def add_snake(w,
nbody,
lengths=None,
masses=None,
gpos=None,
gvel=None,
is_fixed=True):
"""Add a snake-shape robot to the world.
**Example:**
>>> w = World()
>>> add_snake(w, 3, lengths=[1.5, 1., 5.])
"""
assert isinstance(w, World)
if lengths is None:
lengths = [.5] * nbody
assert nbody == len(lengths)
if masses is None:
masses = [2.] * nbody
assert nbody == len(masses)
if gpos is None:
gpos = [0.] * nbody
assert nbody == len(gpos)
if gvel is None:
gvel = [0.] * nbody
assert nbody == len(gvel)
if is_fixed:
frame = w.ground
else:
L = lengths[0] / 2.
body = Body(mass=box([L, L, L], masses[0]))
w.add_link(w.ground, FreeJoint(), body)
frame = body
for (length, mass, q, dq) in zip(lengths, masses, gpos, gvel):
radius = length / 10. #TODO use 5 instead of 10
#angle = pi/2.
angle = 0. #TODO: remove, it is here for testing
body = Body(
mass=transport(cylinder(length, radius, mass),
dot(rotx(angle), transl(0., -length / 2., 0.))))
joint = RzJoint(gpos=q, gvel=dq)
w.add_link(frame, joint, body)
frame = SubFrame(body, transl(0., length, 0.))
w.register(frame)
w.init()
def add_box(world, half_extents=(1., 1., 1.), mass=1., name='Box'):
"""Build a box robot.
Example:
>>> w = World()
>>> add_box(w)
>>> w.update_dynamic()
"""
assert isinstance(world, World)
box = Body(name=name, mass=massmatrix.box(half_extents, mass))
world.add_link(world.ground, FreeJoint(), box)
world.register(Box(box, half_extents))
world.init()
def add_table(world, hl=(.05, .05, .05), init_pos= eye(4), mass=1., name='wall'):
""" Add a simple box to the world
"""
from arboris.massmatrix import box
from arboris.core import Body
from arboris.joints import TzJoint
## Create the body
M = box(hl, mass)
bbox = Body(mass=M, name=name)
world.register(Box(bbox, hl, name))
## Link the body to the world
world.add_link(SubFrame(world.ground, init_pos), TzJoint(name=name+'_root'), bbox)
world.init()
def add_box(world, lengths=(1.,1.,1.), mass=1., name='Box'):
"""Build a box robot.
Example:
>>> w = World()
>>> add_box(w)
>>> w.update_dynamic()
"""
assert isinstance(world, World)
box = Body(
name=name,
mass=massmatrix.box(lengths, mass))
world.add_link(world.ground, FreeJoint(), box)
world.register(Box(box, lengths))
world.init()
def add_snake(w, nbody, lengths=None, masses=None, gpos=None, gvel=None,
is_fixed=True):
"""Add a snake-shape robot to the world.
**Example:**
>>> w = World()
>>> add_snake(w, 3, lengths=[1.5, 1., 5.])
"""
assert isinstance(w, World)
if lengths is None:
lengths = [.5] * nbody
assert nbody == len(lengths)
if masses is None:
masses = [2.] * nbody
assert nbody == len(masses)
if gpos is None:
gpos = [0.] * nbody
assert nbody == len(gpos)
if gvel is None:
gvel = [0.] * nbody
assert nbody == len(gvel)
if is_fixed:
frame = w.ground
else:
L = lengths[0]/2.
body = Body(mass=box([L, L, L], masses[0]))
w.add_link(w.ground, FreeJoint(), body)
frame = body
for (length, mass, q, dq) in zip(lengths, masses, gpos, gvel):
radius = length/10. #TODO use 5 instead of 10
#angle = pi/2.
angle = 0. #TODO: remove, it is here for testing
body = Body(mass=transport(cylinder(length, radius, mass),
dot(rotx(angle),
transl(0., -length/2., 0.))))
joint = RzJoint(gpos=q, gvel=dq)
w.add_link(frame, joint, body)
frame = SubFrame(body, transl(0., length, 0.))
w.register(frame)
w.init()
def add_table(world,
hl=(.05, .05, .05),
init_pos=eye(4),
mass=1.,
name='wall'):
""" Add a simple box to the world
"""
from arboris.massmatrix import box
from arboris.core import Body
from arboris.joints import TzJoint
## Create the body
M = box(hl, mass)
bbox = Body(mass=M, name=name)
world.register(Box(bbox, hl, name))
## Link the body to the world
world.add_link(SubFrame(world.ground, init_pos),
TzJoint(name=name + '_root'), bbox)
world.init()
def add_robot(w, gpos, gvel, is_fixed=True):
assert isinstance(w, World)
if is_fixed:
frame = w.ground
else:
L = lengths[0]/2.
body = Body(mass=box([L, L, L], masses[0]))
w.add_link(w.ground, FreeJoint(), body)
frame = body
for (length, mass, q, dq) in zip(lengths, masses, gpos, gvel):
radius = length/10.
M = transport(cylinder(length, radius, mass),
transl(0., -length/2., 0.))
body = Body(mass=M)
joint = RzJoint(gpos=q, gvel=dq)
w.add_link(frame, joint, body)
frame = SubFrame(body, transl(0., length, 0.))
w.register(frame)
w.init()
plot(self.timeline, self.height,
self.timeline, self.get_theoric())
legend(('simulated', 'theoric'))
w = ObservableWorld()
if True:
from arboris.homogeneousmatrix import transl
H_bc = transl(1,1,1)
else:
H_bc = eye(4)
lengths = (1.,1.,1.)
mass = 1.
body = Body(
name='box_body',
mass=massmatrix.transport(massmatrix.box(lengths, mass), H_bc))
subframe = SubFrame(body, H_bc, name="box_com")
if True:
twist_c = array([0.,0.,0.,0.,0.,0.])
else:
twist_c = array([1,1,1,0,0,0.])
twist_b = dot(homogeneousmatrix.adjoint(H_bc), twist_c)
freejoint = FreeJoint(gpos=homogeneousmatrix.inv(H_bc), gvel=twist_b)
w.add_link(w.ground, freejoint, body)
w.register(Box(subframe, lengths))
weightc = WeightController(w)
w.register(weightc)
obs = TrajLog(w.getframes()['box_com'], w)
def add(w, is_fixed=False, create_shapes=True, create_contacts=True):
"""
construction of the icub robot for arboris-python:
Kinematics data are from: http://eris.liralab.it/wiki/ICubForwardKinematics
Inertia comes from the Icub.cpp used in the iCub_SIM program
Some data are not well explained, or are badly defined
"""
bodies_data = get_bodies_data()
bodies_shapes_data = get_bodies_shapes_data()
joints_data = get_joints_data()
shapes_data = get_contact_data()
## bodies creation
bodies = {}
for name, data in bodies_data.items():
bodies[name] = Body(name=name)
mass = zeros((6, 6))
for dims, m, H in data: # get dims, mass and transformation from data
sf = SubFrame(bodies[name], H)
if len(dims) == 3: # check the type of shape: len =3: box
M = box(dims, m)
elif len(dims) == 2: # len =2:cylinder,
M = cylinder(dims[0], dims[1], m)
elif len(dims) == 1: # len =1:sphere,
M = sphere(dims[0], m)
else:
raise ValueError
mass += transport(M, inv(H)) # add the mass of the shape to
bodies[name].mass = mass # the total mass
## check if iCub has its waist fixed on the structure (the ground)
if is_fixed:
bodies['waist'] = w.ground
else:
w.add_link(w.ground, FreeJoint(name='root'), bodies['waist'])
## joints creation
for name, data in joints_data.items():
parent, Hp_l, child = data
w.add_link(SubFrame(bodies[parent], Hp_l), RzJoint(name=name),
bodies[child])
if create_shapes is True:
## body shapes creations
for name, data in bodies_shapes_data.items():
for dims, H in data: # get dims, mass and transformation from data
sf = SubFrame(bodies[name], H)
if len(dims) == 3: # check the type of shape: len =3: box
sh = Box(sf, dims, name + ".body_shape")
elif len(dims) == 2: # len =2:cylinder,
sh = Cylinder(sf, dims[0], dims[1], name + ".body_shape")
elif len(dims) == 1: # len =1:sphere,
sh = Sphere(sf, dims[0], name + ".body_shape")
else:
raise ValueError
w.register(sh)
if create_contacts is True:
## contact shapes creation
for name, data in shapes_data.items():
parent, dims, Hpf = data
sf = SubFrame(bodies[parent], Hpf, name=name)
if len(dims) == 3: # check the type of shape: len =3: box
sh = Box(sf, dims, name=name)
elif len(dims) == 2: # len =2:cylinder,
sh = Cylinder(sf, dims[0], dims[1], name=name)
elif len(dims) == 1: # len =1:sphere,
sh = Sphere(sf, dims[0], name=name)
else:
sh = Point(sf, name=name)
w.register(sh)
w.init()
def plot_height(self):
plot(self.timeline, self.height, self.timeline, self.get_theoric())
legend(('simulated', 'theoric'))
w = World()
if True:
from arboris.homogeneousmatrix import transl
H_bc = transl(1, 1, 1)
else:
H_bc = eye(4)
half_extents = (.5, .5, .5)
mass = 1.
body = Body(name='box_body',
mass=massmatrix.transport(massmatrix.box(half_extents, mass),
H_bc))
subframe = SubFrame(body, H_bc, name="box_com")
if True:
twist_c = array([0., 0., 0., 0., 0., 0.])
else:
twist_c = array([1, 1, 1, 0, 0, 0.])
twist_b = dot(homogeneousmatrix.adjoint(H_bc), twist_c)
freejoint = FreeJoint(gpos=homogeneousmatrix.inv(H_bc), gvel=twist_b)
w.add_link(w.ground, freejoint, body)
w.register(Box(subframe, half_extents))
weightc = WeightController()
w.register(weightc)
obs = TrajLog(w.getframes()['box_com'], w)
plot(self.timeline, self.height,
self.timeline, self.get_theoric())
legend(('simulated', 'theoric'))
w = World()
if True:
from arboris.homogeneousmatrix import transl
H_bc = transl(1,1,1)
else:
H_bc = eye(4)
half_extents = (.5,.5,.5)
mass = 1.
body = Body(
name='box_body',
mass=massmatrix.transport(massmatrix.box(half_extents, mass), H_bc))
subframe = SubFrame(body, H_bc, name="box_com")
if True:
twist_c = array([0.,0.,0.,0.,0.,0.])
else:
twist_c = array([1,1,1,0,0,0.])
twist_b = dot(homogeneousmatrix.adjoint(H_bc), twist_c)
freejoint = FreeJoint(gpos=homogeneousmatrix.inv(H_bc), gvel=twist_b)
w.add_link(w.ground, freejoint, body)
w.register(Box(subframe, half_extents))
weightc = WeightController()
w.register(weightc)
obs = TrajLog(w.getframes()['box_com'], w)
lin_velocity = [.4,.5,.6]
twist = np.array(rot_velocity + lin_velocity) # rotation velocity first
print("twist", twist)
##### About mass matrix ########################################################
import arboris.massmatrix as Mm
# mass matrix expressed in principal inertia frame, length in "m", mass in "kg"
M_com = Mm.sphere(radius=.1, mass=10)
M_com = Mm.ellipsoid(radii=(.1, .2, .3), mass=10)
M_com = Mm.cylinder(length=.1, radius=.2, mass=10) # revolution axis along z
M_com = Mm.box(half_extents=(.1, .2, .3), mass=10)
isMm = Mm.ismassmatrix(M_com) # check validity of mass matrix
print("is mass matrix?", isMm)
H_com_a= Hg.transl(.4,.5,.6) # translation from {a} (new frame) to {com}
M_a = Mm.transport(M_com, H_com_a)
H_a_com = Mm.principalframe(M_a) # return principal inertia frame from {a}
print("H_com_a * H_a_com\n", np.dot(H_com_a, H_a_com))
def add(w, is_fixed=False, create_shapes=True, create_contacts=True):
"""
construction of the icub robot for arboris-python:
Kinematics data are from: http://eris.liralab.it/wiki/ICubForwardKinematics
Inertia comes from the Icub.cpp used in the iCub_SIM program
Some data are not well explained, or are badly defined
"""
bodies_data = get_bodies_data()
bodies_shapes_data = get_bodies_shapes_data()
joints_data = get_joints_data()
shapes_data = get_contact_data()
## bodies creation
bodies = {}
for name, data in bodies_data.items():
bodies[name] = Body(name=name)
mass = zeros((6, 6))
for dims, m, H in data: # get dims, mass and transformation from data
sf = SubFrame(bodies[name], H)
if len(dims) == 3: # check the type of shape: len =3: box
M = box(dims, m)
elif len(dims) == 2: # len =2:cylinder,
M = cylinder(dims[0], dims[1], m)
elif len(dims) == 1: # len =1:sphere,
M = sphere(dims[0], m)
else:
raise ValueError
mass += transport(M, inv(H)) # add the mass of the shape to
bodies[name].mass = mass # the total mass
## check if iCub has its waist fixed on the structure (the ground)
if is_fixed:
bodies['waist'] = w.ground
else:
w.add_link(w.ground, FreeJoint(name='root'), bodies['waist'])
## joints creation
for name, data in joints_data.items():
parent, Hp_l, child = data
w.add_link(SubFrame(bodies[parent], Hp_l),
RzJoint(name=name),
bodies[child])
if create_shapes is True:
## body shapes creations
for name, data in bodies_shapes_data.items():
for dims, H in data: # get dims, mass and transformation from data
sf = SubFrame(bodies[name], H)
if len(dims) == 3: # check the type of shape: len =3: box
sh = Box(sf, dims, name+".body_shape")
elif len(dims) == 2: # len =2:cylinder,
sh = Cylinder(sf, dims[0], dims[1], name+".body_shape")
elif len(dims) == 1: # len =1:sphere,
sh = Sphere(sf, dims[0], name+".body_shape")
else:
raise ValueError
w.register(sh)
if create_contacts is True:
## contact shapes creation
for name, data in shapes_data.items():
parent, dims, Hpf = data
sf = SubFrame(bodies[parent], Hpf, name=name)
if len(dims) == 3: # check the type of shape: len =3: box
sh = Box(sf, dims, name=name)
elif len(dims) == 2: # len =2:cylinder,
sh = Cylinder(sf, dims[0], dims[1], name=name)
elif len(dims) == 1: # len =1:sphere,
sh = Sphere(sf, dims[0], name=name)
else:
sh = Point(sf, name=name)
w.register(sh)
w.init()
