Exemple #1
0
def apply_surface_parameters(model):
    """
    Applies surface parameters to all collisions in the given model.
    :param model:
    :type model: Model
    :return:
    """
    # Add friction surfaces to all body parts
    surf = Element(tag_name="surface")
    friction = Friction(
        friction=constants.SURFACE_FRICTION1,
        friction2=constants.SURFACE_FRICTION2,
        slip1=constants.SURFACE_SLIP1,
        slip2=constants.SURFACE_SLIP2
    )
    contact = "<contact>" \
              "<ode>" \
              "<kd>%s</kd>" \
              "<kp>%s</kp>" \
              "</ode>" \
              "</contact>" % (
                  nf(constants.SURFACE_KD), nf(constants.SURFACE_KP)
              )

    surf.add_element(contact)
    surf.add_element(friction)

    collisions = model.get_elements_of_type(Collision, recursive=True)
    for collision in collisions:
        collision.add_element(surf)
Exemple #2
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def apply_surface_parameters(model):
    """
    Applies surface parameters to all collisions in the given model.
    :param model:
    :type model: Model
    :return:
    """
    # Add friction surfaces to all body parts
    surf = Element(tag_name="surface")
    friction = Friction(
        friction=constants.SURFACE_FRICTION1,
        friction2=constants.SURFACE_FRICTION2,
        slip1=constants.SURFACE_SLIP1,
        slip2=constants.SURFACE_SLIP2
    )
    contact = "<contact>" \
              "<ode>" \
              "<kd>%s</kd>" \
              "<kp>%s</kp>" \
              "</ode>" \
              "</contact>" % (
                  nf(constants.SURFACE_KD), nf(constants.SURFACE_KP)
              )

    surf.add_element(contact)
    surf.add_element(friction)

    collisions = model.get_elements_of_type(Collision, recursive=True)
    for collision in collisions:
        collision.add_element(surf)
Exemple #3
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def apply_surface_parameters(model, intended_step_size=0.005):
    """
    Applies surface parameters to all collisions in the given model.
    :param model:
    :type model: Model
    :param intended_step_size:
    :return:
    """
    surface_kd = constants.SURFACE_ERP / (constants.SURFACE_CFM * intended_step_size)
    surface_kp = 1.0 / constants.SURFACE_CFM - (constants.SURFACE_ERP / constants.SURFACE_CFM)

    # Add friction surfaces to all body parts
    surf = Element(tag_name="surface")
    friction = Friction(
        friction=constants.SURFACE_FRICTION1,
        friction2=constants.SURFACE_FRICTION2,
        slip1=constants.SURFACE_SLIP1,
        slip2=constants.SURFACE_SLIP2
    )
    contact = "<contact>" \
              "<ode>" \
              "<kd>%s</kd>" \
              "<kp>%s</kp>" \
              "</ode>" \
              "</contact>" % (
                  nf(surface_kd), nf(surface_kp)
              )

    surf.add_element(contact)
    surf.add_element(friction)

    collisions = model.get_elements_of_type(Collision, recursive=True)
    for collision in collisions:
        collision.add_element(surf)
Exemple #4
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    def get_sdf_model(
            self,
            robot,
            controller_plugin=None,
            update_rate=5,
            name="sdf_robot",
            analyzer_mode=False,
            battery=None,
            brain_conf=None
    ):
        """
        :param robot: Protobuf robot
        :type robot: Robot
        :param controller_plugin: Name of the shared library of the model plugin
        :type controller_plugin: str|none
        :param update_rate: Update rate as used by the default controller
        :type update_rate: float
        :param name: Name of the SDF model
        :type name: str
        :param analyzer_mode:
        :type analyzer_mode: bool
        :param battery: A Battery element to be added to the plugin if
                        applicable.
        :type battery: Element
        :param brain_conf: Brain configuration data
        :type brain_conf: dict
        :return: The sdf-builder Model
        :rtype: Model
        """
        model = Model(name)

        # Create the model plugin element
        plugin = Element(tag_name='plugin', attributes={
            'name': 'robot_controller',
            'filename': controller_plugin
        })

        # Add body config element
        config = Element(tag_name='rv:robot_config', attributes={
            'xmlns:rv': 'https://github.com/ElteHupkes/revolve'
        })
        config.add_element(Element(tag_name='rv:update_rate', body=nf(update_rate)))
        plugin.add_element(config)

        # Add brain config element
        brain_config = Element(tag_name='rv:brain', attributes=brain_conf)
        config.add_element(brain_config)

        self.brain_builder.build(robot, model, brain_config, analyzer_mode)
        self.body_builder.build(robot, model, config, analyzer_mode)

        if battery:
            config.add_element(battery)

        if controller_plugin:
            # Only add the plugin element when required
            model.add_element(plugin)

        return model
Exemple #5
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    def __init__(self, diameter=3.0, height=3.0, name="birth_clinic"):
        """

        :param diameter: Intended diameter of the birth clinic
        :param name:
        :return:
        """
        super(BirthClinic, self).__init__(name=name, static=True)

        self.diameter = diameter
        scale = diameter / MESH_DIAMETER

        # Cannot go higher than mesh height, or lower than the bottom
        # of the slice.
        scaled_height = scale * MESH_HEIGHT
        self.height = max(min(height, scaled_height), SLICE_FRACTION * scaled_height)

        mesh = Mesh("model://tol_robot/meshes/BirthClinic.dae", scale=scale)

        col = Collision("bc_col", mesh)
        surf = Element(tag_name="surface")
        friction = Friction(
            friction=0.01,
            friction2=0.01,
            slip1=1.0,
            slip2=1.0
        )
        contact = "<contact>" \
                  "<ode>" \
                  "<kd>%s</kd>" \
                  "<kp>%s</kp>" \
                  "</ode>" \
                  "</contact>" % (
                      nf(constants.SURFACE_KD), nf(constants.SURFACE_KP)
                  )
        surf.add_element(friction)
        surf.add_element(contact)
        col.add_element(surf)

        vis = Visual("bc_vis", mesh.copy())
        self.link = Link("bc_link", elements=[col, vis])

        # By default the model has 0.5 * scale * MESH_HEIGHT below
        # and above the surface. Translate such that we have exactly
        # the desired height instead.
        self.link.translate(Vector3(0, 0, self.height - (0.5 * scaled_height)))
        self.add_element(self.link)
Exemple #6
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    def get_sdf_model(self, robot, controller_plugin=None, update_rate=5, name="sdf_robot",
                      analyzer_mode=False, battery=None, brain_conf=None):
        """
        :param robot: Protobuf robot
        :type robot: Robot
        :param controller_plugin: Name of the shared library of the model plugin
        :type controller_plugin: str|none
        :param update_rate: Update rate as used by the default controller
        :type update_rate: float
        :param name: Name of the SDF model
        :type name: str
        :param analyzer_mode:
        :type analyzer_mode: bool
        :param battery: A Battery element to be added to the plugin if
                        applicable.
        :type battery: Element
        :param brain_conf: Brain configuration data
        :type brain_conf: dict
        :return: The sdf-builder Model
        :rtype: Model
        """
        model = Model(name)

        # Create the model plugin element
        plugin = Element(tag_name='plugin', attributes={
            'name': 'robot_controller',
            'filename': controller_plugin
        })

        # Add body config element
        config = Element(tag_name='rv:robot_config', attributes={
            'xmlns:rv': 'https://github.com/ElteHupkes/revolve'
        })
        config.add_element(Element(tag_name='rv:update_rate', body=nf(update_rate)))
        plugin.add_element(config)

        # Add brain config element
        brain_config = Element(tag_name='rv:brain', attributes=brain_conf)
        config.add_element(brain_config)

        self.brain_builder.build(robot, model, brain_config, analyzer_mode)
        self.body_builder.build(robot, model, config, analyzer_mode)

        if battery:
            config.add_element(battery)

        if controller_plugin:
            # Only add the plugin element when required
            model.add_element(plugin)

        return model