{
"cells": [
{
"cell_type": "markdown",
"id": "7ef475a3",
"metadata": {},
"source": [
"# Load Mars 2020 rover model from a URDF file\n",
"\n",
"Requirements:\n",
"- [Import/export](../example_import_export/notebook.ipynb)\n",
"\n",
"**Acknowledgements** \n",
"The rover model is sourced from the Jet Propulsion Laboratory, California Institute of Technology, from their public repository [nasa-jpl/m2020-urdf-models](https://github.com/nasa-jpl/m2020-urdf-models.git). "
]
},
{
"cell_type": "code",
"execution_count": 1,
"id": "dce602b8",
"metadata": {},
"outputs": [],
"source": [
"import atexit\n",
"from pathlib import Path\n",
"import atexit\n",
"\n",
"import Karana.Core as kc\n",
"import Karana.Frame as kf\n",
"import Karana.Dynamics.SOADyn_types as kdt\n",
"import Karana.KUtils.BasicPrefab as kub"
]
},
{
"cell_type": "markdown",
"id": "bcb35c5b",
"metadata": {},
"source": []
},
{
"cell_type": "code",
"execution_count": 2,
"id": "fd13f1bc",
"metadata": {},
"outputs": [],
"source": [
"resources = Path().absolute().parent / \"resources\"\n",
"urdf_file = resources / \"m2020\" / \"m2020.urdf\""
]
},
{
"cell_type": "markdown",
"id": "64ddd559",
"metadata": {},
"source": []
},
{
"cell_type": "code",
"execution_count": 3,
"id": "c6ce1a4a",
"metadata": {},
"outputs": [],
"source": [
"basic_prefab_ds = kub.BasicPrefabDS.fromFile(urdf_file)"
]
},
{
"cell_type": "markdown",
"id": "3698fcc7",
"metadata": {},
"source": []
},
{
"cell_type": "code",
"execution_count": 4,
"id": "51a4d9af",
"metadata": {},
"outputs": [],
"source": [
"frame_container = kf.FrameContainer(\"root\")"
]
},
{
"cell_type": "markdown",
"id": "338ef48e",
"metadata": {},
"source": []
},
{
"cell_type": "code",
"execution_count": 5,
"id": "8e99d2b9",
"metadata": {},
"outputs": [],
"source": [
"prefab, prop = kub.BasicPrefab.createStandalone(basic_prefab_ds, frame_container)\n",
"multibody = prop.getSubTree().multibody()"
]
},
{
"cell_type": "markdown",
"id": "3c4aeea4",
"metadata": {},
"source": []
},
{
"cell_type": "code",
"execution_count": 6,
"id": "115f56a0",
"metadata": {},
"outputs": [],
"source": [
"multibody.ensureHealthy()\n",
"multibody.resetData()"
]
},
{
"cell_type": "markdown",
"id": "97db71f8",
"metadata": {},
"source": []
},
{
"cell_type": "code",
"execution_count": 7,
"id": "024e4376",
"metadata": {},
"outputs": [
{
"data": {
"text/html": [
"\n",
" \n",
" \n",
"
\n",
" "
],
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"cleanup_viz, graphics = multibody.setupGraphics(port=0)\n",
"graphics.defaultCamera().pointCameraAt(offset=[3, 3, -2], target=[1, 0, -1], up=[0, 0, -1])"
]
},
{
"cell_type": "markdown",
"id": "2b90d05e",
"metadata": {},
"source": [
"Display the contents of the multibody system"
]
},
{
"cell_type": "code",
"execution_count": 8,
"id": "89d18db5",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"[WebUI] Web server is running on port 32773\n",
"You may be able to connect in your browser at:\n",
"\t\u001b[1mhttp://newton:32773\u001b[0m\n",
"\n",
"LEGEND: [prescribed subhinges] [flex dofs/offset]\n",
"\n",
" Body Parent Hinge Dofs \n",
" ____ ______ _____ ____ \n",
" 1. Body_Chassis Perseverance_MBVROOT_ FULL6DOF 6/0 \n",
" 2. Body_MHS_DebrisShield Body_Chassis FULL6DOF 6/6 \n",
" 3. Body_Differential Body_Chassis REVOLUTE 1/12 \n",
" 4. Frame_DIFF Body_Differential LOCKED 0/13 \n",
" 5. Body_RockerLeft Body_Chassis REVOLUTE 1/13 \n",
" 6. Body_BogieLeft Body_RockerLeft REVOLUTE 1/14 \n",
" 7. Body_SteerLeftRear Body_BogieLeft REVOLUTE 1/15 \n",
" 8. Body_WheelLeftRear Body_SteerLeftRear REVOLUTE 1/16 \n",
" 9. Frame_WHEEL_LR Body_WheelLeftRear LOCKED 0/17 \n",
" 10. Frame_STEER_LR Body_SteerLeftRear LOCKED 0/17 \n",
" 11. Body_WheelLeftMiddle Body_BogieLeft REVOLUTE 1/17 \n",
" 12. Frame_WHEEL_LM Body_WheelLeftMiddle LOCKED 0/18 \n",
" 13. Frame_BOGIE_L Body_BogieLeft LOCKED 0/18 \n",
" 14. Body_SteerLeftFront Body_RockerLeft REVOLUTE 1/18 \n",
" 15. Body_WheelLeftFront Body_SteerLeftFront REVOLUTE 1/19 \n",
" 16. Frame_WHEEL_LF Body_WheelLeftFront LOCKED 0/20 \n",
" 17. Frame_STEER_LF Body_SteerLeftFront LOCKED 0/20 \n",
" 18. Frame_ROCKER_L Body_RockerLeft LOCKED 0/20 \n",
" 19. Body_RockerRight Body_Chassis REVOLUTE 1/20 \n",
" 20. Body_BogieRight Body_RockerRight REVOLUTE 1/21 \n",
" 21. Body_SteerRightRear Body_BogieRight REVOLUTE 1/22 \n",
" 22. Body_WheelRightRear Body_SteerRightRear REVOLUTE 1/23 \n",
" 23. Frame_WHEEL_RR Body_WheelRightRear LOCKED 0/24 \n",
" 24. Frame_STEER_RR Body_SteerRightRear LOCKED 0/24 \n",
" 25. Body_WheelRightMiddle Body_BogieRight REVOLUTE 1/24 \n",
" 26. Frame_WHEEL_RM Body_WheelRightMiddle LOCKED 0/25 \n",
" 27. Frame_BOGIE_R Body_BogieRight LOCKED 0/25 \n",
" 28. Body_SteerRightFront Body_RockerRight REVOLUTE 1/25 \n",
" 29. Body_WheelRightFront Body_SteerRightFront REVOLUTE 1/26 \n",
" 30. Frame_WHEEL_RF Body_WheelRightFront LOCKED 0/27 \n",
" 31. Frame_STEER_RF Body_SteerRightFront LOCKED 0/27 \n",
" 32. Frame_ROCKER_R Body_RockerRight LOCKED 0/27 \n",
" 33. Body_RSM_AZ Body_Chassis REVOLUTE 1/27 \n",
" 34. Body_RSM_EL Body_RSM_AZ REVOLUTE 1/28 \n",
" 35. Frame_MEL Body_RSM_EL LOCKED 0/29 \n",
" 36. Frame_SCI Body_RSM_EL LOCKED 0/29 \n",
" 37. Frame_SCRMI Body_RSM_EL LOCKED 0/29 \n",
" 38. Frame_SCLIBS Body_RSM_EL LOCKED 0/29 \n",
" 39. Frame_SCIR Body_RSM_EL LOCKED 0/29 \n",
" 40. Frame_MCL Body_RSM_EL LOCKED 0/29 \n",
" 41. Frame_MCR Body_RSM_EL LOCKED 0/29 \n",
" 42. Frame_NCL Body_RSM_EL LOCKED 0/29 \n",
" 43. Frame_NCR Body_RSM_EL LOCKED 0/29 \n",
" 44. Frame_NCL_FOV Body_RSM_EL LOCKED 0/29 \n",
" 45. Frame_NCR_FOV Body_RSM_EL LOCKED 0/29 \n",
" 46. Frame_MAZ Body_RSM_AZ LOCKED 0/29 \n",
" 47. Body_HGA_AZ Body_Chassis REVOLUTE 1/29 \n",
" 48. Body_HGA_EL Body_HGA_AZ REVOLUTE 1/30 \n",
" 49. Frame_ANT Body_HGA_EL LOCKED 0/31 \n",
" 50. Frame_HGAG Body_HGA_AZ LOCKED 0/31 \n",
" 51. Body_RA_Base Body_Chassis LOCKED 0/31 \n",
" 52. Body_RA_Link1 Body_RA_Base REVOLUTE 1/31 \n",
" 53. Body_RA_Link2 Body_RA_Link1 REVOLUTE 1/32 \n",
" 54. Body_RA_Link3 Body_RA_Link2 REVOLUTE 1/33 \n",
" 55. Body_RA_Link4 Body_RA_Link3 REVOLUTE 1/34 \n",
" 56. Body_RA_Link5 Body_RA_Link4 REVOLUTE 1/35 \n",
" 57. Body_Turret Body_RA_Link5 LOCKED 0/36 \n",
" 58. Body_CorerFeed Body_Turret SLIDER 1/36 \n",
" 59. Body_StabilizerFar Body_Turret SLIDER 1/37 \n",
" 60. Body_StabilizerNear Body_Turret SLIDER 1/38 \n",
" 61. Body_WATSON_Cap Body_Turret REVOLUTE 1/39 \n",
" 62. Body_SHERLOC_Cap Body_Turret REVOLUTE 1/40 \n",
" 63. Frame_RA5 Body_RA_Link5 LOCKED 0/41 \n",
" 64. Frame_RA6 Body_RA_Link5 LOCKED 0/41 \n",
" 65. Frame_TURRET Body_RA_Link5 LOCKED 0/41 \n",
" 66. Frame_DOCKING_POST Body_RA_Link5 LOCKED 0/41 \n",
" 67. Frame_DRILL Body_RA_Link5 LOCKED 0/41 \n",
" 68. Frame_FCS Body_RA_Link5 LOCKED 0/41 \n",
" 69. Frame_GDRT Body_RA_Link5 LOCKED 0/41 \n",
" 70. Frame_PIXL Body_RA_Link5 LOCKED 0/41 \n",
" 71. Frame_SHERLOC Body_RA_Link5 LOCKED 0/41 \n",
" 72. Frame_WATSON Body_RA_Link5 LOCKED 0/41 \n",
" 73. Frame_RA4 Body_RA_Link4 LOCKED 0/41 \n",
" 74. Frame_RA3 Body_RA_Link3 LOCKED 0/41 \n",
" 75. Frame_RA2 Body_RA_Link2 LOCKED 0/41 \n",
" 76. Frame_RA1 Body_RA_Link1 LOCKED 0/41 \n",
" 77. Frame_CAL_PIXL Body_RA_Link1 LOCKED 0/41 \n",
" 78. Frame_RNAV Body_Chassis LOCKED 0/41 \n",
" 79. Frame_RMECH Body_Chassis LOCKED 0/41 \n",
" 80. Frame_FHCB Body_Chassis LOCKED 0/41 \n",
" 81. Frame_FHC1 Body_Chassis LOCKED 0/41 \n",
" 82. Frame_FHC2 Body_Chassis LOCKED 0/41 \n",
" 83. Frame_FHC3 Body_Chassis LOCKED 0/41 \n",
" 84. Frame_FHC4 Body_Chassis LOCKED 0/41 \n",
" 85. Frame_FHC1_FOV Body_Chassis LOCKED 0/41 \n",
" 86. Frame_FHC2_FOV Body_Chassis LOCKED 0/41 \n",
" 87. Frame_FHC3_FOV Body_Chassis LOCKED 0/41 \n",
" 88. Frame_FHC4_FOV Body_Chassis LOCKED 0/41 \n",
" 89. Frame_RHC1 Body_Chassis LOCKED 0/41 \n",
" 90. Frame_RHC2 Body_Chassis LOCKED 0/41 \n",
" 91. Frame_RHC1_FOV Body_Chassis LOCKED 0/41 \n",
" 92. Frame_RHC2_FOV Body_Chassis LOCKED 0/41 \n",
" 93. Frame_ATS1 Body_Chassis LOCKED 0/41 \n",
" 94. Frame_ATS2 Body_Chassis LOCKED 0/41 \n",
" 95. Frame_ATS3 Body_Chassis LOCKED 0/41 \n",
" 96. Frame_ATS4 Body_Chassis LOCKED 0/41 \n",
" 97. Frame_ATS5 Body_Chassis LOCKED 0/41 \n",
" 98. Frame_HS Body_Chassis LOCKED 0/41 \n",
" 99. Frame_ICU Body_Chassis LOCKED 0/41 \n",
" 100. Frame_RDS Body_Chassis LOCKED 0/41 \n",
" 101. Frame_TIRS Body_Chassis LOCKED 0/41 \n",
" 102. Frame_WS1 Body_Chassis LOCKED 0/41 \n",
" 103. Frame_WS2 Body_Chassis LOCKED 0/41 \n",
" 104. Frame_MOXIE Body_Chassis LOCKED 0/41 \n",
" 105. Frame_MI Body_Chassis LOCKED 0/41 \n",
" 106. Frame_RIMUA Body_Chassis LOCKED 0/41 \n",
" 107. Frame_RIMUB Body_Chassis LOCKED 0/41 \n",
" 108. Frame_RIMFAX Body_Chassis LOCKED 0/41 \n",
" 109. Frame_HGAS Body_Chassis LOCKED 0/41 \n",
" 110. Frame_RA_BASE Body_Chassis LOCKED 0/41 \n",
" 111. Frame_CAL_MC1 Body_Chassis LOCKED 0/41 \n",
" 112. Frame_CAL_MC2 Body_Chassis LOCKED 0/41 \n",
" 113. Frame_CAL_SC Body_Chassis LOCKED 0/41 \n",
" 114. Frame_CAL_SHERLOC Body_Chassis LOCKED 0/41 \n",
" ____ \n",
" 41 \n",
"\n"
]
}
],
"source": [
"multibody.displayModel()"
]
},
{
"cell_type": "markdown",
"id": "979ee288",
"metadata": {},
"source": [
"Display the bodies topology"
]
},
{
"cell_type": "code",
"execution_count": 9,
"id": "289845b7",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
" Nodes\n",
" ---\n",
"LEGEND: [ ] [/num embedded bodies > 0] 0>\n",
"|-Perseverance_MBVROOT_\n",
" |-[FULL6DOF] Body_Chassis\n",
" |-[FULL6DOF] Body_MHS_DebrisShield\n",
" |-[REVOLUTE] Body_Differential\n",
" |-[LOCKED] Frame_DIFF\n",
" |-[REVOLUTE] Body_RockerLeft\n",
" |-[REVOLUTE] Body_BogieLeft\n",
" |-[REVOLUTE] Body_SteerLeftRear\n",
" |-[REVOLUTE] Body_WheelLeftRear\n",
" |-[LOCKED] Frame_WHEEL_LR\n",
" |-[LOCKED] Frame_STEER_LR\n",
" |-[REVOLUTE] Body_WheelLeftMiddle\n",
" |-[LOCKED] Frame_WHEEL_LM\n",
" |-[LOCKED] Frame_BOGIE_L\n",
" |-[REVOLUTE] Body_SteerLeftFront\n",
" |-[REVOLUTE] Body_WheelLeftFront\n",
" |-[LOCKED] Frame_WHEEL_LF\n",
" |-[LOCKED] Frame_STEER_LF\n",
" |-[LOCKED] Frame_ROCKER_L\n",
" |-[REVOLUTE] Body_RockerRight\n",
" |-[REVOLUTE] Body_BogieRight\n",
" |-[REVOLUTE] Body_SteerRightRear\n",
" |-[REVOLUTE] Body_WheelRightRear\n",
" |-[LOCKED] Frame_WHEEL_RR\n",
" |-[LOCKED] Frame_STEER_RR\n",
" |-[REVOLUTE] Body_WheelRightMiddle\n",
" |-[LOCKED] Frame_WHEEL_RM\n",
" |-[LOCKED] Frame_BOGIE_R\n",
" |-[REVOLUTE] Body_SteerRightFront\n",
" |-[REVOLUTE] Body_WheelRightFront\n",
" |-[LOCKED] Frame_WHEEL_RF\n",
" |-[LOCKED] Frame_STEER_RF\n",
" |-[LOCKED] Frame_ROCKER_R\n",
" |-[REVOLUTE] Body_RSM_AZ\n",
" |-[REVOLUTE] Body_RSM_EL\n",
" |-[LOCKED] Frame_MEL\n",
" |-[LOCKED] Frame_SCI\n",
" |-[LOCKED] Frame_SCRMI\n",
" |-[LOCKED] Frame_SCLIBS\n",
" |-[LOCKED] Frame_SCIR\n",
" |-[LOCKED] Frame_MCL\n",
" |-[LOCKED] Frame_MCR\n",
" |-[LOCKED] Frame_NCL\n",
" |-[LOCKED] Frame_NCR\n",
" |-[LOCKED] Frame_NCL_FOV\n",
" |-[LOCKED] Frame_NCR_FOV\n",
" |-[LOCKED] Frame_MAZ\n",
" |-[REVOLUTE] Body_HGA_AZ\n",
" |-[REVOLUTE] Body_HGA_EL\n",
" |-[LOCKED] Frame_ANT\n",
" |-[LOCKED] Frame_HGAG\n",
" |-[LOCKED] Body_RA_Base\n",
" |-[REVOLUTE] Body_RA_Link1\n",
" |-[REVOLUTE] Body_RA_Link2\n",
" |-[REVOLUTE] Body_RA_Link3\n",
" |-[REVOLUTE] Body_RA_Link4\n",
" |-[REVOLUTE] Body_RA_Link5\n",
" |-[LOCKED] Body_Turret\n",
" |-[SLIDER] Body_CorerFeed\n",
" |-[SLIDER] Body_StabilizerFar\n",
" |-[SLIDER] Body_StabilizerNear\n",
" |-[REVOLUTE] Body_WATSON_Cap\n",
" |-[REVOLUTE] Body_SHERLOC_Cap\n",
" |-[LOCKED] Frame_RA5\n",
" |-[LOCKED] Frame_RA6\n",
" |-[LOCKED] Frame_TURRET\n",
" |-[LOCKED] Frame_DOCKING_POST\n",
" |-[LOCKED] Frame_DRILL\n",
" |-[LOCKED] Frame_FCS\n",
" |-[LOCKED] Frame_GDRT\n",
" |-[LOCKED] Frame_PIXL\n",
" |-[LOCKED] Frame_SHERLOC\n",
" |-[LOCKED] Frame_WATSON\n",
" |-[LOCKED] Frame_RA4\n",
" |-[LOCKED] Frame_RA3\n",
" |-[LOCKED] Frame_RA2\n",
" |-[LOCKED] Frame_RA1\n",
" |-[LOCKED] Frame_CAL_PIXL\n",
" |-[LOCKED] Frame_RNAV\n",
" |-[LOCKED] Frame_RMECH\n",
" |-[LOCKED] Frame_FHCB\n",
" |-[LOCKED] Frame_FHC1\n",
" |-[LOCKED] Frame_FHC2\n",
" |-[LOCKED] Frame_FHC3\n",
" |-[LOCKED] Frame_FHC4\n",
" |-[LOCKED] Frame_FHC1_FOV\n",
" |-[LOCKED] Frame_FHC2_FOV\n",
" |-[LOCKED] Frame_FHC3_FOV\n",
" |-[LOCKED] Frame_FHC4_FOV\n",
" |-[LOCKED] Frame_RHC1\n",
" |-[LOCKED] Frame_RHC2\n",
" |-[LOCKED] Frame_RHC1_FOV\n",
" |-[LOCKED] Frame_RHC2_FOV\n",
" |-[LOCKED] Frame_ATS1\n",
" |-[LOCKED] Frame_ATS2\n",
" |-[LOCKED] Frame_ATS3\n",
" |-[LOCKED] Frame_ATS4\n",
" |-[LOCKED] Frame_ATS5\n",
" |-[LOCKED] Frame_HS\n",
" |-[LOCKED] Frame_ICU\n",
" |-[LOCKED] Frame_RDS\n",
" |-[LOCKED] Frame_TIRS\n",
" |-[LOCKED] Frame_WS1\n",
" |-[LOCKED] Frame_WS2\n",
" |-[LOCKED] Frame_MOXIE\n",
" |-[LOCKED] Frame_MI\n",
" |-[LOCKED] Frame_RIMUA\n",
" |-[LOCKED] Frame_RIMUB\n",
" |-[LOCKED] Frame_RIMFAX\n",
" |-[LOCKED] Frame_HGAS\n",
" |-[LOCKED] Frame_RA_BASE\n",
" |-[LOCKED] Frame_CAL_MC1\n",
" |-[LOCKED] Frame_CAL_MC2\n",
" |-[LOCKED] Frame_CAL_SC\n",
" |-[LOCKED] Frame_CAL_SHERLOC\n",
"\n"
]
}
],
"source": [
"multibody.dumpTree()"
]
},
{
"cell_type": "markdown",
"id": "baa82b16",
"metadata": {},
"source": [
"Uncomment this line below to see an animation of all the hinges in the model (this can take a while to run!)."
]
},
{
"cell_type": "code",
"execution_count": 10,
"id": "8f575fb9",
"metadata": {},
"outputs": [],
"source": [
"# multibody.articulateBodies()"
]
},
{
"cell_type": "markdown",
"id": "73ed21f0",
"metadata": {},
"source": [
"Cleanup"
]
},
{
"cell_type": "code",
"execution_count": 11,
"id": "7ce7a654",
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
""
]
},
"execution_count": 11,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"def cleanup():\n",
" \"\"\"Cleanup the simulation.\"\"\"\n",
" global basic_prefab_ds, graphics, prefab\n",
" del basic_prefab_ds, graphics, prefab\n",
"\n",
" kc.discard(prop)\n",
" cleanup_viz()\n",
" kc.discard(multibody)\n",
" kc.discard(frame_container)\n",
"\n",
"\n",
"atexit.register(cleanup)"
]
},
{
"cell_type": "markdown",
"id": "47ef5b9e",
"metadata": {},
"source": [
"## Summary\n",
"You now know how to import a Mars 2020 Perseverance rover URDF.\n",
"\n",
"## Further Readings \n",
"[Load a robotic arm urdf](../example_urdf/notebook.ipynb) \n",
"[Enforce loop constraints in a double-wishbone model](../example_double_wishbone/notebook.ipynb) \n",
"[Create and use constraints in a slider-crank model](../example_slider_crank/notebook.ipynb) \n",
"[Drive an ATRVjr rover](../example_atrvjr_drive/notebook.ipynb)"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3 (ipykernel)",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.12.3"
},
"name": "notebook.ipynb"
},
"nbformat": 4,
"nbformat_minor": 5
}