public DoublePendulum() {
super("DoublePendulum");
j1 = new PinJoint("j1", new Vector3d(0, 0, 2), this, Axis.X);
Link l1 = new Link("l1");
l1.setComOffset(0, 0, 0.5);
l1.setMassAndRadiiOfGyration(1.0, 0.05, 0.05, 0.3);
l1.addEllipsoidFromMassProperties(YoAppearance.Pink());
j1.setLink(l1);
j2 = new PinJoint("j2", new Vector3d(0.0, 0.0, 1.0), this, Axis.X);
Link l2 = new Link("l2");
l2.setComOffset(0, 0, 0.5);
l2.setMassAndRadiiOfGyration(1.0, 0.05, 0.05, 0.3);
l2.addEllipsoidFromMassProperties(YoAppearance.Purple());
j2.setLink(l2);
j1.addJoint(j2);
addRootJoint(j1);
}
/** Joints */
public Step2Robot() {
super("v2Robot");
this.setGravity(-9.81);
// Body (2DOF = Z + Pitch)
bodyJoint1 = new SliderJoint("bodyZ", new Vector3d(0.0, 0.0, 0.0), this, Axis.Z);
bodyJoint1.setDynamic(true);
Link bodyLinkSlider = setNullLink();
bodyJoint1.setLink(bodyLinkSlider);
this.addRootJoint(bodyJoint1);
bodyJoint1.setInitialState(legHeight, 0.0);
bodyJoint2 = new PinJoint("bodyPitch", new Vector3d(0.0, 0.0, 0.0), this, Axis.Y);
bodyJoint2.setDynamic(true);
Link bodyLinkPitch = body();
bodyJoint2.setLink(bodyLinkPitch);
bodyJoint1.addJoint(bodyJoint2);
// Upper Joint
hipJoint = new PinJoint("hip", new Vector3d(0.0, 0.0, 0.0), this, Axis.Y);
hipJoint.setDynamic(true);
hipJoint.setLimitStops(0.0, 1.0, 1e6, 1e3);
Link upperLink = upperLink();
hipJoint.setLink(upperLink);
bodyJoint2.addJoint(hipJoint);
// Lower Joint
kneeJoint = new SliderJoint("knee", new Vector3d(0.0, 0.0, -upperLinkLength), this, Axis.Z);
kneeJoint.setDynamic(true);
kneeJoint.setLimitStops(0.0, 0.6, 1e9, 1e2);
Link lowerLink = lowerLink();
kneeJoint.setLink(lowerLink);
hipJoint.addJoint(kneeJoint);
// Visible ground contact point
GroundContactPoint contactPoint =
new GroundContactPoint("Foot", new Vector3d(0.0, 0.0, gcOffset), this);
kneeJoint.addGroundContactPoint(contactPoint);
Graphics3DObject graphics = kneeJoint.getLink().getLinkGraphics();
graphics.identity();
graphics.translate(0.0, 0.0, gcOffset);
double radius = 0.03;
graphics.addSphere(radius, YoAppearance.Orange());
// Ground Model
GroundContactModel groundModel =
new LinearGroundContactModel(
this, 1500, 150, 50000.0, 1e5, this.getRobotsYoVariableRegistry());
GroundProfile3D profile = new FlatGroundProfile();
groundModel.setGroundProfile3D(profile);
this.setGroundContactModel(groundModel);
}
/** 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);
}
public double getBodyPitchVel() {
return bodyJoint2.getQD();
}
// ************************* Part 2
public double getBodyPitch() {
return bodyJoint2.getQ();
}