Atlas passive sim.

examples/atlas/BUILD.bazel

@@ -1,10 +1,39 @@
 # -*- python -*-
+# This file contains rules for Bazel; see drake/doc/bazel.rst.
 
-load("//tools/install:install_data.bzl", "install_data")
+load(
+    "@drake//tools/skylark:drake_cc.bzl",
+    "drake_cc_binary",
+)
 load("//tools/lint:lint.bzl", "add_lint_tests")
+load("//tools/install:install_data.bzl", "install_data")
 
 package(default_visibility = ["//visibility:public"])
 
+drake_cc_binary(
+    name = "atlas_run_dynamics",
+    srcs = [
+        "atlas_run_dynamics.cc",
+    ],
+    add_test_rule = 1,
+    data = [":models"],
+    # Smoke test.
+    test_rule_args = [
+        "--simulation_time=0.01",
+        "--target_realtime_rate=0.0",
+    ],
+    deps = [
+        "//common:find_resource",
+        "//common:text_logging_gflags",
+        "//geometry:geometry_visualization",
+        "//multibody/parsing",
+        "//multibody/plant:contact_results_to_lcm",
+        "//systems/analysis:simulator",
+        "//systems/framework:diagram",
+        "@gflags",
+    ],
+)
+
 install_data()
 
 add_lint_tests()

examples/atlas/atlas_run_dynamics.cc

@@ -0,0 +1,128 @@
+#include <memory>
+
+#include <gflags/gflags.h>
+
+#include "drake/common/find_resource.h"
+#include "drake/common/text_logging_gflags.h"
+#include "drake/geometry/geometry_visualization.h"
+#include "drake/geometry/scene_graph.h"
+#include "drake/lcm/drake_lcm.h"
+#include "drake/multibody/parsing/parser.h"
+#include "drake/multibody/plant/contact_results_to_lcm.h"
+#include "drake/systems/analysis/simulator.h"
+#include "drake/systems/framework/diagram_builder.h"
+
+DEFINE_double(target_realtime_rate, 0,
+              "Desired rate relative to real time (usually between 0 and 1). "
+              "This is documented in Simulator::set_target_realtime_rate().");
+DEFINE_double(simulation_time, 2.0, "Simulation duration in seconds");
+DEFINE_double(
+    time_step, 1.0E-3,
+    "The fixed-time step period (in seconds) of discrete updates for the "
+    "multibody plant modeled as a discrete system. Strictly positive.");
+DEFINE_double(penetration_allowance, 1.0E-3, "Allowable penetration (meters).");
+DEFINE_double(stiction_tolerance, 1.0E-3,
+              "Allowable drift speed during stiction (m/s).");
+
+namespace drake {
+namespace examples {
+namespace atlas {
+namespace {
+
+using drake::math::RigidTransformd;
+using drake::multibody::MultibodyPlant;
+using Eigen::Translation3d;
+using Eigen::VectorXd;
+
+int do_main() {
+  if (FLAGS_time_step <= 0) {
+    throw std::runtime_error(
+        "time_step must be a strictly positive number. Only the time-stepping "
+        "mode is supported for this model.");
+  }
+
+  // Build a generic multibody plant.
+  systems::DiagramBuilder<double> builder;
+  auto pair = AddMultibodyPlantSceneGraph(
+      &builder, std::make_unique<MultibodyPlant<double>>(FLAGS_time_step));
+  MultibodyPlant<double>& plant = pair.plant;
+
+  const std::string full_name =
+      FindResourceOrThrow("drake/examples/atlas/urdf/atlas_convex_hull.urdf");
+  multibody::Parser(&plant).AddModelFromFile(full_name);
+
+  // Add gravity to the model.
+  plant.AddForceElement<multibody::UniformGravityFieldElement>();
+
+  // Add model of the ground.
+  const double static_friction = 1.0;
+  const Vector4<double> green(0.5, 1.0, 0.5, 1.0);
+  plant.RegisterVisualGeometry(plant.world_body(), RigidTransformd(),
+                               geometry::HalfSpace(), "GroundVisualGeometry",
+                               green);
+  // For a time-stepping model only static friction is used.
+  const multibody::CoulombFriction<double> ground_friction(static_friction,
+                                                           static_friction);
+  plant.RegisterCollisionGeometry(plant.world_body(), RigidTransformd(),
+                                  geometry::HalfSpace(),
+                                  "GroundCollisionGeometry", ground_friction);
+
+  plant.Finalize();
+  plant.set_penetration_allowance(FLAGS_penetration_allowance);
+
+  // Set the speed tolerance (m/s) for the underlying Stribeck friction model
+  // For two points in contact, this is the maximum allowable drift speed at the
+  // edge of the friction cone, an approximation to true stiction.
+  plant.set_stiction_tolerance(FLAGS_stiction_tolerance);
+
+  // Sanity check model size.
+  DRAKE_DEMAND(plant.num_velocities() == 36);
+  DRAKE_DEMAND(plant.num_positions() == 37);
+
+  // Publish contact results for visualization.
+  ConnectContactResultsToDrakeVisualizer(&builder, plant);
+
+  geometry::ConnectDrakeVisualizer(&builder, pair.scene_graph);
+  auto diagram = builder.Build();
+
+  // Create a context for this system:
+  std::unique_ptr<systems::Context<double>> diagram_context =
+      diagram->CreateDefaultContext();
+  systems::Context<double>& plant_context =
+      diagram->GetMutableSubsystemContext(plant, diagram_context.get());
+
+  const VectorXd tau = VectorXd::Zero(plant.num_actuated_dofs());
+  plant.get_actuation_input_port().FixValue(&plant_context, tau);
+
+  // Set the pelvis frame P initial pose.
+  const drake::multibody::Body<double>& pelvis = plant.GetBodyByName("pelvis");
+  const Translation3d X_WP(0.0, 0.0, 0.95);
+  plant.SetFreeBodyPoseInWorldFrame(&plant_context, pelvis, X_WP);
+
+  systems::Simulator<double> simulator(*diagram, std::move(diagram_context));
+
+  simulator.set_target_realtime_rate(FLAGS_target_realtime_rate);
+  simulator.Initialize();
+  simulator.StepTo(FLAGS_simulation_time);
+
+  return 0;
+}
+
+}  // namespace
+}  // namespace atlas
+}  // namespace examples
+}  // namespace drake
+
+int main(int argc, char* argv[]) {
+  gflags::SetUsageMessage(
+      "\nPassive simulation of the Atlas robot. With the default time step of "
+      "\n1 ms this simulation typically runs slightly faster than real-time. "
+      "\nThe time step has an effect on the joint limits stiffnesses, which "
+      "\nconverge quadratically to the rigid limit as the time step is "
+      "\ndecreased. Thus, decrease the time step for more accurately resolved "
+      "\njoint limits. "
+      "\nLaunch drake-visualizer before running this example.");
+  gflags::ParseCommandLineFlags(&argc, &argv, true);
+  drake::logging::HandleSpdlogGflags();
+  return drake::examples::atlas::do_main();
+}