From 763fd8d8d4383d0737aea0cd6b854fa33879e483 Mon Sep 17 00:00:00 2001 From: Brian Delhaisse Date: Sun, 12 May 2019 07:16:41 +0200 Subject: [PATCH] add ecaa9, techpod, flappy, blackbird --- pyrobolearn/robots/base.py | 12 +- pyrobolearn/robots/crab.py | 4 +- pyrobolearn/robots/ecaa9.py | 159 ++ pyrobolearn/robots/flappy.py | 433 ++++ pyrobolearn/robots/quadcopter.py | 22 +- pyrobolearn/robots/robot.py | 6 + pyrobolearn/robots/techpod.py | 255 +++ pyrobolearn/robots/uav.py | 15 + .../urdfs/blackbird/blackbird_biped.urdf | 340 +++ .../robots/urdfs/blackbird/meshes/.DS_Store | Bin 0 -> 6148 bytes .../urdfs/blackbird/meshes/V2Mockup.001.stl | Bin 0 -> 23584 bytes .../urdfs/blackbird/meshes/V2Mockup.002.stl | Bin 0 -> 23584 bytes .../urdfs/blackbird/meshes/V2Mockup.003.stl | Bin 0 -> 89284 bytes .../urdfs/blackbird/meshes/V2Mockup.004.stl | Bin 0 -> 89284 bytes .../urdfs/blackbird/meshes/V2Mockup.005.stl | Bin 0 -> 10284 bytes .../urdfs/blackbird/meshes/V2Mockup.006.stl | Bin 0 -> 10284 bytes .../urdfs/blackbird/meshes/V2Mockup.007.stl | Bin 0 -> 35084 bytes .../urdfs/blackbird/meshes/V2Mockup.008.stl | Bin 0 -> 32484 bytes .../urdfs/blackbird/meshes/V2Mockup.009.stl | Bin 0 -> 18084 bytes .../urdfs/blackbird/meshes/V2Mockup.010.stl | Bin 0 -> 13984 bytes .../urdfs/blackbird/meshes/V2Mockup.011.stl | Bin 0 -> 12084 bytes .../urdfs/blackbird/meshes/V2Mockup.012.stl | Bin 0 -> 12084 bytes .../urdfs/blackbird/meshes/V2Mockup.013.stl | Bin 0 -> 35084 bytes .../urdfs/blackbird/meshes/V2Mockup.stl | Bin 0 -> 55484 bytes pyrobolearn/robots/urdfs/ecaa9/eca_a9.urdf | 1185 +++++++++++ .../robots/urdfs/ecaa9/meshes/LogoECA.png | Bin 0 -> 3607 bytes .../urdfs/ecaa9/meshes/LogoECAGroup.png | Bin 0 -> 3934 bytes .../robots/urdfs/ecaa9/meshes/LogoSWARMS.png | Bin 0 -> 4133 bytes .../robots/urdfs/ecaa9/meshes/Port.png | Bin 0 -> 19771 bytes .../robots/urdfs/ecaa9/meshes/Starboard.png | Bin 0 -> 7931 bytes .../robots/urdfs/ecaa9/meshes/YellowMap.png | Bin 0 -> 2826 bytes pyrobolearn/robots/urdfs/ecaa9/meshes/dvl.dae | 407 ++++ .../robots/urdfs/ecaa9/meshes/eca_a9.dae | 1849 +++++++++++++++++ .../robots/urdfs/ecaa9/meshes/eca_a9.stl | Bin 0 -> 222684 bytes .../robots/urdfs/ecaa9/meshes/eca_a9_fin.dae | 198 ++ .../urdfs/ecaa9/meshes/eca_a9_propeller.dae | 293 +++ .../robots/urdfs/ecaa9/meshes/oe14-372.dae | 403 ++++ .../robots/urdfs/ecaa9/meshes/pressure.dae | 406 ++++ pyrobolearn/robots/urdfs/flappy/LICENSE | 8 + .../urdfs/flappy/config/mav_config.json | 104 + .../urdfs/flappy/config/sim_config.json | 9 + pyrobolearn/robots/urdfs/flappy/flappy.urdf | 186 ++ .../Wing_Camber_70mm_C35mm_no_trailing_L.STL | Bin 0 -> 259084 bytes .../robots/urdfs/flappy/meshes/left_LE.STL | Bin 0 -> 106684 bytes .../robots/urdfs/flappy/meshes/left_wing.STL | Bin 0 -> 684 bytes .../robots/urdfs/flappy/meshes/right_LE.STL | Bin 0 -> 106684 bytes .../robots/urdfs/flappy/meshes/right_wing.STL | Bin 0 -> 684 bytes .../robots/urdfs/flappy/meshes/torso.STL | Bin 0 -> 7084 bytes .../urdfs/flappy/meshes/torso_no_base.STL | Bin 0 -> 3084 bytes .../urdfs/flappy/meshes/torso_small_base.STL | Bin 0 -> 7084 bytes pyrobolearn/robots/urdfs/techpod/LICENSE | 176 ++ .../urdfs/techpod/meshes/propeller_cw.dae | 63 + .../meshes/techpod/techpod_aileron_left.dae | 167 ++ .../meshes/techpod/techpod_aileron_right.dae | 167 ++ .../techpod/meshes/techpod/techpod_body.dae | 167 ++ .../meshes/techpod/techpod_elevator.dae | 163 ++ .../meshes/techpod/techpod_flap_left.dae | 167 ++ .../meshes/techpod/techpod_flap_right.dae | 167 ++ .../techpod/meshes/techpod/techpod_rudder.dae | 163 ++ pyrobolearn/robots/urdfs/techpod/techpod.urdf | 303 +++ pyrobolearn/simulators/bullet.py | 5 +- 61 files changed, 7981 insertions(+), 21 deletions(-) create mode 100755 pyrobolearn/robots/ecaa9.py create mode 100644 pyrobolearn/robots/flappy.py create mode 100755 pyrobolearn/robots/techpod.py create mode 100644 pyrobolearn/robots/urdfs/blackbird/blackbird_biped.urdf create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/.DS_Store create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.001.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.002.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.003.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.004.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.005.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.006.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.007.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.008.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.009.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.010.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.011.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.012.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.013.stl create mode 100644 pyrobolearn/robots/urdfs/blackbird/meshes/V2Mockup.stl create mode 100755 pyrobolearn/robots/urdfs/ecaa9/eca_a9.urdf create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/LogoECA.png create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/LogoECAGroup.png create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/LogoSWARMS.png create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/Port.png create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/Starboard.png create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/YellowMap.png create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/dvl.dae create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/eca_a9.dae create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/eca_a9.stl create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/eca_a9_fin.dae create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/eca_a9_propeller.dae create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/oe14-372.dae create mode 100755 pyrobolearn/robots/urdfs/ecaa9/meshes/pressure.dae create mode 100644 pyrobolearn/robots/urdfs/flappy/LICENSE create mode 100644 pyrobolearn/robots/urdfs/flappy/config/mav_config.json create mode 100644 pyrobolearn/robots/urdfs/flappy/config/sim_config.json create mode 100644 pyrobolearn/robots/urdfs/flappy/flappy.urdf create mode 100644 pyrobolearn/robots/urdfs/flappy/meshes/Wing_Camber_70mm_C35mm_no_trailing_L.STL create mode 100644 pyrobolearn/robots/urdfs/flappy/meshes/left_LE.STL create mode 100644 pyrobolearn/robots/urdfs/flappy/meshes/left_wing.STL create mode 100644 pyrobolearn/robots/urdfs/flappy/meshes/right_LE.STL create mode 100644 pyrobolearn/robots/urdfs/flappy/meshes/right_wing.STL create mode 100644 pyrobolearn/robots/urdfs/flappy/meshes/torso.STL create mode 100644 pyrobolearn/robots/urdfs/flappy/meshes/torso_no_base.STL create mode 100644 pyrobolearn/robots/urdfs/flappy/meshes/torso_small_base.STL create mode 100755 pyrobolearn/robots/urdfs/techpod/LICENSE create mode 100755 pyrobolearn/robots/urdfs/techpod/meshes/propeller_cw.dae create mode 100755 pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_aileron_left.dae create mode 100755 pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_aileron_right.dae create mode 100755 pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_body.dae create mode 100755 pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_elevator.dae create mode 100755 pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_flap_left.dae create mode 100755 pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_flap_right.dae create mode 100755 pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_rudder.dae create mode 100755 pyrobolearn/robots/urdfs/techpod/techpod.urdf diff --git a/pyrobolearn/robots/base.py b/pyrobolearn/robots/base.py index 651207f..0b66eec 100644 --- a/pyrobolearn/robots/base.py +++ b/pyrobolearn/robots/base.py @@ -305,7 +305,7 @@ class Body(object): # just create setter def _set_force(self, force): """Set the given force (expressed in the world cartesian frame) on the center of mass of the body.""" - self.apply_force(link_id=-1, force=force, position=None, frame=Simulator.WORLD_FRAME) + self.apply_external_force(link_id=-1, force=force, position=None, frame=Simulator.WORLD_FRAME) force = property(fset=_set_force) @@ -322,7 +322,7 @@ class Body(object): """ self.sim.change_visual_shape(object_id=self.id, link_id=link_id, rgba_color=color) - def apply_force(self, link_id=-1, force=(0., 0., 0.), position=None, frame=Simulator.LINK_FRAME): + def apply_external_force(self, force=(0., 0., 0.), link_id=-1, position=None, frame=Simulator.LINK_FRAME): """ Apply the given force on the specified link of the current body. @@ -331,17 +331,17 @@ class Body(object): - this does not work when using `sim.setRealTimeSimulation(1)`. Args: - link_id (int): link id to apply the force, if -1 it will apply the force on the base force (np.array[3]): Cartesian forces to be applied on the body + link_id (int): link id to apply the force, if -1 it will apply the force on the base position (np.array[3], None): position on the link where the force is applied (expressed in the given cartesian frame, see next attribute :attr:`frame`). If None, it is the center of mass of the body (or the link if specified). frame (int): allows to specify the coordinate system of force/position. sim.LINK_FRAME (=1) for local link frame, and sim.WORLD_FRAME (=2) for world frame. By default, it is the world frame. """ - self.sim.apply_external_force(self.id, link_id, force, position, frame) + self.sim.apply_external_force(body_id=self.id, link_id=link_id, force=force, position=position, frame=frame) - def apply_external_torque(self, link_id=-1, torque=(0., 0., 0.), frame=Simulator.LINK_FRAME): + def apply_external_torque(self, torque=(0., 0., 0.), link_id=-1, frame=Simulator.LINK_FRAME): """ Apply an external torque on the body, or a link of the body. Note that after each simulation step, the external torques are cleared to 0. @@ -349,8 +349,8 @@ class Body(object): Warnings: This does not work when using `sim.setRealTimeSimulation(1)`. Args: - link_id (int): link id to apply the torque, if -1 it will apply the torque on the base torque (float[3]): Cartesian torques to be applied on the body + link_id (int): link id to apply the torque, if -1 it will apply the torque on the base frame (int): Specify the coordinate system of force/position: either `pybullet.WORLD_FRAME` (=2) for Cartesian world coordinates or `pybullet.LINK_FRAME` (=1) for local link coordinates. """ diff --git a/pyrobolearn/robots/crab.py b/pyrobolearn/robots/crab.py index cd350ce..54f7630 100644 --- a/pyrobolearn/robots/crab.py +++ b/pyrobolearn/robots/crab.py @@ -45,14 +45,14 @@ class Crab(HexapodRobot): self.legs = [[self.get_link_ids(link) for link in links if link in self.link_names] for links in [['coxa_l1', 'femur_l1', 'tibia_l1'], - [ 'coxa_r1', 'femur_r1', 'tibia_r1'], + ['coxa_r1', 'femur_r1', 'tibia_r1'], ['coxa_l2', 'femur_l2', 'tibia_l2'], ['coxa_r2', 'femur_r2', 'tibia_r2'], ['coxa_l3', 'femur_l3', 'tibia_l3'], ['coxa_r3', 'femur_r3', 'tibia_r3']]] self.feet = [self.get_link_ids(link) for link in ['tibia_foot_l1', 'tibia_foot_r1', 'tibia_foot_l2', - 'tibia_foot_r2', 'tibia_foot_l3', 'tibia_foot_r3'] + 'tibia_foot_r2', 'tibia_foot_l3', 'tibia_foot_r3'] if link in self.link_names] diff --git a/pyrobolearn/robots/ecaa9.py b/pyrobolearn/robots/ecaa9.py new file mode 100755 index 0000000..b2d74a3 --- /dev/null +++ b/pyrobolearn/robots/ecaa9.py @@ -0,0 +1,159 @@ +#!/usr/bin/env python +"""Provide the ECA A9 autonomous underwater vehicle platform. +""" + +import os +import numpy as np + +from pyrobolearn.robots.uuv import UUVRobot + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +# TODO: fix inertia tags in the URDF file +# TODO: several methods need to be moved to the `uuv.py` file. +class ECAA9(UUVRobot): + r"""Autonomous Unmanned Underwater Vehicle A9 from the ECA group + + WARNING: Currently, pybullet does not simulate fluids, so we simulate the thrust, drag, buoyancy, lift, and weight + forces acting on the body. The gravity/weight force is simulated by pybullet. + + The various forces are given by [3,4]: + + 1. The gravity/weight force is due to the attraction pull of the Earth is given by: + + .. math:: F_g = m g + + where :math:`m` is the mass of the object, and :math:`g` is the gravity constant (which is around + :math:`9.81 m/s^2` on the earth). + + 2. The buoyancy force is given by: + + .. math:: F_b = \rho g V + + where :math:`\rho` is the fluid density, :math:`g` is the gravity constant, and `V` is the volume of the + body submerged in the fluid. + + 3. The thrust force is due to the engine/motor/propeller of the object: + + .. math:: F_t = \dot{m}_e v_e - \dot{m}_0 v_0 + (p_e - p_0) A_e + + where :math:`\dot{m} = \rho A v` is the mass flow rate (i.e. mass/time), :math:`\rho` is the fluid density, + :math:`v` is the velocity, :math:`A` is the area where its normal is parallel to fluid flow, :math:`p` is the + pressure. The indices :math:`e` and :math:`0` stands for the exit and free stream (at the front of the submarine). + + 4. The lift force is given by: + + .. math:: F_l = 1/2 C_l \rho A v^2 + + where :math:`C_l` is the lift coefficient at the desired angle of attack, :math:`A` is the platform area, \rho is + the fluid density, and :math:`v` is the velocity. + + 5. The drag force (which is opposed to the movement) is given by: + + .. math:: F_d = 1/2 C_d \rho A v^2 + + where :math:`C_d` is the drag coefficient which is depending on the shape of the object, friction and viscosity + of the fluid, :math:`\rho` is the fluid density, :math:`A` is the platform area, and :math:`v` is the velocity. + For a submarine, the coefficient is approximately around 0.04 (see [3]). + + References: + [1] https://www.ecagroup.com/en/solutions/a9-s-auv-autonomous-underwater-vehicle + [2] UUV Simulator: https://uuvsimulator.github.io/ + [3] Aerodynamics (Nasa - check for equation): https://www.grc.nasa.gov/www/k-12/airplane/short.html + [4] https://s2.smu.edu/propulsion/Pages/navigation.htm + [5] Introduction to Ocean Waves: http://pordlabs.ucsd.edu/rsalmon/111.textbook.pdf + [6] https://fenicsproject.org/ + """ + + def __init__(self, simulator, position=(0, 0, 1.), orientation=(0, 0, 0, 1), fixed_base=False, scaling=1., + urdf_path=os.path.dirname(__file__) + '/urdfs/ecaa9/eca_a9.urdf'): + # check parameters + if position is None: + position = (0., 0., 1.) + if len(position) == 2: # assume x, y are given + position = tuple(position) + (1.,) + if orientation is None: + orientation = (0, 0, 0, 1) + if fixed_base is None: + fixed_base = False + + super(ECAA9, self).__init__(simulator, urdf_path, position, orientation, fixed_base, scaling) + self.name = 'eca_a9' + + self.volume = 0.0679998770412 * scaling**3 # from urdf + self.sea_water_density = 1027 + self.center_buoyancy = np.array([0.000106, 0., 0.6]) # from urdf + + def calculate_buoyancy_force(self, fluid_density=None, g=9.81): + r""" + Calculate the buoyancy force. + + Args: + fluid_density (float, None): density of the fluid [kg/m^3] + g (gravity): gravity value in the z direction. + + Returns: + np.array[3]: buoyancy force + """ + # currently, we assume that the whole body is submerged in the + if fluid_density is None: + fluid_density = self.sea_water_density + return fluid_density * g * self.volume * np.array([0., 0., 1.]) + + # TODO: add `fill_tank(volume)` and `empty_tank(volume)` + def add_mass(self, mass=0., local_inertia_diagonal=(0., 0., 0.)): + r""" + Add mass to the submarine; a submarine has multiple ballast/trim tanks to control its buoyancy. This is + only valid in the simulator. + + Args: + mass (float): mass that will be added to the base link. + local_inertia_diagonal (np.array[3]): local inertia diagonal around the CoM of the base link. + """ + info = self.sim.get_dynamics_info(body_id=self.id, link_id=-1) + mass += info[0] + local_inertia_diagonal = np.array(local_inertia_diagonal) + np.array(info[2]) + self.sim.change_dynamics(body_id=self.id, link_id=-1, mass=mass, local_inertia_diagonal=local_inertia_diagonal) + + +# Test +if __name__ == "__main__": + from itertools import count + from pyrobolearn.simulators import BulletSim + from pyrobolearn.worlds import BasicWorld + + # Create simulator + sim = BulletSim() + + # create world + world = BasicWorld(sim) + + # create robot + robot = ECAA9(sim) + + # print information about the robot + robot.print_info() + + fb = robot.calculate_buoyancy_force() + robot.add_mass(0.05) + # robot.add_joint_slider(range(5)) + + # robot.change_transparency(alpha=1.) + + # run simulation + for i in count(): + pos = robot.get_base_position() + # apply force in the simulation + robot.apply_external_force(force=fb, link_id=-1, position=pos+robot.center_buoyancy, + frame=BulletSim.WORLD_FRAME) + # robot.update_joint_slider() + # robot.set_joint_velocities([10], [4]) + # step in simulation + world.step(sleep_dt=1./240) diff --git a/pyrobolearn/robots/flappy.py b/pyrobolearn/robots/flappy.py new file mode 100644 index 0000000..1e06d18 --- /dev/null +++ b/pyrobolearn/robots/flappy.py @@ -0,0 +1,433 @@ +#!/usr/bin/env python +"""Provide the techpod platform. +""" + +import os +import json +import numpy as np + +from pyrobolearn.robots.uav import FlappingWingUAV + + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__credits__ = "Fei et al." +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +class SimpleNamespace: + """A simple object subclass that provides attribute access to its namespace, as well as a meaningful repr. + + Taken from: https://docs.python.org/3/library/types.html + """ + def __init__(self, **kwargs): + self.__dict__.update(kwargs) + + def __repr__(self): + keys = sorted(self.__dict__) + items = ("{}={!r}".format(k, self.__dict__[k]) for k in keys) + return "{}({})".format(type(self).__name__, ", ".join(items)) + + def __eq__(self, other): + return self.__dict__ == other.__dict__ + + +class Wing(object): + r"""Wing + + Python code translated from C++ code provided in [1]. + + References: + [1] https://github.com/purdue-biorobotics/flappy/blob/master/flappy/envs/Wing.cpp + [2] "Flappy Hummingbird: An Open Source Dynamic Simulation of Flapping Wing Robots and Animals", Fei et al., + 2019 + """ + + def __init__(self, wing_index, wing_length, mean_chord, r33, r22, r11, r00, z_cp2, z_cp1, z_cp0, z_rd, + shoulder_width, stroke_plane_offset): + r""" + Initialize the wing and compute the dynamics on it. + + Args: + wing_index (int): wing index (0 or 1). This is used to determine the sign of the axis for the motors. + Set it to 0 for the left wing, and 1 for the right wing. + wing_length (float): length of wing. + mean_chord (float): mean of the chord. "In aeronautics, a chord is the imaginary straight line joining the + leading and trailing edges of an aerofoil. The chord length is the distance between the trailing edge + and the point on the leading edge where the chord intersects the leading edge." (from Wikipedia) + r33 (float): wing geometry constant. + r22 (float): wing geometry constant. + r11 (float): wing geometry constant. + r00 (float): wing geometry constant. + z_cp2 (float): wing geometry constant. + z_cp1 (float): wing geometry constant. + z_cp0 (float): wing geometry constant. + z_rd (float): wing geometry constant. + shoulder_width (float): should width + stroke_plane_offset (float): stroke plane offset. + """ + self.air_density = 1.18009482370369 + self.wing_index = wing_index + self.wing_length = wing_length + self.mean_chord = mean_chord + self.r33 = r33 + self.r22 = r22 + self.r11 = r11 + self.r00 = r00 + self.z_cp2 = z_cp2 + self.z_cp1 = z_cp1 + self.z_cp0 = z_cp0 + self.z_rd = z_rd + self.sign = pow(-1, wing_index) + + self.r_w = wing_length + self.d_0 = shoulder_width + self.d_s = stroke_plane_offset + self.r_cp = self.r_w * r33/r22 # span-wise center of pressure + + # total force and moments + self.span_wise_center_of_pressure = 0 + self.cord_wise_center_of_pressure = 0 + self.normal_force = 0 + self.aero_moment = 0 + self.rotational_damping_moment = 0 + + # rotational damping moment coefficient + self.Crd = 5.0 + + def do_nothing(self): + # total force and moments + self.span_wise_center_of_pressure = 0 + self.cord_wise_center_of_pressure = 0 + self.normal_force = 0 + self.aero_moment = 0 + self.rotational_damping_moment = 0 + + def update_aero_force(self): + """Update the aerodynamic forces applied on the wing; i.e. the normal force, aerodynamic moment and rotational + damping moment (the equations are provided in [2]). + """ + self.update_velocity_coefficients() + self.update_angle_of_attack() + self.CN = self.get_CN(self.alpha) + self.d_cp = self.get_center_of_pressure(self.alpha) + self.update_velocity_squared_coefficients() + + # the normal force, aerodynamic moment and rotational damping moment are given in [2] + self.normal_force = 0.5 * self.air_density * self.mean_chord * self.CN * \ + (self.a_u2 * self.r_w**3 * self.r22 + self.a_u1 * self.r_w**2 * self.r11 + + self.a_u0 * self.r_w * self.r00) + self.aero_moment = -0.5 * self.air_density * self.d_cp * self.CN * self.mean_chord**2 * \ + (self.a_u2 * self.r_w**3 * self.z_cp2 + self.a_u1 * self.r_w**2 * self.z_cp1 + + self.a_u0 * self.r_w * self.z_cp0) + + if self.normal_force != 0: + self.cord_wise_center_of_pressure = -self.aero_moment / self.normal_force + else: + self.cord_wise_center_of_pressure = 0 + + self.span_wise_center_of_pressure = self.r_cp + + self.rotational_damping_moment = -0.125 * self.air_density * np.abs(self.dtheta) * self.dtheta * self.Crd * \ + self.r_w * self.mean_chord**4 * self.z_rd + + def update_state(self, body_velocity_rpy, body_velocity, stroke_plane_angle, stroke_plane_velocity, stroke_angle, + stroke_velocity, deviation_angle, deviation_velocity, rotate_angle, rotate_velocity): + """Update the state of the wing.""" + self.velocity = body_velocity + self.drpy = body_velocity_rpy + + # stroke plane + self.Phi = stroke_plane_angle + self.dPhi = stroke_plane_velocity + + # stroke + self.psi = stroke_angle + self.dpsi = stroke_velocity + + # deviation + self.phi = deviation_angle + self.dphi = deviation_velocity + + # wing rotation + self.theta = rotate_angle + self.dtheta = rotate_velocity + + # wing trigonometry pre calculation + self.s_Phi = np.sin(self.Phi) + self.c_Phi = np.cos(self.Phi) + self.s_psi = np.sin(self.psi) + self.c_psi = np.cos(self.psi) + self.s_phi = np.sin(self.phi) + self.c_phi = np.cos(self.phi) + + def update_velocity_coefficients(self): + """Update the velocity coefficients.""" + u, v, w = self.velocity + p, q, r = self.drpy + s_Phi, c_Phi, s_psi, c_psi, s_phi, c_phi = self.s_Phi, self.c_Phi, self.s_psi, self.c_psi, self.s_phi, \ + self.c_phi + dPhi, dpsi, dphi = self.dPhi, self.dpsi, self.dphi + d_0, d_s = self.d_0, self.d_s + + # velocity coefficients + self.u_o1 = self.sign * (p * c_psi * c_Phi - dPhi * s_psi) + (q * s_psi + r * c_psi * s_Phi + dphi) + self.u_o0 = self.sign * (-(u + q * d_s) * c_phi * s_Phi - r * d_0 * s_phi * s_psi * c_Phi - (v - p * d_s) * + s_phi * c_psi + w * s_phi * s_psi * s_Phi + p * d_0 * c_phi * c_Phi) + \ + ((u + q * d_s) * s_phi * s_psi * c_Phi + r * d_0 * c_phi * s_Phi + w * c_phi * c_Phi + p * d_0 * + s_phi * s_psi * s_Phi) + self.u_i1 = self.sign * (p * s_phi * s_psi * c_Phi + r * c_phi * c_Phi + dPhi * s_phi * c_psi) + \ + (-p * c_phi * s_Phi - q * s_phi * c_psi + r * s_phi * s_psi * s_Phi + dpsi * c_phi) + self.u_i0 = self.sign * (r * d_0 * c_psi * c_Phi - (v - p * d_s) * s_psi - w * c_psi * s_Phi) + \ + (-(u + q * d_s) * c_psi * c_Phi - p * d_0 * c_psi * s_Phi) + + def update_angle_of_attack(self): + """Update the angle of attack (AoA).""" + # AoA correction double + self.u_i = self.u_i1 * self.r_cp + self.u_i0 + + if self.u_i != 0: + self.delta_alpha = np.arctan((self.u_o1 * self.r_cp + self.u_o0) / (self.u_i1 * self.r_cp + self.u_i0)) + else: + self.delta_alpha = 0 + + # geometric AoA + self.alpha_0 = self.theta + np.double(np.sign(self.u_i)) * np.pi / 2 + + self.alpha = self.alpha_0 - self.delta_alpha + + @staticmethod + def get_CN(alpha): + # see equation (8) in paper [2] + return 1.8 * np.sin(2 * alpha) * np.cos(alpha) + 1.95 * np.sin(alpha) - 1.5 * np.cos(2 * alpha) * np.sin(alpha) + + @staticmethod + def get_center_of_pressure(alpha): + return 0.46 - 0.332 * np.cos(alpha) - 0.037 * np.cos(3 * alpha) - 0.013 * np.cos(5 * alpha) + + def update_velocity_squared_coefficients(self): + # velocity squared coefficients + self.a_u2 = self.u_i1**2 + self.u_o1**2 + self.a_u1 = 2 * self.u_i1 * self.u_i0 + 2 * self.u_o1 * self.u_o0 + self.a_u0 = self.u_i0**2 + self.u_o0**2 + + +class Actuator: + r"""Actuator + + Code copied-pasted from [1] (I didn't change anything except adding some whitespaces). + + References: + [1] https://github.com/purdue-biorobotics/flappy/blob/master/flappy/envs/Wing.cpp + [2] "Flappy Hummingbird: An Open Source Dynamic Simulation of Flapping Wing Robots and Animals", Fei et al., + 2019 + """ + + def __init__(self, motor_properties): + + config = SimpleNamespace(**motor_properties) + self.resistance = config.resistance + self.torque_constant = config.torque_constant + self.gear_ratio = config.gear_ratio + self.mechanical_efficiency = config.mechanical_efficiency + self.friction_coefficient = config.friction_coefficient + self.damping_coefficient = config.damping_coefficient + self.inertia = config.inertia + + self.inertia_torque = 0 + self.damping_torque = 0 + self.friction_torque = 0 + self.magnetic_torque = 0 + self.motor_torque = 0 + + self.voltage = 0 + + self.current = 0 + self.back_EMF = 0 + self.output_torque = 0 + self.config = config + self.reset() + + def update_driver_voltage(self, voltage): + self.voltage = voltage + + def update_torque(self, stroke_velocity, stroke_acceleration): + psi_dot = stroke_velocity + psi_ddot = stroke_acceleration + motor_vel = psi_dot * self.gear_ratio + motor_accel = psi_ddot * self.gear_ratio + if psi_dot > 0: + sign = 1 + elif psi_dot < 0: + sign = -1 + else: + sign = 0 + + self.back_EMF = self.torque_constant * motor_vel + self.current = (self.voltage - self.back_EMF) / self.resistance + + self.inertia_torque = self.inertia * motor_accel + self.damping_torque = self.damping_coefficient * motor_vel + self.friction_torque = self.friction_coefficient * sign + self.magnetic_torque = self.torque_constant * self.current + + self.motor_torque = self.magnetic_torque - self.inertia_torque - self.damping_torque - self.friction_torque + + self.output_torque = self.motor_torque * self.gear_ratio * self.mechanical_efficiency + + def get_torque(self): + return self.output_torque + + def reset(self): + self.inertia_torque = 0 + self.damping_torque = 0 + self.friction_torque = 0 + self.magnetic_torque = 0 + self.motor_torque = 0 + + self.current = 0 + self.back_EMF = 0 + self.output_torque = 0 + + +class Flappy(FlappingWingUAV): + r"""Flappy Hummingbird UAV (from Purdue University) + + This is the main class for the flappy hummingbird (a flapping wing micro aerial vehicle (FWMAV)). Most of the code + as well as the URDF model comes from [2,3]. + + The flappy hummingbird has 2 wings and each one has 2 degrees of freedom; the stroke and rotation angles. + + Warnings: Currently, in pybullet there is no air, so we simulate all the forces acting on the flappy vehicle as + described in the paper and code [2,3]. The gravity is carried out by pybullet. + + References: + [1] "Design Optimization and System Integration of Robotic Hummingbird", 2017, Zhang et al. + [2] "Flappy Hummingbird: An Open Source Dynamic Simulation of Flapping Wing Robots and Animals", Fei et al., + 2019 + [3] https://github.com/purdue-biorobotics/flappy + """ + + def __init__(self, simulator, position=(0, 0, 0.5), orientation=(0, 0, 0, 1), fixed_base=False, scaling=1., + urdf=os.path.dirname(__file__) + '/urdfs/flappy/flappy.urdf', + config=os.path.dirname(__file__) + '/urdfs/flappy/config/mav_config.json'): + super(Flappy, self).__init__(simulator, urdf, position, orientation, fixed_base) + + with open(config) as f: + config = json.load(f)[0] + config = SimpleNamespace(**config) + + # create wings + self.left_wing = Wing(0, config.wing_length, config.mean_chord, config.r33, config.r22, config.r11, config.r00, + config.z_cp2, config.z_cp1, config.z_cp0, config.z_rd, config.left_shoulder_width, + config.stroke_plane_offset) + self.right_wing = Wing(1, config.wing_length, config.mean_chord, config.r33, config.r22, config.r11, config.r00, + config.z_cp2, config.z_cp1, config.z_cp0, config.z_rd, config.right_shoulder_width, + config.stroke_plane_offset) + + # create motors + self.left_motor = Actuator(config.left_motor_properties) + self.right_motor = Actuator(config.right_motor_properties) + + # joints + self.left_wing_joints = [self.get_link_ids(link) for link in ['left_leading_edge', 'left_wing'] + if link in self.link_names] + self.right_wing_joints = [self.get_link_ids(link) for link in ['right_leading_edge', 'right_wing'] + if link in self.link_names] + self.wings = [self.left_wing_joints, self.right_wing_joints] + # joints = [left stroke, left rotate, right stroke, right rotate] + self.wing_joints = self.left_wing_joints + self.right_wing_joints + + # dummy variables for now + # self.driver_update_time = 0 + # self.dt_driver = 1./1e3 + self.prev_t = None + self.prev_joint_velocities = None + + def apply_voltage(self, t, input_voltage): # step(self, t, input_voltage): + # get the joint positions for the left and right wing joints + joint_positions = self.get_joint_positions(self.wing_joints) + joint_velocities = self.get_joint_velocities(self.wing_joints) + # joint_accelerations = self.get_joint_accelerations(self.wing_joints) + if self.prev_t is None: + joint_accelerations = np.zeros(len(self.wing_joints)) + else: + joint_accelerations = (joint_velocities - self.prev_joint_velocities) / (t - self.prev_t) + + # update aerodynamic forces + self.left_wing.update_state(self.angular_velocity, self.linear_velocity, 0, 0, joint_positions[0], + joint_velocities[0], 0, 0, joint_positions[1], joint_velocities[1]) + self.right_wing.update_state(self.angular_velocity, self.linear_velocity, 0, 0, joint_positions[2], + joint_velocities[2], 0, 0, joint_positions[3], joint_velocities[3]) + self.left_wing.update_aero_force() + self.right_wing.update_aero_force() + + # update voltage + # if t >= self.driver_update_time: + # self.driver_update_time += self.dt_driver + self.left_motor.update_driver_voltage(input_voltage[0]) + self.right_motor.update_driver_voltage(input_voltage[1]) + + # update torque (left and right strokes) + self.left_motor.update_torque(joint_velocities[0], joint_accelerations[0]) + self.right_motor.update_torque(joint_velocities[2], joint_accelerations[2]) + + # apply stroke torque + torques = np.zeros(self.num_dofs) + torques[0] = self.left_motor.get_torque() + torques[2] = self.right_motor.get_torque() + self.set_joint_torques(torques) + + # get aero forces + left_normal_force = np.array([self.left_wing.normal_force, 0, 0]) # in wing x direction + right_normal_force = np.array([self.right_wing.normal_force, 0, 0]) + left_cop = np.array([0, self.left_wing.span_wise_center_of_pressure, + (-1) * self.left_wing.cord_wise_center_of_pressure]) + right_cop = np.array([0, (-1) * self.right_wing.span_wise_center_of_pressure, + (-1) * self.right_wing.cord_wise_center_of_pressure]) + left_rot_damping_moment = np.array([0, self.left_wing.rotational_damping_moment, 0]) # in wing y direction + right_rot_damping_moment = np.array([0, self.right_wing.rotational_damping_moment, 0]) + + # apply aero force and moment on wing + # self.apply_external_force(left_normal_force, link_id=1, position=left_cop, frame=BulletSim.LINK_FRAME) + # self.apply_external_force(right_normal_force, link_id=3, position=right_cop, frame=BulletSim.LINK_FRAME) + # self.apply_external_torque(left_rot_damping_moment, link_id=1, frame=BulletSim.LINK_FRAME) + # self.apply_external_torque(right_rot_damping_moment, link_id=3, frame=BulletSim.LINK_FRAME) + + # save + self.prev_t = t + self.prev_joint_velocities = joint_velocities + + +# Test +if __name__ == "__main__": + import time + from itertools import count + from pyrobolearn.simulators import BulletSim + from pyrobolearn.worlds import BasicWorld + + # Create simulator + sim = BulletSim() + + # create world + world = BasicWorld(sim) + + # create robot + robot = Flappy(sim) + + # print information about the robot + robot.print_info() + robot.add_joint_slider(robot.left_wing_joints) + + # run simulation + for i in count(): + robot.update_joint_slider() + # signal = 3 * np.sin(2. * np.pi * i/1000) * np.ones(2) + # robot.apply_voltage(time.time(), signal) + # robot.set_joint_positions(1. * np.sin(2 * np.pi * i/240), joint_ids=0) + # step in simulation + world.step(sleep_dt=1./240) diff --git a/pyrobolearn/robots/quadcopter.py b/pyrobolearn/robots/quadcopter.py index d1fd3e7..fa5008f 100644 --- a/pyrobolearn/robots/quadcopter.py +++ b/pyrobolearn/robots/quadcopter.py @@ -18,12 +18,13 @@ __email__ = "briandelhaisse@gmail.com" __status__ = "Development" +# TODO: several methods such as the calculation of the thrust force should be done in `uav.py` file, not here class Quadcopter(RotaryWingUAV): r"""Quadcopter WARNING: Currently, in pybullet there is no air, so we simulate the thrust force. - Based on momentum theory, we can calculate the thrust [4,5,6] to be: + Based on momentum theory, we can calculate the thrust [5,6,7] to be: .. math:: @@ -56,9 +57,9 @@ class Quadcopter(RotaryWingUAV): [3] https://github.com/prfraanje/quadcopter_sim [4] https://github.com/ethz-asl/rotors_simulator - [4] "Propeller Thrust" (NASA): https://www.grc.nasa.gov/WWW/K-12/airplane/propth.html - [5] "Static thrust calculation": https://quadcopterproject.wordpress.com/static-thrust-calculation/ - [6] "Propeller Static & Dynamic Thrust Calculation": + [5] "Propeller Thrust" (NASA): https://www.grc.nasa.gov/WWW/K-12/airplane/propth.html + [6] "Static thrust calculation": https://quadcopterproject.wordpress.com/static-thrust-calculation/ + [7] "Propeller Static & Dynamic Thrust Calculation": https://www.electricrcaircraftguy.com/2013/09/propeller-static-dynamic-thrust-equation.html https://www.electricrcaircraftguy.com/2014/04/propeller-static-dynamic-thrust-equation-background.html """ @@ -133,14 +134,13 @@ class Quadcopter(RotaryWingUAV): diameter = (4. * area / np.pi)**0.5 return air_density * area * (tmp**2 - tmp*v0) * (self.k1 * diameter / propeller_pitch)**self.k2 - def set_joint_velocities(self, velocities, joint_ids=None, max_velocity=True, forces=True): + def set_propeller_velocities(self, velocities, max_velocity=True, forces=True): """ Set the joint velocities and apply the thrust force on the propeller link corresponding to the given joint id(s). Args: - velocities (float[4]): velocity of each propeller - joint_ids (int[4], None): Not used here + velocities (np.array[4]): velocity of each propeller forces (float, np.float[N], None, bool): maximum motor torques / forces. If True, it will apply the default maximum force values. max_velocity (float, bool, None): if True, it will make sure that the given velocity(ies) are below their @@ -156,7 +156,7 @@ class Quadcopter(RotaryWingUAV): joint_ids = self.joints # call parent method - super(Quadcopter, self).set_joint_velocities(velocities, joint_ids, max_velocity, forces) + super(Quadcopter, self).set_joint_velocities(velocities, joint_ids, forces, max_velocity) # calculate thrust force of the given joints, and apply it on the link for jnt, d, v in zip(joint_ids, self.turning_directions, velocities): @@ -165,7 +165,7 @@ class Quadcopter(RotaryWingUAV): # compute propeller speed v0 state = self.sim.get_link_state(self.id, jnt, compute_velocity=True) # , compute_forward_kinematics=True) - R = np.array(get_matrix_from_quaternion(state[1])) + R = get_matrix_from_quaternion(state[1]) linear_velocity = np.array(state[-2]) propeller_up_vec = R.dot(np.array([0., 0., 1.])) v0 = linear_velocity.dot(propeller_up_vec) @@ -176,7 +176,7 @@ class Quadcopter(RotaryWingUAV): # f = self.mass * self.gravity / 4. # apply force in the simulation - self.apply_external_force([0, 0, f], jnt, position=(0., 0., 0.)) + self.apply_external_force(force=[0, 0, f], link_id=jnt, position=(0., 0., 0.)) def get_stationary_joint_velocity(self): fg = self.mass * self.gravity / 4. @@ -217,6 +217,6 @@ if __name__ == "__main__": # run simulation for i in count(): - robot.set_joint_velocities(v) + robot.set_propeller_velocities(v) # step in simulation world.step(sleep_dt=1./240) diff --git a/pyrobolearn/robots/robot.py b/pyrobolearn/robots/robot.py index c7d321d..0b96bbe 100644 --- a/pyrobolearn/robots/robot.py +++ b/pyrobolearn/robots/robot.py @@ -2129,9 +2129,15 @@ class Robot(ControllableBody): # compute and return joint accelerations torques = np.array(torques) + if not self.fixed_base: # if floating base + torques = np.concatenate((np.zeros(6), torques)) Hinv = np.linalg.inv(self.get_mass_matrix(q)) C = self.calculate_inverse_dynamics(np.zeros(len(q)), dq=dq, q=q) + if np.any(np.equal(C, None)): + C = np.zeros(len(torques)) acc = Hinv.dot(torques - C) + if not self.fixed_base: # if floating base + return acc[6:] return acc def get_mass_matrix(self, q=None, q_idx=None): diff --git a/pyrobolearn/robots/techpod.py b/pyrobolearn/robots/techpod.py new file mode 100755 index 0000000..b15b4e1 --- /dev/null +++ b/pyrobolearn/robots/techpod.py @@ -0,0 +1,255 @@ +#!/usr/bin/env python +"""Provide the techpod platform. +""" + +import os +import numpy as np + +from pyrobolearn.robots.uav import FixedWingUAV +from pyrobolearn.utils.transformation import get_matrix_from_quaternion +from pyrobolearn.utils.units import inches_to_meters + + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +# TODO: several methods have to be moved in the `uav.py` file. +class Techpod(FixedWingUAV): + r"""Techpod UAV + + Four forces (thrust, lift, drag, and gravity) act on an airplane. + + WARNING: Currently, in pybullet there is no air, so we simulate the lift, thrust, and drag forces. The gravity + is carried out by pybullet. + + References: + [1] https://github.com/ethz-asl/rotors_simulator + [2] "Theory of flight": web.mit.edu/16.00/www/aec/flight.html + [3] "NASA: Guided Tours of the BGA": www.grc.nasa.gov/WWW/k-12/airplane/guided.html + """ + + def __init__(self, + simulator, + position=(0, 0, 0.5), + orientation=(0, 0, 0, 1), + fixed_base=False, + scaling=1., + urdf=os.path.dirname(__file__) + '/urdfs/techpod/techpod.urdf'): + # check parameters + if position is None: + position = (0., 0., 0.5) + if len(position) == 2: # assume x, y are given + position = tuple(position) + (0.5,) + if orientation is None: + orientation = (0, 0, 0, 1) + if fixed_base is None: + fixed_base = False + + super(Techpod, self).__init__(simulator, urdf, position, orientation, fixed_base, scaling) + self.name = 'techpod' + + # info + self.gravity = 9.81 + self.air_density = 1.225 + + # change dynamics + self.sim.change_dynamics(body_id=self.id, link_id=0, lateral_friction=0.) + + # from urdf + self.radius = 0.15 # 0.14 + self.diameter = 2. * self.radius + self.area = np.pi * self.radius**2 + + self.max_velocity = 770 # rad/sec + + # Propeller pitches are around 0.0762m (3 inches) and 0.127m (5 inches) + # (from https://www.dronezon.com/learn-about-drones-quadcopters/how-a-quadcopter-works-with-propellers-and\ + # -motors-direction-design-explained/) + # The larger the prop (either increasing diameter, or pitch or both), the more energy it takes to spin it. + # When buying propellers, they follow the syntax `LxP` where `L` is the length/diameter of the propeller + # (in inches) and `P` is the propeller pitch (also in inches). + # 1 inch = 0.0254m --> 0.28m = 11 inches + # The value of the pitch below has been set by looking online for quadcopter props with 11 inches of length + self.propeller_pitch = inches_to_meters(7) # 4.7) # inches_to_meters(5.) + + # some constants + self.k1 = 1./3.29546 + self.k2 = 1.5 + + def calculate_thrust_force(self, angular_speed, area, propeller_pitch, v0=0, air_density=1.225): + r""" + Calculate the thrust force generated by the propeller (based on [6]). + + Args: + angular_speed (float): angular speed of the propeller [rad/s]. If RPM, convert it to rad/s using the + formula :math:`1 RPM = \frac{2\pi}{60} rad/s`. + area (float): area of the propeller [m^2] + propeller_pitch (float): "distance a propeller would move in 1 revolution if it were moving through a + soft solid" [m] + air_density (float): density of air [kg/m^3]. By default, it is the density of the air at sea level and at + 15 degrees Celsius. Note that this varies with the temperature, humidity, and pressure. It decreases + with increasing altitude. + + Returns: + float: thrust force generated by the propeller [N] + + References: + [1] "Thrust Equation": https://www.grc.nasa.gov/WWW/k-12/airplane/thrsteq.html + [2] "Propeller Thrust": https://www.grc.nasa.gov/WWW/k-12/airplane/propth.html + [3] "Propeller Analysis": https://www.grc.nasa.gov/WWW/k-12/airplane/propanl.html + """ + tmp = angular_speed / (2*np.pi) * propeller_pitch + diameter = (4. * area / np.pi)**0.5 + return air_density * area * (tmp**2 - tmp*v0) * (self.k1 * diameter / propeller_pitch)**self.k2 + + def calculate_lift_force(self): + r""" + Calculate the lift force. + + Returns: + float[3]: lift force (in the z direction) + + References: + [1] "What is Lift?": https://www.grc.nasa.gov/WWW/k-12/airplane/lift1.html + [2] "Lift Equation": https://www.grc.nasa.gov/WWW/k-12/airplane/lifteq.html + [3] "Inclination Effects on Lift": https://www.grc.nasa.gov/WWW/k-12/airplane/incline.html + [4] https://www.comsol.com/blogs/how-do-i-compute-lift-and-drag/ + """ + pass + + def calculate_drag_force(self): + r""" + Calculate the drag force. + + Returns: + float[3]: drag force (in the -x direction) + + References: + [1] "What is Drag?": https://www.grc.nasa.gov/WWW/k-12/airplane/drag1.html + [2] "Drag Equation": https://www.grc.nasa.gov/WWW/k-12/airplane/drageq.html + [3] https://www.comsol.com/blogs/how-do-i-compute-lift-and-drag/ + """ + pass + + def calculate_elevator_moment(self): + r""" + Calculate the moment due to the elevators [1]. + + Returns: + float[3]: resulting moment in the y direction + + Reference: + [1] "Horizontal Stabilizer - Elevator": https://www.grc.nasa.gov/WWW/k-12/airplane/elv.html + [2] "Aircraft Rotations": https://www.grc.nasa.gov/WWW/k-12/airplane/rotations.html + """ + pass + + def calculate_aileron_moment(self): + """ + Calculate the moment due to the ailerons that increases/decreases the lift force [1]. + + Returns: + float[3]: resulting moment in the x direction. + + References: + [1] "Ailerons": https://www.grc.nasa.gov/WWW/k-12/airplane/alr.html + [2] "Aircraft Rotations": https://www.grc.nasa.gov/WWW/k-12/airplane/rotations.html + """ + pass + + def calculate_flap_moment(self): + """ + Increase lift or drag. + + Returns: + + References: + [1] "Flaps and Slats": https://www.grc.nasa.gov/WWW/k-12/airplane/flap.html + """ + pass + + def calculate_rudder_moment(self): + """ + Calculate the moment due to the rudder [1]. + + Returns: + float[3]: resulting moment (in the z direction) + + Reference: + [1] "Vertical Stabilizer - Rudder": https://www.grc.nasa.gov/WWW/k-12/airplane/rud.html + [2] "Aircraft Rotations": https://www.grc.nasa.gov/WWW/k-12/airplane/rotations.html + """ + pass + + def set_propeller_velocities(self, velocities, max_velocity=True, forces=True): + """ + Set the joint velocities and apply the thrust force on the propeller link corresponding to the given + joint id(s). + + Args: + velocities (float[4]): velocity of each propeller + forces (float, np.float[N], None, bool): maximum motor torques / forces. If True, it will apply the + default maximum force values. + max_velocity (float, bool, None): if True, it will make sure that the given velocity(ies) are below their + authorized maximum value(s) (inferred from the URDF, or set previously by the user). If you already + did the check outside the method or if you don't want limits, set this variable to False. + + Returns: + None + """ + joint_id = 7 + # call parent method + super(Techpod, self).set_joint_velocities(velocities, joint_id, forces, max_velocity) + + # calculate thrust force of the given joints, and apply it on the link + if max_velocity and velocities > self.max_velocity: + velocities = self.max_velocity + + # compute propeller speed v0 + state = self.sim.get_link_state(self.id, joint_id, compute_velocity=True) # , compute_forward_kinematics=True) + R = get_matrix_from_quaternion(state[1]) + linear_velocity = np.array(state[-2]) + propeller_up_vec = R.dot(np.array([0., 1., 0.])) + v0 = linear_velocity.dot(propeller_up_vec) + # v0 = 0 # static thrust + + # compute thrust + f = self.calculate_thrust_force(velocities, self.area, self.propeller_pitch) # , v0) + + # apply force in the simulation + # f = 20 + self.apply_external_force(force=[0, 0, -f], link_id=joint_id, position=(0., 0., 0.)) + + def apply_physics(self): + pass + + +# Test +if __name__ == "__main__": + from itertools import count + from pyrobolearn.simulators import BulletSim + from pyrobolearn.worlds import BasicWorld + + # Create simulator + sim = BulletSim() + + # create world + world = BasicWorld(sim) + + # create robot + robot = Techpod(sim) + + # print information about the robot + robot.print_info() + + # run simulation + for i in count(): + robot.set_propeller_velocities(100) + # step in simulation + world.step(sleep_dt=1./240) diff --git a/pyrobolearn/robots/uav.py b/pyrobolearn/robots/uav.py index 232feb8..518be40 100644 --- a/pyrobolearn/robots/uav.py +++ b/pyrobolearn/robots/uav.py @@ -24,12 +24,18 @@ class UAVRobot(Robot): super(UAVRobot, self).__init__(simulator, urdf, position, orientation, fixed_base, scale) self.propellers = [] # list of propellers id + self.wings = [] # list of wing id @property def num_propellers(self): """Return the number of propellers""" return len(self.propellers) + @property + def num_wings(self): + """Return the number of wings.""" + return len(self.wings) + class FixedWingUAV(UAVRobot): r"""Fixed Wing Robot @@ -47,3 +53,12 @@ class RotaryWingUAV(UAVRobot): def __init__(self, simulator, urdf, position=None, orientation=None, fixed_base=False, scale=1.): super(RotaryWingUAV, self).__init__(simulator, urdf, position, orientation, fixed_base, scale) + + +class FlappingWingUAV(UAVRobot): + r"""Flapping Wing Robot + + """ + + def __init__(self, simulator, urdf, position=None, orientation=None, fixed_base=False, scale=1.): + super(FlappingWingUAV, self).__init__(simulator, urdf, position, orientation, fixed_base, scale) diff --git a/pyrobolearn/robots/urdfs/blackbird/blackbird_biped.urdf b/pyrobolearn/robots/urdfs/blackbird/blackbird_biped.urdf new file mode 100644 index 0000000..597e0c2 --- /dev/null +++ b/pyrobolearn/robots/urdfs/blackbird/blackbird_biped.urdf @@ -0,0 +1,340 @@ + + + + + + + + + + + + + + + + + + + + + + + + + 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IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + diff --git a/pyrobolearn/robots/urdfs/flappy/config/mav_config.json b/pyrobolearn/robots/urdfs/flappy/config/mav_config.json new file mode 100644 index 0000000..2230e3e --- /dev/null +++ b/pyrobolearn/robots/urdfs/flappy/config/mav_config.json @@ -0,0 +1,104 @@ +[ + { + "id": 0, + "name": "flapper_sc_nominal", + "urdf_file": "flappy/urdf/fwmav/flapper_sc_nominal.urdf", + "frequency": 34, + "wing_length": 0.07, + "mean_chord": 0.021212121212121, + "r33": 0.205833311654341, + "r22": 0.284203623407408, + "r11": 0.450820740740741, + "r00": 0.999407407407407, + "z_cp2": 0.246352600140835, + "z_cp1": 0.415846717980795, + "z_cp0": 1.028078968449933, + "z_rd": 1.174547978303502, + "left_shoulder_width": 13.95E-3, + "right_shoulder_width": 13.95E-3, + "stroke_plane_offset": 18.9913E-3, + "left_spring_stiffness": 0.013384289, + "right_spring_stiffness": 0.013384289, + "left_stroke_lower": -1.63, + "left_stroke_upper": 1.63, + "left_rotate_lower": -0.7854, + "left_rotate_upper": 0.7854, + "right_stroke_lower": -1.63, + "right_stroke_upper": 1.63, + "right_rotate_lower": -0.7854, + "right_rotate_upper": 0.7854, + "left_stroke_mid": 0.0, + "right_stroke_mid": 0.0, + "left_motor_properties": + { + "resistance": 12.4, + "torque_constant": 1.75e-3, + "gear_ratio": 10, + "mechanical_efficiency": 0.9, + "friction_coefficient": 2e-5, + "damping_coefficient": 9.74e-9, + "inertia": 7.03e-10 + }, + "right_motor_properties": + { + "resistance": 12.4, + "torque_constant": 1.75e-3, + "gear_ratio": 10, + "mechanical_efficiency": 0.9, + "friction_coefficient": 2e-5, + "damping_coefficient": 9.74e-9, + "inertia": 7.03e-10 + } + }, + { + "id": 1, + "name": "flapper_sc_trim", + "urdf_file": 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"mechanical_efficiency": 0.9, + "friction_coefficient": 2e-5, + "damping_coefficient": 9.74e-9, + "inertia": 7.03e-10 + }, + "right_motor_properties": + { + "resistance": 13.763265084, + "torque_constant": 1.75e-3, + "gear_ratio": 10, + "mechanical_efficiency": 0.9, + "friction_coefficient": 2e-5, + "damping_coefficient": 9.74e-9, + "inertia": 7.03e-10 + } + } +] \ No newline at end of file diff --git a/pyrobolearn/robots/urdfs/flappy/config/sim_config.json b/pyrobolearn/robots/urdfs/flappy/config/sim_config.json new file mode 100644 index 0000000..b675c12 --- /dev/null +++ b/pyrobolearn/robots/urdfs/flappy/config/sim_config.json @@ -0,0 +1,9 @@ +{ + "f_sim" : 1e4, + "f_driver" : 1e3, + "f_sensor" : 500, + "f_control" : 500, + "f_imu" : 1000, + "f_vicon" : 200, + "f_visual" : 24 +} \ No newline at end of file diff --git a/pyrobolearn/robots/urdfs/flappy/flappy.urdf b/pyrobolearn/robots/urdfs/flappy/flappy.urdf new file mode 100644 index 0000000..f536e1f --- /dev/null +++ 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269 266 76 48 876 873 683 655

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+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + -6.39758e-10 -0.001 0 0 0.001 -6.39758e-10 0 0 0 0 0.001 0 0 0 0 1 + + + + + + + + diff --git a/pyrobolearn/robots/urdfs/techpod/techpod.urdf b/pyrobolearn/robots/urdfs/techpod/techpod.urdf new file mode 100755 index 0000000..6c3b35e --- /dev/null +++ b/pyrobolearn/robots/urdfs/techpod/techpod.urdf @@ -0,0 +1,303 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Gray + + + + + ns + ns/base_link + aero_params + vehicle_params + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Red + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Red + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Blue + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Yellow + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Yellow + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Orange + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Gray + + + diff --git a/pyrobolearn/simulators/bullet.py b/pyrobolearn/simulators/bullet.py index 599c657..6421a3d 100644 --- a/pyrobolearn/simulators/bullet.py +++ b/pyrobolearn/simulators/bullet.py @@ -1389,7 +1389,8 @@ class Bullet(Simulator): position = self.get_link_state(body_id, link_id)[0] else: # local frame position = (0., 0., 0.) - self.sim.applyExternalForce(body_id, link_id, force, position, frame) + self.sim.applyExternalForce(objectUniqueId=body_id, linkIndex=link_id, forceObj=force, posObj=position, + flags=frame) def apply_external_torque(self, body_id, link_id=-1, torque=(0., 0., 0.), frame=Simulator.LINK_FRAME): """ @@ -1405,7 +1406,7 @@ class Bullet(Simulator): frame (int): Specify the coordinate system of force/position: either `pybullet.WORLD_FRAME` (=2) for Cartesian world coordinates or `pybullet.LINK_FRAME` (=1) for local link coordinates. """ - self.sim.applyExternalTorque(body_id, link_id, torque) + self.sim.applyExternalTorque(objectUniqueId=body_id, linkIndex=link_id, torqueObj=torque, flags=frame) ################### # transformations #

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