def rx90(): """Generate Robot instance of RX90""" robo = Robot('RX90', 6, 6, 6, False) # table of geometric parameters RX90 robo.sigma = [2, 0, 0, 0, 0, 0, 0, 0] robo.alpha = [0, 0, pi / 2, 0, -pi / 2, pi / 2, -pi / 2] robo.d = [0, 0, 0, var('D3'), 0, 0, 0] robo.theta = [0] + list(var('th1:7')) robo.r = [0, 0, 0, 0, var('RL4'), 0, 0] robo.b = [0, 0, 0, 0, 0, 0, 0] robo.gamma = [0, 0, 0, 0, 0, 0, 0] robo.mu = [0, 1, 1, 1, 1, 1, 1] robo.structure = tools.SIMPLE # robo.w0 = zeros(3, 1) # robo.wdot0 = zeros(3, 1) # robo.v0 = zeros(3, 1) # robo.vdot0 = zeros(3, 1) # robo.qdot = [var('QP{0}'.format(i)) for i in num] # robo.qddot = [var('QDP{0}'.format(i)) for i in num] # robo.Nex= [zeros(3, 1) for i in num] # robo.Nex[-1] = Matrix(var('CX{0}, CY{0}, CZ{0}'.format(robo.NJ))) # robo.Fex = [zeros(3, 1) for i in num] # robo.Fex[-1] = Matrix(var('FX{0}, FY{0}, FZ{0}'.format(robo.NJ))) # robo.FS = [var('FS{0}'.format(i)) for i in num] # robo.IA = [var('IA{0}'.format(i)) for i in num] # robo.FV = [var('FV{0}'.format(i)) for i in num] # robo.MS = [Matrix(var('MX{0}, MY{0}, MZ{0}'.format(i))) for i in num] # robo.M = [var('M{0}'.format(i)) for i in num] # robo.GAM = [var('GAM{0}'.format(i)) for i in num] # robo.J = [Matrix(3, 3, var(('XX{0}, XY{0}, XZ{0}, ' # 'XY{0}, YY{0}, YZ{0}, ' # 'XZ{0}, YZ{0}, ZZ{0}').format(i))) for i in num] # robo.G = Matrix([0, 0, var('G3')]) # robo.num.append(0) return robo
def OnNew(self, event): dialog = ui_definition.DialogDefinition( ui_labels.MAIN_WIN['prog_name'], self.robo.name, self.robo.nl, self.robo.nj, self.robo.structure, self.robo.is_floating, self.robo.is_mobile ) if dialog.ShowModal() == wx.ID_OK: result = dialog.get_values() new_robo = Robot( name=result['name'], NL=result['num_links'], NJ=result['num_joints'], NF=result['num_frames'], structure=result['structure'], is_floating=result['is_floating'], is_mobile=result['is_mobile'] ) new_robo.set_defaults(base=True) if result['keep_geo']: nf = min(self.robo.NF, new_robo.NF) new_robo.ant[:nf] = self.robo.ant[:nf] new_robo.sigma[:nf] = self.robo.sigma[:nf] new_robo.mu[:nf] = self.robo.mu[:nf] new_robo.gamma[:nf] = self.robo.gamma[:nf] new_robo.alpha[:nf] = self.robo.alpha[:nf] new_robo.theta[:nf] = self.robo.theta[:nf] new_robo.b[:nf] = self.robo.b[:nf] new_robo.d[:nf] = self.robo.d[:nf] new_robo.r[:nf] = self.robo.r[:nf] if result['keep_dyn']: nl = min(self.robo.NL, new_robo.NL) new_robo.Nex[:nl] = self.robo.Nex[:nl] new_robo.Fex[:nl] = self.robo.Fex[:nl] new_robo.FS[:nl] = self.robo.FS[:nl] new_robo.IA[:nl] = self.robo.IA[:nl] new_robo.FV[:nl] = self.robo.FV[:nl] new_robo.MS[:nl] = self.robo.MS[:nl] new_robo.M[:nl] = self.robo.M[:nl] new_robo.J[:nl] = self.robo.J[:nl] if result['keep_joint']: nj = min(self.robo.NJ, new_robo.NJ) new_robo.eta[:nj] = self.robo.eta[:nj] new_robo.k[:nj] = self.robo.k[:nj] new_robo.qdot[:nj] = self.robo.qdot[:nj] new_robo.qddot[:nj] = self.robo.qddot[:nj] new_robo.GAM[:nj] = self.robo.GAM[:nj] if result['keep_base']: new_robo.Z = self.robo.Z new_robo.w0 = self.robo.w0 new_robo.wdot0 = self.robo.wdot0 new_robo.v0 = self.robo.v0 new_robo.vdot0 = self.robo.vdot0 new_robo.G = self.robo.G new_robo.set_defaults(joint=True) self.robo = new_robo self.robo.directory = filemgr.get_folder_path(self.robo.name) self.feed_data() dialog.Destroy()
def planar2r(): """Generate Robot instance of 2R Planar robot""" robo = Robot('Planar2R', 2, 2, 3, False) robo.structure = tools.SIMPLE robo.sigma = [2, 0, 0, 2] robo.mu = [0, 1, 1, 0] robo.gamma = [0, 0, 0, 0] robo.b = [0, 0, 0, 0] robo.alpha = [0, 0, 0, 0] robo.d = [0, 0, var('L1'), var('L2')] robo.theta = [0, var('th1'), var('th2'), 0] robo.r = [0, 0, 0, 0] return robo
def sr400(): #TODO: bring it to the new notation with 0-frame """Generate Robot instance of SR400""" robo = Robot('SR400', 8, 9, 10, False) robo.ant = [-1, 0, 1, 2, 3, 4, 5, 1, 7, 8, 3] robo.sigma = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2] robo.mu = [0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0] robo.alpha = [0, 0, -pi / 2, 0, -pi / 2, pi / 2, -pi / 2, -pi / 2, 0, 0, 0] d_var = var('D:9') robo.d = [ 0, 0, d_var[2], d_var[3], d_var[4], 0, 0, d_var[2], d_var[8], d_var[3], -d_var[8] ] robo.theta = [0] + list(var('th1:10')) + [0] robo.r = [0, 0, 0, 0, var('RL4'), 0, 0, 0, 0, 0, 0] robo.b = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] robo.gamma = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, pi / 2] robo.structure = tools.CLOSED_LOOP return robo
def OnNew(self, event): dialog = ui_definition.DialogDefinition( ui_labels.MAIN_WIN['prog_name'], self.robo.name, self.robo.nl, self.robo.nj, self.robo.structure, self.robo.is_mobile) if dialog.ShowModal() == wx.ID_OK: result = dialog.get_values() new_robo = Robot(*result['init_pars']) if result['keep_geo']: nf = min(self.robo.NF, new_robo.NF) new_robo.ant[:nf] = self.robo.ant[:nf] new_robo.sigma[:nf] = self.robo.sigma[:nf] new_robo.mu[:nf] = self.robo.mu[:nf] new_robo.gamma[:nf] = self.robo.gamma[:nf] new_robo.alpha[:nf] = self.robo.alpha[:nf] new_robo.theta[:nf] = self.robo.theta[:nf] new_robo.b[:nf] = self.robo.b[:nf] new_robo.d[:nf] = self.robo.d[:nf] new_robo.r[:nf] = self.robo.r[:nf] if result['keep_dyn']: nl = min(self.robo.NL, new_robo.NL) new_robo.Nex[:nl] = self.robo.Nex[:nl] new_robo.Fex[:nl] = self.robo.Fex[:nl] new_robo.FS[:nl] = self.robo.FS[:nl] new_robo.IA[:nl] = self.robo.IA[:nl] new_robo.FV[:nl] = self.robo.FV[:nl] new_robo.MS[:nl] = self.robo.MS[:nl] new_robo.M[:nl] = self.robo.M[:nl] new_robo.J[:nl] = self.robo.J[:nl] if result['keep_base']: new_robo.Z = self.robo.Z new_robo.w0 = self.robo.w0 new_robo.wdot0 = self.robo.wdot0 new_robo.v0 = self.robo.v0 new_robo.vdot0 = self.robo.vdot0 new_robo.G = self.robo.G self.robo = new_robo self.robo.directory = filemgr.get_folder_path(self.robo.name) self.feed_data() dialog.Destroy()
def cart_pole(): """Generate Robot instance of classical CartPole dynamic system.""" #TODO: bring it to the new notation with 0-frame robo = Robot('CartPole', 2, 2, 2, False) robo.ant = (-1, 0, 1) robo.sigma = (0, 1, 0) robo.alpha = (0, pi / 2, pi / 2) robo.d = (0, 0, 0) robo.theta = (0, pi / 2, var('th2')) robo.r = (0, var('r1'), 0) robo.b = (0, 0, 0) robo.gamma = (0, 0, 0) robo.structure = tools.SIMPLE robo.num = range(0, 3) robo.Nex = [zeros(3, 1) for i in robo.num] robo.Fex = [zeros(3, 1) for i in robo.num] robo.FS = [0 for i in robo.num] robo.IA = [0 for i in robo.num] robo.FV = [var('FV{0}'.format(i)) for i in robo.num] robo.MS = [zeros(3, 1) for i in robo.num] robo.MS[1][0] = var('MX2') robo.M = [var('M{0}'.format(i)) for i in robo.num] robo.GAM = [var('GAM{0}'.format(i)) for i in robo.num] inertia_matrix_terms = ("XX{0}, XY{0}, XZ{0}, ") + \ ("XY{0}, YY{0}, YZ{0}, ") + \ ("XZ{0}, YZ{0}, ZZ{0}") robo.J = [ Matrix(3, 3, var(inertia_matrix_terms.format(i))) \ for i in robo.num ] robo.G = Matrix([0, 0, -var('G3')]) robo.w0 = zeros(3, 1) robo.wdot0 = zeros(3, 1) robo.v0 = zeros(3, 1) robo.vdot0 = zeros(3, 1) robo.q = [0, var('r1'), var('th2')] robo.qdot = [0, var('r1d'), var('th2d')] robo.qddot = [0, var('r1dd'), var('th2dd')] return robo
def cart_pole(): """Generate Robot instance of classical CartPole dynamic system.""" #TODO: bring it to the new notation with 0-frame robo = Robot() robo.name = 'CartPole' robo.ant = (-1, 0) robo.sigma = (1, 0) robo.alpha = (pi / 2, pi / 2) robo.d = (0, 0) robo.theta = (pi / 2, var('Th2')) robo.r = (var('R1'), 0) robo.b = (0, 0) robo.gamma = (0, 0) robo.num = range(1, 3) robo.NJ = 2 robo.NL = 2 robo.NF = 2 robo.Nex = [zeros(3, 1) for i in robo.num] robo.Fex = [zeros(3, 1) for i in robo.num] robo.FS = [0 for i in robo.num] robo.IA = [0 for i in robo.num] robo.FV = [var('FV{0}'.format(i)) for i in robo.num] robo.MS = [zeros(3, 1) for i in robo.num] robo.MS[1][0] = var('MX2') robo.M = [var('M{0}'.format(i)) for i in robo.num] robo.GAM = [var('GAM{0}'.format(i)) for i in robo.num] robo.J = [zeros(3) for i in robo.num] robo.J[1][2, 2] = var('ZZ2') robo.G = Matrix([0, 0, -var('G3')]) robo.w0 = zeros(3, 1) robo.wdot0 = zeros(3, 1) robo.v0 = zeros(3, 1) robo.vdot0 = zeros(3, 1) robo.q = var('R1, Th2') robo.qdot = var('R1d, Th2d') robo.qddot = var('R1dd, Th2dd') robo.num.append(0) return robo
def planar2r(): """Generate Robot instance of 2R Planar robot""" robo = Robot('Planar2R', 2, 2, 2, False) robo.structure = tools.SIMPLE robo.sigma = [2, 0, 0] robo.mu = [0, 1, 1] robo.gamma = [0, 0, 0] robo.b = [0, 0, 0] robo.alpha = [0, 0, 0] robo.d = [0, 0, var('L1')] robo.theta = [0, var('q1'), var('q2')] robo.r = [0, 0, 0] robo.num = range(0, 3) robo.Nex = [zeros(3, 1) for i in robo.num] robo.Fex = [zeros(3, 1) for i in robo.num] robo.FS = [0 for i in robo.num] robo.IA = [0 for i in robo.num] robo.FV = [var('FV{0}'.format(i)) for i in robo.num] robo.MS = [Matrix(var('MX{0}, MY{0}, MZ{0}'.format(i))) for i in robo.num] robo.M = [var('M{0}'.format(i)) for i in robo.num] robo.GAM = [var('GAM{0}'.format(i)) for i in robo.num] inertia_matrix_terms = ("XX{0}, XY{0}, XZ{0}, ") + \ ("XY{0}, YY{0}, YZ{0}, ") + \ ("XZ{0}, YZ{0}, ZZ{0}") robo.J = [ Matrix(3, 3, var(inertia_matrix_terms.format(i))) \ for i in robo.num ] robo.G = Matrix([0, 0, -var('G3')]) robo.w0 = zeros(3, 1) robo.wdot0 = zeros(3, 1) robo.v0 = zeros(3, 1) robo.vdot0 = zeros(3, 1) robo.q = [0, var('q1'), var('q2')] robo.qdot = [0, var('QP1'), var('QP2')] robo.qddot = [0, var('QDP1'), var('QDP2')] return robo