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define_robot.py
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define_robot.py
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import pyrosim_modded.pyrosim_modded as pyrosim
def define_robot(body_size: int, leg_size: int):
pyrosim.Send_Cube(
name="torso",
pos=[0, 0, body_size],
size=[body_size,body_size, 0.5*body_size])
create_right_back_leg(body_size, 2*leg_size)
create_right_front_leg(body_size, 2*leg_size)
create_left_back_leg(body_size, 2*leg_size)
create_left_front_leg(body_size, 2*leg_size)
def create_right_back_leg(body_size: int, leg_size: int):
pyrosim.Send_Joint(
name="torso_rightbackcoxa",
parent="torso",
child="rightbackcoxa",
type="revolute",
position=[0.5*body_size, -.4*body_size, body_size],
axis=[0, 1, 0])
pyrosim.Send_Cube(
name="rightbackcoxa",
pos=[0.1*body_size, 0, 0],
size=[.2*body_size, .2*body_size, .1*body_size])
pyrosim.Send_Joint(
name="rightbackcoxa_rightbackfemur",
parent="rightbackcoxa",
child="rightbackfemur",
type="revolute",
position=[0.2*body_size, 0, 0],
axis=[0, 0, 1])
pyrosim.Send_Cube(
name="rightbackfemur",
pos=[0.5*leg_size, 0, 0],
size=[leg_size, .2*body_size, .2*body_size])
# pyrosim.Send_Joint(
# name="rightbackfemur_rightbacktibia",
# parent="rightbackfemur",
# child="rightbacktibia",
# type="revolute",
# position=[leg_size, 0, 0],
# axis=[0, 1, 0])
# pyrosim.Send_Cube(
# name="rightbacktibia",
# pos=[0, 0, -0.5*body_size],
# size=[.4*body_size, .4*body_size, body_size])
def create_right_front_leg(body_size: int, leg_size: int):
pyrosim.Send_Joint(
name="torso_rightfrontcoxa",
parent="torso",
child="rightfrontcoxa",
type="revolute",
position=[0.5*body_size, .4*body_size, body_size],
axis=[0, 1, 0])
pyrosim.Send_Cube(
name="rightfrontcoxa",
pos=[0.1*body_size, 0, 0],
size=[.2*body_size, .2*body_size, .1*body_size])
pyrosim.Send_Joint(
name="rightfrontcoxa_rightfrontfemur",
parent="rightfrontcoxa",
child="rightfrontfemur",
type="revolute",
position=[0.2*body_size, 0, 0],
axis=[0, 0, 1])
pyrosim.Send_Cube(
name="rightfrontfemur",
pos=[0.5*leg_size, 0, 0],
size=[leg_size, .2*body_size, .2*body_size])
def create_left_back_leg(body_size: int, leg_size: int):
pyrosim.Send_Joint(
name="torso_leftbackcoxa",
parent="torso",
child="leftbackcoxa",
type="revolute",
position=[-0.5*body_size, -.4*body_size, body_size],
axis=[0, 1, 0])
pyrosim.Send_Cube(
name="leftbackcoxa",
pos=[-0.1*body_size, 0, 0],
size=[.2*body_size, .2*body_size, .1*body_size])
pyrosim.Send_Joint(
name="leftbackcoxa_leftbackfemur",
parent="leftbackcoxa",
child="leftbackfemur",
type="revolute",
position=[-0.2*body_size, 0, 0],
axis=[0, 0, 1])
pyrosim.Send_Cube(
name="leftbackfemur",
pos=[-0.5*leg_size, 0, 0],
size=[leg_size, .2*body_size, .2*body_size])
def create_left_front_leg(body_size: int, leg_size: int):
pyrosim.Send_Joint(
name="torso_leftfrontcoxa",
parent="torso",
child="leftfrontcoxa",
type="revolute",
position=[-0.5*body_size, .4*body_size, body_size],
axis=[0, 1, 0])
pyrosim.Send_Cube(
name="leftfrontcoxa",
pos=[-0.1*body_size, 0, 0],
size=[.2*body_size, .2*body_size, .1*body_size])
pyrosim.Send_Joint(
name="leftfrontcoxa_leftfrontfemur",
parent="leftfrontcoxa",
child="leftfrontfemur",
type="revolute",
position=[-0.2*body_size, 0, 0],
axis=[0, 0, 1])
pyrosim.Send_Cube(
name="leftfrontfemur",
pos=[-0.5*leg_size, 0, 0],
size=[leg_size, .2*body_size, .2*body_size])