Additional parameters for body model

When user uses AGXDynamics plugin, user can use following additional parameters for his body model.

How to write

links:
  -
    name: Arm
    jointCompliance: 1e-8
    jointSpookDamping: 0.0333
    jointMotor: true
    jointMotorCompliance: 1e-8
    jointMotorSpookDamping: 0.0333
    jointMotorForceRange: [ -1000, 1000 ]
    jointRangeCompliance: 1e-8
    jointRangeSpookDamping: 0.0333
    jointRangeForceRange: [ -1000, 1000 ]
    jointLock: true
    jointLockCompliance: 1e-8
    jointLockSpookDamping: 0.0333
    jointLockForceRange: [ -1000, 1000 ]
    convexDecomposition: true
    AMOR: true
    autoSleep: true

collisionDetection:
  excludeTreeDepth: 3
  excludeLinks: [ ]
  excludeLinksDynamic: [ ]
  excludeLinkGroups:
    -
      name: groupA
      links: [ linkA, linkB, linkC, ... ]
    -
      name: groupB
      links: [ linkZ, linkY, linkX, ... ]
  excludeSelfCollisionLinks: [ linkP ]
  enableAGXWireContact: true
  excludeLinksWireContact: [ linkQ, linkR, ... ]

Explanation of parameters

link

Parameter	Default value	unit	data type	explanation
jointCompliance	1e-8	m/N or rad/Nm	double	compliance of joint. If value is large joint will be dislocation.
jointSpookDamping	0.0333	s	double	spook damping of joint
jointMotor	false	-	bool	activation of joint motor. It is automatically enabled when ActuationMode is JOINT_TORQUE or JOINT_VELOCITY.
jointMotorCompliance	1e-8	m/N or rad/Nm	double	compliance of joint motor. It is used for speed control. If the value is reduced, it will output a large force/torque to reach the target speed. If it is enlarged, it becomes impossible to resist external force (gravity and contact force) and it will not reach the target speed.
jointMotorSpookDamping	0.0333	s	double	spook damping of joint motor
jointMotorForceRange	[ double_min, double_max ]	N or Nm	Vec2	Maximum/Minimum force/torque of joint motor
jointRangeCompliance	1e-8	m/N or rad/Nm	double	compliance for limitation of joint position/angle. If the value is reduced, it will output a large force/torque to fit the limit position/angle. If it is enlarged, it may come out of the limit angle due to external force (gravity or contact force).
jointRangeSpookDamping	0.0333	s	double	spook damping of limitation of joint position/angle
jointRangeForceRange	[ double_min, double_max ]	N or Nm	Vec2	Maximum/Minimum force/torque of joint for limitation
jointLock	false	-	bool	activation of lock joint. It is used for position control. It is automatically enabled when ActuationMode is JOINT_ANGLE.
jointLockCompliance	1e-8	m/N or rad/Nm	double	compliance for lock joint. If the value is reduced, it will output a large force/torque to reach the target position/angle. If it is enlarged, it becomes impossible to resist external force (gravity and contact force) and it will not reach the target position/angle.
jointLockSpookDamping	0.0333	s	double	spook damping of lock joint
jointLockForceRange	[ double_min, double_max ]	N or Nm	Vec2	Maximum/Minimum force/toque for lock joint
convexDecomposition	false	-	bool	activation/deactivation of convex decomposition by true/false
AMOR	false	-	bool	Merge the relatively resting rigid bodies together and reduce the amount of solver calculation. Specify true or false. Also required to set AMOR of AGXSimulator Item.
autoSleep	false	-	bool	activation/disactivation of auto sleep by true/false. It provides the function of removing non-moving solid from the solver, then reduce the calculation amount.property of AGXSimulator Item needs to be changed to true.

Settings of collision detection

Parameter	Default value	unit	data type	explanation
excludeLinksDynamic	-	-	string list	disable collision of selected link
excludeLinkGroups: - name links	-	-	string string list	disable collisions between the links registered in group name of group name of link
excludeSelfCollisionLinks	-	-	string list	disable self-collision of selected link and body.
excludeLinksWireCollision	-	-	string list	disable collision between selected link and AGXWire.

Convex Decomposition(divide concave to convexes)

AGX Dynamics has a function to divide tri-mesh into convex object. Set true in convexDecomposition for link paramaeter, convex decomposition (from tri-mesh) is activated. It will contribute to improve the perormance of collision detection.

Note

Complex object/shape may be failed.

Note

It may cause different behavior when collides, because the contact point(s) is(are) different between tri-mesh and convex decomposite object.

Samples are available in below directory.

• Project file: chorenoid/sample/AGXDynamics/agxConvexDecomposition.cnoid

• Body file: chorenoid/sample/AGXDynamics/vmark.body

If you run a sample, convex decomposition is activated and the object is divided into some convex objects.