예제 #1
0
    def __init__(self, filename, package_dirs=None, root_joint=None, verbose=False):
        if root_joint is None:
            self.model = se3.buildModelFromUrdf(filename)
        else:
            self.model = se3.buildModelFromUrdf(filename, root_joint)

        self.data = self.model.createData()
        self.model_filename = filename

        if "buildGeomFromUrdf" not in dir(se3):
            self.collision_model = None
            self.visual_model = None
            self.collision_data = None
            self.visual_data = None
            if verbose:
                print 'Info: the Geometry Module has not been compiled with Pinocchio. No geometry model and data have been built.'
        else:
            if package_dirs is None:
                self.collision_model = se3.buildGeomFromUrdf(self.model, filename)
                self.visual_model = se3.buildGeomFromUrdf(self.model, filename)
            else:
                if not all(isinstance(item, basestring) for item in package_dirs):
                    raise Exception('The list of package directories is wrong. At least one is not a string')
                else:
                    self.collision_model = se3.buildGeomFromUrdf(self.model, filename,
                                                                utils.fromListToVectorOfString(package_dirs), se3.GeometryType.COLLISION)
                    self.visual_model = se3.buildGeomFromUrdf(self.model, filename,
                                                                utils.fromListToVectorOfString(package_dirs), se3.GeometryType.VISUAL)
            self.collision_data = se3.GeometryData(self.collision_model)
            self.visual_data = se3.GeometryData(self.visual_model)

        self.v0 = utils.zero(self.nv)
        self.q0 = utils.zero(self.nq)
예제 #2
0
    def __init__(self, filename, package_dirs=None, root_joint=None):
        if root_joint is None:
            self.model = se3.buildModelFromUrdf(filename)
        else:
            self.model = se3.buildModelFromUrdf(filename, root_joint)

        self.data = self.model.createData()

        if "buildGeomFromUrdf" not in dir(se3):
            raise Exception(
                'the Geometry Module has not been compiled with Pinocchio. No geometry model'
            )
        else:
            if package_dirs is None:
                self.geometry_model = se3.buildGeomFromUrdf(
                    self.model, filename)
                self.geometry_data = se3.GeometryData(self.data,
                                                      self.geometry_model)
            else:
                if not all(
                        isinstance(item, basestring) for item in package_dirs):
                    raise Exception(
                        'The list of package directories is wrong. At least one is not a string'
                    )
                else:
                    self.geometry_model = se3.buildGeomFromUrdf(
                        self.model, filename,
                        utils.fromListToVectorOfString(package_dirs))
                    self.geometry_data = se3.GeometryData(
                        self.data, self.geometry_model)

        self.v0 = utils.zero(self.nv)
        self.q0 = utils.zero(self.nq)
예제 #3
0
 def __init__(self,filename, root_joint = None):
     self.modelFileName = filename
     if(root_joint is None):
         self.model = se3.buildModelFromUrdf(filename)
     else:
         self.model = se3.buildModelFromUrdfWithRoot(filename, root_joint)
     self.data = self.model.createData()
     self.v0 = utils.zero(self.nv)
     self.q0 = utils.zero(self.nq)
예제 #4
0
    def __init__(self, filename, package_dirs=None, root_joint=None):
        if root_joint is None:
            self.model = se3.buildModelFromUrdf(filename)
        else:
            self.model = se3.buildModelFromUrdf(filename, root_joint)

        self.data = self.model.createData()

        if "buildGeomFromUrdf" not in dir(se3):
            raise Exception('the Geometry Module has not been compiled with Pinocchio. No geometry model')
        else:
            if package_dirs is None:
                self.geometry_model = se3.buildGeomFromUrdf(self.model, filename)
                self.geometry_data = se3.GeometryData(self.data, self.geometry_model)
            else:
                if not all(isinstance(item, basestring) for item in package_dirs):
                    raise Exception('The list of package directories is wrong. At least one is not a string')
                else:
                    self.geometry_model = se3.buildGeomFromUrdf(self.model, filename,
                                                                utils.fromListToVectorOfString(package_dirs))
                    self.geometry_data = se3.GeometryData(self.data, self.geometry_model)

        self.v0 = utils.zero(self.nv)
        self.q0 = utils.zero(self.nq)
예제 #5
0
 def __init__(self,filename):
     self.modelFileName = filename
     self.model = se3.buildModelFromUrdf(filename,True)
     self.data = self.model.createData()
     self.v0 = utils.zero(self.nv)
     self.q0 = utils.zero(self.nq)
예제 #6
0
max(func=lambda x: 1.0 / x,
    search_region=(
        -4.0,
        -0.0,
    ),
    population_size=300,
    generations=50)

inflection_point(func=lambda x: (x - 1.5)**3 + 3,
                 search_region=(
                     -10.0,
                     10.0,
                 ),
                 population_size=300,
                 generations=50)

zero(func=lambda x: log(x + 1) - 2.25,
     search_region=(
         -0.5,
         15.0,
     ),
     population_size=300,
     generations=50)

generate_word(list('МИР'),
              letters=list('АБВГДЕЁЖЗИЙКЛМНОПРСТУФХЦЧШЩЪЫЬЭЮЯ'),
              population_size=40)

generate_word([96, 96, 159], letters=list(range(0, 256)), population_size=40)
 def __init__(self,filename):
     self.modelFileName = filename
     self.model = se3.buildModelFromUrdf(filename,True)
     self.data = self.model.createData()
     self.v0 = utils.zero(self.nv)
     self.q0 = utils.zero(self.nq)