Changes between Version 77 and Version 78 of Tutorials

Timestamp:

Nov 22, 2017, 8:53:44 AM (8 years ago)

Author:

fma

Comment:

--

Tutorials

@@ -17 +17 @@
  * IK: Inverse Kinematic
 
-== Tutorials ==
+== List of tutorials ==
 
  * [[Tutorial1FirstRobot|Tutorial 1: First robot]]
- * [[Tutorial2UsingThe3DSimulator|Tutorial 1: Using the 3D simulator]]
+ * [[Tutorial2UsingThe3DSimulator|Tutorial 2: Using the 3D simulator]]
  * [[Tutorial3ServosCalibration|Tutorial 3: Servos calibration]]
  * [[Tutorial4AddGamepadSupport|Tutorial 4: Add gamepad support]]
-
-== Tutorial 2: Using the 3D simulator ==
-
-''Files for this tutorial are available in [https://framagit.org/fma38/Py4bot/tree/master/py4bot/examples/tutorial_2 py4bot/examples/tutorial_2/]''
-
-Here, we will see how to use the 3D simulation stuff.
-
-As before, we create a new empty dir in our home dir:
-
-{{{
-$ mkdir tutorial_2
-$ cd tutorial_2
-}}}
-
-{{{
-#!python
-
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-
-import math
-
-import visual
-
-from py4bot.api import *
-
-import settings
-}}}
-
-Nothing fancy, here.
-
-{{{
-#!python
-
-class Hexapod3D(Robot3D):
-    def _createBody(self):
-        return Body(settings.LEGS_ORIGIN)
-
-    def _createLegs(self):
-        legs = {}
-        legIk = {}
-        for legIndex in settings.LEGS_INDEX:
-            legs[legIndex] = Leg3Dof(legIndex, {'coxa': Coxa(), 'femur': Femur(), 'tibia': Tibia()}, settings.FEET_NEUTRAL[legIndex])
-            legIk[legIndex] = Leg3DofIk(settings.LEGS_GEOMETRY[legIndex])
-
-        return legs, legIk
-}}}
-
-Same as before, except that we inherits from {{{Robot3D}}}, instead of {{{Robot}}}. 
-
-{{{
-#!python
-
-    def _createActuatorPool(self):
-        driver = Driver3D()
-        pool = ActuatorPool(driver)
-
-        num = 0
-        for leg in self._legs.values():
-
-            # Create joints actuators
-            coxa3D = Coxa3D(leg.coxa, num, settings.LEGS_GEOMETRY[leg.index]['coxa'])
-            pool.add(coxa3D)
-            num += 1
-
-            femur3D = Femur3D(leg.femur, num, settings.LEGS_GEOMETRY[leg.index]['femur'])
-            pool.add(femur3D)
-            num += 1
-
-            tibia3D = Tibia3D(leg.tibia, num, settings.LEGS_GEOMETRY[leg.index]['tibia'])
-            pool.add(tibia3D)
-            num += 1
-
-            # Init 3D view
-            coxa3D.frame = self._body3D
-            femur3D.frame = coxa3D
-            tibia3D.frame = femur3D
-
-            coxa3D.pos = (settings.LEGS_ORIGIN[leg.index]['x'], 0, -settings.LEGS_ORIGIN[leg.index]['y'])
-            femur3D.pos = (settings.LEGS_GEOMETRY[leg.index]['coxa'], 0, 0)
-            tibia3D.pos = (settings.LEGS_GEOMETRY[leg.index]['femur'], 0, 0)
-
-            coxa3D.rotate(angle=math.radians(settings.LEGS_ORIGIN[leg.index]['gamma0']), axis=(0, 1, 0))
-
-        return pool
-}}}
-
-Here, we use specific 3D actuators: {{{Coxa3D}}}, {{{Femur3D}}}, {{{Tibia3D}}}; they all use the [http://vpython.org VPython] library to represent themselves on the screen.
-
-Note that we don't use a custom actuator mapping; nums are automatically incremented.
-
-We also need to configure the hierarchy, and the relative positions of the actuators.
-
-''Note: this may change in the future; I'm working on a simpler way to do all this''.
-
-{{{
-#!python
-
-class Gamepad(RemoteControl):
-    def _createFrontend(self):
-        return Thrustmaster(settings.THRUSTMASTER_PATH)
-
-    def _buildComponents(self):
-        self._addConfig("walk")
-        self._addConfig("body")
-
-        self._addComponent(Button, command=self.selectNextConfig, key="button_008", trigger="hold")
-        self._addComponent(Button, command=self.selectPreviousConfig, key="button_009", trigger="hold")
-
-        self._addComponent(Button, command=self.robot.incBodyPosition, key="button_004", mapper=MapperSetValue(dz=+5))
-        self._addComponent(Button, command=self.robot.incBodyPosition, key="button_005", mapper=MapperSetValue(dz=-5))
-        self._addComponent(Joystick, configs="walk", command=GaitSequencer().walk, keys=("analog_02", "analog_03", "analog_00"), mapper=MapperWalk())
-
-        self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_00", mapper=MapperSetMultiply('yaw', coef=-15))
-        self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_03", mapper=MapperSetMultiply('pitch', coef=-15))
-        self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_02", mapper=MapperSetMultiply('roll', coef=15))
-}}}
-
-Same as before...
-
-{{{
-#!python
-
-def main():
-    def addGait(gaitClass, gaitName):
-        group = settings.GAIT_LEGS_GROUPS[gaitName]
-        params = settings.GAIT_PARAMS['default']
-        for key1, value1 in settings.GAIT_PARAMS[gaitName].items():
-            for key2, value2 in value1.items():
-                params[key1][key2] = value2
-        gait = gaitClass(gaitName, group, params)
-        GaitManager().add(gait)
-
-    scene = visual.display(width=settings.SCENE_WIDTH, height=settings.SCENE_HEIGHT)
-    ground = visual.box(axis=(0, 1, 0), pos=(0, 0, 0), length=0.1, height=500, width=500, color=visual.color.gray(0.75), opacity=0.5)
-
-    addGait(GaitTripod, "tripod")
-    addGait(GaitTetrapod, "tetrapod")
-    addGait(GaitRiple, "riple")
-    addGait(GaitWave, "metachronal")
-    addGait(GaitWave, "wave")
-    GaitManager().select("riple")
-
-    robot = Hexapod3D()
-
-    remote = Gamepad(robot)
-
-    GaitSequencer().start()
-    remote.start()
-
-    robot.setBodyPosition(z=30)
-
-    robot.mainLoop()
-
-    remote.stop()
-    remote.join()
-    GaitSequencer().stop()
-    GaitSequencer().join()
-
-if __name__ == "__main__":
-    main()
-}}}
-
-The only difference, here, is the scene size init, and the ground addition (optional).
-
-=== Settings ===
-
-{{{
-#!python
-
-# -*- coding: utf-8 -*-
-
-from py4bot.common import config
-
-
-# Legs index
-LEGS_INDEX = ('RF', 'RM', 'RR', 'LR', 'LM', 'LF')
-
-# Legs geometry
-LEGS_GEOMETRY = {
-    'RM': {'coxa': 25, 'femur': 45, 'tibia': 65},
-    'RF': {'coxa': 25, 'femur': 45, 'tibia': 65},
-    'LF': {'coxa': 25, 'femur': 45, 'tibia': 65},
-    'LM': {'coxa': 25, 'femur': 45, 'tibia': 65},
-    'LR': {'coxa': 25, 'femur': 45, 'tibia': 65},
-    'RR': {'coxa': 25, 'femur': 45, 'tibia': 65}
-}
-
-# Legs origin
-LEGS_ORIGIN = {
-    'RM': {'x':  35., 'y':   0., 'gamma0' :   0.},
-    'RF': {'x':  35., 'y':  65., 'gamma0' :  30.},
-    'LF': {'x': -35., 'y':  65., 'gamma0' : 150.},
-    'LM': {'x': -35., 'y':   0., 'gamma0' : 180.},
-    'LR': {'x': -35., 'y': -65., 'gamma0' : 210.},
-    'RR': {'x':  35., 'y': -65., 'gamma0' : 330.},
-}
-
-# Legs feet neutral position
-FEET_NEUTRAL = {
-    'RM': LEGS_GEOMETRY['RM']['coxa'] + LEGS_GEOMETRY['RM']['femur'],
-    'RF': LEGS_GEOMETRY['RF']['coxa'] + LEGS_GEOMETRY['RF']['femur'],
-    'LF': LEGS_GEOMETRY['LF']['coxa'] + LEGS_GEOMETRY['LF']['femur'],
-    'LM': LEGS_GEOMETRY['LM']['coxa'] + LEGS_GEOMETRY['LM']['femur'],
-    'LR': LEGS_GEOMETRY['LR']['coxa'] + LEGS_GEOMETRY['LR']['femur'],
-    'RR': LEGS_GEOMETRY['RR']['coxa'] + LEGS_GEOMETRY['RR']['femur'],
-}
-
-# Gaits
-GAIT_LEGS_GROUPS = {
-    'tripod':      (('RM', 'LF', 'LR'), ('RF', 'LM', 'RR')),
-    'tetrapod':    (('RR', 'LM'), ('RF', 'LR'), ('RM', 'LF')),
-    'riple':       (('RR',), ('LM',), ('RF',), ('LR',), ('RM',), ('LF',)),
-    'metachronal': (('RR',), ('LM',), ('RF',), ('LR',), ('RM',), ('LF',)),
-    'wave':        (('RR',), ('RM',), ('RF',), ('LR',), ('LM',), ('LF',))
-}
-
-# Gaits parameters
-GAIT_PARAMS = {
-    'default': {
-        'length': {
-            'min': 5.,
-            'max': 40.
-        },
-        'angle': {
-            'min': 0.5,
-            'max': 5.
-        },
-        'height': {
-            'min': 20.,
-            'max': 40.
-        },
-        'speed': {
-            'min': 25.,
-            'max': 250.
-        }
-    },
-    'tripod': {},
-    'tetrapod': {},
-    'riple': {},
-    'metachronal': {},
-    'wave': {}
-}
-
-# Gamepad path
-THRUSTMASTER_PATH = "/dev/input/by-id/usb-Mega_World_Thrustmaster_dual_analog_3.2-event-joystick"
-
-# VPython scene default size
-SCENE_WIDTH = 640
-SCENE_HEIGHT = 480
-
-}}}
-
-We removed the servos mapping/calibration, as we don't need them anymore, and we just added the scene default size.
 
 == Tutorial 3: Servos calibration ==