Commit 2c15b13a authored by Nicolas Van der Noot's avatar Nicolas Van der Noot

small readme updates

parent 7ecc3c04
......@@ -256,7 +256,7 @@ The controller receives inputs in the `Inputs_ctrl` structure, defined in [this
## Robot actuators ##
The [COMAN](https://www.youtube.com/watch?v=oXBYZxa25vc) actuators are mainly SEAs (Series Elastic Actuators). Each actuator is depicted as a C++ class in [Actuator.cc](userFiles/simu/actuators/Actuator.cc), where the associated low-level impedance controller is also located (i.e. computing the voltage to send to the motor, to achieve a desired position or torque reference). Finally the list of actuators, with their corresponding characteristics (i.e. parameters) are stored in [RobotActuators.cc](userFiles/simu/actuators/RobotActuators.cc). In the whole project, `q_mot` and `qd_mot` (or alternatively `q_m` and `qd_m`) refer to the position and speed of the motors (i.e. motor kinematics, before the SEA), while `q` and `qd` refer to the position and speed of the articulation (i.e. joint kinematics, after the SEA).
The [COMAN](https://www.youtube.com/watch?v=oXBYZxa25vc) actuators are mainly SEAs (Series Elastic Actuators). Each actuator is depicted as a C++ class in [Actuator.cc](userFiles/simu/actuators/Actuator.cc), where the associated low-level impedance controller is also located (i.e. computing the voltage to send to the motor, to achieve a desired position or torque reference). Finally, the list of actuators, with their corresponding characteristics (i.e. parameters) are stored in [RobotActuators.cc](userFiles/simu/actuators/RobotActuators.cc). In the whole project, `q_mot` and `qd_mot` (or alternatively `q_m` and `qd_m`) refer to the position and speed of the motors (i.e. motor kinematics, before the SEA), while `q` and `qd` refer to the position and speed of the articulations (i.e. joint kinematics, after the SEA).
The actuators update is done through the following generic Robotran functions: [user_Derivative.c](userfctR/user_Derivative.c) (calling the function [compute_actuators_derivative](userFiles/simu/actuators/interface/actuators_interface.cc)) and [user_JointForces.c](userfctR/user_JointForces.c) calling the function [compute_actuators_torque](userFiles/simu/actuators/interface/actuators_interface.cc).
......@@ -275,7 +275,7 @@ The feet are defined as a mesh of points. Each [WholeFeet](userFiles/simu/forces
Visualization files can be generated using python scripts located in [this folder](animationR/python). This generation is done with [numpy-STL](https://github.com/WoLpH/numpy-stl). [gen_mesh.py](animationR/python/gen_mesh.py) is a generic file which can be called by different python scripts. An example is provided in [this file](animationR/python/gen_expl_ground.py). The output is a STL file (.stl). Using [Blender](https://www.blender.org/), it is then possible to import the STL file, to extrude it, to color it, and finally, to generate a VRML file (.wrl) or and OBJ file (.obj), which can be included in the Robotran 3D visualization.
Another possibility for the GCM is to use the *contactGeom* library, located in [this folder](userFiles/simu/forces/contactGeom). To do this, the file [SimuOptions.c](userFiles/simu/io/simu_options/SimuOptions.c) must be configured to change *gcm_model* from *MESH_GCM_MODEL* to *PRIM_GCM_MODEL* (primitive-based GCM). In the same file, it is possible to activate the flag *body_contact* to use body contacts, using the same library. More information about this library can be found [here](userFiles/simu/forces/contactGeom/contactGeom.md). Yet, this library is currently less accurate. All results were obtained using the mesh-based method aforementioned. The *contactGeom* library was mainly used to throw objects to the COMAN body.
Another possibility for the GCM is to use the *contactGeom* library, located in [this folder](userFiles/simu/forces/contactGeom). To do this, the file [SimuOptions.c](userFiles/simu/io/simu_options/SimuOptions.c) must be configured to change *gcm_model* from *MESH_GCM_MODEL* to *PRIM_GCM_MODEL* (primitive-based GCM). In the same file, it is possible to activate the flag *body_contact* to use body contacts, using the same library. More information about this library can be found [here](userFiles/simu/forces/contactGeom/contactGeom.md). Yet, this library is currently less accurate than the mesh-based one. All results were obtained using the mesh-based method aforementioned. The *contactGeom* library was mainly used to throw objects to the COMAN body.
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