roboball2d.robot package¶
Submodules¶
roboball2d.robot.default_robot_config module¶
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class
roboball2d.robot.default_robot_config.DefaultRobotConfig¶ Bases:
objectConfiguration required to render and compute the dynamics of 3 dof robot consisting of 2 rods and a racket (and 3 related joints). User code may change values of the attributes after instantiation.
position: x position of the robot (in meters)
max_torques: (3d tuple of floats) max torques that can be applied on joints
- max_motor_speed:
- (float) max motor speed. If using b2world as dynamic engine, it will be the speed the dynamic engine will try to impose on all joints at all time. User control will be achieved by limiting the maximum torque the engine will be allowed to apply on joints. If the engine can attain this maximum speed without applying the maximum torque set by the user code, then the user code looses the ability to directly control the robot
- rod_diameter:
- (float) in meters, will be applied for the 2 rods
- rod_length:
- (float) in metters, will be applied for the 2 rods
- rod_density
- (float) applied on the 3 rods. See b2box documentation on density
- rod_joint_limit
- (float) angle limit (radian) for the 2 rods (will be between - and + this value)
- rods:
- (2d array of Rod) each rod as a rob_joint_limit and a rod_length attribute
- racket_diameter:
- (float) in meters
- racket_thickness:
- (float) in meters
- racket_density:
- (float) see box2d documentation on significance of density
- racket_restitution:
- (float) see box2d documentation on significance of density
- racket_joint_limit:
- (float) racket joint limit in radian (+/- this value)
- racket:
- instance of Racket, which has joint_limit attribute
- joint_radius:
- (float) in meters
- items:
- Array of 3 instances : 2 Rod, 1 Racket
- rod_color:
- (3d tuple of float) color of rods (R,G,B), values between 0 and 1
- racket_color:
- (3d tuple of float) color of rods (R,G,B), values between 0 and 1
- joint_color:
- (3d tuple of float) color of rods (R,G,B), values between 0 and 1
- linear_damping:
- (float) in [0, infty), higher values cause stronger damping of linear velocity of rods and racket
- angular_damping:
- (float) in [0, infty), higher values cause stronger damping of angular velocity of rods and racket
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__init__()¶ Initialize self. See help(type(self)) for accurate signature.
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angular_damping¶
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create_b2_robot(b2world, ground)¶ (Advanced usage)
This function is not meant to be used directly by the user code. It will be called in the constructor of tennis2d.physics.B2World to generate, based on this configuration, an instance of an object suitable for dynamic update of the robot.
- b2world :
- an instance of tennis2d.physics.B2World
- ground (float):
- y position of the robot
An instance of
roboball2d.physics.default_b2_robot.DefaultB2Robot
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items¶
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joint_color¶
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joint_radius¶
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linear_damping¶
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max_motor_speed¶
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max_torques¶
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position¶
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racket¶
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racket_color¶
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racket_density¶
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racket_diameter¶
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racket_joint_limit¶
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racket_restitution¶
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racket_thickness¶
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rod_color¶
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rod_density¶
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rod_diameter¶
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rod_joint_limit¶
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rod_length¶
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rods¶
roboball2d.robot.default_robot_state module¶
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class
roboball2d.robot.default_robot_state.DefaultRobotState(robot_config, generalized_coordinates=None, generalized_velocities=None)¶ Bases:
roboball2d.robot.robot_state.RobotStateAn instance of robot state fully describes the state of a 3dof robot (2 rodes and a racket, with 3 corresponding joints). It is used for example in
roboball2d.physics.world_state.WorldState.- robot_config:
- configuration of the robot used to update its dynamics or for rendering
it. See
roboball2d.robot.default_robot_config.DefaultRobotConfig - rods:
- list of two
roboball2d.item.Item - racket
- an instance of
roboball2d.item.Item - joints
- list of three instances of
roboball2d.item.Item - angles
- current angles in radians
- angular_velocities
- angular velocities in radians per second
- robot_config:
- configuration of the robot used to update its dynamics or for rendering
it. See
roboball2d.robot.default_robot_config.DefaultRobotConfig - generalized_coordinates: list of floats
- angles (in radian) of the three joints. Angles will be set to 0 if None
- generalized_velocities: list of floats
- angular velocities of the three joints, which will be set to 0 if None
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__init__(robot_config, generalized_coordinates=None, generalized_velocities=None)¶ - robot_config:
- configuration of the robot used to update its dynamics or for rendering
it. See
roboball2d.robot.default_robot_config.DefaultRobotConfig - generalized_coordinates: list of floats
- angles (in radian) of the three joints. Angles will be set to 0 if None
- generalized_velocities: list of floats
- angular velocities of the three joints, which will be set to 0 if None
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angles¶
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angular_velocities¶
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joints¶
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racket¶
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render(color=None, z_coordinate=None)¶
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robot_config¶
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rods¶
roboball2d.robot.pd_controller module¶
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class
roboball2d.robot.pd_controller.PDController(kp=[2.0, 1.0, 0.5], kd=[0.35, 0.2, 0.05])¶ Bases:
objectPDController : a simple PD controller for 3dofs robot
- kp (3d array of floats) :
- proportional gains
- kd (3d array of floats) :
- derivative gains
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__init__(kp=[2.0, 1.0, 0.5], kd=[0.35, 0.2, 0.05])¶ - kp (3d array of floats) :
- proportional gains
- kd (3d array of floats) :
- derivative gains
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get(references, angles, angular_velocities)¶ - references:
- 3d list of desired angle values
- angles:
- 3d list of current angle values
- angular_velocities:
- 3d list of current angular velocities
a 3d list of torques
roboball2d.robot.robot_config module¶
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class
roboball2d.robot.robot_config.RobotConfig¶ Bases:
objectInterface a robot configuration must implement to be used with
roboball2d.physics.b2_world.B2Worldandroboball2d.physics.rendering.pyglet_renderer.PygletRendererSee : :py:class:`roboball2d.robot.default_robot_config.DefaultRobotConfig-
__init__()¶ Initialize self. See help(type(self)) for accurate signature.
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create_b2_robot(world, ground)¶
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roboball2d.robot.robot_state module¶
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class
roboball2d.robot.robot_state.RobotState(robot_config, generalized_coordinates=None, generalized_velocities=None)¶ Bases:
objectInterface a robot state must implement to be used with
roboball2d.physics.rendering.pyglet_renderer.PygletRendererSee : :py:class:`roboball2d.robot.default_robot_state.DefaultRobotState-
__init__(robot_config, generalized_coordinates=None, generalized_velocities=None)¶ Initialize self. See help(type(self)) for accurate signature.
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render()¶
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