Merge pull request #8 from Space-Robotics-Laboratory/release/v3.0

Release/v3.0

README.md

@@ -1,6 +1,6 @@
 # ClimbLab - Climbing robot Matlab simulator
 
-![ex3_uneven_dynamic_Uno-gait-planning_stability_polyhedron.gif](./docs/media/ex3_uneven_dynamic_Uno-gait-planning_stability_polyhedron.gif)
+![climblab.png](./docs/media/climblab.png)
 
 Author(s) and maintainer(s): [Space Robotics Lab.](http://www.astro.mech.tohoku.ac.jp/e/index.html) Climbing Robotics Team
 
@@ -27,9 +27,20 @@ This simulator wraps up functions for:
 |--------|--------|
 | 3) Stability region visualization [2] | 4) Topographically salient region detection and non-periodic foothold selection [3] |
 
-## Usage
+## Publication
 
-If you use this simulator in academic context, please put citations of the following publications.
+If you use this simulator in an academic context, please cite the following publication.
+> K. Uno, W. F. R. Ribeiro, Y. Koizumi, K. Haji, K. Kurihara, W. Jones, and K. Yoshida
+> **"ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics"**,
+> Proceedings of the 24th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), 2021.
+
+    @inproceedings{uno2021climblab,
+      title={ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics},
+      author={Kentaro Uno and Warley F. R. Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida},
+      booktitle={Proceedings of the 24th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR)},
+      pages={TBD},
+      year={2021}
+    }
 
 #### Requirements
 We confirmed the code is working with:
@@ -46,7 +57,9 @@ We confirmed the code is working with:
   - Note: If you select USER configuration type, follow instructions described in the `config/USER/config_USER_param_template.m`.
 * Run `src/climb_main.m` file (**Note: MATLAB might ask you to change folder or add path. Choose to "add path"**)
 
-## Publications
+## References
+
+Our recent works using ClimbLab simulator are as follows:
 
 [1] Kentaro Uno *et al*., "[Gait Planning for a Free-Climbing Robot Based on Tumble Stability](https://ieeexplore.ieee.org/document/8700455)", Proceedings of the 2019 IEEE/SICE International Symposium on System Integration (SII), Paris, France, 2019, pp. 289-294, [doi: 10.1109/SII.2019.8700455](https://doi.org/10.1109/SII.2019.8700455).
 
@@ -58,12 +71,16 @@ We confirmed the code is working with:
 
 Please contact us by sending an email to the following address if there is any question or suggestion.
 
-    limb[at]astro.mech.tohoku.ac.jp
+    srl-limb[at]grp.tohoku.ac.jp
 
 ## Release note
 
 * Version 1.0: released on 18th Sept. 2020.
 * Version 2.0: released on 26th Oct. 2020. This version includes:
-    - topographically salient regioon detection algorithm [3]
-    - non-periodic gait plannner [3]
-    - gripper detachment evaluation  
+    - topographically salient region detection algorithm [3]
+    - non-periodic gait planner [3]
+    - gripper detachment evaluation
+* Version 3.0: released on 27th Aug.2021. This version includes
+    - Camera sensing 
+    - New robot models
+    - More analysis scripts

config/USER/config_USER_param_template.m

@@ -7,7 +7,7 @@
 %%%%%% 
 %%%%%% Created 2020-07-08
 %%%%%% Warley Ribeiro
-%%%%%% Last update: 2020-10-01
+%%%%%% Last update: 2021-07-26
 %%%%%% Keigo Haji
 %
 %
@@ -18,7 +18,7 @@
 %     OUTPUT
 %         robot_param
 %         environment_param
-%         gait_param
+%         gait_planning_param
 %         control_param
 %         equilibrium_eval_param
 %         ani_settings
@@ -27,12 +27,13 @@
 %         gripper_param
 %         map_param
 %         matching_settings
+%         sensing_camera_param
 %     INPUT
 %         -
 
-function [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings, gripper_param, map_param, matching_settings] = config_USER_param(robot_param, environment_param, gait_param, control_param, ...
-    equilibrium_eval_param, ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings)
+function [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_USER_param(robot_param, environment_param, gait_planning_param, control_param, ...
+    equilibrium_eval_param, ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param)
 %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Robot Parameters %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 
@@ -44,7 +45,12 @@
 
 
 %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Control Parameters %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+if contains(robot_param.robot_type, 'HubRobo_v3')
+    %%% Controller Proportional (P) gain
+    control_param.kp = 10.0;
+    %%% Controller Derivative (D) gain
+    control_param.kd = 0.3;
+end
 
 %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Equilibrium Parameters %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
@@ -67,4 +73,7 @@
 %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Matching Settings %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 
+%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Sensing Camera Parameters %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+
 end

config/config_all_default_param.m

@@ -0,0 +1,51 @@
+%%%%%% Configuration
+%%%%%% config_all_default_param
+%%%%%% 
+%%%%%% Define all default parameters
+%%%%%% 
+%%%%%% Created 2021-03-02
+%%%%%% Keigo Haji
+%%%%%% Last update: 2021-04-24
+%%%%%% Kentaro Uno
+%
+%
+% Define and load configurations for all default parameters. 
+%
+% Function variables:
+%
+%     OUTPUT
+%         robot_param
+%         environment_param
+%         gait_planning_param
+%         control_param
+%         equilibrium_eval_param
+%         ani_settings
+%         save_settings
+%         plot_settings
+%         gripper_param
+%         map_param
+%         matching_settings
+%         sensing_camera_param
+%     INPUT
+%         -
+%
+%
+function [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_all_default_param()
+
+
+% Load all default parameters
+robot_param = config_robot_param();
+environment_param = config_environment_param();
+gait_planning_param = config_gait_planning_param();
+control_param = config_control_param();
+equilibrium_eval_param = config_equilibrium_param();
+ani_settings = config_animation_settings();
+save_settings = config_save_settings(environment_param);
+plot_settings = config_plot_settings();
+[gripper_param, map_param, matching_settings] = config_target_detection_param();
+sensing_camera_param = config_sensing_camera_param();
+
+
+end
+

config/config_simulation.m

@@ -5,8 +5,8 @@
 %%%%%% 
 %%%%%% Created 2020-07-09
 %%%%%% Warley Ribeiro
-%%%%%% Last update: 2020-10-15
-%%%%%% Keentaro Uno
+%%%%%% Last update: 2021-07-08
+%%%%%% Keigo Haji
 %
 %
 % Load configurations for simulation
@@ -16,7 +16,7 @@
 %     OUTPUT
 %         robot_param
 %         environment_param
-%         gait_param
+%         gait_planning_param
 %         control_param
 %         equilibrium_eval_param
 %         ani_settings
@@ -25,48 +25,83 @@
 %         gripper_param
 %         map_param
 %         matching_settings
+%         sensing_camera_param
 %     INPUT
 %         config
 
-function [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings, gripper_param, map_param, matching_settings] = config_simulation(config)
+function [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_simulation(config)
 %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% General settings %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-robot_param = config_robot_param();
-environment_param = config_environment_param();
-gait_param = config_gait_param();
-control_param = config_control_param();
-equilibrium_eval_param = config_equilibrium_param();
+% Load all default parameters
+[robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_all_default_param();
 
-ani_settings = config_animation_settings();
-save_settings = config_save_settings();
-plot_settings = config_plot_settings();
-[gripper_param, map_param, matching_settings] = config_target_detection_param();
 
+% Reads the config file with the specified config name and overwrites the variables
 if strcmp(config,'USER')
-    [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings, gripper_param, map_param, matching_settings] = config_USER_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
-    ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings);
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_USER_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
+    ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param);
+end
+if strcmp(config,'example_demo_1')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_example_demo_1_param(robot_param, environment_param, gait_planning_param, control_param, ...
+    equilibrium_eval_param, ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param);
+end
+if strcmp(config,'example_demo_2')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_example_demo_2_param(robot_param, environment_param, gait_planning_param, control_param, ...
+    equilibrium_eval_param, ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param);
+end
+if strcmp(config,'example_demo_3')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_example_demo_3_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
+    ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param);
 end
 if strcmp(config,'gia_static')
-    [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings] = config_gia_static(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings] = config_gia_static_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
     ani_settings, save_settings, plot_settings);
 end
-if strcmp(config,'uno_crawl_param')
-    [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings] = config_uno_crawl_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
+if strcmp(config,'clawar_2021_dynamic_climbing_demo')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings] = config_clawar_2021_dynamic_climbing_demo_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
     ani_settings, save_settings, plot_settings);
 end
-if strcmp(config,'nonperiodic_demo_param')
-    [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings] = config_nonperiodic_demo_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
+if strcmp(config,'crawl_gait_for_discrete_footholds')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings] = config_crawl_gait_for_discrete_footholds_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
     ani_settings, save_settings, plot_settings);
 end
-if strcmp(config,'iSAIRAS_2020_demo_param')
-    [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings, gripper_param, map_param, matching_settings] = config_iSAIRAS_2020_demo_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
+if strcmp(config,'nonperiodic_gait_for_discrete_footholds')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings] = config_nonperiodic_gait_for_discrete_footholds_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
+    ani_settings, save_settings, plot_settings);
+end
+if strcmp(config,'iSAIRAS_2020_demo')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_iSAIRAS_2020_demo_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
+    ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param);
+end
+if strcmp(config,'base_pos_opt_quasistatic')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings] = config_base_pos_opt_quasistatic_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
     ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings);
 end
-
+if strcmp(config,'clawar_2021_dynamic_climbing_demo')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings] = config_clawar_2021_dynamic_climbing_demo_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
+    ani_settings, save_settings, plot_settings);
+end
+if strcmp(config,'clawar_2021_statistical_analysis')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings] = config_clawar_2021_statistical_analysis_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
+    ani_settings, save_settings, plot_settings);
+end
+if strcmp(config,'hubrobo_testfield_exp')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_hubrobo_testfield_exp_param(robot_param, environment_param, gait_planning_param, control_param, ...
+    equilibrium_eval_param, ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param);
+end
 end