def create_icub_and_init(chair=False, gravity=False):
## CREATE THE WORLD
w = World()
w._up[:] = [0, 0, 1]
icub.add(w, create_shapes=False)
w.register(Plane(w.ground, (0, 0, 1, 0), "floor"))
if chair is True:
w.register(Sphere(w.getbodies()['l_hip_2'], .0325, name='l_gluteal'))
w.register(Sphere(w.getbodies()['r_hip_2'], .0325, name='r_gluteal'))
w.register(
Box(SubFrame(w.ground, transl(.2, 0, 0.26)), (.075, .1, .02),
name='chair'))
w.register(
Box(SubFrame(w.ground, transl(.255, 0, 0.36)), (.02, .1, .1),
name='chair_back'))
## INIT
joints = w.getjoints()
joints['root'].gpos[0:3, 3] = [0, 0, .598]
joints['l_shoulder_roll'].gpos[:] = pi / 8
joints['r_shoulder_roll'].gpos[:] = pi / 8
joints['l_elbow_pitch'].gpos[:] = pi / 8
joints['r_elbow_pitch'].gpos[:] = pi / 8
joints['l_knee'].gpos[:] = -0.1
joints['r_knee'].gpos[:] = -0.1
joints['l_ankle_pitch'].gpos[:] = -0.1
joints['r_ankle_pitch'].gpos[:] = -0.1
shapes = w.getshapes()
floor_const = [
SoftFingerContact((shapes[s], shapes['floor']), 1.5, name=s)
for s in ['lf1', 'lf2', 'lf3', 'lf4', 'rf1', 'rf2', 'rf3', 'rf4']
]
for c in floor_const:
w.register(c)
if chair is True:
chair_const = [
SoftFingerContact((shapes[s], shapes['chair']), 1.5, name=s)
for s in ['l_gluteal', 'r_gluteal']
]
for c in chair_const:
w.register(c)
w.update_dynamic()
## CTRL
if gravity:
w.register(WeightController())
return w
def runTest(self):
b0 = Body(mass=eye(6))
w = World()
w.add_link(w.ground, FreeJoint(), b0)
w.init()
ctrl = WeightController()
w.register(ctrl)
c0 = BallAndSocketConstraint(frames=(w.ground, b0))
w.register(c0)
w.init()
w.update_dynamic()
dt = 0.001
w.update_controllers(dt)
w.update_constraints(dt)
self.assertListsAlmostEqual(c0._force, [0., 9.81, 0.])
w.integrate(dt)
w.update_dynamic()
self.assertListsAlmostEqual(
b0.pose, [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])
def create_3r_and_init(gpos=(0,0,0), gvel=(0,0,0), gravity=False):
## CREATE THE WORLD
w = World()
simplearm.add_simplearm(w, with_shapes=True)
## INIT
joints = w.getjoints()
joints["Shoulder"].gpos[:] = gpos[0]
joints["Elbow"].gpos[:] = gpos[1]
joints["Wrist"].gpos[:] = gpos[2]
joints["Shoulder"].gvel[:] = gvel[0]
joints["Elbow"].gvel[:] = gvel[1]
joints["Wrist"].gvel[:] = gvel[2]
w.update_dynamic()
## CTRL
if gravity:
w.register(WeightController())
return w
def setUp(self):
"""
Ensure multi-dof Rzyx behaves like the combination of Rz, Ry, Rx.
"""
world = World()
self.Ba = Body()
Rzyx = RzRyRxJoint()
world.add_link(world.ground, Rzyx, self.Ba)
Bzy = Body(name='zy')
Byx = Body(name='yx')
self.Bb = Body()
Rz = RzJoint()
world.add_link(world.ground, Rz, Bzy)
Ry = RyJoint()
world.add_link(Bzy, Ry, Byx)
Rx = RxJoint()
world.add_link(Byx, Rx, self.Bb)
world.init()
(az, ay, ax) = (3.14/6, 3.14/4, 3.14/3)
Rzyx.gpos[:] = (az, ay, ax)
(Rz.gpos[0], Ry.gpos[0], Rx.gpos[0]) = (az, ay, ax)
world.update_dynamic()
#!/usr/bin/env python
"""
This example show how to add mesh from a collada file to another,
in order to display complex meshes during visualization.
"""
from arboris.core import World
from arboris.robots import simplearm
from arboris.homogeneousmatrix import transl
##### Create world
w = World()
simplearm.add_simplearm(w, with_shapes=True)
##### Init
joints = w.getjoints()
for i in range(3):
joints[i].gpos[:] = 0.5
w.update_dynamic()
##### Add ctrl
from arboris.controllers import WeightController
w.register(WeightController())
#!/usr/bin/python
#coding=utf-8
#author=joseph salini
"""This tutorial presents the structure of Arboris-python.
It presents the World, Body, Joint, SubFrame and Constraint classes.
"""
##### About the World ##########################################################
from arboris.core import World
from arboris.robots import simplearm
w = World() # create an instance of world.
simplearm.add_simplearm(w) # add a simple arm robot
# The world is composed of ...
bodies = w.getbodies() # ... named list of bodies
joints = w.getjoints() # ... named list of joints
frames = w.getframes() # ... named list of frames (including bodies)
shapes = w.getshapes() # ... named list of shapes
consts = w.getconstraints() # ... named list of constraints
ctrls = w.getcontrollers() # ... named list of controllers
# And that's all!
print("bodies", bodies)
print("joints", joints)
# These lists are named, so instances can be retrieved as follows:
body_Arm = bodies["Arm"]
joint_Shoulder = joints["Shoulder"]
print("Arm", body_Arm)
