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Merged
merged 4 commits into from
Apr 14, 2023
Merged

Add mechanisms #82

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5bf9c61
Add quadrotor mechanism
janbruedigam Apr 13, 2023
d5c5ff7
Add exoskeleton
janbruedigam Apr 13, 2023
4f20926
Add UUV mechanism
janbruedigam Apr 14, 2023
6d2e7fd
Fix benchmarks
janbruedigam Apr 14, 2023
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1,547 changes: 1,547 additions & 0 deletions DojoEnvironments/src/mechanisms/exoskeleton/dependencies/mesh/eFE_simple.obj
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42,171 changes: 42,171 additions & 0 deletions DojoEnvironments/src/mechanisms/exoskeleton/dependencies/mesh/lowerarm.obj
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10,751 changes: 10,751 additions & 0 deletions DojoEnvironments/src/mechanisms/exoskeleton/dependencies/mesh/sAA_simple.obj
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1,875 changes: 1,875 additions & 0 deletions DojoEnvironments/src/mechanisms/exoskeleton/dependencies/mesh/sFE_simple.obj
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2,323 changes: 2,323 additions & 0 deletions DojoEnvironments/src/mechanisms/exoskeleton/dependencies/mesh/sIE_simple.obj
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209,850 changes: 209,850 additions & 0 deletions DojoEnvironments/src/mechanisms/exoskeleton/dependencies/mesh/torso.obj
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7,603 changes: 7,603 additions & 0 deletions DojoEnvironments/src/mechanisms/exoskeleton/dependencies/mesh/upperarm.obj
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161 changes: 161 additions & 0 deletions DojoEnvironments/src/mechanisms/exoskeleton/dependencies/model.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="Exoskeleton">

# output dir

<!-- Human body -->
<link name="base">
<inertial>
<origin rpy="0 0 0" xyz="0 0 1.15"/>
<mass value="1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 1.5707963267948966" xyz="0.33 0.22 0.0"/>
<geometry>
<mesh filename="mesh/torso.obj" scale="0.027 0.027 0.027"/>
</geometry>
<material name="color_human">
<color rgba="0.8 0.8 0.8 1.0"/>
</material>
</visual>
</link>
<!-- 3% of 75kg = 2.25 -->
<link name="upper_arm">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.155"/>
<inertia ixx="0.01875" ixy="0" ixz="0" iyy="0.01875" iyz="0" izz="0.00375"/>
<mass value="2.25"/>
</inertial>
<visual>
<!-- x=up/down, y=side in/out, z=back/forward -->
<origin rpy="0 3.1415926535897 1.5707963267948966" xyz="0.08499999999999999 -0.21999999999999986 0.8412999999999999"/>
<geometry>
<mesh filename="mesh/upperarm.obj" scale="0.027 0.027 0.027"/>
</geometry>
<material name="color_human">
<color rgba="0.8 0.8 0.8 1.0"/>
</material>
</visual>
</link>
<!-- 2% of 75kg = 1.5 -->
<link name="lower_arm">
<inertial>
<origin rpy="0 0 0" xyz="0 0.125 0"/>
<inertia ixx="0.008515625" ixy="0" ixz="0" iyy="0.00140625" iyz="0" izz="0.008515625"/>
<mass value="1.5"/>
</inertial>
<visual>
<!-- x=up/down, y=side in/out, z=back/forward -->
<origin rpy="0 -1.5707963267948966 1.5707963267948966" xyz="0.08499999999999999 0.8412999999999999 0.21999999999999986"/>
<geometry>
<mesh filename="mesh/lowerarm.obj" scale="0.027 0.027 0.027"/>
</geometry>
<material name="color_human">
<color rgba="0.8 0.8 0.8 1.0"/>
</material>
</visual>
</link>
<link name="sAA_Unit">
<inertial>
<origin rpy="0 0 0" xyz="0 0.1301 -0.1279"/>
<mass value="6.712"/>
<inertia ixx="0.3787893" ixy="-0.0006556" ixz="-0.0006709" iyy="0.192833" iyz="0.0540633" izz="0.1956839"/>
</inertial>
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.2"/>
<geometry>
<mesh filename="mesh/sAA_simple.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="color_exo">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
</link>
<link name="sFE_Unit">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.1051 -0.1201"/>
<mass value="3.487"/>
<inertia ixx="0.1108677" ixy="-0.0000977" ixz="0.0000399" iyy="0.0689688" iyz="0.0384741" izz="0.0569634"/>
</inertial>
<visual>
<origin rpy="1.5707963267948966 3.1415926535897 1.5707963267948966" xyz="0 -0.215 0"/>
<geometry>
<mesh filename="mesh/sFE_simple.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="color_exo">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
</link>
<link name="sIE_Unit">
<inertial>
<origin rpy="0 0 0" xyz="-0.0006 0.1079 -0.03"/>
<mass value="1.663"/>
<inertia ixx="0.0266938" ixy="0.0001282" ixz="-0.0000556" iyy="0.007941" iyz="0.0038772" izz="0.0235228"/>
</inertial>
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.512"/>
<geometry>
<mesh filename="mesh/sIE_simple.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="color_exo">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
</link>
<link name="eFE_Unit">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0557 -0.0803"/>
<mass value="0.494"/>
<inertia ixx="0.0069974" ixy="-0.0000009" ixz="-0.0000004" iyy="0.0035498" iyz="0.001812" izz="0.0037622"/>
</inertial>
<visual>
<origin rpy="-1.05 1.5707963267948966 0" xyz="0 0 -0.12"/>
<geometry>
<mesh filename="mesh/eFE_simple.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="color_exo">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
</link>
<joint name="sAA" type="continuous">
<parent link="base"/>
<child link="sAA_Unit"/>
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.2483 0 1.15"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="sFE" type="continuous">
<parent link="sAA_Unit"/>
<child link="sFE_Unit"/>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="sIE" type="continuous">
<parent link="sFE_Unit"/>
<child link="sIE_Unit"/>
<origin rpy="-1.5707963267948966 0 0" xyz="0 0.3087 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="eFE" type="continuous">
<parent link="sIE_Unit"/>
<child link="eFE_Unit"/>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="sIE_to_upper" type="fixed">
<parent link="sIE_Unit"/>
<child link="upper_arm"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<joint name="eFe_to_lower" type="fixed">
<parent link="eFE_Unit"/>
<child link="lower_arm"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
</robot>
56 changes: 56 additions & 0 deletions DojoEnvironments/src/mechanisms/exoskeleton/mechanism.jl
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function get_exoskeleton(;
timestep=0.01,
input_scaling=timestep,
gravity=-9.81,
urdf=:model,
springs=0,
dampers=0,
parse_springs=true,
parse_dampers=true,
limits=true,
joint_limits=Dict([
(:sAA, [0, 90]*π/180),
(:sFE, [0, 90]*π/180),
(:sIE, [-80, 25]*π/180),
(:eFE, [-125,0]*π/180),]),
keep_fixed_joints=false,
T=Float64)

# mechanism
path = joinpath(@__DIR__, "dependencies/$(string(urdf)).urdf")
mechanism = Mechanism(path; floating=false, T,
gravity, timestep, input_scaling,
parse_dampers, keep_fixed_joints)

# springs and dampers
!parse_springs && set_springs!(mechanism.joints, springs)
!parse_dampers && set_dampers!(mechanism.joints, dampers)

# joint limits
if limits
joints = set_limits(mechanism, joint_limits)

mechanism = Mechanism(mechanism.origin, mechanism.bodies, joints;
gravity, timestep, input_scaling)
end

# zero configuration
initialize_exoskeleton!(mechanism)

# construction finished
return mechanism
end

function initialize_exoskeleton!(mechanism::Mechanism;
joint_angles=[pi/2;pi/2-0.1;0;-0.1])

zero_velocities!(mechanism)
zero_coordinates!(mechanism)

set_minimal_coordinates!(mechanism, get_joint(mechanism, :sAA), [joint_angles[1]])
set_minimal_coordinates!(mechanism, get_joint(mechanism, :sFE), [joint_angles[2]])
set_minimal_coordinates!(mechanism, get_joint(mechanism, :sIE), [joint_angles[3]])
set_minimal_coordinates!(mechanism, get_joint(mechanism, :eFE), [joint_angles[4]])

return
end
3 changes: 3 additions & 0 deletions DojoEnvironments/src/mechanisms/include.jl
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Expand Up @@ -4,6 +4,7 @@ include("block/mechanism.jl")
include("block2d/mechanism.jl")
include("cartpole/mechanism.jl")
include("dzhanibekov/mechanism.jl")
include("exoskeleton/mechanism.jl")
include("fourbar/mechanism.jl")
include("halfcheetah/mechanism.jl")
include("hopper/mechanism.jl")
Expand All @@ -12,12 +13,14 @@ include("npendulum/mechanism.jl")
include("nslider/mechanism.jl")
include("panda/mechanism.jl")
include("pendulum/mechanism.jl")
include("quadrotor/mechanism.jl")
include("quadruped/mechanism.jl")
include("raiberthopper/mechanism.jl")
include("slider/mechanism.jl")
include("snake/mechanism.jl")
include("sphere/mechanism.jl")
include("tippetop/mechanism.jl")
include("twister/mechanism.jl")
include("uuv/mechanism.jl")
include("walker/mechanism.jl")
include("youbot/mechanism.jl")
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