irsl_choreonoid モジュール

https://github.com/IRSL-tut/irsl_choreonoid

irsl_choreonoid.cnoid_util

https://github.com/IRSL-tut/irsl_choreonoid/blob/main/irsl_choreonoid/cnoid_util.py

irsl_choreonoid.cnoid_util.load_script(filename)

Loading a script file

パラメータ:: filename (str) -- URL [ URL is like 'scheme://netloc/xxx/yyy/zzz' ]

irsl_choreonoid.cnoid_util.parseURL(url)

Parsing URL with IRSL original scheme

パラメータ:: url (str) -- URL
戻り値:: Absolute path
戻り値の型:: str
例外:: SyntaxError -- Unknown scheme or netloc is passed

サンプル

>>> parseURL('choreonoid://share/dir/file')
/choreonoid/share/choreonoid-2.0/dir/file

>>> parseURL('env://HOME/dir/file')
/home/user/dir/file

>>> parseURL('file:///dir/file')
/dir/file

>>> parseURL('file://./dir/file')
/current_dir/dir/file

>>> parseURL('file://~/dir/file')
/home/user/dir/file

Note: URL is like 'scheme://netloc/xxx/yyy/zzz'

Implemented scheme is 'choreonoid', 'env', 'file'

irsl_choreonoid.cnoid_util.loadRobot(fname)

Loading robot model (.body, .vrml, .urdf??)

パラメータ:: fname (str) -- filename of robot-model
戻り値:: instance of cnoid.Body.Body
戻り値の型:: cnoid.Body

irsl_choreonoid.cnoid_util.exportBody(fname, body, extModelFileMode=None, filePrefix='', allInOne=True, fixMassParam=True)

Exporting .body file from an instance of cnoid.Body.Body

パラメータ:

fname (str) --
body (cnoid.Body.Body) --
extModelFileMode (int, optional) -- 0; EmbedModels, 1; LinkToOriginalModelFiles, 2; ReplaceWithStdSceneFiles, 3; ReplaceWithObjModelFiles
filePrefix (str, optional) -- Add URI for exporting mesh files
allInOne (boolean, default=True) -- Using with filePrefix, if True, all shapes will be exported as a file.
fixMassParam (boolean, default=False) -- If True, links with mass==1.0 and inertia is identity is set small mass-parameter (they may loaded without mass parameter)

irsl_choreonoid.cnoid_util.exportURDF(fname, body, **kwargs)

Exporting .urdf file from an instance of cnoid.Body.Body

パラメータ:

fname (str) --
body (cnoid.Body.Body) --
kwargs (dict[str, param]) --
AddGeometry (boolean, default=True) -- Add geometries
AddOffset (boolean, default=True) -- Add offset of links
ExportDevices (boolean) --
MeshFilePrefix (str) -- Prefix of files exporting as mesh-files(.dae, .stl)
MeshURLPrefix (str) -- Prefix of file-name written in URDF
RobotName (str) -- Name of exporting robot
UseURDFPrimitiveGeometry (boolean, default=True) -- Use primitive defined at URDF
UseXacro (boolean) --
Verbose (boolean) --

irsl_choreonoid.cnoid_util.exportBodyAsMesh(fname, input_body, meshScale=None, offset=None, useCollision=False, **kwargs)

Exporting a mesh file converted from an instance of cnoid.Body.Body

パラメータ:

fname (str) -- Name of output file
input_body (cnoid.Body.Body) -- Robot model to be exported
meshScale (float, optional) --
offset (cnoid.IRSLCoords.coordinates, optional) --
useCollision (boolean, defalt=False) --
kwargs (dict) -- Passing to irsl_choreonoid.make_shapes.exportMesh

irsl_choreonoid.cnoid_util.convertBodyFileToMeshFile(mesh_file_name, body_file_name, **kwargs)

Converting a mesh file to a body file

パラメータ:

mesh_file_name (str) -- Name of output file
body_file_name (str) -- Name of input file
kwargs (dict) -- Passing to irsl_choreonoid.cnoid_util.exportBodyAsMesh

irsl_choreonoid.cnoid_util.castValueNode(_valuenode)

Casting cnoid.Util.ValueNode type to python primitive type

パラメータ:: _valuenode (cnoid.Util.ValueNode) -- ValueNode
戻り値:: Instance of python primitive type
戻り値の型:: dict, list, int, float, bool, str

irsl_choreonoid.cnoid_util.mappingToDict(mapping)

Converting cnoid.Util.Mapping to dict

パラメータ:: mapping (cnoid.Util.Mapping) -- Instance of mapping to be converted
戻り値:: Converted dictionary
戻り値の型:: dict

irsl_choreonoid.cnoid_util.listingToList(listing)

Converting cnoid.Util.Listing to list

パラメータ:: listing (cnoid.Util.Listing) -- Instance of listing to be converted
戻り値:: Converted list
戻り値の型:: list

irsl_choreonoid.cnoid_util.dictToMapping(indict)

Converting dict to cnoid.Util.Mapping

パラメータ:: indict (dict) -- Dict to be converted
戻り値:: Converted mapping
戻り値の型:: cnoid.Util.Mapping

irsl_choreonoid.cnoid_util.listToListing(inlist)

Converting list to cnoid.Util.Mapping

パラメータ:: inlist (list) -- List to be converted
戻り値:: Converted mapping
戻り値の型:: cnoid.Util.Mapping

irsl_choreonoid.cnoid_util.cnoidPosition(rotation=None, translation=None)

Concatnating translation part and rotation part

パラメータ:

translation (numpy.array, optional) -- 1x3 vector
rotation (numpy.array, optional) -- 3x3 matrix

戻り値:

4x4 homogeneous transformation matrix

戻り値の型:

numpy.array

irsl_choreonoid.cnoid_util.cnoidRotation(cPosition)

Extracting rotation part of 4x4 matrix

パラメータ:: cPosition (numpy.array) -- 4x4 homogeneous transformation matrix
戻り値:: 3x3 matrix ( rotation part of cPosition )
戻り値の型:: numpy.array

irsl_choreonoid.cnoid_util.cnoidTranslation(cPosition)

Extracting translation part of 4x4 matrix

パラメータ:: cPosition (numpy.array) -- 4x4 homogeneous transformation matrix
戻り値:: 1x3 vector ( translation part of cPosition )
戻り値の型:: numpy.array

irsl_choreonoid.cnoid_util.fv(*args, **kwargs)

Simple function for making numpy.array

パラメータ:

args (list[float]) -- List will be passed to numpy.array
kwargs (dict) -- Keyword arguments will be passed to numpy.array

戻り値:

vector or matrix

戻り値の型:

numpy.array

注釈

This function just return numpy.array(args, **kwargs)

サンプル

fv(0.1, 0.2, 0.3) => array([0, 1, 2])

Just reducing the number of typing numpy.array([0.1, 0.2, 0.3]) => fv(0.1, 0.2, 0.3)

irsl_choreonoid.cnoid_util.isInChoreonoid()

パラメータ:: None --
戻り値:: True if this script running on python-console of Choreonoid
戻り値の型:: boolean

irsl_choreonoid.cnoid_base

https://github.com/IRSL-tut/irsl_choreonoid/blob/main/irsl_choreonoid/cnoid_base.py

irsl_choreonoid.cnoid_base.loadProject(project_file)

Loading project file (currend project may be changed)

パラメータ:: project_file (str) -- filename of project file (.cnoid)

irsl_choreonoid.cnoid_base.getItemTreeView(): DEPRECATED: use cnoid.Base.ItemTreeView.instance

irsl_choreonoid.cnoid_base.getRootItem(): DEPRECATED: use cnoid.Base.RootItem.instance

irsl_choreonoid.cnoid_base.getOrAddWorld(name='World')

Getting or creating WorldItem

パラメータ:: name (str, default = 'World') -- name of WorldItem
戻り値:: added or found WorldItem
戻り値の型:: cnoid.Base.WorldItem

irsl_choreonoid.cnoid_base.addSimulator(world=None, simulator_name='AISTSimulator')

Adding SimulatorItem

パラメータ:

world (optional) -- world item, simulator should be created under this world
simulator_name (str, default = 'AISTSimulator') -- name of SimulatorItem to be added

戻り値:

Added SimulatorItem

戻り値の型:

cnoid.BodyPlugin.AISTSimulatorItem

irsl_choreonoid.cnoid_base.loadRobotItem(fname, name=None, world=True, addItem=True)

Load robot model and add it as a BodyItem

パラメータ:

fname (str) -- filename (or path)
name (str, optional) -- name of loaded robot-model
world (boolean or WorldItem, default = True) -- if True, WorldItem is added
addItem (boolean) -- if True and world if False, loaded item is added to RootItem

戻り値:

Loaded robot-model

戻り値の型:

cnoid.BodyPlugin.BodyItem

irsl_choreonoid.cnoid_base.findItem(name, root=None)

Finding item in ItemTreeView

パラメータ:: name (str) -- name of item to be searched
戻り値:: found item (first one)
戻り値の型:: cnoid.Base.Item

irsl_choreonoid.cnoid_base.findItems(name, root=None)

Finding item in ItemTreeView

パラメータ:: name (str) -- name of item to be searched
戻り値:: all found items which has the name
戻り値の型:: list [ cnoid.Base.Item ]

irsl_choreonoid.cnoid_base.findItemsByQuery(query, root=None)

Finding item which is query returning True in ItemTreeView

パラメータ:: query (callable, taking 1 argument, argtype cnoid.Base.Item) -- Query function which rturns true if the item should be extracted
戻り値:: all found items that query returns True
戻り値の型:: list [ cnoid.Base.Item ]

irsl_choreonoid.cnoid_base.findItemsByName(name, root=None)

Finding item with the same name in ItemTreeView

パラメータ:: name (str) -- name of item to be searched
戻り値:: all found items which has the name
戻り値の型:: list [ cnoid.Base.Item ]

irsl_choreonoid.cnoid_base.findItemsByClassExact(cls, root=None)

Finding item with class given as the argument in ItemTreeView

パラメータ:: cls (class) -- class of item to be searched
戻り値:: all found items which has the name
戻り値の型:: list [ cnoid.Base.Item ]

irsl_choreonoid.cnoid_base.findItemsByClass(cls, root=None)

Finding item with class given as the argument in ItemTreeView

パラメータ:: cls (class) -- class of item to be searched
戻り値:: all found items which has the name
戻り値の型:: list [ cnoid.Base.Item ]

irsl_choreonoid.cnoid_base.removeItem(item_)

Removing item

パラメータ:: item (cnoid.Base.Item) -- item to be removed

irsl_choreonoid.cnoid_base.findBodyItem(name_or_body, root=None)

Seaching BodyItem

パラメータ:: name_or_body (str or cnoid.Body.Body) -- If type is str, searching BodyItem with the same name. If type is body, searching BodyItem which has identical body
戻り値:: found BodyItem
戻り値の型:: cnoid.Base.Item

irsl_choreonoid.cnoid_base.findRobot(name): DEPRECATED: use findBodyItem

irsl_choreonoid.cnoid_base.cameraPositionLookingFor(eye, direction, up, opencv=True)

Generating camera coordinates where designated direction is the camera's optical axis

パラメータ:

eye (numpy.array or list[float]) -- 3D position of the camera
direction (numpy.array or list[float]) -- Direction of the camera's optical axis
up (numpy.array or list[float]) -- Up direction
opencv (boolean, default = True) -- OpenCV stype coordinates will be returned

戻り値:

Camera coordinates

戻り値の型:

cnoid.IRSLCoords.coordinates

注釈

Refer cnoid.Util.SgCamera.positionLookingFor

irsl_choreonoid.cnoid_base.cameraPositionLookingAt(eye, center, up, opencv=True)

Generating camera coordinates looking at the point

パラメータ:

eye (numpy.array or list[float]) -- 3D position of the camera
center (numpy.array or list[float]) -- 3D position wherer the camera's optical axis passes through
up (numpy.array or list[float]) -- Up direction
opencv (boolean, default = True) -- OpenCV stype coordinates will be returned

戻り値:

Camera coordinates

戻り値の型:

cnoid.IRSLCoords.coordinates

注釈

Refer cnoid.Util.SgCamera.positionLookingAt

irsl_choreonoid.cnoid_base.saveImageOfScene(filename)

Saving scene as image file

パラメータ:: filename (str) -- Name of the file to be saved

注釈

Refer cnoid.Base.SceneWidget.saveImage

irsl_choreonoid.cnoid_base.currentSceneView()

Returning the instance of SceneView

パラメータ:: None --
戻り値:: Current Instance of SceneView ( return cnoid.Base.SceneView.instance )
戻り値の型:: cnoid.Base.SceneView

irsl_choreonoid.cnoid_base.currentSceneWidget()

Returning the instance of SceneWidget

パラメータ:: None --
戻り値:: Current Instance of SceneWidget ( return cnoid.Base.SceneView.instance.sceneWidget )
戻り値の型:: cnoid.Base.SceneWidget

irsl_choreonoid.cnoid_base.getCameraCoords(withFOV=True, opencv=True)

Returning camera position of current scene

パラメータ:

withFOV (boolean, default = True) -- If true, getting camera's field of view
opencv (boolean, default = True) -- OpenCV stype coordinates will be returned

戻り値:

Tuple with camera coordinates and camera's filed of view

戻り値の型:

(cnoid.IRSLCoords.coordinates, float)

irsl_choreonoid.cnoid_base.setCameraCoords(cds, fov=None, update=True, opencv=True)

Setting camera coordinates of current scene

パラメータ:

cds (cnoid.IRSLCoords.coordinates) -- Camera's coordinates to be set
fov (float, default = None) -- Camera's filed of view to be set
update (boolean, default=True) -- If True, rendering scene with updated camera position
opencv (boolean, default=True) -- cds is OpenCV stype coordinates

irsl_choreonoid.cnoid_base.getCameraCoordsParam(withFOV=True, opencv=True)

Returning camera position of current scene (returning dictionary type)

パラメータ:: withFOV (boolean, default = True) -- If true, getting camera's field of view
戻り値:: Dictionary can be read with irsl_choreonoid.robot_util.make_coordinates, and added the keyword 'fov'
戻り値の型:: dict[str, param]

irsl_choreonoid.cnoid_base.setCameraCoordsParam(param_dict, opencv=True)

Setting camera coordinates of current scene (receiving dictionary type)

パラメータ:: param_dict (dict[str, param]) -- Dictionary can be read with irsl_choreonoid.robot_util.make_coordinates, and added the keyword 'fov'

irsl_choreonoid.cnoid_base.getCameraMatrix()

Getting camera matrix of this scene

Retuns:: numpy.array (3x3 matrix) : Camera Matrix

irsl_choreonoid.cnoid_base.setCameraMatrix(camera_matrix, width=None, height=None)

Setting camera matrix of this scene

パラメータ:

camera_matrix (numpy.array[3x3]) -- Camera matrix to be set
width (int, optional) -- Set width of this scene
height (int, optional) -- Set height of this scene

irsl_choreonoid.cnoid_base.projectPoints(point_list, world=True)

Projecting 3D points to 2D points on image plane

パラメータ:: point_list (list [ numpy.array[3x3] ]) -- List 3D points on world coordinates
戻り値:: List of projected points
戻り値の型:: list [ numpy.array ]

irsl_choreonoid.cnoid_base.unprojectPoints(uv_list, depth=1.0, depth_list=None, centerRelative=False, world=True)

Projecting 3D points to 2D points on image plane

パラメータ:: point_list (list [ numpy.array[3x3] ]) -- List 3D points on world coordinates
戻り値:: List of projected points
戻り値の型:: list [ numpy.array ]

irsl_choreonoid.cnoid_base.setBackgroundColor(backgound_color)

Setting color of background

パラメータ:: background_color (numpy.array or list[float]) -- Vector with 3 elements. Eech element represents 'Red', 'Green', 'Blue'.

irsl_choreonoid.cnoid_base.disableGrid(plane=None)

Disabling to show grids

パラメータ:: plane (int, optional) -- ID of plane to be disabled. 0: XY, 1: XZ, 2: YZ

irsl_choreonoid.cnoid_base.enableGrid(plane=0)

Showing grids

パラメータ:: plane (int, default = 0) -- ID of plane to show. 0: XY, 1: XZ, 2: YZ

irsl_choreonoid.cnoid_base.setCoordinateAxes(on=True)

On/Off of the coordinate axes on the screen

パラメータ:: on (boolean, default=True) -- On/Off of the coordinate axes

irsl_choreonoid.cnoid_base.setViewSize(width, height)

Setting size of view(widget)

パラメータ:

width (int) -- Width of the widget to be set
height (int) -- Height of the widget to be set

irsl_choreonoid.cnoid_base.viewAll(): Setting camera position as viewing all objects

irsl_choreonoid.cnoid_base.getAllBoundingBox()

Getting a boundingBox of all objects on the scene

戻り値:: BoundingBox of all objects on the scene
戻り値の型:: BoundingBox

irsl_choreonoid.make_shapes

https://github.com/IRSL-tut/irsl_choreonoid/blob/main/irsl_choreonoid/make_shapes.py

irsl_choreonoid.make_shapes.extractShapes(sg_node, currentCoords=None)

Extracting SgShape from SceneGraph

パラメータ:

sg_node (cnoid.Util.SgNode) -- Root node to start searching
currentCoords (cnoid.IRSLCoords.coordinates, optional) -- Offset coordinates to extracted object

戻り値:

List of extracted objects which is tuple of object-instance and coordinates of this object

戻り値の型:

list [ tuple [ cnoid.Util.SgShape, cnoid.IRSLCoords.coordinates ] ]

irsl_choreonoid.make_shapes.extractPlots(sg_node, currentCoords=None)

Extracting SgPlot from SceneGraph

パラメータ:

sg_node (cnoid.Util.SgNode) -- Root node to start searching
currentCoords (cnoid.IRSLCoords.coordinates, optional) -- Offset coordinates to extracted object

戻り値:

List of extracted objects which is tuple of object-instance and coordinates of this object

戻り値の型:

list [ tuple [ cnoid.Util.SgPlot, cnoid.IRSLCoords.coordinates ] ]

irsl_choreonoid.make_shapes.extractDrawables(sg_node, currentCoords=None)

Extracting drawables (SgShape, SgPlot, SgText) from SceneGraph

パラメータ:

sg_node (cnoid.Util.SgNode) -- Root node to start searching
currentCoords (cnoid.IRSLCoords.coordinates, optional) -- Offset coordinates to extracted object

戻り値:

List of extracted objects which is tuple of object-instance and coordinates of this object

戻り値の型:

list [ tuple [ instance of drawables, cnoid.IRSLCoords.coordinates ] ]

irsl_choreonoid.make_shapes.loadScene(fname, meshScale=None, fileUri=None, wrapped=True, rawShape=False, coords=None, **kwargs)

Loading scene(wrl, scene, ...) file using cnoid.Util.SceneLoader

パラメータ:

fname (str) -- File name to be loaded
fileUri (str, optional) -- If fileUri is set, shapes will be set Uri for exporting files
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgShape will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Loaded scene as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.loadMesh(fname, meshScale=None, fileUri=None, wrapped=True, rawShape=False, coords=None, forceGenerateNormals=True, creaseAngle=0.5235987755982988, **kwargs)

Loading mesh file using cnoid.AssimpPlugin module

パラメータ:

fname (str) -- File name to be loaded
fileUri (str, optional) -- If fileUri is set, shapes will be set Uri for exporting files
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgShape will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Loaded scene as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeBox(x, y=None, z=None, wrapped=True, rawShape=False, coords=None, texture=None, **kwargs)

Making 'Box' shape using cnoid.Util.MeshGenerator

パラメータ:

x (float) -- Length of x-axis, if y and z is None, making 'cube'
y (float, optional) -- Length of y-direction edge
z (float, optional) -- Length of z-direction edge
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgShape will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
texture (str, optional) -- Image file-name of texture
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

注釈

Origin of generated shape is the center of it

irsl_choreonoid.make_shapes.makeCylinder(radius, height, wrapped=True, rawShape=False, coords=None, texture=None, **kwargs)

Making 'Cylinder' shape using cnoid.Util.MeshGenerator

パラメータ:

radius (float) -- Radius of the cylinder
height (float) -- Height of the cylinder
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgShape will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
texture (str, optional) -- Image file-name of texture
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

注釈

Center circle with indicated radius on XZ-plane and sweep to both side with half of height, along y-direction

irsl_choreonoid.make_shapes.makeSphere(radius, wrapped=True, rawShape=False, coords=None, texture=None, **kwargs)

Make 'Sphere' shape using cnoid.Util.MeshGenerator

パラメータ:

radius (float) -- Radius of the sphere
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgShape will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
texture (str, optional) -- Image file-name of texture
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

注釈

Origin of generated shape is the center of it

irsl_choreonoid.make_shapes.makeCone(radius, height, wrapped=True, rawShape=False, coords=None, texture=None, **kwargs)

Making 'Cone' shape using cnoid.Util.MeshGenerator

パラメータ:

radius (float) -- Radius of the cone
height (float) -- Height of the cone
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgShape will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
texture (str, optional) -- Image file-name of texture
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeCapsule(radius, height, wrapped=True, rawShape=False, coords=None, **kwargs)

Makeing 'Capsule' shape using cnoid.Util.MeshGenerator

パラメータ:

radius (float) -- Radius of the cupsule
height (float, optional) -- Height of the capsule
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgShape will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

注釈

Similar dimensions to 'makeCylinder' (bottom cricle is at minus y, cone's tip is at plus y)

irsl_choreonoid.make_shapes.makeTorus(radius, corssSectionRadius, beginAngle=None, endAngle=None, wrapped=True, rawShape=False, coords=None, **kwargs)

Makeing 'Torus' shape using cnoid.Util.MeshGenerator

パラメータ:

radius (float) -- Outer radius of the torus
crossSectionRadius (float) -- Radius of cross section
beginAngle (float, optional) -- If beginAngle and endAngle is passed, part of whole torus is created
endAngle (float, optional) --
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgShape will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeExtrusion(crossSection, spine, wrapped=True, rawShape=False, coords=None, texture=None, **kwargs)

Makeing 'Extrusion' shape using cnoid.Util.MeshGenerator

パラメータ:

crossSection (list[list[float]], N x 2 matrix) -- / arg for cnoid.Util.MeshGenerator.Extrusion
spine (list[list[float]], M x 3 matrix) -- / arg for cnoid.Util.MeshGenerator.Extrusion
orientation (list[AngleAxis], optional) -- / arg for cnoid.Util.MeshGenerator.Extrusion
scale (list[list[float]], N x 2 matrix, optional) -- / arg for cnoid.Util.MeshGenerator.Extrusion
creaseAngle (float, optional) -- / arg for cnoid.Util.MeshGenerator.Extrusion
beginCap (boolean, optional) -- / arg for cnoid.Util.MeshGenerator.Extrusion
endCap (boolean, optional) -- / arg for cnoid.Util.MeshGenerator.Extrusion
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgShape will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
texture (str, optional) -- Image file-name of texture
kwargs (dict[str, param]) -- Keywords for generating material, mesh, and makeExtrusionParam

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeElevationGrid(xDimension, zDimension, xSpacing, zSpacing, height, wrapped=True, rawShape=False, coords=None, texture=None, **kwargs)

Makeing 'Extrusion' shape using cnoid.Util.MeshGenerator

パラメータ:

xDimension (int) -- Dimension of x-direction / arg for cnoid.Util.MeshGenerator.ElevationGrid
zDimension (int) -- Dimension of z-direction / arg for cnoid.Util.MeshGenerator.ElevationGrid
xSpacing (float) -- X length is (xDimension - 1) x xSpacing / arg for cnoid.Util.MeshGenerator.ElevationGrid
zSpacing (float) -- Z length is (zDimension - 1) x zSpacing / arg for cnoid.Util.MeshGenerator.ElevationGrid
height (list[float]) -- Size is ( xDimension x zDimension ) / arg for cnoid.Util.MeshGenerator.ElevationGrid
ccw (boolean, optional) -- / arg for cnoid.Util.MeshGenerator.ElevationGrid
creaseAngl (float, optional) -- / arg for cnoid.Util.MeshGenerator.ElevationGrid
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgShape will be returned (ignore wrapped)
texture (str, optional) -- Image file-name of texture
coords (cnoid.IRSLCoords.coordinates, optional) --
kwargs (dict[str, param]) -- Keywords for generating material, mesh, and makeElevationParam

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makePoints(points, pointSize=10.0, colors=None, colorIndices=None, wrapped=True, rawShape=False, coords=None, **kwargs)

Makeing '3D point cloud' shape

パラメータ:

points (numpy.array) -- N x 3 matrix (N is number of points)
pointSize (float, default=1.0) --
colors (list[list[float]], optional) --
colorIndices (list[int], optional) --
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgPointSet will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeText(text, textHeight=1.0, color=None, wrapped=True, rawShape=False, coords=None, **kwargs)

Makeing 'Text' shape

パラメータ:

text (str) -- String to be displayed
textHeight (float, default=1.0) --
color (list[float], optional) --
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgText will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeLines(line_points, line_indices=None, lineWidth=5.0, colors=None, colorIndices=None, coords=None, wrapped=True, rawShape=False, **kwargs)

Makeing Lines

パラメータ:

line_points (numpy.array) -- N x 3 matrix (N is number of points)
line_indices (list [ tuple [int] ]) -- example, [ (0, 1), (2, 3) ] represents two lines, line0 is from point0 to point1, line1 is from point2 to point3
lineWidth (float, default=5.0) --
colors (list[list[float]], optional) --
colorIndices (list[int], optional) --
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgText will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeTetrahedron(base_width, base_height, height, base_center=None, center_x=None, center_y=None, wrapped=True, rawShape=False, coords=None, **kwargs)

Making 'Tetrahedron' shape

パラメータ:

base_width (float) --
base_height (float) --
height (float) --
base_center (float, optional) --
center_x (float, optional) --
center_y (float, optional) --
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
rawShape (boolean, default = False) -- If True, instance of cnoid.Util.SgShape will be returned (ignore wrapped)
coords (cnoid.IRSLCoords.coordinates, optional) --
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeAxis(radius=0.075, length=1.0, axisLength=0.35, axisRadius=0.125, axisRatio=None, color=None, scale=None, coords=None, wrapped=True, **kwargs)

Makeing single axis shape using cylinder and cone

パラメータ:

radius (float, default=0.15) --
length (float, default=0.8) --
axisLength (float, default=0.3) --
axisRadius (float, default=0.25) --
axisRatio (float, optional) --
color (list[float], optional) --
scale (float, optional) --
coords (cnoid.IRSLCoords.coordinates, optional) --
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.make3DAxis(radius=0.15, length=0.8, axisLength=0.3, axisRadius=0.25, axisRatio=None, color=None, scale=None, x_color=[1, 0, 0], y_color=[0, 1, 0], z_color=[0, 0, 1], coords=None, wrapped=True, **kwargs)

Makeing '3D-axis' shape using cylinder and cone

パラメータ:

radius (float, default=0.15) --
length (float, default=0.8) --
axisLength (float, default=0.3) --
axisRadius (float, default=0.25) --
axisRatio (float, optional) --
color (list[float], optional) --
scale (float, optional) --
x_color (list[float], default=[1,0,0]) --
y_color (list[float], default=[0,1,0]) --
z_color (list[float], default=[0,0,1]) --
coords (cnoid.IRSLCoords.coordinates, optional) --
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.make3DAxisBox(width=0.2, length=0.8, color=None, scale=None, x_color=[1, 0, 0], y_color=[0, 1, 0], z_color=[0, 0, 1], coords=None, wrapped=True, **kwargs)

Makeing '3D-axis' shape using box

パラメータ:

width (float, default=0.2) --
length (float, default=0.8) --
color (list[float], optional) --
scale (float, optional) --
x_color (list[float], default=[1,0,0]) --
y_color (list[float], default=[0,1,0]) --
z_color (list[float], default=[0,0,1]) --
coords (cnoid.IRSLCoords.coordinates, optional) --
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeCoords(length=1.0, lineWidth=2.0, color=None, x_color=[1, 0, 0], y_color=[0, 1, 0], z_color=[0, 0, 1], coords=None, wrapped=True, **kwargs)

Makeing '3D-axis' shape using line

パラメータ:

length (float, default=0.8) --
lineWidth (float, default=2.0) --
color (list[float], optional) --
x_color (list[float], default=[1,0,0]) --
y_color (list[float], default=[0,1,0]) --
z_color (list[float], default=[0,0,1]) --
coords (cnoid.IRSLCoords.coordinates, optional) --
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeCross(length=1.0, lineWidth=2.0, color=None, x_color=[1, 0, 0], y_color=[0, 1, 0], z_color=[0, 0, 1], coords=None, wrapped=True, **kwargs)

Makeing '3D-axis' shape using crossing line

パラメータ:

length (float, default=0.8) --
lineWidth (float, default=2.0) --
color (list[float], optional) --
x_color (list[float], default=[1,0,0]) --
y_color (list[float], default=[0,1,0]) --
z_color (list[float], default=[0,0,1]) --
coords (cnoid.IRSLCoords.coordinates, optional) --
wrapped (boolean, default = True) -- If True, the loaded scene is wrapped by irsl_choreonoid.irsl_draw_object.coordsWrapper
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeLineAlignedShape(start, end, size=0.001, shape='box', verbose=False, **kwargs)

Makeing object which is aligned with a desginated line

パラメータ:

start (numpy.ndarray) -- 3D vector representing start-point of a line
end (numpy.ndarray) -- 3D vector representing end-point of a line
size (float) -- Size of generated object (radius or edge length)
shape (str) -- Type of Shape, 'box', 'cylinder', 'capsule', 'cone'
verbose (bool, default=False) -- If True, printing debug message
kwargs (dict[str, param]) -- Keywords for generating material and mesh

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeParallelogram(height, length, width, offset=None, angle=None, front_cut=None, back_cut=None, **kwargs)

Making a geometry, 'Parallelogram'

パラメータ:

height (float) -- Height of the geometry
length (float) -- Length of bottom edge
width (float) -- Width of the geometry
offset (float, optional) -- Offset of a top edge and a bottom edge
angle (float, optional) -- range is [0, PI]
front_cut (float, optional) -- Cut from front-side if angle > 0
back_cut (float, optional) -- Cut from back-side if angle > 0
**kwargs -- Passing to irsl_choreonoid.make_shapes.makeExtrusion

Retuns:: cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper : Created object as a node of SceneGraph or wrapped class for interactive programming

irsl_choreonoid.make_shapes.makeBasket(width, height, tall, thickness=0.1, bottom_thickness=0.1, wrapped=True, rawShape=False, **kwargs)

Making basket shape

パラメータ:

width (float) -- width of bottom plate (x-axis)
height (float) -- height of bottom plate (y-axis)
tall (float) -- tall of basket
thickness (float, default = 0.1) -- thickness of walls
bottom_thickness (float, default = 0.1) -- thickness of bottom plate
wrapped (boolean, default=True) -- Just passing to makeBox
rawShape (boolean, default=False) -- Just passing to makeBox
kwargs (dict[str, param]) -- Extra keyword arguments passing to makeBox

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeTableSingleLeg(width, height, tall, thickness=0.05, bottom_thickness=0.04, bottom_width=0.4, bottom_height=0.4, leg_size=0.1, wrapped=True, rawShape=False, **kwargs)

Making table with single leg

パラメータ:

width (float) -- width of top plate (x-axis)
height (float) -- height of top plate (y-axis)
tall (float) -- tall of table
thickness (float, default = 0.05) -- thickness of top plate
bottom_thickness (float, default = 0.04) -- thickness of bottom plate
bottom_width (float, default = 0.4) -- width of bottom plate
bottom_height (float, default = 0.4) -- height of bottom plate
leg_size (float, default = 0.1) -- leg size
wrapped (boolean, default=True) -- Just passing to makeBox
rawShape (boolean, default=False) -- Just passing to makeBox
kwargs (dict[str, param]) -- Extra keyword arguments passing to makeBox

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeTable4Legs(width, height, tall, thickness=0.05, leg_size=0.1, wrapped=True, rawShape=False, **kwargs)

Making table with 4 legs

パラメータ:

width (float) -- width of top plate (x-axis)
height (float) -- height of top plate (y-axis)
tall (float) -- tall of table
thickness (float, default = 0.05) -- thickness of top plate
leg_size (float, default = 0.1) -- leg size
wrapped (boolean, default=True) -- Just passing to makeBox
rawShape (boolean, default=False) -- Just passing to makeBox
kwargs (dict[str, param]) -- Extra keyword arguments passing to makeBox

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeRoundTable(radius, tall, thickness=0.05, bottom_thickness=0.04, bottom_width=0.4, bottom_height=0.4, leg_size=0.1, wrapped=True, rawShape=False, **kwargs)

Making round table with single leg

パラメータ:

radius (float) -- width of top plate (x-axis)
tall (float) -- tall of table
thickness (float, default = 0.05) -- thickness of top plate
bottom_thickness (float, default = 0.04) -- thickness of bottom plate
bottom_width (float, default = 0.4) -- width of bottom plate
bottom_height (float, default = 0.4) -- height of bottom plate
leg_size (float, default = 0.1) -- leg size
wrapped (boolean, default=True) -- Just passing to makeBox
rawShape (boolean, default=False) -- Just passing to makeBox
kwargs (dict[str, param]) -- Extra keyword arguments passing to makeBox

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeWireframeCone(wrapped=True, rawShape=False, scale=[1, 1, 1], **kwargs)

Making cone with lines

パラメータ:

wrapped (boolean, default=True) -- Just passing to makeBox
rawShape (boolean, default=False) -- Just passing to makeBox
kwargs (dict[str, param]) -- Extra keyword arguments passing to makeBox

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeBoxFromBoundingBox(bbox, line=False, wrapped=True, rawShape=False, **kwargs)

Making box with the same size and position passed bounding-box

パラメータ:

bbox (cnoid.Util.BoundingBox or object has 'boundingBox' method) --
line (boolean, default=False) -- If True, BoundingBox is shown with line
wrapped (boolean, default=True) -- Just passing to makeBox
rawShape (boolean, default=False) -- Just passing to makeBox
kwargs (dict[str, param]) -- Extra keyword arguments passing to makeBox

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

irsl_choreonoid.make_shapes.makeLineAlignedWall(points, height=1.0, thickness=0.1, **kwargs)

Making a wall which is aligned with a multi-segment line points on XY plane, extrude them by Z-axis(height)

パラメータ:

points (list[numpy.array]) -- List of 2D point, representing a line on XY-plane
height (float, default=1.0) -- Height of the wall
thickness (float, default=0.1) -- Thickness of the wall

戻り値:

Created object as a node of SceneGraph or wrapped class for interactive programming

戻り値の型:

cnoid.Util.SgPosTransform or irsl_choreonoid.irsl_draw_object.coordsWrapper

サンプル

>>> points=[]
>>> NN = 36
>>> for idx in range(NN+1):
>>>     xx = 2*PI/NN*idx
>>>     ss = math.sin(xx)
>>>     points.append(fv(xx, ss))
>>> sp = mkshapes.makeLineAlignedWall(points)

irsl_choreonoid.make_shapes.exportMesh(fname, sg_node, meshScale=None, verbose=False, generatePrimitiveMesh=True, ignoreURDFPrimitive=False, outputType=None, expandVertices=False)

Exporting SgNode as a mesh file (using Assimp)

パラメータ:

fname (str) -- File name to be saved
sg_node (cnoid.Util.SgNode) -- Root node of scene to be saved
meshScale (float, optional) --
verbose (boolean, default=False) --
generatePrimitiveMesh (boolean, default=True) --
ignoreURDFPrimitive (boolean, default=False) --
outputType (str, optional) --

irsl_choreonoid.make_shapes.exportScene(fname, sg_node, meshScale=None, exportMesh=False, **kwargs)

Exporting SgNode as .scen file

パラメータ:

fname (str) -- File name to be saved
sg_node (cnoid.Util.SgNode) -- Root node of scene to be saved
meshScale (float, optional) --
exportMesh (boolean, default=False) -- Exporting mesh instead of primitive type
kwargs (dict[str, param]) -- Extra keyword arguments for using to execute ''StdSceneWriter.<keyword> = <value>''

irsl_choreonoid.make_shapes.addUriToShape(sg_node, base_name='mesh', base_uri='file:///tmp', allInOne=False)

Exporting SgNode as .scen file

パラメータ:

sg_node (cnoid.Util.SgNode) -- Root node of scene to be add uri
base_name (str) -- Base name of uri
base_uri (str) -- Base uri to be add

注釈

uri : {base_uri}/{base_name}_{counter}

irsl_choreonoid.robot_util

https://github.com/IRSL-tut/irsl_choreonoid/blob/main/irsl_choreonoid/robot_util.py

irsl_choreonoid.robot_util.make_coordinates(coords_map, scale=1.0)

Generating coordinates(cnoid.IRSLCoords.coordinates) from dictionary

パラメータ:

coords_map (dict[str, list[float]]) -- dictionary of describing transformation
scale (float, default = 1.0) -- Scaling for making coordinates

戻り値:

generated coordinates

戻り値の型:

cnoid.IRSLCoords.coordinates

例外:

Exception -- If there is not valid keyword

サンプル

>>> make_coordinates( {'position' : [1, 2, 3]} )
<coordinates[address] 1 2 3 / 0 0 0 1 >

>>> make_coordinates( {'pos' : [1, 2, 3], 'rpy' : [math.pi/3, 0, 0]} )
<coordinates[address] 1 2 3 / 0.5 0 0 0.866025 >

>>> make_coordinates({'rot' : [[0, -1, 0],[1, 0, 0], [0, 0, 1]]})
<coordinates[address] 0 0 0 / 0 0 0.707107 0.707107 >

>>> make_coordinates( {'angle-axis' : [0, 1, 0, math.pi/4] })
<coordinates[address] 0 0 0 / 0 0.382683 0 0.92388 >

>>> make_coordinates( {'quaternion' : [0, 0, 0, 1] })
<coordinates[address] 0 0 0 / 0 0 0 1 >

irsl_choreonoid.robot_util.make_coords_map(coords, method=None, scale=1.0)

Generating dictonary describing transformation

パラメータ:

coords (cnoid.IRSLCoords.coordinates) -- Transformation
scale (float, default = 1.0) -- Scaling for making dictionary

戻り値:

Dictonary can be used by make_coordinates

戻り値の型:

dict[str, list[float]]

サンプル

>>> make_coords_map( make_coordinates( {'position' : [1, 2, 3]} ) )
{'pos': [1.0, 2.0, 3.0], 'aa': [1.0, 0.0, 0.0, 0.0]}
>>> make_coords_map(make_coordinates( {'pos' : [0.01, 0.02, 0.03]} ), method = 'translation', scale=1000.0)
{'translation': [10.0, 20.0, 30.0], 'rotation': [1.0, 0.0, 0.0, 0.0]}

irsl_choreonoid.robot_util.make_translation_rotation(coords, unit='mm', degree=True)

Generating dictonary describing transformation (using translation, rotation)

パラメータ:

coords (cnoid.IRSLCoords.coordinates) -- Transformation
unit (str, default='mm') -- Unit of length. 'm', 'mm', 'cm', or 'inch'
degree (boolean, default=True) -- Unit of angle. If True, use degree, otherwise use radian

戻り値:

Dictonary can be used in .body

戻り値の型:

dict[str, list[float]]

irsl_choreonoid.robot_util.axisAlignedCoords(axis, target_axis=array([0., 1., 0.]), rotate=None, up_axis=None)

Generating axis aligned coordinates.

target_axis on the generated coordinates will be axis on the world-coordinates

パラメータ:

axis (list[float]) -- Target direction(axis)
target_axis (list[float]) -- Target axis to be alined

戻り値:

generated coordinates

戻り値の型:

cnoid.IRSLCoords.coordinates

サンプル

>>> ay = axisAlignedCoords([1., 1., 1.,], coordinates.Y)
>>> ay.y_axis
array([0.57735027, 0.57735027, 0.57735027])

>>> az = axisAlignedCoords([1., 1., 1.,], coordinates.Z)
>>> az.z_axis
array([0.57735027, 0.57735027, 0.57735027])

>>> target = fv(1., 1., 1.)
>>> aa = axisAlignedCoords([1., 0., 1.,], target)
>>> aa.transform_vector(target)
array([1.22474487, 0.        , 1.22474487])

class irsl_choreonoid.robot_util.IKWrapper(robot, tip_link, tip_to_eef=None, use_joints=None, solver='QP')

ベースクラス: object

Utility class for solving inverse-kinematics

__init__(robot, tip_link, tip_to_eef=None, use_joints=None, solver='QP')

パラメータ:

robot (cnoid.Body.Body) -- robot model using this instance
tip_link (str, cnoid.Body.Link) -- name or instance of tip_link
tip_to_eef (cnoid.IRSLCoords.coordinates, optional) -- coordinates of end-effector relative to tip_link
use_joints (list[str, int, cnoid.Body.Link] , optional) -- list of joint name, index or instance
solver (str, default = 'QP') -- type of solver

注釈

Coordinates system

world -> robot(root_link) -> (using joints) -> tip_link -> tip_to_eef -> end-effector < -- > target-coords(world)

Inverse-kinematics would be solved to make target-coords and end-effector at the same position.

flush()

Updating the robot in scene

パラメータ:: None --

updateDefault()

Updating default values (using joints, default_pose, default_coords)

パラメータ:: None --

property endEffector

Current 6DOF coordinates of end-effector

戻り値:: coordinates of current end-effector
戻り値の型:: cnoid.IRSLCoords.coordinates

getEndEffector(**kwargs)

Getting end-effector (function version of self.endEffector)

パラメータ:: kwargs (dict[str, param]) -- ignored
戻り値:: end-effector
戻り値の型:: cnoid.IRSLCoords.coordinates

resetJointWeights()

Reset current joint-list to default joint-list (reverting effects of using setJoints)

パラメータ:: None --

setJoints(jlist, enable=True)

Adding or removing joints to/from using joint-list

パラメータ:

jlist (list[str, int, cnoid.Body.Link]) -- list of joint name, index or instance
enable (boolean, default = True) -- if True, joints are added, else joint are removed from using joint-list

例外:

Exception -- If wrong joint is passed

inverseKinematics(target, revert_if_failed=True, retry=100, **kwargs)

Top method to solve inverse-kinematics

パラメータ:

target (cnoid.IRSLCoords.coordinates) -- target coordinates of inverse-kinematics
revert_if_failed (boolean, default = True) -- if True, no modification (moving joint and root-link) to robot-model when calculation of IK is failed
retry (int, defualt = 100) -- number of retrying solving IK
constraint (str or list[float], optional) -- '6D', 'position', 'rotation', 'xyzRPY'
weight (float, default = 1.0) -- weight of constraint
base_type (str or list[float], optional) -- '2D', 'planer', 'position', 'rotation'
base_weight (float, default = 1.0) -- weight of base movement
max_iteration (int, defulat = 32) -- number of iteration
threshold (float, default = 5e-5) -- threshold for checking convergence
add_noise (float or boolean, optional) -- if True or number, adding noise to angle of joint before solving IK
debug (boolean, default = False) -- if True, printing debug message

戻り値:

IK was success or not, and total count of calculation

戻り値の型:

(boolean, int)

注釈

constraint : [1,1,1, 1,1,1] base_type : [1,1,1, 1,1,1]

angleVector(_angle_vector=None)

Returning current joint angle of self.robot ロボット(self.robot)への関節角度の指定して現状の値を返す。

パラメータ:

_angle_vector (numpy.array, optional) -- 1 x len(self.default_joints) vector
各エレメントが関節角度になっているvector (numpy.array) --

戻り値:

1 x len(self.default_joints) vector 現在のロボットの状態で、各エレメントが関節角度になっているvector(numpy.array)。要素数はself.default_jointと同じ。

戻り値の型:

numpy.array

currentAngleVector(_angle_vector=None)

Returning current joint angle of self.robot

パラメータ:: _angle_vector (numpy.array, optional) -- 1 x len(self.current_joints) vector
戻り値:: 1 x len(self.current_joints) vector
戻り値の型:: numpy.array

注釈

self.current_joints would be changed by setJoints method

rootCoords(cds=None)

Setting and getting coordinates of rootLink

パラメータ:: cds (cnoid.IRSLCoords.coordinates, optional) -- If argument is set, coordinates of rootLink is updated by it
戻り値:: coordinates of rootLink
戻り値の型:: cnoid.IRSLCoords.coordinates

resetPose()

Resetting pose (angleVector and rootCoords)

パラメータ:: None --
戻り値:: current angleVector
戻り値の型:: numpy.array

addNoise(max_range=0.1, joint_list=None)

addNoise(self, max_range = 0.1, joint_list = None):

パラメータ:

max_range (float, default = 0.1) -- range of adding noise
joint_list (list[str, int, cnoid.Body.Link], optional) -- If argument is not set, self.default_joints would be used

property robot

Robot model using this instance

戻り値:: robot model
戻り値の型:: cnoid.Body.Body

property tip_link

Tip link (direct parent of end-effector)

戻り値:: tip link
戻り値の型:: cnoid.Body.Link

property tip_to_eef

Transformation between origin of tip_link and end-effector

戻り値:: Transformation to end-effector at tip_link coordinates
戻り値の型:: cnoid.IRSLCoords.coordinates

property joint_weights

Weight of joints

戻り値:: weight of joints
戻り値の型:: list[float]

property current_joints

Current joint-list

戻り値:: current_joints using IK, currentAngleVector
戻り値の型:: list[cnoid.Body.Link]

property default_joints

Default joint-list (stored while initialization)

戻り値:: default_joints
戻り値の型:: list[cnoid.Body.Link]

property default_pose

AngleVector stored while initialization

戻り値:: 1 x len(self.default_joints) vector
戻り値の型:: numpy.array

property default_coords

RootCoords stored while initialization

戻り値:: Transformation to end-effector at tip_link coordinates
戻り値の型:: cnoid.IRSLCoords.coordinates

irsl_choreonoid.robot_util.linkDirectChildren(lk)

irsl_choreonoid.robot_util.linkDescendants(lk)

irsl_choreonoid.robot_util.mergedMassPropertyOfAllDescendants(plink)

irsl_choreonoid.robot_util.mergeMassProperty(plink_coords, plink_mass, plink_c, plink_I, clink)

class irsl_choreonoid.robot_util.RobotModelWrapped(robot, **kwargs)

ベースクラス: coordsWrapper

RobotModel for programming Interactively

RobotModel is displayed as cnoid.Base.RobotItem

__init__(robot, **kwargs)

パラメータ:: robot (cnoid.Body.Body or cnoid.BodyPlugin.BodyItem) -- robot model using this class

registerNamedPose(name, angles=None, root_coords=None)

Registering named pose for using with irsl_choreonoid.robot_util.RobotModelWrapped.setNamedPose

パラメータ:

name (str) -- Name of registered pose
angles (numpy.array or list[float]) -- Angle-vector to be able to pass irsl_choreonoid.robot_util.RobotModelWrapped.angleVector
root_coords (cnoid.IRSLCoords.coordinates) -- Coordinates of Root

registerEndEffector(name, tip_link, tip_link_to_eef=None, joint_list=None, joint_tuples=None)

Registering named pose for using with irsl_choreonoid.robot_util.RobotModelWrapped.getLimb, etc.

パラメータ:

name (str) -- Name of limb as registered end-effector
tip_link (str or cnoid.Body.Link) -- Link which is direct parent of coordinates of end-effector
tip_link_to_eef (cnoid.IRSLCoords.coordinates) -- Coordinates tip_link to end_effector represented on link's coordinate
joint_list (list[str] or list[cnoid.Body.Link]) --
tuple((actual_name (joint_tuples () -- str, nickname:str)) ) : Tuple of actual_name and nick_name

class EndEffector(robot, name, tip_link, tip_link_to_eef=None, joint_list=None, joint_tuples=None, hook=None)

ベースクラス: object

EndEffector class for manipulating end-effector, limb, joint-group

__init__(robot, name, tip_link, tip_link_to_eef=None, joint_list=None, joint_tuples=None, hook=None): Use RobotModelWrapped.registerEndEffector

nicknameOf(joint_name)

rename(nick_name)

Renaming using registered nick-name

パラメータ:: nick_name (str) -- nick-name
戻り値:: actual name
戻り値の型:: str

joint(jname)

Getting joint in this limb by name

パラメータ:: jname (str) -- name or nick-name of a joint
戻り値:: Instance of the joint
戻り値の型:: cnoid.Body.Link

property endEffector

Getting coordinate of the end-effector (return value is generated on demand)

戻り値:: Coordinate of the end-effector
戻り値の型:: cnoid.IRSLCoords.coordinates

property IK

Getting IKWrapper instance using this EndEffector

戻り値:: IKWrapper instance using this EndEffector
戻り値の型:: irsl_choreonoid.robot_util.IKWrapper

property angleMap

Getting dictionary [ key='jointName', value=jointAngle ]

戻り値:: Dictionary of key='jointName', value=jointAngle for joints in this Limb
戻り値の型:: dict [str, float ]

inverseKinematics(coords, **kwargs)

Solving inverse kinematic on this limb

パラメータ:

coords (cnoid.IRSLCoords.coordinates) -- Coordinate of the target
**kwargs (dict) -- Just passing to IKWrapper

戻り値:

IK was success or not, and total count of calculation

戻り値の型:

(boolean, int)

move(vec, wrt=<wrt.local: 1>, **kwargs)

Relative moving end-effector linearly by translation vector

パラメータ:

vec (numpy.array) -- Translation vector
wrt (default = cnoid.IRSLCoords.coordinates.wrt.local) -- Just passing to cnoid.IRSLCoords.coordinates.translate
kwargs (dict) -- Just passing to IKWrapper

戻り値:

IK was success or not, and total count of calculation

戻り値の型:

(boolean, int)

rotate(angle, axis, wrt=<wrt.local: 1>, **kwargs)

Relative moving end-effector angularly by angle-axis

パラメータ:

angle (float) -- Rotation angle
axis (numpy.array) -- Rotation axis
wrt (default = cnoid.IRSLCoords.coordinates.wrt.local) -- Just passing to cnoid.IRSLCoords.coordinates.rotate
kwargs (dict) -- Just passing to IKWrapper

戻り値:

IK was success or not, and total count of calculation

戻り値の型:

(boolean, int)

moveCoords(coords, wrt=<wrt.local: 1>, **kwargs)

Relative moving end-effector by transformation of coordinates

パラメータ:

coords (cnoid.IRSLCoords.coordinates) -- Relative coordinates
wrt (default = cnoid.IRSLCoords.coordinates.wrt.local) -- Just passing to cnoid.IRSLCoords.coordinates.transform
kwargs (dict) -- Just passing to IKWrapper

戻り値:

IK was success or not, and total count of calculation

戻り値の型:

(boolean, int)

jointAngle(name, angle=None)

Setting or getting angle of the joint (limb version)

パラメータ:

name (str) -- Name of a joint, 'nickname' is acceptable.
angle (float, optional) -- Angle [radian] to be set

戻り値:

Angle of the joint, if do not find the name, None would be returned

戻り値の型:

float

setAngleMap(angle_map)

Setting angles of the joint (limb version)

パラメータ:: angle_map (dict[str, float]) -- Keyword is a joint name and value is a joint angle. 'nickname' is acceptable.
戻り値:: If angles is set, returns True
戻り値の型:: boolean

getAngleMap(*args)

Getting angles of the joint (limb version)

パラメータ:: name_list (list[str]) -- List of joint names. 'nickname' is acceptable.
戻り値:: Keyword is a joint name and value is a joint angle.
戻り値の型:: dict[str, float]

angleVector(angle_vector=None)

Setting or getting angle-vector (limb version)

パラメータ:: angle_vector (numpy.array) -- Vector of angle[radian] to be set
戻り値:: Vector of angle[radian]
戻り値の型:: numpy.array

property robot

Robot-model using wrapped by this instance

戻り値:: Instance of robot model currently using
戻り値の型:: cnoid.Body.Body

property item

Robot-model using wrapped by this instance

戻り値:: Instance of robot-item currently using
戻り値の型:: cnoid.BodyPlugin.BodyItem

setMode(mode=None)

Set updating mode

パラメータ:: mode (int, optional) -- Mode to be set (0: kinematics mode, 1: rendering mode, 2: rendering immediately mode)
戻り値:: Current mode (0: kinematics mode, 1: rendering mode, 2: rendering immediately mode, -1: do nothing while hook)
戻り値の型:: int

property linkList

List of links

戻り値:: List of links
戻り値の型:: list [cnoid.Body.Link]

property linkNames

List of link names

戻り値:: List of link names
戻り値の型:: list [str]

property jointList

List of joints

戻り値:: List of joints
戻り値の型:: list [cnoid.Body.Link]

property jointNames

List of joint names

戻り値:: List of joint names
戻り値の型:: list [cnoid.Body.Link]

property deviceList

List of devices

戻り値:: List of devices
戻り値の型:: list [cnoid.Body.Device]

property deviceNames

List of device names

戻り値:: List of device names
戻り値の型:: list [cnoid.Body.Device]

device(arg)

Instance of the device

パラメータ:: arg (str, int, object) -- name or index of the device
戻り値:: instance of the device
戻り値の型:: cnoid.Body.Device

linkCoords(str_idx_instance)

Coordinates of the link

パラメータ:: str_index_instance (str, int, object) -- name or index of the link
戻り値:: coordinate of the link
戻り値の型:: cnoid.IRSLCoords.coordinates

jointCoords(str_idx_instance)

Coordinates of the joint

パラメータ:: str_index_instance (str, int, object) -- name or index of the joint
戻り値:: coordinate of the joint
戻り値の型:: cnoid.IRSLCoords.coordinates

deviceCoords(str_idx_instance)

Coordinates of the device

パラメータ:: str_index_instance (str, int, object) -- name or index of the device
戻り値:: coordinate of the device
戻り値の型:: cnoid.IRSLCoords.coordinates

angleVector(angles=None)

Setting or getting angle-vector

パラメータ:: angle_vector (numpy.array) -- Vector of angle[radian] to be set
戻り値:: Vector of angle[radian]
戻り値の型:: numpy.array

jointAngle(name, angle=None)

Setting or getting angle of the joint

パラメータ:

name (str) -- Name of a joint
angle (float, optional) -- Angle [radian] to be set

戻り値:

Angle of the joint, if do not find the name, None would be returned

戻り値の型:

float

setAngleMap(angle_map)

Setting angles of the joint

パラメータ:: angle_map (dict[str, float]) -- Keyword is a joint name and value is a joint angle. 'nickname' is acceptable.
戻り値:: If angles is set, returns True
戻り値の型:: boolean

getAngleMap(*args)

Getting angles of the joint

パラメータ:: name_list (list[str]) -- List of joint names. 'nickname' is acceptable.
戻り値:: Keyword is a joint name and value is a joint angle.
戻り値の型:: dict[str, float]

rootCoords(coords=None)

Getting or setting coordinates of root link of robot

パラメータ:: coords (cnoid.IRSLCoords.coordinates, optional) -- Coordinate to be set
戻り値:: Current coordinates of root link of robot
戻り値の型:: cnoid.IRSLCoords.coordinates

setDefaultPose(): Setting default pose if registered

setInitialPose(): Setting initial pose if registered

setZeroPose(): Setting all joint angles to zero

setNamedPose(name)

Setting named pose, name should be registered by irsl_choreonoid.robot_util.RobotModelWrapped.registerNamedPose

パラメータ:: name (str) -- Name of registered pose

getLimb(limb_name)

Getting limb as end-effector, name should be registered by irsl_choreonoid.robot_util.RobotModelWrapped.registerEndEffector

パラメータ:: limb_name (str) -- Name of registered limb as end-effector
戻り値:: Instance of EndEffector
戻り値の型:: irsl_choreonoid.robot_util.RobotModelWrapped.EndEffector
例外:: Exception -- If wrong limb name is passed

getEndEffector(limb_name)

Getting coordinates of end-effector of limb (return value is generated on demand)

パラメータ:: limb_name (str) -- Name of registered limb as end-effector
戻り値:: Current coordinates of end-effector of limb
戻り値の型:: cnoid.IRSLCoords.coordinates

property rleg

Pre defined accessor of limb, same as self.getLimb('rleg')

戻り値:: Instance of EndEffector (rleg)
戻り値の型:: irsl_choreonoid.robot_util.RobotModelWrapped.EndEffector

property lleg

Pre defined accessor of limb, same as self.getLimb('lleg')

戻り値:: Instance of EndEffector (lleg)
戻り値の型:: irsl_choreonoid.robot_util.RobotModelWrapped.EndEffector

property rarm

Pre defined accessor of limb, same as self.getLimb('rarm')

戻り値:: Instance of EndEffector (rarm)
戻り値の型:: irsl_choreonoid.robot_util.RobotModelWrapped.EndEffector

property larm

Pre defined accessor of limb, same as self.getLimb('larm')

戻り値:: Instance of EndEffector (larm)
戻り値の型:: irsl_choreonoid.robot_util.RobotModelWrapped.EndEffector

property arm

Pre defined accessor of limb, same as self.getLimb('arm')

戻り値:: Instance of EndEffector (arm)
戻り値の型:: irsl_choreonoid.robot_util.RobotModelWrapped.EndEffector

property head

Pre defined accessor of limb, same as self.getLimb('head')

戻り値:: Instance of EndEffector (head)
戻り値の型:: irsl_choreonoid.robot_util.RobotModelWrapped.EndEffector

property torso

Pre defined accessor of limb, same as self.getLimb('torso')

戻り値:: Instance of EndEffector (torso)
戻り値の型:: irsl_choreonoid.robot_util.RobotModelWrapped.EndEffector

property rlegEndEffector

Pre defined accessor to end-effector, same as self.getLimb('rleg').endEffector

戻り値:: Current coordinates of end-effector of limb(rleg)
戻り値の型:: cnoid.IRSLCoords.coordinates

property llegEndEffector

Pre defined accessor to end-effector, same as self.getLimb('lleg').endEffector

戻り値:: Current coordinates of end-effector of limb(lleg)
戻り値の型:: cnoid.IRSLCoords.coordinates

property rarmEndEffector

Pre defined accessor to end-effector, same as self.getLimb('rarm').endEffector

戻り値:: Current coordinates of end-effector of limb(rarm)
戻り値の型:: cnoid.IRSLCoords.coordinates

property larmEndEffector

Pre defined accessor to end-effector, same as self.getLimb('larm').endEffector

戻り値:: Current coordinates of end-effector of limb(larm)
戻り値の型:: cnoid.IRSLCoords.coordinates

property armEndEffector

Pre defined accessor to end-effector, same as self.getLimb('arm').endEffector

戻り値:: Current coordinates of end-effector of limb(arm)
戻り値の型:: cnoid.IRSLCoords.coordinates

property headEndEffector

Pre defined accessor to end-effector, same as self.getLimb('head').endEffector

戻り値:: Current coordinates of end-effector of limb(head)
戻り値の型:: cnoid.IRSLCoords.coordinates

property torsoEndEffector

Pre defined accessor to end-effector, same as self.getLimb('torso').endEffector

戻り値:: Current coordinates of end-effector of limb(torso)
戻り値の型:: cnoid.IRSLCoords.coordinates

inverseKinematics(coords, limb_name='default', **kwargs)

Solving inverse kinematic of the limb

パラメータ:

coords (cnoid.IRSLCoords.coordinates) -- Coordinate of the target
limb_name (str, default='default') -- Name of the limb
**kwargs (dict) -- Just passing to IKWrapper

戻り値:

IK was success or not, and total count of calculation

戻り値の型:

(boolean, int)

footMidCoords(p=0.5)

Getting coordinates representing mid-point of leg's end-effector

パラメータ:: p (float, default=0.5) -- Parameter of mid-point. (0.5, 0.0, 1.0 represents the center, rleg, lleg, respectively)
戻り値:: Coordinates indicating the mid-point of legs
戻り値の型:: cnoid.IRSLCoords.coordinates

注釈

This method requires settings of limbs( 'rleg' and 'lleg' )

fixLegToCoords(coords, p=0.5)

Locating the robot by fixing the legs to designated coordinates

パラメータ:

coords (cnoid.IRSLCoords.coordinates) -- Target coordinates ( footMidCoords of this robot will be the same as this coordinates )
p (float, default=0.5) -- Parameter of mid-point. (0.5, 0.0, 1.0 represents the center, rleg, lleg, respectively)

注釈

This method requires settings of limbs( 'rleg' and 'lleg' )

fixSelfCoordsToTarget(selfcoords, target_coords)

keepJointLimit(on_=True)

Setting mode to keep joint limits

パラメータ:: on (boolean, default=True) --
戻り値:: Returns current settings
戻り値の型:: (boolean)

trimJointAngles(): Force setting joint angles inside the range of limits

calcMinimumDuration(target_angle_vector, original_angle_vector=None, ratio=1.0)

Calculating duration for the fastest movement depend on a joint limit

パラメータ:

target_angle_vector (numpy.array) -- AngleVector to be moved to
original_angle_vector (numpy.array, optional) -- AngleVector to be moved from. If this argument is not given, current angles will be used.
ratio (float) -- Result will be multipled by this value

戻り値:

Duration [ second ]

戻り値の型:

float

fullBodyIK(targets, limbs, com_target=None, base_target=None, revert_if_failed=True, retry=10, **kwargs)

Top method to solve fullbody inverse-kinematics

パラメータ:

targets (cnoid.IRSLCoords.coordinates) -- List of coordinates as target for inverse-kinematics
limbs (irsl_choreonoid.robot_util.RobotModelWrapped.EndEffector) -- List of limb(EndEffector), size of limbs should be equal to size of targets
com_target (numpy.array) -- Target of COM ( Center of Mass )
base_target (cnoid.IRSLCoords.coordinates) -- Target of base (root_link)
revert_if_failed (boolean, default = True) -- if True, no modification (moving joint and root-link) to robot-model when calculation of IK is failed
retry (int, defualt = 100) -- number of retrying solving IK
**kwargs (dict) -- Other keywords just passing to fullBodyIKRaw (See irsl_choreonoid.robot_util.RobotModelWrapped.fullBodyIKRaw)

戻り値:

IK was success or not, and total count of calculation

戻り値の型:

(boolean, int)

注釈

constraint : [1,1,1, 1,1,1] base_type : [1,1,1, 1,1,1]

fullBodyIKRaw(targets, limbs, com_target=None, base_target=None, constraint='6D', base_type='xy', com_constraint=[1, 1, 0], weight=1.0, base_weight=1.0, debug=False, max_iteration=32, threshold=5e-05, use_joint_limit=True, joint_limit_max_error=0.01, position_precision=None, com_precision=None, joint_limit_precision=0.1, **kwargs)

legsCOM_IK(r_target, l_target, com_target=None, **kwargs)

armsCOM_IK(r_target, l_target, com_target=None, **kwargs)

moveCentroidOnFoot(p=0.5, **kwargs)

addLink(name, parentLink, offset, jointType=<JointType.FixedJoint: 3>, visualShape=None, collisionShape=None, **kwargs)

Adding new link

パラメータ:

name (str) --
parentLink (cnoid.Body.Link) --
offset (cnoid.IRSLCoords.coordinates) --
() (kwargs) --
() --
() --
() --

注釈

keywords for kwargs are listed below. JointName, Mass, CenterOfMass, Inertia, EquivalentRotorInertia, JointId, JointAxis, JointVelocityRange, JointRange, JointEffortRange, InitialJointDisplacement, ActuationMode

setFrame(name, parentLink, offset)

Setting temporary frame (link), which is connected by fixed-joint

パラメータ:

name (str) -- Name of the adding link
parentLink (str or cnoid.Body.Link) -- Link name or instance of link which the adding link is connected to
offset (cnoid.IRSLCoords.coordinates) -- Offset from parentLink to the adding link ( on parentLink coordinates )

generateCurrentVisual(scalable=False, init_coords=None)

Generate visual (scene graph) of robot with current state

パラメータ:

scalable (boolean, default=False) -- Enable methods, scale and switch
init_coords (cnoid.IRSLCoords.coordinates, optional) -- Coordinates of root-coords of generated visual

戻り値:

Wrapped SceneGrap (can visualize with DrawInterface)

戻り値の型:

( irsl_draw_object.coordsWrapper )

class irsl_choreonoid.robot_util.ImportedRobotModel(robot=None, item=True, world=False, **kwargs)

ベースクラス: RobotModelWrapped

Class for making specific robot model

Set model_cls.model_file in the module
model_module.robot_class should be set

サンプル

>>> ### SpecificRobotClass.py
>>> class SpecificRobotClass(ImportedRobotModel):
>>>     def __init__(self, robot=None, item=True, world=False, **kwargs):
>>>         super().__init__(robot=robot, item=item, world=world, **kwargs)
>>>
>>>     def _setting_before_init(self, robot, **kwargs):  ## override
>>>         pass
>>>
>>>     def _init_ending(self, **kwargs): ## override
>>>         pass
>>> SpecificRobotClass.model_file = 'path_to_model_file' ## 1. ##
>>> robot_class = SpecificRobotClass ## 2. ##

__init__(robot=None, item=True, world=False, **kwargs)

パラメータ:

robot (cnoid.Body.Body or cnoid.BodyPlugin.BodyItem) --
item (boolean, default=True) -- If true, loading as BodyItem
world (boolean, default=True) -- If true, BodyItem will be loaded under WorldItem

irsl_choreonoid.draw_coords

https://github.com/IRSL-tut/irsl_choreonoid/blob/main/irsl_choreonoid/draw_coords.py

class irsl_choreonoid.draw_coords.DrawCoordsList(x_color=array([1, 0, 0]), y_color=array([0, 1, 0]), z_color=array([0, 0, 1]), length=0.1, width=None)

ベースクラス: object

Drawing list of coordinates

__init__(x_color=array([1, 0, 0]), y_color=array([0, 1, 0]), z_color=array([0, 0, 1]), length=0.1, width=None)

DrawCoordsList(initializer)

パラメータ:

x_color (numpy.array, default = [1, 0, 0]) -- color of x-axis
y_color (numpy.array, default = [0, 1, 0]) -- color of y-axis
z_color (numpy.array, default = [0, 0, 1]) -- color of z-axis
length (float, default = 0.1) -- length of axis
width (float, optional) -- width of axis

property count

Number of coords stored in this instance

戻り値:: current number of coords stored in this instance
戻り値の型:: int

property T

Transformation matrix

戻り値:: 4x4 matrix, homogeneous transformation matrix (cnoidPosition)
戻り値の型:: numpy.array

property interface

Actual interface instance

戻り値:: actual instance to draw lines
戻り値の型:: cnoid.DrawInterface.DrawInterface

setOrigin(coords)

Setting new origin

パラメータ:: coords (cnoid.IRSLCoords.coordinates) -- new origin to be set

getOrigin()

Getting current origin

パラメータ:: None --
戻り値:: current origin
戻り値の型:: cnoid.IRSLCoords.coordinates

setLineWidth(_width)

Set line width

パラメータ:: _width (float) -- line width to be set

flush()

Force rendering coords

パラメータ:: None --

clear()

Clear all drawn coords

パラメータ:: None --

addCoords(coords, flush=True)

Draw coordinates (3-axis, position and rotation)

パラメータ:

coords (cnoid.IRSLCoords.coordinates) -- coordinates to be drawn
flush (boolean, default = True) -- if True, rendering scene immediately

戻り値:

number of drawn coords

戻り値の型:

int

addCross(coords, flush=True)

Draw cross (3-axis, line is crossing at center)

パラメータ:

coords (cnoid.IRSLCoords.coordinates) -- coordinates to be drawn
flush (boolean, default = True) -- if True, rendering scene immediately

戻り値:

number of drawn coords

戻り値の型:

int

addPoint(point, flush=True)

Draw point (cross with no rotation)

パラメータ:

point (numpy.array) -- 1x3 vector, point to be drawn
flush (boolean, default = True) -- if True, rendering scene immediately

戻り値:

number of drawn coords

戻り値の型:

int

class irsl_choreonoid.draw_coords.DrawCoordsListWrapped(**kwargs)

ベースクラス: DrawCoordsList, coordsWrapper

Wrapped version of irsl_choreonoid.DrawCoordsList

Using for drawing coordinates interactively

__init__(**kwargs)

パラメータ:: kwargs (dict[str, param]) -- this is passing to irsl_choreonoid.robot_util.make_coordinates for making initial_coords of coordsWrapper

class irsl_choreonoid.draw_coords.GeneralDrawInterfaceWrapped(**kwargs)

ベースクラス: GeneralDrawInterface, coordsWrapper

Wrapped version of cnoid.DrawInterface.GeneralDrawInterface

Using for drawing SceneGraph objects interactively

property SgPosTransform

Generating instance of cnoid.Util.SgPosTransform, which represents the root position of this instance

Returns:: Root of drawn objects in this instance at SceneGraph
Return Type:: cnoid.Util.SgPosTransform

__init__(**kwargs)

パラメータ:: kwargs (dict[str, param]) -- this is passing to irsl_choreonoid.robot_util.make_coordinates for making initial_coords of coordsWrapper

flush(doImmediately=False)

Force rendering scene

パラメータ:: None --

clear(flush=True)

Clear all added objects

パラメータ:: flush (boolean, default = True) -- If it is False, the scene is not rendered

addObject(obj, update=True, hook=True): This method is overrided, just passing arguments to addPyObject

addObjects(objlst, update=True, hook=True)

Adding objects to be drawn

パラメータ:

objlst (list[cnoid.Util.SgNode]) -- list of objects to be drawn
update (boolean, default = False) -- if True, rendering scene immediately

removeObject(obj, update=True): This method is overrided, just passing arguments to removePyObject

removeObjects(objlst, update=True)

Removing objects to be drawn

パラメータ:

objlst (list[cnoid.Util.SgNode]) -- list of objects to be removed
update (boolean, default = False) -- if True, rendering scene immediately

addPyObject(obj, update=True, hook=True)

Adding object to be drawn

パラメータ:

obj (cnoid.Util.SgNode) -- object to be drawn
update (boolean, default = False) -- if True, rendering scene immediately

removePyObject(obj, update=True)

Removing drawn object

パラメータ:

obj (cnoid.Util.SgNode) -- object to be removed
update (boolean, default = False) -- if True, rendering scene immediately

class coordsWrapper

Base class for using coordinates interactively.

Inherited by class DrawCoordsListWrapped and class GeneralDrawInterfaceWrapped.

https://github.com/IRSL-tut/irsl_choreonoid/blob/main/irsl_choreonoid/irsl_draw_object.py

class irsl_choreonoid.irsl_draw_object.coordsWrapper(target, init_coords=None, update_callback=None, kinematics_callback=None, original_object=None, scalable=False)

ベースクラス: coordinates

class coordsWrapper(cnoid.IRSLCoords.coordinates)

This class aims to wrap a cnoid Object which have position (SgPosTransform, Link, etc.)

You can access to this object with methods in cnoid.IRSLCoords.coordinates,

Some mthods (newcoords, translate, rotate, transform) to update itself are overrided to add calling callback_function.

Then, you can run some process when the position of the target is updated.

__init__(target, init_coords=None, update_callback=None, kinematics_callback=None, original_object=None, scalable=False)

パラメータ:

target (object) -- wrapped target which have property 'T' for setting cnoidPosition
init_coords (cnoid.IRSLCoords.coordinates, optional) -- coordinates of this instance
update_callback (function(), optional) -- callback function which is called when target is updated (including drawing)
kinematics_callback (function(), optional) -- callback function which is called when target is updated (only updating kinematics)
scalable (boolean, default=False) -- call setScalable() within constructor

assoc(child, coords=None)

Associate coordinates as a child

パラメータ:

child (irsl_choreonoid.irsl_draw_object.coordsWrapper) -- child coordinates
coords (cnoid.Body.Link or cnoid.Util.SgPosTransform) -- Coordinates on parent

dissoc(child)

Finish association with child coordinates

パラメータ:: child (irsl_choreonoid.irsl_draw_object.coordsWrapper) --

dissocFromParent(): Finish association with parent coordinates

clearChildren(): Clear all children

property descendants: Getting all children

isChild(coords): Query: Is it a child ?

isParent(coords): Query: Is it a parent ?

hasChild(): Query: Does it have child ?

setScalable(): Enabling to use methods, setScale and setTurnedOn

setColorChangeable(): Enabling to use methods, changeColor

changeColor(color=None, ambient=None, emissive=None, specular=None, specularExponent=None, transparent=None, update=False): Changing color ( use setColorChangeable method before using this method )

updateTarget(update=True)

Updating self.target and call callback_function

パラメータ:: None --

setUpdateCallback(func)

Setting callback function for updating drawings

パラメータ:: func (function()) -- callback function which is called when target is updated

setKinematicsCallback(func)

Setting callback function for updating kinematics

パラメータ:: func (function()) -- callback function which is called when target is updated

newcoords(cds)

Wrapped method of newcoords in cnoid.IRSLCoords.coordinates

パラメータ:: cds (cnoid.IRSLCoords.coordinates) -- replace pos and rot in self with cds
戻り値:: identical instance which was called with this method
戻り値の型:: cnoid.IRSLCoords.coordinates

translate(pos, wrt=None)

Wrapped method of translate in cnoid.IRSLCoords.coordinates

パラメータ:

pos (numpy.array) -- 1x3 vector, translation vector
wrt (cnoid.IRSLCoords.coordinates.wrt or cnoid.IRSLCoords.coordinates, optional) -- Reference coordinates applying this method

戻り値:

identical instance which was called with this method

戻り値の型:

cnoid.IRSLCoords.coordinates

locate(pos, wrt=None)

Wrapped method of locate in cnoid.IRSLCoords.coordinates

パラメータ:

pos (numpy.array) -- 1x3 vector, translation vector
wrt (cnoid.IRSLCoords.coordinates.wrt or cnoid.IRSLCoords.coordinates, optional) -- Reference coordinates applying this method

戻り値:

identical instance which was called with this method

戻り値の型:

cnoid.IRSLCoords.coordinates

rotate(ang, axis, wrt=None)

Wrapped method of rotate in cnoid.IRSLCoords.coordinates

パラメータ:

ang (float) -- angle to rotate [radian]
aixs (numpy.array) -- 1x3 vector, axis to rotate around
wrt (cnoid.IRSLCoords.coordinates.wrt or cnoid.IRSLCoords.coordinates, optional) -- Reference coordinates applying this method

戻り値:

identical instance which was called with this method

戻り値の型:

cnoid.IRSLCoords.coordinates

orient(ang, axis, wrt=None)

Wrapped method of orient in cnoid.IRSLCoords.coordinates

パラメータ:

ang (float) -- angle to rotate [radian]
aixs (numpy.array) -- 1x3 vector, axis to rotate around
wrt (cnoid.IRSLCoords.coordinates.wrt or cnoid.IRSLCoords.coordinates, optional) -- Reference coordinates applying this method

戻り値:

identical instance which was called with this method

戻り値の型:

cnoid.IRSLCoords.coordinates

rotate_with_matrix(rot, wrt=None)

Wrapped method of rotate_with_matrix in cnoid.IRSLCoords.coordinates

パラメータ:

rot (numpy.array) -- 3x3 matrix, matrix applied to rotate
wrt (cnoid.IRSLCoords.coordinates.wrt or cnoid.IRSLCoords.coordinates, optional) -- Reference coordinates applying this method

戻り値:

identical instance which was called with this method

戻り値の型:

cnoid.IRSLCoords.coordinates

orient_with_matrix(rot, wrt=None)

Wrapped method of orient_with_matrix in cnoid.IRSLCoords.coordinates

パラメータ:

rot (numpy.array) -- 3x3 matrix, matrix applied to rotate
wrt (cnoid.IRSLCoords.coordinates.wrt or cnoid.IRSLCoords.coordinates, optional) -- Reference coordinates applying this method

戻り値:

identical instance which was called with this method

戻り値の型:

cnoid.IRSLCoords.coordinates

transform(trs, wrt=None)

Wrapped method of transform in cnoid.IRSLCoords.coordinates

パラメータ:

trs (cnoid.IRSLCoords.coordinates) -- Transformation to be applied
wrt (cnoid.IRSLCoords.coordinates.wrt or cnoid.IRSLCoords.coordinates, optional) -- Reference coordinates applying this method

戻り値:

identical instance which was called with this method

戻り値の型:

cnoid.IRSLCoords.coordinates

move_to(trs, wrt=None)

Wrapped method of move_to in cnoid.IRSLCoords.coordinates

パラメータ:

trs (cnoid.IRSLCoords.coordinates) -- Transformation to be applied
wrt (cnoid.IRSLCoords.coordinates.wrt or cnoid.IRSLCoords.coordinates, optional) -- Reference coordinates applying this method

戻り値:

identical instance which was called with this method

戻り値の型:

cnoid.IRSLCoords.coordinates

property target

Wrapped target of this instance, which was manipulated by methods of this class

戻り値:: instance which have method 'T' to set cnoidPosition (4x4 matrix)
戻り値の型:: object

property object

Wrapped object of this instance, which was manipulated by methods of this class

戻り値:: Utility slot set while initializing
戻り値の型:: object

注釈

target is a transformed target such as cnoid.Util.SgPosTransform object is a utility slot for handling a child of the target (Shape, etc...)

setScale(float_or_vec, update=False)

Setting scale of drawn objects

パラメータ:

float_or_vec (float or [float]) -- Parameter of scale
update (boolean, default=False) -- Update drawn object in screen

setTurnedOn(on=True, update=False)

Switching On/Off of drawn objects

パラメータ:

on (boolean, default=False) -- Switch to draw this object
update (boolean, default=False) -- Update drawn object in screen

irsl_choreonoid.RobotBuilder

https://github.com/IRSL-tut/irsl_choreonoid/blob/main/irsl_choreonoid/RobotBuilder.py

class irsl_choreonoid.RobotBuilder.RobotBuilder(robot=None, gui=True, name=None)

ベースクラス: object

Building robot interactively

class JointType(value)

ベースクラス: IntEnum

An enumeration.

__init__(robot=None, gui=True, name=None)

パラメータ:

robot (,optional) --
gui (boolean, default=True) --
name (str, optional) --

property body

Currently builded robot model

戻り値:: Currently builded robot model
戻り値の型:: cnoid.Body.Body

property bodyItem

Currently displayed BodyItem

戻り値:: Currently displayed BodyItem
戻り値の型:: cnoid.BodyPlugin.BodyItem

property draw

DrawInterface for accessing raw-level display methods

戻り値:: DrawInterface
戻り値の型:: irsl_choreonoid.draw_coords.DrawInterfaceWrapped

hideRobot(): Hiding robot model (uncheck RobotItem)

showRobot(): Showing robot model (check RobotItem)

resetRobot(): Resetting joint-angles of the robot

newRobot(robot=None, name=None)

Restarting with new robot(item)

パラメータ:

robot (str, optional) --
name (str, optional) -- name of RobotItem

clear(): Clearing showing geometries

objects(): Getting list of shown objects

addShape(shape)

Adding a shape

パラメータ:: shape (cnoid.Util.SgNode) -- Shape to be added

addShapes(shapes)

Adding a shapes

パラメータ:: shapes (list[cnoid.Util.SgNode]) -- Shapes to be added

removeShape(shape)

Removing a shape

パラメータ:: shape (cnoid.Util.SgNode) -- Shape to be removed

removeShapes(shapes)

Removing a shapes

パラメータ:: shapes (list[cnoid.Util.SgNode]) -- Shapes to be removed

createLinkFromShape(name=None, mass=None, density=1000.0, parentLink=None, root=False, clear=True, collision=None, useCollisionForMassparam=False, overwriteMassparam=None, **kwargs)

Creating link from drawn shapes and appending to the other link

パラメータ:

name (str, optional) --
mass (float, optional) --
density (float, default=1000.0) --
parentLink (cnoid.Body.Link, optional) --
root (boolean, default=False) --
clear (boolean, default=True) --
collision (cnoid.Util.SgNode, optional) --
useCollisionForMassparam (boolean, default=False) --
overwriteMassparam (dict, optional) -- 'mass', 'COM', 'inertia'
**kwargs --

戻り値:

Created link

戻り値の型:

cnoid.Body.Link

viewInfo(autoScale=False, **kwargs)

Showing information of links. (joint-type, joint-axis, mass, center-of-mass, inertia) :param autoScale: :type autoScale: boolean, default=False :param **kwargs:

戻り値:: Created shapes
戻り値の型:: []

notifyUpdate(): Notifying update for redrawing robot-model and shapes

createJointShape(jointType=<JointType.FreeJoint: 2>, wrapped=True, coords=None, add=True, scale=0.3, **kwargs)

Creating and showing jointShape

パラメータ:

jointType (cnoid.Body.Link.JointType, default=FixedJoint) --
wrapped (boolean, default=True) --
coords (cnoid.IRSLCoords.coordinates, optional) --
add (boolean, default=True) --
scale (float, default=0.3) --

戻り値:

Created shape

戻り値の型:

Shape

createLink(name='', mass=0.1, COM=None, density=None, inertia=None, shape=None, visual=None, collision=None, **kwargs)

Creating a link

パラメータ:

name (str, default='') --
mass (float, default=0.1) --
COM (numpy.array, optional) --
density (float, optional) --
inertia (numpy.array, optional) --
shape (cnoid.Util.SgNode, optional) --
visual (cnoid.Util.SgNode, optional) --
collision (cnoid.Util.SgNode, optional) --
**kwargs --

戻り値:

Created Link

戻り値の型:

cnoid.Body.Link

createRootLink(**kwargs)

Creating a link and adding it as root-link

パラメータ:: **kwargs --
戻り値:: Created Link
戻り値の型:: cnoid.Body.Link

createVisualizedLinkShape(alink, scale=0.1, wrapped=True, addCOM=True, addInertia=True, addJoint=True, addDevice=True, addToLink=False, useCollision=False, useInertiaBox=False)

パラメータ:

alink (cnoid.Body.Link) --
scale (float, default=0.1) --
wrapped (boolean, default=True) --
addCOM (boolean, default=True) --
addInertia (boolean, default=True) --
addJoint (boolean, default=True) --
addDevice (boolean, default=True) --
addToLink (boolean, default=False) --
useCollision (boolean, default=False) --
useInertiaBox (boolean, default=False) --

戻り値:

Created shape

戻り値の型:

Shape

exportBody(fname, modelName=None, mode=0, **kwargs)

Exporting created robot-model to file as .body file

パラメータ:

fname (str) -- Name of file
modelName (str, optional) --
mode (int, default=0) -- 0:EmbedModels, 1:LinkToOriginalModelFiles, 2:ReplaceWithStdSceneFiles, 3:ReplaceWithObjModelFiles
kwargs (dict) --