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MartinOtterMartinOtter
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Project.toml: Require at least MeshIO 0.4.10; YouBotsGripping und YouBotWithSphere adapted to MeshIO 0.4.10;
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+15
-20
lines changed

3 files changed

+15
-20
lines changed

‎Project.toml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@ DoubleFloats = "1.1"
3131
FileIO = "1"
3232
JSON = "0.21"
3333
Measurements = "2"
34-
MeshIO = "0.4"
34+
MeshIO = "0.4.10"
3535
ModiaLang = "0.8.3"
3636
MonteCarloMeasurements = "1, 0.10"
3737
OrderedCollections = "1"

‎test/Robot/YouBotWithSphere.jl‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -429,7 +429,7 @@ youbot = @instantiateModel(youbotModel, unitless=true, logCode=false, log=false)
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430430
stopTime = 5.0
431431
tolerance = 1e-6
432-
requiredFinalStates = [0.3848292695540658, -0.0001629992088236412, -0.3452201051892026, 0.15368110618592787, -3.1129048601494146e-5, 2.1719963787215191e-7, 1.5711736058788015, -0.00046326403550550475, -21.25224346336234, 0.0029007146271414516, 0.0007939185282944564, -6.174051852788737, -9.383114150675502e-8, 9.389373058512624e-8, -1.8326251358066024e-6, 1.8328352345840305e-6, -3.5548329146441245e-6, 3.5553137200641613e-6, -2.1817840174480376e-6, 2.182146676662303e-6, 8.488299874416631e-9, -8.489711496056846e-9, -0.0007167571177973145, 0.22762842433489483, -0.018211128607441764, -0.008528723997525453, 2.952578470407657e-5]
432+
requiredFinalStates = [0.3872493507580361, -0.00016295756396963518, -0.3452201016630769, 0.15545045709830504, -3.11821309683207e-5, 1.9330433770085904e-7, 1.5711492875200297, -0.000498564591859475, -21.347006443600556, 0.0029361171926609074, 0.0008107479063527912, -6.245138200548544, -9.383806859286387e-8, 9.390066582743576e-8, -1.8339186184170656e-6, 1.8341287555337681e-6, -3.5545167503965664e-6, 3.5549976354276426e-6, -2.181811006068393e-6, 2.1821737128984775e-6, 8.488411980182589e-9, -8.489823786317174e-9, -0.0007168100048350477, 0.2276185370576126, -0.018209579211904647, -0.008528817908688886, 2.9526174065185742e-5]
433433
simulate!(youbot, stopTime=stopTime, tolerance=tolerance, requiredFinalStates_atol=0.001, log=true, logStates=false, requiredFinalStates=requiredFinalStates)
434434

435435
@usingModiaPlot

‎test/Robot/YouBotsGripping.jl‎

Lines changed: 13 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -101,16 +101,16 @@ referencePath1 = Modia3D.PathPlanning.ReferencePath(
101101
a_max = [1.5, 1.5, 1.5, 1.5, 1.5, 0.5, 1.5, 1.5, 1.5, 1.5, 1.5, 0.5])
102102

103103
Modia3D.PathPlanning.ptpJointSpace(referencePath = referencePath1, positions =[
104-
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0;
105-
pi pi/4 pi/4 0.0 0.0 diameter+0.01 0.0 0.0 0.0 0.0 0.0 0.0;
106-
pi pi/4 pi/4 1.057 0.0 diameter+0.01 0.0 0.0 0.0 0.0 0.0 0.0;
107-
pi pi/4 pi/4 1.057 0.0 diameter-0.002 0.0 0.0 0.0 0.0 0.0 0.0;
108-
pi pi/4 pi/4 0.0 0.0 diameter-0.002 0.0 0.0 0.0 0.0 0.0 0.0;
109-
0.0 0.0 pi/2-0.2 0.0 0.0 diameter-0.002 0.0 0.0 0.0 0.0 0.0 0.0;
110-
0.0 0.2 pi/2-0.2 0.0 0.0 diameter-0.002 0.0 0.0 0.0 0.0 0.0 0.0;
111-
0.0 0.2 pi/2-0.2 0.0 0.0 diameter+0.01 0.0 0.0 0.0 0.0 0.0 0.0;
112-
0.0 0.0 pi/2 0.0 0.0 diameter+0.01 0.0 0.0 0.0 0.0 0.0 0.0;
113-
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.0 0.0 0.0 0.0 0.0
104+
0.0 0.0 0.0 0.0 0.0 diameter 0.0 0.0 0.0 0.0 0.0 diameter;
105+
pi pi/4 pi/4 0.0 0.0 diameter+0.01 0.0 0.0 0.0 0.0 0.0 diameter;
106+
pi pi/4 pi/4 1.057 0.0 diameter+0.01 0.0 0.0 0.0 0.0 0.0 diameter;
107+
pi pi/4 pi/4 1.057 0.0 diameter-0.002 0.0 0.0 0.0 0.0 0.0 diameter;
108+
pi pi/4 pi/4 0.0 0.0 diameter-0.002 0.0 0.0 0.0 0.0 0.0 diameter;
109+
0.0 0.0 pi/2-0.2 0.0 0.0 diameter-0.002 0.0 0.0 0.0 0.0 0.0 diameter;
110+
0.0 0.2 pi/2-0.2 0.0 0.0 diameter-0.002 0.0 0.0 0.0 0.0 0.0 diameter;
111+
0.0 0.2 pi/2-0.2 0.0 0.0 diameter+0.01 0.0 0.0 0.0 0.0 0.0 diameter;
112+
0.0 0.0 pi/2 0.0 0.0 diameter+0.01 0.0 0.0 0.0 0.0 0.0 diameter;
113+
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.0 0.0 0.0 0.0 diameter
114114
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.0 pi/2 0.0 0.0 diameter+0.01
115115
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.3 pi/2-0.3 0.0 0.0 diameter+0.01
116116
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.3 pi/2-0.3 0.0 0.0 diameter-0.002
@@ -119,7 +119,7 @@ Modia3D.PathPlanning.ptpJointSpace(referencePath = referencePath1, positions =[
119119
0.0 0.0 0.0 0.0 0.0 0.001 pi pi/4 pi/4 1.0 0.0 diameter-0.002
120120
0.0 0.0 0.0 0.0 0.0 0.001 pi pi/4 pi/4 1.0 0.0 diameter+0.01
121121
0.0 0.0 0.0 0.0 0.0 0.001 pi pi/4 pi/4 0.0 0.0 diameter+0.01
122-
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.0 0.0 0.0 0.0 0.001
122+
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.0 0.0 0.0 0.0 0.01
123123
])
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125125
getReferencePath() = referencePath1
@@ -557,16 +557,11 @@ youbot = @instantiateModel(youbotModel, unitless=true, logCode=false, log=false)
557557
stopTime = 28.0
558558
tolerance = 1e-8
559559
if simplifiedContact
560-
if Sys.iswindows()
561-
requiredFinalStates = [0.005097062133338508, 0.7904213104193679, 0.18419404940646958, -6.024034995298645e-13, -1.7304541469633502e-12, -5.4248518525326e-14, -3.93437411051908, -0.32557021942090403, 3.208749726053419, -6.542099318930847e-11, -1.326491107368773e-11, -2.8555688393411024e-12, -5.035533594460577e-13, 5.03803536027971e-13, -6.423664969652035e-12, 6.424486408589064e-12, -1.466673281300369e-11, 1.4668618763259122e-11, -9.012454053198156e-12, 9.013883351697335e-12, 9.030950737894524e-14, -9.031520361248275e-14, -3.8472107636534455e-9, 0.2416353234164886, -0.0007949228921342997, -0.0009396160112152942, 3.1416655722149907e-10, -1.03738199894669e-8, 0.0009999997883378515, 2.1161466467694888e-10, 4.7611313921425095e-7, -4.7596041194071483e-7, -4.541754073167032e-6, 4.542260129040847e-6, -8.529218354898347e-6, 8.530375152865061e-6, -5.053598029089119e-6, 5.054458521174373e-6, 3.5345102578952435e-8, -3.53485396729672e-8, 0.0036405999476147536, 0.20692215110062243, -0.042582237745348174, -0.01851799788330774, 0.00012295340454516516,
562-
-0.001425384520401774, 0.0009709171793366296, 2.9076295969643905e-5]
563-
else
564-
requiredFinalStates = [0.005097020576287002, 0.7904180034030823, 0.18419404938635842, 5.390417346742597e-17, -8.673499922502523e-17, -4.513753382934421e-16, -1.4079324544735619, 1.052918908203659, 0.3595206321093979, 5.4714221571263096e-17, 3.1619944255194954e-16, 3.7699404920898335e-15, -5.035300902448364e-13, 5.037802702654452e-13, -6.4237539325379105e-12, 6.4245753715109354e-12, -1.4666997371985055e-11, 1.4668883352584913e-11, -9.01250411002059e-12, 9.013933428106989e-12, 9.03271424946133e-14, -9.033283879380805e-14, -3.847032869719696e-9, 0.2416353232206233, -0.0007949231007121495, -0.0009396161981508509, 3.142279096709202e-10, -1.037445285596054e-8, 0.0009999997883249386, 2.1162757445055148e-10, 4.7610222924797003e-7, -4.758650606672954e-7, -4.541709673952366e-6, 4.542237324673783e-6, -8.529098662828723e-6, 8.530277819203257e-6, -5.053533224614732e-6, 5.054394550825199e-6, 3.5345150117792754e-8, -3.534859176964157e-8, 0.003640529611895304, 0.20692249357311396, -0.04258164933868417, -0.01851777260611393, 0.0001229535698218701, -0.0014252363360592198, 0.0009709202021459315, 2.90734017873674e-5]
565-
end
560+
requiredFinalStates = [0.0050970563093600185, 0.7904171467114361, 0.18419404937867392, 2.393788651848772e-16, -6.60105171954181e-16, 1.2165769047688873e-15, -1.3931781018563674, 1.0554901307106912, 0.34665729852039384, 4.694865375626716e-15, 4.406914681604384e-17, 2.6270127919716575e-14, -9.49048910851836e-13, 9.495203075907745e-13, -1.2103782852618098e-11, 1.2105330654214361e-11, -2.763585539198143e-11, 2.763940900957682e-11, -1.698187102643751e-11, 1.698456419693423e-11, 1.7018852180265773e-13, -1.7019925497030893e-13, -7.25085347784918e-9, 0.24163527980814672, -0.0007949866397794349, -0.0009396439190923297, 5.920477698032304e-10, -1.9542049225560082e-8, 0.0009999996012739637, 3.9863659366878754e-10, 8.969089868430469e-7, -8.963371363880495e-7, -8.557720162290223e-6, 8.55874276252574e-6, -1.6071234819970295e-5, 1.607348052490815e-5, -9.522484127851861e-6, 9.524102182656985e-6, 6.905344698797933e-8, -6.90610756842933e-8, 0.006858260583843995, 0.17622760666462461, -0.07953299831187123, -0.034062552250614664, 0.0002402097624760365, -0.002703882057494803, 0.009944831368185077, 5.515617885070206e-5]
566561
else
567562
requiredFinalStates = [0.005098596727514149, 0.7904159015385256, 0.1791342195707778, -1.1808457144007462e-10, -1.88763357133662e-9, 8.608177052460935e-14, -1.5627420768515174, 1.1910702824997361, 0.5304431666324095, 2.4640818942197007e-8, -1.4491090645065959e-8, 6.037552152197727e-8, -5.269643935234176e-13, 5.272139874305713e-13, -6.420034932436889e-12, 6.420854829588564e-12, -1.4631919047149923e-11, 1.463380141274083e-11, -8.989367532219111e-12, 8.990793910036479e-12, 7.01557712829279e-14, -7.016147036815077e-14, -4.026169255817747e-9, 0.24163532324903933, -0.0007949229288464374, -0.000939616117669137, 2.4405169933839243e-10, -1.0329058212887232e-8, 0.000999999789251148, 2.107015735905466e-10, 4.7377460108628524e-7, -4.7353745252266476e-7, -4.541835528743539e-6, 4.542363196555878e-6, -8.529395514275828e-6, 8.530574712207511e-6, -5.054073275334597e-6, 5.054934647304243e-6, 3.5472140130848604e-8, -3.547558188477468e-8, 0.0036227372301417533, 0.20692153169511313, -0.04258310367908495, -0.018519651281104485, 0.0001233953677379415, -0.0014214723892361516, 0.0009709969998011199, 2.8996621358862662e-5]
568563
end
569-
simulate!(youbot, stopTime=stopTime, tolerance=tolerance, log=true, logStates=false, requiredFinalStates=requiredFinalStates)
564+
simulate!(youbot, stopTime=stopTime, tolerance=tolerance, requiredFinalStates_atol=0.002, log=true, logStates=false, requiredFinalStates=requiredFinalStates)
570565

571566
#=
572567
simulate!(youbot, stopTime=0.1, tolerance=tolerance, log=false)

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