From d31a33da387463f56a47586319a2006671a0921a Mon Sep 17 00:00:00 2001
From: Justin Beri <18635834+justinberi@users.noreply.github.com>
Date: Thu, 31 Mar 2022 17:25:36 +1000
Subject: [PATCH] Add simplified double pendulum (#118)
* Add simplified double pendulum
* Add description to urdf, loader and unittest
* Fix format
* Fix format for unittest
* double pendudum: update credits
Co-authored-by: Justin Beri <justin [dot] beri [at] csiro [dot] au>
Co-authored-by: Justin Beri <justin.beri at hdr.qut.edu.au>
Co-authored-by: Guilhem Saurel <guilhem.saurel@laas.fr>
---
python/example_robot_data/robots_loader.py | 5 +
robots/double_pendulum_description/README.md | 3 +
.../urdf/double_pendulum_simple.urdf | 176 ++++++++++++++++++
unittest/test_load.py | 3 +
4 files changed, 187 insertions(+)
create mode 100644 robots/double_pendulum_description/urdf/double_pendulum_simple.urdf
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 4f6af75..3d89e65 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -495,6 +495,10 @@ class DoublePendulumContinuousLoader(DoublePendulumLoader):
urdf_filename = "double_pendulum_continuous.urdf"
+class DoublePendulumSimpleLoader(DoublePendulumLoader):
+ urdf_filename = "double_pendulum_simple.urdf"
+
+
def loadDoublePendulum():
warnings.warn(_depr_msg('loadDoublePendulum()', 'double_pendulum'), FutureWarning, 2)
return DoublePendulumLoader().robot
@@ -545,6 +549,7 @@ ROBOTS = {
'cassie': CassieLoader,
'double_pendulum': DoublePendulumLoader,
'double_pendulum_continuous': DoublePendulumContinuousLoader,
+ 'double_pendulum_simple': DoublePendulumSimpleLoader,
'hector': HectorLoader,
'hyq': HyQLoader,
'icub': ICubLoader,
diff --git a/robots/double_pendulum_description/README.md b/robots/double_pendulum_description/README.md
index 32e239b..1aa58a1 100644
--- a/robots/double_pendulum_description/README.md
+++ b/robots/double_pendulum_description/README.md
@@ -1,4 +1,7 @@
# Double Pendulum
upstream: None. Original work from [@PepMS](https://github.com/PepMS).
+Extended by [@ManifoldFR](https://github.com/ManifoldFR) for the continous variant, and
+[@justinberi](https://github.com/justinberi) for the simplified (without mesh) variant.
+
license: BSD
diff --git a/robots/double_pendulum_description/urdf/double_pendulum_simple.urdf b/robots/double_pendulum_description/urdf/double_pendulum_simple.urdf
new file mode 100644
index 0000000..3751d0c
--- /dev/null
+++ b/robots/double_pendulum_description/urdf/double_pendulum_simple.urdf
@@ -0,0 +1,176 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--Thus URDF was modified from `double_pendulum.urdf to avoid mehses.
+ Modifications by Justin Beri (https://github.com/justinberi) -->
+<robot
+ name="2dof_planar">
+ <link
+ name="base_link">
+ <inertial>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <mass
+ value="0.1" />
+ <inertia
+ ixx="1"
+ ixy="0"
+ ixz="0"
+ iyy="1"
+ iyz="0"
+ izz="1" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <box size="0.05 0.05 0.05"/>
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 0 0 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <box size="0.05 0.05 0.05"/>
+ </geometry>
+ </collision>
+ </link>
+ <link
+ name="link1">
+ <inertial>
+ <origin
+ xyz="0 0 0.05"
+ rpy="0 0 0" />
+ <mass
+ value="0.2" />
+ <inertia
+ ixx="0.000177083"
+ ixy="0"
+ ixz="0"
+ iyy="0.000177083"
+ iyz="0"
+ izz="0.000020833" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0.05"
+ rpy="0 0 0" />
+ <geometry>
+ <box size="0.025 0.025 0.1"/>
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="0 1 0 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0.05"
+ rpy="0 0 0" />
+ <geometry>
+ <box size="0.025 0.025 0.1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="joint1"
+ type="revolute">
+ <origin
+ xyz="0.025 0 0"
+ rpy="0 0 0" />
+ <parent
+ link="base_link" />
+ <child
+ link="link1" />
+ <axis
+ xyz="1 0 0" />
+ <limit
+ lower="0"
+ upper="0"
+ effort="0"
+ velocity="0" />
+ <dynamics
+ damping="0.05" />
+ </joint>
+ <link
+ name="link2">
+ <inertial>
+ <origin
+ xyz="0 0 0.1"
+ rpy="0 0 0" />
+ <mass
+ value="0.3" />
+ <inertia
+ ixx="0.001015625"
+ ixy="0"
+ ixz="0"
+ iyy="0.001015625"
+ iyz="0"
+ izz="0.002" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0.1"
+ rpy="0 0 0" />
+ <geometry>
+ <box size="0.025 0.025 0.2"/>
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="0 0 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0.1"
+ rpy="0 0 0" />
+ <geometry>
+ <box size="0.025 0.025 0.2"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="joint2"
+ type="revolute">
+ <origin
+ xyz="0.0125 0 0.1"
+ rpy="0 0 0" />
+ <parent
+ link="link1" />
+ <child
+ link="link2" />
+ <axis
+ xyz="1 0 0" />
+ <limit
+ lower="0"
+ upper="0"
+ effort="0"
+ velocity="0" />
+ <dynamics
+ damping="0.05" />
+ </joint>
+
+ <!-- For the end effector -->
+ <link name="link3">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+ <joint name="joint3" type="fixed">
+ <origin xyz="0 0 0.2" rpy="0 0 0" />
+ <parent link="link2" />
+ <child link="link3" />
+ <axis xyz="1 0 0" />
+ </joint>
+
+</robot>
diff --git a/unittest/test_load.py b/unittest/test_load.py
index f01bdd8..b4f166f 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -57,6 +57,9 @@ class RobotTestCase(unittest.TestCase):
def test_double_pendulum_continuous(self):
self.check('double_pendulum_continuous', 4, 2)
+ def test_double_pendulum_simple(self):
+ self.check('double_pendulum_simple', 2, 2)
+
def test_asr(self):
self.check('asr_twodof', 2, 2, one_kg_bodies=['ground'])
--
GitLab