/** SCS Robot --> ID Robot Send positions and velocities. */
public void updatePositionsIDrobot() {
// Body info
bodyJointID.setPosition(
bodyJointSCS.getQ_t1().getDoubleValue(), 0.0, bodyJointSCS.getQ_t2().getDoubleValue());
bodyJointID.setRotation(0.0, bodyJointSCS.getQ_rot().getDoubleValue(), 0.0);
double[] velocityArray = new double[6];
velocityArray[0] = 0.0; // yaw
velocityArray[1] = bodyJointSCS.getQd_rot().getDoubleValue(); // pitch
velocityArray[2] = 0.0; // roll
velocityArray[3] = bodyJointSCS.getQd_t1().getDoubleValue(); // x
velocityArray[4] = 0.0; // y
velocityArray[5] = bodyJointSCS.getQd_t2().getDoubleValue(); // z
DenseMatrix64F velocities = new DenseMatrix64F(6, 1, true, velocityArray);
bodyJointID.setVelocity(velocities, 0);
// Leg and foot info (hip, knee and ankle)
for (OneDoFJoint idJoint : idToSCSLegJointMap.keySet()) {
OneDegreeOfFreedomJoint scsJoint = idToSCSLegJointMap.get(idJoint);
idJoint.setQ(scsJoint.getQYoVariable().getDoubleValue());
idJoint.setQd(scsJoint.getQDYoVariable().getDoubleValue());
}
elevator.updateFramesRecursively();
// Get the body coordinates
bodyPosition = new FramePoint();
bodyPosition.setToZero(bodyJointID.getFrameAfterJoint());
bodyPosition.changeFrame(worldFrame);
}
/** *********************** SCS ROBOT - Links ******************************* */
private void createAndAttachBodyLink(LinkNames linkName) {
Link link = new Link(LinkNames.BODY_LINK.getName());
Matrix3d inertiaBody = createInertiaMatrixBox(linkName);
link.setMomentOfInertia(inertiaBody);
link.setMass(RobotParameters.MASSES.get(LinkNames.BODY_LINK));
link.setComOffset(comOffsetBody);
Graphics3DObject linkGraphics = new Graphics3DObject();
linkGraphics.addCube(cubeX, cubeY, cubeZ, RobotParameters.APPEARANCE.get(LinkNames.BODY_LINK));
link.setLinkGraphics(linkGraphics);
// link.addEllipsoidFromMassProperties(YoAppearance.Green());
link.addCoordinateSystemToCOM(0.7);
bodyJointSCS.setLink(link);
}
/** Joints */
public Step6IDandSCSRobot_pinKnee() {
super("Robot");
/** **************** ID ROBOT ********************** */
elevator = new RigidBody("elevator", elevatorFrame);
bodyJointID = new SixDoFJoint(JointNames.BODY.getName(), elevator, elevatorFrame);
createAndAttachBodyRB(LinkNames.BODY_LINK, bodyJointID);
for (RobotSide robotSide : RobotSide.values) {
// HIP ID (location, joint, and rigidBody)
Vector3d hipOffset = new Vector3d(0.0, robotSide.negateIfRightSide(hipOffsetY), 0.0);
RevoluteJoint hipJointID =
ScrewTools.addRevoluteJoint(
JointNames.HIP.getName(),
bodyJointID.getSuccessor(),
hipOffset,
jointAxesPinJoints); // The parent rigid body of the hip joint is:
// bodyJointID.getSuccessor()
allLegJoints.get(robotSide).put(JointNames.HIP, hipJointID);
createAndAttachCylinderRB(LinkNames.UPPER_LINK, JointNames.HIP, robotSide);
// KNEE ID
Vector3d kneeOffset = new Vector3d(0.0, 0.0, kneeOffsetZ);
RevoluteJoint kneeJointID =
ScrewTools.addRevoluteJoint(
JointNames.KNEE.getName(), hipJointID.getSuccessor(), kneeOffset, jointAxesPinJoints);
allLegJoints.get(robotSide).put(JointNames.KNEE, kneeJointID);
createAndAttachCylinderRB(LinkNames.LOWER_LINK, JointNames.KNEE, robotSide);
// ANKLE ID (location, joint, and rigidBody)
Vector3d ankleOffset = new Vector3d(0.0, 0.0, ankleOffsetZ);
RevoluteJoint ankleJointID =
ScrewTools.addRevoluteJoint(
JointNames.ANKLE.getName(),
kneeJointID.getSuccessor(),
ankleOffset,
jointAxesPinJoints);
allLegJoints.get(robotSide).put(JointNames.ANKLE, ankleJointID);
createAndAttachFootRB(LinkNames.FOOT_LINK, JointNames.ANKLE, robotSide);
}
/** **************** SCS ROBOT ********************** */
// BODY SCS
bodyJointSCS = new FloatingPlanarJoint(JointNames.BODY.getName(), this);
this.addRootJoint(bodyJointSCS);
createAndAttachBodyLink(LinkNames.BODY_LINK);
bodyJointSCS.setCartesianPosition(0.0, initialBodyHeight);
for (RobotSide robotSide : RobotSide.values) {
// HIP SCS
PinJoint hipJointSCS =
new PinJoint(
robotSide.getSideNameFirstLetter() + JointNames.HIP.getName(),
new Vector3d(0.0, robotSide.negateIfRightSide(hipOffsetY), 0.0),
this,
jointAxesPinJoints);
hipJointSCS.setLimitStops(-0.75, 0.75, 1e3, 1e1);
// It is NOT necessary to set limits in the ID description because if the SCS description
// doesn't let the robot move passed a point the ID robot won't be able to pass it either
if (robotSide == RobotSide.LEFT) {
hipJointSCS.setQ(-0.6);
} else {
hipJointSCS.setQ(0.1);
}
bodyJointSCS.addJoint(hipJointSCS);
idToSCSLegJointMap.put(allLegJoints.get(robotSide).get(JointNames.HIP), hipJointSCS);
createAndAttachCylinderLink(LinkNames.UPPER_LINK, JointNames.HIP, robotSide);
// KNEE SCS
PinJoint kneeJointSCS =
new PinJoint(
robotSide.getSideNameFirstLetter() + JointNames.KNEE.getName(),
new Vector3d(0.0, 0.0, kneeOffsetZ),
this,
jointAxesPinJoints);
kneeJointSCS.setLimitStops(-0.01, 1.8, 1e5, 1e3);
hipJointSCS.addJoint(kneeJointSCS);
idToSCSLegJointMap.put(allLegJoints.get(robotSide).get(JointNames.KNEE), kneeJointSCS);
createAndAttachCylinderLink(LinkNames.LOWER_LINK, JointNames.KNEE, robotSide);
// ANKLE SCS
PinJoint ankleJointSCS =
new PinJoint(
robotSide.getSideNameFirstLetter() + JointNames.ANKLE.getName(),
new Vector3d(0.0, 0.0, ankleOffsetZ),
this,
jointAxesPinJoints);
ankleJointSCS.setLimitStops(-0.7, 0.7, 1e3, 1e2);
if (robotSide == RobotSide.RIGHT) {
ankleJointSCS.setQ(-0.1);
}
kneeJointSCS.addJoint(ankleJointSCS);
idToSCSLegJointMap.put(allLegJoints.get(robotSide).get(JointNames.ANKLE), ankleJointSCS);
// FEET SCS
createAndAttachFootLink(LinkNames.FOOT_LINK, JointNames.ANKLE, robotSide);
GroundContactPoint gcHeel =
new GroundContactPoint(
robotSide.getSideNameFirstLetter() + "gcHeel",
new Vector3d(-0.1, 0.0, gcOffset),
this);
GCpointsHeel.set(robotSide, gcHeel);
ankleJointSCS.addGroundContactPoint(gcHeel);
Graphics3DObject graphicsGCheel = ankleJointSCS.getLink().getLinkGraphics();
graphicsGCheel.identity();
graphicsGCheel.translate(-0.1, 0.0, gcOffset);
graphicsGCheel.addSphere(gcRadius, YoAppearance.Orange());
if (robotSide == RobotSide.RIGHT) {
setFStoTrue(robotSide);
}
GroundContactPoint gcToe =
new GroundContactPoint(
robotSide.getSideNameFirstLetter() + "gcToe", new Vector3d(0.4, 0.0, gcOffset), this);
GCpointsToe.set(robotSide, gcToe);
ankleJointSCS.addGroundContactPoint(gcToe);
Graphics3DObject graphics = ankleJointSCS.getLink().getLinkGraphics();
graphics.identity();
graphics.translate(0.4, 0.0, gcOffset);
graphics.addSphere(gcRadius, YoAppearance.DarkOliveGreen());
}
/** ************** SCS Ground Model ************************ */
GroundContactModel groundModel =
new LinearGroundContactModel(this, 1e3, 1e3, 5e3, 1e3, this.getRobotsYoVariableRegistry());
GroundProfile3D profile = new FlatGroundProfile();
groundModel.setGroundProfile3D(profile);
this.setGroundContactModel(groundModel);
}