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Merge pull request #7 from Space-Robotics-Laboratory/release/v2.0
Release/v2.0
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‎README.md‎

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@@ -19,13 +19,17 @@ This simulator wraps up functions for:
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* [x] Visualization (Robot, map, support polygons, stability criterion, and time-history of any state variables)
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#### Simulation examples
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| ![ex1_uneven_dynamic_fixed_stride.gif](./docs/media/ex1_uneven_dynamic_fixed_stride.gif) | ![ex2_flat_kinematic_Uno-gait-planning.gif](./docs/media/ex2_flat_kinematic_Uno-gait-planning.gif) |![GIA-poly-hedoron.png](./docs/media/GIA-poly-hedoron.png)|
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|--------|--------|--------|
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| 1) Standard gait on uneven terrain | 2) Optimal foothold selection on descrete grippable points [1] | 3) Stability region visualization [2] |
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| ![ex1_uneven_dynamic_fixed_stride.gif](./docs/media/ex1_uneven_dynamic_fixed_stride.gif) | ![ex2_flat_kinematic_Uno-gait-planning.gif](./docs/media/ex2_flat_kinematic_Uno-gait-planning.gif) |
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|--------|--------|
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| 1) Standard gait on uneven terrain | 2) Optimal foothold selection on descrete grippable points [1] |
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|![GIA-poly-hedoron.png](./docs/media/GIA-poly-hedoron.png) | ![ex4_uneven_terrain_dynamic_Non-perioidc-gait-planning.gif](./docs/media/ex4_uneven_terrain_dynamic_Non-perioidc-gait-planning.gif)|
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|--------|--------|
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| 3) Stability region visualization [2] | 4) Topographically salient region detection and non-periodic foothold selection [3] |
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## Usage
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If you use this simulator in academic context, please put citations of the following publications [1] and [2].
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If you use this simulator in academic context, please put citations of the following publications.
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#### Requirements
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We confirmed the code is working with:
@@ -48,7 +52,18 @@ We confirmed the code is working with:
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[2] Warley F. R. Ribeiro *et al*., "[Dynamic Equilibrium of Climbing Robots based on Stability Polyhedron for Gravito-Inertial Acceleration](https://clawar.org/conference-proceedings/clawar-conference/clawar-2020-proceedings/)", Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Moscow, Russian Federation, 2020, pp. 297-304, [doi: 10.13180/clawar.2020.24-26.08.18](https://doi.org/10.13180/clawar.2020.24-26.08.18).
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[3] Kentaro Uno *et al*., "[Non-Periodic Gait Planning Based on Salient Region Detection for a Planetary Cave Exploration Robot](https://www.hou.usra.edu/meetings/isairas2020fullpapers/pdf/5027.pdf)", Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, remote conference, 2020, No. 5027.
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## FAQ
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Please contact us by sending an email to the following address if there is any question or suggestion.
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limb[at]astro.mech.tohoku.ac.jp
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## Release note
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* Version 1.0: released on 18th Sept. 2020.
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* Version 2.0: released on 26th Oct. 2020. This version includes:
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- topographically salient regioon detection algorithm [3]
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- non-periodic gait plannner [3]
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- gripper detachment evaluation

‎config/USER/config_USER_param_template.m‎

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%%%%%%
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%%%%%% Created 2020-07-08
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%%%%%% Warley Ribeiro
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%%%%%% Last update: 2020-07-08
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%%%%%% Last update: 2020-10-01
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%%%%%% Keigo Haji
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%
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%
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% Load configurations for parameters defined by the USER
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% ani_settings
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% save_settings
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% plot_settings
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% gripper_param
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% map_param
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% matching_settings
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% INPUT
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% -
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function [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
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plot_settings] = config_USER_param(robot_param, environment_param, gait_param, control_param, ...
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equilibrium_eval_param, ani_settings, save_settings, plot_settings)
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plot_settings, gripper_param, map_param, matching_settings] = config_USER_param(robot_param, environment_param, gait_param, control_param, ...
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equilibrium_eval_param, ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings)
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%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Robot Parameters %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Plot Settings %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Gripper Parameters %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Map Parameters and settings %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Matching Settings %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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end

‎config/config_animation_settings.m‎

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ani_settings.robot_alpha = 0.8;
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%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Surface related %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%%% Surface grid color
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ani_settings.grid_color = [0.9 0.9 0.9];
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%%% Surface color
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ani_settings.surface_color = gray;
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%%% Surface viz. on/off
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ani_settings.surface_show = 'on';
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%%% Surface grid color
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ani_settings.grid_color = [0.9 0.9 0.9];
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%%% Surface color
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ani_settings.surface_color = gray;
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%%% Graspable points viz. on/off
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ani_settings.graspable_points_show = 'off';
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ani_settings.goal_marker = '.';
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%%% Goal size
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ani_settings.goal_size = 25;
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%%% Goal vis. height from the ground
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ani_settings.goal_vis_height = 0.0;
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%%% Next desired position vis. on/off
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ani_settings.next_desired_position_show = 'off';
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%%% Next desired position line color m : magenta
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ani_settings.next_desired_position_color = 'm';
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%%% Next desired position line width
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ani_settings.next_desired_position_line_width = 1;
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%%% Plot trajectory
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ani_settings.trajectory_show = 'on';
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%%% Trajectory line color
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ani_settings.trajectory_color = 'c';
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%%% Trajectory line widith
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ani_settings.trajectory_width = 3;
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%%% Trajectory line type
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ani_settings.trajectory_line_type = ':';
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%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Equilibrium related %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%%% Support triangle visualization
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ani_settings.support_triangle_show = 'off';
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%%% Support triangle color
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ani_settings.support_triangle_color =[0 1.0 1.0];
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ani_settings.support_triangle_color = [0 1.0 1.0];
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%%% Support triangle edge line color
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ani_settings.support_triangle_edge_color = [0.0 0.0 0.0];
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%%% Support triangle transparency
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ani_settings.support_triangle_alpha = 0.5;
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ani_settings.com_projection_marker = '.';
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%%% CoM projection point size
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ani_settings.com_projection_size = 25;
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%%% CoM projection point vis. height from the ground
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ani_settings.com_projection_vis_height = 0.0;
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end

‎config/config_environment_param.m‎

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%%% Dynamics on/off
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environment_param.dynamics_flag = 'on';
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%%% Gripper detachment method ('none', 'max_holding_force')
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environment_param.detachment_detection_method = 'none';
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%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Time settings %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%%% Time-step [s]
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environment_param.surface_K = 1000;
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%%% Ground reaction force damping coefficient (scalar)
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environment_param.surface_D = 1;
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%%% Graspable points detection type
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%%% Graspable points detection type ('all', 'gripper', 'peaks')
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environment_param.graspable_points_detection_type = 'all';
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end

‎config/config_plot_settings.m‎

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%%%%%%
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%%%%%% Created 2020-07-08
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%%%%%% Warley Ribeiro
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%%%%%% Last update: 2020-07-08
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%%%%%% Last update: 2020-09-08
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%
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% Load default configurations for plots
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%%% Plot Base position
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plot_settings.base_pos = 'on';
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plot_settings.base_pos_fig_number = 2;
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%%% Plot Base orientation
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plot_settings.base_ori = 'off';
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plot_settings.base_ori_fig_number = 3;
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%%% Plot Base velocity
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plot_settings.base_vel = 'off';
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plot_settings.base_vel_fig_number = 4;
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%%% Plot Base angular velocity
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plot_settings.base_angvel = 'off';
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plot_settings.base_angvel_fig_number = 5;
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%%% Plot Base velocity
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plot_settings.base_acc = 'off';
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plot_settings.base_acc_fig_number = 6;
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%%% Plot Base angular velocity
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plot_settings.base_angacc = 'off';
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plot_settings.base_angacc_fig_number = 7;
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%%% Plot Joint angular position
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plot_settings.joint_pos = 'off';
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plot_settings.joint_pos_fig_number = 8;
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%%% Plot Joint angular velocity
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plot_settings.joint_vel = 'off';
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plot_settings.joint_vel_fig_number = 9;
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%%% Plot Joint angular acceleration
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plot_settings.joint_acc = 'off';
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plot_settings.joint_acc_fig_number = 10;
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%%% Plot Joint torque
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plot_settings.joint_torque = 'off';
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plot_settings.joint_torque_fig_number = 11;
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%%% Plot Leg Position
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plot_settings.leg_pos = 'off';
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plot_settings.leg_pos_fig_number = 12; % and 13, 14, 15 are also used
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%%% Plot Reaction Force
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plot_settings.reaction_force = 'off';
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plot_settings.reaction_force_fig_number = 16; % and 17~23 are also used
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%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Gait related %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%%% 101 ~ 200

‎config/config_robot_param.m‎

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function robot_param = config_robot_param()
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%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% General settings %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%%% Type of the robot to simulate ('HubRobo_no_grip', 'HubRobo_grip_to_palm', 'HubRobo_grip_to_spine')
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robot_param.robot_type = 'HubRobo_grip_to_palm';
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%%% Type of the robot to simulate ('HubRobo_v2_2_no_grip', 'HubRobo_v2_2_grip_to_palm', 'HubRobo_v3_1_grip_to_palm', 'HubRobo_v2_2_grip_to_spine')
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robot_param.robot_type = 'HubRobo_v2_2_grip_to_palm';
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%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Position settings %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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‎config/config_simulation.m‎

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%%%%%%
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%%%%%% Created 2020-07-09
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%%%%%% Warley Ribeiro
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%%%%%% Last update: 2020-07-09
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%%%%%% Last update: 2020-10-15
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%%%%%% Keentaro Uno
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%
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% Load configurations for simulation
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% ani_settings
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% save_settings
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% plot_settings
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% gripper_param
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% map_param
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% matching_settings
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% INPUT
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% config
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function [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
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plot_settings] = config_simulation(config)
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plot_settings, gripper_param, map_param, matching_settings] = config_simulation(config)
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%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% General settings %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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robot_param = config_robot_param();
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ani_settings = config_animation_settings();
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save_settings = config_save_settings();
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plot_settings = config_plot_settings();
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[gripper_param, map_param, matching_settings] = config_target_detection_param();
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if strcmp(config,'USER')
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[robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
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plot_settings] = config_USER_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
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ani_settings, save_settings, plot_settings);
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plot_settings, gripper_param, map_param, matching_settings] = config_USER_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
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ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings);
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end
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if strcmp(config,'gia_static')
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[robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
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plot_settings] = config_uno_crawl_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
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ani_settings, save_settings, plot_settings);
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end
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if strcmp(config,'nonperiodic_demo_param')
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[robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
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plot_settings] = config_nonperiodic_demo_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
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ani_settings, save_settings, plot_settings);
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end
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if strcmp(config,'iSAIRAS_2020_demo_param')
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[robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
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plot_settings, gripper_param, map_param, matching_settings] = config_iSAIRAS_2020_demo_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
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ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings);
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end
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end

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