def create_icub_and_init(chair=False, gravity=False):
## CREATE THE WORLD
w = World()
w._up[:] = [0, 0, 1]
icub.add(w, create_shapes=False)
w.register(Plane(w.ground, (0, 0, 1, 0), "floor"))
if chair is True:
w.register(Sphere(w.getbodies()['l_hip_2'], .0325, name='l_gluteal'))
w.register(Sphere(w.getbodies()['r_hip_2'], .0325, name='r_gluteal'))
w.register(
Box(SubFrame(w.ground, transl(.2, 0, 0.26)), (.075, .1, .02),
name='chair'))
w.register(
Box(SubFrame(w.ground, transl(.255, 0, 0.36)), (.02, .1, .1),
name='chair_back'))
## INIT
joints = w.getjoints()
joints['root'].gpos[0:3, 3] = [0, 0, .598]
joints['l_shoulder_roll'].gpos[:] = pi / 8
joints['r_shoulder_roll'].gpos[:] = pi / 8
joints['l_elbow_pitch'].gpos[:] = pi / 8
joints['r_elbow_pitch'].gpos[:] = pi / 8
joints['l_knee'].gpos[:] = -0.1
joints['r_knee'].gpos[:] = -0.1
joints['l_ankle_pitch'].gpos[:] = -0.1
joints['r_ankle_pitch'].gpos[:] = -0.1
shapes = w.getshapes()
floor_const = [
SoftFingerContact((shapes[s], shapes['floor']), 1.5, name=s)
for s in ['lf1', 'lf2', 'lf3', 'lf4', 'rf1', 'rf2', 'rf3', 'rf4']
]
for c in floor_const:
w.register(c)
if chair is True:
chair_const = [
SoftFingerContact((shapes[s], shapes['chair']), 1.5, name=s)
for s in ['l_gluteal', 'r_gluteal']
]
for c in chair_const:
w.register(c)
w.update_dynamic()
## CTRL
if gravity:
w.register(WeightController())
return w
def create_icub_and_init(chair=False, gravity=False):
## CREATE THE WORLD
w = World()
w._up[:] = [0,0,1]
icub.add(w, create_shapes=False)
w.register(Plane(w.ground, (0,0,1,0), "floor"))
if chair is True:
w.register(Sphere(w.getbodies()['l_hip_2'], .0325, name='l_gluteal'))
w.register(Sphere(w.getbodies()['r_hip_2'], .0325, name='r_gluteal'))
w.register(Box(SubFrame(w.ground, transl(.2, 0, 0.26 )), (.075, .1, .02), name='chair'))
w.register(Box(SubFrame(w.ground, transl(.255, 0, 0.36 )), (.02, .1, .1), name='chair_back'))
## INIT
joints = w.getjoints()
joints['root'].gpos[0:3,3] = [0,0,.598]
joints['l_shoulder_roll'].gpos[:] = pi/8
joints['r_shoulder_roll'].gpos[:] = pi/8
joints['l_elbow_pitch'].gpos[:] = pi/8
joints['r_elbow_pitch'].gpos[:] = pi/8
joints['l_knee'].gpos[:] = -0.1
joints['r_knee'].gpos[:] = -0.1
joints['l_ankle_pitch'].gpos[:] = -0.1
joints['r_ankle_pitch'].gpos[:] = -0.1
shapes = w.getshapes()
floor_const = [SoftFingerContact((shapes[s], shapes['floor']), 1.5, name=s)for s in ['lf1', 'lf2', 'lf3', 'lf4', 'rf1', 'rf2', 'rf3', 'rf4']]
for c in floor_const:
w.register(c)
if chair is True:
chair_const = [SoftFingerContact((shapes[s], shapes['chair']), 1.5, name=s)for s in ['l_gluteal', 'r_gluteal']]
for c in chair_const:
w.register(c)
w.update_dynamic()
## CTRL
if gravity:
w.register(WeightController())
return w
""" This thest_arboris_coonection is a test to create an Arboris observer to communicate with a html page. This page will be update to show the robot moving in a three.js instance... """ from arboris.core import World from arboris.robots import simplearm, icub ##### Create world w = World() #simplearm.add_simplearm(w, with_shapes=True) icub.add(w, create_shapes=False) w._up[:] = [0,0,1] ##### Init World joints = w.getjoints() # for n in ["Shoulder", "Elbow", "Wrist"]: # joints[n].gpos[0] = .5 ##### Add ctrl from arboris.controllers import WeightController w.register(WeightController())
from arboris.massmatrix import principalframe, transport
from arboris.homogeneousmatrix import inv as Hinv
from arboris.homogeneousmatrix import transl, roty, rotzyx, rotx
import numpy
numpy.set_printoptions(suppress=True)
from numpy import dot, eye, pi
################################################################################
#
# Create world with iCub
#
################################################################################
w = World()
icub.add(w)
w.update_dynamic()
jLim = icub.get_joint_limits(in_radian=True)
tauLim = icub.get_torque_limits()
# interesting values we want to obtain
H_body_com = {}
body_mass = {}
body_moment_of_inertia = {}
H_parentCoM_bCoM = {}
list_of_dof = {}
list_of_children = {}
# We compute the displacement from the body frame to the body center of mass, aligned with the principal axis of inertia
