Gazebo 仿真: ODE 柔性地面/物体

最新推荐文章于 2023-07-24 14:41:39 发布

Vince541

最新推荐文章于 2023-07-24 14:41:39 发布

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文章标签：仿真器

本文链接：https://blog.csdn.net/weixin_38203054/article/details/120414114

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由于仿人双足机器人需要仿真在柔性地面上(比如沙地, 橡胶充气床, 野外有树枝落叶堆积地表)行走的表现, 我需要将Gazebo中的ground_plane模型做修改. 本来打算可视化变形的地面, 需要将Gazebo物理引擎换为bullet后, 自己写插件作为地面, 工作量过大, 之后有机会可再基于下面这篇论文探索.https://lcsr.jhu.edu/wp-content/uploads/2016/09/Hudson-Thomas-softbody-simulation-gazebo-final.pdfhttps://lcsr.jhu.edu/wp-content/uploads/2016/09/Hudson-Thomas-softbody-simulation-gazebo-final.pdf

故本文只讨论在ODE物理引擎下, 在力学特性上模拟柔性地面, 下面首先展示原有的硬质地面的代码:

<?xml version="1.0" ?>
<sdf version='1.4'>
  <world name='default'>
    <gravity>0.000000 0.000000 -9.810000</gravity>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <physics type="ode">
      <real_time_update_rate>1000.0</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
      <ode>
        <solver>
          <type>quick</type>
          <iters>200</iters>
          <precon_iters>0</precon_iters>
          <sor>1.4</sor>
          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0.000000</cfm>
          <erp>0.8</erp>
          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
          <contact_surface_layer>0.01000</contact_surface_layer>
        </constraints>
      </ode>
    </physics>

    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
                <fdir1>1 0 0</fdir1>
              </ode>
            </friction>
            <bounce/>
            <contact>
              <ode/>
            </contact>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <state world_name='default'>
      <sim_time>18 131000000</sim_time>
      <real_time>18 249402717</real_time>
      <wall_time>1442867251 89781872</wall_time>
      <model name='ground_plane'>
        <pose>0 0 0 0 -0 0</pose>
        <link name='link'>
          <pose>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>5 -5 2 0 0.275643 2.35619</pose>
        <view_controller>orbit</view_controller>
      </camera>
    </gui>
  </world>
</sdf>

经过研究, 本质上我们需要改变碰撞的两个物体的刚度 stiffness - kp (500 is pretty ridiculously malleable, like a really underinflated yoga ball, ; 500,000 is good for truly solid objects like metals) 和对碰撞是否为完美弹性碰撞的程度 damping - kd (0 represents a perfectly elastic collision (no kinetic energy is lost during collision) ; 100 is more like dropping a block of wood on the ground). 本文中, 一方面机器人的两只脚材质为铝合金, 故kp很大, 考虑脚底有海绵吸振, 故kd非零. 整体设置如下:

<gazebo reference="r_leg_foot_link">
    <kp>100000.0</kp> <!--500 is pretty ridiculously malleable, like a really underinflated yoga ball, ; 500,000 is good for truly solid objects like metals-->>
    <kd>100.0</kd>    <!--0 represents a perfectly elastic collision (no kinetic energy is lost during collision) ; 100 is more like dropping a block of wood on the ground-->>
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <!--mu1>1.5</mu1>
    <mu2>1.5</mu2-->
    <fdir1>1 0 0</fdir1>
    <maxVel>1.0</maxVel>
    <minDepth>0.0</minDepth>
    <material>Gazebo/Grey</material>
  </gazebo>

另一方面, 地面希望是软性的, 而且希望机器人脚可以穿透表面 (类似人站立在弹性跳床上), 因此除了大约5000的kp. 和完美弹性碰撞的0的kd外, 还需要考虑另外两个参数: 最小入侵深度min_depth和最大反弹速度max_vel. 在一次碰撞里, 最终的两个物体最大入侵深度min_depth会是"2个物体各自的<min_depth>"和".world文件<contact_surface_layer>"三个值的最小值. max_vel也会是"2个物体各自的<max_vel>"和".world文件<contact_max_correcting_vel>"三个值中的最小值, 保证max_vel比碰撞的物体应有运动最大速度更大, 就可以忽略其具体的值. 故修改后的地面代码为:

<?xml version="1.0" ?>
<sdf version='1.4'>
  <world name='default'>
    <gravity>0.000000 0.000000 -9.810000</gravity>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <physics type="ode">
      <real_time_update_rate>1000.0</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
      <ode>
        <solver>
          <type>quick</type>
          <iters>200</iters>
          <precon_iters>0</precon_iters>
          <sor>1.4</sor>
          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
          <friction_model>cone_model</friction_model>
        </solver>
        <constraints>
          <cfm>0.000000</cfm>
          <erp>0.8</erp>
          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
          <contact_surface_layer>1.0</contact_surface_layer>
        </constraints>
      </ode>
    </physics>

    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>1 0 0</fdir1>
                <slip1>0.0</slip1>
                <slip2>0.0</slip2>
              </ode>
            </friction>
            <bounce/>
            <contact>
              <ode>
                <kp>5000</kp> <!--5000 is pretty ridiculously malleable, like a really underinflated yoga ball, ; 500,000 is good for truly solid objects like metals-->>
                <kd>0</kd> <!--0 represents a perfectly elastic collision (no kinetic energy is lost during collision) ; 100 is more like dropping a block of wood on the ground-->>
                <min_depth>1.0</min_depth>
                <max_vel>100</max_vel>
              </ode>
            </contact>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Green</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <state world_name='default'>
      <sim_time>18 131000000</sim_time>
      <real_time>18 249402717</real_time>
      <wall_time>1442867251 89781872</wall_time>
      <model name='ground_plane'>
        <pose>0 0 0 0 -0 0</pose>
        <link name='link'>
          <pose>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>5 -5 2 0 0.275643 2.35619</pose>
        <view_controller>orbit</view_controller>
      </camera>
    </gui>
  </world>
</sdf>

机器人在如上设置的柔性地面步行效果

其实还有两个字面上和柔软直接相关的参数我还不理解, 希望大佬指点:

soft_cfm Soft constraint force mixing. This is useful to make surfaces soft.
soft_erp Soft error reduction parameter. This is useful to make surfaces soft.

本次修改参考了官方ODE参数介绍和另一个网页, 希望帮到大家:

Gazebo : Tutorial : Physics ParametersThe Gazebo robot simulationhttp://gazebosim.org/tutorials?tut=physics_params&cat=physics

https://campus-rover.gitbook.io/lab-notebook/faq/bouncy-objectshttps://campus-rover.gitbook.io/lab-notebook/faq/bouncy-objects

Vince541

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Gazebo 仿真: ODE 柔性地面/物体

由于仿人双足机器人需要仿真在柔性地面上(比如沙地, 橡胶充气床, 野外有树枝落叶堆积地表)行走的表现, 我需要将Gazebo中的ground_plane模型做修改. 本来打算可视化变形的地面, 需要将Gazebo物理引擎换为bullet后, 自己写插件作为地面, 工作量过大, 之后有机会可再基于下面这篇论文探索.https://lcsr.jhu.edu/wp-content/uploads/2016/09/Hudson-Thomas-softbody-simulation-gazebo-final.pdfh
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