Exemplo n.º 1
0
 def __init__(self, parameters=None): 
   if parameters is None:
     for i in xrange(len(self.theta)):
       self.legs[i] = leg(self.theta[i], self.alpha, self.radius, self.displacement)
   else:
     for i in xrange(len(parameters[0])):
       self.legs[i] = leg(parameters[0][i], parameters[1], parameters[2], parameters[3])
   self.updateTrig()
Exemplo n.º 2
0
 def __init__(self, parameters=None):
     if parameters is None:
         for i in xrange(len(self.theta)):
             self.legs[i] = leg(self.theta[i], self.alpha, self.radius,
                                self.displacement)
     else:
         for i in xrange(len(parameters[0])):
             self.legs[i] = leg(parameters[0][i], parameters[1],
                                parameters[2], parameters[3])
     self.updateTrig()
Exemplo n.º 3
0
  def __init__(self, params): 
    #stash params
    self.position = params.position
    self.yaw = params.yaw
    self.pitch = params.pitch
    self.roll = params.roll
    self.alpha = params.alpha
    self.radius = params.radius
    self.displacement = params.displacement
    self.angleRange = params.angleRange
    self.legThetas = params.legThetas
    self.legAlphas = params.legAlphas
    self.legRadii = params.legRadii
    self.legDisps = params.legDisps

    #Initialize one-time calculable stuff
    self.transformMat = generateTransformMat(self.yaw, self.pitch, self.roll, self.position)
    self.inverseTransformMat = np.linalg.inv(self.transformMat)
    for i in xrange(len(self.legs)):
      self.legs[i] = leg(self.alpha[i], self.radius[i], self.displacement[i], self.angleRange[i])
      self.legDHMats[i] = generateDHMat(self.legThetas[i],self.legAlphas[i],self.legRadii[i],self.legDisps[i])
      self.inverseLegDHMats[i] = np.linalg.inv(self.legDHMats[i])
Exemplo n.º 4
0
	def __init__(self,con):
		self.con = con
		
		self.RF	= leg(con,'rightFront',24,25,26)
		self.RM	= leg(con,'rightMid',20,21,22)
		self.RB	= leg(con,'rightBack',16,17,18)

		self.LF	= leg(con,'leftFront',7,6,5)
		self.LM	= leg(con,'leftMid',11,10,9)
		self.LB	= leg(con,'leftBack',15,14,13)

		self.legs	= [
					self.RF,
					self.RM,
					self.RB,
					self.LF,
					self.LM,
					self.LB]

		self.neck	= neck(con,31)

		self.tripod1 = [self.RF,self.RB,self.LM]
		self.tripod2 = [self.LF,self.LB,self.RM]
Exemplo n.º 5
0
from leg import *
from math import pi


theta = [0, 0, 0, pi/2]
alpha = [0, pi/2, 0, 0]
radius = [1., .5, 1.5, 2]
displacement = [0,0,0,0]

l1 = leg(theta, alpha, radius, displacement)

print l1.move(theta)
print l1.getAllJoints(theta)
Exemplo n.º 6
0
from leg import *
from math import pi

theta = [0, 0, 0, pi / 2]
alpha = [0, pi / 2, 0, 0]
radius = [1., .5, 1.5, 2]
displacement = [0, 0, 0, 0]

l1 = leg(theta, alpha, radius, displacement)

print l1.move(theta)
print l1.getAllJoints(theta)
Exemplo n.º 7
0
radius = [1.0, 0.5, 1.5, 2]
displacement = [-0.5, 0, 0, 0]

theta = [
    [0, pi / 6, pi / 4, -pi / 2],
    [pi / 3, 0, pi / 4, -pi / 2],
    [2 * pi / 3, -pi / 6, pi / 4, -pi / 2],
    [pi, pi / 6, pi / 4, -pi / 2],
    [4 * pi / 3, 0, pi / 4, -pi / 2],
    [5 * pi / 3, -pi / 6, pi / 4, -pi / 2],
]

legs = [None] * 6

for i in xrange(len(theta)):
    legs[i] = leg(theta[i], alpha, radius, displacement)

X = []
Y = []
Z = []


def plotLeg(ax, points):
    X = [point[0] for point in points]
    Y = [point[1] for point in points]
    Z = [point[2] for point in points]

    for i in range(len(points) - 1):
        ax.plot([X[i], X[i + 1]], [Y[i], Y[i + 1]], [Z[i], Z[i + 1]])

    return (X, Y, Z)
Exemplo n.º 8
0
    def __init__(self):
        ''' Initialise parameters '''
        scale = 1
           
        self.m_body = 382*scale;
        self.m_inv = 1/self.m_body
        self.m = [0.,1.,1.,1.,1.]
        
        self.m[1:] = self.muscMasses() # Set masses of parts from Hutchinson's %s
        
        self.L_femur = 565*scale
        self.L_tibia = 505*scale
        self.L_tarsa = 300*scale
        self.L_foot  = 380*scale
        self.w_hips = 200*scale
        
        self.base = np.array([[0, 0], [0, 0], [0, -9.81]])
        
        self.CoM = [50, 0]
        
        self.resetAngles()
        
        self.forces = np.matrix(ml.repmat(np.zeros([3,1]), 1, 5))
        self.torques = np.matrix(ml.repmat(np.zeros([3,1]), 1, 5))
        
        self.toe_oldx = 0
        
        ''' DH params '''
        alpha = np.array([0, 0, 0, 0, 0])
        a = np.array([0, self.L_femur, self.L_tibia, self.L_tarsa, self.L_foot])
        d = np.array([0,0,0,0,0])
        
        self.dh = np.array([alpha, a, d])
        
        ''' GA params '''
        #self.amp = 
        self.t0s = [0,0,0,0]
        self.tas = [0,0,0,0]
        self.tTs = [0,0,0,0]
        
        self.popsize = 40
        self.population = np.zeros([self.popsize,3,4])
        self.parents    = np.zeros([2,3,4])
        self.seed = rd.randint(0,10000)
        self.fitnesses = np.zeros([self.popsize,1])
        self.fittotal = 0
        self.fitinhand = -99999
        self.inhand = 0
        self.generate_population()
        self.SL = 0
        
        ''' pyBullet params '''
        self.T_fixed = 1./240

        
        ''' Hold last angle for numerical differentiation '''
        ''' First is last held angle, second is ang velocity '''
        self.w1 = [0, 0]; self.w1 = [0, 0]; self.w3 = [0, 0]; self.w4 = [0, 0]
        
        self.dyn() # Keep me last!
        
        self.leg_l = leg(); self.leg_l.test(3)
        self.leg_r = leg(); self.leg_r.test(3)
Exemplo n.º 9
0
    "H_star": "charged scalar",
    "S1": "charged scalar",
    "S1_star": "charged scalar",
    "S2": "charged scalar",
    "S2_star": "charged scalar"
}

GRAPHS = ET.parse(INPUT)
DIAGRAMS = GRAPHS.find("diagrams")

file = open("diagrams.tex", "w+")

for diagram in list(DIAGRAMS):
    DiagID = diagram.find("id").text
    print("Doing diagram: " + DiagID)
    file.write(DiagID + "~\\feynmandiagram[]{\n")
    NOpropagators = list(diagram.find("propagators"))
    LegsSort = itemSort(diagram.find("legs"), "vertex")
    NOlegs = list(LegsSort)
    propagators = []
    for p in NOpropagators:
        propagators.append(propagator(p))
    for p in propagators:
        p.texprint(file, pt)
    legs = []
    for l in NOlegs:
        legs.append(leg(l))
    for l in legs:
        l.texprint(file, pt)
    file.write("};\n")
file.write("\n")