From eb1716acff8f2223e5914fe8a73f1286f42f7ce3 Mon Sep 17 00:00:00 2001 From: jnskkmhr Date: Sat, 14 Sep 2024 00:11:29 -0400 Subject: [PATCH] update wiki about deformation engine --- pyproject.toml | 2 +- wiki/deformation_engine/DeformationEngine.md | 103 +++++++++++------- wiki/deformation_engine/_Footer.md | 2 +- .../deformation_engine_img/deformation.png | Bin 0 -> 1364250 bytes 4 files changed, 65 insertions(+), 42 deletions(-) create mode 100644 wiki/media/deformation_engine_img/deformation.png diff --git a/pyproject.toml b/pyproject.toml index fe167a8..ab9ed1d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -6,7 +6,7 @@ requires-python = ">=3.10" keywords = ["lunar", "simulator", "rover", "locomotion", "IsaacSim"] authors = [ { name = "Antoine Richard", email = "antoine.richard@uni.lu" }, - { name = "Junnosuke Kamohara", email = "xxx@gatech.edu" }, + { name = "Junnosuke Kamohara", email = "jkamohara3@gatech.edu" }, ] dependencies = [ diff --git a/wiki/deformation_engine/DeformationEngine.md b/wiki/deformation_engine/DeformationEngine.md index 937404a..d9707fb 100644 --- a/wiki/deformation_engine/DeformationEngine.md +++ b/wiki/deformation_engine/DeformationEngine.md @@ -1,7 +1,8 @@ # Deformation Engine -> [!WARNING] -> This wiki page is under construction +
+ +
Here, the docs gives a brief explanation of deformation engine plugin. \ In hydra cfg file (see `cfg/environment/**.yaml`), you have specific lines for terrain deformation. @@ -9,77 +10,99 @@ In hydra cfg file (see `cfg/environment/**.yaml`), you have specific lines for t ```yaml deformation_engine: enable: True - render_deform_inv: 10 + delay: 2.0 # how many frames to hold before you apply deformation terrain_width: ${....lunaryard_settings.lab_width} terrain_height: ${....lunaryard_settings.lab_length} terrain_resolution: ${....lunaryard_settings.resolution} - gravity: [0, 0, -49.0] #mg - force_depth_slope: 0.00014 - force_depth_intercept: 0.008 - wheel_params: - wheel_width: 0.09 - wheel_radius: 0.1 - deform_constraint: - deform_offset: 0.0 + num_links: 4 # num_robots * num_target_links + footprint: + width: 0.25 + height: 0.1 + deform_constrain: + x_deform_offset: 0.0 + y_deform_offset: 0.0 deform_decay_ratio: 0.01 - force_distribution: + depth_distribution: distribution: sinusoidal - wave_frequency: 2.0 + wave_frequency: 4.14 # num_grouser/pi (no slip) boundary_distribution: distribution: trapezoidal - angle_of_repose: 1.047 + angle_of_repose: 1.047 #pi/3 + force_depth_regression: + amplitude_slope: 0.00006 + amplitude_intercept: 0.008 + mean_slope: -0.00046 + mean_intercept: -0.0013 ``` -## Wheel parameters - -You must specify the dimension of your wheels in meter. +## Footprint +This configuration specifies the dimensions of the robot's footprint. \ +For now, we assume the footprint is rectangular since we are primarily focused on wheeled robots. \ +Height and width correspond to the dimensions along the x and y axes (the robot's forward direction is along the x-axis). ```yaml -wheel_params: - wheel_width: 0.09 - wheel_radius: 0.1 +footprint: + width: 0.25 + height: 0.1 ``` -### Deformation Constraint -Here you will specify parameter for constraint. \ -`deform_offsest` is the distance between wheel origin and the center of deformation profile. \ -`deform_decay_ratio` is decaying parameter of deformation. \ -This is to limit deformation depth as rover traverse the same place many times. +### Deform Constraint +Here, you will specify the parameters for the constraint. \ +`*_deform_offsest` refers to the distance between the projected wheel origin and the center of the deformation profile. \ +`deform_decay_ratio` is the decay parameter for deformation. \ +This is used to limit the deformation depth as the rover traverses the same location multiple times. \ +Given the number of traversals $t$, the actual deformation value will be multiplied by scale factor $\text{ratio}^t$. ```yaml -deform_constraint: - deform_offset: 0.0 +deform_constrain: + x_deform_offset: 0.0 + y_deform_offset: 0.0 deform_decay_ratio: 0.01 ``` -## Force Distribution -Controls distribution of force over wheel footprint. -You have two options for this. +## Depth Distribution +This controls the xz distribution of the deformation profile.\ +You have three options: uniform, sinusoidal, and trapezoidal.\ +Typically, if your wheel has grousers, the wheel trace will exhibit a sinusoidal pattern.\ +If your wheel has no grousers, the wheel trace is usually uniform.\ +If the sand is cohesive, the trace tends to resemble a trapezoidal shape. ```yaml force_distribution: distribution: uniform -``` - -```yaml +--- force_distribution: distribution: sinusoidal wave_frequency: 2.0 +--- +force_distribution: + distribution: trapezoidal + wave_frequency: 2.0 ``` ## Boundary Distribution -Controls boundary shape (y axis vs z axis with FLU convention). +This controls the yz distribution of the deformation profile.\ +The angle of repose is determined by the type of sand being used. ```yaml boundary_distribution: distribution: uniform -``` - -```yaml +--- boundary_distribution: distribution: parabolic -``` - -```yaml +--- boundary_distribution: distribution: trapezoidal angle_of_repose: 1.047 +``` + +## Force depth regression +To compute deformation depth from the contact force, we use a linear model.\ +Each coefficient is determined by linear regression using DEM simulation data.\ +Note that this model is quite simple, and it will be necessary to develop a higher-dimensional model for more accurate depth computation. + +```yaml +force_depth_regression: + amplitude_slope: 0.00006 + amplitude_intercept: 0.008 + mean_slope: -0.00046 + mean_intercept: -0.0013 ``` \ No newline at end of file diff --git a/wiki/deformation_engine/_Footer.md b/wiki/deformation_engine/_Footer.md index 606036d..2c8dca5 100644 --- a/wiki/deformation_engine/_Footer.md +++ b/wiki/deformation_engine/_Footer.md @@ -1 +1 @@ -Antoine Richard -- University of Luxembourg -- Space Robotics Group -- 2023-24 +Junnosuke Kamohara -- Georgia Institute of Technology -- 2023-24 -- Work done while he was in Space Robotics Lab in Japan. diff --git a/wiki/media/deformation_engine_img/deformation.png b/wiki/media/deformation_engine_img/deformation.png new file mode 100644 index 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