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janbruedigamjanbruedigam
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Merge pull request #42 from janbruedigam/strandbeest
Add intermediate changes
2 parents 60c66ba + b60f84b commit 245fb8d

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-106
lines changed

10 files changed

+3022
-106
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‎benchmark/example_benchmark.jl‎

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@@ -44,7 +44,7 @@ for i=1:length(files)
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steps = Base.OneTo(100)
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storage = Storage{Float64}(steps,length(mech.bodies))
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if files[i] in controlled
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if files[i] ∈ controlled
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control_function = eval(Meta.parse(files[i]*"_control!"))
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SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $control_function) samples=2
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else

‎examples/examples_files/fourbar.urdf‎

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<?xml version="1.0"?>
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<robot name="Fourbar">
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<link name="base_link">
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</link>
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<link name="link1">
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<inertial>
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<origin xyz="0 0 -0.5" rpy="0 0. 0." />
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<mass value="1" />
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<inertia ixx=".0841667" ixy="0" ixz="0" iyy=".0841667" iyz="0" izz=".00166667" />
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</inertial>
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<visual>
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<origin xyz="0 0 -0.5" rpy="0 0. 0." />
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<geometry>
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<!-- <cylinder length="1" radius=".05" /> -->
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<box size=".1 .1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="link2">
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<inertial>
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<origin xyz="0 0 -0.5" rpy="0 0. 0." />
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<mass value="1" />
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<inertia ixx=".0841667" ixy="0" ixz="0" iyy=".0841667" iyz="0" izz=".00166667" />
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</inertial>
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<visual>
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<origin xyz="0 0 -0.5" rpy="0 0. 0." />
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<geometry>
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<box size=".1 .1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 0 1" />
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</material>
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</visual>
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</link>
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<link name="link3">
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<inertial>
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<origin xyz="0 0 -0.5" rpy="0 0. 0." />
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<mass value="1" />
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<inertia ixx=".0841667" ixy="0" ixz="0" iyy=".0841667" iyz="0" izz=".00166667" />
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</inertial>
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<visual>
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<origin xyz="0 0 -0.5" rpy="0 0. 0." />
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<geometry>
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<!-- <cylinder length="1" radius=".05" /> -->
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<box size=".1 .1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="link4">
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<inertial>
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<origin xyz="0 0 -0.5" rpy="0 0. 0." />
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<mass value="1" />
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<inertia ixx=".0841667" ixy="0" ixz="0" iyy=".0841667" iyz="0" izz=".00166667" />
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</inertial>
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<visual>
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<origin xyz="0 0 -0.5" rpy="0 0. 0." />
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<geometry>
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<box size=".1 .1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 0 1" />
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</material>
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</visual>
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</link>
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<joint name="jointb1" type="continuous">
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<parent link="base_link" />
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<child link="link1" />
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<origin rpy="0.1 0 0" xyz="0 0 0" />
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<axis xyz="1 0 0" />
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</joint>
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<joint name="joint12" type="continuous">
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<parent link="link1" />
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<child link="link2" />
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<origin rpy="0.2 0 0" xyz="0 0 -1" />
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<axis xyz="1 0 0" />
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</joint>
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<joint name="joint13" type="continuous">
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<parent link="link1" />
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<child link="link3" />
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<origin rpy="-0.2 0 0" xyz="0 0 0" />
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<axis xyz="1 0 0" />
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</joint>
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<joint name="joint34" type="continuous">
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<parent link="link3" />
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<child link="link4" />
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<origin rpy="-0.4 0 0" xyz="0 0 -1" />
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<axis xyz="1 0 0" />
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</joint>
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<loop_joint name="joint24" type="continuous">
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<axis xyz="1 0 0"/>
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<link1 link="link2" rpy="0 0 0" xyz="0 0 -1"/>
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<link2 link="link4" rpy="0 0 0" xyz="0 0 -1"/>
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</loop_joint>
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</robot>

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