def __init__(self):
self.show_impulse = False
# self.name = 'GP_--N_handfree_naive_clean'
# self.name = 'Atlas_##_--N_naive_clean'
self.name = 'Atlas_##--N'
# self.name = 'BioloidGP_--N'
# self.name = 'BioloidGP_--N_from_one_foot'
# Init api
pydart.init()
self.world = pydart.create_world(1.0 / 2000.0)
self.world.add_skeleton(config.DATA_PATH + "sdf/ground.urdf",
control=False)
if 'GP' in self.name:
self.world.add_skeleton(config.DATA_PATH +
"urdf/BioloidGP/BioloidGP.URDF")
self.world.skel.set_joint_damping(0.15)
# self.world.add_skeleton(config.DATA_PATH +
# "urdf/atlas/atlas_v3_no_head.urdf")
else:
self.world.add_skeleton(config.DATA_PATH +
"urdf/atlas/atlas_v3_no_head.urdf")
self.world.skel.set_joint_damping(0.15)
self.skel = self.world.skel # shortcut for the control skeleton
for i, dof in enumerate(self.skel.dofs):
print i, dof, 'efforts:', self.skel.tau_lo[i], self.skel.tau_hi[i]
# Configure the scene
self.cfg = scene.configure.Configure(self)
self.name = self.name.replace('--', '%.1f' % self.cfg.f_mag)
if '##' in self.name and self.cfg.tag is not None:
self.name = self.name.replace('##', self.cfg.tag)
self.prob = problem.Problem(self, self.cfg.name)
self.history = History(self)
self.impulse_live_renderer = ImpulseLiveRenderer(self)
# # ### Now, configure the controllers
self.tip_controller = model.controller.Controller(self.skel, self.prob)
self.tip_controller.pd.set_pd_params(self.name)
self.event_handler = events.Handler()
# Reset to the initial state
self.reset()
print 'skel.m = ', self.skel.m
print 'skel.approx_inertia_x = ', self.skel.approx_inertia_x()
print 'skel.q = ', self.skel.q
self.rc = scene.range_checker.RangeChecker(self)
self.rc.check_all()
# Abstract model
self.abstract_tip = abstract.dynamic.DynamicTIP(self.prob, self.rc)
# For handle callbacks properly..
self.history.clear()
self.history.push()
def __init__(self, step_activation=None):
self.prefix = ''
self.postfix = ''
self.logger = logging.getLogger(__name__)
logger = self.logger
# Init pydart
pydart.init()
logger.info('pydart initialization OK')
# Create world
self.world = pydart.create_world(1.0 / 1000.0)
self.world.add_skeleton("./data/sdf/ground.urdf", control=False)
self.world.add_skeleton("./data/urdf/BioloidGP/BioloidGP.URDF")
logger.info('pydart create_world OK: dt = %f' % self.world.dt)
# Configure human
self.skel = self.world.skels[1]
for i, body in enumerate(self.skel.bodies):
self.logger.info('%d: %s' % (i, body.name))
for i, dof in enumerate(self.skel.dofs):
self.logger.info('%d: %s' % (i, dof.name))
# Create the controller
self.skel.controller = Controller(self,
self.skel,
self.world.dt)
# Create the motion
self.motion = Motion(self.skel)
logger.info('set the initial pose OK')
self.reset()
import sys
import pydart
import numpy as np
import controller
print('Example: bipedStand')
pydart.init()
print('pydart initialization OK')
data_dir = pydart.misc.example_data_dir(__file__)
print('data_dir = ' + data_dir)
world = pydart.create_world(1.0 / 2000.0, data_dir + '/skel/fullbody1.skel')
# world = pydart.create_world(1.0 / 2000.0,
# data_dir + '/skel/soft_fullbody.skel')
print('pydart create_world OK')
skel = world.skels[1]
# Initialize the pose. q is an instance of SkelVector.
q = skel.q
q["j_pelvis_pos_y"] = -0.05
q["j_pelvis_rot_y"] = -0.2
q["j_thigh_left_z", "j_shin_left", "j_heel_left_1"] = 0.15, -0.4, 0.25
q["j_thigh_right_z", "j_shin_right", "j_heel_right_1"] = 0.15, -0.4, 0.25
q["j_abdomen_2"] = 0.0
skel.set_positions(q)
print('skeleton position OK')
# Initialize the controller
import sys
import pydart
print('Example: softBodies')
pydart.init()
print('pydart initialization OK')
data_dir = pydart.misc.example_data_dir(__file__)
print('data_dir = ' + data_dir)
world = pydart.create_world(1.0 / 2000.0, data_dir + '/skel/softBodies.skel')
print('pydart create_world OK')
if 'qt' in sys.argv:
tb = pydart.qtgui.Trackball(phi=-1.5,
theta=-23.3,
zoom=1.0,
rot=[-0.20, 0.04, -0.01, 0.98],
trans=[0.07, 0.03, -2.00])
pydart.qtgui.run(title='softBodies', simulation=world, trackball=tb)
else:
pydart.glutgui.run(title='softBodies',
simulation=world,
trans=[0, -0.1, -1.4])