if __name__ == "__main__":
sim = pymanoid.Simulation(dt=0.03)
robot = pymanoid.robots.JVRC1()
set_torque_limits(robot)
robot.show_com()
sim.set_viewer()
sim.set_camera_transform(
numpy.array([[-0.75166831, -0.47792323, 0.45451529, -0.99502754],
[-0.65817994, 0.49930137, -0.563469, 1.14903212],
[0.04235481, -0.72269463, -0.68986849, 2.35493684],
[0., 0., 0., 1.]]))
robot.set_transparency(0.25)
stance = Stance.from_json('jvrc1_double_support.json')
stance.bind(robot)
robot.ik.solve()
polygon_height = stance.com.z # [m]
uncons_polygon = stance.compute_static_equilibrium_polygon(method="cdd")
h1 = draw_horizontal_polygon(uncons_polygon, polygon_height, color='g')
sim.schedule(robot.ik)
sim.start()
ada = ActuationDependentArea(robot, stance)
ada.sample_working_set(uncons_polygon, "sample", 20)
PLAY_WITH_LOCAL_POLYGONS = False
if PLAY_WITH_LOCAL_POLYGONS:
print("- half-width = %s" % repr(contact.shape[1]))
print("- friction = %f" % contact.friction)
print("")
if __name__ == "__main__":
sim = pymanoid.Simulation(dt=0.03)
robot = pymanoid.robots.JVRC1('JVRC-1.dae', download_if_needed=True)
sim.set_viewer()
sim.viewer.SetCamera([
[0.60587192, -0.36596244, 0.70639274, -2.4904027],
[-0.79126787, -0.36933163, 0.48732874, -1.6965636],
[0.08254916, -0.85420468, -0.51334199, 2.79584694],
[0., 0., 0., 1.]])
robot.set_transparency(0.25)
stance = Stance.from_json('stances/triple.json')
stance.bind(robot)
robot.ik.solve()
sim.schedule(robot.ik)
sim.start()
p = array([0., 0., 0.])
CWC_O = stance.compute_wrench_inequalities(p)
print_contact("Left foot", stance.left_foot)
print_contact("Right foot", stance.right_foot)
print("Contact Wrench Cone at %s:" % str(p))
print("- has %d lines" % CWC_O.shape[0])
if IPython.get_ipython() is None:
IPython.embed()
def on_tick(self, sim):
self.stance.com.set_x(self.com_above.x)
self.stance.com.set_y(self.com_above.y)
if __name__ == "__main__":
sim = pymanoid.Simulation(dt=0.03)
robot = pymanoid.robots.JVRC1('JVRC-1.dae', download_if_needed=True)
sim.set_viewer()
sim.set_camera_top(x=0., y=0., z=3.)
robot.set_transparency(0.25)
com_above = pymanoid.Cube(0.02, [0.05, 0.04, z_polygon], color='b')
stance = Stance.from_json('../stances/double.json')
stance.com.hide()
stance.bind(robot)
robot.ik.solve()
method = "hull"
if "bretl" in sys.argv:
method = "bretl"
elif "cdd" in sys.argv:
method = "cdd"
com_sync = COMSync(stance, com_above)
polygon_drawer = SupportPolygonDrawer(stance, method)
wrench_drawer = StaticWrenchDrawer(stance)
sim.schedule(robot.ik)
robot.L_UINDEX, robot.L_ULITTLE
])
robot.set_dof_values(-q_fingers, [
robot.R_LTHUMB, robot.R_LINDEX, robot.R_LLITTLE, robot.R_UTHUMB,
robot.R_UINDEX, robot.R_ULITTLE
])
sim.set_viewer()
sim.set_camera_transform(
array([[-0.75318301, -0.33670976, 0.56510344, -1.27825475],
[-0.65389426, 0.28962469, -0.69895625, 1.3535881],
[0.07167748, -0.89595987, -0.43831297, 1.87996328],
[0., 0., 0., 1.]]))
robot.set_transparency(0.25)
stance = Stance.from_json('jvrc1_ladder_climbing.json')
stance.bind(robot)
robot.ik.maximize_margins = True
robot.ik.verbosity = 0
robot.ik.solve(impr_stop=1e-3)
from pymanoid.tasks import AxisAngleContactTask
if False:
del robot.ik.tasks['left_hand_palm']
del robot.ik.tasks['right_hand_palm']
lh_task = AxisAngleContactTask(robot,
robot.left_hand,
stance.left_hand,
weight=1,
gain=0.8)
