commit 4240bb889aaf8cf4e44d57f2ee29f1a14a9f9211 Author: chenshijue <24121145@bjtu.edu.cn> Date: Fri Aug 28 11:37:47 2026 +0800 初始提交：关节模组仿真平台 - 三接口契约：自包含 MJCF / 配置 schema / 报告计算规范 - Python 流水线：urdf_to_mjcf → generate_schema → simulate_report（validate_module 一键编排） - 输入案例 urdf + 生成产物 output（自包含 MJCF/schema/报告/网格副本） - 详细架构说明 docs/architecture.md diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..1a839da --- /dev/null +++ b/.gitignore @@ -0,0 +1,6 @@ +# Python +__pycache__/ +*.pyc + +# 编辑器 +.vscode/ diff --git a/README.md b/README.md new file mode 100644 index 0000000..4228b3c --- /dev/null +++ b/README.md @@ -0,0 +1,93 @@ +# 关节模组仿真平台 —— 快速上手 + +把「关节模组」（行星轮系）在本地用 MuJoCo 跑通，并留好三个接口给网页团队，最终让 +「平台内置的关节模组」和「用户上传的关节模组」都能在浏览器里跑仿真、出报告。 + +> 团队三模块分工：关节模组（本仓库）/ 机械臂 / 四足机器狗。网页用 MuJoCo WASM +> （`@mujoco/mujoco`）展示，引擎与本地 Python 是同一个 C++ 核心，**MJCF（.xml）是统一模型格式**。 + +**只花 30 秒，先看「目录地图」和「一条命令跑起来」两节就够。** + +--- + +## 1. 目录地图（先读哪个） + +``` +planetary_joint_split_motor_demo_urdf/ +├── README.md ★ 你正在看的这份：一页看懂 +├── docs/ ── 给「网页团队」的接口契约 + 详细架构说明 +│ ├── schema.md 接口② 配置 schema（观测接口：输入/输出/减速比/限位） +│ ├── report_spec.md 接口③ 报告计算规范（指标 → 公式） +│ └── architecture.md 详细版：脚本语义 / 网页接入 / 用户上传流程 / 占位参数 +├── scripts/ ── 给「后端」的 Python 流水线 +│ ├── validate_module.py 一键入口（编排下面三步） +│ ├── urdf_to_mjcf.py ① URDF → MJCF +│ ├── generate_schema.py ② URDF → schema +│ └── simulate_report.py ③ schema → 仿真报告 +├── urdf/ ── 输入案例（原始 URDF + 原始网格，不动） +│ └── planetary_joint_split_motor_demo.urdf +└── output/ ── 生成产物（每次重跑覆盖） + ├── planetary_joint_split_motor_demo.xml MJCF 模型 + ├── planetary_joint_split_motor_demo.json schema + ├── report.txt / timeseries.csv / report_curves.png + └── meshes/ 自包含网格副本 +``` + +| 你是谁 | 先读什么 | +|---|---| +| 刚接手、想整体了解 | 本 README 全文（一页） | +| 网页团队（对接三接口） | [docs/schema.md](docs/schema.md) → [docs/report_spec.md](docs/report_spec.md) | +| 后端 / 本地方（跑流水线、改脚本） | [docs/architecture.md](docs/architecture.md) + 各脚本头部注释 | +| 只想知道怎么跑 | 下一节「一条命令跑起来」 | + +--- + +## 2. 一条命令跑起来 + +```bash +cd scripts +python3 validate_module.py \ + --urdf ../urdf/planetary_joint_split_motor_demo.urdf \ + --input sun_input_joint --output carrier_output_joint \ + --work-dir ../output --plot +``` + +产出（都在 `../output/`）：MJCF、schema、报告 `report.txt`、观测 `timeseries.csv`、曲线 `report_curves.png`。 + +依赖：`mujoco`、`numpy`（绘图另需 `matplotlib`，转换另需 `trimesh`）。 + +> 常用可调参数：`--load-torque`（输出端负载，默认 -3 N·m）、`--damping`（关节阻尼，默认 0.01）、 +> `--mode`（`normal` / `overload`）、`--torque-limit`（输入力矩限位，默认 ±10 N·m）。 + +--- + +## 3. 三接口契约（给网页团队） + +| 接口 | 文件 | 是什么 | +|---|---|---| +| ① 自包含 MJCF | `output/*.xml` + `output/meshes/` | 浏览器加载的模型，含网格/质量/惯量/齿轮约束/电机 | +| ② 配置 schema | [docs/schema.md](docs/schema.md) | 输入/输出关节名、减速比、限位、仿真参数 | +| ③ 报告规范 | [docs/report_spec.md](docs/report_spec.md) | 报告要测哪些值、怎么算 | + +一句话：**MJCF 管「怎么动」，schema 管「观测什么」，报告规范管「算出什么」。** + +--- + +## 4. 我要改 X，去哪找 + +| 想改什么 | 去这里 | +|---|---| +| 材料密度 / 力矩限位 / 阻尼等常数 | `scripts/urdf_to_mjcf.py` 顶部（`DENSITIES`、`TORQUE_LIMIT`、`JOINT_DAMPING`） | +| 减速比来源 / 仿真默认参数 | `scripts/generate_schema.py` 顶部 `DEFAULTS` | +| 报告指标怎么算 | `docs/report_spec.md`（规范）+ `scripts/simulate_report.py`（参考实现） | +| 流水线怎么编排 | `scripts/validate_module.py` | + +--- + +## 5. 待填的占位参数 + +1. **力矩限位**（默认 ±10 N·m，对应 URDF `effort="1"` 占位）：填真实电机额定值。 +2. **关节阻尼**（`JOINT_DAMPING = 0.01`）：报告里 ~98% 的「效率损失」来自这个阻尼，真实摩擦/效率需用实际参数建模。 +3. **材料密度**（`urdf_to_mjcf.py` 顶部）：目前无真值。 + +详见 [docs/architecture.md](docs/architecture.md) 第 8 节。 diff --git a/docs/architecture.md b/docs/architecture.md new file mode 100644 index 0000000..64808af --- /dev/null +++ b/docs/architecture.md @@ -0,0 +1,201 @@ +# 关节模组仿真平台 —— 架构与开发说明（详细版） + +> 想快速上手，先看根目录 [README.md](../README.md)（一页看懂）；本文件是**详细版**，讲脚本语义、网页接入、用户上传流程与占位参数。 + +本项目是「浏览器在线 MuJoCo 仿真平台」的**关节模组**部分：把关节模组（行星轮系）在本地用 +MuJoCo 跑通，并留好三个接口给网页团队，最终让「平台内置的关节模组」和「用户上传的关节模组」 +都能在浏览器里跑仿真、出报告。 + +> 团队三模块分工：关节模组（本目录）/ 机械臂 / 四足机器狗。团队用 MuJoCo WASM +> （`@mujoco/mujoco`）做网页展示，引擎与本地 Python 是同一个 C++ 核心，**MJCF（.xml）是统一模型格式**。 + +--- + +## 1. 文件清单（哪个文件是什么） + +| 文件 | 是什么 | 给谁用 | +|---|---|---| +| `../urdf/planetary_joint_split_motor_demo.urdf` | **原始 URDF**（本案例的输入，只有运动学+视觉，缺质量/惯量/电机） | 转换工具输入 | +| `../urdf/meshes/*.stl` | 原始网格（STL，单位 mm） | 转换工具读体积分 | +| `../output/planetary_joint_split_motor_demo.xml` | **MJCF 模型**（`urdf_to_mjcf.py` 生成，自包含，可直接仿真） | 网页端加载 / 仿真 | +| `../output/meshes/*.stl` | 自包含网格副本（MJCF 的 `meshdir` 指向这里） | 随 MJCF 一起交付 | +| `../output/*.json / report.txt / timeseries.csv / report_curves.png` | 生成的 schema / 报告 / 观测 / 曲线 | 交付与对照 | +| `../scripts/urdf_to_mjcf.py` | **URDF→MJCF 转换工具**（关节模组专用） | 后端转换 | +| `../scripts/generate_schema.py` | **URDF→schema 生成器**（读输入/输出关节、减速比、限位） | 后端生成 | +| `../scripts/simulate_report.py` | **通用仿真 + 报告脚本**（读 schema 跑仿真、采数据、出报告） | 本地验证 / 报告参考实现 | +| `../scripts/validate_module.py` | **一键验证入口**（编排上面三步：URDF→MJCF→schema→报告） | 本地验证 / 后端流水线 | +| `schema.md` | **接口 2：配置 schema**（观测接口：输入/输出/减速比/限位） | 网页团队 | +| `report_spec.md` | **接口 3：报告计算规范**（指标→公式） | 网页团队 | + +**一句话速记：** URDF 是「输入」，MJCF 是「引擎吃的模型」，schema/report_spec 是「网页团队要看的接口文档」。 +流水线是 `urdf_to_mjcf.py → generate_schema.py → simulate_report.py` 三步，`validate_module.py` 把三步打包成一条命令。 + +--- + +## 2. 三个接口（给网页团队） + +| 接口 | 文件 | 是什么 | 谁负责产出 | +|---|---|---|---| +| ① 自包含 MJCF | `*.xml` + `meshes/` | 浏览器加载的模型，含网格/质量/惯量/齿轮约束/电机 | 转换工具 | +| ② 配置 schema | [schema.md](schema.md) | 输入/输出关节名、减速比、限位、仿真参数 | 后端从 URDF 生成 | +| ③ 报告规范 | [report_spec.md](report_spec.md) | 报告要测哪些值、怎么算 | 固定逻辑，前端照实现 | + +关系：**MJCF 管「怎么动」，schema 管「观测什么」，报告规范管「算出什么」。** +schema 不描述内部构型（几级、几个行星轮都在 MJCF 里），只统一观测接口。 + +--- + +## 3. 本案例怎么跑起来 + +**一条命令跑完整条流水线（推荐）：** + +```bash +cd scripts +python3 validate_module.py \ + --urdf ../urdf/planetary_joint_split_motor_demo.urdf \ + --input sun_input_joint --output carrier_output_joint \ + --work-dir ../output --plot +``` + +产出（都在 `../output/`）：`planetary_joint_split_motor_demo.xml`（MJCF）+ `planetary_joint_split_motor_demo.json` +（schema）+ `timeseries.csv`（逐时间步）+ `report_curves.png`（曲线）。 + +**只想跑最后一步仿真/报告（已有 MJCF + schema 时）：** + +```bash +cd scripts +python3 simulate_report.py --schema ../output/planetary_joint_split_motor_demo.json --plot # 读 schema 跑 +python3 simulate_report.py --schema ../output/planetary_joint_split_motor_demo.json --headless # 无显示器，只计算 +``` + +依赖：`mujoco`、`numpy`（绘图需 `matplotlib`；转换需 `trimesh`）。 + +--- + +## 4. 三个脚本各自怎么用（分步跑） + +流水线三步各自都能单独跑，`validate_module.py` 只是把它们按顺序调用。三步都**显式指定 +输入/输出关节**（`--input` / `--output`），因为自动识别在真实 URDF 上不可靠（多级级联有 +多个正 multiplier 的 mimic、fixed 关节也没有 mimic，程序分不清哪级是末端输出）。 + +```bash +cd scripts + +# ① URDF → MJCF（自包含： + 拷贝网格） +python3 urdf_to_mjcf.py \ + --urdf ../urdf/planetary_joint_split_motor_demo.urdf \ + --input sun_input_joint --output carrier_output_joint \ + --out ../output/planetary_joint_split_motor_demo.xml --meshdir ../output/meshes + +# ② URDF → schema（读输入/输出、减速比、限位、默认仿真参数） +python3 generate_schema.py \ + --urdf ../urdf/planetary_joint_split_motor_demo.urdf \ + --input sun_input_joint --output carrier_output_joint \ + --model planetary_joint_split_motor_demo.xml \ + --out ../output/planetary_joint_split_motor_demo.json + +# ③ schema → 仿真 + 报告 +python3 simulate_report.py --schema ../output/planetary_joint_split_motor_demo.json --plot +``` + +依赖：`numpy`、`trimesh`（`pip install trimesh`，仅转换步骤需要）。 + +工具做的事（详见脚本头注释）： + +1. **照搬不改**：关节层级、``→子 ``、``→``、 + ``→``、``→`` polycoef、``→``。 +2. **补质量/惯量**：从每个 link 的 STL 做体积分，按脚本顶部的**密度常数**算出质量/重心/惯性张量， + 多网格用平行轴定理合成。 +3. **补作动器**：`input_motor`（输入端）+ `load_motor`（输出端负载）。 +4. **渲染网格覆盖**：个别 STL 面数超 MuJoCo 上限，渲染换降采样版（质量仍按原始网格算）。 + +**要改的常数都在脚本顶部**： + +| 常数 | 位置 | 说明 | +|---|---|---| +| 材料密度 `DENSITIES` / `DEFAULT_DENSITY` | 顶部 | kg/m³，换材料时改这里 | +| `TORQUE_LIMIT` | 顶部 | 力矩限位（占位，应填真实电机额定值） | +| `JOINT_DAMPING` / `JOINT_ARMATURE` | 顶部 | 数值稳定参数 | + +> ⚠️ **本工具是关节模组专用**。它假设「一个电机输入 + 一个模组输出 + 减速比关系」， +> 用「无 `` 的关节 = 输入、正 multiplier 跟随者 = 输出」自动识别。**所有类别 URDF 的 +> 通用转换器由团队后续开发**，本工具只覆盖关节模组。 + +--- + +## 5. 把「本案例」接入网页需要什么 + +1. **模型文件**：`planetary_joint_split_motor_demo.xml` + `meshes/`（自包含，一起上传）。 +2. **配置**：按 [schema.md](schema.md) 第 4 节填好这份 JSON，随模型一起给前端。 +3. **报告逻辑**：前端按 [report_spec.md](report_spec.md) 实现（或后端把本案例的 + `simulate_report.py` 逻辑翻译到 JS）。 + +前端只需：加载 MJCF → 读 schema 拿 `input_joint`/`output_joint`/`gear_ratio`/`limits` → +跑仿真 → 按报告规范输出。**不需要**理解行星轮系的内部构型。 + +--- + +## 6. 把「用户上传 URDF」接入网页需要什么 + +用户上传的是 **zip 包（URDF + mesh 文件）**，不是单个 .urdf（只有 urdf 没有 STL 加载不出模型）。 + +后端流水线（就是 `validate_module.py` 干的同一件事）： + +1. **接收 + 校验**：解压 zip，检查 URDF 可解析、mesh 引用齐全、路径无穿越（`../` 之类）。 +2. **转换**：跑 `urdf_to_mjcf.py` → 产出自包含 MJCF + 网格。 +3. **生成 schema**：跑 `generate_schema.py`（输入/输出关节**显式指定**，减速比从 `` 取或手动给）→ 产出 schema JSON。 +4. **返回给前端**：`{ mjcf + meshes, schema }`。 + +前端拿到这两样后，与「本案例」走同一条路（见第 5 节）。**用户始终只传 URDF+mesh， +不传 schema**——schema 是后端算出来的。 + +### 6.1 内置模组 vs 用户上传，靠谁区分？ + +**是的，全看前端在哪一步分叉。** 分叉点只有一个：**模型从哪来**。分叉之后，两条路立刻并回 +同一条流水线（跑仿真 → 出报告 → 出曲线），后面不再有任何区别： + +```text + ┌─ 内置模组：直接用预生成的 MJCF + schema（跳过①②） + 前端选择 ────────┤ + └─ 用户上传：上传 URDF+mesh → 后端 ①转MJCF ②生成schema + （此分支需要额外给「输入/输出关节」） + ↓ + 两条路都拿到 { MJCF + schema } + ↓ + ③ 跑仿真 → 出报告 → 出曲线（完全相同） +``` + +所以前端要做的「分割」只有两件事： + +1. **选哪个入口**：内置（有现成的 MJCF+schema）还是上传（现转）。 +2. **给输入/输出关节**：内置模组的输入/输出已经写死在它自带的 schema 里；上传模组则要 + 前端在用户上传时让用户选一下（或后端自动识别 + 用户确认），因为只有用户/构型才知道 + 哪两个关节是输入输出端——这一步程序猜不靠谱（见第 4 节）。 + +除这两点外，报告计算、曲线绘制、安全余量判定**零差别**，前端不需要写两套报告逻辑。 + +--- + +## 7. 各角色去哪个文件看什么 + +| 你想知道… | 去看… | +|---|---| +| 哪个是 URDF / MJCF / 仿真脚本 | 本文件第 1 节 | +| 转换工具怎么跑、改什么常数 | `../scripts/urdf_to_mjcf.py` 头部注释 + 本文件第 4 节 | +| schema 怎么从 URDF 生成 | [../scripts/generate_schema.py](../scripts/generate_schema.py) 头部注释 | +| 一键验证 / 用户上传流水线怎么编排 | [../scripts/validate_module.py](../scripts/validate_module.py) 头部注释 | +| schema 的字段和示例 | [schema.md](schema.md) | +| 报告测什么、怎么算 | [report_spec.md](report_spec.md) | +| URDF→MJCF 的关键语义（易错点） | `../scripts/urdf_to_mjcf.py` 头部注释（``→`` 等） | +| 通用仿真/报告参考实现 | [../scripts/simulate_report.py](../scripts/simulate_report.py) | + +--- + +## 8. 仍需填的占位参数 + +1. **力矩限位**（默认 ±10 N·m，对应 URDF `effort="1"` 占位）：填真实电机额定值。有两处： + - MJCF 作动器 `ctrlrange`：`../scripts/urdf_to_mjcf.py` 顶部的 `TORQUE_LIMIT`； + - 报告安全余量用的限位：`../scripts/generate_schema.py` 的 `--torque-limit`（写进 schema.limits.torque）。 +2. **关节阻尼**（`JOINT_DAMPING = 0.01`）：报告中 ~98% 的「效率损失」来自这个阻尼； + 真实摩擦/效率需用实际参数建模。 +3. **材料密度**（`../scripts/urdf_to_mjcf.py` 顶部 `DENSITIES` / `DEFAULT_DENSITY`）：目前无真值，先不改。 diff --git a/docs/report_spec.md b/docs/report_spec.md new file mode 100644 index 0000000..eea1304 --- /dev/null +++ b/docs/report_spec.md @@ -0,0 +1,161 @@ +# 接口 3 —— 报告计算规范（指标接口） + +> 用途：定义「关节模组仿真报告」里**固定要测、要输出的值**，以及每个值**怎么从 MuJoCo 数据算出来**。 +> 前端（WASM）照着这份规范实现报告模块即可，**不需要后端再给脚本**。 + +**为什么报告逻辑是固定的？** 运动关系随上传的构型不同而不同（几级、几个行星轮都不一样），但 +「要测什么」是确定的：输入/输出的位置、速度、加速度、力矩，以及由它们导出的功率、效率、减速比、 +安全余量。唯一随构型变的是**哪个关节是输入、哪个是输出**——这由 [schema.md](schema.md) 提供。 + +--- + +## 1. 输入 + +报告模块需要的输入分三类： + +| 输入 | 来源 | 说明 | +|---|---|---| +| 模型 | MJCF（`schema.model`） | 含网格、质量/惯量、齿轮约束、作动器 | +| 观测配置 | schema | `input_joint` / `output_joint` / `gear_ratio` / `limits` | +| 场景参数 | schema 的 `simulation` | 步长、时长、PD 增益、参考轨迹、负载 | + +约定记号（下文统一用）： + +| 记号 | 含义 | +|---|---| +| `q_in`, `qd_in`, `qacc_in` | 输入关节位置 / 速度 / 加速度 | +| `q_out`, `qd_out`, `qacc_out` | 输出关节位置 / 速度 / 加速度 | +| `τ_in`, `τ_out` | 输入力矩 / 输出力矩 | +| `N` | 减速比（`schema.gear_ratio`） | + +--- + +## 2. 仿真流程（固定） + +``` +加载 MJCF → mj_resetData +for k in 0..(duration/timestep)-1: + t = k · timestep + q_ref = amplitude · sin(2π · frequency · t) + qd_ref = amplitude · 2π·frequency · cos(2π · frequency · t) + + τ_in = kp·(q_ref − q_in) + kd·(qd_ref − qd_in) # PD 位置控制 + ctrl[input_motor] = τ_in # 输入电机力矩 + ctrl[load_motor] = load_torque # 输出端恒值负载 + mj_step() # 齿轮约束在步内解算 + 记录本步数据 +``` + +> 齿轮耦合是**软约束**（`` + `solref`），`mj_step` 内自动解算；输出力矩 +> `τ_out` 从约束反力读出（见下）。 + +--- + +## 3. 指标 → 数据源 → 公式（核心表） + +MuJoCo 数据源以 `d.*` 表示 `MjData` 的字段；`input_dof` / `output_dof` 是输入/输出关节 +的自由度下标（`m.jnt_dofadr[...]`）。 + +### 3.1 运动学（跟踪精度） + +| 指标 | 符号 | 数据源（逐时间步） | 单位 | +|---|---|---|---| +| 输入位置 | `q_in` | `d.qpos[input_dof]` | rad | +| 输入速度 | `qd_in` | `d.qvel[input_dof]` | rad/s | +| 输入加速度 | `qacc_in` | `d.qacc[input_dof]` | rad/s² | +| 输出位置 | `q_out` | `d.qpos[output_dof]` | rad | +| 输出速度 | `qd_out` | `d.qvel[output_dof]` | rad/s | +| 输出加速度 | `qacc_out` | `d.qacc[output_dof]` | rad/s² | + +**汇总（对整段轨迹统计）：** + +| 指标 | 公式 | 说明 | +|---|---|---| +| 输入位置峰值 | `max |q_in|` | 参考幅值 `amplitude` | +| 位置跟踪误差 RMS | `√ mean((q_in − q_ref)²)` | 越小越准 | +| 速度跟踪误差 RMS | `√ mean((qd_in − qd_ref)²)` | 越小越准 | +| 输出位置峰值 | `max |q_out|` | 期望 ≈ `amplitude / N` | +| **传动比实测** | 带截距最小二乘斜率（`q_out` 对 `q_in` 拟合，取稳态后半段） | 期望 ≈ `1/N` | + +> 不要用逐点 `q_out/q_in` 再取均值：正弦参考下 `q_in` 每周期过零，软约束相位滞后会让 +> 过零处比值爆表甚至变号，把均值带偏（实测 0.112368 vs 真实 0.111111）。带截距的 +> 最小二乘斜率对相位滞后和负载静偏置（`q_out` 恒滞后一个常数角）都不敏感，能精确还原 `1/N`。 + +### 3.2 动力学（力矩 / 功率） + +| 指标 | 符号 | 数据源 / 公式 | 单位 | +|---|---|---|---| +| 输入力矩 | `τ_in` | `d.actuator_force[input_motor]` | N·m | +| 输出力矩 | `τ_out` | `d.qfrc_constraint[output_dof]` | N·m | +| 输出功率 | `P_out` | `τ_out · qd_out` | W | +| 理想输出力矩 | `τ_ideal` | `N · τ_in` | N·m | +| 力矩损失 | `Δτ` | `N·τ_in − τ_out` | N·m | +| **效率** | `η` | `τ_out / (N · τ_in) × 100%`（稳态均值） | % | + +> 稳态均值 = 取时间序列后半段（让瞬态衰减完）的 `mean(|·|)`。 + +### 3.3 安全性（安全余量） + +| 指标 | 公式 | 单位 | +|---|---|---| +| 位置余量 | `(‖limit_pos‖ − max|q_in|) / ‖limit_pos‖ × 100%` | % | +| 力矩余量 | `(‖limit_trq‖ − max|τ_in|) / ‖limit_trq‖ × 100%` | % | +| 过载判定 | 力矩余量 < 20% → 警告 | — | + +其中 `limit_pos = schema.limits.position[1]`，`limit_trq = schema.limits.torque[1]`。 + +### 3.4 可选：行星轮观测（仅行星构型） + +若模组有行星轮（本案例有 3 个），可额外记录某一行星轮的位置/速度 `q_p, qd_p`（`d.qpos[planet_dof]`）。 +这是**可选项**——报告必填的只有输入/输出端；行星轮数量/命名随构型变，不属于固定指标。 + +--- + +## 4. 输出格式 + +### 4.1 逐时间步数据（CSV） + +列名与关节名**解耦**（用固定的 `input_*` / `output_*`，不写死太阳轮/行星架）， +前端按 `schema.input_joint` / `schema.output_joint` 填充即可： + +| 列 | 内容 | +|---|---| +| `time` | 时间 [s] | +| `input_q, input_qd, input_qacc` | 输入位置/速度/加速度（`schema.input_joint`） | +| `q_ref, qd_ref` | 参考轨迹位置/速度 | +| `output_q, output_qd, output_qacc` | 输出位置/速度/加速度（`schema.output_joint`） | +| `planet_q, planet_qd` | （可选）行星轮位置/速度，仅行星构型且有记录时才有 | +| `tau_in, tau_out, power_out` | 输入/输出力矩、输出功率 | + +> 本地 `simulate_report.py` 按固定顺序写出：`time, input_q, input_qd, input_qacc, q_ref, +> qd_ref, output_q, output_qd, output_qacc, [planet_q, planet_qd,] tau_in, tau_out, power_out`。 + +### 4.2 汇总报告（终端 / JSON） + +按第 3 节的三类汇总指标输出：运动学（峰值、跟踪误差、传动比实测）、动力学（力矩、 +功率、效率）、安全性（两类余量 + 过载判定）。 + +报告首行需注明**仿真模式**（`schema.simulation.mode`，`normal` / `overload`），并显示当前 +使用的负载力矩与阻尼。当 `mode = overload` 时，额外产出一份 **过载报告**（`overload_report.txt`）： + +| 指标 | 公式 | 单位 | +|---|---|---| +| 额定力矩限位 | `limit_trq = schema.limits.torque[1]` | N·m | +| 施加负载力矩 | `schema.simulation.load_torque` | N·m | +| 输入力矩峰值 | `max |τ_in|` | N·m | +| 力矩余量 | `(limit_trq − max|τ_in|) / limit_trq × 100%` | % | +| 位置跟踪误差 | `√ mean((q_in − q_ref)²)` | rad | +| 过载判定 | 余量 ≤ 0 → 已过载；0 < 余量 < 20% → 接近过载；否则未过载 | — | + +--- + +## 5. 参考实现 + +本地参考实现见 [../scripts/simulate_report.py](../scripts/simulate_report.py)，它就是这份规范的可执行版本。 +前端实现时应**以本规范为准**，脚本只作对照。 + +**两个易错点（实现时务必注意）：** + +1. **输出力矩读约束反力，不读作动器力。** 齿轮耦合是 `` 约束，`τ_out` 取 + `d.qfrc_constraint[output_dof]`；若读 `load_motor` 的 `actuator_force` 只会得到常数负载。 +2. **稳态统计取后半段。** 参考轨迹从静止起跳会有初始瞬态尖峰，前半段不参与均值/效率计算。 diff --git a/docs/schema.md b/docs/schema.md new file mode 100644 index 0000000..3d3da95 --- /dev/null +++ b/docs/schema.md @@ -0,0 +1,159 @@ +# 接口 2 —— 关节模组配置 Schema + +> 用途：给「浏览器端 WASM 仿真」一个**统一观测接口**。无论用户上传的是什么构型的关节模组 +> （一级/多级、三个/四个行星轮、太阳轮+行星架、谐波、摆线…），后端把它归一化成这份 JSON， +> 前端只读这份 JSON 就能：找到输入端/输出端、知道减速比、拿到限位、按默认参数跑仿真。 + +--- + +## 1. Schema 是什么 / 不是什么 + +| | 说明 | +|---|---| +| ✅ 是什么 | 关节模组的**对外观测契约**：输入关节、输出关节、减速比、限位、默认仿真参数 | +| ❌ 不是什么 | **不描述内部构型**（几级传动、几个行星轮、齿数、几何）。这些全部已经编码在 MJCF 里，前端不需要知道 | +| ❌ 不是用户上传的 | 这份 JSON 是**后端从 URDF 生成**的，不是用户填写的。用户上传的始终是「URDF + mesh」的 zip | + +**为什么必须要有 schema？** +1. 报告里要测的输入/输出力矩，是「哪个关节」取决于构型。schema 告诉前端哪两个关节是输入/输出端。 +2. 减速比的标称值（`gear_ratio`）可能来自 URDF 的 ``，也可能是标定/手动填的，需要显式声明来源。 +3. 前端要做统一的限位检查、统一的安全余量，就需要统一格式的限位。 + +> 一句话：**MJCF 管「怎么动」，schema 管「观测什么」，报告规范管「算出什么」。** + +--- + +## 2. 字段定义（格式契约，定义一次） + +| 字段 | 类型 | 单位 | 必填 | 含义 | 取值来源 | +|---|---|---|---|---|---| +| `module_id` | string | — | ✅ | 模组唯一标识 | 后端生成（如模型名） | +| `name` | string | — | | 显示名 | 后端生成 | +| `model` | string | — | ✅ | 要加载的 MJCF 文件名（自包含，网格与它同目录） | 转换工具输出 | +| `input_joint` | string | — | ✅ | **输入关节名**（电机端） | URDF 里唯一没有 `` 的关节 | +| `output_joint` | string | — | ✅ | **输出关节名**（模组输出端） | URDF 里以正 multiplier 跟随输入的关节 | +| `gear_ratio` | number | — | ✅ | 标称减速比 = 输入 / 输出 = `1/multiplier` | 默认取 `` 倒数；可标定覆盖 | +| `gear_ratio_source` | enum | — | ✅ | `mimic` / `calibrated` / `manual` | 减速比来源 | +| `limits.position` | [number, number] | rad | ✅ | 输入关节位置限位 `[lower, upper]` | URDF `` | +| `limits.torque` | [number, number] | N·m | ✅ | 输入力矩限位 `[-T, +T]` | MJCF ``（占位，待填真实值） | +| `limits.velocity` | [number, number] | rad/s | | 速度限位 | URDF ``（若有） | +| `simulation.timestep` | number | s | ✅ | 仿真步长 | 默认 `0.001` | +| `simulation.duration` | number | s | ✅ | 仿真时长 | 默认 `4.0` | +| `simulation.kp` / `kd` | number | — | ✅ | 输入 PD 位置控制增益 | 默认 `20.0` / `0.3` | +| `simulation.amplitude` | number | rad | ✅ | 参考轨迹幅值 | 默认 `2π`（1 圈） | +| `simulation.frequency` | number | Hz | ✅ | 参考轨迹频率 | 默认 `0.25` | +| `simulation.load_torque` | number | N·m | ✅ | 输出端恒值负载（负 = 阻力） | 默认 `-3.0` | +| `simulation.damping` | number | N·m·s/rad | ✅ | 关节粘性阻尼 | 默认 `0.01` | +| `simulation.mode` | enum | — | ✅ | 仿真模式：`normal` / `overload` | 默认 `normal` | + +> 所有带默认值的字段，前端都可以覆盖（用户调参）。`input_joint` / `output_joint` / +> `limits` / `gear_ratio` 是后端算好的「事实」，前端只读。 + +--- + +## 3. 形式化 JSON Schema（供前端校验用，draft 2020-12） + +```json +{ + "$schema": "https://json-schema.org/draft/2020-12/schema", + "$id": "joint-module.schema.json", + "title": "关节模组配置", + "type": "object", + "required": ["module_id", "model", "input_joint", "output_joint", + "gear_ratio", "gear_ratio_source", "limits", "simulation"], + "additionalProperties": false, + "properties": { + "module_id": { "type": "string" }, + "name": { "type": "string" }, + "model": { "type": "string" }, + "input_joint": { "type": "string" }, + "output_joint": { "type": "string" }, + "gear_ratio": { "type": "number", "exclusiveMinimum": 0 }, + "gear_ratio_source": { "type": "string", "enum": ["mimic", "calibrated", "manual"] }, + "limits": { + "type": "object", + "required": ["position", "torque"], + "properties": { + "position": { "type": "array", "items": { "type": "number" }, "minItems": 2, "maxItems": 2 }, + "torque": { "type": "array", "items": { "type": "number" }, "minItems": 2, "maxItems": 2 }, + "velocity": { "type": "array", "items": { "type": "number" }, "minItems": 2, "maxItems": 2 } + } + }, + "simulation": { + "type": "object", + "properties": { + "timestep": { "type": "number", "default": 0.001 }, + "duration": { "type": "number", "default": 4.0 }, + "kp": { "type": "number", "default": 20.0 }, + "kd": { "type": "number", "default": 0.3 }, + "amplitude": { "type": "number", "default": 6.283185307179586 }, + "frequency": { "type": "number", "default": 0.25 }, + "load_torque": { "type": "number", "default": -3.0 }, + "damping": { "type": "number", "default": 0.01 }, + "mode": { "type": "string", "enum": ["normal", "overload"], "default": "normal" } + } + } + } +} +``` + +--- + +## 4. 本案例的实例 + +```json +{ + "module_id": "planetary_joint_split_motor_demo", + "name": "行星轮系分体电机关节模组", + "model": "planetary_joint_split_motor_demo.xml", + + "input_joint": "sun_input_joint", + "output_joint": "carrier_output_joint", + + "gear_ratio": 6.0, + "gear_ratio_source": "mimic", + + "limits": { + "position": [-37.6991118431, 37.6991118431], + "torque": [-10.0, 10.0], + "velocity": [-6.28318530718, 6.28318530718] + }, + + "simulation": { + "timestep": 0.001, + "duration": 4.0, + "kp": 20.0, + "kd": 0.3, + "amplitude": 6.283185307179586, + "frequency": 0.25, + "load_torque": -3.0, + "damping": 0.01, + "mode": "normal" + } +} +``` + +对照说明： + +| 实例值 | 怎么来的 | +|---|---| +| `input_joint = sun_input_joint` | URDF 里 5 个关节中，唯一没有 `` 的是 `sun_input_joint`（独立驱动源） | +| `output_joint = carrier_output_joint` | ``，正 multiplier → 减速输出端 | +| `gear_ratio = 6.0` | `1 / 0.166666666666667 = 6`（1 级行星轮系，齿圈固定，太阳轮:行星架 = 6:1） | +| `limits.position = ±37.6991` | URDF ``（±6 圈 = ±12π） | +| `limits.torque = ±10` | MJCF ``（**占位**，待填真实电机额定值） | +| `limits.velocity = ±6.2832` | URDF ``（1 圈/秒） | +| `simulation.*` | 报告规范的默认场景参数，见 [report_spec.md](report_spec.md) | + +--- + +## 5. 减速比来源的优先级（多来源怎么取） + +后端生成 schema 时，`gear_ratio` 按下面顺序确定，并在 `gear_ratio_source` 里记录用的是哪个： + +1. **`mimic`** —— URDF `` 的倒数（最优先，本案例）。 +2. **`calibrated`** —— 跑一次仿真，`mean(q_out / q_in)` 标定得到（无 `` 或传动力不可靠时）。 +3. **`manual`** —— 前端手动填（都没有时兜底）。 + +> 减速比只进 schema 与报告，**不进 MJCF**——MJCF 里的传动关系由 `` 精确表达， +> schema 里的 `gear_ratio` 只是「标称参考值」，用于报告的效率/理想力矩计算。 diff --git a/output/meshes/carrier_link.stl b/output/meshes/carrier_link.stl new file mode 100644 index 0000000..22d49f1 Binary files /dev/null and b/output/meshes/carrier_link.stl differ diff --git a/output/meshes/fixed_structure.stl b/output/meshes/fixed_structure.stl new file mode 100644 index 0000000..4562d64 Binary files /dev/null and b/output/meshes/fixed_structure.stl differ diff --git a/output/meshes/motor_rotor.stl b/output/meshes/motor_rotor.stl new file mode 100644 index 0000000..1d394e1 Binary files /dev/null and b/output/meshes/motor_rotor.stl differ diff --git a/output/meshes/motor_stator.stl b/output/meshes/motor_stator.stl new file mode 100644 index 0000000..550d795 Binary files /dev/null and b/output/meshes/motor_stator.stl differ diff --git a/output/meshes/motor_stator_decimated.stl b/output/meshes/motor_stator_decimated.stl new file mode 100644 index 0000000..4882f79 Binary files /dev/null and b/output/meshes/motor_stator_decimated.stl differ diff --git a/output/meshes/planet_0_link.stl b/output/meshes/planet_0_link.stl new file mode 100644 index 0000000..cd70a9f Binary files /dev/null and b/output/meshes/planet_0_link.stl differ diff --git a/output/meshes/planet_1_link.stl b/output/meshes/planet_1_link.stl new file mode 100644 index 0000000..54d8961 Binary files /dev/null and b/output/meshes/planet_1_link.stl differ diff --git a/output/meshes/planet_2_link.stl b/output/meshes/planet_2_link.stl new file mode 100644 index 0000000..e0852d6 Binary files /dev/null and b/output/meshes/planet_2_link.stl differ diff --git a/output/meshes/sun_drive.stl b/output/meshes/sun_drive.stl new file mode 100644 index 0000000..fbc085a Binary files /dev/null and b/output/meshes/sun_drive.stl differ diff --git a/output/planetary_joint_split_motor_demo.json b/output/planetary_joint_split_motor_demo.json new file mode 100644 index 0000000..ac0eba6 --- /dev/null +++ b/output/planetary_joint_split_motor_demo.json @@ -0,0 +1,34 @@ +{ + "module_id": "planetary_joint_split_motor_demo", + "name": "planetary_joint_split_motor_demo", + "model": "planetary_joint_split_motor_demo.xml", + "input_joint": "sun_input_joint", + "output_joint": "carrier_output_joint", + "gear_ratio": 5.9999999999999885, + "gear_ratio_source": "mimic", + "limits": { + "position": [ + -37.6991118431, + 37.6991118431 + ], + "torque": [ + -10.0, + 10.0 + ], + "velocity": [ + -6.28318530718, + 6.28318530718 + ] + }, + "simulation": { + "timestep": 0.001, + "duration": 4.0, + "kp": 20.0, + "kd": 0.3, + "amplitude": 6.283185307179586, + "frequency": 0.25, + "load_torque": -3.0, + "damping": 0.01, + "mode": "normal" + } +} diff --git a/output/planetary_joint_split_motor_demo.xml b/output/planetary_joint_split_motor_demo.xml new file mode 100644 index 0000000..7a0c336 --- /dev/null +++ b/output/planetary_joint_split_motor_demo.xml @@ -0,0 +1,68 @@ + + + + + diff --git a/output/report.txt b/output/report.txt new file mode 100644 index 0000000..b3bfaf5 --- /dev/null +++ b/output/report.txt @@ -0,0 +1,33 @@ +================================================================ +关节模组仿真报告 +================================================================ +模型 : planetary_joint_split_motor_demo.xml +输入端 : sun_input_joint 输出端: carrier_output_joint +标称减速比 1 : 6.0000（输出 = 输入/6.0000） +仿真模式 : normal +负载力矩 : -3.0000 N·m 阻尼: 0.01 + +[1] 运动学（跟踪精度） + 输入位置峰值 : 6.3087 rad (参考 6.2832) + 位置跟踪误差 (RMS) : 0.0251 rad + 速度跟踪误差 (RMS) : 0.0727 rad/s + 输出位置峰值 : 1.0532 rad (应为 1.0472) + 传动比实测 : 0.166667 (期望 0.166667) + +[2] 动力学（力矩与功率） + 输入力矩 (稳态均值) : 0.5102 N·m + 输出力矩 (稳态均值) : 3.0010 N·m + 理想输出 = 输入×6.0000 : 3.0611 N·m + 力矩损失 : 0.0601 N·m + 效率 η = 输出/(输入×6.0000) : 98.04 % + 输入力矩峰值 (瞬态) : 0.7543 N·m + 输出功率峰值 : 7.5876 W + +[3] 安全性（安全余量） + 位置余量 (限位 ±37.6991 rad) : 83.27 % + 力矩余量 (限位 ±10.0000 N·m) : 92.46 % + 过载判定 : ✓ 余量充足 + +================================================================ +已写出 /home/csj/planetary_joint_split_motor_demo_urdf/output/timeseries.csv +================================================================ diff --git a/output/report_curves.png b/output/report_curves.png new file mode 100644 index 0000000..14dec6e Binary files /dev/null and b/output/report_curves.png differ diff --git a/output/timeseries.csv b/output/timeseries.csv new file mode 100644 index 0000000..ba6e685 --- /dev/null +++ b/output/timeseries.csv @@ -0,0 +1,4001 @@ +time,input_q,input_qd,input_qacc,q_ref,qd_ref,output_q,output_qd,output_qacc,tau_in,tau_out,power_out +0.00000000,-0.00041257,-0.41257278,-417.95689520,0.00000000,0.00000000,-0.00085329,-0.85328735,-867.05545456,0.00000000,2.46235469,-2.10109610 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+3.99800000,-0.04252590,9.87034966,0.06848008,-0.01973918,9.86955570,-0.00884595,1.64505962,0.01147843,0.65292353,3.01645727,4.96225205 +3.99900000,-0.03265551,9.87039291,0.04380799,-0.00986960,9.86959222,-0.00720089,1.64506685,0.00735164,0.65289873,3.01645489,4.96226996 diff --git a/scripts/generate_schema.py b/scripts/generate_schema.py new file mode 100644 index 0000000..8ca173e --- /dev/null +++ b/scripts/generate_schema.py @@ -0,0 +1,189 @@ +#!/usr/bin/env python3 +""" +关节模组 schema 生成器（接口 2 的后端实现） +==================================================================== + +从一份关节模组 URDF 生成前端要的配置 JSON（schema），即 [schema.md](schema.md) +定义的观测契约：输入/输出关节名、减速比、限位、默认仿真参数。 + +输入/输出关节由用户**显式指定**（--input / --output）。因为自动识别在真实 URDF 上 +不可靠（见 docs/architecture.md 说明：多级级联有多个正 multiplier 的 mimic，且 fixed 关节也没有 +mimic，程序分不清哪级是末端输出）。 + +减速比来源优先级（同 schema.md 第 5 节）： + 1. mimic —— 输出关节 的倒数（默认） + 2. manual —— --ratio 手动指定（URDF 无 mimic 时） + +用法（在 scripts/ 目录下运行）： + python3 generate_schema.py \ + --urdf ../urdf/planetary_joint_split_motor_demo.urdf \ + --input sun_input_joint --output carrier_output_joint \ + --model planetary_joint_split_motor_demo.xml \ + --out planetary_joint_split_motor_demo.json + +依赖：仅标准库（xml.etree / json / argparse），不需要 trimesh / mujoco。 +""" + +import argparse +import json +import math +import os +import xml.etree.ElementTree as ET + + +# 默认仿真参数（与 schema.md / report_spec.md 保持一致） +DEFAULTS = { + "timestep": 0.001, + "duration": 4.0, + "kp": 20.0, + "kd": 0.3, + "amplitude": 2.0 * math.pi, + "frequency": 0.25, + "load_torque": -3.0, + "damping": 0.01, +} +# 输入关节无 （continuous）时的位置限位占位：±6 圈 = ±12π +DEFAULT_POSITION_LIMIT = 12.0 * math.pi +# 输入力矩限位占位（应填真实电机额定值，见 schema.md limits.torque） +DEFAULT_TORQUE_LIMIT = 10.0 + + +def _float(attr): + try: + return float(attr) + except (TypeError, ValueError): + return None + + +def parse_joints(root): + """返回 {关节名: 元素}。""" + return {j.get("name"): j for j in root.findall("joint")} + + +def get_mimic(joint_el): + """返回 (joint, multiplier, offset) 或 None。""" + m = joint_el.find("mimic") + if m is None: + return None + return { + "joint": m.get("joint"), + "multiplier": _float(m.get("multiplier")), + "offset": _float(m.get("offset", 0.0)), + } + + +def get_limit(joint_el): + """返回 (lower, upper, velocity) 或 None。关节无 （continuous）返回 None。""" + lim = joint_el.find("limit") + if lim is None: + return None + return { + "lower": _float(lim.get("lower")), + "upper": _float(lim.get("upper")), + "velocity": _float(lim.get("velocity")), + } + + +def main(): + ap = argparse.ArgumentParser(description="关节模组 URDF → schema JSON") + ap.add_argument("--urdf", required=True, help="输入 URDF 路径") + ap.add_argument("--input", required=True, help="输入关节名（电机端，显式指定）") + ap.add_argument("--output", required=True, help="输出关节名（模组末端，显式指定）") + ap.add_argument("--model", default=None, + help="要引用进 schema.model 的 MJCF 文件名（默认 .xml）") + ap.add_argument("--out", default=None, help="schema 输出 JSON 路径（默认 .json）") + ap.add_argument("--module-id", default=None, help="module_id（默认 robot 名）") + ap.add_argument("--name", default=None, help="显示名（默认 robot 名）") + ap.add_argument("--ratio", type=float, default=None, + help="手动指定减速比（URDF 无 mimic 时用，gear_ratio_source=manual）") + ap.add_argument("--torque-limit", type=float, default=DEFAULT_TORQUE_LIMIT, + help="输入力矩限位 [N·m]，默认 ±10（占位）") + ap.add_argument("--position-limit", type=float, default=DEFAULT_POSITION_LIMIT, + help="输入关节无 时的位置限位 ±rad，默认 ±12π") + for k, v in DEFAULTS.items(): + ap.add_argument(f"--{k.replace('_', '-')}", type=float, default=v, + help=f"仿真参数 {k}（默认 {v}）") + ap.add_argument("--mode", choices=["normal", "overload"], default="normal", + help="仿真模式（normal / overload，默认 normal）") + args = ap.parse_args() + + tree = ET.parse(args.urdf) + robot = tree.getroot() + robot_name = robot.get("name") + joints = parse_joints(robot) + + if args.input not in joints: + ap.error(f"输入关节 '{args.input}' 在 URDF 中不存在；可用关节：{sorted(joints)}") + if args.output not in joints: + ap.error(f"输出关节 '{args.output}' 在 URDF 中不存在；可用关节：{sorted(joints)}") + + # ---- 减速比 ---- + mimic = get_mimic(joints[args.output]) + gear_ratio = None + gear_ratio_source = None + if mimic is not None and mimic["multiplier"] not in (None, 0.0): + gear_ratio = 1.0 / abs(mimic["multiplier"]) + gear_ratio_source = "mimic" + elif args.ratio is not None: + gear_ratio = args.ratio + gear_ratio_source = "manual" + else: + ap.error("输出关节没有 ，请用 --ratio 手动指定减速比") + + # ---- 限位 ---- + in_limit = get_limit(joints[args.input]) + if in_limit is not None and in_limit["lower"] is not None and in_limit["upper"] is not None: + pos_lim = [in_limit["lower"], in_limit["upper"]] + else: + pos_lim = [-args.position_limit, args.position_limit] + velocity = in_limit["velocity"] if in_limit is not None else None + + module_id = args.module_id or robot_name + model = args.model or (module_id + ".xml") + out_path = args.out or (module_id + ".json") + + schema = { + "module_id": module_id, + "name": args.name or robot_name, + "model": model, + "input_joint": args.input, + "output_joint": args.output, + "gear_ratio": gear_ratio, + "gear_ratio_source": gear_ratio_source, + "limits": { + "position": pos_lim, + "torque": [-args.torque_limit, args.torque_limit], + }, + "simulation": { + "timestep": args.timestep, + "duration": args.duration, + "kp": args.kp, + "kd": args.kd, + "amplitude": args.amplitude, + "frequency": args.frequency, + "load_torque": args.load_torque, + "damping": args.damping, + "mode": args.mode, + }, + } + if velocity is not None: + schema["limits"]["velocity"] = [-velocity, velocity] + + with open(out_path, "w", encoding="utf-8") as f: + json.dump(schema, f, ensure_ascii=False, indent=2) + f.write("\n") + + print(f"已生成 schema: {os.path.abspath(out_path)}") + print(f" module_id : {module_id}") + print(f" input_joint : {args.input}") + print(f" output_joint: {args.output}") + print(f" gear_ratio : {gear_ratio:.6f} (source={gear_ratio_source})") + print(f" position_lim: {pos_lim[0]:.4f} ~ {pos_lim[1]:.4f} rad") + print(f" torque_lim : ±{args.torque_limit} N·m") + print(f" mode : {args.mode}") + print(f" load_torque : {args.load_torque} N·m") + print(f" damping : {args.damping}") + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/scripts/simulate_report.py b/scripts/simulate_report.py new file mode 100644 index 0000000..714c51f --- /dev/null +++ b/scripts/simulate_report.py @@ -0,0 +1,396 @@ +#!/usr/bin/env python3 +""" +关节模组通用仿真 + 报告脚本（边可视化边计算） +==================================================================== + +对任意一个关节模组 MJCF 跑仿真并产出报告。报告逻辑固定（见 report_spec.md）， +随构型变的只有：输入/输出关节名、减速比、限位、仿真参数 —— 这些统一从 schema JSON +读入（schema 由 generate_schema.py 生成）。 + +两种用法： + 1) 通用（读 schema）： + python3 simulate_report.py --schema <模块>.json --headless --plot + 2) demo（不传 --schema，回退到本案例默认值，保持兼容）： + python3 simulate_report.py # 弹窗 + 打印报告 + timeseries.csv + python3 simulate_report.py --headless # 无窗口 + python3 simulate_report.py --plot # 追加 report_curves.png + +也可用 --xml / --input / --output / --ratio 覆盖 schema 里的个别字段（快速调试用）。 + +报告测三类数据（report_spec.md 第 3 节）： + 1. 运动学 —— 输入/输出位置、速度、加速度、传动比实测 + 2. 动力学 —— 输入/输出力矩、功率、效率 + 3. 安全性 —— 位置余量、力矩余量、过载判定 + +输出文件写在 MJCF 所在目录：timeseries.csv（逐时间步）、report.txt（仿真报告）、 +report_curves.png（--plot）。 + +依赖：mujoco、numpy（绘图需 matplotlib）。 +""" +import argparse +import json +import os +import sys +import time + +import numpy as np +import mujoco +import mujoco.viewer # noqa: F401 (确保 viewer 子模块可用) + + +# ------------------------------ demo 默认值（不传 --schema 时用） ------------------------------ +DEMO = { + "xml": "planetary_joint_split_motor_demo.xml", + "input_joint": "sun_input_joint", + "output_joint": "carrier_output_joint", + "planet_joint": "planet_0_spin_joint", + "gear_ratio": 6.0, + "duration": 4.0, + "dt": 0.001, + "kp": 20.0, + "kd": 0.3, + "amplitude": 2.0 * np.pi, + "frequency": 0.25, + "load_torque": -3.0, + "damping": 0.01, + "mode": "normal", + "pos_lim": None, # None → 从 MJCF 读 + "trq_lim": None, +} + +# 参考轨迹平滑启动时长 [s]：让参考从 0 位置、0 速度起跳，消除 t=0 的微分项冲击 +RAMP_TIME = 0.5 + + +# ------------------------------ 工具函数 ------------------------------ +def jid(m, name): + return mujoco.mj_name2id(m, mujoco.mjtObj.mjOBJ_JOINT, name) + + +def aid(m, name): + return mujoco.mj_name2id(m, mujoco.mjtObj.mjOBJ_ACTUATOR, name) + + +def margin(limit, peak): + """安全余量 = (限位值 - |峰值|) / 限位值 × 100%""" + if limit is None or abs(limit) < 1e-12: + return float("nan") + return (abs(limit) - abs(peak)) / abs(limit) * 100.0 + + +def _setup_cjk_font(plt): + """配置中文字体，避免图中中文标签显示成方框（tofu）。""" + candidates = [ + "Noto Sans CJK SC", "Noto Sans CJK JP", "AR PL UMing CN", + "AR PL UKai CN", "Droid Sans Fallback", + ] + import matplotlib.font_manager as fm + available = {f.name for f in fm.fontManager.ttflist} + chosen = next((c for c in candidates if c in available), None) + if chosen is not None: + plt.rcParams["font.sans-serif"] = [chosen, "DejaVu Sans"] + print(f"已启用中文字体：{chosen}") + else: + print("警告：未找到中文字体，图中中文可能显示为方框") + plt.rcParams["axes.unicode_minus"] = False + + +def load_config(args): + """从 schema / CLI 参数合成一份运行配置。返回 (cfg, schema_dir)。""" + cfg = dict(DEMO) + schema_dir = None + + if args.schema: + with open(args.schema, encoding="utf-8") as f: + s = json.load(f) + schema_dir = os.path.dirname(os.path.abspath(args.schema)) + cfg["xml"] = s.get("model", cfg["xml"]) + cfg["input_joint"] = s.get("input_joint", cfg["input_joint"]) + cfg["output_joint"] = s.get("output_joint", cfg["output_joint"]) + cfg["gear_ratio"] = float(s.get("gear_ratio", cfg["gear_ratio"])) + lim = s.get("limits", {}) + pos = lim.get("position") + trq = lim.get("torque") + cfg["pos_lim"] = float(pos[1]) if pos else None + cfg["trq_lim"] = float(trq[1]) if trq else None + sim = s.get("simulation", {}) + cfg["duration"] = float(sim.get("duration", cfg["duration"])) + cfg["dt"] = float(sim.get("timestep", cfg["dt"])) + cfg["kp"] = float(sim.get("kp", cfg["kp"])) + cfg["kd"] = float(sim.get("kd", cfg["kd"])) + cfg["amplitude"] = float(sim.get("amplitude", cfg["amplitude"])) + cfg["frequency"] = float(sim.get("frequency", cfg["frequency"])) + cfg["load_torque"] = float(sim.get("load_torque", cfg["load_torque"])) + cfg["damping"] = float(sim.get("damping", cfg["damping"])) + cfg["mode"] = sim.get("mode", cfg["mode"]) + # schema 不含行星轮（可选观测），通用模式默认不记录行星轮 + cfg["planet_joint"] = None + + # CLI 覆盖 + if args.xml: + cfg["xml"] = args.xml + if args.input: + cfg["input_joint"] = args.input + if args.output: + cfg["output_joint"] = args.output + if args.ratio is not None: + cfg["gear_ratio"] = args.ratio + if args.planet: + cfg["planet_joint"] = args.planet + if args.mode: + cfg["mode"] = args.mode + if args.load_torque is not None: + cfg["load_torque"] = args.load_torque + + # XML 路径：相对路径相对 schema 所在目录（无 schema 则相对 CWD）解析 + xml = cfg["xml"] + if not os.path.isabs(xml): + base = schema_dir if schema_dir else os.getcwd() + xml = os.path.abspath(os.path.join(base, xml)) + cfg["xml"] = xml + cfg["out_dir"] = os.path.dirname(xml) + return cfg + + +# ------------------------------ 主流程 ------------------------------ +def main(): + ap = argparse.ArgumentParser(description="关节模组通用仿真 + 报告") + ap.add_argument("--schema", default=None, help="schema JSON 路径") + ap.add_argument("--xml", default=None, help="MJCF XML 路径（覆盖 schema.model）") + ap.add_argument("--input", default=None, help="输入关节名（覆盖 schema）") + ap.add_argument("--output", default=None, help="输出关节名（覆盖 schema）") + ap.add_argument("--ratio", type=float, default=None, help="减速比（覆盖 schema）") + ap.add_argument("--planet", default=None, help="可选：要记录的行星轮关节名") + ap.add_argument("--mode", choices=["normal", "overload"], default=None, + help="仿真模式（normal / overload，默认读 schema）") + ap.add_argument("--load-torque", type=float, default=None, + help="输出端负载 [N·m]（覆盖 schema）") + ap.add_argument("--headless", action="store_true", help="无窗口") + ap.add_argument("--fast", action="store_true", help="弹窗但不按真实时间步进") + ap.add_argument("--plot", action="store_true", help="导出 PNG 曲线（需 matplotlib）") + args = ap.parse_args() + + cfg = load_config(args) + + m = mujoco.MjModel.from_xml_path(cfg["xml"]) + d = mujoco.MjData(m) + + in_j, out_j = jid(m, cfg["input_joint"]), jid(m, cfg["output_joint"]) + if in_j < 0 or out_j < 0: + sys.exit("找不到输入/输出关节，请检查 schema 的 input_joint / output_joint") + in_dof = m.jnt_dofadr[in_j] + out_dof = m.jnt_dofadr[out_j] + + in_m, load_m = aid(m, "input_motor"), aid(m, "load_motor") + if in_m < 0 or load_m < 0: + sys.exit("找不到 input_motor / load_motor 作动器（应由 urdf_to_mjcf.py 生成）") + + p_j = jid(m, cfg["planet_joint"]) if cfg["planet_joint"] else -1 + p_dof = m.jnt_dofadr[p_j] if p_j >= 0 else -1 + has_planet = p_dof >= 0 + + # 限位：优先 schema（cfg.pos_lim/trq_lim），否则从 MJCF 读（demo 回退路径） + pos_lim = cfg["pos_lim"] if cfg["pos_lim"] is not None else m.jnt_range[in_j][1] + trq_lim = cfg["trq_lim"] if cfg["trq_lim"] is not None else m.actuator_ctrlrange[in_m][1] + + DT = cfg["dt"] + nsteps = int(cfg["duration"] / DT) + t_arr = np.zeros(nsteps) + q_in, qd_in, qacc_in = np.zeros(nsteps), np.zeros(nsteps), np.zeros(nsteps) + q_out, qd_out, qacc_out = np.zeros(nsteps), np.zeros(nsteps), np.zeros(nsteps) + q_p, qd_p = np.zeros(nsteps), np.zeros(nsteps) + q_ref_arr, qd_ref_arr = np.zeros(nsteps), np.zeros(nsteps) + tau_in_arr, tau_out_arr, power_arr = np.zeros(nsteps), np.zeros(nsteps), np.zeros(nsteps) + + mujoco.mj_resetData(m, d) + + viewer = None + if not args.headless: + try: + viewer = mujoco.viewer.launch_passive(m, d) + print("已打开可视化窗口（关闭窗口可提前结束仿真）") + except Exception as e: + print(f"无法打开可视化窗口（可能缺显示器/X11）：{e}") + print("退回无头模式继续计算…") + viewer = None + + w = 2.0 * np.pi * cfg["frequency"] + t_start = time.perf_counter() + try: + for k in range(nsteps): + t = k * DT + # 升余弦包络平滑启动：参考从 0 位置、0 速度起跳，避免 t=0 速度跳变 + if t < RAMP_TIME: + env = 0.5 * (1.0 - np.cos(np.pi * t / RAMP_TIME)) + denv = 0.5 * np.pi / RAMP_TIME * np.sin(np.pi * t / RAMP_TIME) + else: + env = 1.0 + denv = 0.0 + q_ref = cfg["amplitude"] * np.sin(w * t) * env + qd_ref = cfg["amplitude"] * (w * np.cos(w * t) * env + np.sin(w * t) * denv) + + tau_in = cfg["kp"] * (q_ref - d.qpos[in_dof]) + cfg["kd"] * (qd_ref - d.qvel[in_dof]) + d.ctrl[in_m] = tau_in + d.ctrl[load_m] = cfg["load_torque"] + mujoco.mj_step(m, d) + + t_arr[k] = t + q_in[k] = d.qpos[in_dof]; qd_in[k] = d.qvel[in_dof]; qacc_in[k] = d.qacc[in_dof] + q_out[k] = d.qpos[out_dof]; qd_out[k] = d.qvel[out_dof]; qacc_out[k] = d.qacc[out_dof] + if has_planet: + q_p[k] = d.qpos[p_dof]; qd_p[k] = d.qvel[p_dof] + q_ref_arr[k] = q_ref; qd_ref_arr[k] = qd_ref + tau_in_arr[k] = d.actuator_force[in_m] + tau_out_arr[k] = d.qfrc_constraint[out_dof] + power_arr[k] = tau_out_arr[k] * qd_out[k] + + if viewer is not None: + viewer.sync() + if not args.fast: + elapsed = time.perf_counter() - t_start + sim_t = (k + 1) * DT + if elapsed < sim_t: + time.sleep(sim_t - elapsed) + if not viewer.is_running(): + print("窗口已关闭，提前结束仿真") + nsteps = k + 1 + break + finally: + if viewer is not None: + viewer.close() + + t_arr = t_arr[:nsteps]; q_in = q_in[:nsteps]; qd_in = qd_in[:nsteps]; qacc_in = qacc_in[:nsteps] + q_out = q_out[:nsteps]; qd_out = qd_out[:nsteps]; qacc_out = qacc_out[:nsteps] + q_p = q_p[:nsteps]; qd_p = qd_p[:nsteps] + q_ref_arr = q_ref_arr[:nsteps]; qd_ref_arr = qd_ref_arr[:nsteps] + tau_in_arr = tau_in_arr[:nsteps]; tau_out_arr = tau_out_arr[:nsteps]; power_arr = power_arr[:nsteps] + + # ------------------------------ 写 CSV（写到 MJCF 所在目录） ------------------------------ + cols = [t_arr, q_in, qd_in, qacc_in, q_ref_arr, qd_ref_arr, + q_out, qd_out, qacc_out, tau_in_arr, tau_out_arr, power_arr] + header = ("time,input_q,input_qd,input_qacc,q_ref,qd_ref," + "output_q,output_qd,output_qacc,tau_in,tau_out,power_out") + if has_planet: + cols.insert(9, q_p); cols.insert(10, qd_p) + header = header.replace("tau_in", "planet_q,planet_qd,tau_in") + data = np.column_stack(cols) + csv_path = os.path.join(cfg["out_dir"], "timeseries.csv") + np.savetxt(csv_path, data, delimiter=",", header=header, comments="", fmt="%.8f") + + # ------------------------------ 汇总报告 ------------------------------ + half = nsteps // 2 + tau_in_ss = np.abs(tau_in_arr[half:]).mean() + tau_out_ss = np.abs(tau_out_arr[half:]).mean() + N = cfg["gear_ratio"] + efficiency = (tau_out_ss / (N * tau_in_ss)) * 100.0 if tau_in_ss > 1e-9 else float("nan") + + # ------------------------------ 汇总报告（打印到终端 + 写 report.txt） ------------------------------ + rm = np.sqrt(np.mean((q_in - q_ref_arr) ** 2)) + vm = np.sqrt(np.mean((qd_in - qd_ref_arr) ** 2)) + # 传动比实测：用带截距的最小二乘斜率估计 q_out = k·q_in + b 的 k。 + # 不能逐点 q_out/q_in 再取均值——q_in 过零处软约束相位滞后会让比值爆表甚至变号， + # 把均值带偏（如 0.112368 vs 真实 0.111111）。带截距斜率对相位滞后与负载静偏置 + # （q_out 恒滞后一个常数角）都不敏感，能精确还原 1/N。 + ratio_measured = float(np.polyfit(q_in[half:], q_out[half:], 1)[0]) + mgn_pos = margin(pos_lim, abs(q_in).max()) + mgn_trq = margin(trq_lim, abs(tau_in_arr).max()) + + rep = [] + rep.append("=" * 64) + rep.append("关节模组仿真报告") + rep.append("=" * 64) + rep.append(f"模型 : {os.path.basename(cfg['xml'])}") + rep.append(f"输入端 : {cfg['input_joint']} 输出端: {cfg['output_joint']}") + rep.append(f"标称减速比 1 : {N:.4f}（输出 = 输入/{N:.4f}）") + rep.append(f"仿真模式 : {cfg['mode']}") + rep.append(f"负载力矩 : {cfg['load_torque']:.4f} N·m 阻尼: {cfg['damping']}") + rep.append("") + rep.append("[1] 运动学（跟踪精度）") + rep.append(f" 输入位置峰值 : {abs(q_in).max():.4f} rad (参考 {cfg['amplitude']:.4f})") + rep.append(f" 位置跟踪误差 (RMS) : {rm:.4f} rad") + rep.append(f" 速度跟踪误差 (RMS) : {vm:.4f} rad/s") + rep.append(f" 输出位置峰值 : {abs(q_out).max():.4f} rad (应为 {cfg['amplitude']/N:.4f})") + rep.append(f" 传动比实测 : {ratio_measured:.6f} (期望 {1/N:.6f})") + rep.append("") + rep.append("[2] 动力学（力矩与功率）") + rep.append(f" 输入力矩 (稳态均值) : {tau_in_ss:.4f} N·m") + rep.append(f" 输出力矩 (稳态均值) : {tau_out_ss:.4f} N·m") + rep.append(f" 理想输出 = 输入×{N:.4f} : {N*tau_in_ss:.4f} N·m") + rep.append(f" 力矩损失 : {N*tau_in_ss - tau_out_ss:.4f} N·m") + rep.append(f" 效率 η = 输出/(输入×{N:.4f}) : {efficiency:.2f} %") + rep.append(f" 输入力矩峰值 (瞬态) : {abs(tau_in_arr).max():.4f} N·m") + rep.append(f" 输出功率峰值 : {abs(power_arr).max():.4f} W") + rep.append("") + rep.append("[3] 安全性（安全余量）") + rep.append(f" 位置余量 (限位 ±{pos_lim:.4f} rad) : {mgn_pos:.2f} %") + rep.append(f" 力矩余量 (限位 ±{trq_lim:.4f} N·m) : {mgn_trq:.2f} %") + rep.append(f" 过载判定 : {'⚠ 余量 < 20%，存在过载风险' if mgn_trq < 20 else '✓ 余量充足'}") + rep.append("") + rep.append("=" * 64) + rep.append(f"已写出 {csv_path}") + rep.append("=" * 64) + + report_text = "\n".join(rep) + "\n" + print("\n" + report_text) + report_path = os.path.join(cfg["out_dir"], "report.txt") + with open(report_path, "w", encoding="utf-8") as f: + f.write(report_text) + print(f"已写出报告 {report_path}") + + # overload 模式：额外产出一份过载报告 + if cfg["mode"] == "overload": + tau_peak = float(np.abs(tau_in_arr).max()) + if mgn_trq <= 0: + verdict = "⚠ 已过载（输入力矩达到额定限位）" + elif mgn_trq < 20.0: + verdict = "⚠ 接近过载（力矩余量 < 20%）" + else: + verdict = "✓ 未过载" + orep = [ + "=" * 48, + "过载仿真报告", + "=" * 48, + f"模型 : {os.path.basename(cfg['xml'])}", + f"仿真模式 : {cfg['mode']}", + f"额定力矩限位 : ±{trq_lim:.4f} N·m", + f"施加负载力矩 : {cfg['load_torque']:.4f} N·m", + f"输入力矩峰值 : {tau_peak:.4f} N·m", + f"力矩余量 : {mgn_trq:.2f} %", + f"位置跟踪误差 : {rm:.4f} rad (RMS)", + f"过载判定 : {verdict}", + "=" * 48, + ] + orep_text = "\n".join(orep) + "\n" + orep_path = os.path.join(cfg["out_dir"], "overload_report.txt") + with open(orep_path, "w", encoding="utf-8") as f: + f.write(orep_text) + print(f"\n已写出过载报告 {orep_path}") + print(orep_text) + + if args.plot: + try: + import matplotlib + matplotlib.use("Agg") + import matplotlib.pyplot as plt + _setup_cjk_font(plt) + fig, ax = plt.subplots(3, 1, figsize=(9, 10), sharex=True) + ax[0].plot(t_arr, q_in, label="input") + ax[0].plot(t_arr, q_out, label="output") + if has_planet: + ax[0].plot(t_arr, q_p, label="planet") + ax[0].set_ylabel("位置 [rad]"); ax[0].legend() + ax[1].plot(t_arr, tau_in_arr, label="tau_in") + ax[1].plot(t_arr, tau_out_arr, label="tau_out") + ax[1].set_ylabel("力矩 [N·m]"); ax[1].legend() + ax[2].plot(t_arr, power_arr, label="power_out") + ax[2].set_ylabel("功率 [W]"); ax[2].set_xlabel("时间 [s]"); ax[2].legend() + fig.tight_layout() + png_path = os.path.join(cfg["out_dir"], "report_curves.png") + fig.savefig(png_path, dpi=120) + print(f"已写出 {png_path}") + except ImportError: + print("未安装 matplotlib，跳过绘图") + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/scripts/urdf_to_mjcf.py b/scripts/urdf_to_mjcf.py new file mode 100644 index 0000000..c5694ae --- /dev/null +++ b/scripts/urdf_to_mjcf.py @@ -0,0 +1,600 @@ +#!/usr/bin/env python3 +""" +关节模组 URDF → MJCF 转换小工具（专用版） +===================================================================== + +把一个「关节模组」的 URDF 转成 MuJoCo 可用的 MJCF（.xml），**不改变任何 +运动学 / 动力学 / 传动关系**，只补上原 URDF 里缺失、但仿真必需的部分： + + 1. 质量 / 重心 / 惯性张量 —— 从每个 link 的 STL 网格做体积分（trimesh）， + 按材料密度（脚本顶部的常数表）算出，多网格用平行轴定理合成。 + 2. —— 输入电机 + 输出负载（原 URDF 没有）。 + 3. 渲染网格覆盖 —— 个别 STL 面数超过 MuJoCo 上限(20万)，渲染时换降采样版。 + +已严格保真的部分（直接照搬 URDF，绝不动）： + - 关节层级：/ 决定 body 的父子关系； + → 子 （不是 ！） + → 子 （rpy 反转，z-y-x） + - 转轴： → （子 link 系内，直接映射） + - 限位： → + - 减速比： → polycoef（joint1 = offset + multiplier·joint2） + - 视觉： → （仅视觉，contype/conaffinity=0） + +关键 MuJoCo 语义（易错点，务必保持）： + - MuJoCo 的 是转轴相对 **body 帧** 的偏移，默认 0 即轴过 body 原点。 + URDF 的 是「子 link 系相对父系」的位姿，对应子 。 + 两者不是一回事 —— 填错会把行星轮挂到体外轴上公转。 + - 等价 joint1=本关节 joint2=被 mimic 关节 + polycoef="offset M 0 0 0"。 + +用法（在 scripts/ 目录下运行）： + python3 urdf_to_mjcf.py # 默认转换本案例 + python3 urdf_to_mjcf.py --urdf ../urdf/foo.urdf --out foo.xml + python3 urdf_to_mjcf.py --input <关节名> --output <关节名> # 手动指定输入/输出端 + +依赖：numpy, trimesh（pip install trimesh） +""" + +import argparse +import os +import shutil +import xml.etree.ElementTree as ET + +import numpy as np + +try: + import trimesh +except ImportError as e: # pragma: no cover + raise SystemExit("缺少依赖 trimesh，请先 `pip install trimesh`") from e + + +# ============================================================================= +# 材料密度常数 (kg/m³) —— 在这里给定 / 修改 +# ============================================================================= +# 默认按钢处理；个别混合/轻质零件单独覆盖。这些就是「关节模组」需要标定的常数。 +DEFAULT_DENSITY = 7850.0 # 钢（太阳轮、行星架、行星轮） +DENSITIES = { + "fixed_structure": 2700.0, # 固定结构 —— 铝合金 + "motor_stator": 7200.0, # 定子 —— 硅钢+铜绕组，工程估算等效密度 + "motor_rotor": 7600.0, # 转子 —— 硅钢+磁钢，工程估算等效密度 + # 其余（sun_drive / carrier_link / planet_*_link）走默认钢 7850 +} + +# STL 单位换算：URDF 里 mesh 的 scale 通常是 0.001（毫米 → 米）。 +# 质量/惯量按「缩放后（米）」的体积分计算，保证 SI 单位（kg / kg·m²）； +# 渲染 scale 逐 mesh 从 URDF 读取（见 build_mjcf 的 asset 生成）。 + +# 渲染网格覆盖：某 STL 原始面数超过 MuJoCo 顶点上限(20万)，渲染时用降采样版； +# 但质量/惯量仍按 **原始网格** 计算，不改变动力学。{mesh 名: 渲染用文件名} +# 不在此表里的超面数网格，由 render_file_for() 在转换时自动降采样。 +MESH_ASSET_OVERRIDE = { + "motor_stator": "motor_stator_decimated.stl", +} + +# MuJoCo 单个 STL 网格的面数上限（超出会报错）；自动降采样的目标面数。 +MAX_MJC_FACES = 200000 +DECIMATE_TARGET_FACES = 100000 + +# ============================================================================= +# 仿真参数（关节模组默认；不影响运动学/传动，仅数值/安全相关） +# ============================================================================= +TIMESTEP = 0.001 # [s] +GRAVITY = (0.0, 0.0, -9.81) +JOINT_DAMPING = 0.01 # 数值阻尼（避免刚性齿轮约束震荡） +JOINT_ARMATURE = 0.0005 # 电枢惯量 +TORQUE_LIMIT = 10.0 # 输入力矩限位 [N·m]（占位，应填真实电机额定值） +LOAD_CTRLRANGE = 1.0e6 # 负载电机 ctrlrange：测试边界条件，不限流（可施加任意负载做过载仿真） +SOLREF = (0.002, 1.0) # 齿轮约束软约束 solref +SOLIMP = (0.9, 0.95, 0.0001) # 齿轮约束 solimp + + +# ============================================================================= +# 小工具函数 +# ============================================================================= +def _vec(el, attr, default): + if el is None or attr not in el.attrib: + return np.array(default, dtype=float) + return np.array([float(x) for x in el.get(attr).split()], dtype=float) + + +def parse_origin(origin_el): + """返回 (xyz, rpy)，缺省为零。""" + if origin_el is None: + return np.zeros(3), np.zeros(3) + xyz = _vec(origin_el, "xyz", [0, 0, 0]) + rpy = _vec(origin_el, "rpy", [0, 0, 0]) + return xyz, rpy + + +def parse_axis(axis_el): + """URDF 转轴（子 link 系内），缺省 (1,0,0)。""" + return _vec(axis_el, "xyz", [1, 0, 0]) + + +def parse_limit(limit_el): + """返回 (lower, upper)，无 返回 None。""" + if limit_el is None: + return None + return (float(limit_el.get("lower")), float(limit_el.get("upper"))) + + +def parse_mimic(mimic_el): + """返回 dict(joint, multiplier, offset)，无 返回 None。""" + if mimic_el is None: + return None + return { + "joint": mimic_el.get("joint"), + "multiplier": float(mimic_el.get("multiplier", "1")), + "offset": float(mimic_el.get("offset", "0")), + } + + +def parse_mesh_scale(mesh_el): + """返回 mesh 的 scale（默认 1 1 1）。""" + if mesh_el is None: + return np.array([1.0, 1.0, 1.0]) + return _vec(mesh_el, "scale", [1, 1, 1]) + + +def parse_color(material_el, global_materials): + """提取材质 RGBA（前 3 通道），找不到用默认灰。""" + rgba = None + if material_el is not None: + color_el = material_el.find("color") + if color_el is not None: + rgba = color_el.get("rgba") + elif material_el.get("name") in global_materials: + rgba = global_materials[material_el.get("name")] + if rgba is None: + return (0.7, 0.7, 0.7) + vals = [float(x) for x in rgba.split()] + return tuple(vals[:3]) + + +def rpy_to_euler(rpy): + """URDF rpy(固定轴 x-y-z, R=Rz·Ry·Rx) → MuJoCo euler(体轴 x-y-z, R=Rx·Ry·Rz)。 + 两者不是简单重排（Rx·Ry·Rz ≠ Rz·Ry·Rx），必须由旋转矩阵解出 MuJoCo 的 x-y-z 欧拉角。""" + R = rpy_to_mat(rpy) + ey = np.arcsin(np.clip(R[0, 2], -1.0, 1.0)) + ez = np.arctan2(-R[0, 1], R[0, 0]) + ex = np.arctan2(-R[1, 2], R[2, 2]) + return np.array([ex, ey, ez]) + + +def rpy_to_mat(rpy): + """rpy → 旋转矩阵 R = Rz(rz)·Ry(ry)·Rx(rx)。""" + cx, sx = np.cos(rpy[0]), np.sin(rpy[0]) + cy, sy = np.cos(rpy[1]), np.sin(rpy[1]) + cz, sz = np.cos(rpy[2]), np.sin(rpy[2]) + Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]]) + Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]]) + Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]]) + return Rz @ Ry @ Rx + + +def fmt(x): + """浮点 → 字符串（6 位有效数字，紧凑科学计数）。""" + return f"{float(x):.6g}" + + +def fmt_vec(v): + return " ".join(fmt(x) for x in v) + + +def fmt_urdf(x): + """URDF 原值：最短精确表示（整数值去 .0），保证与源 URDF 逐位一致。 + 用于「照搬不改」的字段：限位、减速比、原点、轴、mesh scale。""" + v = float(x) + if v == int(v) and abs(v) < 1e15: + return str(int(v)) + return repr(v) + + +def fmt_vec_urdf(v): + return " ".join(fmt_urdf(x) for x in v) + + +# ============================================================================= +# 质量 / 重心 / 惯性 计算（STL 体积分） +# ============================================================================= +def mesh_mass_props(path, density, scale): + """加载 STL，返回 (mass, com, inertia)： + mass [kg]、com [m，网格自身坐标系]、inertia [kg·m²，关于自身质心，网格系]。""" + mesh = trimesh.load(path, force="mesh") + if isinstance(mesh, trimesh.Scene): + # 多物体场景：合并几何 + mesh = trimesh.util.concatenate(list(mesh.geometry.values())) + # 均匀缩放（毫米→米）。非均匀 scale 这里按体积近似，误差可忽略（本案例均 0.001） + s = float(scale[0]) + mesh.apply_scale(s) + mass = density * abs(mesh.volume) + com = np.asarray(mesh.center_mass, dtype=float) + inertia = np.asarray(mesh.moment_inertia, dtype=float) * density + return mass, com, inertia + + +def link_mass_props(visuals, mesh_dir): + """把一个 link 的多个视觉网格，按各自 origin 合成质量/重心/惯性（link 系）。""" + items = [] + for vis in visuals: + if vis["mesh_filename"] is None: + continue # 非 mesh 几何（本案例没有）跳过 + base = vis["mesh_base"] + src = os.path.join(mesh_dir, base + ".stl") # 原始网格算质量 + origin, rpy = vis["origin"] + density = DENSITIES.get(base, DEFAULT_DENSITY) + mass, com_m, inertia_m = mesh_mass_props(src, density, vis["scale"]) + R = rpy_to_mat(rpy) + com_link = origin + R @ com_m # 网格质心 → link 系 + inertia_link = R @ inertia_m @ R.T # 惯性张量旋到 link 系 + items.append((mass, com_link, inertia_link)) + + if not items: + return 0.0, np.zeros(3), np.zeros((3, 3)) + + total_mass = sum(m for m, _, _ in items) + com = sum(m * c for m, c, _ in items) / total_mass + inertia = np.zeros((3, 3)) + for mass, c, I in items: + d = c - com + inertia += I + mass * (np.dot(d, d) * np.eye(3) - np.outer(d, d)) + return total_mass, com, inertia + + +# ============================================================================= +# 网格降采样（仅用于渲染；质量/惯量始终按原始网格，见 link_mass_props） +# ============================================================================= +def stl_face_count(path): + """读二进制 STL 的三角面数（offset 80 的 uint32）。非二进制返回 0。""" + with open(path, "rb") as f: + if f.read(5).lower().startswith(b"solid"): + return 0 + f.seek(80) + return int(np.frombuffer(f.read(4), dtype=" 自动降采样 > 原文件。""" + if base in MESH_ASSET_OVERRIDE: + # 显式覆盖仅当覆盖文件真实存在于源网格目录时才生效；否则退回通用降采样路径， + # 让新模组里同样超面数的同名网格自动生成 *_decimated.stl（否则会引用一个不存在的文件）。 + override = MESH_ASSET_OVERRIDE[base] + if os.path.isfile(os.path.join(src_mesh_dir, override)): + return override + src = os.path.join(src_mesh_dir, base + ".stl") + if os.path.isfile(src) and stl_face_count(src) > MAX_MJC_FACES: + dec = base + "_decimated.stl" + dst = os.path.join(out_mesh_dir, dec) + if not os.path.isfile(dst): + os.makedirs(out_mesh_dir, exist_ok=True) + decimate_stl(src, dst, DECIMATE_TARGET_FACES) + return dec + return base + ".stl" + + +# ============================================================================= +# URDF 解析 +# ============================================================================= +def parse_urdf(path): + tree = ET.parse(path) + robot = tree.getroot() + + # 顶层 （本案例用的是视觉内联 ，这里留作兜底） + global_materials = {} + for mat in robot.findall("material"): + color_el = mat.find("color") + if color_el is not None: + global_materials[mat.get("name")] = color_el.get("rgba") + + links = {} + for link in robot.findall("link"): + name = link.get("name") + visuals = [] + for vis in link.findall("visual"): + origin = parse_origin(vis.find("origin")) + geom_el = vis.find("geometry") + mesh_el = geom_el.find("mesh") if geom_el is not None else None + mesh_filename = mesh_el.get("filename") if mesh_el is not None else None + mesh_base = (os.path.splitext(os.path.basename(mesh_filename))[0] + if mesh_filename else None) + visuals.append({ + "origin": origin, + "mesh_filename": mesh_filename, + "mesh_base": mesh_base, + "scale": parse_mesh_scale(mesh_el), + "color": parse_color(vis.find("material"), global_materials), + }) + links[name] = {"name": name, "visuals": visuals} + + joints = [] + for j in robot.findall("joint"): + joints.append({ + "name": j.get("name"), + "type": j.get("type", "revolute"), + "parent": j.find("parent").get("link"), + "child": j.find("child").get("link"), + "origin": parse_origin(j.find("origin")), + "axis": parse_axis(j.find("axis")), + "limit": parse_limit(j.find("limit")), + "mimic": parse_mimic(j.find("mimic")), + }) + + return robot.get("name"), links, joints + + +def build_tree(links, joints): + """由关节 parent/child 建立 body 树，返回 (roots, children_by_parent)。""" + parent_of = {} # child link -> joint + children = {} # parent link -> [joints] + for link in links: + children[link] = [] + for j in joints: + parent_of[j["child"]] = j + children.setdefault(j["parent"], []).append(j) + + roots = [name for name in links if name not in parent_of] + return roots, children + + +def detect_input_output(joints): + """关节模组自动识别输入/输出端： + 输入 = 唯一没有 的关节（独立驱动源）； + 输出 = 以正 multiplier 跟随输入的关节（减速输出）。 + 也可用 --input/--output 手动指定。""" + no_mimic = [j for j in joints if j["mimic"] is None] + input_j = no_mimic[0] if len(no_mimic) == 1 else None + output_j = None + if input_j is not None: + for j in joints: + m = j["mimic"] + if m is not None and m["joint"] == input_j["name"] and m["multiplier"] > 0: + output_j = j + break + return input_j, output_j + + +# ============================================================================= +# MJCF 生成 +# ============================================================================= +# URDF 关节类型 → MuJoCo 关节类型。URDF 的 fixed 关节（0 自由度，刚体固连）在 +# MJCF 里用「子 body 不写 」表达（子 body 的 pos/euler 已含其位姿），故映射为 None。 +_URDF_TO_MJC_JOINT = { + "revolute": "hinge", + "continuous": "hinge", + "prismatic": "slide", + "floating": "free", + "fixed": None, +} + + +def joint_xml(j): + jtype = _URDF_TO_MJC_JOINT.get(j["type"], j["type"]) + if jtype is None: # fixed：固连，不生成 + return None + attrs = [f'name="{j["name"]}"', f'type="{jtype}"', f'axis="{fmt_vec_urdf(j["axis"])}"'] + if j["limit"] is not None: + attrs.append(f'range="{fmt_urdf(j["limit"][0])} {fmt_urdf(j["limit"][1])}"') + return " ".join(attrs) + + +def inertial_xml(mass, com, inertia): + if mass <= 0: + return None + # fullinertia 顺序：ixx iyy izz ixy ixz iyz + fi = (inertia[0, 0], inertia[1, 1], inertia[2, 2], + inertia[0, 1], inertia[0, 2], inertia[1, 2]) + return (f'') + + +def geom_xml(vis, asset_scales): + base = vis["mesh_base"] + if base is None: + return None + # 记录该 mesh 的渲染 scale（来自 URDF ）。同一 mesh 若被多处引用且 scale + # 不同，以最后一次为准——本语料库所有 mesh scale 统一为 0.001，不涉及此边界情况。 + asset_scales[base] = vis["scale"] + parts = [f'type="mesh"', f'mesh="{base}"', + f'rgba="{fmt(vis["color"][0])} {fmt(vis["color"][1])} {fmt(vis["color"][2])} 1"'] + origin, rpy = vis["origin"] + if np.any(np.abs(origin) > 1e-12): + parts.append(f'pos="{fmt_vec_urdf(origin)}"') + if np.any(np.abs(rpy) > 1e-12): + parts.append(f'euler="{fmt_vec_urdf(rpy_to_euler(rpy))}"') + return "" + + +def emit_body(lines, link, links, joints, children, joint_map, mesh_dir, asset_scales, depth): + ind = " " * depth + link_name = link["name"] + + # 该 link 作为子 body 的关节（非根） + j = joint_map.get(link_name) + pos_attr = "" + if j is not None: + xyz, rpy = j["origin"] + if np.any(np.abs(xyz) > 1e-12): + pos_attr = f' pos="{fmt_vec_urdf(xyz)}"' + euler = rpy_to_euler(rpy) + if np.any(np.abs(euler) > 1e-12): + pos_attr += f' euler="{fmt_vec_urdf(euler)}"' + + lines.append(f'{ind}') + + # 惯性（link 系内） + mass, com, inertia = link_mass_props(link["visuals"], mesh_dir) + iner = inertial_xml(mass, com, inertia) + if iner is not None: + lines.append(ind + " " + iner) + + # 关节（fixed 关节固连不生成 ，仅靠 body 的 pos/euler 定位） + if j is not None: + jxml = joint_xml(j) + if jxml is not None: + lines.append(ind + " ") + + # 视觉几何 + for vis in link["visuals"]: + g = geom_xml(vis, asset_scales) + if g is not None: + lines.append(ind + " " + g) + + # 子 body + for cj in children.get(link_name, []): + child_link = links[cj["child"]] + emit_body(lines, child_link, links, joints, children, joint_map, + mesh_dir, asset_scales, depth + 1) + + lines.append(f"{ind}") + + +def build_mjcf(robot_name, links, joints, mesh_dir, out_meshdir, input_j, output_j, damping, torque_limit): + roots, children = build_tree(links, joints) + joint_map = {j["child"]: j for j in joints} + asset_scales = {} + + lines = [] + lines.append(f'') + lines.append(' ') + lines.append(' ') + lines.append('') + lines.append(f' ') + + return "\n".join(lines) + "\n", render_file + + +# ============================================================================= +# 主流程 +# ============================================================================= +def main(): + here = os.path.dirname(os.path.abspath(__file__)) + ap = argparse.ArgumentParser(description="关节模组 URDF → MJCF 转换") + ap.add_argument("--urdf", default=os.path.join(here, "..", "urdf", + "planetary_joint_split_motor_demo.urdf")) + ap.add_argument("--out", default=os.path.join(here, + "planetary_joint_split_motor_demo_generated.xml")) + ap.add_argument("--meshdir", default=os.path.join(here, "meshes"), + help="网格输出目录（把 URDF 引用的 STL 拷进来，默认 urdf/meshes 即 URDF 同目录）") + ap.add_argument("--input", default=None, help="手动指定输入关节名") + ap.add_argument("--output", default=None, help="手动指定输出关节名") + ap.add_argument("--damping", type=float, default=JOINT_DAMPING, + help=f"关节粘性阻尼（默认 {JOINT_DAMPING}）") + ap.add_argument("--torque-limit", type=float, default=TORQUE_LIMIT, + help=f"输入力矩限位 [N·m]（默认 {TORQUE_LIMIT}）") + ap.add_argument("--no-copy", action="store_true", help="不拷贝网格文件") + args = ap.parse_args() + + urdf_path = os.path.abspath(args.urdf) + robot_name, links, joints = parse_urdf(urdf_path) + mesh_dir = os.path.join(os.path.dirname(urdf_path), "meshes") + + input_j, output_j = detect_input_output(joints) + if args.input: + input_j = next((j for j in joints if j["name"] == args.input), None) or input_j + if args.output: + output_j = next((j for j in joints if j["name"] == args.output), None) or output_j + + os.makedirs(args.meshdir, exist_ok=True) + xml_text, render_file = build_mjcf(robot_name, links, joints, mesh_dir, + args.meshdir, input_j, output_j, args.damping, + args.torque_limit) + + with open(args.out, "w", encoding="utf-8") as f: + f.write(xml_text) + + # 拷贝网格（降采样网格已由 render_file_for 直接写进 meshdir，这里只拷原文件/覆盖文件） + if not args.no_copy: + for base, file in render_file.items(): + src = os.path.join(mesh_dir, file) + dst = os.path.join(args.meshdir, file) + if os.path.exists(src): + shutil.copy2(src, dst) + + # 汇总 + print(f"已生成 {os.path.abspath(args.out)}") + print(f" links : {len(links)} joints: {len(joints)}") + print(f" 阻尼 : {args.damping}") + if input_j is not None: + print(f" 输入端 : {input_j['name']}") + if output_j is not None: + m = output_j["mimic"] + ratio = 1.0 / m["multiplier"] if m and m["multiplier"] != 0 else float("nan") + print(f" 输出端 : {output_j['name']} 减速比 ≈ 1:{ratio:.4f}") + for link_name, link in sorted(links.items()): + mass, com, _ = link_mass_props(link["visuals"], mesh_dir) + print(f" [{link_name}] 质量 {mass*1000:.1f} g 重心 {fmt_vec(com)}") + + +if __name__ == "__main__": + main() diff --git a/scripts/validate_module.py b/scripts/validate_module.py new file mode 100644 index 0000000..d51d416 --- /dev/null +++ b/scripts/validate_module.py @@ -0,0 +1,134 @@ +#!/usr/bin/env python3 +""" +关节模组一键验证入口（编排 urdf_to_mjcf → generate_schema → simulate_report） +==================================================================== + +把「URDF → MJCF → schema → 仿真报告」整条流水线串起来，一条命令跑完。 +这相当于后端处理「用户上传一份 URDF + mesh」时干的事：你拿任意一份关节模组 URDF +丢进来，只要显式给出输入/输出关节，就能得到自包含 MJCF、schema JSON 和仿真报告。 + +三个步骤各自都能单独跑（见 docs/architecture.md 的「分步运行」），本脚本只是把它们按顺序编排， +并把产物统一放到同一个工作目录（默认 = URDF 所在目录）。 + +用法（在 scripts/ 目录下运行）： + python3 validate_module.py \ + --urdf /path/to/joint_module.urdf \ + --input sun_input_joint --output carrier_output_joint + +常用可选参数： + --work-dir DIR 产物输出目录（默认 URDF 所在目录） + --ratio N 减速比（URDF 输出关节无 时手动指定） + --torque-limit T 输入力矩限位 [N·m]（默认 ±10，占位） + --position-limit P 输入关节无 时的位置限位 ±rad（默认 ±12π） + --show 弹可视化窗口（默认无头模式） + --plot 追加 report_curves.png 曲线图 + +产物（都在 work-dir 下）： + .xml 自包含 MJCF（meshdir="meshes"，网格已拷到 meshes/） + .json schema JSON + report.txt 仿真报告 + timeseries.csv 逐时间步观测 + report_curves.png 曲线图（--plot） +""" +import argparse +import os +import re +import subprocess +import sys + + +SCRIPTS_DIR = os.path.dirname(os.path.abspath(__file__)) + + +def robot_name_of(urdf): + """从 URDF 根元素 取机器名，作为默认 module_id。""" + with open(urdf, encoding="utf-8") as f: + head = f.read(2048) + m = re.search(r']*\bname="([^"]+)"', head) + return m.group(1) if m else os.path.splitext(os.path.basename(urdf))[0] + + +def run(cmd, what): + print(f"\n== {what} ==") + print(" " + " ".join(cmd)) + r = subprocess.run(cmd, cwd=SCRIPTS_DIR) + if r.returncode != 0: + sys.exit(f"[失败] {what}（退出码 {r.returncode}）") + + +def main(): + ap = argparse.ArgumentParser(description="关节模组一键验证（URDF→MJCF→schema→报告）") + ap.add_argument("--urdf", required=True, help="输入 URDF 路径") + ap.add_argument("--input", required=True, help="输入关节名（电机端，显式指定）") + ap.add_argument("--output", required=True, help="输出关节名（模组末端，显式指定）") + ap.add_argument("--work-dir", default=None, help="产物输出目录（默认 URDF 所在目录）") + ap.add_argument("--module-id", default=None, help="模组唯一标识（默认 URDF 的 robot 名）") + ap.add_argument("--ratio", type=float, default=None, help="手动指定减速比") + ap.add_argument("--torque-limit", type=float, default=10.0, help="输入力矩限位 [N·m]") + ap.add_argument("--position-limit", type=float, default=None, help="位置限位 ±rad") + ap.add_argument("--load-torque", type=float, default=-3.0, + help="输出端恒值负载 [N·m]（负=阻力，默认 -3.0）") + ap.add_argument("--damping", type=float, default=0.01, help="关节粘性阻尼（默认 0.01）") + ap.add_argument("--mode", choices=["normal", "overload"], default="normal", + help="仿真模式（normal / overload，默认 normal）") + ap.add_argument("--show", action="store_true", help="弹可视化窗口（默认无头）") + ap.add_argument("--plot", action="store_true", help="导出曲线 PNG") + args = ap.parse_args() + + urdf = os.path.abspath(args.urdf) + if not os.path.isfile(urdf): + sys.exit(f"找不到 URDF：{urdf}") + + work_dir = os.path.abspath(args.work_dir) if args.work_dir else os.path.dirname(urdf) + os.makedirs(work_dir, exist_ok=True) + + module_id = args.module_id or robot_name_of(urdf) + xml_path = os.path.join(work_dir, module_id + ".xml") + json_path = os.path.join(work_dir, module_id + ".json") + mesh_dir = os.path.join(work_dir, "meshes") + + py = sys.executable + + # 1) URDF → MJCF + cmd1 = [py, os.path.join(SCRIPTS_DIR, "urdf_to_mjcf.py"), + "--urdf", urdf, "--out", xml_path, "--meshdir", mesh_dir, + "--input", args.input, "--output", args.output, + "--damping", str(args.damping), + "--torque-limit", str(args.torque_limit)] + run(cmd1, "① URDF → MJCF") + + # 2) URDF → schema + cmd2 = [py, os.path.join(SCRIPTS_DIR, "generate_schema.py"), + "--urdf", urdf, "--input", args.input, "--output", args.output, + "--model", os.path.basename(xml_path), "--out", json_path, + "--module-id", module_id, + "--torque-limit", str(args.torque_limit), + "--load-torque", str(args.load_torque), + "--damping", str(args.damping), + "--mode", args.mode] + if args.ratio is not None: + cmd2 += ["--ratio", str(args.ratio)] + if args.position_limit is not None: + cmd2 += ["--position-limit", str(args.position_limit)] + run(cmd2, "② URDF → schema") + + # 3) schema → 仿真报告 + cmd3 = [py, os.path.join(SCRIPTS_DIR, "simulate_report.py"), + "--schema", json_path, "--headless"] + if args.plot: + cmd3 += ["--plot"] + if args.show: + cmd3.remove("--headless") + run(cmd3, "③ 仿真 + 报告") + + print("\n全部完成。产物：") + print(f" MJCF : {xml_path}") + print(f" schema : {json_path}") + print(f" 报告 : {os.path.join(work_dir, 'report.txt')}") + print(f" 观测 : {os.path.join(work_dir, 'timeseries.csv')}") + if args.plot: + print(f" 曲线 : {os.path.join(work_dir, 'report_curves.png')}") + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/urdf/meshes/carrier_link.stl b/urdf/meshes/carrier_link.stl new file mode 100644 index 0000000..22d49f1 Binary files /dev/null and b/urdf/meshes/carrier_link.stl differ diff --git a/urdf/meshes/fixed_structure.stl b/urdf/meshes/fixed_structure.stl new file mode 100644 index 0000000..4562d64 Binary files /dev/null and b/urdf/meshes/fixed_structure.stl differ diff --git a/urdf/meshes/motor_rotor.stl b/urdf/meshes/motor_rotor.stl new file mode 100644 index 0000000..1d394e1 Binary files /dev/null and b/urdf/meshes/motor_rotor.stl differ diff --git a/urdf/meshes/motor_stator.stl b/urdf/meshes/motor_stator.stl new file mode 100644 index 0000000..550d795 Binary files /dev/null and b/urdf/meshes/motor_stator.stl differ diff --git a/urdf/meshes/motor_stator_decimated.stl b/urdf/meshes/motor_stator_decimated.stl new file mode 100644 index 0000000..4882f79 Binary files /dev/null and b/urdf/meshes/motor_stator_decimated.stl differ diff --git a/urdf/meshes/planet_0_link.stl b/urdf/meshes/planet_0_link.stl new file mode 100644 index 0000000..cd70a9f Binary files /dev/null and b/urdf/meshes/planet_0_link.stl differ diff --git a/urdf/meshes/planet_1_link.stl b/urdf/meshes/planet_1_link.stl new file mode 100644 index 0000000..54d8961 Binary files /dev/null and b/urdf/meshes/planet_1_link.stl differ diff --git a/urdf/meshes/planet_2_link.stl b/urdf/meshes/planet_2_link.stl new file mode 100644 index 0000000..e0852d6 Binary files /dev/null and b/urdf/meshes/planet_2_link.stl differ diff --git a/urdf/meshes/sun_drive.stl b/urdf/meshes/sun_drive.stl new file mode 100644 index 0000000..fbc085a Binary files /dev/null and b/urdf/meshes/sun_drive.stl differ diff --git a/urdf/planetary_joint_split_motor_demo.urdf b/urdf/planetary_joint_split_motor_demo.urdf new file mode 100644 index 0000000..0450421 --- /dev/null +++ b/urdf/planetary_joint_split_motor_demo.urdf @@ -0,0 +1,126 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robot-export.json b/urdf/robot-export.json new file mode 100644 index 0000000..99e52ab --- /dev/null +++ b/urdf/robot-export.json @@ -0,0 +1,93 @@ +{ + "schema": "simplecad.temporary_split_motor_urdf_demo.v1", + "temporary_demo_only": true, + "project_sources_modified": false, + "formal_motor_definition_remains": "single immutable 3500 COTS assembly", + "split_motor": { + "stator_step": "/Users/jerry/Downloads/3500-motor/3500-Motor_part2-定子.STEP", + "rotor_step": "/Users/jerry/Downloads/3500-motor/3500-Motor_part2-转子.STEP", + "stator_sha256": "91cc6a3d9033e74ff4d78b9802ceae32def15d5222c9537d50e7f3dfebab937f", + "rotor_sha256": "15c15bd056593d9672b4b7c331446e76c24ebb241ae59c61734b467d10d24e3b", + "stator_solid_count": 37, + "rotor_solid_count": 9, + "original_motor_solid_count": 46, + "motor_placement": { + "origin": [ + 2.0, + 0.0, + 0.0 + ], + "x_axis": [ + 0.0, + -0.9883811652466841, + -0.15199563212673947 + ], + "y_axis": [ + 1.0, + 0.0, + 0.0 + ], + "z_axis": [ + 0.0, + -0.15199563212673947, + 0.9883811652466841 + ] + }, + "rotor_motion_group": "sun_link" + }, + "kinematics": { + "driver": "sun_input_joint", + "axis": [ + 1, + 0, + 0 + ], + "rotor_sun_multiplier": 1.0, + "carrier_multiplier": 0.16666666666666666, + "planet_relative_multiplier": -0.4166666666666667, + "ring_fixed": true + }, + "meshes": [ + { + "path": "meshes/fixed_structure.stl", + "bytes": 1538584, + "sha256": "48754d3f41032aa1b43cd2ddb3d48442c70c558f85458135184200aa2e45dc9c" + }, + { + "path": "meshes/motor_stator.stl", + "bytes": 28572384, + "sha256": "fa61093b5a1b97f0f6db070d05f1376492c449b068bac957b52a6201733fc58e" + }, + { + "path": "meshes/sun_drive.stl", + "bytes": 112484, + "sha256": "dff39aab0a1a6df379c53459df2961ba4ad60682568693a6490a0cce3cae065e" + }, + { + "path": "meshes/motor_rotor.stl", + "bytes": 526184, + "sha256": "5f0a58304dbfd785fc3fdc0aa3d2c2557fbc151e81adbd5f11da1ad9ee8686be" + }, + { + "path": "meshes/carrier_link.stl", + "bytes": 508184, + "sha256": "eca27acef8eefe282f92c7042db02dcf0a65516c9a97b0aa7668dabc9110a8ff" + }, + { + "path": "meshes/planet_0_link.stl", + "bytes": 159284, + "sha256": "6fb3cff6c91186f39f098c1e3e619f88af9be56fe31c81ed327b5e5f243ceaa5" + }, + { + "path": "meshes/planet_1_link.stl", + "bytes": 159284, + "sha256": "53474223ba8cdc31d9353e2a237823e4ce93473c9c85135cd769db126452571d" + }, + { + "path": "meshes/planet_2_link.stl", + "bytes": 159284, + "sha256": "1dd79f134d39b79350d9f39663f2b786002496289e3b8936793ac7a34d693864" + } + ], + "urdf_sha256": "d5e3bf1625a639346d616334fd8677c6af97d86f8cc58dde082a7a9dd988801f" +} \ No newline at end of file