def world(self, n):
# mounting pts: x y z θ
w = World(*[(i * self.dx, 0, 0, 0) for i in range(0, n)])
# cmpts:
for i in range(0, n):
Arm("Arm" + str(i), w, i) #TODO option for Panda arm
return w
def world(self, n, m):
# mounting pts: x y z θ
w = World(*[(0, i * self.dy, 0, 0) for i in range(0, n)])
# cmpts:
for i in range(0, n):
Cart("Cart" + str(i), w, i)
return w
def world():
# mounting pts: x y z θ comp
w = World(
(-1, 0, 0, 0), # producer
(0, 0, 0, 0)) # sensor
# specs
producer = CubeProcess("producer", 0, 0, 0, 0, 0.2, 0.2, 0.05, w, 0)
sensor = CubeProcess("sensor", 0, 0, 0, 0, 0.2, 0.2, 0.2, w, 1)
return w
def world(x, y, z, a, b, c):
# mounting pts: x y z θ comp
w = World(
(0, 0, 0, 0), # arm
(0, 0, 0, 0)) # point
#arm = Arm("arm", w, 0, -2.2689280275926285, 2.2689280275926285, 0) #folded toward the back
arm = Arm("arm", w, 0, a, b, c)
point = PointProcess("point", x, y, z, w, 1)
return w
def test_folded_above_0(self, debug=False):
# mounting pts: x y z θ comp
w = World(
(0, 0, 1, 0), # arm
(0, 0, 0, 0)) # point
arm = Arm("arm", w, 0, -2.2689280275926285, -2.2689280275926285,
0) #folded toward the back
below = FpProcess(
"point", self.below(0.97), w,
1) #The folded arm FP extends 2-3cm below 0 due to maxFP
ch = choreo1()
self.assertTrue(self.check0(ch, w, debug))
def xp1_world():
w = World(
(
0, 0, 0, mp.pi / 2
), # cart: it is rotated by 90 degrees, so it x/y are not the same as the global frame
(-1.1, 0.09, 0, 0), # carrier: aligned with the right side
(0, 0, 0, 0), # pillar
(0, 0, 0, 0)) # bridge
cart = Cart("Cart", w, 0)
arm = Arm("Arm", cart) # on top the cart: it is also rotated by 90 degrees
carrier = CartSquare("Carrier", w, 1)
pillar = Cube(-0.5, 0.5, 0, mp.pi / 4, 0.1, 0.3, 0.2, w, 2)
bridge = Cube(-0.5, 0.5, 0.2, mp.pi / 4, 0.3, 0.03, 0.1, w, 3)
return w
def world():
# mounting pts: x y z θ comp
w = World(
(0, 0.7, 0.18, 0), # arm
(-0.6, 0, 0, 0), # carrier
(-0.2, -1.1, 0, mp.pi / 2), # franka
(-0.95, 0, 0, 0), # producer
(0.15, -0.05, 0, 0)) # sensor
# specs
arm = Arm("arm", w, 0, -2.2689280275926285, 2.2689280275926285, 0)
carrier = CartSquare("carrier", w, 1)
franka = FrankaEmikaPanda("franka", w, 2)
producer = CubeProcess("producer", 0, 0, 0, 0, 0.1, 0.2, 0.05, w, 3)
sensor = CubeProcess("sensor", 0, 0, 0, 0, 0.1, 0.1, 0.2, w, 4)
return w
def check(self, P1, P2):
w = World()
p1 = P1(w, 0)
p2 = P2(w, 1)
env = Env(w, [])
ch = choreo()
visitor = Projection()
visitor.execute(ch, env)
chor = visitor.choreography
vectorize(chor, w)
checker = CompatibilityCheck(chor, w)
checker.localChoiceChecks()
checker.generateTotalGuardsChecks()
checker.computePreds()
checker.generateCompatibilityChecks()
for i in range(0, len(checker.vcs)):
vc = checker.vcs[i]
if not vc.discharge():
print(i, "inFP", vc.title)
if vc.hasModel():
print(vc.modelStr())
return False
return True
import unittest
from spec.contract import *
from spec.time import timifyFormula
from experiments_setups import World, DummyProcess
from utils.geometry import cube
#TODO contract, vaccuous, refinement, composition, etc.
w = World()
dp1 = DummyProcess("DP1", w, 0)
dp2 = DummyProcess("DP2", w, 1)
class TestContract01(AssumeGuaranteeContract):
def __init__(self, proc = dp1):
super().__init__("TestContract01")
self._p = proc
def components(self):
return {self._p};
class TestContract02(AssumeGuaranteeContract):
def __init__(self, proc = dp1):
super().__init__("TestContract02")
self._p = proc
def components(self):
return {self._p};
def progTwistAndTurnWorld():
w = World((0, 0, 0, 0), (0.5, 0, 0, mp.pi))
cart = Cart("Cart", w, 0)
arm = Arm("Arm", cart)
carrier = CartSquare("Carrier", w, 1)
return w