rename get_time_mids to get_mid_times;

remove `has_joint` and `has_force` fields from `Apparatus`;
add `force` to `PrototypeJoint` constructors as forced `Apparatus`;
add notebooks;

.gitignore

@@ -10,3 +10,4 @@ result/
 *.agx
 *.csv
 .DS_Store
+*.pdf

examples/robots/slider_crank.jl

@@ -14,7 +14,7 @@ function slider_crank(;θ = 0, coordsType = RB.NCF.NC)
     ω0 = [
         150.0,
         -75.0,
-    ]./20
+    ]./100
     b = 0.05
     a = 0.025
     d = 0.05
@@ -219,48 +219,17 @@ function slider_crank(;θ = 0, coordsType = RB.NCF.NC)
     slider1 = make_slider(4;ro = p3)
     rbs = [base,link1,link2,slider1,]
     rigdibodies = TypeSortedCollection(rbs)
-    numbered = RB.number(rigdibodies)
-    indexed = RB.index(rigdibodies,)
-    force_elements_angular_stiffness = 5.0
-    ss = [
-        RB.RotationalSpringDamper3D(
-            1,
-            [0.0,0,0],
-            Int[],
-            0.0,
-        ),
-        RB.RotationalSpringDamper3D(
-            2,
-            [0.0,0,0],
-            [3],
-            force_elements_angular_stiffness,
-        ),
-        RB.RotationalSpringDamper3D(
-            3,
-            [0.0,0,0],
-            [3],
-            force_elements_angular_stiffness,
-        ),
-        RB.RotationalSpringDamper3D(
-            4,
-            [0.0,0,0],
-            [3],
-            force_elements_angular_stiffness,
-        )
-    ]
-    apparatuses = (spring_dampers = ss, cables = Int[])
-    connected = RB.connect(rbs,zeros(Int,0,0))
-    tensioned = @eponymtuple(connected,)
 
-    j1 = RB.FixedBodyConstraint(1,indexed,base)
-    j2 = RB.RevoluteJoint(2,indexed,RB.Hen2Egg(RB.ID(base ,1,1),RB.ID(link1,1,1)))
-    j3 = RB.RevoluteJoint(3,indexed,RB.Hen2Egg(RB.ID(link1,2,2),RB.ID(link2,1,1)))
-    j4 = RB.RevoluteJoint(4,indexed,RB.Hen2Egg(RB.ID(link2,2,2),RB.ID(slider1,5,5)))
+    j1 = RB.FixedBodyConstraint(1,base)
+    j2 = RB.RevoluteJoint(2,RB.Hen2Egg(RB.ID(base ,1,1),RB.ID(link1,1,1)))
+    j3 = RB.RevoluteJoint(3,RB.Hen2Egg(RB.ID(link1,2,2),RB.ID(link2,1,1)))
+    j4 = RB.RevoluteJoint(4,RB.Hen2Egg(RB.ID(link2,2,2),RB.ID(slider1,5,5)))
 
-    js = [j1,j2,j3,j4]
+    apparatuses = TypeSortedCollection([j1,j2,j3,j4])
 
-    jointed = RB.join(js,indexed)
-    cnt = RB.Connectivity(numbered,indexed,tensioned,jointed)
+    numbered = RB.number(rigdibodies,apparatuses)
+    indexed = RB.index(rigdibodies,apparatuses)
+    cnt = RB.Connectivity(numbered,indexed)
     st = RB.Structure(rigdibodies,apparatuses,cnt)
     RB.Robot(st,)
 end

examples/robots/woodpecker.jl

@@ -1,30 +1,33 @@
-function woodpecker(;coordsType = RB.NCF.NC)
+function woodpecker(;
+        coordsType = RB.NCF.NC,
+        case=2, 
+        frictional_coefficient = 0.3
+    )
     SVo3 = SVector{3}([0.0,0.0,0.0])
-    pole_radius = 0.0025e3#mm
-    sleeve_radius = 0.0031e3 #mm
-    half_sleeve_height = 0.0058e3 #mm
-    distance_spring_COM_sleeve = 0.0100e3 #mm
-    distance_spring_COM_woodpecker = 0.0150e3 #mm
-    distance_beak_COM_woodpecker_z = 0.0200e3 #mm
-    distance_beak_COM_woodpecker_y = 0.0201e3 #mm
+    pole_radius = 0.0025#m
+    sleeve_radius = 0.0031 #m
+    half_sleeve_height = 0.0058 #m
+    distance_spring_COM_sleeve = 0.0100 #m
+    distance_spring_COM_woodpecker = 0.0150 #m
+    distance_beak_COM_woodpecker_z = 0.0200 #m
+    distance_beak_COM_woodpecker_y = 0.0201 #m
     # inertial_properties
-    sleeve_mass = 0.0003e3 #g 
-    woodpecker_mass = 0.0045e3 #g 
-    sleeve_moment_of_inertia = 5.0e-9*(1e9) #g*mm2 
-    woodpecker_moment_of_inertia = 7.0e-7*(1e9) #g*mm2 
-    force_elements_angular_stiffness = 0.0056e9 #(gmm/s^2)mm/rad 
-    gravity = 9.81e3 #mm/s2 
+    sleeve_mass = 0.0003*(1e3) #g 
+    woodpecker_mass = 0.0045*(1e3) #g 
+    sleeve_moment_of_inertia = 5.0e-9*(1e3) #g*m2 
+    woodpecker_moment_of_inertia = 7.0e-7*(1e3) #g*m2 
+    force_elements_angular_stiffness = 0.0056*(1e3) #(gm/s^2)m/rad 
+    gravity = 9.81 #m/s2
     # contact_parameters
-    COR_in_normal_direction = 0.5 
+    COR_in_normal_direction = 0.5
     COR_in_tangential_direction = 0
-    frictional_coefficient = 0.3
     # initial conditions 
     sleeve_angular_position = -0.1036 #rad 
     woodpecker_angular_position = -0.2788 #rad 
-    sleeve_vertical_velocity = -0.3411e3 #mm/s
+    sleeve_vertical_velocity = -0.3411 #m/s
     sleeve_angular_velocity = 0.0 #rad/s 
     woodpecker_angular_velocity = -7.4583 #rad/s 
-    sleeve_position_X = 0 #mm
+    sleeve_position_X = 0 #m
 
     function make_sleeve(i;
             ro=SVo3,
@@ -35,20 +38,21 @@ function woodpecker(;coordsType = RB.NCF.NC)
         contactable = true
         visible = true
         r̄g = SVo3
-        # r̄p1 = SVector(0.0,-sleeve_radius,-half_sleeve_height)
+        r̄p1 = SVector(0.0,-sleeve_radius,-half_sleeve_height)
         r̄p2 = SVector(0.0, sleeve_radius,-half_sleeve_height)
         r̄p3 = SVector(0.0, sleeve_radius, half_sleeve_height)
-        # r̄p4 = SVector(0.0,-sleeve_radius, half_sleeve_height)
+        r̄p4 = SVector(0.0,-sleeve_radius, half_sleeve_height)
         r̄p5 = SVector(0.0, distance_spring_COM_sleeve, 0)
-        loci_positions = [r̄p2,r̄p3,r̄p5]
+        loci_positions = ifelse(
+            case==2,
+            [r̄p2,r̄p3,r̄p5],
+            [r̄p1,r̄p2,r̄p3,r̄p4,r̄p5]
+        )
         num_of_loci = length(loci_positions)
-        axes_normals = [
-            SVector{3}([1.0,0.0,0.0]),
+        axes_normals = fill(
             SVector{3}([1.0,0.0,0.0]),
-            SVector{3}([1.0,0.0,0.0]),
-            # SVector{3}([1.0,0.0,0.0]),
-            # SVector{3}([1.0,0.0,0.0]),
-        ]
+            num_of_loci
+        )
         m = sleeve_mass
         Ī = SMatrix{3,3}(
             [
@@ -128,7 +132,7 @@ function woodpecker(;coordsType = RB.NCF.NC)
         if coordsType isa Type{RB.NCF.NC}
             nmcs = RB.NCF.NC1P3V(ri, ro, R)
             pres_idx = Int[] 
-            cstr_idx = collect(1:6)    
+            cstr_idx = collect(1:6)
             coords = RB.NonminimalCoordinates(nmcs, pres_idx, cstr_idx)
         else
             qcs = RB.QCF.QC(m,Ī)
@@ -156,44 +160,33 @@ function woodpecker(;coordsType = RB.NCF.NC)
     end
     # pole = make_pole(1)
     sleeve1 = make_sleeve(1;)
-    spring_position = sleeve1.state.loci_states[3].frame.position
-    spring_velocity = sleeve1.state.loci_states[3].frame.velocity
+    spring_loci_id = ifelse(case==2,3,5)
+    spring_position = sleeve1.state.loci_states[spring_loci_id].frame.position
+    spring_velocity = sleeve1.state.loci_states[spring_loci_id].frame.velocity
     link1 = make_link(2;spring_position,spring_velocity)
     @show spring_velocity
     rbs = [sleeve1,link1]
     rigdibodies = TypeSortedCollection(rbs)
     q_sleeve1,_ = RB.body_state2coords_state(sleeve1)
-    cstr_idx = [1,2,5,6]
-    A_linearjoint = zeros(length(cstr_idx),12)
-    for (i,j) in enumerate(cstr_idx)
-        A_linearjoint[i,j] = 1
+    if case == 2
+        cstr_idx = [1,2,5,6]
+    else
+        cstr_idx = [1,5,6]
     end
-    js = [
-        RB.RevoluteJoint(1,RB.Hen2Egg(RB.ID(sleeve1,3,1),RB.ID(link1,1,1))),
-        RB.LinearJoint(2,sleeve1,A_linearjoint,q_sleeve1[cstr_idx]),
-        # RB.FixedBodyConstraint(2,indexed,sleeve1)
-    ]
-    jointed = RB.join(js,)
-    ss = [
+    j1 = RB.RevoluteJoint(
+        1,
+        RB.Hen2Egg(RB.ID(sleeve1,spring_loci_id,1),RB.ID(link1,1,1)),
         RB.RotationalSpringDamper3D(
-            1,
             [0.0,0,0],
             [3],
             force_elements_angular_stiffness,
-        ),
-        RB.RotationalSpringDamper3D(
-            2,
-            [0.0,0,0],
-            Int[],
-            force_elements_angular_stiffness,
         )
-    ]
-    apparatuses = (spring_dampers = ss, cables = Int[])
-    connected = RB.connect(rbs,zeros(Int,0,0))
-    tensioned = @eponymtuple(connected,)
-    indexed = RB.index(rigdibodies,jointed)
-    numbered = RB.number(rigdibodies)
-    cnt = RB.Connectivity(jointed,tensioned,indexed,numbered)
+    )
+    j2 = RB.FixedIndicesConstraint(2,sleeve1,cstr_idx,q_sleeve1[cstr_idx])
+    apparatuses = TypeSortedCollection([j1,j2])
+    indexed = RB.index(rigdibodies,apparatuses)
+    numbered = RB.number(rigdibodies,apparatuses)
+    cnt = RB.Connectivity(indexed,numbered)
     st = RB.Structure(rigdibodies,apparatuses,cnt)
     RB.Robot(st,)
 end