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Merged
merged 5 commits into from
Jan 6, 2021
Merged

Strandbeest #42

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1d0a8a0
Add joint cat
janbruedigam Nov 27, 2020
4f89cf0
Initial urdf loop parsing
janbruedigam Dec 1, 2020
beed8d1
Looped urdf for simple mechanism
janbruedigam Dec 1, 2020
1ce2167
Save current state
janbruedigam Dec 1, 2020
b60f84b
Add comment to example
janbruedigam Jan 6, 2021
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2 changes: 1 addition & 1 deletion benchmark/example_benchmark.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ for i=1:length(files)
steps = Base.OneTo(100)
storage = Storage{Float64}(steps,length(mech.bodies))

if files[i] in controlled
if files[i] ∈ controlled
control_function = eval(Meta.parse(files[i]*"_control!"))
SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $control_function) samples=2
else
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115 changes: 115 additions & 0 deletions examples/examples_files/fourbar.urdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,115 @@
<?xml version="1.0"?>

<robot name="Fourbar">
<link name="base_link">
</link>

<link name="link1">
<inertial>
<origin xyz="0 0 -0.5" rpy="0 0. 0." />
<mass value="1" />
<inertia ixx=".0841667" ixy="0" ixz="0" iyy=".0841667" iyz="0" izz=".00166667" />
</inertial>
<visual>
<origin xyz="0 0 -0.5" rpy="0 0. 0." />
<geometry>
<!-- <cylinder length="1" radius=".05" /> -->
<box size=".1 .1 1" />
</geometry>
<material name="green">
<color rgba="1 0 1 1" />
</material>
</visual>
</link>

<link name="link2">
<inertial>
<origin xyz="0 0 -0.5" rpy="0 0. 0." />
<mass value="1" />
<inertia ixx=".0841667" ixy="0" ixz="0" iyy=".0841667" iyz="0" izz=".00166667" />
</inertial>
<visual>
<origin xyz="0 0 -0.5" rpy="0 0. 0." />
<geometry>
<box size=".1 .1 1" />
</geometry>
<material name="green">
<color rgba="1 0 0 1" />
</material>
</visual>
</link>

<link name="link3">
<inertial>
<origin xyz="0 0 -0.5" rpy="0 0. 0." />
<mass value="1" />
<inertia ixx=".0841667" ixy="0" ixz="0" iyy=".0841667" iyz="0" izz=".00166667" />
</inertial>
<visual>
<origin xyz="0 0 -0.5" rpy="0 0. 0." />
<geometry>
<!-- <cylinder length="1" radius=".05" /> -->
<box size=".1 .1 1" />
</geometry>
<material name="green">
<color rgba="1 0 1 1" />
</material>
</visual>
</link>

<link name="link4">
<inertial>
<origin xyz="0 0 -0.5" rpy="0 0. 0." />
<mass value="1" />
<inertia ixx=".0841667" ixy="0" ixz="0" iyy=".0841667" iyz="0" izz=".00166667" />
</inertial>
<visual>
<origin xyz="0 0 -0.5" rpy="0 0. 0." />
<geometry>
<box size=".1 .1 1" />
</geometry>
<material name="green">
<color rgba="1 0 0 1" />
</material>
</visual>
</link>



<joint name="jointb1" type="continuous">
<parent link="base_link" />
<child link="link1" />
<origin rpy="0.1 0 0" xyz="0 0 0" />
<axis xyz="1 0 0" />
</joint>

<joint name="joint12" type="continuous">
<parent link="link1" />
<child link="link2" />
<origin rpy="0.2 0 0" xyz="0 0 -1" />
<axis xyz="1 0 0" />
</joint>

<joint name="joint13" type="continuous">
<parent link="link1" />
<child link="link3" />
<origin rpy="-0.2 0 0" xyz="0 0 0" />
<axis xyz="1 0 0" />
</joint>

<joint name="joint34" type="continuous">
<parent link="link3" />
<child link="link4" />
<origin rpy="-0.4 0 0" xyz="0 0 -1" />
<axis xyz="1 0 0" />
</joint>

<loop_joint name="joint24" type="continuous">
<axis xyz="1 0 0"/>
<link1 link="link2" rpy="0 0 0" xyz="0 0 -1"/>
<link2 link="link4" rpy="0 0 0" xyz="0 0 -1"/>
</loop_joint>



</robot>
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