def add(w, is_fixed=False, create_shapes=True, create_contacts=True):
"""
construction of the icub robot for arboris-python:
Kinematics data are from: http://eris.liralab.it/wiki/ICubForwardKinematics
Inertia comes from the Icub.cpp used in the iCub_SIM program
Some data are not well explained, or are badly defined
"""
bodies_data = get_bodies_data()
bodies_shapes_data = get_bodies_shapes_data()
joints_data = get_joints_data()
shapes_data = get_contact_data()
## bodies creation
bodies = {}
for name, data in bodies_data.items():
bodies[name] = Body(name=name)
mass = zeros((6, 6))
for dims, m, H in data: # get dims, mass and transformation from data
sf = SubFrame(bodies[name], H)
if len(dims) == 3: # check the type of shape: len =3: box
M = box(dims, m)
elif len(dims) == 2: # len =2:cylinder,
M = cylinder(dims[0], dims[1], m)
elif len(dims) == 1: # len =1:sphere,
M = sphere(dims[0], m)
else:
raise ValueError
mass += transport(M, inv(H)) # add the mass of the shape to
bodies[name].mass = mass # the total mass
## check if iCub has its waist fixed on the structure (the ground)
if is_fixed:
bodies['waist'] = w.ground
else:
w.add_link(w.ground, FreeJoint(name='root'), bodies['waist'])
## joints creation
for name, data in joints_data.items():
parent, Hp_l, child = data
w.add_link(SubFrame(bodies[parent], Hp_l), RzJoint(name=name),
bodies[child])
if create_shapes is True:
## body shapes creations
for name, data in bodies_shapes_data.items():
for dims, H in data: # get dims, mass and transformation from data
sf = SubFrame(bodies[name], H)
if len(dims) == 3: # check the type of shape: len =3: box
sh = Box(sf, dims, name + ".body_shape")
elif len(dims) == 2: # len =2:cylinder,
sh = Cylinder(sf, dims[0], dims[1], name + ".body_shape")
elif len(dims) == 1: # len =1:sphere,
sh = Sphere(sf, dims[0], name + ".body_shape")
else:
raise ValueError
w.register(sh)
if create_contacts is True:
## contact shapes creation
for name, data in shapes_data.items():
parent, dims, Hpf = data
sf = SubFrame(bodies[parent], Hpf, name=name)
if len(dims) == 3: # check the type of shape: len =3: box
sh = Box(sf, dims, name=name)
elif len(dims) == 2: # len =2:cylinder,
sh = Cylinder(sf, dims[0], dims[1], name=name)
elif len(dims) == 1: # len =1:sphere,
sh = Sphere(sf, dims[0], name=name)
else:
sh = Point(sf, name=name)
w.register(sh)
w.init()
def add(w, is_fixed=False, create_shapes=True, create_contacts=True):
"""
construction of the icub robot for arboris-python:
Kinematics data are from: http://eris.liralab.it/wiki/ICubForwardKinematics
Inertia comes from the Icub.cpp used in the iCub_SIM program
Some data are not well explained, or are badly defined
"""
bodies_data = get_bodies_data()
bodies_shapes_data = get_bodies_shapes_data()
joints_data = get_joints_data()
shapes_data = get_contact_data()
## bodies creation
bodies = {}
for name, data in bodies_data.items():
bodies[name] = Body(name=name)
mass = zeros((6, 6))
for dims, m, H in data: # get dims, mass and transformation from data
sf = SubFrame(bodies[name], H)
if len(dims) == 3: # check the type of shape: len =3: box
M = box(dims, m)
elif len(dims) == 2: # len =2:cylinder,
M = cylinder(dims[0], dims[1], m)
elif len(dims) == 1: # len =1:sphere,
M = sphere(dims[0], m)
else:
raise ValueError
mass += transport(M, inv(H)) # add the mass of the shape to
bodies[name].mass = mass # the total mass
## check if iCub has its waist fixed on the structure (the ground)
if is_fixed:
bodies['waist'] = w.ground
else:
w.add_link(w.ground, FreeJoint(name='root'), bodies['waist'])
## joints creation
for name, data in joints_data.items():
parent, Hp_l, child = data
w.add_link(SubFrame(bodies[parent], Hp_l),
RzJoint(name=name),
bodies[child])
if create_shapes is True:
## body shapes creations
for name, data in bodies_shapes_data.items():
for dims, H in data: # get dims, mass and transformation from data
sf = SubFrame(bodies[name], H)
if len(dims) == 3: # check the type of shape: len =3: box
sh = Box(sf, dims, name+".body_shape")
elif len(dims) == 2: # len =2:cylinder,
sh = Cylinder(sf, dims[0], dims[1], name+".body_shape")
elif len(dims) == 1: # len =1:sphere,
sh = Sphere(sf, dims[0], name+".body_shape")
else:
raise ValueError
w.register(sh)
if create_contacts is True:
## contact shapes creation
for name, data in shapes_data.items():
parent, dims, Hpf = data
sf = SubFrame(bodies[parent], Hpf, name=name)
if len(dims) == 3: # check the type of shape: len =3: box
sh = Box(sf, dims, name=name)
elif len(dims) == 2: # len =2:cylinder,
sh = Cylinder(sf, dims[0], dims[1], name=name)
elif len(dims) == 1: # len =1:sphere,
sh = Sphere(sf, dims[0], name=name)
else:
sh = Point(sf, name=name)
w.register(sh)
w.init()
