def __init__(self,
_id: str,
name: str,
parent_link: SDF.Link,
child_link: SDF.Link,
axis: SDF.math.Vector3,
coordinates=None,
motorized=False,
position=None,
rotation=None
):
super().__init__(
'joint',
{
'id': _id,
'name': name,
'type': 'revolute'
},
position=position,
rotation=rotation,
)
self._id = _id
self._name = name
self._motorized = motorized
self._coordinates = coordinates
SDF.sub_element_text(self, 'parent', parent_link.name)
SDF.sub_element_text(self, 'child', child_link.name)
self.axis = JointAxis(axis)
self.append(self.axis)
def to_robot_config_sdf(self):
assert (self.is_motorized())
servomotor = xml.etree.ElementTree.Element('rv:servomotor', {
'type': 'position',
'id': "{}__rotate".format(self._id),
'part_id': self._id,
'part_name': self._name,
# 'x': self.x,
# 'y': self.y,
'joint': self._name,
# noise: 0.1,
})
if self._coordinates is not None:
servomotor.attrib['coordinates'] = ';'.join(str(i) for i in self._coordinates)
pid = xml.etree.ElementTree.SubElement(servomotor, 'rv:pid')
SDF.sub_element_text(pid, 'rv:p', 0.9)
SDF.sub_element_text(pid, 'rv:i', 0.0)
SDF.sub_element_text(pid, 'rv:d', 0.0)
SDF.sub_element_text(pid, 'rv:i_max', 0.0)
SDF.sub_element_text(pid, 'rv:i_min', 0.0)
# SDF.sub_element_text(pid, 'rv:cmd_max', 0.0)
# SDF.sub_element_text(pid, 'rv:cmd_min', 0.0)
return servomotor
def to_robot_config_sdf(self):
assert (self.is_motorized())
servomotor = xml.etree.ElementTree.Element(
'rv:servomotor',
{
'type': 'position',
'id': "{}__rotate".format(self._id),
'part_id': self._id,
'part_name': self._name,
# 'x': self.x,
# 'y': self.y,
'joint': self._name,
# noise: 0.1,
})
if self._coordinates is not None:
servomotor.attrib['coordinates'] = ';'.join(
str(i) for i in self._coordinates)
pid = xml.etree.ElementTree.SubElement(servomotor, 'rv:pid')
SDF.sub_element_text(pid, 'rv:p', 0.9)
SDF.sub_element_text(pid, 'rv:i', 0.0)
SDF.sub_element_text(pid, 'rv:d', 0.0)
SDF.sub_element_text(pid, 'rv:i_max', 0.0)
SDF.sub_element_text(pid, 'rv:i_min', 0.0)
# SDF.sub_element_text(pid, 'rv:cmd_max', 0.0)
# SDF.sub_element_text(pid, 'rv:cmd_min', 0.0)
return servomotor
def __init__(self,
_id: str,
name: str,
parent_link: SDF.Link,
child_link: SDF.Link,
axis: SDF.math.Vector3,
coordinates=None,
motorized=False,
position=None,
rotation=None):
super().__init__(
'joint',
{
'id': _id,
'name': name,
'type': 'revolute'
},
position=position,
rotation=rotation,
)
self._id = _id
self._name = name
self._motorized = motorized
self._coordinates = coordinates
SDF.sub_element_text(self, 'parent', parent_link.name)
SDF.sub_element_text(self, 'child', child_link.name)
self.axis = JointAxis(axis)
self.append(self.axis)
def __init__(self, box_size):
"""
:param box_size: list or tuple of 3 elements with the 3 sizes (x,y,z).
"""
super().__init__('geometry')
self._box = (box_size[0], box_size[1], box_size[2])
mesh = xml.etree.ElementTree.SubElement(self, 'box')
SDF.sub_element_text(mesh, 'size',
'{:e} {:e} {:e}'.format(box_size[0], box_size[1], box_size[2]))
def __init__(self, name: str, collision_element, link, module):
"""
Constructor
:param name: name of the sensor
:param collision_element: name or reference of the collision element
:type collision_element: str|SDF.Collision
"""
super().__init__(name, link, module)
collision_element = collision_element if type(collision_element) is str else collision_element.name
contact = xml.etree.ElementTree.SubElement(self, 'contact')
SDF.sub_element_text(contact, 'collision', collision_element)
# SDF.sub_element_text(contact, 'topic', 'topic_{}'.format(collision_element))
# SDF.sub_element_text(self, 'update_rate', 8.0)
SDF.sub_element_text(self, 'always_on', True)
def __init__(self, name: str, collision_element, link, module):
"""
Constructor
:param name: name of the sensor
:param collision_element: name or reference of the collision element
:type collision_element: str|SDF.Collision
"""
super().__init__(name, link, module)
collision_element = collision_element if type(
collision_element) is str else collision_element.name
contact = xml.etree.ElementTree.SubElement(self, 'contact')
SDF.sub_element_text(contact, 'collision', collision_element)
# SDF.sub_element_text(contact, 'topic', 'topic_{}'.format(collision_element))
# SDF.sub_element_text(self, 'update_rate', 8.0)
SDF.sub_element_text(self, 'always_on', True)
def __init__(self, name: str, self_collide=True, position=None, rotation=None):
super().__init__(
tag='link',
attrib={'name': name},
position=position,
rotation=rotation,
)
self.name = name
self.size = (0, 0, 0, 0, 0, 0)
self.inertial = None
self.collisions = []
self.joints = []
SDF.sub_element_text(self, 'self_collide', self_collide)
def __init__(self,
ambient=(0, 0, 0, 1),
diffuse=(0, 0, 0, 1),
specular=(0, 0, 0, 1)):
super().__init__('material')
SDF.sub_element_text(self, 'ambient',
'{} {} {} {}'.format(ambient[0], ambient[1], ambient[2], ambient[3]))
SDF.sub_element_text(self, 'diffuse',
'{} {} {} {}'.format(diffuse[0], diffuse[1], diffuse[2], diffuse[3]))
SDF.sub_element_text(self, 'specular',
'{} {} {} {}'.format(specular[0], specular[1], specular[2], specular[3]))
def __init__(self, axis: SDF.math.Vector3):
super().__init__('axis')
self.xyz = SDF.sub_element_text(self, 'xyz',
'{:e} {:e} {:e}'.format(axis[0], axis[1], axis[2]))
SDF.sub_element_text(self, 'use_parent_model_frame', '0')
limit = xml.etree.ElementTree.SubElement(self, 'limit')
# TODO calibrate this (load from configuration?)
SDF.sub_element_text(limit, 'lower', -7.853982e-01)
SDF.sub_element_text(limit, 'upper', 7.853982e-01)
SDF.sub_element_text(limit, 'effort', 1.765800e-01)
SDF.sub_element_text(limit, 'velocity', 5.235988e+00)
def __init__(self, mass, position=None, rotation=None,
inertia_xx=1.0, inertia_xy=0.0, inertia_xz=0.0,
inertia_yy=1.0, inertia_yz=0.0,
inertia_zz=1.0):
super().__init__('inertial', position=position, rotation=rotation)
self.ixx, self.ixy, self.ixz = (inertia_xx, inertia_xy, inertia_xz)
self.iyy, self.iyz = (inertia_yy, inertia_yz)
self.izz = inertia_zz
self.mass = mass
SDF.sub_element_text(self, 'mass', mass)
inertia = xml.etree.ElementTree.SubElement(self, 'inertia')
SDF.sub_element_text(inertia, 'ixx', inertia_xx)
SDF.sub_element_text(inertia, 'ixy', inertia_xy)
SDF.sub_element_text(inertia, 'ixz', inertia_xz)
SDF.sub_element_text(inertia, 'iyy', inertia_yy)
SDF.sub_element_text(inertia, 'iyz', inertia_yz)
SDF.sub_element_text(inertia, 'izz', inertia_zz)
def _sdf_brain_plugin_conf(
robot_brain,
sensors,
actuators,
robot_genome=None,
update_rate: float = 8.0,
controller_plugin: str = 'libRobotControlPlugin.so',
):
"""
Creates the plugin node with the brain configuration inside
:param robot_brain: Brain of the robot to send to the simulator
:param battery_level:
:param update_rate: Update rate as used by the default controller
:param controller_plugin: Name of the shared library of the model plugin
:return: The sdf plugin element
:rtype: xml.etree.ElementTree.Element
"""
plugin = xml.etree.ElementTree.Element(
'plugin',
attrib={
'name': 'robot_controller',
'filename': controller_plugin,
'xmlns:rv': 'https://github.com/ci-group/revolve',
})
config = xml.etree.ElementTree.SubElement(plugin, 'rv:robot_config')
# update rate
SDF.sub_element_text(config, 'rv:update_rate', update_rate)
# battery
# if battery_level is not None:
# battery = xml.etree.ElementTree.SubElement(config, 'rv:battery')
# SDF.sub_element_text(battery, 'rv:level', battery_level)
# brain
robot_brain_sdf = xml.etree.ElementTree.SubElement(config, 'rv:brain')
robot_learner = robot_brain.learner_sdf()
if robot_learner is None:
xml.etree.ElementTree.SubElement(robot_brain_sdf, 'rv:learner', {'type': 'None'})
else:
robot_brain_sdf.append(robot_learner)
robot_controller = robot_brain.controller_sdf()
if robot_controller is None:
xml.etree.ElementTree.SubElement(robot_brain_sdf, 'rv:controller', {'type': 'None'})
else:
robot_brain_sdf.append(robot_controller)
# sensors
sensors_elem = xml.etree.ElementTree.SubElement(robot_brain_sdf, 'rv:sensors')
for sensor in sensors:
sensors_elem.append(sensor.to_robot_config_sdf())
# actuators
actuators_elem = xml.etree.ElementTree.SubElement(robot_brain_sdf, 'rv:actuators')
for actuator in actuators:
actuators_elem.append(actuator.to_robot_config_sdf())
# robot genome
if robot_genome is not None:
SDF.sub_element_text(config, 'rv:genome', str(robot_genome))
return plugin
def __init__(self):
super().__init__('surface')
contact_tag = xml.etree.ElementTree.SubElement(self, 'contact')
friction_tag = xml.etree.ElementTree.SubElement(self, 'friction')
contact_ode_tag = xml.etree.ElementTree.SubElement(contact_tag, 'ode')
SDF.sub_element_text(contact_ode_tag, 'kd', 10000000.0 / 3)
SDF.sub_element_text(contact_ode_tag, 'kp', 90000)
friction_ode_tag = xml.etree.ElementTree.SubElement(friction_tag, 'ode')
SDF.sub_element_text(friction_ode_tag, 'mu', 1.0)
SDF.sub_element_text(friction_ode_tag, 'mu2', 1.0)
SDF.sub_element_text(friction_ode_tag, 'slip1', 0.01)
SDF.sub_element_text(friction_ode_tag, 'slip2', 0.01)
friction_bullet_tag = xml.etree.ElementTree.SubElement(friction_tag, 'bullet')
SDF.sub_element_text(friction_bullet_tag, 'friction', 1.0)
SDF.sub_element_text(friction_bullet_tag, 'friction2', 1.0)
def __init__(self, mesh_uri):
super().__init__('geometry')
mesh = xml.etree.ElementTree.SubElement(self, 'mesh')
SDF.sub_element_text(mesh, 'uri', mesh_uri)
def __init__(self,
name: str,
width: int = 320,
height: int = 240,
horizontal_fov: float = 1.047,
clip_near: float = 0.1,
clip_far: float = 100.0,
position=None,
rotation=None):
"""
Constructor
:param name: name of the sensor
:param width: pixel width size of the camera
:param height: pixel height size of the camera
:param horizontal_fov: FOV on the horizontal axis (the vertical one is calculated from this and the canvas proportions)
:param clip_near: Clipping near of the camera frustum
:param clip_far: Clipping far of the camera frustum
:param position: Position of the camera
:param rotation: Rotation (orientation) of the camera
"""
super().__init__(
name, 'camera', position, rotation
)
camera = xml.etree.ElementTree.SubElement(self, 'camera')
SDF.sub_element_text(camera, 'horizontal_fov', horizontal_fov)
image = xml.etree.ElementTree.SubElement(camera, 'image')
clip = xml.etree.ElementTree.SubElement(camera, 'clip')
SDF.sub_element_text(image, 'width', width)
SDF.sub_element_text(image, 'width', height)
SDF.sub_element_text(clip, 'near', clip_near)
SDF.sub_element_text(clip, 'far', clip_far)
SDF.sub_element_text(self, 'always_on', True)
def __init__(self, axis: SDF.math.Vector3):
super().__init__('axis')
self.xyz = SDF.sub_element_text(
self, 'xyz', '{:e} {:e} {:e}'.format(axis[0], axis[1], axis[2]))
SDF.sub_element_text(self, 'use_parent_model_frame', '0')
limit = xml.etree.ElementTree.SubElement(self, 'limit')
# TODO calibrate this (load from configuration?)
SDF.sub_element_text(limit, 'lower', -7.853982e-01)
SDF.sub_element_text(limit, 'upper', 7.853982e-01)
SDF.sub_element_text(limit, 'effort', 1.765800e-01)
SDF.sub_element_text(limit, 'velocity', 5.235988e+00)
def __init__(self,
name: str,
width: int = 320,
height: int = 240,
horizontal_fov: float = 1.047,
clip_near: float = 0.1,
clip_far: float = 100.0,
position=None,
rotation=None):
"""
Constructor
:param name: name of the sensor
:param width: pixel width size of the camera
:param height: pixel height size of the camera
:param horizontal_fov: FOV on the horizontal axis (the vertical one is calculated from this and the canvas proportions)
:param clip_near: Clipping near of the camera frustum
:param clip_far: Clipping far of the camera frustum
:param position: Position of the camera
:param rotation: Rotation (orientation) of the camera
"""
super().__init__(name, 'camera', position, rotation)
camera = xml.etree.ElementTree.SubElement(self, 'camera')
SDF.sub_element_text(camera, 'horizontal_fov', horizontal_fov)
image = xml.etree.ElementTree.SubElement(camera, 'image')
clip = xml.etree.ElementTree.SubElement(camera, 'clip')
SDF.sub_element_text(image, 'width', width)
SDF.sub_element_text(image, 'width', height)
SDF.sub_element_text(clip, 'near', clip_near)
SDF.sub_element_text(clip, 'far', clip_far)
SDF.sub_element_text(self, 'always_on', True)
def __init__(self, name: str, link, module):
super().__init__(name, link, module)
SDF.sub_element_text(self, 'always_on', True)
def _sdf_brain_plugin_conf(
robot_brain,
sensors,
actuators,
robot_genome=None,
update_rate: float = 8.0,
controller_plugin: str = 'libRobotControlPlugin.so',
):
"""
Creates the plugin node with the brain configuration inside
:param robot_brain: Brain of the robot to send to the simulator
:param battery_level:
:param update_rate: Update rate as used by the default controller
:param controller_plugin: Name of the shared library of the model plugin
:return: The sdf plugin element
:rtype: xml.etree.ElementTree.Element
"""
plugin = xml.etree.ElementTree.Element(
'plugin',
attrib={
'name': 'robot_controller',
'filename': controller_plugin,
})
config = xml.etree.ElementTree.SubElement(plugin, 'rv:robot_config', {
'xmlns:rv': 'https://github.com/ci-group/revolve',
})
# update rate
SDF.sub_element_text(config, 'rv:update_rate', update_rate)
# battery
# if battery_level is not None:
# battery = xml.etree.ElementTree.SubElement(config, 'rv:battery')
# SDF.sub_element_text(battery, 'rv:level', battery_level)
# brain
robot_brain_sdf = xml.etree.ElementTree.SubElement(config, 'rv:brain')
robot_learner = robot_brain.learner_sdf()
if robot_learner is None:
xml.etree.ElementTree.SubElement(robot_brain_sdf, 'rv:learner', {'type': 'None'})
else:
robot_brain_sdf.append(robot_learner)
robot_controller = robot_brain.controller_sdf()
if robot_controller is None:
xml.etree.ElementTree.SubElement(robot_brain_sdf, 'rv:controller', {'type': 'None'})
else:
robot_brain_sdf.append(robot_controller)
# sensors
sensors_elem = xml.etree.ElementTree.SubElement(robot_brain_sdf, 'rv:sensors')
for sensor in sensors:
sensors_elem.append(sensor.to_robot_config_sdf())
# actuators
actuators_elem = xml.etree.ElementTree.SubElement(robot_brain_sdf, 'rv:actuators')
for actuator in actuators:
actuators_elem.append(actuator.to_robot_config_sdf())
# robot genome
if robot_genome is not None:
SDF.sub_element_text(config, 'rv:genome', str(robot_genome))
return plugin
def __init__(self,
mass,
position=None,
rotation=None,
inertia_xx=1.0,
inertia_xy=0.0,
inertia_xz=0.0,
inertia_yy=1.0,
inertia_yz=0.0,
inertia_zz=1.0):
super().__init__('inertial', position=position, rotation=rotation)
self.ixx, self.ixy, self.ixz = (inertia_xx, inertia_xy, inertia_xz)
self.iyy, self.iyz = (inertia_yy, inertia_yz)
self.izz = inertia_zz
self.mass = mass
SDF.sub_element_text(self, 'mass', mass)
inertia = xml.etree.ElementTree.SubElement(self, 'inertia')
SDF.sub_element_text(inertia, 'ixx', inertia_xx)
SDF.sub_element_text(inertia, 'ixy', inertia_xy)
SDF.sub_element_text(inertia, 'ixz', inertia_xz)
SDF.sub_element_text(inertia, 'iyy', inertia_yy)
SDF.sub_element_text(inertia, 'iyz', inertia_yz)
SDF.sub_element_text(inertia, 'izz', inertia_zz)
def __init__(self, name: str, link, module):
super().__init__(name, link, module)
SDF.sub_element_text(self, 'always_on', True)