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Unverified Commit dfea82e8 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
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Merge pull request #3 from nim65s/master 

Update the repository to the version used for the first submission of the article
parents ebd7527d b4624239
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sensors-description @ 82344a31
Subproject commit 82344a319c2f5b3ee1cbf9c8558bf02695a58016
talos_robot @ f640af13
Subproject commit f640af133268935167dcb8be546e9a0691020fdc
tiago_robot @ 2892fb78
Subproject commit 2892fb78470a139cc22de5d447677616645709a1
models deleted 120000 → 0
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libs/pinocchio/models
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models/lwr.urdf 0 → 100644
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<?xml version="1.0" ?>
<robot name="kuka-lwr2" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://www.ros.org/wiki/xacro">
<origin rpy="0 0 0" xyz="0 1.5 0"/>
<material name="DarkGrey">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="Red">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="Black">
<color rgba="0 0 0 1.0"/>
</material>
<material name="Orange">
<color rgba="1.0 0.487 0 1.0"/>
</material>
<material name="Silver">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Grey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="HandGray">
<color rgba="0.953 0.996 0.694 1.0"/>
</material>
<material name="SickBlue">
<color rgba="0.3058 0.5921 0.7294 1.0"/>
</material>
<!--<link name="world"/>-->
<!--<joint name="arm_world_joint" type="fixed">-->
<!--<origin rpy="0 0 0" xyz="0 0 0.01"/>-->
<!--<parent link="world"/>-->
<!--<child link="lwr_arm_base_link"/>-->
<!--</joint>-->
<link name="world_link">
<!--<inertial>-->
<!--<mass value="50.0"/>-->
<!--<com xyz="0 0 0"/>-->
<!--<inertia ixx="0.01" ixy="0.00" ixz="0.00" iyy="0.01" iyz="0.00" izz="0.01"/>-->
<!--</inertial>-->
<visual>
<origin rpy="0 0 0" xyz="0 0 0.95"/>
<geometry>
<box size="0.5 0.5 0.05"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.50"/>
<geometry>
<box size="0.5 0.5 0.05"/>
</geometry>
</collision>
</link>
<!-- First (shoulder) element of the arm. Fixed to its parent. -->
<joint name="world_lwr_arm_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 1.1"/>
<parent link="world_link"/>
<child link="lwr_arm_base_link"/>
</joint>
<link name="lwr_arm_base_link">
<inertial>
<mass value="1.2"/>
<origin rpy="0 0 0" xyz="0 0 0.055"/>
<inertia ixx="0.00229" ixy="0" ixz="0" iyy="0.00216" iyz="0" izz="0.00229"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://./meshes/arm_base.dae" scale="100 100 100"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
<geometry>
<mesh filename="package://./meshes/convex/arm_base_convex.stl" scale="0.9 0.9 0.9"/>
</geometry>
</collision>
</link>
<gazebo reference="lwr_arm_base_link">
<!--<material value="kuka-lwr.material"/>-->
</gazebo>
<joint name="lwr_arm_0_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.11"/>
<axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="1.91986217719"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="5.0"/>
<parent link="lwr_arm_base_link"/>
<child link="lwr_arm_1_link"/>
</joint>
<gazebo reference="lwr_arm_0_joint">
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<transmission name="lwr_arm_0_trans" type="SimpleTransmission">
<actuator name="lwr_arm_0_motor"/>
<joint name="lwr_arm_0_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<link name="lwr_arm_1_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0 0.130"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://./meshes/arm_segment_a.dae" scale="100 100 100"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://./meshes/convex/arm_segment_a_convex.stl" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<gazebo reference="lwr_arm_1_link">
<!--<material value="kuka-lwr.material"/>-->
</gazebo>
<joint name="lwr_arm_1_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 -1 0"/>
<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="1.91986217719"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="5.0"/>
<parent link="lwr_arm_1_link"/>
<child link="lwr_arm_2_link"/>
</joint>
<gazebo reference="lwr_arm_1_joint">
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<transmission name="lwr_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="lwr_arm_1_motor"/>
<joint name="lwr_arm_1_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<link name="lwr_arm_2_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 -0.06 0.07"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
<geometry>
<mesh filename="package://./meshes/arm_segment_b.dae" scale="100 100 100"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
<geometry>
<mesh filename="package://./meshes/convex/arm_segment_b_convex.stl" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<gazebo reference="lwr_arm_2_link">
<!--<material value="kuka-lwr.material"/>-->
</gazebo>
<joint name="lwr_arm_2_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="3.0"/>
<parent link="lwr_arm_2_link"/>
<child link="lwr_arm_3_link"/>
</joint>
<gazebo reference="lwr_arm_2_joint">
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<transmission name="lwr_arm_2_trans" type="SimpleTransmission">
<actuator name="lwr_arm_2_motor"/>
<joint name="lwr_arm_2_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<link name="lwr_arm_3_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 -0.06 0.130"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://./meshes/arm_segment_a.dae" scale="100 100 100"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://./meshes/convex/arm_segment_a_convex.stl" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<gazebo reference="lwr_arm_3_link">
<!--<material value="kuka-lwr.material"/>-->
</gazebo>
<joint name="lwr_arm_3_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 1 0"/>
<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="2.26892802759"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="3.0"/>
<parent link="lwr_arm_3_link"/>
<child link="lwr_arm_4_link"/>
</joint>
<gazebo reference="lwr_arm_3_joint">
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<transmission name="lwr_arm_3_trans" type="SimpleTransmission">
<actuator name="lwr_arm_3_motor"/>
<joint name="lwr_arm_3_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<link name="lwr_arm_4_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0.06 0.07"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
<geometry>
<mesh filename="package://./meshes/arm_segment_b.dae" scale="100 100 100"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
<geometry>
<mesh filename="package://./meshes/convex/arm_segment_b_convex.stl" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<gazebo reference="lwr_arm_4_link">
<!--<material value="kuka-lwr.material"/>-->
</gazebo>
<joint name="lwr_arm_4_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="1.0"/>
<parent link="lwr_arm_4_link"/>
<child link="lwr_arm_5_link"/>
</joint>
<gazebo reference="lwr_arm_4_joint">
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<transmission name="lwr_arm_4_trans" type="SimpleTransmission">
<actuator name="lwr_arm_4_motor"/>
<joint name="lwr_arm_4_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<link name="lwr_arm_5_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0 0.124"/>
<inertia ixx="0.0126506666667" ixy="0" ixz="0" iyy="0.0108506666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry name="lwr_arm_5_geom">
<mesh filename="package://./meshes/arm_segment_last.dae" scale="100 100 100"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://./meshes/convex/arm_segment_last_convex.stl" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<gazebo reference="lwr_arm_5_link">
<!--<material value="kuka-lwr.material"/>-->
</gazebo>
<joint name="lwr_arm_5_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.19"/>
<axis xyz="0 -1 0"/>
<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="3.14159265359"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="1.0"/>
<parent link="lwr_arm_5_link"/>
<child link="lwr_arm_6_link"/>
</joint>
<gazebo reference="lwr_arm_5_joint">
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<transmission name="lwr_arm_5_trans" type="SimpleTransmission">
<actuator name="lwr_arm_5_motor"/>
<joint name="lwr_arm_5_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<link name="lwr_arm_6_link">
<inertial>
<mass value="1.0"/>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<inertia ixx="0.00260416666667" ixy="0" ixz="0" iyy="0.00260416666667" iyz="0" izz="0.00260416666667"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://./meshes/arm_wrist.dae" scale="100 100 100"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://./meshes/convex/arm_wrist_convex.stl" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<gazebo reference="lwr_arm_6_link">
<!--<material value="kuka-lwr.material"/>-->
</gazebo>
<joint name="lwr_arm_6_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.078"/>
<axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="3.14159265359"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="1.0"/>
<parent link="lwr_arm_6_link"/>
<child link="lwr_arm_7_link"/>
</joint>
<gazebo reference="lwr_arm_6_joint">
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<transmission name="lwr_arm_6_trans" type="SimpleTransmission">
<actuator name="lwr_arm_6_motor"/>
<joint name="lwr_arm_6_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<link name="lwr_arm_7_link">
<inertial>
<mass value="0.2"/>
<origin xyz="0 0 0"/>
<inertia ixx="6.66666666667e-05" ixy="0" ixz="0" iyy="6.66666666667e-05" iyz="0" izz="0.00012"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://./meshes/arm_flanche.dae" scale="100 100 100"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!--mesh filename="package://./meshes/convex/arm_flanche_convex.stl" scale="1.0 1.0 1.0"/-->
<mesh filename="package://./meshes/arm_flanche.dae" scale="100 100 100"/>
</geometry>
<surface>
<friction>
<ode>
<mu>0.01</mu>
<mu2>0.01</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<gazebo reference="lwr_arm_7_link">
<!--<material value="kuka-lwr.material"/>-->
</gazebo>
<!--joint name="lwr_arm_hand_fixed_joint" type="fixed">
<parent link="lwr_arm_7_link"/>
<child link="lwr_tool_mount"/>
</joint>
<link name="lwr_tool_mount"/-->
<!--xacro:lwr_arm_gazebo_controller namespace="" prefix="lwr" port="49938"/-->
</robot>
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#!/bin/bash
set -e
set -x
export PREFIX=${1:-$PWD/prefix} # with bash / zsh
export LD_LIBRARY_PATH=${PREFIX}/lib:/opt/ros/kinetic/lib:${LD_LIBRARY_PATH}
#$PREFIX/bin/rbdl-test > /tmp/rbdl.txt
#$PREFIX/bin/pinocchio-test > /tmp/pinocchio.txt
$PREFIX/bin/kdl-test > /tmp/kdl.txt
#$PREFIX/bin/metapod-test
#$PREFIX/bin/julia-test.jl
#$PREFIX/bin/benchmarks-pinocchio
#$PREFIX/bin/benchmarks-rbdl
$PREFIX/bin/benchmarks-kdl
#$PREFIX/bin/benchmarks-metapod
#$PREFIX/bin/benchmarks-julia.jl
src/CMakeLists.txt
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#!/usr/bin/env julia
using RigidBodyDynamics
using StaticArrays
include("models.jl")
function benchmark_julia_rnea(model, log_filename)
robot = parse_urdf(Float64, PATH * "$model.urdf")
if model != "lwr"
for joint in out_joints(root_body(robot), robot)
floatingjoint = Joint(string(joint), frame_before(joint), frame_after(joint), QuaternionFloating{Float64}())
replace_joint!(robot, joint, floatingjoint)
end
end
states = Array{MechanismState}(undef, NBT)
for i = 1:NBT
states[i] = MechanismState(robot)
rand!(states[i])
end
file = open(log_filename, "w")
for i = 1:NBT
debut = time_ns()
inverse_dynamics(states[i], states[i].v)
fin = time_ns()
write(file, Int(fin - debut))
end
close(file)
end
function benchmark_julia_crba(model, log_filename)
robot = parse_urdf(Float64, PATH * "$model.urdf")
if model != "lwr"
for joint in out_joints(root_body(robot), robot)
floatingjoint = Joint(string(joint), frame_before(joint), frame_after(joint), QuaternionFloating{Float64}())
replace_joint!(robot, joint, floatingjoint)
end
end
states = Array{MechanismState}(undef, NBT)
for i = 1:NBT
states[i] = MechanismState(robot)
rand!(states[i])
end
file = open(log_filename, "w")
for i = 1:NBT
debut = time_ns()
mass_matrix(states[i])
fin = time_ns()
write(file, Int(fin - debut))
end
close(file)
end
for model in MODELS
benchmark_julia_rnea(model, get_log_filename("Julia", "ID", model))
benchmark_julia_crba(model, get_log_filename("Julia", "FD", model))
end
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