Backup source of ロボット・ダイナミクス（単純モデル） v120330 v1.4.8 (No. 4)

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[[Tutorial]]

*ロボット・ダイナミクス [#j7cc4426]
ここでは関節を持ったオブジェクトのダイナミクスシミュレーションを行うサンプルを紹介します。
**モデルの作成 [#f84e822a]
SIGVerseのロボットモデルはOpenHRP形式で記述されています。ここでは簡単なモデルを作成してみます。

まずロボットの形状モデルなどが置かれたディレクトリに移動し、以下のファイルを作成します。
 $ cd ~/sigverse-<version>/share/data/shape/
 $ emacs robot_test.x3d

 <?xml version="1.0" encoding="UTF-8"?>
 <X3D profile="Immersive" version="3.0">
   <Scene> 
 
     <!--************PROTO宣言部***********-->
     <ProtoDeclare name='Joint' >
       <ProtoInterface>
 	<field accessType='inputOutput' type='SFVec3f' name='center'  value='0.0 0.0 0.0' />
 	<field accessType='inputOutput' type='MFNode' name='children'	/>
 	<field accessType='inputOutput' type='MFFloat' name='llimit'  />
 	<field accessType='inputOutput' type='SFRotation' name='limitOrientation'	value='0.0 0.0 1.0 0.0' />
 	<field accessType='inputOutput' type='SFString' name='name'  value='' />
	<field accessType='inputOutput' type='SFRotation' name='rotation'	value='0.0 0.0 1.0 0.0' />
	<field accessType='inputOutput' type='SFVec3f' name='scale'  value='1.0 1.0 1.0' />
	<field accessType='inputOutput' type='SFRotation' name='scaleOrientation'	value='0.0 0.0 1.0 0.0' />
	<field accessType='inputOutput' type='MFFloat' name='stiffness'  value='0.0 ,0.0 ,0.0' />
	<field accessType='inputOutput' type='SFVec3f' name='translation'	value='0.0 0.0 0.0' />
	<field accessType='inputOutput' type='MFFloat' name='ulimit'  />
	<field accessType='inputOutput' type='MFFloat' name='dh'  value='0.0 ,0.0 ,0.0 ,0.0' />
	<field accessType='inputOutput' type='SFString' name='jointType'  value='' />
	<field accessType='inputOutput' type='SFFloat' name='jointId'	value='-1.0' />
	<field accessType='inputOutput' type='SFVec3f' name='jointAxis'  value='1.0 0.0 0.0' />
      </ProtoInterface>
      <ProtoBody>
	<Transform>
	  <IS>
	    <connect nodeField='children' protoField='children' />
	    <connect nodeField='center' protoField='center' />
	    <connect nodeField='rotation' protoField='rotation' />
	    <connect nodeField='scale' protoField='scale' />
	    <connect nodeField='scaleOrientation' protoField='scaleOrientation' />
	    <connect nodeField='translation' protoField='translation' />
	  </IS>
	</Transform>
      </ProtoBody>
    </ProtoDeclare>
    <ProtoDeclare name='Segment' >
      <ProtoInterface>
	<field accessType='initializeOnly' type='SFVec3f' name='bboxCenter'  value='0.0 0.0 0.0' />
	<field accessType='initializeOnly' type='SFVec3f' name='bboxSize'	value='-1.0 -1.0 -1.0' />
	<field accessType='inputOutput' type='SFVec3f' name='centerOfMass'	 value='0.0 0.0 0.0' />
	<field accessType='inputOutput' type='MFNode' name='children'	/>
	<field accessType='inputOutput' type='SFNode' name='coord'	 />
	<field accessType='inputOutput' type='MFNode' name='displacers'  />
	<field accessType='inputOutput' type='SFFloat' name='mass'	 value='0.0' />
	<field accessType='inputOutput' type='MFFloat' name='momentsOfInertia'	 value='0.0 ,0.0 ,0.0 ,0.0 ,0.0 ,0.0 ,0.0 ,0.0 ,0.0' />
	<field accessType='inputOutput' type='SFString' name='name'  value='' />
	<field accessType='inputOnly' type='MFNode' name='addChildren'	 />
	<field accessType='inputOnly' type='MFNode' name='removeChildren'	/>
      </ProtoInterface>
      <ProtoBody>
	<Group>
	  <IS>
	    <connect nodeField='children' protoField='children' />
	    <connect nodeField='addChildren' protoField='addChildren' />
	    <connect nodeField='removeChildren' protoField='removeChildren' />
	    <connect nodeField='bboxCenter' protoField='bboxCenter' />
	    <connect nodeField='bboxSize' protoField='bboxSize' />
	  </IS>
	</Group>
      </ProtoBody>
    </ProtoDeclare>
    <ProtoDeclare name='Humanoid' >
      <ProtoInterface>
	<field accessType='initializeOnly' type='SFVec3f' name='bboxCenter'  value='0.0 0.0 0.0' />
	<field accessType='initializeOnly' type='SFVec3f' name='bboxSize'	value='-1.0 -1.0 -1.0' />
	<field accessType='inputOutput' type='SFVec3f' name='center'  value='0.0 0.0 0.0' />
	<field accessType='inputOutput' type='MFNode' name='humanoidBody'	/>
	<field accessType='inputOutput' type='MFString' name='info'  />
	<field accessType='inputOutput' type='MFNode' name='joints'  />
	<field accessType='inputOutput' type='SFString' name='name'  value='' />
	<field accessType='inputOutput' type='SFRotation' name='rotation'	value='0.0 0.0 1.0 0.0' />
	<field accessType='inputOutput' type='SFVec3f' name='scale'  value='1.0 1.0 1.0' />
	<field accessType='inputOutput' type='SFRotation' name='scaleOrientation'	value='0.0 0.0 1.0 0.0' />
	<field accessType='inputOutput' type='MFNode' name='segments'	/>
	<field accessType='inputOutput' type='MFNode' name='sites'	 />
	<field accessType='inputOutput' type='SFVec3f' name='translation'	value='0.0 0.0 0.0' />
	<field accessType='inputOutput' type='SFString' name='version'	 value='1.0' />
	<field accessType='inputOutput' type='MFNode' name='viewpoints'  />
      </ProtoInterface>
      <ProtoBody>
	<Transform>
	  <IS>
	    <connect nodeField='bboxCenter' protoField='bboxCenter' />
	    <connect nodeField='bboxSize' protoField='bboxSize' />
	    <connect nodeField='center' protoField='center' />
	    <connect nodeField='rotation' protoField='rotation' />
	    <connect nodeField='scale' protoField='scale' />
	    <connect nodeField='scaleOrientation' protoField='scaleOrientation' />
	    <connect nodeField='translation' protoField='translation' />
	  </IS>
	  <Group>
	    <IS>
	      <connect nodeField='children' protoField='viewpoints' />
	    </IS>
	  </Group>
	  <Group>
	    <IS>
	      <connect nodeField='children' protoField='humanoidBody' />
	    </IS>
	  </Group>
	</Transform>
      </ProtoBody>
    </ProtoDeclare>
 
    <!--************実モデル定義部************-->
    <ProtoInstance name='Humanoid' DEF="HRP1"	 containerField='children'>
      <fieldValue name='info' value='"Test Joint"' />
      <fieldValue name='name' value='sample' />
      <fieldValue name='version' value='1.1' />
 
      <!--ROOTジョイント この関節が回転すると体全体が回転 -->
      <ProtoInstance name='Joint' DEF="JOINT0"  containerField='humanoidBody'>
	<fieldValue name='name' value='JOINT0' />
	<!--関節の種類free 自由度６(位置と姿勢） -->
	<fieldValue name='jointType' value='free' />
	<fieldValue name='jointId' value='1.0' />
	<!--モーメント-->
	<fieldValue name='momentsOfInertia' value='1.0 ,0.0 ,0.0 ,0.0 ,1.0 ,0.0 ,0.0 ,0.0 ,1.0' />
 
	<!--JOINT1（JOINT0の子ジョイント）-->
	<ProtoInstance name='Joint' DEF="JOINT1"  containerField='children'>
	  <fieldValue name='name' value='JOINT1' />
	  <!--固定された関節-->
	  <fieldValue name='jointType' value='fixed' />
	  <fieldValue name='jointId' value='1.1' />
	  <fieldValue name='momentsOfInertia' value='1.0 ,0.0 ,0.0 ,0.0 ,1.0 ,0.0 ,0.0 ,0.0 ,1.0' />
 
	  <!--LINK0(JOINT1に付随したリンク)-->
	  <ProtoInstance name='Segment' DEF="LINK0"	containerField='children'>
	    <fieldValue name='name' value='LINK0' />
	    <!--質量の中心-->
	    <fieldValue name='centerOfMass' value='0.0 1.0 0.0' />
	    <fieldValue name='bboxSize' value='5.0 5.0 5.0' />
	    <!--質量-->
	    <fieldValue name='mass' value='27.0' />
	    <fieldValue name='jointId' value='2.0' />
	    <fieldValue name='momentsOfInertia' value='1.0 ,0.0 ,0.0 ,0.0 ,1.0 ,0.0 ,0.0 ,0.0 ,1.0' />
	    <Transform>
	      <!--LINK0の形状(JOINT1に付随)-->
	      <Shape>
		<Appearance>
		  <ImageTexture url="tumiki_moku.jpg"/> 
		</Appearance>
		<IndexedFaceSet DEF="link1" coordIndex="0 3 2 1 -1 4 5 6 7 -1 4 0 1 5 -1 5 1 2 6 -1 6 2 3 7 -1 7 3 0 4 -1" texCoordIndex="0 1 2 3 -1 0 1 2 3 -1 0 1 2 3 -1 0 1 2 3 -1 0 1 2 3 -1 0 1 2 3 -1" solid="false">
		  <TextureCoordinate point="0.0 0.0, 0.0 1.0, 1.0 1.0, 1.0 0.0," /> 
		  <Coordinate DEF="Coaster_c01GeoPoints" point="-1.0 0.0 -1.0, 1.0 0.0 -1.0, 1.0 0.0 1.0, -1.0 0.0 1.0, -1.0 10.0 -1.0, 1.0 10.0 -1.0, 1.0 10.0 1.0, -1.0 10.0 1.0," /> 
		</IndexedFaceSet>
	      </Shape>
	    </Transform>
	  </ProtoInstance>
 
	  <!--JOINT2(JOINT1の子ジョイント）-->
	  <ProtoInstance name='Joint' DEF="JOINT2"  containerField='children'>
	    <fieldValue name='name' value='JOINT2' />
	    <!--JOINT2のJOINT１からの位置-->
	    <fieldValue name='translation' value='0.0 10.5 0.1' />
	    <!--回転軸(1.0,0.0,0.0)を中心に回転 -->
	    <fieldValue name='jointType' value='rotate' />
	    <fieldValue name='jointAxis' value='1.0 0.0 0.0' />
	    <fieldValue name='jointId' value='2.0' />
	    <!--JOINT2に付随したリンク-->
	    <ProtoInstance name='Segment' DEF="LINK1"	containerField='children'>
	      <fieldValue name='name' value='LINK1' />
	      <fieldValue name='centerOfMass' value='0.0 1.0 0.0' />
	      <fieldValue name='mass' value='27.0' />
	      <fieldValue name='jointId' value='3.0' />
	      <fieldValue name='momentsOfInertia' value='1.0 ,0.0 ,0.0 ,0.0 ,1.0 ,0.0 ,0.0 ,0.0 ,1.0' />
	      <Transform >
		<Shape>
		  <Appearance>
		    <ImageTexture url="tumiki_moku.jpg"/> 
		  </Appearance>
		  <IndexedFaceSet USE="link1"/>
		</Shape>
	      </Transform>
	    </ProtoInstance>
	  </ProtoInstance>
	</ProtoInstance>
      </ProtoInstance>
    </ProtoInstance>
  </Scene>
 </X3D>

OpenHRP形式のロボットはプロト宣言部と実モデル定義部からなります。実モデル定義部でロボットを組み立てます。OpenHRP形式のモデルの作成方法は詳しくは[[OpenHRP3 モデル作成法>http://www.openrtp.jp/openhrp3/3.0.2/jp/create_model.html]]を参照ください。

**Jointの親子関係 [#fed078fe]
Jointの親子関係は以下のようになっています。

     

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