="cart_mass") +# add_component!(mech, PointMass(1.0, "tip_pos"); id="pendulum_mass") +# m = compile(mech) +# end + # We compile the mechanism, and setup an ODE problem to simulate the dynamics of the rail robot. -m = compile(mech) +m = compiled_mechanisms[end] cache = Observable(new_inverse_dynamics_cache(m)) +# @testset test_inverse_dynamics(m) +bundle = cache[] begin + + t = 0.0 q = [0.0, π/2] -q̇ = zero_q̇(m) -q̈ = zero_q̈(m) -g = SVector{3, Float64}(0.0, 0.0, -9.81) -inverse_dynamics!(cache[], t, q, q̇, q̈, g) +q = zero_q(m) + randn(7) +q̇ = zero_q̇(m) + randn(7) +g = SVector{3, Float64}(0.0, 0.0, -10) #+ rand(SVector{3, Float64}) + +# rng = MersenneTwister(1234) +# t = 0.0 +# q = rand!(rng, zero_q(Float64, m)) +# q̇ = rand!(rng, zero_q̇(Float64, m)) +# g = randn(rng, SVector{3, Float64}) + +u = zero_u(m) + +dcache = new_dynamics_cache(m) +dynamics!(dcache, t, q, q̇, g, u) +q̈ = get_q̈(dcache) + +VMRobotControl._inverse_dynamics_set_inputs!(bundle, t, q, q̇, q̈, g) +VMRobotControl._inverse_dynamics_forward_pass!(bundle) +VMRobotControl._inverse_dynamics_zero!(bundle) +VMRobotControl._inverse_dynamics_backward_pass_a!(bundle) +VMRobotControl._inverse_dynamics_backward_pass_b!(bundle) +VMRobotControl._inverse_dynamics_backward_pass_c!(bundle) +VMRobotControl._inverse_dynamics_backward_pass_d!(bundle) + +# q̈_out = dynamics!(dcache, t, q, q̇, g, get_u(bundle)) + +@test get_u(cache[]) ≈ u atol=1e-7 rtol=1e-7 +# @test q̈ ≈ q̈_out atol=1e-7 rtol=1e-7 +end + +begin fig = Figure() display(fig) ls = LScene(fig[1, 1]; show_axis=false) -robotsketch!(ls, cache; linewidth=3) +robotsketch!(ls, cache; linewidth=3, scale=0.05) frameIDs = get_compiled_frameID.((cache[],), frames(cache[])) tfs = map(cache) do cache @@ -65,14 +98,18 @@ fs = map(cache) do cache fs = map(id -> VMRobotControl.get_frame_force(cache, id), frameIDs) end f_scale = map(fs) do fs - 0.1/norm(maximum(fs)) + 0.2/maximum(norm(fs)) end τs = map(cache) do cache map(id -> VMRobotControl.get_frame_torque(cache, id), frameIDs) end +τ_scale = map(τs) do τs + 0.4/maximum(norm(τs)) +end + -arrows!(ls, positions, fs; lengthscale=f_scale, arrowsize=0.1, color=:red, ) -arrows!(ls, positions, τs; lengthscale=f_scale, arrowsize=0.1, color=:red, ) +arrows!(ls, positions, fs; lengthscale=f_scale, arrowsize=map(f->*(f, 50), f_scale), color=:red, ) +arrows!(ls, positions, τs; lengthscale=τ_scale, arrowsize=0.04, color=:blue, ) end diff --git a/src/components/components.jl b/src/components/components.jl index d2abfaa..639c97f 100644 --- a/src/components/components.jl +++ b/src/components/components.jl @@ -359,10 +359,8 @@ Add opspace force `f` to the cache for coordinate `c`. @inline function _add_opspace_force!(bundle::CacheBundle, c::C) where C<:ComponentData @assert hasfield(C, :coord) "Component '$c' does not have a field 'coord'. If this is a valid component, please implement `_add_opspace_force!` for it." f::SVector = opspace_force(bundle, c) - coord_id = c.coord - coord = bundle[coord_id] - f_cache_view(bundle, coord) .-= f # f is negated, due to the definition of bias forces. e.g. If a spring opspace force is Kz - nothing + f_view = f_cache_view(bundle, bundle[c.coord]) + f_view .-= f # f is negated, due to the definition of bias forces. e.g. If a spring opspace force is Kz end function _opspace_force(cache::CacheBundle, c::ComponentData) diff --git a/src/coordinates/coordinate_implementations.jl b/src/coordinates/coordinate_implementations.jl index fa2276d..df44b55 100644 --- a/src/coordinates/coordinate_implementations.jl +++ b/src/coordinates/coordinate_implementations.jl @@ -493,9 +493,9 @@ function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:FrameAngularVe c = mc.coord_data f_view = f_cache_view(cache, mc) @assert length(f_view) == 3 - f = f_cache_view(cache, mc)[SVector(1, 2, 3)] # Get the force applied to the coord as an SVector + f = f_cache_view(cache, mc)[SVector(1, 2, 3)] # Get the applied torque as an SVector fID = c.frameID - get_frame_torques(cache)[fID] += f + get_frame_torques(cache)[fID] += f # Apply torque to the frame nothing end diff --git a/src/interface.jl b/src/interface.jl index 514b50b..b560f80 100644 --- a/src/interface.jl +++ b/src/interface.jl @@ -481,8 +481,27 @@ end ===============================================================================# function inverse_dynamics! end -function _inverse_dynamics!(bundle::MechRNEBundle) - # Forward pass +function _inverse_dynamics!(bundle::MechRNEBundle) + _inverse_dynamics_forward_pass!(bundle) + _inverse_dynamics_zero!(bundle) + _inverse_dynamics_backward_pass_a!(bundle) + _inverse_dynamics_backward_pass_b!(bundle) + _inverse_dynamics_backward_pass_c!(bundle) + _inverse_dynamics_backward_pass_d!(bundle) + nothing +end + +function _inverse_dynamics_set_inputs!(bundle, t, q, q̇, q̈, gravity)! + t_cache, q_cache, q̇_cache, q̈_cache, g_cache, u_cache, = get_t(bundle), get_q(bundle), get_q̇(bundle), get_q̈(bundle), get_gravity(bundle), get_u(bundle) + + t_cache[] = t + copyto!(q_cache, q) + copyto!(q̇_cache, q̇) + copyto!(q̈_cache, q̈) + g_cache[] = gravity +end + +function _inverse_dynamics_forward_pass!(bundle) _acceleration_kinematics!(bundle) m, cache = bundle.mechanism, bundle.cache compute_in_coordinate_order(coordinates(m)) do coord @@ -490,60 +509,66 @@ function _inverse_dynamics!(bundle::MechRNEBundle) __velocity!(bundle, coord) __acceleration!(bundle, coord) end - - # - u = get_u(bundle) - frame_forces = get_frame_forces(bundle) - frame_torques = get_frame_torques(bundle) + nothing +end +function _inverse_dynamics_zero!(bundle) + u = get_u(bundle) + frame_forces, frame_torques = get_frame_forces(bundle), get_frame_torques(bundle) # Zero all coordinate/frame forces and torques. fill!(bundle.cache.coord_cache.f, zero(eltype(bundle.cache.coord_cache.f))) fill!(frame_forces, zero(eltype(frame_forces))) fill!(frame_torques, zero(eltype(frame_torques))) fill!(u, zero(eltype(u))) + nothing +end - # Backward pass - foreach(get_force_components(m)) do component # add forces for each component to coordinates +function _inverse_dynamics_backward_pass_a!(bundle) + # Add forces for each component to coordinates + foreach(get_force_components(bundle.mechanism)) do component _add_opspace_force!(bundle, component) - # @show f_cache_view(bundle, m[component.coord]) end - # @show frame_forces - # println("Backward pass part 1") - compute_in_reverse_coordinate_order(coordinates(m)) do coord # propagate forces through coordinates + # Now the force for each coordinate with a component *directly* attached to it is set + nothing +end + +function _inverse_dynamics_backward_pass_b!(bundle) + # Propagate forces through coordinates. + compute_in_reverse_coordinate_order(coordinates(bundle.mechanism)) do coord __propagate_opspace_force!(bundle, coord) - # @show frame_forces end - # println("Backward pass part 2") - for (parent, child) in Iterators.reverse(m.rbtree.walk) # propagate forces through frames/joints + # Now, *frame* forces/torques contain the force/torque applied to each frame by the components + nothing +end + +function _inverse_dynamics_backward_pass_c!(bundle) + frame_forces, frame_torques = get_frame_forces(bundle), get_frame_torques(bundle) + # propagate forces through frames/joints + for (parent, child) in Iterators.reverse(bundle.mechanism.rbtree.walk) # TODO check this order is correct... might not work frame_forces[parent] += frame_forces[child] - δ = origin(get_transform(cache, CompiledFrameID(parent))) - origin(get_transform(cache, CompiledFrameID(child))) - frame_torques[parent] += frame_torques[child] - cross(δ, frame_forces[child]) - # @show frame_forces + δ = origin(get_transform(bundle, CompiledFrameID(child))) - origin(get_transform(bundle, CompiledFrameID(parent))) + frame_torques[parent] += frame_torques[child] + cross(δ, frame_forces[child]) end +end + +function _inverse_dynamics_backward_pass_d!(bundle) + u = get_u(bundle) + frame_forces, frame_torques = get_frame_forces(bundle), get_frame_torques(bundle) # Project forces to joints - foreach(joints(m)) do joint + foreach(joints(bundle.mechanism)) do joint length(q_idxs(joint)) == 0 && return nothing p, c = joint.parentFrameID, joint.childFrameID - tf_p, tf_c = get_transform(cache, p), get_transform(cache, c) + tf_p, tf_c = get_transform(bundle, p), get_transform(bundle, c) f_p, τ_p, f_c, τ_c = frame_forces[p], frame_torques[p], frame_forces[c], frame_torques[c] u[q_idxs(joint)] .= _project_forces_to_jointspace(joint.jointData, tf_p, tf_c, f_p, f_c, τ_p, τ_c) nothing end - nothing end function inverse_dynamics!(bundle::MechRNEBundle, t, q, q̇, q̈, gravity) - t_cache, q_cache, q̇_cache, q̈_cache, g_cache, u_cache, = - get_t(bundle), get_q(bundle), get_q̇(bundle), get_q̈(bundle), get_gravity(bundle), get_u(bundle) - - t_cache[] = t - copyto!(q_cache, q) - copyto!(q̇_cache, q̇) - copyto!(q̈_cache, q̈) - g_cache[] = gravity + _inverse_dynamics_set_inputs!(bundle, t, q, q̇, q̈, gravity) _inverse_dynamics!(bundle) - - u_cache + get_u(bundle) end diff --git a/src/joints/joint_definitions.jl b/src/joints/joint_definitions.jl index 5454f04..4625ab9 100644 --- a/src/joints/joint_definitions.jl +++ b/src/joints/joint_definitions.jl @@ -617,7 +617,13 @@ end ###################### function _project_forces_to_jointspace(j::RevoluteData, tf_p::Transform{T}, tf_c::Transform{T}, f_p::S, f_c::S, τ_p::S, τ_c::S) where {T, S<: SVector{3, T}} - axis = rotor(tf_p) * j.axis - τ = -dot(axis, τ_p) + # The torque is expressed in the world frame at the origin of the child frame. + # To get the axis in the same rotational frame, we first get it in the parent frame, + # then rotate it to the world frame + + # The minus sign is due to the fact that the torque is expressed on the right side of the + # equation + τ = -dot(rotor(tf_p) * rotor(j.transform) * j.axis, τ_c) + return SVector(τ) end \ No newline at end of file diff --git a/test/inverse_dynamics_test.jl b/test/inverse_dynamics_test.jl index 5551719..33edc7f 100644 --- a/test/inverse_dynamics_test.jl +++ b/test/inverse_dynamics_test.jl @@ -24,8 +24,6 @@ function _test_inverse_dynamics(m, time, q, q̇, gravity) # get_u(icache) is the result of the inverse dynamics computation, and should be equal to u @test get_u(icache) ≈ u atol=1e-7 rtol=1e-7 - # @show icache.cache.frame_cache.forces[6] - icache.cache.frame_cache.rbstates[6].acceleration.linear - # if isa(m, CompiledMechanism) # elseif isa(m, CompiledVirtualMechanismSystem) diff --git a/test/runtests.jl b/test/runtests.jl index 7f69b31..fdaf24b 100644 --- a/test/runtests.jl +++ b/test/runtests.jl @@ -1,111 +1,4 @@ -using Pkg - -## If running lots of tests, do this: -# using TestEnv -# TestEnv.activate("VMRobotControl") - -# TEST_ENZYME = "Enzyme" ∈ keys(Pkg.project().dependencies) -TEST_ENZYME = false -# TEST_ENZYME = true - - -using DiffResults -using FileIO -using ForwardDiff -using LinearAlgebra -using ProgressMeter -using Random - -using VMRobotControl - -using VMRobotControl: joint_transform, joint_twist, joint_vpa, jacobian_column, AbstractJointData -using VMRobotControl: Twist, SpatialAcceleration -using VMRobotControl.Hessians: my_hessian, hessian_vector_product -using VMRobotControl.Transforms: angular_velocity, AxisAngle, AxisAngleDerivative, quatmul_matrix, quatmul_geodual_bivector_matrix -using VMRobotControl: get_inertance_components -using VMRobotControl: Storage, Inertance, GenericComponent - -using StaticArrays -# using StatsBase: sample -using Test -using UUIDs - -try - FileIO.add_format(format"DAE", (), ".dae", [:DigitalAssetExchangeFormatIO => UUID("43182933-f65b-495a-9e05-4d939cea427d")]) -catch e - if e == ErrorException("format DAE is already registered") - else - rethrow(e) - end -end - -if TEST_ENZYME - @info "Enabling Enzyme tests" - import Enzyme - using Enzyme: - autodiff, - Active, - Const, - Duplicated, - Reverse -end - -################################################################################ - -function test_on_mechanisms(test, mechanisms::Vector) - @showprogress desc=string(test) for m in mechanisms - @testset "Robot: '$(name(m))'" begin - test(m) - end - end -end - -module_path = joinpath(splitpath(dirname(pathof(VMRobotControl)))[1:end-1]) -# Walk dir to find all rsons -rsons = String[] -for (root, dirs, files) in walkdir(joinpath(module_path, "RSONs")) - for file in files - if endswith(file, ".rson") - path = joinpath(root, file) - push!(rsons, path) - end - end -end - -urdfs = joinpath.((module_path,), ("URDFs",), [ - "sciurus17_description/urdf/sciurus17.urdf", - "franka_description/urdfs/fr3.urdf" -]) - - -systems = let - p = Progress(length(rsons) + length(urdfs); desc="Parsing robot files...", dt=0.1) - systems = Any[] - for rson in rsons - rson_parser_cfg = RSONParserConfig(; parse_visuals=false, suppress_warnings=false, error_on_not_recognized=false) - push!(systems, parseRSON(rson, rson_parser_cfg)) - next!(p) - end - urdf_parser_cfg = URDFParserConfig(;parse_visuals=false, suppress_warnings=true) - for urfd in urdfs - push!(systems, parseURDF(urfd, urdf_parser_cfg)) - next!(p) - end - systems -end - -compiled_systems = @showprogress desc="Compiling Robots/Virtual Mechanism Systems" dt=0.2 map(compile, systems) -compiled_mechanisms = [s for s in compiled_systems if s isa CompiledMechanism] - -# For dynamics tests, only consider systems with any inertances defined -systems_with_inertances = [s - for s in compiled_systems - if ( - (isa(s, CompiledMechanism) && !isempty(get_inertance_components(s))) - || - (isa(s, CompiledVirtualMechanismSystem) && !isempty(get_inertance_components(s.robot)) && !isempty(get_inertance_components(s.virtual_mechanism))) - ) -] +include("setup_test_mechanisms.jl") if isdefined(Main, :Revise) Revise.includet("pendulum_test.jl") diff --git a/test/runtests_manual.jl b/test/runtests_manual.jl new file mode 100644 index 0000000..134df4b --- /dev/null +++ b/test/runtests_manual.jl @@ -0,0 +1,38 @@ +begin + using TestEnv + TestEnv.activate("VMRobotControl") + + include("setup_test_mechanisms.jl") + + Revise.includet("pendulum_test.jl") + Revise.includet("scara_test.jl") + Revise.includet("joint_test.jl") + Revise.includet("velocity_kinematics_test.jl") + Revise.includet("coordinate_test.jl") + Revise.includet("dynamics_test.jl") + Revise.includet("inverse_dynamics_test.jl") + Revise.includet("energy_test.jl") + Revise.includet("rson_test.jl") + Revise.includet("Enzyme_compat_test.jl") +end + +# Run one at a time by highlighting a line +results = @testset "All tests" begin + results = pendulum_tests(); + results = scara_tests(); + results = single_joint_tests(mobile_jointtypes); + results = single_joint_mechanism_tests(all_jointtypes); + results = double_joint_tests(mobile_jointtypes); + results = double_joint_mechanism_tests(all_jointtypes); + small_immut_mechanisms = [m for m in compiled_mechanisms if ndof(m) < 5]; + results = @testset "Velocity Kinematics FD" test_on_mechanisms(test_velocity_kinematics_vs_finitediff, compiled_mechanisms); + results = @testset "Velocity Kinematics AD" test_on_mechanisms(test_velocity_kinematics_vs_autodiff, small_immut_mechanisms); + results = @testset "Coordinate tests" test_on_mechanisms(test_coordinates, compiled_systems); + results = @testset "Dynamics tests" test_on_mechanisms(test_dynamics, systems_with_inertances); + results = @testset "Inverse Dynamics tests" test_on_mechanisms(test_inverse_dynamics, compiled_mechanisms); # TODO + results = @testset "Energy tests" test_on_mechanisms(test_energy, systems_with_inertances); + results = @testset "RSON tests" test_on_mechanisms(test_rson, systems); + # TODO ForwardDiff compat tests + TEST_ENZYME && (@testset "Enzyme compat tests" test_on_mechanisms(test_enzyme_compat, compiled_systems)); +end; +nothing diff --git a/test/setup_test_mechanisms.jl b/test/setup_test_mechanisms.jl new file mode 100644 index 0000000..5cd3a94 --- /dev/null +++ b/test/setup_test_mechanisms.jl @@ -0,0 +1,102 @@ +# TEST_ENZYME = "Enzyme" ∈ keys(Pkg.project().dependencies) +TEST_ENZYME = false +# TEST_ENZYME = true + + +using DiffResults +using FileIO +using ForwardDiff +using LinearAlgebra +using ProgressMeter +using Random + +using VMRobotControl + +using VMRobotControl: joint_transform, joint_twist, joint_vpa, jacobian_column, AbstractJointData +using VMRobotControl: Twist, SpatialAcceleration +using VMRobotControl.Hessians: my_hessian, hessian_vector_product +using VMRobotControl.Transforms: angular_velocity, AxisAngle, AxisAngleDerivative, quatmul_matrix, quatmul_geodual_bivector_matrix +using VMRobotControl: get_inertance_components +using VMRobotControl: Storage, Inertance, GenericComponent + +using StaticArrays +# using StatsBase: sample +using Test +using UUIDs + +try + FileIO.add_format(format"DAE", (), ".dae", [:DigitalAssetExchangeFormatIO => UUID("43182933-f65b-495a-9e05-4d939cea427d")]) +catch e + if e == ErrorException("format DAE is already registered") + else + rethrow(e) + end +end + +if TEST_ENZYME + @info "Enabling Enzyme tests" + import Enzyme + using Enzyme: + autodiff, + Active, + Const, + Duplicated, + Reverse +end + +################################################################################ + +function test_on_mechanisms(test, mechanisms::Vector) + @showprogress desc=string(test) for m in mechanisms + @testset "Robot: '$(name(m))'" begin + test(m) + end + end +end + +module_path = joinpath(splitpath(dirname(pathof(VMRobotControl)))[1:end-1]) +# Walk dir to find all rsons +rsons = String[] +for (root, dirs, files) in walkdir(joinpath(module_path, "RSONs")) + for file in files + if endswith(file, ".rson") + path = joinpath(root, file) + push!(rsons, path) + end + end +end + +urdfs = joinpath.((module_path,), ("URDFs",), [ + "sciurus17_description/urdf/sciurus17.urdf", + "franka_description/urdfs/fr3.urdf" +]) + + +systems = let + p = Progress(length(rsons) + length(urdfs); desc="Parsing robot files...", dt=0.1) + systems = Any[] + for rson in rsons + rson_parser_cfg = RSONParserConfig(; parse_visuals=false, suppress_warnings=false, error_on_not_recognized=false) + push!(systems, parseRSON(rson, rson_parser_cfg)) + next!(p) + end + urdf_parser_cfg = URDFParserConfig(;parse_visuals=false, suppress_warnings=true) + for urfd in urdfs + push!(systems, parseURDF(urfd, urdf_parser_cfg)) + next!(p) + end + systems +end + +compiled_systems = @showprogress desc="Compiling Robots/Virtual Mechanism Systems" dt=0.2 map(compile, systems) +compiled_mechanisms = [s for s in compiled_systems if s isa CompiledMechanism] + +# For dynamics tests, only consider systems with any inertances defined +systems_with_inertances = [s + for s in compiled_systems + if ( + (isa(s, CompiledMechanism) && !isempty(get_inertance_components(s))) + || + (isa(s, CompiledVirtualMechanismSystem) && !isempty(get_inertance_components(s.robot)) && !isempty(get_inertance_components(s.virtual_mechanism))) + ) +] From 3232f7a5c52be4e27de75ae3c7444f91b024cf3d Mon Sep 17 00:00:00 2001 From: Daniel Larby Date: Wed, 5 Mar 2025 15:30:51 +0000 Subject: [PATCH 05/12] Updated RNE support for more coordinates/joints. Improved testing. Not all tests pass --- src/coordinates/coordinate_implementations.jl | 111 +++++++++++++++--- src/coordinates/coordinates.jl | 2 +- src/joints/joint_definitions.jl | 13 +- src/joints/mechanism_joint.jl | 30 +++++ test/inverse_dynamics_test.jl | 40 +++++-- 5 files changed, 167 insertions(+), 29 deletions(-) diff --git a/src/coordinates/coordinate_implementations.jl b/src/coordinates/coordinate_implementations.jl index df44b55..94a9b0e 100644 --- a/src/coordinates/coordinate_implementations.jl +++ b/src/coordinates/coordinate_implementations.jl @@ -62,6 +62,13 @@ end @inline __acceleration!(cache::CacheBundle, c::CMC{<:CoordDifference}) = nothing +function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:CoordDifference}) + f_view = f_cache_view(cache, mc) + f_cache_view(cache, cache[mc.coord_data.parent]) .+= f_view + f_cache_view(cache, cache[mc.coord_data.child]) .-= f_view + nothing +end + function _configuration(cache::CacheBundle, c::CMC{<:CoordDifference}) z_p = _configuration(cache, c.coord_data.parent) z_c = _configuration(cache, c.coord_data.child) @@ -106,6 +113,14 @@ end @inline __acceleration!(cache::CacheBundle, c::CMC{<:CoordSum}) = nothing +function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:CoordSum}) + f_view = f_cache_view(cache, mc) + f_cache_view(cache, cache[mc.coord_data.c1]) .+= f_view + f_cache_view(cache, cache[mc.coord_data.c2]) .+= f_view + nothing +end + + function _configuration(cache::CacheBundle, c::CMC{<:CoordSum}) z_1 = _configuration(cache, c.coord_data.c1) z_2 = _configuration(cache, c.coord_data.c2) @@ -131,15 +146,16 @@ end # CoordStack #################################################################################################### -@inline __configuration!(cache::CacheBundle, c::CMC{<:CoordStack}) = nothing -@inline __velocity!(cache::CacheBundle, c::CMC{<:CoordStack}) = nothing -function __jacobian!(cache::CacheBundle, c::CMC{<:CoordStack}) - J_ret = J_cache_view(cache, c) +@inline __configuration!(cache::CacheBundle, mc::CMC{<:CoordStack}) = nothing +@inline __velocity!(cache::CacheBundle, mc::CMC{<:CoordStack}) = nothing +function __jacobian!(cache::CacheBundle, mc::CMC{<:CoordStack}) + c = mc.coord_data + J_ret = J_cache_view(cache, mc) fill!(J_ret, zero(eltype(J_ret))) - J_ret_1 = _vms_jacobian_result_view(cache, J_ret, c.coord_data.c1) - J_ret_2 = _vms_jacobian_result_view(cache, J_ret, c.coord_data.c2) - J1 = _jacobian(cache, c.coord_data.c1) - J2 = _jacobian(cache, c.coord_data.c2) + J_ret_1 = _vms_jacobian_result_view(cache, J_ret, c.c1) + J_ret_2 = _vms_jacobian_result_view(cache, J_ret, c.c2) + J1 = _jacobian(cache, c.c1) + J2 = _jacobian(cache, c.c2) # Instead, do it manually Nc1 = size(J1, 1) J_ret_1[1:Nc1, :] .= J1 @@ -148,6 +164,19 @@ function __jacobian!(cache::CacheBundle, c::CMC{<:CoordStack}) end @inline __acceleration!(cache::CacheBundle, c::CMC{<:CoordStack}) = nothing +function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:CoordStack}) + f_view = f_cache_view(cache, mc) + f2 = f_cache_view(cache, cache[mc.coord_data.c2]) + f1 = f_cache_view(cache, cache[mc.coord_data.c1]) + for i in 1:length(f1) + f1[i] += f_view[i] + end + for i in 1:length(f2) + f2[i] += f_view[i+length(f1)] + end + nothing +end + function _configuration(cache::CacheBundle, c::CMC{<:CoordStack}) z1 = _configuration(cache, c.coord_data.c1) z2 = _configuration(cache, c.coord_data.c2) @@ -179,6 +208,15 @@ end @inline __jacobian!(cache::CacheBundle, c::CMC{<:CoordSlice}) = nothing @inline __acceleration!(cache::CacheBundle, c::CMC{<:CoordSlice}) = nothing +function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:CoordSlice}) + f_applied = f_cache_view(cache, mc) + f_ret = f_cache_view(cache, mc.coord_data.coord) + for (i, idx) in enumerate(mc.coord_data.idxs) + f_ret[idx] += f_applied[i] + end + nothing +end + function _configuration(cache::CacheBundle, c::CMC{<:CoordSlice}) _configuration(cache, c.coord_data.coord)[c.coord_data.idxs] end @@ -206,6 +244,7 @@ function __jacobian!(cache::CacheBundle, c::CMC{<:ConstCoord}) nothing end @inline __acceleration!(cache::CacheBundle, c::CMC{<:ConstCoord}) = nothing +@inline __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:ConstCoord}) = nothing _configuration(cache::CacheBundle, c::CMC{<:ConstCoord{Nc, Tc}}) where {Tc, Nc} = SVector{Nc, eltype(cache)}(c.coord_data.val) _velocity(cache::CacheBundle, c::CMC{<:ConstCoord{Nc, Tc}}) where {Tc, Nc} = zero(SVector{Nc, eltype(cache)}) @@ -224,6 +263,7 @@ function __jacobian!(cache::CacheBundle, c::CMC{<:ReferenceCoord}) nothing end @inline __acceleration!(cache::CacheBundle, c::CMC{<:ReferenceCoord}) = nothing +@inline __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:ReferenceCoord}) = nothing _configuration( cache::CacheBundle, c::CMC{<:ReferenceCoord{Nc, Tc}}) where {Tc, Nc} = SVector{Nc, eltype(cache)}(c.coord_data.val[]) _velocity( cache::CacheBundle, c::CMC{<:ReferenceCoord{Nc, Tc}}) where {Tc, Nc} = SVector{Nc, eltype(cache)}(c.coord_data.vel[]) @@ -246,6 +286,13 @@ function __jacobian!(cache::CacheBundle, c::CMC{<:JointSubspace}) nothing end @inline __acceleration!(cache::CacheBundle, c::CMC{<:JointSubspace}) = nothing +function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:JointSubspace}) + f_view = f_cache_view(cache, mc) + @assert length(f_view) == 1 + _apply_joint_force_to_frames!(cache, mc.coord_data.joint, f_view[1]) + nothing +end + _configuration(cache::CacheBundle, c::CMC{<:JointSubspace}) = get_q(cache, c.coord_data.joint) _velocity(cache::CacheBundle, c::CMC{<:JointSubspace}) = get_q̇(cache, c.coord_data.joint) @@ -364,7 +411,10 @@ function __jacobian!(cache::CacheBundle, c::CMC{<:FrameOrigin}) nothing end __acceleration!(cache::CacheBundle, c::CMC{<:FrameOrigin}) = nothing -__propagate_opspace_force!(cache::CacheBundle, c::CMC{<:FrameOrigin}) = get_frame_forces(cache)[c.coord_data.frameID] += f_cache_view(cache, c) +function __propagate_opspace_force!(cache::CacheBundle, c::CMC{<:FrameOrigin}) + get_frame_forces(cache)[c.coord_data.frameID] += f_cache_view(cache, c) + nothing +end _configuration(cache::CacheBundle, c::CMC{<:FrameOrigin}) = origin(get_transform(cache, c.coord_data.frameID)) _velocity(cache::CacheBundle, c::CMC{<:FrameOrigin}) = get_linear_vel(cache, c.coord_data.frameID) @@ -439,7 +489,7 @@ function __acceleration!(cache::CacheBundle, cmc::CMC{<:QuaternionAttitude}) α_cache_view(cache, cmc) .= bivector(ddrotor_tf) end -# function __propagate_opspace_force!(cache::CacheBundle, cmc::CMC{<:QuaternionAttitude}, f) +function __propagate_opspace_force!(cache::CacheBundle, cmc::CMC{<:QuaternionAttitude}) # c = cmc.coord_data # fID = c.frameID @@ -462,7 +512,7 @@ end # τ = cross(configuration(cache, cmc), f) # get_frame_torques(cache)[fID] .+= τ # nothing -# end +end _configuration(cache::CacheBundle, cmc::CMC{<:QuaternionAttitude}) = SVector{length(cmc), eltype(cache)}(z_cache_view(cache, cmc)) _velocity(cache::CacheBundle, cmc::CMC{<:QuaternionAttitude}) = SVector{length(cmc), eltype(cache)}(ż_cache_view(cache, cmc)) @@ -484,11 +534,6 @@ function __jacobian!(cache::CacheBundle, c::CMC{<:FrameAngularVelocity}) end __acceleration!(cache::CacheBundle, c::CMC{<:FrameAngularVelocity}) = nothing -# _configuration(cache::MechanismCacheBundle, c::CMC{<:FrameAngularVelocity}) = rotor(transform(cache, c.coord_data.frameID)) -_velocity(cache::CacheBundle, c::CMC{<:FrameAngularVelocity}) = get_angular_vel(cache, c.coord_data.frameID) -_jacobian(cache::CacheBundle, c::CMC{<:FrameAngularVelocity}) = J_cache_view(cache, c) -_acceleration(cache::CacheBundle, c::CMC{<:FrameAngularVelocity}) = _get_angular_acc(cache, c.coord_data.frameID) - function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:FrameAngularVelocity}) c = mc.coord_data f_view = f_cache_view(cache, mc) @@ -499,6 +544,10 @@ function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:FrameAngularVe nothing end +# _configuration(cache::MechanismCacheBundle, c::CMC{<:FrameAngularVelocity}) = rotor(transform(cache, c.coord_data.frameID)) +_velocity(cache::CacheBundle, c::CMC{<:FrameAngularVelocity}) = get_angular_vel(cache, c.coord_data.frameID) +_jacobian(cache::CacheBundle, c::CMC{<:FrameAngularVelocity}) = J_cache_view(cache, c) +_acceleration(cache::CacheBundle, c::CMC{<:FrameAngularVelocity}) = _get_angular_acc(cache, c.coord_data.frameID) #################################################################################################### # CoordNorm @@ -546,6 +595,20 @@ function __acceleration!(cache::CacheBundle, c::CMC{<:CoordNorm}) α_cache_view(cache, c) .= αᵢ end +function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:CoordNorm}) + c = mc.coord_data + f_view = f_cache_view(cache, mc) + @assert length(f_view) == 1 + f_ret = f_cache_view(cache, cache[c.coord]) + zₐ = _configuration(cache, c.coord) + zᵢ = _configuration(cache, mc) + for i in 1:length(f_ret) + f_ret[i] += f_view[1] * zₐ[i] / zᵢ[1] + end + nothing +end + + _configuration(cache::CacheBundle, c::CMC{<:CoordNorm}) = SVector(z_cache_view(cache, c)[1]) _velocity(cache::CacheBundle, c::CMC{<:CoordNorm}) = SVector(ż_cache_view(cache, c)[1]) _jacobian(cache::CacheBundle, c::CMC{<:CoordNorm}) = J_cache_view(cache, c) @@ -626,6 +689,15 @@ function __acceleration!(cache::CacheBundle, cmc::CMC{<:RotatedCoord}) nothing end +function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:RotatedCoord}) + c = mc.coord_data + f_view = f_cache_view(cache, mc) + f_ret = f_cache_view(cache, cache[c.world_frame_coord]) + nothing +end + + + _configuration(cache::CacheBundle, cmc::CMC{<:RotatedCoord}) = SVector{length(cmc)}(z_cache_view(cache, cmc)) _velocity(cache::CacheBundle, cmc::CMC{<:RotatedCoord}) = SVector{length(cmc)}(ż_cache_view(cache, cmc)) _jacobian(cache::CacheBundle, cmc::CMC{<:RotatedCoord}) = J_cache_view(cache, cmc) @@ -711,6 +783,13 @@ function __acceleration!(cache::CacheBundle, cmc::CMC{<:UnrotatedCoord}) nothing end +function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:UnrotatedCoord}) + c = mc.coord_data + f_view = f_cache_view(cache, mc) + f_ret = f_cache_view(cache, cache[c.link_frame_coord]) + nothing +end + _configuration(cache::CacheBundle, cmc::CMC{<:UnrotatedCoord}) = SVector{length(cmc)}(z_cache_view(cache, cmc)) _velocity(cache::CacheBundle, cmc::CMC{<:UnrotatedCoord}) = SVector{length(cmc)}(ż_cache_view(cache, cmc)) _jacobian(cache::MechanismCacheBundle, cmc::CMC{<:UnrotatedCoord}) = J_cache_view(cache, cmc) diff --git a/src/coordinates/coordinates.jl b/src/coordinates/coordinates.jl index 7e41ae8..2b69af7 100644 --- a/src/coordinates/coordinates.jl +++ b/src/coordinates/coordinates.jl @@ -19,7 +19,7 @@ struct CompiledCoord{C<:CoordinateData} cache_idxs::UnitRange{Int} end -Base.show(io::IO, ::Type{<:CompiledCoord{C}}) where C = print(io, "CompiledCoord{$C}") +# Base.show(io::IO, ::Type{<:CompiledCoord{C}}) where C = print(io, "CompiledCoord{$C}") """ CompiledCoordID{C} diff --git a/src/joints/joint_definitions.jl b/src/joints/joint_definitions.jl index 4625ab9..f545f53 100644 --- a/src/joints/joint_definitions.jl +++ b/src/joints/joint_definitions.jl @@ -623,7 +623,12 @@ function _project_forces_to_jointspace(j::RevoluteData, tf_p::Transform{T}, tf_c # The minus sign is due to the fact that the torque is expressed on the right side of the # equation - τ = -dot(rotor(tf_p) * rotor(j.transform) * j.axis, τ_c) - - return SVector(τ) -end \ No newline at end of file + u = -dot(rotor(tf_p) * rotor(j.transform) * j.axis, τ_c) + return SVector(u) +end + +function _project_forces_to_jointspace(j::PrismaticData, tf_p::Transform{T}, tf_c::Transform{T}, f_p::S, f_c::S, τ_p::S, τ_c::S) where {T, S<: SVector{3, T}} + # Rotate axis to world frame, then dot with force + u = -dot(rotor(tf_c) * j.axis, f_c) + return SVector(u) +end diff --git a/src/joints/mechanism_joint.jl b/src/joints/mechanism_joint.jl index 9ca7e6f..a70c77d 100644 --- a/src/joints/mechanism_joint.jl +++ b/src/joints/mechanism_joint.jl @@ -141,3 +141,33 @@ function q̇_idxs(j::CompiledMechanismJoint) end Base.show(io::IO, ::Type{CompiledMechanismJoint{T, JD}}) where {T, JD} = print(io, "CompiledMechanismJoint($T, $JD)") + + + + +###################### +# Apply forces to frames +###################### + +# This must come after the definition of CompiledJointID... hence living here + +function _apply_joint_force_to_frames!(bundle, jID::CompiledJointID, u::Real) + # Axis in world frame + mj = bundle[jID] + _apply_joint_force_to_frames!(bundle, mj.jointData, mj.parentFrameID, mj.childFrameID, u) + nothing +end + + +function _apply_joint_force_to_frames!( + bundle::CacheBundle, + jointData::RevoluteData, + parentFrameID::CompiledFrameID, + childFrameID::CompiledFrameID, + u::Real) + # Axis in world frame + axis = rotor(get_transform(bundle, parentFrameID)) * jointData.axis + get_frame_torques(bundle)[parentFrameID] -= axis * u + get_frame_torques(bundle)[childFrameID] += axis * u + nothing +end diff --git a/test/inverse_dynamics_test.jl b/test/inverse_dynamics_test.jl index 33edc7f..7dcf2f5 100644 --- a/test/inverse_dynamics_test.jl +++ b/test/inverse_dynamics_test.jl @@ -5,26 +5,50 @@ function test_inverse_dynamics(m; N=20) t = 0.0 q = rand!(rng, zero_q(Float64, m)) q̇ = rand!(rng, zero_q̇(Float64, m)) + q̈ = rand!(rng, zero_q̈(Float64, m)) gravity = randn(rng, SVector{3, Float64}) - _test_inverse_dynamics(m, t, q, q̇, gravity) + _test_inverse_dynamics(m, t, q, q̇, q̈, gravity; rng) end end -function _test_inverse_dynamics(m, time, q, q̇, gravity) +function _test_inverse_dynamics(m, time, q, q̇, q̈, gravity; rng=MersenneTwister(1234)) u = zero_u(Float64, m) icache = new_inverse_dynamics_cache(m) - dcache = new_dynamics_cache(m) + dcache = new_dynamics_cache(m) + ############################ + # Test 1 + # Run forward dynamics then inverse dynamics, and compare the control input dynamics!(dcache, time, q, q̇, gravity, u) - q̈ = get_q̈(dcache) - inverse_dynamics!(icache, time, q, q̇, q̈, gravity) - - # u is the control input used to compute forward dynamics, and is correct - # get_u(icache) is the result of the inverse dynamics computation, and should be equal to u + inverse_dynamics!(icache, time, q, q̇, get_q̈(dcache), gravity) @test get_u(icache) ≈ u atol=1e-7 rtol=1e-7 + ############################ + # Test 2 + # Run inverse dynamics then forward dynamics, and compare the acceleration + inverse_dynamics!(icache, time, q, q̇, q̈, gravity) + dynamics!(dcache, time, q, q̇, gravity, get_u(icache)) + @test get_q̈(dcache) ≈ q̈ atol=1e-7 rtol=1e-7 + + ############################ + # Test 3 + # Run inverse dynamics with a single coordinate and compare to jacobian transpose method + VMRobotControl._inverse_dynamics_set_inputs!(icache, time, q, 0 .* q̇, 0 .* q̈, 0 * gravity) + VMRobotControl._inverse_dynamics_forward_pass!(icache) + for coordID in values(m.rbtree.coord_id_map) + VMRobotControl._inverse_dynamics_zero!(icache) + # Apply random force to the coordinate + f = randn(rng, length(icache[coordID])) + VMRobotControl.f_cache_view(icache, icache[coordID]) .+= f + VMRobotControl._inverse_dynamics_backward_pass_a!(icache) + VMRobotControl._inverse_dynamics_backward_pass_b!(icache) + VMRobotControl._inverse_dynamics_backward_pass_c!(icache) + VMRobotControl._inverse_dynamics_backward_pass_d!(icache) + J = jacobian(dcache, coordID) + @test get_u(icache) ≈ -J' * f + end # if isa(m, CompiledMechanism) # elseif isa(m, CompiledVirtualMechanismSystem) # end From a74e9674975f9f0ae41d997101bb54de61dfbc2a Mon Sep 17 00:00:00 2001 From: Daniel Larby Date: Fri, 7 Mar 2025 15:40:20 +0000 Subject: [PATCH 06/12] Fixes, add RectifiedSpring/RELUSpring to docs, remove from compliant_path_following.jl example. Fix URDF parsing mesh scaling. --- docs/src/api/api.md | 1 + examples/compliant_path_following.jl | 4 ++-- src/components/storages.jl | 11 +++++++++++ src/mesh_utils.jl | 14 +++++++++++++- src/urdf/parse_urdf.jl | 9 ++++++--- 5 files changed, 33 insertions(+), 6 deletions(-) diff --git a/docs/src/api/api.md b/docs/src/api/api.md index 85d0ca2..84d1fa9 100644 --- a/docs/src/api/api.md +++ b/docs/src/api/api.md @@ -162,6 +162,7 @@ VMRobotControl.Storage LinearSpring TanhSpring GaussianSpring +RectifiedSpring GravityCompensator ForceSource PowerSource diff --git a/examples/compliant_path_following.jl b/examples/compliant_path_following.jl index 07855be..7c0b601 100644 --- a/examples/compliant_path_following.jl +++ b/examples/compliant_path_following.jl @@ -128,8 +128,8 @@ add_component!(vm, LinearDamper(100.0, "CartPosition"); id="CartDamper"); # the force will be reduced to ensure that the power does not exceed 10W. vms = VirtualMechanismSystem("System", robot, vm) err_coord = CoordDifference(".virtual_mechanism.CartPosition", ".robot.TCP") -err_spring = LinearSpring(3000.0 * identity(3), "CartError") -err_damper = LinearDamper(50.0 * identity(3), "CartError") +err_spring = LinearSpring(3000.0, "CartError") +err_damper = LinearDamper(50.0, "CartError") add_coordinate!(vms, err_coord; id="CartError") add_component!(vms, err_spring; id="CartErrSpring") diff --git a/src/components/storages.jl b/src/components/storages.jl index 61621bf..c26a856 100644 --- a/src/components/storages.jl +++ b/src/components/storages.jl @@ -300,7 +300,18 @@ end ############################ # ReLUSpring ############################ +""" + RectifiedSpring(stiffness, coord, flipped::Bool) + ReLUSpring(stiffness, coord, flipped::Bool) + +A linear spring which acts only when the coordinate is positive (flipped=false) or negative +(flipped=true). +Check implementation details if applying to any coordinate larger than 1D, to ensure +behaviour is as expected. + +See also [`add_deadzone_springs`](@ref). +""" @kwdef struct RectifiedSpring{T<:Real, K, C} <: Storage{T} stiffness::K coord::C diff --git a/src/mesh_utils.jl b/src/mesh_utils.jl index f3952a2..6022e58 100644 --- a/src/mesh_utils.jl +++ b/src/mesh_utils.jl @@ -6,7 +6,19 @@ end transform_mesh(mesh, tf::Nothing) = mesh -function rescale_mesh(mesh, scale) + +function rescale_geometry(geom, scale) + if typeof(geom) <: GeometryBasics.Mesh + return rescale_mesh(geom, scale) + elseif typeof(geom) <: Vector{<:Tuple{<:GeometryBasics.Mesh, <:Any}} + return [(rescale_mesh(mesh, scale), kwargs) for (mesh, kwargs) in geom] + else + error("Unsupported geometry type: $(typeof(geom))") + end +end + + +function rescale_mesh(mesh::GeometryBasics.Mesh, scale) c, f = GeometryBasics.coordinates(mesh), GeometryBasics.faces(mesh) if prod(scale)< 0 # If scaling will turn the mesh inside out, then reverse the chirality of the faces by diff --git a/src/urdf/parse_urdf.jl b/src/urdf/parse_urdf.jl index aedd06a..8b7a51b 100644 --- a/src/urdf/parse_urdf.jl +++ b/src/urdf/parse_urdf.jl @@ -150,7 +150,8 @@ function parse_link!(mechanism, link, cfg) end function parse_inertial!(mechanism, inertial, link_frame, cfg) - transform = nothing + # Default to no transform + transform = zero(Transform{cfg.element_type}) mass = nothing inertia = nothing for node in eachelement(inertial) @@ -287,11 +288,13 @@ function parse_geometry(geometry_node, cfg) geom = Sphere3{Float64}(SVector(0, 0, 0), r) elseif nn == "mesh" filename = node["filename"] - geom = load_mesh(filename, cfg) + geom = load_mesh(filename, cfg) + # This will either be a mesh, or vector of tuples containing mesh and kwargs for + # visual properties if haskey(node, "scale") scale_vec = parse_3vec(node["scale"], cfg) scale = GeometryBasics.Point{3, Float64}(scale_vec...) - geom = VMRobotControl.rescale_mesh(geom, scale) + geom = VMRobotControl.rescale_geometry(geom, scale) end else raise_not_recognized(nn, cfg) From 5b6e6d0eabdb0b34631cd22e76724d6317df48fa Mon Sep 17 00:00:00 2001 From: Daniel Larby Date: Fri, 7 Mar 2025 15:40:46 +0000 Subject: [PATCH 07/12] Add URDF of shadow robotics hand. --- URDFs/sr_description/LICENSE | 28 ++ URDFs/sr_description/README.md | 7 + .../cable_connector_base_E3M5.dae | 83 +++++ .../cable_connector_palm_E3M5.dae | 83 +++++ .../f_distal/bt_2p/f_distal_bt_2p.dae | 235 ++++++++++++++ .../f_distal/bt_2p/f_distal_bt_2p_adapter.dae | 126 ++++++++ .../f_distal/bt_sp/f_distal_bt_sp.dae | 128 ++++++++ .../components/f_distal/mst/f_distal_mst.dae | 134 ++++++++ .../f_distal/mst/f_distal_mstXL.dae | 134 ++++++++ .../components/f_distal/pst/f_distal_pst.dae | 132 ++++++++ .../f_distal/pst/f_distal_pst_scaled.dae | 210 ++++++++++++ .../components/f_knuckle/f_knuckle_C6M2.dae | 133 ++++++++ .../components/f_knuckle/f_knuckle_E2M3.dae | 133 ++++++++ .../components/f_knuckle/f_knuckle_E3M5.dae | 133 ++++++++ .../f_knuckle_E3M5_no_rot_scaled.dae | 210 ++++++++++++ .../f_knuckle/f_knuckle_E3M5_scaled.dae | 153 +++++++++ .../components/f_knuckle/f_knuckle_E4.dae | 133 ++++++++ .../components/f_knuckle/f_knuckle_G1M5.dae | 133 ++++++++ .../components/f_knuckle/f_knuckle_G4.dae | 133 ++++++++ .../components/f_middle/f_middle_C6M2.dae | 139 ++++++++ .../components/f_middle/f_middle_E2M3.dae | 139 ++++++++ .../components/f_middle/f_middle_E3M5.dae | 139 ++++++++ .../f_middle/f_middle_E3M5_no_rot_scaled.dae | 210 ++++++++++++ .../components/f_middle/f_middle_E4.dae | 130 ++++++++ .../components/f_middle/f_middle_G1M5.dae | 139 ++++++++ .../components/f_middle/f_middle_G4.dae | 139 ++++++++ .../components/f_proximal/f_proximal_C6M2.dae | 139 ++++++++ .../components/f_proximal/f_proximal_E2M3.dae | 139 ++++++++ .../components/f_proximal/f_proximal_E3M5.dae | 139 ++++++++ .../f_proximal_E3M5_no_rot_scaled.dae | 153 +++++++++ .../f_proximal/f_proximal_E3M5_scaled.dae | 153 +++++++++ .../components/f_proximal/f_proximal_E4.dae | 139 ++++++++ .../components/f_proximal/f_proximal_G1M5.dae | 139 ++++++++ .../components/f_proximal/f_proximal_G4.dae | 139 ++++++++ .../components/forearm/forearm_C6M2.dae | 134 ++++++++ .../components/forearm/forearm_E2M3.dae | 202 ++++++++++++ .../components/forearm/forearm_E3M5.dae | 262 +++++++++++++++ .../forearm/forearm_E3M5_scaled.dae | 299 +++++++++++++++++ .../meshes/components/forearm/forearm_E4.dae | 304 ++++++++++++++++++ .../components/forearm/forearm_G1M5.dae | 122 +++++++ .../meshes/components/forearm/forearm_G4.dae | 122 +++++++ .../forearm/forearm_collision_C6M2.dae | 134 ++++++++ .../forearm/forearm_collision_E2M3.dae | 93 ++++++ .../forearm/forearm_collision_E3M5.dae | 83 +++++ .../forearm/forearm_collision_E3M5_scaled.dae | 120 +++++++ .../forearm/forearm_collision_E4.dae | 83 +++++ .../lf_metacarpal/lf_metacarpal_C6M2.dae | 139 ++++++++ .../lf_metacarpal/lf_metacarpal_E2M3.dae | 139 ++++++++ .../lf_metacarpal/lf_metacarpal_E3M5.dae | 139 ++++++++ .../lf_metacarpal_E3M5_no_rot_scaled.dae | 210 ++++++++++++ .../lf_metacarpal/lf_metacarpal_E4.dae | 122 +++++++ .../mounting_plate/mounting_plate_E3M5.dae | 107 ++++++ .../mounting_plate/mounting_plate_E4.dae | 107 ++++++ .../mounting_plate/mounting_plate_G1M5.dae | 107 ++++++ .../mounting_plate/mounting_plate_G4.dae | 107 ++++++ .../meshes/components/palm/palm_C6M2.dae | 132 ++++++++ .../meshes/components/palm/palm_E2M3.dae | 143 ++++++++ .../meshes/components/palm/palm_E3M5.dae | 132 ++++++++ .../components/palm/palm_E3M5_scaled.dae | 153 +++++++++ .../meshes/components/palm/palm_E4.dae | 122 +++++++ .../meshes/components/palm/palm_G1M5.dae | 143 ++++++++ .../meshes/components/palm/palm_G4.dae | 122 +++++++ .../th_distal/bt_2p/th_distal_bt_2p.dae | 235 ++++++++++++++ .../bt_2p/th_distal_bt_2p_adapter.dae | 235 ++++++++++++++ .../th_distal/bt_sp/th_distal_bt_sp.dae | 127 ++++++++ .../th_distal/mst/th_distal_mst.dae | 133 ++++++++ .../th_distal/pst/th_distal_pst.dae | 132 ++++++++ .../th_distal/pst/th_distal_pst_scaled.dae | 210 ++++++++++++ .../components/th_middle/th_middle_C6M2.dae | 139 ++++++++ .../components/th_middle/th_middle_E2M3.dae | 139 ++++++++ .../components/th_middle/th_middle_E3M5.dae | 139 ++++++++ .../th_middle_E3M5_no_rot_scaled.dae | 210 ++++++++++++ .../components/th_middle/th_middle_E4.dae | 139 ++++++++ .../components/th_middle/th_middle_G1M5.dae | 139 ++++++++ .../components/th_middle/th_middle_G4.dae | 139 ++++++++ .../th_proximal/th_proximal_C6M2.dae | 139 ++++++++ .../th_proximal/th_proximal_E2M3.dae | 139 ++++++++ .../th_proximal/th_proximal_E3M5.dae | 139 ++++++++ .../th_proximal_E3M5_no_rot_scaled.dae | 210 ++++++++++++ .../components/th_proximal/th_proximal_E4.dae | 139 ++++++++ .../th_proximal/th_proximal_G1M5.dae | 139 ++++++++ .../components/th_proximal/th_proximal_G4.dae | 139 ++++++++ .../meshes/components/wrist/wrist_C6M2.dae | 133 ++++++++ .../meshes/components/wrist/wrist_E2M3.dae | 133 ++++++++ .../meshes/components/wrist/wrist_E3M5.dae | 133 ++++++++ .../components/wrist/wrist_E3M5_no_rot.dae | 153 +++++++++ .../wrist/wrist_E3M5_no_rot_scaled.dae | 153 +++++++++ .../meshes/components/wrist/wrist_E4.dae | 133 ++++++++ URDFs/sr_description/package.xml | 53 +++ URDFs/sr_description/robots/sr_hand.urdf | 29 ++ 90 files changed, 12798 insertions(+) create mode 100644 URDFs/sr_description/LICENSE create mode 100644 URDFs/sr_description/README.md create mode 100644 URDFs/sr_description/meshes/components/cable_connector/cable_connector_base_E3M5.dae create mode 100644 URDFs/sr_description/meshes/components/cable_connector/cable_connector_palm_E3M5.dae create mode 100644 URDFs/sr_description/meshes/components/f_distal/bt_2p/f_distal_bt_2p.dae create mode 100644 URDFs/sr_description/meshes/components/f_distal/bt_2p/f_distal_bt_2p_adapter.dae create mode 100644 URDFs/sr_description/meshes/components/f_distal/bt_sp/f_distal_bt_sp.dae create mode 100644 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create mode 100644 URDFs/sr_description/meshes/components/th_distal/bt_2p/th_distal_bt_2p.dae create mode 100644 URDFs/sr_description/meshes/components/th_distal/bt_2p/th_distal_bt_2p_adapter.dae create mode 100644 URDFs/sr_description/meshes/components/th_distal/bt_sp/th_distal_bt_sp.dae create mode 100644 URDFs/sr_description/meshes/components/th_distal/mst/th_distal_mst.dae create mode 100644 URDFs/sr_description/meshes/components/th_distal/pst/th_distal_pst.dae create mode 100644 URDFs/sr_description/meshes/components/th_distal/pst/th_distal_pst_scaled.dae create mode 100644 URDFs/sr_description/meshes/components/th_middle/th_middle_C6M2.dae create mode 100644 URDFs/sr_description/meshes/components/th_middle/th_middle_E2M3.dae create mode 100644 URDFs/sr_description/meshes/components/th_middle/th_middle_E3M5.dae create mode 100644 URDFs/sr_description/meshes/components/th_middle/th_middle_E3M5_no_rot_scaled.dae create mode 100644 URDFs/sr_description/meshes/components/th_middle/th_middle_E4.dae create mode 100644 URDFs/sr_description/meshes/components/th_middle/th_middle_G1M5.dae create mode 100644 URDFs/sr_description/meshes/components/th_middle/th_middle_G4.dae create mode 100644 URDFs/sr_description/meshes/components/th_proximal/th_proximal_C6M2.dae create mode 100644 URDFs/sr_description/meshes/components/th_proximal/th_proximal_E2M3.dae create mode 100644 URDFs/sr_description/meshes/components/th_proximal/th_proximal_E3M5.dae create mode 100644 URDFs/sr_description/meshes/components/th_proximal/th_proximal_E3M5_no_rot_scaled.dae create mode 100644 URDFs/sr_description/meshes/components/th_proximal/th_proximal_E4.dae create mode 100644 URDFs/sr_description/meshes/components/th_proximal/th_proximal_G1M5.dae create mode 100644 URDFs/sr_description/meshes/components/th_proximal/th_proximal_G4.dae create mode 100644 URDFs/sr_description/meshes/components/wrist/wrist_C6M2.dae create mode 100644 URDFs/sr_description/meshes/components/wrist/wrist_E2M3.dae create mode 100644 URDFs/sr_description/meshes/components/wrist/wrist_E3M5.dae create mode 100644 URDFs/sr_description/meshes/components/wrist/wrist_E3M5_no_rot.dae create mode 100644 URDFs/sr_description/meshes/components/wrist/wrist_E3M5_no_rot_scaled.dae create mode 100644 URDFs/sr_description/meshes/components/wrist/wrist_E4.dae create mode 100644 URDFs/sr_description/package.xml create mode 100644 URDFs/sr_description/robots/sr_hand.urdf diff --git a/URDFs/sr_description/LICENSE b/URDFs/sr_description/LICENSE new file mode 100644 index 0000000..0870439 --- /dev/null +++ b/URDFs/sr_description/LICENSE @@ -0,0 +1,28 @@ +BSD 3-Clause License +Copyright (c) 2022, Shadow Robot Company Ltd +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +* Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file diff --git a/URDFs/sr_description/README.md b/URDFs/sr_description/README.md new file mode 100644 index 0000000..b25a9f1 --- /dev/null +++ b/URDFs/sr_description/README.md @@ -0,0 +1,7 @@ +From: https://github.com/shadow-robot/sr_common + +This package contains the description for Shadow Robot's Hands. + +You can find the different complete models in [robots](robots). + +You can also find more information about the computation of the [hand kinematics](doc/HandInertia.md). diff --git a/URDFs/sr_description/meshes/components/cable_connector/cable_connector_base_E3M5.dae b/URDFs/sr_description/meshes/components/cable_connector/cable_connector_base_E3M5.dae new file mode 100644 index 0000000..ea3dc8e --- /dev/null +++ b/URDFs/sr_description/meshes/components/cable_connector/cable_connector_base_E3M5.dae @@ -0,0 +1,83 @@ + + + + + + Blender User + Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171 + + 2022-02-10T09:30:09 + 2022-02-10T09:30:09 + + Z_UP + + + + + + + 28.33431 57.12572 183.2646 28.33 58.14146 183.2646 28.33867 58.14145 183.2646 28.19943 25.68105 183.2646 18.33454 57.07963 183.2646 5.728507 25.68105 183.2646 18.33011 58.12125 183.2646 27.64823 50.18185 197.1763 26.23972 57.85178 183.7646 23.33541 58.14346 183.2646 26.2141 58.00422 183.5019 23.69103 58.14324 183.2646 26.19103 58.14197 183.2646 23.44241 50.01022 198.1551 23.54812 41.85612 213.0616 29.44288 41.85494 212.1651 30.39398 37.89211 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10 147 10 148 10 142 136 144 136 143 136 31 10 146 10 148 10 30 10 146 10 31 10 146 137 149 137 148 137 150 138 151 138 152 138 146 10 153 10 162 10 146 10 162 10 157 10 164 139 163 139 162 139 190 140 188 140 189 140 176 141 190 141 175 141 188 142 169 142 167 142 191 143 169 143 188 143 188 144 190 144 191 144 192 145 176 145 177 145 190 146 176 146 192 146 192 147 191 147 190 147 169 148 191 148 171 148 178 149 192 149 177 149 191 150 173 150 171 150 193 151 173 151 191 151 191 152 192 152 193 152 194 153 193 153 192 153 194 154 178 154 179 154 192 155 178 155 194 155 173 156 193 156 174 156 180 157 194 157 179 157 193 158 194 158 195 158 193 159 172 159 174 159 195 160 172 160 193 160 194 161 180 161 196 161 196 162 195 162 194 162 181 163 196 163 180 163 172 164 195 164 170 164 195 165 196 165 197 165 197 166 170 166 195 166 198 167 197 167 196 167 198 168 181 168 182 168 196 169 181 169 198 169 183 170 198 170 182 170 170 171 197 171 168 171 197 172 198 172 199 172 197 173 166 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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10 0 11 0 12 0 13 1 11 1 10 1 16 2 15 2 14 2 14 3 17 3 16 3 9 4 17 4 14 4 1 5 0 5 20 5 20 6 21 6 1 6 2 7 1 7 21 7 22 8 3 8 2 8 21 9 22 9 2 9 24 10 25 10 26 10 27 11 26 11 25 11 28 11 27 11 25 11 25 12 24 12 29 12 29 13 30 13 25 13 30 11 31 11 25 11 30 14 29 14 19 14 20 15 19 15 29 15 29 16 24 16 20 16 21 17 20 17 24 17 22 18 21 18 24 18 24 19 26 19 22 19 23 20 22 20 26 20 13 21 16 21 11 21 15 22 16 22 13 22 12 23 11 23 17 23 16 24 17 24 11 24 12 25 17 25 9 25 33 26 9 26 18 26 33 27 18 27 8 27 33 28 8 28 7 28 33 29 7 29 6 29 33 30 6 30 4 30 33 31 4 31 5 31 32 32 33 32 5 32 25 33 60 33 61 33 51 34 14 34 48 34 84 35 37 35 34 35 84 36 34 36 81 36 81 37 34 37 38 37 60 38 36 38 88 38 86 39 88 39 36 39 84 40 86 40 37 40 86 41 36 41 37 41 79 42 81 42 38 42 38 43 39 43 79 43 77 44 79 44 39 44 39 45 40 45 77 45 74 46 77 46 40 46 40 47 58 47 74 47 72 48 74 48 58 48 58 49 59 49 72 49 53 50 44 50 69 50 41 51 83 51 44 51 41 52 85 52 83 52 41 53 87 53 85 53 41 54 44 54 56 54 44 55 53 55 56 55 89 56 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237 157 237 157 238 61 238 211 238 208 239 211 239 61 239 61 240 60 240 208 240 88 241 208 241 60 241 159 242 167 242 28 242 166 243 167 243 159 243 159 244 160 244 166 244 160 245 161 245 166 245 161 246 165 246 166 246 164 247 165 247 161 247 161 248 162 248 164 248 164 249 163 249 215 249 164 250 162 250 163 250 23 251 28 251 167 251 23 252 27 252 28 252 26 253 27 253 23 253 169 254 92 254 136 254 129 255 169 255 136 255 129 256 170 256 169 256 129 257 136 257 189 257 136 258 135 258 189 258 189 259 193 259 129 259 132 260 129 260 193 260 129 261 132 261 170 261 132 262 171 262 170 262 132 263 172 263 171 263 132 264 173 264 172 264 174 265 173 265 132 265 193 266 194 266 132 266 132 267 131 267 130 267 132 268 196 268 131 268 132 269 195 269 196 269 132 270 194 270 195 270 132 271 130 271 174 271 130 272 175 272 174 272 176 273 175 273 133 273 175 274 134 274 133 274 175 275 130 275 134 275 137 276 136 276 92 276 98 277 156 277 148 277 98 278 139 278 156 278 139 279 155 279 156 279 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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+ + + + + + + + 0.00000 0.00000 0.00000 + 0 0 1 0.00000 + 0 1 0 -0.00000 + 1 0 0 0.00000 + 1.00000 1.00000 1.00000 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/URDFs/sr_description/package.xml b/URDFs/sr_description/package.xml new file mode 100644 index 0000000..ddd3df7 --- /dev/null +++ b/URDFs/sr_description/package.xml @@ -0,0 +1,53 @@ + + + + + sr_description + 1.4.0 + sr_description contains the description for Shadow Robot's Hands. + Shadow Robot's software team + + GPL + + http://ros.org/wiki/sr_description + https://github.com/shadow-robot/sr_common + https://github.com/shadow-robot/sr_common/issues + + + catkin + + + xacro + position_controllers + joint_trajectory_controller + + + liburdfdom-tools + liburdfdom-dev + urdf + gtest + + diff --git a/URDFs/sr_description/robots/sr_hand.urdf b/URDFs/sr_description/robots/sr_hand.urdf new file mode 100644 index 0000000..cbc12bd --- /dev/null +++ b/URDFs/sr_description/robots/sr_hand.urdf @@ -0,0 +1,29 @@ +gazebo_ros_control/DefaultRobotHWSimfalseGazebo/Whitefalse11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterface11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterface11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterfaceGazebo/Grey11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterfacetrue11sr_mechanism_model/J0Transmission1EffortJointInterfacePositionJointInterfacetrue1111000.0rh_ffdistal_collisionrh_ffdistal_collisiontruerh_ffdistal100.0contacts/rh_ff/distaltrue11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterfaceGazebo/Grey11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterfacetrue11sr_mechanism_model/J0Transmission1EffortJointInterfacePositionJointInterfacetrue1111000.0rh_mfdistal_collisionrh_mfdistal_collisiontruerh_mfdistal100.0contacts/rh_mf/distaltrue11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterfaceGazebo/Grey11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterfacetrue11sr_mechanism_model/J0Transmission1EffortJointInterfacePositionJointInterfacetrue1111000.0rh_rfdistal_collisionrh_rfdistal_collisiontruerh_rfdistal100.0contacts/rh_rf/distaltrue11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterfacetrue11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterfaceGazebo/Grey11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterfacetrue11sr_mechanism_model/J0Transmission1EffortJointInterfacePositionJointInterfacetrue1111000.0rh_lfdistal_collisionrh_lfdistal_collisiontruerh_lfdistal100.0contacts/rh_lf/distaltrue11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterfacefalse11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterfacefalse11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterfacefalse11sr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterface1111000.0rh_thdistal_collisionrh_thdistal_collisiontruerh_thdistal100.0contacts/rh_th/distaltruesr_mechanism_model/SimpleTransmission1EffortJointInterfacePositionJointInterface \ No newline at end of file From af3a612746a4fc5c72d8c6f65913a3789ffe9f25 Mon Sep 17 00:00:00 2001 From: Daniel Larby Date: Tue, 11 Mar 2025 14:32:11 +0000 Subject: [PATCH 08/12] Updated RNE tests to check inertance matrix computed via RNE. Fixed some coordinate force propagation implementations to be correct and pass tests. 2 tests failing: RNE inertance matrices on 2 link robots. --- src/coordinates/coordinate_implementations.jl | 59 +++++++++++-------- src/interface.jl | 21 +++++++ src/joints/mechanism_joint.jl | 2 +- test/inverse_dynamics_test.jl | 55 ++++++++++++----- 4 files changed, 94 insertions(+), 43 deletions(-) diff --git a/src/coordinates/coordinate_implementations.jl b/src/coordinates/coordinate_implementations.jl index 94a9b0e..c643672 100644 --- a/src/coordinates/coordinate_implementations.jl +++ b/src/coordinates/coordinate_implementations.jl @@ -293,7 +293,6 @@ function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:JointSubspace} nothing end - _configuration(cache::CacheBundle, c::CMC{<:JointSubspace}) = get_q(cache, c.coord_data.joint) _velocity(cache::CacheBundle, c::CMC{<:JointSubspace}) = get_q̇(cache, c.coord_data.joint) _acceleration(cache::CacheBundle, c::CMC{<:JointSubspace}) = zero(get_q̇(cache, c.coord_data.joint)) @@ -490,28 +489,16 @@ function __acceleration!(cache::CacheBundle, cmc::CMC{<:QuaternionAttitude}) end function __propagate_opspace_force!(cache::CacheBundle, cmc::CMC{<:QuaternionAttitude}) -# c = cmc.coord_data -# fID = c.frameID - -# T⁰ᵃ = get_transform(cache, fID) -# R⁰ᵃ = rotor(T⁰ᵃ) -# ω⁰ᵃ = get_angular_vel(cache, fID) -# Ṙ⁰ᵃ = quaternion_derivative(R⁰ᵃ, ω⁰ᵃ) - -# Rᵗ⁰ = inv(c.target_rotation) - -# Ṙᵗᵃ = rotate(Rᵗ⁰, Ṙ⁰ᵃ, Val{false}()) # Dont normalize as this is a velocity - -# ż = bivector(Ṙᵗᵃ) - -# nothing + c = cmc.coord_data + rotor_wf = rotor(get_transform(cache, c.frameID)) + rotor_tw = inv(c.target_rotation) + E_wf = Transforms.quaternion_derivative_propagation(rotor_wf) + E_tw = Transforms.quatmul_matrix(rotor_tw) + E = E_tw * E_wf + f_view = f_cache_view(cache, cmc) - -# c = cmc.coord_data -# R⁰ᵃ = rotor(T⁰ᵃ) -# τ = cross(configuration(cache, cmc), f) -# get_frame_torques(cache)[fID] .+= τ -# nothing + τ = E' * SVector(0.0, f_view[1], f_view[2], f_view[3]) + get_frame_torques(cache)[c.frameID] += τ end _configuration(cache::CacheBundle, cmc::CMC{<:QuaternionAttitude}) = SVector{length(cmc), eltype(cache)}(z_cache_view(cache, cmc)) @@ -690,14 +677,23 @@ function __acceleration!(cache::CacheBundle, cmc::CMC{<:RotatedCoord}) end function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:RotatedCoord}) + # Sort out inputs c = mc.coord_data f_view = f_cache_view(cache, mc) + @assert length(f_view) == 3 + f = f_view[SVector(1, 2, 3)] # Get the force applied to the coord as an SVector f_ret = f_cache_view(cache, cache[c.world_frame_coord]) + R = rotor(get_transform(cache, c.frameID)) + z::SVector = _configuration(cache, c.world_frame_coord) + + # Apply force R * f + f_ret .+= R * f + # Apply torque R * cross(z, f) + τ = cross(R*f, z) + get_frame_torques(cache)[c.frameID] += τ nothing end - - _configuration(cache::CacheBundle, cmc::CMC{<:RotatedCoord}) = SVector{length(cmc)}(z_cache_view(cache, cmc)) _velocity(cache::CacheBundle, cmc::CMC{<:RotatedCoord}) = SVector{length(cmc)}(ż_cache_view(cache, cmc)) _jacobian(cache::CacheBundle, cmc::CMC{<:RotatedCoord}) = J_cache_view(cache, cmc) @@ -747,8 +743,8 @@ function __jacobian!(cache::CacheBundle, cmc::CMC{<:UnrotatedCoord}) J = J_cache_view(cache, cmc) fill!(J, zero(eltype(J))) # TODO do this once rather than every time J_ret = _vms_jacobian_result_view(cache, J, c.frameID) - # return RSz * -J_ωb + R⁻¹*J_z - # mul!(J, RSz, -J_ωb, R⁻¹, J_z) + # return RSz * -J_ωb + R*J_z + # mul!(J, RSz, -J_ωb, R, J_z) @assert length(c) == 3 for i in axes(J_ret, 1), j in axes(J_ret, 2) J_ij = zero(eltype(J_ret)) @@ -784,9 +780,20 @@ function __acceleration!(cache::CacheBundle, cmc::CMC{<:UnrotatedCoord}) end function __propagate_opspace_force!(cache::CacheBundle, mc::CMC{<:UnrotatedCoord}) + # Sort out inputs c = mc.coord_data f_view = f_cache_view(cache, mc) + @assert length(f_view) == 3 + f = f_view[SVector(1, 2, 3)] # Get the force applied to the coord as an SVector f_ret = f_cache_view(cache, cache[c.link_frame_coord]) + R = rotor(get_transform(cache, c.frameID)) + z::SVector = _configuration(cache, c.link_frame_coord) + + # Apply force inv(R) * f + f_ret .+= inv(R) * f + # Apply torque z × (inv(R) * f) + τ = cross(R*z, f) + get_frame_torques(cache)[c.frameID] += τ nothing end diff --git a/src/interface.jl b/src/interface.jl index b560f80..6118fd0 100644 --- a/src/interface.jl +++ b/src/interface.jl @@ -571,6 +571,27 @@ function inverse_dynamics!(bundle::MechRNEBundle, t, q, q̇, q̈, gravity) get_u(bundle) end +function _RNE_inertance_matrix!(M::Matrix, bundle::MechRNEBundle, t, q) + N = ndof(bundle.mechanism) + @assert size(M) == (N, N) + + q̇ = get_q̇(bundle) + q̈ = get_q̈(bundle) + g = get_gravity(bundle)[] + for j = 1:N + # Zero velocity and gravity + fill!(q̇, zero(eltype(q̇))) + g = zero(g) + # Set acceleration for one joint + fill!(q̈, zero(eltype(q̈))) + q̈[j] = 1.0 + # Compute inverse dynamics + u = inverse_dynamics!(bundle, t, q, q̇, q̈, g) + M[:, j] .= u + end + M +end + #==============================================================================# const VMS_CONTROL_NOTE = """ diff --git a/src/joints/mechanism_joint.jl b/src/joints/mechanism_joint.jl index a70c77d..98d4792 100644 --- a/src/joints/mechanism_joint.jl +++ b/src/joints/mechanism_joint.jl @@ -166,7 +166,7 @@ function _apply_joint_force_to_frames!( childFrameID::CompiledFrameID, u::Real) # Axis in world frame - axis = rotor(get_transform(bundle, parentFrameID)) * jointData.axis + axis = rotor(get_transform(bundle, parentFrameID)) * rotor(jointData.transform) * jointData.axis get_frame_torques(bundle)[parentFrameID] -= axis * u get_frame_torques(bundle)[childFrameID] += axis * u nothing diff --git a/test/inverse_dynamics_test.jl b/test/inverse_dynamics_test.jl index 7dcf2f5..501af79 100644 --- a/test/inverse_dynamics_test.jl +++ b/test/inverse_dynamics_test.jl @@ -1,4 +1,4 @@ -function test_inverse_dynamics(m; N=20) +function test_inverse_dynamics(m; N=3) rng = MersenneTwister(1234) for i = 1:N @@ -30,26 +30,49 @@ function _test_inverse_dynamics(m, time, q, q̇, q̈, gravity; rng=MersenneTwist # Run inverse dynamics then forward dynamics, and compare the acceleration inverse_dynamics!(icache, time, q, q̇, q̈, gravity) dynamics!(dcache, time, q, q̇, gravity, get_u(icache)) - @test get_q̈(dcache) ≈ q̈ atol=1e-7 rtol=1e-7 + skip_if_nan = any(isnan, get_q̈(dcache)) + skip_if_nan || @test get_q̈(dcache) ≈ q̈ atol=1e-7 rtol=1e-7 ############################ # Test 3 # Run inverse dynamics with a single coordinate and compare to jacobian transpose method VMRobotControl._inverse_dynamics_set_inputs!(icache, time, q, 0 .* q̇, 0 .* q̈, 0 * gravity) VMRobotControl._inverse_dynamics_forward_pass!(icache) - for coordID in values(m.rbtree.coord_id_map) - VMRobotControl._inverse_dynamics_zero!(icache) - # Apply random force to the coordinate - f = randn(rng, length(icache[coordID])) - VMRobotControl.f_cache_view(icache, icache[coordID]) .+= f - VMRobotControl._inverse_dynamics_backward_pass_a!(icache) - VMRobotControl._inverse_dynamics_backward_pass_b!(icache) - VMRobotControl._inverse_dynamics_backward_pass_c!(icache) - VMRobotControl._inverse_dynamics_backward_pass_d!(icache) - J = jacobian(dcache, coordID) - @test get_u(icache) ≈ -J' * f + + + for coords in values(m.rbtree.coordinates) + for vec in coords.tup + for coord in vec + _test_one_coord_vs_jacobian(icache, dcache, rng, coord) + end + end end - # if isa(m, CompiledMechanism) - # elseif isa(m, CompiledVirtualMechanismSystem) - # end + + ############################ + # Test 4 + # Test inertance matrix computed via RNE + _test_RNE_inertance_matrix(icache, dcache, time, q) + +end + +function _test_one_coord_vs_jacobian(icache, dcache, rng, coord) + VMRobotControl._inverse_dynamics_zero!(icache) + # Apply random force to the coordinate + f = randn(rng, length(coord)) + VMRobotControl.f_cache_view(icache, coord) .+= f + VMRobotControl._inverse_dynamics_backward_pass_b!(icache) + VMRobotControl._inverse_dynamics_backward_pass_c!(icache) + VMRobotControl._inverse_dynamics_backward_pass_d!(icache) + J = jacobian(dcache, coord) + failed = !((@test get_u(icache) ≈ -J' * f) isa Test.Pass) + failed && @info "Failed coord: $coord" +end + + +function _test_RNE_inertance_matrix(icache, dcache, t, q) + N = ndof(icache) + Mʳⁿᵉ = zeros(N, N) + VMRobotControl._RNE_inertance_matrix!(Mʳⁿᵉ, icache, t, q) + M = inertance_matrix!(dcache, t, q) + @test Mʳⁿᵉ ≈ M atol=1e-7 rtol=1e-7 end From 45edc91ba7b2d7d9a3d8dcccb814a088e6e5f861 Mon Sep 17 00:00:00 2001 From: Daniel Larby Date: Tue, 11 Mar 2025 17:23:47 +0000 Subject: [PATCH 09/12] Fixed RNE_inertance_matrix by considering only inertance components. --- RSONs/rsons/trivial2link.rson | 2 +- examples/rne_visualization.jl | 34 ++++++++++++++++++++++------------ src/interface.jl | 18 ++++++++++++++++-- 3 files changed, 39 insertions(+), 15 deletions(-) diff --git a/RSONs/rsons/trivial2link.rson b/RSONs/rsons/trivial2link.rson index c545b2e..c51afa1 100644 --- a/RSONs/rsons/trivial2link.rson +++ b/RSONs/rsons/trivial2link.rson @@ -1,7 +1,7 @@ { "rson_version": "0.1.0", "type": "mechanism", - "name": "robot2L", + "name": "trivial2link", "frames": [ "root_frame", "L1_frame", diff --git a/examples/rne_visualization.jl b/examples/rne_visualization.jl index 2c67890..d13369c 100644 --- a/examples/rne_visualization.jl +++ b/examples/rne_visualization.jl @@ -39,7 +39,8 @@ using # end # We compile the mechanism, and setup an ODE problem to simulate the dynamics of the rail robot. -m = compiled_mechanisms[end] +# m = compiled_mechanisms[5] +m = compile(parseRSON("./RSONs/rsons/trivial2link.rson")) cache = Observable(new_inverse_dynamics_cache(m)) # @testset test_inverse_dynamics(m) @@ -50,9 +51,8 @@ begin t = 0.0 q = [0.0, π/2] -q = zero_q(m) + randn(7) -q̇ = zero_q̇(m) + randn(7) -g = SVector{3, Float64}(0.0, 0.0, -10) #+ rand(SVector{3, Float64}) +q̇ = zero_q̇(m) +g = SVector{3, Float64}(0.0, 0.0, 0.0) # rng = MersenneTwister(1234) # t = 0.0 @@ -62,21 +62,30 @@ g = SVector{3, Float64}(0.0, 0.0, -10) #+ rand(SVector{3, Float64}) u = zero_u(m) -dcache = new_dynamics_cache(m) -dynamics!(dcache, t, q, q̇, g, u) -q̈ = get_q̈(dcache) +# dcache = new_dynamics_cache(m) +# dynamics!(dcache, t, q, q̇, g, u) +# q̈ = get_q̈(dcache) +onehot_q̈ = [1.0, 0.0] +q̈ = onehot_q̈ + VMRobotControl._inverse_dynamics_set_inputs!(bundle, t, q, q̇, q̈, g) VMRobotControl._inverse_dynamics_forward_pass!(bundle) VMRobotControl._inverse_dynamics_zero!(bundle) VMRobotControl._inverse_dynamics_backward_pass_a!(bundle) VMRobotControl._inverse_dynamics_backward_pass_b!(bundle) -VMRobotControl._inverse_dynamics_backward_pass_c!(bundle) -VMRobotControl._inverse_dynamics_backward_pass_d!(bundle) +# VMRobotControl._inverse_dynamics_backward_pass_c!(bundle) +# VMRobotControl._inverse_dynamics_backward_pass_d!(bundle) + +# @show get_u(bundle) + +# @show inverse_dynamics!(bundle, t, q, zero_q̇(m), onehot_q̈, 0*g) + +# _test_RNE_inertance_matrix(bundle, dcache, t, q) # q̈_out = dynamics!(dcache, t, q, q̇, g, get_u(bundle)) -@test get_u(cache[]) ≈ u atol=1e-7 rtol=1e-7 +# @test get_u(cache[]) ≈ u atol=1e-7 rtol=1e-7 # @test q̈ ≈ q̈_out atol=1e-7 rtol=1e-7 end @@ -86,6 +95,7 @@ fig = Figure() display(fig) ls = LScene(fig[1, 1]; show_axis=false) robotsketch!(ls, cache; linewidth=3, scale=0.05) +robotvisualize!(ls, cache) frameIDs = get_compiled_frameID.((cache[],), frames(cache[])) tfs = map(cache) do cache @@ -114,8 +124,8 @@ arrows!(ls, positions, τs; lengthscale=τ_scale, arrowsize=0.04, color=:blue, ) end -using Test, Random -Revise.includet("../test/inverse_dynamics_test.jl") +# using Test, Random +# Revise.includet("../test/inverse_dynamics_test.jl") @testset test_inverse_dynamics(m) # function create_rotated_cylinder_mesh(N1, N2, r1, r2, ϕ) diff --git a/src/interface.jl b/src/interface.jl index 6118fd0..9394256 100644 --- a/src/interface.jl +++ b/src/interface.jl @@ -585,8 +585,22 @@ function _RNE_inertance_matrix!(M::Matrix, bundle::MechRNEBundle, t, q) # Set acceleration for one joint fill!(q̈, zero(eltype(q̈))) q̈[j] = 1.0 - # Compute inverse dynamics - u = inverse_dynamics!(bundle, t, q, q̇, q̈, g) + # Compute inverse dynamics, on inertance/generic components only. + u = begin + _inverse_dynamics_set_inputs!(bundle, t, q, q̇, q̈, g) + _inverse_dynamics_forward_pass!(bundle) + _inverse_dynamics_zero!(bundle) + # WARNING any generic components which applies a force other than due + # to an inertance will break this computation. + inertance_components = get_inertance_components(bundle.mechanism) + foreach(inertance_components) do component + _add_opspace_force!(bundle, component) + end + _inverse_dynamics_backward_pass_b!(bundle) + _inverse_dynamics_backward_pass_c!(bundle) + _inverse_dynamics_backward_pass_d!(bundle) + get_u(bundle) + end M[:, j] .= u end M From b5b08fa285f07703d47e8e7a597ee6caa0be27e2 Mon Sep 17 00:00:00 2001 From: Daniel Larby Date: Wed, 12 Mar 2025 17:55:05 +0000 Subject: [PATCH 10/12] added allocs test for RNE --- test/inverse_dynamics_test.jl | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/test/inverse_dynamics_test.jl b/test/inverse_dynamics_test.jl index 501af79..c1ab010 100644 --- a/test/inverse_dynamics_test.jl +++ b/test/inverse_dynamics_test.jl @@ -53,6 +53,11 @@ function _test_inverse_dynamics(m, time, q, q̇, q̈, gravity; rng=MersenneTwist # Test inertance matrix computed via RNE _test_RNE_inertance_matrix(icache, dcache, time, q) + ############################ + # Test 5 + # Check no allocs + allocs = @allocated inverse_dynamics!(icache, time, q, q̇, q̈, gravity) + @test allocs == 0 end function _test_one_coord_vs_jacobian(icache, dcache, rng, coord) From b923073a5a0d694444ffef03ce6291bfb8fa7835 Mon Sep 17 00:00:00 2001 From: Daniel Larby Date: Wed, 23 Apr 2025 17:31:16 +0100 Subject: [PATCH 11/12] Update some rsons to use DAE instead of obj. --- RSONs/rsons/franka_panda/pandaDrill.rson | 16 ++++++++-------- RSONs/rsons/franka_panda/pandaVeterinarian.rson | 16 ++++++++-------- ext/VMRobotControlMakieExt.jl | 7 +++++++ 3 files changed, 23 insertions(+), 16 deletions(-) diff --git a/RSONs/rsons/franka_panda/pandaDrill.rson b/RSONs/rsons/franka_panda/pandaDrill.rson index 87388a9..c18ac0d 100644 --- a/RSONs/rsons/franka_panda/pandaDrill.rson +++ b/RSONs/rsons/franka_panda/pandaDrill.rson @@ -372,49 +372,49 @@ "type": "mesh", "frame": "root_frame", "material": "panda_white", - "filename": "./meshes/visual/link0.obj" + "filename": "./meshes/visual/link0.dae" }, "L1_mesh": { "type": "mesh", "frame": "L1_frame", "material": "panda_white", - "filename": "./meshes/visual/link1.obj" + "filename": "./meshes/visual/link1.dae" }, "L2_mesh": { "type": "mesh", "frame": "L2_frame", "material": "panda_white", - "filename": "./meshes/visual/link2.obj" + "filename": "./meshes/visual/link2.dae" }, "L3_mesh": { "type": "mesh", "frame": "L3_frame", "material": "panda_white", - "filename": "./meshes/visual/link3.obj" + "filename": "./meshes/visual/link3.dae" }, "L4_mesh": { "type": "mesh", "frame": "L4_frame", "material": "panda_white", - "filename": "./meshes/visual/link4.obj" + "filename": "./meshes/visual/link4.dae" }, "L5_mesh": { "type": "mesh", "frame": "L5_frame", "material": "panda_white", - "filename": "./meshes/visual/link5.obj" + "filename": "./meshes/visual/link5.dae" }, "L6_mesh": { "type": "mesh", "frame": "L6_frame", "material": "panda_white", - "filename": "./meshes/visual/link6.obj" + "filename": "./meshes/visual/link6.dae" }, "L7_mesh": { "type": "mesh", "frame": "L7_frame", "material": "panda_white", - "filename": "./meshes/visual/link7.obj" + "filename": "./meshes/visual/link7.dae" }, "drill_mount": { "type": "cylinder", diff --git a/RSONs/rsons/franka_panda/pandaVeterinarian.rson b/RSONs/rsons/franka_panda/pandaVeterinarian.rson index 3c89feb..448e888 100644 --- a/RSONs/rsons/franka_panda/pandaVeterinarian.rson +++ b/RSONs/rsons/franka_panda/pandaVeterinarian.rson @@ -328,49 +328,49 @@ "type": "mesh", "frame": "root_frame", "material": "panda_white", - "filename": "./meshes/visual/link0.obj" + "filename": "./meshes/visual/link0.dae" }, "L1_mesh": { "type": "mesh", "frame": "L1_frame", "material": "panda_white", - "filename": "./meshes/visual/link1.obj" + "filename": "./meshes/visual/link1.dae" }, "L2_mesh": { "type": "mesh", "frame": "L2_frame", "material": "panda_white", - "filename": "./meshes/visual/link2.obj" + "filename": "./meshes/visual/link2.dae" }, "L3_mesh": { "type": "mesh", "frame": "L3_frame", "material": "panda_white", - "filename": "./meshes/visual/link3.obj" + "filename": "./meshes/visual/link3.dae" }, "L4_mesh": { "type": "mesh", "frame": "L4_frame", "material": "panda_white", - "filename": "./meshes/visual/link4.obj" + "filename": "./meshes/visual/link4.dae" }, "L5_mesh": { "type": "mesh", "frame": "L5_frame", "material": "panda_white", - "filename": "./meshes/visual/link5.obj" + "filename": "./meshes/visual/link5.dae" }, "L6_mesh": { "type": "mesh", "frame": "L6_frame", "material": "panda_white", - "filename": "./meshes/visual/link6.obj" + "filename": "./meshes/visual/link6.dae" }, "L7_mesh": { "type": "mesh", "frame": "L7_frame", "material": "panda_white", - "filename": "./meshes/visual/link7.obj" + "filename": "./meshes/visual/link7.dae" }, "frame": { "type": "mesh", diff --git a/ext/VMRobotControlMakieExt.jl b/ext/VMRobotControlMakieExt.jl index 76b3356..af2234a 100644 --- a/ext/VMRobotControlMakieExt.jl +++ b/ext/VMRobotControlMakieExt.jl @@ -298,6 +298,13 @@ function _sketchjoint!(ax, joint::RailData, cache::Observable; (s,) end +function _sketchjoint!(ax, joint::ReferenceJoint, cache::Observable; + scale, meshcolor, linecolor, linewidth, shading) + # TODO implement + () +end + + ################################################################################ # Component Sketch ################################################################################ From 4bd60bd77db5a4f49b3662a6bce78c4c5e7d0cb3 Mon Sep 17 00:00:00 2001 From: Larbino1 Date: Thu, 12 Jun 2025 18:16:11 +0100 Subject: [PATCH 12/12] Adds CompiledVisual type, and changes Visual, for better parsing/saving of rsons/urdfs. Retains filename if mesh for a visual came from a file. Some minor updates to RNE related code. --- .../rsons/franka_panda/calibrated_frodo.rson | 684 ++++++++++++++++++ ext/VMRobotControlMakieExt.jl | 16 +- src/VMRobotControl.jl | 3 + src/compiled_mechanisms.jl | 17 +- src/components/components.jl | 87 ++- src/interface.jl | 14 +- src/joints/joint_definitions.jl | 15 +- src/rson/parsing.jl | 20 +- src/rson/rson.jl | 3 +- src/rson/serializing.jl | 53 +- src/type_stable_collection.jl | 4 +- src/urdf/parse_urdf.jl | 42 +- src/urdf/urdf.jl | 2 + 13 files changed, 867 insertions(+), 93 deletions(-) create mode 100644 RSONs/rsons/franka_panda/calibrated_frodo.rson diff --git a/RSONs/rsons/franka_panda/calibrated_frodo.rson b/RSONs/rsons/franka_panda/calibrated_frodo.rson new file mode 100644 index 0000000..d96a98e --- /dev/null +++ b/RSONs/rsons/franka_panda/calibrated_frodo.rson @@ -0,0 +1,684 @@ +{ + "rson_version": "0.1.0", + "name": "fr3", + "type": "mechanism", + "frames": [ + "base", + "fr3_link0", + "fr3_link1", + "fr3_link2", + "fr3_link3", + "fr3_link4", + "fr3_link5", + "fr3_link6", + "fr3_link7", + "fr3_link8" + ], + "joints": { + "base_joint": { + "type": "rigid", + "origin": [ + 0.0, + 0.0, + 0.0 + ], + "rotation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "parent": "base", + "child": "fr3_link0" + }, + "fr3_joint1": { + "type": "revolute", + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "origin": [ + 0.0, + 0.0, + 0.333 + ], + "rotation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "parent": "fr3_link0", + "child": "fr3_link1" + }, + "fr3_joint2": { + "type": "revolute", + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "origin": [ + 0.0, + 0.0, + 0.0 + ], + "rotation": [ + 0.7071067811865475, + -0.7071067811865477, + 0.0, + 0.0 + ], + "parent": "fr3_link1", + "child": "fr3_link2" + }, + "fr3_joint3": { + "type": "revolute", + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "origin": [ + 0.0, + -0.316, + 0.0 + ], + "rotation": [ + 0.7071067811865475, + 0.7071067811865477, + 0.0, + 0.0 + ], + "parent": "fr3_link2", + "child": "fr3_link3" + }, + "fr3_joint4": { + "type": "revolute", + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "origin": [ + 0.0825, + 0.0, + 0.0 + ], + "rotation": [ + 0.7071067811865475, + 0.7071067811865477, + 0.0, + 0.0 + ], + "parent": "fr3_link3", + "child": "fr3_link4" + }, + "fr3_joint5": { + "type": "revolute", + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "origin": [ + -0.0825, + 0.384, + 0.0 + ], + "rotation": [ + 0.7071067811865475, + -0.7071067811865477, + 0.0, + 0.0 + ], + "parent": "fr3_link4", + "child": "fr3_link5" + }, + "fr3_joint6": { + "type": "revolute", + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "origin": [ + 0.0, + 0.0, + 0.0 + ], + "rotation": [ + 0.7071067811865475, + 0.7071067811865477, + 0.0, + 0.0 + ], + "parent": "fr3_link5", + "child": "fr3_link6" + }, + "fr3_joint7": { + "type": "revolute", + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "origin": [ + 0.088, + 0.0, + 0.0 + ], + "rotation": [ + 0.7071067811865475, + 0.7071067811865477, + 0.0, + 0.0 + ], + "parent": "fr3_link6", + "child": "fr3_link7" + }, + "fr3_joint8": { + "type": "rigid", + "origin": [ + 0.0, + 0.0, + 0.107 + ], + "rotation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "parent": "fr3_link7", + "child": "fr3_link8" + } + }, + "visuals": { + "fr3_link1_unnamed_visual_-3404766294979027099": { + "type": "mesh", + "frame": "fr3_link1", + "material": [ + 0.800000011920929, + 0.800000011920929, + 0.800000011920929, + 1.0 + ], + "filename": "./meshes/visual/link1.dae" + }, + "fr3_link2_unnamed_visual_-4140561980213910905": { + "type": "mesh", + "frame": "fr3_link2", + "material": [ + 0.800000011920929, + 0.800000011920929, + 0.800000011920929, + 1.0 + ], + "filename": "./meshes/visual/link2.dae" + }, + "fr3_link6_unnamed_visual_2236111102097693851": { + "type": "mesh", + "frame": "fr3_link6", + "material": [ + 0.800000011920929, + 0.800000011920929, + 0.800000011920929, + 1.0 + ], + "filename": "./meshes/visual/link6.dae" + }, + "fr3_link5_unnamed_visual_-1890705846576942535": { + "type": "mesh", + "frame": "fr3_link5", + "material": [ + 0.800000011920929, + 0.800000011920929, + 0.800000011920929, + 1.0 + ], + "filename": "./meshes/visual/link5.dae" + }, + "fr3_link3_unnamed_visual_6755134459629763805": { + "type": "mesh", + "frame": "fr3_link3", + "material": [ + 0.800000011920929, + 0.800000011920929, + 0.800000011920929, + 1.0 + ], + "filename": "./meshes/visual/link3.dae" + }, + "fr3_link0_unnamed_visual_3093320216205656838": { + "type": "mesh", + "frame": "fr3_link0", + "material": [ + 0.800000011920929, + 0.800000011920929, + 0.800000011920929, + 1.0 + ], + "filename": "./meshes/visual/link0.dae" + }, + "fr3_link4_unnamed_visual_-83914994309823005": { + "type": "mesh", + "frame": "fr3_link4", + "material": [ + 0.800000011920929, + 0.800000011920929, + 0.800000011920929, + 1.0 + ], + "filename": "./meshes/visual/link4.dae" + }, + "fr3_link7_unnamed_visual_5986153092474165795": { + "type": "mesh", + "frame": "fr3_link7", + "material": [ + 0.800000011920929, + 0.800000011920929, + 0.800000011920929, + 1.0 + ], + "filename": "./meshes/visual/link7.dae" + } + }, + "coordinates": { + "fr3_link7_mass_coord": { + "type": "frame_point", + "frame": "fr3_link7", + "point": [ + 0.0045225817, + 0.0086261921, + -0.0161633251 + ] + }, + "fr3_link4_mass_coord": { + "type": "frame_point", + "frame": "fr3_link4", + "point": [ + -0.0459100965, + 0.063049296, + -0.0085187868 + ] + }, + "fr3_link0_inertia_coord": { + "type": "frame_angular_velocity", + "frame": "fr3_link0" + }, + "fr3_link2_mass_coord": { + "type": "frame_point", + "frame": "fr3_link2", + "point": [ + 0.0031828864, + -0.0743221644, + 0.0088146084 + ] + }, + "fr3_link6_inertia_coord": { + "type": "frame_angular_velocity", + "frame": "fr3_link6" + }, + "fr3_link7_inertia_coord": { + "type": "frame_angular_velocity", + "frame": "fr3_link7" + }, + "fr3_link4_inertia_coord": { + "type": "frame_angular_velocity", + "frame": "fr3_link4" + }, + "fr3_link5_inertia_coord": { + "type": "frame_angular_velocity", + "frame": "fr3_link5" + }, + "fr3_link3_mass_coord": { + "type": "frame_point", + "frame": "fr3_link3", + "point": [ + 0.0407015686, + -0.0048200565, + -0.0289730823 + ] + }, + "fr3_link0_mass_coord": { + "type": "frame_point", + "frame": "fr3_link0", + "point": [ + -0.0172, + 0.0004, + 0.0745 + ] + }, + "fr3_link5_mass_coord": { + "type": "frame_point", + "frame": "fr3_link5", + "point": [ + -0.0016039605, + 0.0292536262, + -0.097296599 + ] + }, + "fr3_link1_mass_coord": { + "type": "frame_point", + "frame": "fr3_link1", + "point": [ + 4.128e-7, + -0.0181251324, + -0.038603597 + ] + }, + "fr3_link1_inertia_coord": { + "type": "frame_angular_velocity", + "frame": "fr3_link1" + }, + "fr3_link3_inertia_coord": { + "type": "frame_angular_velocity", + "frame": "fr3_link3" + }, + "fr3_link6_mass_coord": { + "type": "frame_point", + "frame": "fr3_link6", + "point": [ + 0.0597131221, + -0.0410294666, + -0.0101692726 + ] + }, + "fr3_link2_inertia_coord": { + "type": "frame_angular_velocity", + "frame": "fr3_link2" + } + }, + "components": { + "fr3_link1_inertia": { + "type": "inertia", + "coord": "fr3_link1_inertia_coord", + "inertia": [ + [ + 0.023927316485107913, + 1.3317903455714081e-5, + -0.00011404774918616684 + ], + [ + 1.3317903455714081e-5, + 0.0224821613275756, + -0.0019950320628240115 + ], + [ + -0.00011404774918616684, + -0.0019950320628240115, + 0.006350098258530016 + ] + ] + }, + "fr3_link2_inertia": { + "type": "inertia", + "coord": "fr3_link2_inertia_coord", + "inertia": [ + [ + 0.041938946257609425, + 0.00020257331521090626, + 0.004077784227179924 + ], + [ + 0.00020257331521090626, + 0.02514514885014724, + -0.0042252158006570156 + ], + [ + 0.004077784227179924, + -0.0042252158006570156, + 0.06170214472888839 + ] + ] + }, + "fr3_link3_inertia": { + "type": "inertia", + "coord": "fr3_link3_inertia_coord", + "inertia": [ + [ + 0.02410142547240885, + 0.002404694559042109, + -0.002856269270114313 + ], + [ + 0.002404694559042109, + 0.01974053266708178, + -0.002104212683891874 + ], + [ + -0.002856269270114313, + -0.002104212683891874, + 0.019044494482244823 + ] + ] + }, + "fr3_link0_inertia": { + "type": "inertia", + "coord": "fr3_link0_inertia_coord", + "inertia": [ + [ + 0.009, + 0.0, + 0.002 + ], + [ + 0.0, + 0.0115, + 0.0 + ], + [ + 0.002, + 0.0, + 0.0085 + ] + ] + }, + "fr3_link5_inertia": { + "type": "inertia", + "coord": "fr3_link5_inertia_coord", + "inertia": [ + [ + 0.051610278463662895, + -0.005715173387783472, + -0.0035673167625872135 + ], + [ + -0.005715173387783472, + 0.04787729713371481, + 0.010673985108535986 + ], + [ + -0.0035673167625872135, + 0.010673985108535986, + 0.016423625579357254 + ] + ] + }, + "fr3_link4_inertia": { + "type": "inertia", + "coord": "fr3_link4_inertia_coord", + "inertia": [ + [ + 0.03452998321913202, + 0.01322552265982813, + 0.01015142998484113 + ], + [ + 0.01322552265982813, + 0.028881621933049058, + -0.0009762833870704552 + ], + [ + 0.01015142998484113, + -0.0009762833870704552, + 0.04125471171146641 + ] + ] + }, + "fr3_link6_inertia": { + "type": "inertia", + "coord": "fr3_link6_inertia_coord", + "inertia": [ + [ + 0.005412333594383447, + 0.006193456360285834, + 0.0014219289306117652 + ], + [ + 0.006193456360285834, + 0.014058329545509979, + -0.0013140753741120031 + ], + [ + 0.0014219289306117652, + -0.0013140753741120031, + 0.016080817924212554 + ] + ] + }, + "fr3_link7_inertia": { + "type": "inertia", + "coord": "fr3_link7_inertia_coord", + "inertia": [ + [ + 0.00021092389150104718, + -2.433299114461931e-5, + 4.564480393778983e-5 + ], + [ + -2.433299114461931e-5, + 0.00017718568002411474, + 8.744070223226438e-5 + ], + [ + 4.564480393778983e-5, + 8.744070223226438e-5, + 5.993190599659971e-5 + ] + ] + }, + "GravityCompensator_2176280971267482541": { + "type": "gravity_compensator", + "coord": "fr3_link7_mass_coord", + "mass": 0.6271432862, + "gravity": [ + 0.0, + 0.0, + -9.81 + ] + }, + "GravityCompensator_10327230358662219347": { + "type": "gravity_compensator", + "coord": "fr3_link5_mass_coord", + "mass": 2.3271207594, + "gravity": [ + 0.0, + 0.0, + -9.81 + ] + }, + "GravityCompensator_5924892284802250340": { + "type": "gravity_compensator", + "coord": "fr3_link0_mass_coord", + "mass": 2.3966, + "gravity": [ + 0.0, + 0.0, + -9.81 + ] + }, + "GravityCompensator_15399867256900633743": { + "type": "gravity_compensator", + "coord": "fr3_link2_mass_coord", + "mass": 2.9355370338, + "gravity": [ + 0.0, + 0.0, + -9.81 + ] + }, + "GravityCompensator_2407000335280166113": { + "type": "gravity_compensator", + "coord": "fr3_link4_mass_coord", + "mass": 2.6155955791, + "gravity": [ + 0.0, + 0.0, + -9.81 + ] + }, + "GravityCompensator_18229251590064689770": { + "type": "gravity_compensator", + "coord": "fr3_link3_mass_coord", + "mass": 2.2449013699, + "gravity": [ + 0.0, + 0.0, + -9.81 + ] + }, + "GravityCompensator_5855140949912852515": { + "type": "gravity_compensator", + "coord": "fr3_link1_mass_coord", + "mass": 2.9274653454, + "gravity": [ + 0.0, + 0.0, + -9.81 + ] + }, + "GravityCompensator_11818839599249854824": { + "type": "gravity_compensator", + "coord": "fr3_link6_mass_coord", + "mass": 1.8170376524, + "gravity": [ + 0.0, + 0.0, + -9.81 + ] + }, + "fr3_link4_mass": { + "type": "point_mass", + "coord": "fr3_link4_mass_coord", + "mass": 2.6155955791 + }, + "fr3_link0_mass": { + "type": "point_mass", + "coord": "fr3_link0_mass_coord", + "mass": 2.3966 + }, + "fr3_link6_mass": { + "type": "point_mass", + "coord": "fr3_link6_mass_coord", + "mass": 1.8170376524 + }, + "fr3_link3_mass": { + "type": "point_mass", + "coord": "fr3_link3_mass_coord", + "mass": 2.2449013699 + }, + "fr3_link1_mass": { + "type": "point_mass", + "coord": "fr3_link1_mass_coord", + "mass": 2.9274653454 + }, + "fr3_link7_mass": { + "type": "point_mass", + "coord": "fr3_link7_mass_coord", + "mass": 0.6271432862 + }, + "fr3_link5_mass": { + "type": "point_mass", + "coord": "fr3_link5_mass_coord", + "mass": 2.3271207594 + }, + "fr3_link2_mass": { + "type": "point_mass", + "coord": "fr3_link2_mass_coord", + "mass": 2.9355370338 + } + } +} diff --git a/ext/VMRobotControlMakieExt.jl b/ext/VMRobotControlMakieExt.jl index af2234a..9aef804 100644 --- a/ext/VMRobotControlMakieExt.jl +++ b/ext/VMRobotControlMakieExt.jl @@ -19,6 +19,7 @@ using VMRobotControl: CompiledFrameID, CompiledJointID, CompiledCoordID, + CompiledVisual, VMSFrameID, VMSCoordID using VMRobotControl: @@ -503,21 +504,16 @@ function Makie.plot!(plot::RobotVisualize{Tuple{C}}) where C<:MechanismCacheBund frames = CompiledFrameID[] foreach(vis) do v - # geom = normal_mesh(v.geometry) - geom = v.geometry - if isa(geom, Mesh) - msh = Makie.mesh!(plot, geom; + v::CompiledVisual + msh = Makie.mesh!(plot, v.mesh; shading=plot.shading, color=v.color, specular=v.specular, shininess=v.shininess, transparency=plot.transparency - ) - push!(meshes, msh) - push!(frames, v.frame) - else - error("Unsupported geometry type: $(typeof(geom))") - end + ) + push!(meshes, msh) + push!(frames, v.frame) end function update_from_cache(cache) diff --git a/src/VMRobotControl.jl b/src/VMRobotControl.jl index 851fc61..605d8d9 100644 --- a/src/VMRobotControl.jl +++ b/src/VMRobotControl.jl @@ -224,6 +224,9 @@ import DiffResults: import GeometryBasics # Use import to avoid name conflicts +using GeometryBasics: + normal_mesh + using DigitalAssetExchangeFormatIO, FileIO, diff --git a/src/compiled_mechanisms.jl b/src/compiled_mechanisms.jl index 424632e..dc421b7 100644 --- a/src/compiled_mechanisms.jl +++ b/src/compiled_mechanisms.jl @@ -454,7 +454,14 @@ function _compile_component!( cd1 = reassign_frames(component_data, frame_id_map) cd2 = reassign_joints(cd1, joint_id_map) cd3 = reassign_coords(cd2, coord_id_map) - cc, idx = extend(cc, cd3) + cd4 = isa(cd3, Visual) ? compile_visual(cd3) : cd3 # this may return a vector of compiled visuals + if isa(cd4, AbstractVector) + for cd in cd4 + cc, idx = extend(cc, cd) + end + else + cc, idx = extend(cc, cd4) + end ret_component_id_map[id] = CompiledComponentID(idx) cc end @@ -513,7 +520,7 @@ inertances(m::CompiledMechanism) = filtertype(m.components, Inertance) storages(m::CompiledMechanism) = filtertype(m.components, Storage) dissipations(m::CompiledMechanism) = filtertype(m.components, Dissipation) generic_components(m::CompiledMechanism) = filtertype(m.components, GenericComponent) -visuals(m::CompiledMechanism) = filtertype(m.components, Visual) +visuals(m::CompiledMechanism) = filtertype(m.components, CompiledVisual) compile(m::Mechanism) = CompiledMechanism(m) @@ -538,15 +545,15 @@ get_compiled_coordID(m::CompiledMechanism, c::String) = get_compiled_coordID(m.r get_compiled_componentID(m::CompiledMechanism, c::String) = m.component_id_map[c] get_compiled_joint(m::CompiledMechanism, jointID::CompiledJointID) = joints(m)[jointID.idx] -get_compiled_coord(m::CompiledMechanism, coordID::CompiledCoordID) = coordinates(m)[coordID] -get_compiled_component(m::CompiledMechanism, componentID::CompiledComponentID) = components(m)[componentID] +get_compiled_coord(m::CompiledMechanism, coordID::CompiledCoordID) = coordinates(m)[coordID.depth][coordID.idx] +get_compiled_component(m::CompiledMechanism, componentID::CompiledComponentID) = components(m)[componentID.idx] Base.getindex(m::CompiledMechanism, id::CompiledJointID) = get_compiled_joint(m, id) Base.getindex(m::CompiledMechanism, id::CompiledCoordID) = get_compiled_coord(m, id) Base.getindex(m::CompiledMechanism, id::CompiledComponentID) = get_compiled_component(m, id) Base.setindex!(m::CompiledMechanism, val::J, id::CompiledJointID{J}) where J = joints(m)[id.idx] = val -Base.setindex!(m::CompiledMechanism, val::C, id::CompiledCoordID{C}) where C = coordinates(m)[id.idx] = val +Base.setindex!(m::CompiledMechanism, val::C, id::CompiledCoordID{C}) where C = coordinates(m)[id.depth][id.idx] = val Base.setindex!(m::CompiledMechanism, val::C, id::CompiledComponentID{C}) where C = components(m)[id.idx] = val get_force_components(m::CompiledMechanism) = filtertype(components(m), Union{Storage, Dissipation, Inertance, GenericComponent}) diff --git a/src/components/components.jl b/src/components/components.jl index 639c97f..ab6d7d4 100644 --- a/src/components/components.jl +++ b/src/components/components.jl @@ -378,41 +378,96 @@ end ##################################################### +struct MeshFromFile{M} # used for urdf/rson parsing/serializing + mesh::M + path::String +end + struct Visual{G, FID} <: ComponentData{Float64} frame::FID + transform::Union{Nothing, Transform{Float64}} geometry::G color::RGBAf specular::Float32 shininess::Float32 - function Visual(frame, geometry; color=RGBAf(1.0f0, 0.0f0, 1.0f0, 1.0f0), specular=0.2f0, shininess=32.0f0) + function Visual(frame, transform, geometry; color=RGBAf(1.0f0, 0.0f0, 1.0f0, 1.0f0), specular=0.2f0, shininess=32.0f0) if isa(geometry, GeometryBasics.GeometryPrimitive) - _mesh = GeometryBasics.normal_mesh(geometry) + # _mesh = GeometryBasics.normal_mesh(geometry) + new{typeof(geometry), typeof(frame)}(frame, transform, geometry, color, specular, shininess) elseif isa(geometry, GeometryBasics.Mesh) + _mesh = GeometryBasics.normal_mesh(geometry) + new{typeof(_mesh), typeof(frame)}(frame, transform, _mesh, color, specular, shininess) + elseif isa(geometry, MeshFromFile{<:GeometryBasics.Mesh}) _mesh = geometry + new{typeof(_mesh), typeof(frame)}(frame, transform, _mesh, color, specular, shininess) + elseif isa(geometry, MeshFromFile{DAEScene}) + new{typeof(geometry), typeof(frame)}(frame, transform, geometry, color, specular, shininess) else - error("Invalid geometry type: $(typeof(geometry))") + error("Unrecognized geometry type: $(typeof(geometry))") end - new{typeof(_mesh), typeof(frame)}(frame, _mesh, color, specular, shininess) end - function Visual(name, color, geometry) - # legacy constructor - Visual(name, geometry; color=color) - end + # function Visual(name, color, geometry) + # # legacy constructor + # Visual(name, geometry; color=color) + # end - function Visual(name, frame, color, geometry) - @warn "Visual(name, frame, color, geometry) is deprecated. Use Visual(frame, color, geometry) instead." - Visual(frame, color, geometry) - end - # Keyword constructor - Visual(; frame, geometry, color, specular, shininess) = Visual(frame, geometry; color=color, specular=specular, shininess=shininess) + # function Visual(name, frame, color, geometry) + # @warn "Visual(name, frame, color, geometry) is deprecated. Use Visual(frame, color, geometry) instead." + # Visual(frame, color, geometry) + # end + # # Keyword constructor + Visual(; frame, transform, geometry, color, specular, shininess) = Visual(frame, transform, geometry; color, specular, shininess) end function Base.:*(tf::Transform, v::Visual) - Visual(v.frame, v.color, VMRobotControl.transform_mesh(v.geometry, tf)) + if isnothing(v.transform) + remake(v; transform=tf) + else + remake(v; transform=tf*v.transform) + end end - _reassign_frames(c::Visual, frd) = remake(c; frame=get_compiled_frameID(frd, c.frame)) _reassign_joints(c::Visual, jrd) = c _reassign_coords(c::Visual, crd) = c + +struct CompiledVisual{M<:GeometryBasics.Mesh} <:ComponentData{Float64} + frame::FrameID + mesh::M + color::RGBAf + specular::Float32 + shininess::Float32 +end + +function compile_visual(v::Visual) + if isa(v.geometry, MeshFromFile{DAEScene}) + # If the geometry is a DAE scene, load it + meshes_kwargs = convert_for_glmakie(v.geometry.mesh) + return [ + begin + color = haskey(kwargs, :color) ? kwargs[:color] : v.color + specular = haskey(kwargs, :specular) ? kwargs[:specular] : v.specular + shininess = haskey(kwargs, :shininess) ? kwargs[:shininess] : v.shininess + _mesh = convert(GeometryBasics.GLNormalMesh{3}, mesh) + transformed_mesh = VMRobotControl.transform_mesh(_mesh, v.transform) + M = typeof(transformed_mesh) + CompiledVisual{M}(v.frame, transformed_mesh, color, specular, shininess) + end + for (mesh, kwargs) in meshes_kwargs + ] + end + + if isa(v.geometry, MeshFromFile{<:GeometryBasics.Mesh}) + # If the geometry is a mesh from file, load it + mesh = normal_mesh(v.geometry.mesh) + elseif isa(v.geometry, GeometryBasics.GeometryPrimitive) + # Otherwise, use the geometry as is + mesh = normal_mesh(v.geometry) + elseif isa(v.geometry, GeometryBasics.Mesh) + mesh = normal_mesh(v.geometry) + else + error("Unrecognized geometry type: $(typeof(v.geometry))") + end + CompiledVisual(v.frame, mesh, v.color, v.specular, v.shininess) +end \ No newline at end of file diff --git a/src/interface.jl b/src/interface.jl index 9394256..6b6d8f3 100644 --- a/src/interface.jl +++ b/src/interface.jl @@ -37,6 +37,7 @@ function compute_in_coordinate_order(f, coords::Vector{<:TypeStableCollection}) for tsc in coords foreach(tsc) do coord f(coord) + nothing end end nothing @@ -751,7 +752,18 @@ See also [`dynamics!`](@ref) function new_dynamics_cache end -# TODO +""" + new_inverse_dynamics_cache(m[, T]) + +Creates a cache with element type `::T` (defaulting to the eltype of the mechanism) for performing +inverse dynamics computations with the Recursive Newton Euler (RNE) algorithm on a compiled mechanism. + +This cache supports computation of frame transforms, velocities, velocity-product-accelerations. +It also supports [`configuration`](@ref), [`velocity`](@ref), [`acceleration`](@ref), but +not [`jacobian`](@ref) for coordinates. + +See also [`dynamics!`](@ref) +""" function new_inverse_dynamics_cache end """ diff --git a/src/joints/joint_definitions.jl b/src/joints/joint_definitions.jl index f545f53..a441202 100644 --- a/src/joints/joint_definitions.jl +++ b/src/joints/joint_definitions.jl @@ -623,12 +623,23 @@ function _project_forces_to_jointspace(j::RevoluteData, tf_p::Transform{T}, tf_c # The minus sign is due to the fact that the torque is expressed on the right side of the # equation - u = -dot(rotor(tf_p) * rotor(j.transform) * j.axis, τ_c) + axis = rotor(tf_p) * rotor(j.transform) * j.axis + u = -dot(axis, τ_c) return SVector(u) end function _project_forces_to_jointspace(j::PrismaticData, tf_p::Transform{T}, tf_c::Transform{T}, f_p::S, f_c::S, τ_p::S, τ_c::S) where {T, S<: SVector{3, T}} # Rotate axis to world frame, then dot with force - u = -dot(rotor(tf_c) * j.axis, f_c) + axis = rotor(tf_c) * j.axis + u = -dot(axis, f_c) + return SVector(u) +end + +function _project_forces_to_jointspace(j::RailData, tf_p::Transform{T}, tf_c::Transform{T}, f_p::S, f_c::S, τ_p::S, τ_c::S) where {T, S<: SVector{3, T}} + # Rotate axis to world frame, then dot with force + # TODO test + dspline = spline_derivative(q[1]/joint.scaling, joint.spline)/joint.scaling + axis = rotor(tfₚ) * rotor(joint.transform) * dspline + u = -dot(axis, f_c) return SVector(u) end diff --git a/src/rson/parsing.jl b/src/rson/parsing.jl index 9ce68b4..3b147ac 100644 --- a/src/rson/parsing.jl +++ b/src/rson/parsing.jl @@ -508,15 +508,15 @@ function parseVisual!(mechanism, name::JSON_STR, data, cfg::RSONParserConfig) expect = (field, TYPE) -> expectField(data, field, TYPE, cfg) if type == "box" widths = parseVec(expect("size", Vector{Any}), Float64, Val{3}(), cfg) - mesh = normal_mesh(Rect{3, Float64}(-widths./2, widths)) + geom = Rect{3, Float64}(-widths./2, widths) elseif type == "cylinder" L = expect("length", Float64) origin = L * SVector(0.0, 0.0, -0.5) extremity = L * SVector(0.0, 0.0, 0.5) - mesh = Cylinder{Float64}(origin, extremity, expect("radius", Float64)) + geom = Cylinder{Float64}(origin, extremity, expect("radius", Float64)) elseif type == "sphere" origin = SVector(0.0, 0.0, 0.0) - mesh = normal_mesh(Sphere{Float64}(origin, expect("radius", Float64))) + geom = Sphere{Float64}(origin, expect("radius", Float64)) elseif type == "mesh" if isnothing(cfg.rson_path) rson_path = "." @@ -527,6 +527,7 @@ function parseVisual!(mechanism, name::JSON_STR, data, cfg::RSONParserConfig) mesh_path = expect("filename", String) path = joinpath(rson_path, mesh_path) mesh = load_mesh(path, cfg) # This can return multiple meshes + geom = MeshFromFile(mesh, mesh_path) # MeshFromFile is a wrapper for GeometryBasics.Mesh # visual.scale = expect("scale") elseif type == "meshdata" verts = expect("vertices", Vector{Any}) @@ -534,20 +535,15 @@ function parseVisual!(mechanism, name::JSON_STR, data, cfg::RSONParserConfig) # TODO verify that verts and faces are correct types/lengths verts = [parseVertex(vert, cfg) for vert in verts] faces = [parseFace(face, cfg) for face in faces] - mesh = GeometryBasics.Mesh(verts, faces) + geom = GeometryBasics.Mesh(verts, faces) else rson_throw_exception("Unrecognised visual type '$(type)'", cfg) end frame = parseFrameOutsideFramesList(mechanism, expect("frame", Union{String, OrderedDict{String, Any}}), cfg) color = parseMaterial(expect("material", Union{String, Vector{Any}}), cfg) - if isa(mesh, Vector{<:Tuple{<:Mesh, <:NamedTuple}}) - for (i, (mesh, kwargs)) in enumerate(mesh) - add_component!(mechanism, Visual(frame, mesh; kwargs...); id=name*"_$i") - end - else - add_component!(mechanism, Visual(frame, color, mesh); id=name) - end + tf = zero(Transform{Float64}) + add_component!(mechanism, Visual(frame, tf, geom; color); id=name) check_for_remaining_fields(data, cfg) nothing else @@ -561,7 +557,7 @@ function load_mesh(path, cfg) if isa(ret, GeometryBasics.Mesh) return ret elseif isa(ret, DAEScene) - return convert_for_glmakie(ret) + return ret else throw("Unhandled mesh type $(typeof(ret))") end diff --git a/src/rson/rson.jl b/src/rson/rson.jl index c8cdc31..92e1ebd 100644 --- a/src/rson/rson.jl +++ b/src/rson/rson.jl @@ -29,7 +29,8 @@ using ..VMRobotControl: RevoluteData, PrismaticData, Rigid, - MechanismJoint + MechanismJoint, + MeshFromFile import JSON diff --git a/src/rson/serializing.jl b/src/rson/serializing.jl index f11fe2f..b2f634b 100644 --- a/src/rson/serializing.jl +++ b/src/rson/serializing.jl @@ -283,14 +283,47 @@ end # Visual function serialize_component(v::Visual) - @assert v.geometry isa Mesh - verts = GeometryBasics.coordinates(v.geometry) - faces = [Int[face...] for face in GeometryBasics.faces(v.geometry)] - OrderedDict( - "type" => "meshdata", - "frame" => v.frame, - "material" => jsonify(v.color), - "vertices" => verts, - "faces" => faces - ) + if v.geometry isa Mesh + @warn "Serializing a mesh directly will create a large rson file." + verts = GeometryBasics.coordinates(v.geometry) + faces = [Int[face...] for face in GeometryBasics.faces(v.geometry)] + OrderedDict( + "type" => "meshdata", + "frame" => v.frame, + "material" => jsonify(v.color), + "vertices" => verts, + "faces" => faces + ) + elseif v.geometry isa MeshFromFile + OrderedDict( + "type" => "mesh", + "frame" => v.frame, + "material" => jsonify(v.color), + "filename" => v.geometry.path + ) + elseif v.geometry isa Rect + OrderedDict( + "type" => "box", + "frame" => v.frame, + "material" => jsonify(v.color), + "size" => v.geometry.widths + ) + elseif v.geometry isa Cylinder + OrderedDict( + "type" => "cylinder", + "frame" => v.frame, + "material" => jsonify(v.color), + "radius" => v.geometry.radius, + "length" => norm(v.geometry.origin - v.origin.extremity) + ) + elseif v.geometry isa Sphere + OrderedDict( + "type" => "sphere", + "frame" => v.frame, + "material" => jsonify(v.color), + "radius" => v.geometry.r + ) + else + rson_throw_exception("Unrecognised visual type '$(type)'", cfg) + end end \ No newline at end of file diff --git a/src/type_stable_collection.jl b/src/type_stable_collection.jl index 2cbac6c..31cf586 100644 --- a/src/type_stable_collection.jl +++ b/src/type_stable_collection.jl @@ -74,7 +74,7 @@ end @generated function Base.getindex(c::TypeStableCollection{TUPTYPE}, i::TypeStableIdx{T}) where {TUPTYPE, T} tupidx = _get_matching_tupindex(c, T) - isnothing(tupidx) && error("Type $T not found in TypeStableCollection. Types in collection: $(map(eltype, TUPTYPE.types))") + isnothing(tupidx) && return quote error("Type $T not found in TypeStableCollection. Types in collection: $(map(eltype, TUPTYPE.types))") end return quote c.tup[$tupidx][i.vecidx] end @@ -82,7 +82,7 @@ end @generated function Base.setindex!(c::TypeStableCollection, val::T, i::TypeStableIdx{T}) where T tupidx = _get_matching_tupindex(c, T) - isnothing(tupidx) && error("Type $T not found in TypeStableCollection") + isnothing(tupidx) && return quote error("Type $T not found in TypeStableCollection") end return quote c.tup[$tupidx][i.vecidx] = val c diff --git a/src/urdf/parse_urdf.jl b/src/urdf/parse_urdf.jl index 8b7a51b..05811e3 100644 --- a/src/urdf/parse_urdf.jl +++ b/src/urdf/parse_urdf.jl @@ -237,34 +237,8 @@ function parse_visual!(mechanism, visualnode, link_frame, cfg) isnothing(geometry) && error("Geometry not specified for visual with name '$name'.") isnothing(material) && (material = cfg.default_material) - if typeof(geometry)<:Vector{<:Tuple{<:Mesh, <:NamedTuple}} - for (i, (mesh, kwargs)) in enumerate(geometry) - v = Visual(link_frame, mesh; kwargs...) - isnothing(transform) || (v = transform * v) - add_component!(mechanism, v; id=name*"_$i") - end - else - v = Visual(link_frame, geometry; material...) - isnothing(transform) || (v = transform * v) - add_component!(mechanism, v; id=name) - end - - # visual = let - # Visual(name, link_frame, material, geometry) - # end - - # # As each urdf link can have several visuals, we need to give them different names. - # visual_ids = collect(keys(VMRobotControl.visuals(mechanism))) - # # Check if name already exists, and if so, add a number to it - # i = 1 - # while true - # if (name * "_$i") in visual_ids - # i += 1 - # else - # break - # end - # end - # add_component!(mechanism, visual; id=name*"_$i") + v = Visual(link_frame, transform, geometry; material...) + add_component!(mechanism, v; id=name) end function parse_geometry(geometry_node, cfg) @@ -288,14 +262,14 @@ function parse_geometry(geometry_node, cfg) geom = Sphere3{Float64}(SVector(0, 0, 0), r) elseif nn == "mesh" filename = node["filename"] - geom = load_mesh(filename, cfg) - # This will either be a mesh, or vector of tuples containing mesh and kwargs for - # visual properties - if haskey(node, "scale") + mesh = load_mesh(filename, cfg) + if haskey(node, "scale") + # TODO this wont work with all types of mesh... should be robustified scale_vec = parse_3vec(node["scale"], cfg) scale = GeometryBasics.Point{3, Float64}(scale_vec...) - geom = VMRobotControl.rescale_geometry(geom, scale) + mesh = VMRobotControl.rescale_mesh(mesh, scale) end + geom = MeshFromFile(mesh, filename) else raise_not_recognized(nn, cfg) end @@ -321,7 +295,7 @@ function load_mesh(filename, cfg) try ret = load(path) # Try load if isa(ret, DAEScene) - return convert_for_glmakie(ret) + return ret elseif isa(ret, Mesh) return ret else diff --git a/src/urdf/urdf.jl b/src/urdf/urdf.jl index e6d8f04..ab554e3 100644 --- a/src/urdf/urdf.jl +++ b/src/urdf/urdf.jl @@ -11,6 +11,8 @@ using GeometryBasics using LinearAlgebra: Diagonal, Symmetric, issymmetric, isposdef using StaticArrays using ..VMRobotControl +using ..VMRobotControl: + MeshFromFile include("./parse_urdf.jl") end \ No newline at end of file