def load_robot(self):
"""
Load either the default robot or the last used robot at the
start of the program.
Returns:
An instance of `Robot` class.
"""
par_file_path = configfile.get_last_robot()
if par_file_path is None:
# when last used robot was not saved
return samplerobots.rx90()
elif not os.path.exists(par_file_path):
# when the PAR file does not exist
self.message_error("The PAR file does not exist.")
return samplerobots.rx90()
else:
robo_name = os.path.split(par_file_path)[1][:-4]
robo, flag = parfile.readpar(robo_name, par_file_path)
if robo is None:
robo = samplerobots.rx90()
self.message_error("File could not be read!")
elif flag == tools.FAIL:
robo = samplerobots.rx90()
self.message_warning(
"While reading file an error occured."
)
return robo
def test_igm_rx90(self):
print "######## test_igm ##########"
robo = samplerobots.rx90()
#robo.r[6] = var('R6')
#robo.gamma[6] = var('G6') # invgeom.T_GENERAL
nTm = invgeom.T_GENERAL
invgeom._paul_solve(robo, self.symo, nTm, 0, robo.nf)
self.symo.gen_func_string('IGM_gen',
robo.q_vec,
invgeom.T_GENERAL,
syntax='matlab')
igm_f = self.symo.gen_func('IGM_gen', robo.q_vec, invgeom.T_GENERAL)
T = geometry.dgm(robo,
self.symo,
0,
robo.nf,
fast_form=True,
trig_subs=True)
f06 = self.symo.gen_func('DGM_generated1', T, robo.q_vec)
for x in xrange(100):
arg = random.normal(size=robo.nj)
Ttest = f06(arg)
solution = igm_f(Ttest)
for q in solution:
self.assertLess(amax(matrix(f06(q)) - Ttest), 1e-12)
def test_igm_rx90(self):
robo = samplerobots.rx90()
nTm = invdata.T_GENERAL
self.symo.write_line("\r\n*******************PIEPER METHOD STARTS********************** \r\n")
pieper._pieper_solve(robo, self.symo, nTm, 0, robo.nf)
## self.symo.gen_func_string('IGM_gen', robo.q_vec,
## invgeom.T_GENERAL, syntax='matlab')
igm_f = self.symo.gen_func('IGM_gen', robo.q_vec,
invdata.T_GENERAL)
self.symo.write_line("\r\n*******************PIEPER METHOD FINISHED********************")
def test_igm_rx90(self):
robo = samplerobots.rx90()
nTm = invdata.T_GENERAL
self.symo.write_line(
"\r\n*******************PIEPER METHOD STARTS********************** \r\n"
)
pieper._pieper_solve(robo, self.symo, nTm, 0, robo.nf)
## self.symo.gen_func_string('IGM_gen', robo.q_vec,
## invgeom.T_GENERAL, syntax='matlab')
igm_f = self.symo.gen_func('IGM_gen', robo.q_vec, invdata.T_GENERAL)
self.symo.write_line(
"\r\n*******************PIEPER METHOD FINISHED********************"
)
def test_igm_rx90(self):
robo = samplerobots.rx90()
#robo.r[6] = var('R6')
#robo.gamma[6] = var('G6') # invgeom.T_GENERAL
nTm = invgeom.T_GENERAL
invgeom._paul_solve(robo, self.symo, nTm, 0, robo.nf)
self.symo.gen_func_string('IGM_gen', robo.q_vec,
invgeom.T_GENERAL, syntax='matlab')
igm_f = self.symo.gen_func('IGM_gen', robo.q_vec,
invgeom.T_GENERAL)
T = geometry.dgm(robo, self.symo, 0, robo.nf,
fast_form=True, trig_subs=True)
f06 = self.symo.gen_func('DGM_generated1', T, robo.q_vec)
for x in xrange(100):
arg = random.normal(size=robo.nj)
Ttest = f06(arg)
solution = igm_f(Ttest)
for q in solution:
self.assertLess(amax(matrix(f06(q))-Ttest), 1e-12)
def test_dynamics(self):
robo = samplerobots.rx90()
print 'Inverse dynamic model using Newton - Euler Algorith'
dynamics.inverse_dynamic_NE(robo)
print 'Direct dynamic model using Newton - Euler Algorith'
dynamics.direct_dynamic_NE(robo)
print 'Dynamic identification model using Newton - Euler Algorith'
dynamics.dynamic_identification_NE(robo)
print 'Inertia Matrix using composite links'
dynamics.inertia_matrix(robo)
print 'Coriolis torques using Newton - Euler Algorith'
dynamics.pseudo_force_NE(robo)
print 'Base parameters computation'
dynamics.base_paremeters(robo)
def test_dynamics(self):
robo = samplerobots.rx90()
print 'Inverse dynamic model using Newton - Euler Algorith'
dynamics.inverse_dynamic_NE(robo)
print 'Direct dynamic model using Newton - Euler Algorith'
dynamics.direct_dynamic_NE(robo)
print 'Dynamic identification model using Newton - Euler Algorith'
dynamics.dynamic_identification_NE(robo)
print 'Inertia Matrix using composite links'
dynamics.inertia_matrix(robo)
print 'Coriolis torques using Newton - Euler Algorith'
dynamics.pseudo_force_NE(robo)
print 'Base parameters computation'
dynamics.base_paremeters(robo)
def setUp(self):
self.orig_robo = samplerobots.rx90()
def setUp(self):
self.symo = symbolmgr.SymbolManager()
self.robo = samplerobots.rx90()
if self.solve_loops:
self.canvas.solve()
self.update_spin_controls()
self.canvas.OnDraw()
def CheckFrames(self, evt):
self.canvas.show_frames(evt.EventObject.GetChecked())
self.tButton.Value = False
evt.EventObject.DeselectAll()
def SelectFrames(self, evt):
selections = evt.EventObject.GetSelections()
if selections:
self.canvas.centralize_to_frame(selections[0])
def OnSliderChanged(self, _):
self.canvas.change_lengths(self.jnt_slider.Value / 100.)
if __name__ == '__main__':
app = wx.PySimpleApp()
from pysymoro import robot
robo = samplerobots.rx90()
robo.d[3] = 1.
robo.r[4] = 1.
frame = MainWindow(prefix='', robo=robo)
import profile
profile.run('frame.canvas.OnPaintAll(wx.CommandEvent())', sort='cumtime')
app.MainLoop()
app.Destroy()
def setUp(self):
self.orig_robo = samplerobots.rx90()
if self.solve_loops:
self.canvas.solve()
self.update_spin_controls()
self.canvas.OnDraw()
def CheckFrames(self, evt):
self.canvas.show_frames(evt.EventObject.GetChecked())
self.tButton.Value = False
evt.EventObject.DeselectAll()
def SelectFrames(self, evt):
selections = evt.EventObject.GetSelections()
if selections:
self.canvas.centralize_to_frame(selections[0])
def OnSliderChanged(self, _):
self.canvas.change_lengths(self.jnt_slider.Value/100.)
if __name__ == '__main__':
app = wx.PySimpleApp()
from pysymoro import robot
robo = samplerobots.rx90()
robo.d[3] = 1.
robo.r[4] = 1.
frame = MainWindow(prefix='', robo=robo)
import profile
profile.run('frame.canvas.OnPaintAll(wx.CommandEvent())', sort='cumtime')
app.MainLoop()
app.Destroy()
