def whisker_frames(self, curvature, base_pos, base_rot):
""" Creates a list of frames that define the whisker. """
if curvature is None:
ref_angles = np.zeros(self.num_links)
else:
ref_angles = get_angles_from_curvature(self.lengths, curvature)
frames = []
for j in reversed(range(1, self.num_links)):
frames = [tx(self.lengths[j], name='Link-%d' %j), frames]
frames = [rz('theta-%d_z' %j), frames]
frames = [ry('theta-%d_y' %j), frames]
#frames = [rx('theta-%d_x' %j), frames]
frames = [rz(-ref_angles[j]), frames]
frames = [tx(self.lengths[0], name='Link-0'), frames]
frames = [rz('theta-0_z', name='Moving Base Point'), frames]
frames = [ry('theta-0_y'), frames]
frames = [rx('theta-0_x'), frames]
frames = [tz('z'), [ty('y'), [tx('x'), frames]]]
(X, Y, Z) = base_pos
(theta, phi, zeta) = base_rot
# Rotate to the correct position.
frames = [rz(theta), [ry(phi), [rx(zeta), frames]]]
# Place the whisker at the correct spot on the mystacial pad and add an angle
# that drives the whisking motion.
frames = [tx(X), [ty(Y),[ tz(Z, name='Base Point'),
[rz('Driving Angle', name="Driving Angle"), frames]]]]
frames = [ rz(0.0, name='Head'), frames]
return frames
def make_skeleton(dimensions={}, joints={}):
dim = fill_dimensions(dimensions)
joints = fill_joints(joints)
frames = [
tx(joints['torso_tx']), [ty(joints['torso_ty']), [tz(joints['torso_tz']), [
rz(joints['torso_rz']), [ ry(joints['torso_ry']), [
rx(joints['torso_rx'], name='pelvis', mass=dim['pelvis_mass']), [
tx(-dim['lhip_width'], name='lhip'), [
rz(joints['lhip_rz']), [ry(joints['lhip_ry']), [rx(joints['lhip_rx'], name='lfemur'), [
tz(-dim['lfemur_length']/2, name='lfemur_mass', mass=dim['femur_mass']),
tz(-dim['lfemur_length'], name='lfemur_end'), [
rx(joints['lknee_rx'], name='ltibia'), [
tz(-dim['ltibia_length']/2, name='ltibia_mass', mass=dim['tibia_mass']),
tz(-dim['ltibia_length'], name='ltibia_end'), [
rz(joints['lfoot_rz']), [ry(joints['lfoot_ry']), [
rx(joints['lfoot_rx'], name='lfoot'), [
ty(dim['lfoot_length'], name='lfoot_end')]]]]]]]]]],
tx(dim['rhip_width'], name='rhip'), [
rz(joints['rhip_rz']), [ry(joints['rhip_ry']), [rx(joints['rhip_rx'], name='rfemur'), [
tz(-dim['rfemur_length']/2, name='rfemur_mass', mass=dim['femur_mass']),
tz(-dim['rfemur_length'], name='rfemur_end'), [
rx(joints['rknee_rx'], name='rtibia'), [
tz(-dim['rtibia_length']/2, name='rtibia_mass', mass=dim['tibia_mass']),
tz(-dim['rtibia_length'], name='rtibia_end'), [
rz(joints['rfoot_rz']), [ry(joints['rfoot_ry']), [
rx(joints['rfoot_rx'], name='rfoot'), [
ty(dim['rfoot_length'], name='rfoot_end')]]]]]]]]]],
tz(dim['upper_torso_length'], name='spine_top'), [
tz(dim['neck_length'], name='neck'), [
rz(joints['neck_rz']), [ry(joints['neck_ry']), [
rx(joints['neck_rz'], name='neck_joint'), [
tz(dim['lower_head_length'], name='head'), [
tz(dim['upper_head_length'], name='head_center', mass=dim['head_mass']), [
tz(dim['final_head_length'], name='head_end')]]]]]],
tx(-dim['lshoulder_width'], name='lshoulder'), [
rz(joints['lshoulder_rz']), [ry(joints['lshoulder_ry']), [
rx(joints['lshoulder_rx'], name='lhumerus'), [
tz(-dim['lhumerus_length']/2, name='lhumerus_mass', mass=dim['humerus_mass']),
tz(-dim['lhumerus_length'], name='lhumerus_end'), [
rx(joints['lelbow_rx'], name='lradius'), [
tz(-dim['lradius_length']/2, name='lradius_mass', mass=dim['radius_mass']),
tz(-dim['lradius_length'], name='lradius_end'), [
rz(joints['lhand_rz']), [ry(joints['lhand_ry']), [
rx(joints['lhand_rx'], name='lhand'), [
tz(-dim['lhand_length'], name='lhand_end')]]]]]]]]]],
tx(dim['rshoulder_width'], name='rshoulder'), [
rz(joints['rshoulder_rz']), [ry(joints['rshoulder_ry']), [
rx(joints['rshoulder_rx'], name='rhumerus'), [
tz(-dim['rhumerus_length']/2, name='rhumerus_mass', mass=dim['humerus_mass']),
tz(-dim['rhumerus_length'], name='rhumerus_end'), [
rx(joints['relbow_rx'], name='rradius'), [
tz(-dim['rradius_length']/2, name='rradius_mass', mass=dim['radius_mass']),
tz(-dim['rradius_length'], name='rradius_end'), [
rz(joints['rhand_rz']), [ry(joints['rhand_ry']), [
rx(joints['rhand_rx'], name='rhand'), [
tz(-dim['rhand_length'], name='rhand_end')]]]]]]]]]]
]]]]]]]]
return frames
def whisker_frames(self):
"""Creates a list of frames that define the whisker."""
x0, y0, z0, th_x0, th_y0, th_z0 = extract_angles(self._ref)
L = self._link_length
frames = []
for j in reversed(range(1, self.num_links)):
frames = [tx(L, name='Link-%d' %j), frames]
frames = [rz('theta_z-%d' %j), [ry('theta_y-%d' %j), frames]]
frames = [rz(th_z0[j]),[ry(th_y0[j]),frames]]
frames = [tx(L, name='Link-0'), frames]
frames = [tx('xb'), [ty('yb'), [tz('zb', name='Rotated_Base_Point'),
frames]]]
frames = [rz('theta_z-0'), [ry('theta_y-0'), [rx('theta_x-0'),
frames]]]
frames = [rz(th_z0[0]),[ry(th_y0[0]), [rx(th_x0[0]), frames]]]
frames = [tx(x0), [ty(y0), [tz(z0, name='Base_Point'), frames]]]
return frames
def whisker_frames(self, curvature, base_pos, base_rot):
""" Creates a list of frames that define the whisker. """
if curvature is None:
ref_angles = np.zeros(self.num_links)
else:
ref_angles = get_angles_from_curvature(self.lengths, curvature)
frames = []
for j in reversed(range(1, self.num_links)):
frames = [tx(self.lengths[j], name='Link-%d' % j), frames]
frames = [rz('theta-%d_z' % j), frames]
frames = [ry('theta-%d_y' % j), frames]
#frames = [rx('theta-%d_x' %j), frames]
frames = [rz(-ref_angles[j]), frames]
frames = [tx(self.lengths[0], name='Link-0'), frames]
frames = [rz('theta-0_z', name='Moving Base Point'), frames]
frames = [ry('theta-0_y'), frames]
frames = [rx('theta-0_x'), frames]
frames = [tz('z'), [ty('y'), [tx('x'), frames]]]
(X, Y, Z) = base_pos
(theta, phi, zeta) = base_rot
# Rotate to the correct position.
frames = [rz(theta), [ry(phi), [rx(zeta), frames]]]
# Place the whisker at the correct spot on the mystacial pad and add an angle
# that drives the whisking motion.
frames = [
tx(X),
[
ty(Y),
[
tz(Z, name='Base Point'),
[rz('Driving Angle', name="Driving Angle"), frames]
]
]
]
frames = [rz(0.0, name='Head'), frames]
return frames
def build_system(torque_force=False):
sys = trep.System()
frames = [
tx('xs', name=XCARTFRAME, kinematic=True), [
ty('yc',name=CARTFRAME, mass=M,kinematic=True), [
rx('theta', name="Shoulder1"), [
ry('phi',name="shoulder2"),[
tz(L, name=MASSFRAME, mass=M)]]]]]
sys.import_frames(frames)
trep.potentials.Gravity(sys, (0,0,-g))
trep.forces.Damping(sys, B)
if torque_force:
trep.forces.ConfigForce(sys, 'theta', 'theta-force')
return sys
import trep
from trep import tx,ty,tz,rx,ry,rz
system = trep.System()
system.import_frames([
ry("theta"), [
tz(2, mass=1)
]])
trep.potentials.ConfigSpring(system, 'theta', k=20, q0=0.7)
# This script shows different ways of initializing the GMVI
# variational integrator
import sys
from math import sin
import trep
from trep import tx, ty, tz, rx, ry, rz
tf = 10.0
dt = 0.01
# Define a simple 2 link pendulum with a force input on the middle joint
system = trep.System()
frames = [
tz(-1), # Provided as an angle reference
ry("theta1"),
[tz(-2, mass=1), [ry("theta2"), [tz(-2, mass=1)]]]
]
system.import_frames(frames)
trep.potentials.Gravity(system, (0, 0, -9.8))
trep.forces.Damping(system, 1.2)
trep.forces.ConfigForce(system, 'theta2', 'theta2-torque')
mvi = trep.MidpointVI(system) # Create the variational integrator
# Define a function to run the simulation and return the result
def simulate(mvi, u_func, dt, tf):
q = [mvi.q2]
p = [mvi.p2]
t = [mvi.t2]
while mvi.t1 < tf:
mvi.step(mvi.t2 + dt, u_func(mvi.t1))
# inputs.
import sys
import trep
from trep import tx, ty, tz, rx, ry, rz
import trep.visual as visual
# Set the length of simulation and the time step.
tf = 10.0
dt = 0.01
# Define the puppet's mechanical structure
system = trep.System()
frames = [
tx('TorsoX'), [ty('TorsoY'), [tz('TorsoZ'), [
rz('TorsoPsi'), [ry('TorsoTheta'), [rx('TorsoPhi',name='Torso'), [
tz(-1.5, mass=50),
tx(-1.011), [tz(0.658, name='Right Torso Hook')],
tx( 1.011), [tz(0.658, name= 'Left Torso Hook')],
tz(0.9, name='Head'), [tz(0.5, mass=(10,1,1,1))],
# Define the left arm
tx(1.3), [tz(0.4), [
rz('LShoulderPsi'), [ry('LShoulderTheta'), [rx('LShoulderPhi', name='Left Shoulder'), [
tz(-0.95, name='Left Humerus', mass=(5,1,1,1)),
tz(-1.9), [
rx('LElbowTheta', name='Left Elbow'), [
tz(-1, name='Left Radius', mass=(4,1,1,1)),
tz(-2.001), [tx(0.14), [ty(-0.173, name='Left Finger')]]]]]]]]],
# Define the right arm
tx(-1.3), [tz(0.4), [
rz('RShoulderPsi'), [ry('RShoulderTheta'), [rx('RShoulderPhi', name='Right Shoulder'), [
# Define the length of the simulation and the time step.
tf = 10.0
dt = 0.01
system = trep.System()
frames = [
tx('TorsoX'),
[
ty('TorsoY'),
[
tz('TorsoZ'),
[
rz('TorsoPsi'),
[
ry('TorsoTheta'),
[
rx('TorsoPhi', name='Torso'),
[
tz(-1.5, mass=50),
tx(-1.011),
[tz(0.658, name='Right Torso Hook')],
tx(1.011),
[tz(0.658, name='Left Torso Hook')],
tz(0.9, name='Head'),
[tz(0.5, mass=(10, 1, 1, 1))],
# Define the left arm
tx(1.3),
[
tz(0.4),
[
m = 1.0; l = 1.0; g = 9.81; mc = 1.0;
# define initial config and velocity
q0 = np.array([0, np.pi]) # q = [x_cart, theta]
dq0 = np.array([0, 0]) # dq = [xdot, thetadot]
# define time parameters:
dt = 0.0167
tf = 2.0
# create system
system = trep.System()
# define frames
frames = [
trep.tx("x_cart", name="CartFrame", mass=mc), [
trep.ry("theta", name="PendulumBase"), [
trep.tz(l, name="Pendulum", mass=m)]]]
# add frames to system
system.import_frames(frames)
# add gravity potential
trep.potentials.Gravity(system, (0,0,-g))
# add a horizontal force on the cart
trep.forces.ConfigForce(system, "x_cart", "cart_force")
sacsys = sactrep.Sac(system)
sacsys.T = 1.2
sacsys.lam = -5
sacsys.maxdt = 0.2
sacsys.ts = dt
sacsys.usat = [[10, -10]]
def make_skeleton(dimensions={}, joints={}):
dim = fill_dimensions(dimensions)
joints = fill_joints(joints)
frames = [
tx(joints['torso_tx']),
[
ty(joints['torso_ty']),
[
tz(joints['torso_tz']),
[
rz(joints['torso_rz']),
[
ry(joints['torso_ry']),
[
rx(joints['torso_rx'],
name='pelvis',
mass=dim['pelvis_mass']),
[
tx(-dim['lhip_width'], name='lhip'),
[
rz(joints['lhip_rz']),
[
ry(joints['lhip_ry']),
[
rx(joints['lhip_rx'],
name='lfemur'),
[
tz(-dim['lfemur_length'] / 2,
name='lfemur_mass',
mass=dim['femur_mass']),
tz(-dim['lfemur_length'],
name='lfemur_end'),
[
rx(joints['lknee_rx'],
name='ltibia'),
[
tz(-dim['ltibia_length']
/ 2,
name='ltibia_mass',
mass=dim[
'tibia_mass']),
tz(-dim[
'ltibia_length'],
name='ltibia_end'),
[
rz(joints[
'lfoot_rz']),
[
ry(joints[
'lfoot_ry']
),
[
rx(joints[
'lfoot_rx'],
name=
'lfoot'
),
[
ty(dim[
'lfoot_length'],
name=
'lfoot_end'
)
]
]
]
]
]
]
]
]
]
],
tx(dim['rhip_width'], name='rhip'),
[
rz(joints['rhip_rz']),
[
ry(joints['rhip_ry']),
[
rx(joints['rhip_rx'],
name='rfemur'),
[
tz(-dim['rfemur_length'] / 2,
name='rfemur_mass',
mass=dim['femur_mass']),
tz(-dim['rfemur_length'],
name='rfemur_end'),
[
rx(joints['rknee_rx'],
name='rtibia'),
[
tz(-dim['rtibia_length']
/ 2,
name='rtibia_mass',
mass=dim[
'tibia_mass']),
tz(-dim[
'rtibia_length'],
name='rtibia_end'),
[
rz(joints[
'rfoot_rz']),
[
ry(joints[
'rfoot_ry']
),
[
rx(joints[
'rfoot_rx'],
name=
'r_foot'
),
[
ty(dim[
'rfoot_length'],
name=
'rfoot_end'
)
]
]
]
]
]
]
]
]
]
],
tz(dim['upper_torso_length'],
name='spine_top'),
[
tz(dim['neck_length'], name='neck'),
[
rz(joints['neck_rz']),
[
ry(joints['neck_ry']),
[
rx(joints['neck_rz'],
name='neck_joint'),
[
tz(dim[
'lower_head_length'],
name='head'),
[
tz(dim[
'upper_head_length'],
name='head_center',
mass=dim[
'head_mass']),
[
tz(dim[
'final_head_length'],
name='head_end')
]
]
]
]
]
],
tx(-dim['lshoulder_width'],
name='lshoulder'),
[
rz(joints['lshoulder_rz']),
[
ry(joints['lshoulder_ry']),
[
rx(joints['lshoulder_rx'],
name='lhumerus'),
[
tz(-dim['lhumerus_length']
/ 2,
name='lhumerus_mass',
mass=dim['humerus_mass']
),
tz(-dim['lhumerus_length'],
name='lhumerus_end'),
[
rx(joints['lelbow_rx'],
name='lradius'),
[
tz(-dim[
'lradius_length']
/ 2,
name=
'lradius_mass',
mass=dim[
'radius_mass']
),
tz(-dim[
'lradius_length'],
name=
'lradius_end'),
[
rz(joints[
'lhand_rz']
),
[
ry(joints[
'lhand_ry']
),
[
rx(joints[
'lhand_rx'],
name=
'lhand'
),
[
tz(-dim[
'lhand_length'],
name
='lhand_end'
)
]
]
]
]
]
]
]
]
]
],
tx(dim['rshoulder_width'],
name='rshoulder'),
[
rz(joints['rshoulder_rz']),
[
ry(joints['rshoulder_ry']),
[
rx(joints['rshoulder_rx'],
name='right_humerus'),
[
tz(-dim['rhumerus_length']
/ 2,
name='rhumerus_mass',
mass=dim['humerus_mass']
),
tz(-dim['rhumerus_length'],
name='rhumerus_end'),
[
rx(joints['relbow_rx'],
name='rradius'),
[
tz(-dim[
'rradius_length']
/ 2,
name=
'rradius_mass',
mass=dim[
'radius_mass']
),
tz(-dim[
'rradius_length'],
name=
'rradius_end'),
[
rz(joints[
'rhand_rz']
),
[
ry(joints[
'rhand_ry']
),
[
rx(joints[
'rhand_rx'],
name=
'right_hand'
),
[
tz(-dim[
'rhand_length'],
name
='right_hand_end'
)
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
return frames
import trep
from trep import tx,ty,tz,rx,ry,rz
system = trep.System()
system.import_frames([
ry('theta1'), [
tz(2, mass=1, name='pend1')
],
tx(1), [
ry('theta2'), [
tz(2, mass=1, name='pend2')
]]
])
trep.potentials.LinearSpring(system, 'pend1', 'pend2', k=20, x0=0.9)
import trep
from trep import tx, ty, tz, rx, ry, rz
system = trep.System()
system.import_frames([ry("theta"), [tz(2, mass=1)]])
trep.potentials.ConfigSpring(system, 'theta', k=20, q0=0.7)
# This script shows different ways of initializing the GMVI
# variational integrator
import sys
from math import sin
import trep
from trep import tx,ty,tz,rx,ry,rz
tf = 10.0
dt = 0.01
# Define a simple 2 link pendulum with a force input on the middle joint
system = trep.System()
frames = [
tz(-1), # Provided as an angle reference
ry("theta1"), [
tz(-2, mass=1), [
ry("theta2"), [
tz(-2, mass=1)]]]
]
system.import_frames(frames)
trep.potentials.Gravity(system, (0, 0, -9.8))
trep.forces.Damping(system, 1.2)
trep.forces.ConfigForce(system, 'theta2', 'theta2-torque')
mvi = trep.MidpointVI(system) # Create the variational integrator
# Define a function to run the simulation and return the result
def simulate(mvi, u_func, dt, tf):
q = [mvi.q2]
p = [mvi.p2]
t = [mvi.t2]
