xy = [0, 0]
#thetas = [pi/2, 5*pi/6]
thetas = [0, 0]
l1 = 0.5; l2 = 0.5
two_link = Links(xy, thetas, l1, l2)
# Sensor
cam = ExtendedCamera2D(f, 0, 0, -pi/4, w, ks=array([-0.25, 0.11]),\
color='k')
# Attach sensor to elbow of arm facing direction of second link
def pos_fn(x):
return x[0] + cos(x[2]+pi/2)*l1,\
x[1] + sin(x[2]+pi/2)*l1,\
x[2] + x[3]
two_link.attach_sensor(cam, pos_fn)
s.add_robot(two_link)
# Draw scene
s.draw()
plt.gca().set_xlim(-1, 1);
plt.gca().set_ylim(-1, 1);
# Generate a nominal trajectory
T = 100
X_bar = mat(zeros((two_link.NX, T)))
U_bar = mat(ones((two_link.NU, T-1))/10)
for t in xrange(T):
X_bar[:,t] = two_link.dynamics(X_bar[:,t-1], U_bar[:, t-1])
s = SimEnv2D(bounds=[-1, 1, -1, 1], beacons=beacons) #s = SimEnv2D(bounds=[-3, 3, -3, 3], beacons=beacons) theta0 = np.array([-0.5, -0.2]) #x0 is broken, just set to 0 origin = np.array([0.0, 0.0]) links = Links(theta0, origin=origin, state_rep='angles') x0 = np.mat(theta0).T #x0 = links.forward_kinematics(origin, theta0) #x0 = np.mat(x0).T # hack xN thetaN = np.array([-3.8, -1.9]) # can be looked up using IK xN = np.mat(thetaN).T #xN = links.forward_kinematics(origin, thetaN) #xN = np.mat(xN).T links.attach_sensor(BeaconSensor(decay_coeff=15), lambda x: links.forward_kinematics(origin, x)) #links.attach_sensor(BeaconSensor(decay_coeff=25), lambda x: x[0:2]) s.add_robot(links) T = 20 num_states = links.NX num_ctrls = links.NU num_measure = len(beacons)#+1 #arg/make part of robot observe Q = np.mat(np.diag([1e-5]*num_states)) #arg #Q[2,2] = 1e-4 #Q[3,3] = 1e-4 R = np.mat(np.diag([0.0005]*num_measure)) #arg #R[1,1] = 1e-3 #R[2,2] = 1e-3
x0 = np.mat(theta0).T
print links.forward_kinematics(origin, theta0)
#x0 = links.forward_kinematics(origin, theta0)
#x0 = np.mat(x0).T
# hack xN
#thetaN = np.array([-3.8, -1.9]) # can be looked up using IK
thetaN = links.inverse_kinematics(origin, ball)
#xN = np.vstack((thetaN.T, ball.T))
#xN = np.reshape(xN, (4,1))
xN = np.mat(thetaN).T
print xN
#xN = links.forward_kinematics(origin, thetaN)
#xN = np.mat(xN).T
links.attach_sensor(BeaconSensor(decay_coeff=15),
lambda x: links.forward_kinematics(origin, x))
#links.attach_sensor(BeaconSensor(decay_coeff=25), lambda x: x[0:2])
localizer = links # HAAAAAACK!!!!!!
#localizer = LocalizerBot(links, ball)
#x0 = np.mat(localizer.x).T;
#localizer.attach_sensor(FOVSensor(localizer.x, fov_angle=2*pi, decay_coeff=25), lambda x: localizer.fov_state(x))
s.add_robot(localizer)
T = 20
num_states = localizer.NX
num_ctrls = localizer.NU
num_measure = len(beacons) #+1 #arg/make part of robot observe
Q = np.mat(np.diag([1e-5] * num_states)) #arg
#Q[2,2] = 1e-10
