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YouBotsGripping.jl
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module YouBotsGripping
using Modia3D
include("$(Modia3D.modelsPath)/Blocks.jl")
include("$(Modia3D.modelsPath)/Electric.jl")
include("$(Modia3D.modelsPath)/Rotational.jl")
include("$(Modia3D.modelsPath)/Translational.jl")
# some constants
simplifiedContact = false # use boxes instead of meshes for finger contact
# visual materials
vmatYellow = VisualMaterial(color=[255,215,0]) # ground
vmatBlue = VisualMaterial(color="DodgerBlue3") # table
vmatGrey = VisualMaterial(color="DarkGrey") # work piece
vmatInvisible = VisualMaterial(transparency=1.0) # contact boxes
tableX = 0.3
tableY = 0.3
tableZ = 0.01
heigthLeg = 0.365
widthLeg = 0.02
diameter = 0.05
rightFingerOffset = 0.03
# all needed paths to fileMeshes
base_frame_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/base_frame.obj")
plate_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/plate.obj")
front_right_wheel_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/front-right_wheel.obj")
front_left_wheel_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/front-left_wheel.obj")
back_right_wheel_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/back-right_wheel.obj")
back_left_wheel_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/back-left_wheel.obj")
arm_base_frame_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/arm_base_frame.obj")
arm_joint_1_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/arm_joint_1.obj")
arm_joint_2_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/arm_joint_2.obj")
arm_joint_3_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/arm_joint_3.obj")
arm_joint_4_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/arm_joint_4.obj")
arm_joint_5_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/arm_joint_5.obj")
gripper_base_frame_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/gripper_base_frame.obj")
gripper_left_finger_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/gripper_left_finger.obj")
gripper_right_finger_obj = joinpath(Modia3D.path, "objects/robot_KUKA_YouBot/gripper_right_finger.obj")
# Drive train data: motor inertias and gear ratios
nullRot = [0, 0, 0]
motorInertia1 = 0.0000135 + 0.000000409
motorInertia2 = 0.0000135 + 0.000000409
motorInertia3 = 0.0000135 + 0.000000071
motorInertia4 = 0.00000925 + 0.000000071
motorInertia5 = 0.0000035 + 0.000000071
gearRatio1 = 156.0
gearRatio2 = 156.0
gearRatio3 = 100.0
gearRatio4 = 71.0
gearRatio5 = 71.0
m1=1.390
translation1 =[0.033,0,0]
rotation1 = [180u"°", 0, 0]
m2=1.318
translation2=[0.155,0,0]
rotation2 = [90u"°", 0.0, -90u"°"]
m3=0.821
translation3=[0,0.135,0]
rotation3 = [0, 0, -90u"°"]
m4=0.769
translation4 = [0,0.11316,0]
m5=0.687
translation5=[0,0,0.05716]
rotation5 = [-90u"°", 0, 0]
### ----------------- Servo Model -----------------------
# parameters for Link
axisLink = 3
dLink = 1.0
k1Link = 50.0
k2Link = 0.1
T2Link = 1.0
# parameters for Gripper
axisGripper = 2
k1Gripper = 50.0
k2Gripper = 0.1*100
T2Gripper = 1.0
motorInertiaGripper = 0.1
gearRatioGripper = 1.0
#### ----------- Robot Program ------------------
initPosition = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
function robotProgram(robotActions)
addReferencePath(robotActions,
names = ["bot1angle1", "bot1angle2", "bot1angle3", "bot1angle4", "bot1angle5", "bot1gripper", "bot2angle1", "bot2angle2", "bot2angle3", "bot2angle4", "bot2angle5", "bot2gripper"],
position = initPosition,
v_max = [2.68512, 2.68512, 4.8879, 5.8997, 5.8997, 2.0, 2.68512, 2.68512, 4.8879, 5.8997, 5.8997, 2.0],
a_max = [1.5, 1.5, 1.5, 1.5, 1.5, 0.5, 1.5, 1.5, 1.5, 1.5, 1.5, 0.5])
ptpJointSpace(robotActions,
[
0.0 0.0 0.0 0.0 0.0 diameter 0.0 0.0 0.0 0.0 0.0 diameter;
pi pi/4 pi/4 0.0 0.0 diameter+0.01 0.0 0.0 0.0 0.0 0.0 diameter;
pi pi/4 pi/4 1.057 0.0 diameter+0.01 0.0 0.0 0.0 0.0 0.0 diameter;
pi pi/4 pi/4 1.057 0.0 diameter-0.002 0.0 0.0 0.0 0.0 0.0 diameter;
pi pi/4 pi/4 0.0 0.0 diameter-0.002 0.0 0.0 0.0 0.0 0.0 diameter;
0.0 0.0 pi/2-0.2 0.0 0.0 diameter-0.002 0.0 0.0 0.0 0.0 0.0 diameter;
0.0 0.2 pi/2-0.2 0.0 0.0 diameter-0.002 0.0 0.0 0.0 0.0 0.0 diameter;
0.0 0.2 pi/2-0.2 0.0 0.0 diameter+0.01 0.0 0.0 0.0 0.0 0.0 diameter;
0.0 0.0 pi/2 0.0 0.0 diameter+0.01 0.0 0.0 0.0 0.0 0.0 diameter;
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.0 0.0 0.0 0.0 diameter;
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.0 pi/2 0.0 0.0 diameter+0.01;
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.3 pi/2-0.3 0.0 0.0 diameter+0.01;
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.3 pi/2-0.3 0.0 0.0 diameter-0.002;
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.0 pi/2-0.3 0.0 0.0 diameter-0.002;
0.0 0.0 0.0 0.0 0.0 0.001 pi pi/4 pi/4 0.0 0.0 diameter-0.002;
0.0 0.0 0.0 0.0 0.0 0.001 pi pi/4 pi/4 1.0 0.0 diameter-0.002;
0.0 0.0 0.0 0.0 0.0 0.001 pi pi/4 pi/4 1.0 0.0 diameter+0.01;
0.0 0.0 0.0 0.0 0.0 0.001 pi pi/4 pi/4 0.0 0.0 diameter+0.01;
0.0 0.0 0.0 0.0 0.0 0.001 0.0 0.0 0.0 0.0 0.0 0.01
])
return nothing
end
# Controller Model
Controller = Model(
# Interface
refLoadAngle = input,
actualMotorAngle = input,
actualMotorSpeed = input,
refTorque = output,
# Components
gainOuter = Gain,
angleFeedback = Feedback,
gainInner = Gain,
speedFeedback = Feedback,
PI = PI,
connect = :[
(refLoadAngle, gainOuter.u)
(gainOuter.y, angleFeedback.u1)
(actualMotorAngle, angleFeedback.u2)
(angleFeedback.y, gainInner.u)
(gainInner.y, speedFeedback.u1)
(actualMotorSpeed, speedFeedback.u2)
(speedFeedback.y, PI.u)
(PI.y, refTorque)]
)
Drive = Model(
# Interface
refTorque = input,
actualSpeed = output,
actualAngle = output,
flange = Flange,
# Components
torque = UnitlessTorque,
speedSensor = UnitlessSpeedSensor,
angleSensor = UnitlessAngleSensor,
motorInertia = Inertia,
idealGear = IdealGear,
connect = :[
(refTorque, torque.tau)
(torque.flange, speedSensor.flange, angleSensor.flange, motorInertia.flange_a)
(motorInertia.flange_b, idealGear.flange_a)
(idealGear.flange_b, flange)
(speedSensor.w, actualSpeed)
(angleSensor.phi, actualAngle)
]
)
Servo = Model(
refLoadAngle = input,
flange = Flange,
ppi = Controller,
drive = Drive,
connect = :[
# inputs of ppi
(refLoadAngle, ppi.refLoadAngle)
(ppi.actualMotorSpeed, drive.actualSpeed)
(ppi.actualMotorAngle, drive.actualAngle)
# output of ppi --> input of motor
(ppi.refTorque, drive.refTorque)
# Flange of drive
(drive.flange, flange)
]
)
# Controller Model
ControllerTrans = Model(
# Interface
refLoadPos = input,
actualMotorPos = input,
actualMotorSpeed = input,
refForce = output,
# Components
gainOuter = Gain,
angleFeedback = Feedback,
gainInner = Gain,
speedFeedback = Feedback,
PI = PI,
connect = :[
(refLoadPos, gainOuter.u)
(gainOuter.y, angleFeedback.u1)
(actualMotorPos, angleFeedback.u2)
(angleFeedback.y, gainInner.u)
(gainInner.y, speedFeedback.u1)
(actualMotorSpeed, speedFeedback.u2)
(speedFeedback.y, PI.u)
(PI.y, refForce)]
)
DriveTrans = Model(
# Interface
refForce = input,
actualSpeed = output,
actualPos = output,
flange = TranslationalFlange,
# Components
force = UnitlessForce,
speedSensor = UnitlessVelocitySensor,
posSensor = UnitlessPositionSensor,
motorMass = TranslationalMass,
connect = :[
(refForce, force.f)
(force.flange, speedSensor.flange, posSensor.flange, motorMass.flange_a)
(motorMass.flange_b, flange)
(speedSensor.v, actualSpeed)
(posSensor.s, actualPos)
]
)
ServoTrans = Model(
refLoadPos = input,
flange = TranslationalFlange,
ppi = ControllerTrans,
drive = DriveTrans,
connect = :[
# inputs of ppi
(refLoadPos, ppi.refLoadPos)
(ppi.actualMotorSpeed, drive.actualSpeed)
(ppi.actualMotorPos, drive.actualPos)
# output of ppi --> input of motor
(ppi.refForce, drive.refForce)
# Flange of drive
(drive.flange, flange)
]
)
Ground = Model(
ground = Object3D(parent=:world,
translation=[0.0, 0.0, -0.005], feature = Solid(shape =Box(lengthX=2.5, lengthY=2.5, lengthZ=0.01), solidMaterial="DryWood", visualMaterial=vmatYellow))
)
Table = Model(
plate = Object3D(parent=:world, translation=[0.0, 0.0, heigthLeg],
feature=Solid(shape=Box(lengthX=tableX, lengthY=tableY, lengthZ=tableZ),
collisionSmoothingRadius=0.001, solidMaterial="DryWood", collision=true, visualMaterial=vmatBlue)),
leg1 = Object3D(parent=:plate, translation=[ tableX/2-widthLeg/2, tableY/2-widthLeg/2, -heigthLeg/2],
feature=Solid(shape=Box(lengthX=widthLeg, lengthY=widthLeg, lengthZ=heigthLeg),
solidMaterial="DryWood", visualMaterial=vmatBlue)),
leg2 = Object3D(parent=:plate, translation=[-tableX/2+widthLeg/2, tableY/2-widthLeg/2, -heigthLeg/2],
feature=Solid(shape=Box(lengthX=widthLeg, lengthY=widthLeg, lengthZ=heigthLeg), solidMaterial="DryWood", visualMaterial=vmatBlue)),
leg3 = Object3D(parent=:plate, translation=[ tableX/2-widthLeg/2, -tableY/2+widthLeg/2, -heigthLeg/2],
feature=Solid(shape=Box(lengthX=widthLeg, lengthY=widthLeg, lengthZ=heigthLeg), solidMaterial="DryWood", visualMaterial=vmatBlue)),
leg4 = Object3D(parent=:plate, translation=[-tableX/2+widthLeg/2, -tableY/2+widthLeg/2, -heigthLeg/2],
feature=Solid(shape=Box(lengthX=widthLeg, lengthY=widthLeg, lengthZ=heigthLeg), solidMaterial="DryWood", visualMaterial=vmatBlue))
)
Base = Model(
position = [0.0, 0.0, 0.0],
orientation = [0.0, 0.0, 0.0],
base_frame = Object3D(parent=:world, translation=:position, rotation=:orientation,
feature=Solid(shape=FileMesh(filename = base_frame_obj), massProperties=MassPropertiesFromShapeAndMass(mass=19.803))),
plate = Object3D(parent=:base_frame, translation=[-0.159, 0, 0.046],
feature=Solid(shape=FileMesh(filename = plate_obj), massProperties=MassPropertiesFromShapeAndMass(mass=2.397), contactMaterial="DryWood", collision=!simplifiedContact)),
plate_box = Object3D(parent=:base_frame, translation=[-0.16, 0, 0.0702],# 0.06514],
feature=Solid(shape=Box(lengthX=0.22, lengthY=0.22, lengthZ=0.01), massProperties=MassPropertiesFromShapeAndMass(mass=1.0e-9), visualMaterial=vmatInvisible, contactMaterial="DryWood", collision=simplifiedContact)),
front_right_wheel = Object3D(parent=:base_frame, translation=[0.228, -0.158, -0.034],
feature=Solid(shape=FileMesh(filename = front_right_wheel_obj), massProperties=MassPropertiesFromShapeAndMass(mass=1.4))),
front_left_wheel = Object3D(parent=:base_frame, translation=[0.228, 0.158, -0.034],
feature=Solid(shape=FileMesh(filename = front_left_wheel_obj), massProperties=MassPropertiesFromShapeAndMass(mass=1.4))),
back_right_wheel = Object3D(parent=:base_frame, translation=[-0.228, -0.158, -0.034],
feature=Solid(shape=FileMesh(filename = back_right_wheel_obj), massProperties=MassPropertiesFromShapeAndMass(mass=1.4))),
back_left_wheel = Object3D(parent=:base_frame, translation=[-0.228, 0.158, -0.034],
feature=Solid(shape=FileMesh(filename = back_left_wheel_obj), massProperties=MassPropertiesFromShapeAndMass(mass=1.4)))
)
servoParameters1 = Map(
ppi = Map(
gainOuter = Map(k=gearRatio1),
gainInner = Map(k=k1Link),
PI = Map(k=k2Link, T=T2Link)
),
drive = Map(
motorInertia = Map(J=motorInertia1),
idealGear = Map(ratio=gearRatio1)
)
)
servoParameters2 = Map(
ppi = Map(
gainOuter = Map(k=gearRatio2),
gainInner = Map(k=k1Link),
PI = Map(k=k2Link, T=T2Link)
),
drive = Map(
motorInertia = Map(J=motorInertia2),
idealGear = Map(ratio=gearRatio2)
)
)
servoParameters3 = Map(
ppi = Map(
gainOuter = Map(k=gearRatio3),
gainInner = Map(k=k1Link),
PI = Map(k=k2Link, T=T2Link)
),
drive = Map(
motorInertia = Map(J=motorInertia3),
idealGear = Map(ratio=gearRatio3)
)
)
servoParameters4 = Map(
ppi = Map(
gainOuter = Map(k=gearRatio4),
gainInner = Map(k=k1Link),
PI = Map(k=k2Link, T=T2Link)
),
drive = Map(
motorInertia = Map(J=motorInertia4),
idealGear = Map(ratio=gearRatio4)
)
)
servoParameters5 = Map(
ppi = Map(
gainOuter = Map(k=gearRatio5),
gainInner = Map(k=k1Link),
PI = Map(k=k2Link, T=T2Link)
),
drive = Map(
motorInertia = Map(J=motorInertia5),
idealGear = Map(ratio=gearRatio5)
)
)
servoParameters6 = Map(
ppi = Map(
gainOuter = Map(k=gearRatioGripper),
gainInner = Map(k=k1Gripper),
PI = Map(k=k2Gripper, T=T2Gripper)
),
drive = Map(
motorMass = Map(m=motorInertiaGripper)
)
)
featureBody1 = Solid(shape = FileMesh(filename = arm_joint_1_obj), massProperties = MassPropertiesFromShapeAndMass(mass=m1))
featureBody2 = Solid(shape = FileMesh(filename = arm_joint_2_obj), massProperties = MassPropertiesFromShapeAndMass(mass=m2))
featureBody3 = Solid(shape = FileMesh(filename = arm_joint_3_obj), massProperties = MassPropertiesFromShapeAndMass(mass=m3))
featureBody4 = Solid(shape = FileMesh(filename = arm_joint_4_obj), massProperties = MassPropertiesFromShapeAndMass(mass=m4))
featureBody5 = Solid(shape = FileMesh(filename = arm_joint_5_obj), massProperties = MassPropertiesFromShapeAndMass(mass=m5))
linkParameters1 = Map(
parent1 = Par(value = :(armBase_b)),
featureBody = featureBody1,
initRefPos = initPosition[1],
trans = translation1,
rota = Par(value = :(rotation1))
)
linkParameters2 = Map(
parent1 = Par(value = :(link1.obj2)),
featureBody = featureBody2,
m = m2,
initRefPos = initPosition[2],
trans = translation2,
rota = Par(value = :(rotation2))
)
linkParameters3 = Map(
parent1 = Par(value = :(link2.obj2)),
featureBody = featureBody3,
m = m3,
initRefPos = initPosition[3],
trans = translation3,
rota = Par(value = :(rotation3))
)
linkParameters4 = Map(
parent1 = Par(value = :(link3.obj2)),
featureBody = featureBody4,
m = m4,
initRefPos = initPosition[4],
trans = translation4,
rota = Par(value = :(nullRot))
)
linkParameters5 = Map(
parent1 = Par(value = :(link4.obj2)),
featureBody = featureBody5,
m = m5,
initRefPos = initPosition[5],
trans = translation5,
rota = Par(value = :(rotation5))
)
Link = Model(
parent1 = Par(value = :(nothing)),
featureBody = featureBody1,
trans = [0,0,0],
rota = Par(value = :(nullRot)),
obj1 = Object3D(parent=:parent1, rotation=:rota),
body = Object3D(feature = :featureBody),
obj2 = Object3D(parent =:body, translation = :trans),
)
Gripper = Model(
obj1 = Object3D(parent=:(link5.obj2), rotation=[0, 0, -180u"°"]),
gripper_base_frame = Object3D(parent=:obj1, feature=Solid(shape=
FileMesh(filename = gripper_base_frame_obj), massProperties=MassPropertiesFromShapeAndMass(mass=0.199))),
gripper_left_finger_a = Object3D(),
gripper_left_finger = Object3D(parent=:gripper_left_finger_a, translation=[0, 0.0082, 0],
feature=Solid(shape= FileMesh(filename = gripper_left_finger_obj), massProperties=MassPropertiesFromShapeAndMass(mass=0.010), contactMaterial="DryWood", collision=!simplifiedContact)),
gripper_left_finger_box = Object3D(parent=:gripper_left_finger_a, translation=[0.0, 0.0051, 0.0135],
feature = Solid(shape=Box(lengthX=0.012, lengthY=0.01, lengthZ=0.045), massProperties=MassPropertiesFromShapeAndMass(mass=1.0e-9), visualMaterial=vmatInvisible, contactMaterial="DryWood", collision=simplifiedContact)),
gripper_right_finger_a = Object3D(parent=:gripper_base_frame,
translation=[0,-rightFingerOffset,0]),
gripper_right_finger = Object3D(parent=:gripper_right_finger_a, translation=[0, -0.0082, 0],
feature = Solid(shape = FileMesh(filename = gripper_right_finger_obj), massProperties=MassPropertiesFromShapeAndMass(mass=0.010), contactMaterial="DryWood", collision=!simplifiedContact)),
gripper_right_finger_box = Object3D(parent=:gripper_right_finger_a, translation=[0.0, -0.0051, 0.0135],
feature = Solid(shape=Box(lengthX=0.012, lengthY=0.01, lengthZ=0.045), massProperties=MassPropertiesFromShapeAndMass(mass=1.0e-9), visualMaterial=vmatInvisible, contactMaterial="DryWood", collision=simplifiedContact))
)
YouBot(worldName;pathIndexOffset) = Model(
pathIndexOffset2 = pathIndexOffset,
worldName = Par(worldName),
base = Base,
arm_base_frame = Object3D(parent=:(base.base_frame),
translation=[0.143, 0.0, 0.046],
feature = Solid(shape = FileMesh(filename = arm_base_frame_obj), massProperties=MassPropertiesFromShapeAndMass(mass=0.961))),
armBase_b = Object3D(parent=:arm_base_frame, translation=[0.024, 0, 0.115]),
link1 = Link | linkParameters1,
link2 = Link | linkParameters2,
link3 = Link | linkParameters3,
link4 = Link | linkParameters4,
link5 = Link | linkParameters5,
gripper = Gripper,
rev1 = RevoluteWithFlange(obj1 = :(link1.obj1), obj2 = :(link1.body),
axis=axisLink, phi = Var(init = initPosition[1+pathIndexOffset])),
rev2 = RevoluteWithFlange(obj1 = :(link2.obj1), obj2 = :(link2.body),
axis=axisLink, phi = Var(init = initPosition[2+pathIndexOffset])),
rev3 = RevoluteWithFlange(obj1 = :(link3.obj1), obj2 = :(link3.body),
axis=axisLink, phi = Var(init = initPosition[3+pathIndexOffset])),
rev4 = RevoluteWithFlange(obj1 = :(link4.obj1), obj2 = :(link4.body),
axis=axisLink, phi = Var(init = initPosition[4+pathIndexOffset])),
rev5 = RevoluteWithFlange(obj1 = :(link5.obj1), obj2 = :(link5.body),
axis=axisLink, phi = Var(init = initPosition[5+pathIndexOffset])),
prism = PrismaticWithFlange(obj1 = :(gripper.gripper_right_finger_a), obj2 = :(gripper.gripper_left_finger_a),
axis=axisGripper, s = Var(init = initPosition[6+pathIndexOffset]) ),
servo1 = Servo,
servo2 = Servo,
servo3 = Servo,
servo4 = Servo,
servo5 = Servo,
servo6 = ServoTrans,
modelActions = ModelActions(world=:world, actions=robotProgram),
currentAction = Var(hideResult=true),
equations=:[
currentAction = executeActions(modelActions),
servo1.refLoadAngle = getRefPathPosition(currentAction, 1+pathIndexOffset2),
servo2.refLoadAngle = getRefPathPosition(currentAction, 2+pathIndexOffset2),
servo3.refLoadAngle = getRefPathPosition(currentAction, 3+pathIndexOffset2),
servo4.refLoadAngle = getRefPathPosition(currentAction, 4+pathIndexOffset2),
servo5.refLoadAngle = getRefPathPosition(currentAction, 5+pathIndexOffset2),
servo6.refLoadPos = getRefPathPosition(currentAction, 6+pathIndexOffset2)
],
connect = :[
(servo1.flange, rev1.flange)
(servo2.flange, rev2.flange)
(servo3.flange, rev3.flange)
(servo4.flange, rev4.flange)
(servo5.flange, rev5.flange)
(servo6.flange, prism.flange)
]
)
YouBot1 = YouBot("world",pathIndexOffset=0)
YouBot2 = YouBot("world",pathIndexOffset=6)
Scenario = Model3D(
gravField = UniformGravityField(g=9.81, n=[0,0,-1]),
world = Object3D(feature=Scene(gravityField=:gravField, visualizeFrames=false, nominalLength=2*tableX,
#mprTolerance = 1.0e-14,
animationFile="YouBotsGripping.json",
enableContactDetection=true, maximumContactDamping=1000, elasticContactReductionFactor=1e-3)),
# worldFrame = Object3D(parent=:world, feature=Visual(shape=CoordinateSystem(length=0.2))),
table = Table,
ground = Ground,
sphere = Object3D(parent=:world, fixedToParent=false,
translation=[-0.78, 0.0, 0.1792],
feature=Solid(shape=Sphere(diameter=diameter),
visualMaterial=vmatGrey,
solidMaterial="DryWood",
collision=true)),
youbot1 = YouBot1,
youbot2 = YouBot2
)
modelParameters = Map(
youbot1 = Map(
base = Map(
orientation = [0.0, 0.0, 0.0],
position = [-0.569, 0.0, 0.084],
),
servo1 = servoParameters1,
servo2 = servoParameters2,
servo3 = servoParameters3,
servo4 = servoParameters4,
servo5 = servoParameters5,
servo6 = servoParameters6
),
youbot2 = Map(
base = Map(
orientation = [0.0, 0.0, -pi/2],
position = [0.0, 0.575, 0.084],
),
servo1 = servoParameters1,
servo2 = servoParameters2,
servo3 = servoParameters3,
servo4 = servoParameters4,
servo5 = servoParameters5,
servo6 = servoParameters6
)
)
youbotModel = Scenario | modelParameters
youbot = @instantiateModel(youbotModel, unitless=true, logCode=false, log=false)
stopTime = 28.0
tolerance = 1e-7
if simplifiedContact
requiredFinalStates = [6.626036032444092e-14, -6.625937921803225e-14, -1.2190637002942868e-11, 1.219255639304887e-11, -2.7736194512872756e-11, 2.7739781453199694e-11, -1.721911423238536e-11, 1.722185259213342e-11, 3.7964989396855374e-14, -3.79626957385797e-14, 5.065018594629937e-10, -0.0016527210478103193, -0.0007949871312746726, -0.0009396447443010905, 1.3208833922710134e-10, -1.9522808771237002e-8, 0.0009999996016665366, 3.9824410340217393e-10, 1.7593355332875133e-6, -1.7597152222807876e-6, -1.121428727254605e-5, 1.1215595105886919e-5, -1.6104289373934256e-5, 1.610661215757139e-5, -9.610673174743719e-6, 9.612450911470863e-6, 1.779037161133729e-8, -1.779016601717162e-8, 0.01344834037824163, -0.08736378440155342, -0.0796938518093969, -0.0343688377368504, 6.189342032026106e-5, -0.0027012995965528266, 0.009944884090430062, 5.510242274722822e-5, 0.0050971594906382, 0.7904184475839454, 0.1841940692121035, 1.2620043370105517e-14, -2.303657866562073e-14, -4.007573135451641e-16, -1.393228415991675, 1.0553987893717447, 0.34669947766717063, 8.356834840408132e-13, 4.62039252248169e-13, 3.732380627962388e-25]
else
requiredFinalStates = [6.615347137075564e-14, -6.615250228105601e-14, -1.2141774825203918e-11, 1.214368601093644e-11, -2.762732806724143e-11, 2.763089935806184e-11, -1.7090602502993377e-11, 1.7093327189090367e-11, 4.1323070097982075e-14, -4.132078537334784e-14, 5.056847063757215e-10, -0.00165272067437182, -0.0007949865979073207, -0.0009396442972573212, 1.4377107027789479e-10, -1.9295497475123062e-8, 0.0009999996063044807, 3.936072042374753e-10, 1.759346467131401e-6, -1.7601182325695458e-6, -1.1214294975053435e-5, 1.121549794252837e-5, -1.610430978865418e-5, 1.610652565494e-5, -9.610682642543182e-6, 9.61245449683454e-6, 1.7795653875697086e-8, -1.7795445108591726e-8, 0.013448363228336462, -0.08736385936052293, -0.07969396231903642, -0.034368871026250296, 6.191179728632753e-5, -0.002676698247122822, 0.009945386028546352, 5.4601183528503756e-5, 0.0050911069427693615, 0.790390841026788, 0.179131874644137, 1.646332464054688e-11, -1.015633500498424e-11, -1.1037818715887114e-13, -1.343513801214781, 0.8913349750469441, 0.24005686371447058, 3.8806501442000056e-10, 6.288778376919387e-10, -2.1369966988566976e-18]
end
simulate!(youbot, stopTime=stopTime, tolerance=tolerance, requiredFinalStates_atol=0.002, log=true, logStates=false, requiredFinalStates=requiredFinalStates)
#=
simulate!(youbot, stopTime=0.1, tolerance=tolerance, log=false)
using Profile
Profile.clear()
@profile simulate!(youbot, stopTime=14.0, tolerance=tolerance, log=true, logStates=true)
open("YouBotsGripping_profile.txt", "w") do io
Profile.print(io, format=:flat, sortedby=:overhead)
end
=#
@usingModiaPlot
plot(youbot, ["sphere.translation"], figure=1)
end