update robots + add shadow hand + units converter

examples/robots/quadcopter.py

@@ -7,6 +7,8 @@ from itertools import count
 from pyrobolearn.simulators import BulletSim
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Quadcopter
+from pyrobolearn.utils.units import rpm_to_rad_per_second
+
 
 # Create simulator
 sim = BulletSim()
@@ -20,9 +22,9 @@ robot = Quadcopter(sim)
 # print information about the robot
 robot.print_info()
 
-rpm = robot.getStationaryRPM()
+rpm = robot.get_stationary_rpm()
 print("Stationary RPM: {}".format(rpm))
-v = robot.rpmToRadPerSecond(rpm+20)
+v = rpm_to_rad_per_second(rpm+20)
 v = [v, -v, v, -v]
 
 # run simulation

examples/robots/rrbot.py

@@ -2,6 +2,7 @@
 """Load the RRBot robotic platform.
 """
 
+import numpy as np
 from itertools import count
 from pyrobolearn.simulators import BulletSim
 from pyrobolearn.worlds import BasicWorld
@@ -93,7 +94,7 @@ raw_input('press enter')
 print(robot.get_link_names())
 force = np.array([1., 0., 0.])
 pos = np.array([0., 0., 0.])
-sim.apply_external_force(robot.id, 1, force, pos, flags=p.LINK_FRAME) # link_frame = 1
+sim.apply_external_force(robot.id, 1, force, pos, frame=1)  # link_frame = 1, world_frame = 2
 
 slider = sim.add_user_debug_parameter('force', -1000., 1000., 0)
 
@@ -102,7 +103,7 @@ J = sim.calculate_jacobian(robot.id, 1, [0., 0., 0.])
 print(np.array(J[0]))
 
 a = robot.get_joint_positions()
-# print(robot.getJacobianMatrix(1, np.array([0.,0.]))) # TODO: need to convert numpy array to list
+# print(robot.get_jacobian(1, np.array([0.,0.])))  # TODO: need to convert numpy array to list
 
 linkId = 2
 com_frame = robot.get_link_states(linkId)[2]
@@ -144,7 +145,7 @@ for i in range(10000):
         force = np.array([0., 0., 1.])
     else:
         force = np.array([0., 0., 0.])
-    sim.apply_external_force(robot.id, linkId, force, pos, flags=p.LINK_FRAME)  # p.LINK_FRAME = 1
+    sim.apply_external_force(robot.id, linkId, force, pos, frame=1)  # p.LINK_FRAME = 1, p.WORLD_FRAME = 2
 
     # robot.update_joint_slider()
     world.step(sleep_dt=1./240)

pyrobolearn/algos/ella.py

@@ -83,7 +83,6 @@ class ELLA(object):
     it has been observed that the choice of only updating the current :math:`s^{(t)}` does not affect the quality of
     the model as the number of tasks grows large.
 
-
     ...
 
     Warnings:
@@ -91,7 +90,11 @@ class ELLA(object):
          the Hessian matrix of the loss function with respect to the parameters evaluated at the best found above
          parameters. Depending on the number of parameters that matrix can be big and expensive to compute.
         - The ELLA assumes that the input and output dimension of the model as well as its number of parameters is
-         constant between the various tasks.
+         constant between the various tasks. For different state and action spaces between the tasks, see inter-task
+         mappings [6], or ELLA using task groups where tasks in the same group share a common state and action space,
+         such that :math:`\theta^{(t)} = B^{(g)}s^{(t)}` with :math:`B^{(g)} = \Phi^{(g)} L` where :math:`g` denotes
+         the task group, :math:`B^{(g)}` is the latent model components shared withing :math:`g`, :math:`L` is the
+         global latent model components, and :math:`\Phi^{(g)}` is the mapping from :math:`L` to :math:`B^{(g)}` [7].
         - The complexity of each ELLA update is :math:`O(k^2 d^3, \xi(d, n_t))` where :math:`k` is the number of latent
          components, :math:`d` is the dimensionality of the parameters, :math:`n_t` is the number of data instances (in
          SL) or trajectories (in RL), and :math:`\xi` is the function that computes the complexity to compute the
@@ -115,6 +118,9 @@ class ELLA(object):
         [3] "Online Multi-Task Learning for Policy Gradient Methods", Ammar et al., 2014
         [4] Implementation of ELLA on Github (by Paul Ruvolo): https://github.com/paulruvolo/ELLA
         [5] Implementation of PG-ELLA on Github (by ): https://github.com/cdcsai/Online_Multi_Task_Learning
+        [6] "Transfer learning via inter-task mappings for temporal difference learning", Taylor et al., 2007
+        [7] "Autonomous cross-domain knowledge transfer in lifelong policy gradient reinforcement learning", Ammar et
+            al., 2015
     """
 
     def __init__(self, num_parameters, num_latent_component, l1_sparsity_coefficient=1., l2_library_coefficient=1.):

pyrobolearn/robots/README.md

@@ -37,7 +37,7 @@ The folder contains different kind of robots including manipulators, legged robo
 - [Cubli](https://github.com/xinsongyan/cubli)
 - [Darwin](https://github.com/HumaRobotics/darwin_description)
 - [e.Do](https://github.com/Comau/eDO_description)
-- [epuck](https://github.com/gctronic/epuck_driver_cpp)
+- [E-puck](https://github.com/gctronic/epuck_driver_cpp)
 - [F10 racecar](https://github.com/erwincoumans/pybullet_robots/tree/master/data/f10_racecar)
 - [Fetch](https://github.com/fetchrobotics/fetch_ros)
 - [Franka Emika](https://github.com/frankaemika/franka_ros)
@@ -71,6 +71,7 @@ The folder contains different kind of robots including manipulators, legged robo
 - Sawyer: [1](https://github.com/RethinkRobotics/sawyer_robot), [2](https://github.com/erwincoumans/pybullet_robots)
 - [SEA hexapod](https://github.com/alexansari101/snake_ws)
 - [SEA snake]( https://github.com/alexansari101/snake_ws)
+- [Shadow hand](https://github.com/shadow-robot/sr_common)
 - [Soft hand](https://github.com/CentroEPiaggio/pisa-iit-soft-hand)
 - [Swimmer](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf)
 - [Valkyrie](https://github.com/openhumanoids/val_description)
@@ -83,6 +84,7 @@ The folder contains different kind of robots including manipulators, legged robo
 Here is a list of robots that I plan to add at one point (some of them require to simulate some fluid dynamics, as done in the `quadcopter` class) but can interest already some people:
 - [ ] [ANYmal](https://www.anymal-research.org/): I am currently not sure if I can release the URDF of this robot, and thus I will not do it until it is officially released by ETH.
 - [ ] [ROS robots](https://robots.ros.org/): I plan to provide soon the robots listed on this website (I am currently cleaning the URDFs of some of them)
+- [ ] [Universal robots](https://github.com/ros-industrial/universal_robot)
 - [ ] [rotors-simulator](https://github.com/ethz-asl/rotors_simulator)
 - [ ] [uuv-simulator](https://github.com/uuvsimulator/uuv_simulator)
 - [ ] [usv-simulator](https://github.com/OUXT-Polaris/ros_ship_packages)

pyrobolearn/robots/__init__.py

@@ -76,6 +76,7 @@ from .baxter import Baxter
 # Hands
 from .allegrohand import AllegroHand
 from .softhand import SoftHand
+from .shadowhand import ShadowHand
 
 # Wheeled
 from .epuck import Epuck

pyrobolearn/robots/aibo.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Aibo(QuadrupedRobot):
     r"""Aibo
@@ -13,6 +21,9 @@ class Aibo(QuadrupedRobot):
     This is the Aibo quadruped dog robot developed by Sony.
 
     WARNINGS: THE INERTIA MATRICES AND THE POSITION OF COLLISIONS MESHES IN THE URDF NEED TO BE CORRECTED!!
+
+    References:
+        [1] https://github.com/dkotfis/aibo_ros
     """
 
     def __init__(self,
@@ -58,13 +69,13 @@ if __name__ == "__main__":
     world = BasicWorld(sim)
 
     # create robot
-    robot = Aibo(sim)  # , useFixedBase=True)
+    robot = Aibo(sim)  # , fixed_base=True)
 
     # print information about the robot
     robot.print_info()
 
     # # Position control using sliders
-    # robot.add_joint_slider(robot.getLeftFrontLegIds() + robot.getRightFrontLegIds())
+    robot.add_joint_slider(robot.left_front_leg + robot.right_front_leg)
 
     # run simulator
     for _ in count():

pyrobolearn/robots/allegrohand.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.hand import Hand
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 # TODO: correct the inertia matrices and masses; they are too big!
 class AllegroHand(Hand):
@@ -55,7 +63,7 @@ if __name__ == "__main__":
     world = BasicWorld(sim)
 
     # create robot
-    right_hand = AllegroHand(sim)  # , init_pos=(0.,0.,0.), init_orient=(0,0,1,0))
+    right_hand = AllegroHand(sim)  # , position=(0.,0.,0.), orientation=(0,0,1,0))
 
     # print information about the robot
     right_hand.print_info()
@@ -67,7 +75,7 @@ if __name__ == "__main__":
 
     for i in count():
         right_hand.update_joint_slider()
-        # right_hand.set_joint_positions([0.] * right_hand.getNumberOfDoFs())
+        # right_hand.set_joint_positions([0.] * right_hand.num_dofs)
 
         # step in simulation
         world.step(sleep_dt=1./240)

pyrobolearn/robots/ant.py

@@ -6,9 +6,20 @@ import os
 
 from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Ant(QuadrupedRobot):
     r"""Ant Mujoco Model
+
+    References:
+        [1] description: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf
     """
 
     def __init__(self,
@@ -38,7 +49,7 @@ class Ant(QuadrupedRobot):
                                    ['link0_8', 'link0_10']]]
 
         self.feet = [self.get_link_ids(link) for link in ['front_left_foot', 'front_right_foot',
-                                                        'left_back_foot', 'right_back_foot']
+                                                          'left_back_foot', 'right_back_foot']
                      if link in self.link_names]
 
 
@@ -55,13 +66,13 @@ if __name__ == "__main__":
     world = BasicWorld(sim)
 
     # create robot
-    robot = Ant(sim)  # , useFixedBase=True)
+    robot = Ant(sim)  # , fixed_base=True)
 
     # print information about the robot
     robot.print_info()
 
     # Position control using sliders
-    # robot.add_joint_slider(robot.getLeftFrontLegIds() + robot.getRightFrontLegIds())
+    # robot.add_joint_slider(robot.left_front_leg + robot.right_front_leg)
 
     # run simulator
     for _ in count():

pyrobolearn/robots/anymal.py

@@ -0,0 +1,91 @@
+#!/usr/bin/env python
+"""Provide the ANYmal robotic platform.
+"""
+
+import os
+import numpy as np
+
+from legged_robot import QuadrupedRobot
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+class ANYmal(QuadrupedRobot):
+    r"""ANYmal robot
+
+    'ANYmal is a dog-sized quadrupedal robot weighing about 32 kg. Each leg is about 55 cm long and has three actuated
+    degrees of freedom, namely, hip abduction/adduction, hip flexion/extension, and knee flexion/extension.
+    ANYmal is equipped with 12 SEAs'
+
+    References:
+        [1] "ANYmal - a Highly Mobile and Dynamic Quadrupedal Robot", Hutter et al., 2016
+        [2] "Learning agile and dynamic motor skills for legged robots", Hwangbo et al., 2019
+        [3] www.rsl.ethz.ch/robots-media/anymal.html
+        [4] www.anybotics.com/anymal
+    """
+
+    def __init__(self,
+                 simulator,
+                 position=(0, 0, .6),
+                 orientation=(0, 0, 0, 1),
+                 fixed_base=False,
+                 scaling=1.,
+                 urdf=os.path.dirname(__file__) + '/urdfs/anymal/anymal.urdf'):
+        # check parameters
+        if position is None:
+            position = (0., 0., 0.6)
+        if len(position) == 2:  # assume x, y are given
+            position = tuple(position) + (0.6,)
+        if orientation is None:
+            orientation = (0, 0, 0, 1)
+        if fixed_base is None:
+            fixed_base = False
+
+        super(ANYmal, self).__init__(simulator, urdf, position, orientation, fixed_base, scaling)
+        self.name = 'anymal'
+
+        self.legs = [[self.get_link_ids(link) for link in links if link in self.link_names]
+                     for links in [['LF_HIP', 'LF_THIGH', 'LF_SHANK'],
+                                   ['RF_HIP', 'RF_THIGH', 'RF_SHANK'],
+                                   ['LH_HIP', 'LH_THIGH', 'LH_SHANK'],
+                                   ['RH_HIP', 'RH_THIGH', 'RH_SHANK']]]
+
+        self.feet = [self.get_link_ids(link) for link in ['LF_FOOT_MOUNT', 'RF_FOOT_MOUNT', 'LH_FOOT_MOUNT',
+                                                          'RH_FOOT_MOUNT'] if link in self.link_names]
+
+        # taken from "Learning agile and dynamic motor skills for legged robots", Hwangbo et al., 2019
+        self.kp = 50. * np.ones(12)
+        self.kd = 0.1 * np.ones(12)
+
+
+# Test
+if __name__ == "__main__":
+    from itertools import count
+    from pyrobolearn.simulators import BulletSim
+    from pyrobolearn.worlds import BasicWorld
+
+    # Create simulator
+    sim = BulletSim()
+
+    # create world
+    world = BasicWorld(sim)
+
+    # create robot
+    robot = ANYmal(sim)
+
+    # print information about the robot
+    robot.print_info()
+
+    # Position control using sliders
+    # robot.add_joint_slider(robot.left_front_leg)
+
+    # run simulator
+    for _ in count():
+        # robot.update_joint_slider()
+        world.step(sleep_dt=1./240)

pyrobolearn/robots/atlas.py

@@ -7,6 +7,14 @@ import os
 from pyrobolearn.robots.legged_robot import BipedRobot
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Atlas(BipedRobot, BiManipulatorRobot):
     r"""Atlas robot
@@ -74,7 +82,7 @@ if __name__ == "__main__":
     robot.print_info()
 
     # position control using sliders
-    robot.add_joint_slider(robot.getLeftLegIds())
+    robot.add_joint_slider(robot.left_leg)
 
     # run simulator
     for _ in count():

pyrobolearn/robots/ballbot.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 # TODO inertia are not corrects
 class Ballbot(Robot):

pyrobolearn/robots/baxter.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Baxter(BiManipulatorRobot):
     r"""Baxter robot
@@ -13,7 +21,8 @@ class Baxter(BiManipulatorRobot):
     Baxter robot built by Rethink Robotics.
 
     References:
-        [1] Rethink Robotics
+        [1] Rethink Robotics: https://www.rethinkrobotics.com/
+        [2] https://github.com/RethinkRobotics/baxter_common
     """
 
     def __init__(self,

pyrobolearn/robots/bb8.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class BB8(Robot):
     r"""BB8 robot

pyrobolearn/robots/blackbird.py

@@ -7,6 +7,14 @@ import numpy as np
 
 from pyrobolearn.robots.legged_robot import BipedRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Blackbird(BipedRobot):
     r"""Blackbird biped robot

pyrobolearn/robots/cartpole.py

@@ -11,6 +11,14 @@ import sympy.physics.mechanics as mechanics
 from pyrobolearn.robots.robot import Robot
 from pyrobolearn.utils.orientation import get_symbolic_matrix_from_axis_angle, get_matrix_from_quaternion
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class CartPole(Robot):
     r"""CartPole robot
@@ -392,7 +400,7 @@ class CartPole(Robot):
         return M, f
 
     def linearize_equations_of_motion(self, point=None, verbose=False):
-        """
+        r"""
         Linearize the equation of motions around the given point (=state). That is, instead of having
         :math:`\dot{x} = f(x,u)` where :math:`f` is in general a non-linear function, it linearizes it around
         a certain point.
@@ -473,30 +481,32 @@ class LQR(object):
     """
 
     def __init__(self, A, B, Q=None, R=None, N=None):
-        if not self.isControllable(A, B):
+        if not self.is_controllable(A, B):
             raise ValueError("The system is not controllable")
         self.A = A
         self.B = B
-        if Q is None: Q = np.identity(A.shape[1])
+        if Q is None: 
+            Q = np.identity(A.shape[1])
         self.Q = Q
-        if R is None: R = np.identity(B.shape[1])
+        if R is None: 
+            R = np.identity(B.shape[1])
         self.R = R
         self.N = N
         self.K = None
 
     @staticmethod
-    def isControllable(A, B):
+    def is_controllable(A, B):
         return np.linalg.matrix_rank(control.ctrb(A, B)) == A.shape[0]
 
-    def getRiccatiSolution(self):
+    def get_riccati_solution(self):
         S = solve_continuous_are(self.A, self.B, self.Q, self.R, s=self.N)
         return S
 
-    def getGainK(self):
-        #S = self.getRiccatiSolution()
-        #S1 = self.B.T.dot(S)
-        #if self.N is not None: S1 += self.N.T
-        #K = np.linalg.inv(self.R).dot(S1)
+    def get_gain_k(self):
+        # S = self.get_riccati_solution()
+        # S1 = self.B.T.dot(S)
+        # if self.N is not None: S1 += self.N.T
+        # K = np.linalg.inv(self.R).dot(S1)
 
         if self.N is None:
             K, S, E = control.lqr(self.A, self.B, self.Q, self.R)
@@ -508,7 +518,7 @@ class LQR(object):
         """Return the u."""
 
         if self.K is None:
-            self.K = self.getGainK()
+            self.K = self.get_gain_k()
 
         if xd is None:
             return self.K.dot(x)
@@ -543,7 +553,7 @@ if __name__ == "__main__":
 
     # LQR controller
     lqr = LQR(A, B)
-    K = lqr.getGainK()
+    K = lqr.get_gain_k()
 
     for i in count():
         # control

pyrobolearn/robots/cassie.py

@@ -7,6 +7,14 @@ import numpy as np
 
 from pyrobolearn.robots.legged_robot import BipedRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Cassie(BipedRobot):
     r"""Cassie robot

pyrobolearn/robots/centauro.py

@@ -9,8 +9,21 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot
 from pyrobolearn.robots.wheeled_robot import WheeledRobot
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Centauro(WheeledRobot, QuadrupedRobot, BiManipulatorRobot):
+    r"""Centauro robot
+
+    References:
+        [1] https://github.com/ADVRHumanoids/centauro-simulator
+    """
 
     def __init__(self,
                  simulator,
@@ -32,7 +45,7 @@ class Centauro(WheeledRobot, QuadrupedRobot, BiManipulatorRobot):
         if fixed_base is None:
             fixed_base = False
 
-        super(Centauro, self).__init__(simulator, urdf, position, orientation, fixed_base)
+        super(Centauro, self).__init__(simulator, urdf, position, orientation, fixed_base, scaling=scaling)
         self.name = 'centauro'
 
         self.necks = [self.get_link_ids(link) for link in ['neck_' + str(i) for i in range(1, 4)]]
@@ -75,10 +88,10 @@ if __name__ == "__main__":
 
     # print information about the robot
     robot.print_info()
-    print("Number of Legs: {}".format(robot.getNumberOfLegs()))
-    print("Number of Arms: {}".format(robot.getNumberOfArms()))
+    print("Number of Legs: {}".format(robot.num_legs))
+    print("Number of Arms: {}".format(robot.num_arms))
 
-    # robot.add_joint_slider(robot.getRightFrontLegIds())
+    robot.add_joint_slider(robot.right_front_leg)
     robot.drive(speed=3)
 
     # run simulator

pyrobolearn/robots/cogimon.py

@@ -7,10 +7,20 @@ import os
 from pyrobolearn.robots.legged_robot import BipedRobot
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Cogimon(BipedRobot, BiManipulatorRobot):
     r"""Cogimon humanoid robot.
 
+    References:
+        [1] https://github.com/ADVRHumanoids/iit-cogimon-ros-pkg
     """
 
     def __init__(self,
@@ -53,13 +63,6 @@ class Cogimon(BipedRobot, BiManipulatorRobot):
         self.hands = [self.get_link_ids(link) for link in ['LSoftHand', 'RSoftHand'] if link in self.link_names]
 
 
-def CogimonLowerBody(simulator, init_pos=(0, 0, 1.), init_orient=(0, 0, 0, 1), useFixedBase=False, scaling=1.,
-                     urdf_path=os.path.dirname(__file__) + '/urdfs/cogimon/cogimon_lower_body.urdf'):
-    """Load Cogimon Lower Body"""
-    return Cogimon(simulator=simulator, position=init_pos, orientation=init_orient, fixed_base=useFixedBase,
-                   scaling=scaling, urdf=urdf_path)
-
-
 # Test
 if __name__ == "__main__":
     from itertools import count
@@ -73,7 +76,7 @@ if __name__ == "__main__":
     world = BasicWorld(sim)
 
     # create robot
-    robot = Cogimon(sim, lower_body=False)
+    robot = Cogimon(sim, lower_body=True)
 
     # print information about the robot
     robot.print_info()

pyrobolearn/robots/coman.py

@@ -8,10 +8,20 @@ import numpy as np
 from pyrobolearn.robots.legged_robot import BipedRobot
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Coman(BipedRobot, BiManipulatorRobot):
     r"""Coman robot
 
+    References:
+        [1] https://github.com/ADVRHumanoids/iit-coman-ros-pkg
     """
 
     def __init__(self,

pyrobolearn/robots/crab.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.legged_robot import HexapodRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Crab(HexapodRobot):
     r"""Crab Hexapod robot

pyrobolearn/robots/cubli.py

@@ -5,6 +5,15 @@
 import os
 
 from pyrobolearn.robots.robot import Robot
+from pyrobolearn.utils.orientation import get_rpy_from_quaternion
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
 
 
 class Cubli(Robot):
@@ -50,7 +59,7 @@ class Cubli(Robot):
 if __name__ == "__main__":
     import numpy as np
     from itertools import count
-    from pyrobolearn.simulators import BulletSim, pybullet
+    from pyrobolearn.simulators import BulletSim
     from pyrobolearn.worlds import BasicWorld
 
     # Create simulator
@@ -77,9 +86,9 @@ if __name__ == "__main__":
 
     for i in count():
         # get state
-        quaternion = robot.get_base_orientation(False)
+        quaternion = robot.get_base_orientation()
         w = robot.get_base_angular_velocity()
-        euler = pybullet.getEulerFromQuaternion(quaternion.tolist())
+        euler = get_rpy_from_quaternion(quaternion)
 
         # PD control
         torques = [-Kp * (desired_roll - euler[0]) + Kd * w[0], 0., 0.]

pyrobolearn/robots/darwin.py

@@ -8,6 +8,14 @@ import numpy as np
 from pyrobolearn.robots.legged_robot import BipedRobot
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Darwin(BipedRobot, BiManipulatorRobot):
     r"""Darwin robot

pyrobolearn/robots/edo.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.manipulator import ManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Edo(ManipulatorRobot):
     r"""Edo robot

pyrobolearn/robots/epuck.py

@@ -7,6 +7,14 @@ import numpy as np
 
 from pyrobolearn.robots.wheeled_robot import DifferentialWheeledRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Epuck(DifferentialWheeledRobot):
     r"""Epuck robot

pyrobolearn/robots/f10_racecar.py

@@ -7,6 +7,14 @@ import numpy as np
 
 from pyrobolearn.robots.wheeled_robot import AckermannWheeledRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class F10Racecar(AckermannWheeledRobot):
     r"""F10Racecar robot
@@ -36,7 +44,7 @@ class F10Racecar(AckermannWheeledRobot):
         self.name = 'racecar'
 
         self.wheels = [self.get_link_ids(link) for link in ['left_front_wheel', 'right_front_wheel',
-                                                          'left_rear_wheel', 'right_rear_wheel']
+                                                            'left_rear_wheel', 'right_rear_wheel']
                        if link in self.link_names]
         self.wheel_directions = np.ones(len(self.wheels))
 

pyrobolearn/robots/fetch.py

@@ -7,10 +7,21 @@ import os
 from pyrobolearn.robots.wheeled_robot import WheeledRobot
 from pyrobolearn.robots.manipulator import ManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Fetch(WheeledRobot, ManipulatorRobot):
     r"""Fetch robot
 
+    References:
+        [1] Fetch robotics: https://fetchrobotics.com/
+        [2] Fetch description: https://github.com/fetchrobotics/fetch_ros
     """
 
     def __init__(self,

pyrobolearn/robots/franka.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.manipulator import ManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Franka(ManipulatorRobot):
     r"""Franka Emika robot

pyrobolearn/robots/half_cheetah.py

@@ -6,9 +6,20 @@ import os
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class HalfCheetah(Robot):
     r"""Half Cheetah Mujoco Model
+
+    References:
+        [1] description: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf
     """
 
     def __init__(self,

pyrobolearn/robots/hand.py

@@ -4,6 +4,15 @@
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Hand(Robot):
     r"""Hand end-effector
@@ -26,10 +35,10 @@ class Hand(Robot):
         """Return the number of fingers on the hand"""
         return len(self.fingers)
 
-    def getFinger(self, fingerId=None):
+    def get_finger(self, finger_id=None):
         """Return the list of joint/link ids for the specified finger"""
-        if fingerId:
-            return self.fingers[fingerId]
+        if finger_id:
+            return self.fingers[finger_id]
         return self.fingers
 
 
@@ -37,6 +46,7 @@ class TwoHand(Hand):
     r"""Two hand end-effectors
 
     """
+
     def __init__(self,
                  simulator,
                  urdf,
@@ -59,20 +69,20 @@ class TwoHand(Hand):
         """Return the number of fingers on the right hand"""
         return len(self.right_fingers)
 
-    def getLeftFingers(self, fingerId=None):
+    def get_left_fingers(self, finger_id=None):
         """Return the specified left fingers"""
-        if fingerId:
-            if isinstance(fingerId, int):
-                return self.fingers[self.left_fingers[fingerId]]
-            elif isinstance(fingerId, (tuple, list)):
-                return [self.fingers[self.left_fingers[finger]] for finger in fingerId]
+        if finger_id:
+            if isinstance(finger_id, int):
+                return self.fingers[self.left_fingers[finger_id]]
+            elif isinstance(finger_id, (tuple, list)):
+                return [self.fingers[self.left_fingers[finger]] for finger in finger_id]
         return [self.fingers[finger] for finger in self.left_fingers]
 
-    def getRightFingers(self, fingerId=None):
+    def get_right_fingers(self, finger_id=None):
         """Return the specified right fingers"""
-        if fingerId:
-            if isinstance(fingerId, int):
-                return self.fingers[self.right_fingers[fingerId]]
-            elif isinstance(fingerId, (tuple, list)):
-                return [self.fingers[self.right_fingers[finger]] for finger in fingerId]
+        if finger_id:
+            if isinstance(finger_id, int):
+                return self.fingers[self.right_fingers[finger_id]]
+            elif isinstance(finger_id, (tuple, list)):
+                return [self.fingers[self.right_fingers[finger]] for finger in finger_id]
         return [self.fingers[finger] for finger in self.right_fingers]

pyrobolearn/robots/hopper.py

@@ -6,9 +6,20 @@ import os
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Hopper(Robot):
     r"""Hopper Mujoco Model
+
+    References:
+        [1] description: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf
     """
 
     def __init__(self,

pyrobolearn/robots/hubo.py

@@ -8,6 +8,14 @@ from pyrobolearn.robots.legged_robot import BipedRobot
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 from pyrobolearn.robots.hand import TwoHand
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Hubo(BipedRobot, BiManipulatorRobot, TwoHand):
     r"""Hubo robot

pyrobolearn/robots/humanoid.py

@@ -7,9 +7,20 @@ import os
 from pyrobolearn.robots.legged_robot import BipedRobot
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Humanoid(BipedRobot, BiManipulatorRobot):
     r"""Humanoid Mujoco Model
+
+    References:
+        [1] description: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf
     """
 
     def __init__(self,

pyrobolearn/robots/husky.py

@@ -7,6 +7,14 @@ import numpy as np
 
 from pyrobolearn.robots.wheeled_robot import DifferentialWheeledRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Husky(DifferentialWheeledRobot):
     r"""Husky robot
@@ -40,7 +48,7 @@ class Husky(DifferentialWheeledRobot):
         self.name = 'husky'
 
         self.wheels = [self.get_link_ids(link) for link in ['front_left_wheel_link', 'front_right_wheel_link',
-                                                          'rear_left_wheel_link', 'rear_right_wheel_link']
+                                                            'rear_left_wheel_link', 'rear_right_wheel_link']
                        if link in self.link_names]
         self.wheel_directions = np.ones(len(self.wheels))
 

pyrobolearn/robots/hyq.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class HyQ(QuadrupedRobot):
     r"""HyQ robot
@@ -13,7 +21,8 @@ class HyQ(QuadrupedRobot):
     HyQ robot created by IIT.
 
     References:
-        [1]
+        [1] https://dls.iit.it/robots/hyq-robot
+        [2] https://github.com/iit-DLSLab/hyq-description
     """
 
     def __init__(self,
@@ -65,7 +74,7 @@ if __name__ == "__main__":
     robot.print_info()
 
     # # Position control using sliders
-    robot.add_joint_slider(robot.getLeftFrontLegIds())
+    robot.add_joint_slider(robot.left_front_leg)
 
     # run simulator
     for _ in count():

pyrobolearn/robots/hyq2max.py

@@ -7,6 +7,14 @@ import numpy as np
 
 from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class HyQ2Max(QuadrupedRobot):
     r"""HyQ2Max
@@ -15,6 +23,8 @@ class HyQ2Max(QuadrupedRobot):
 
     References:
         [1] "Design of the Hydraulically-Actuated,Torque-Controlled Quadruped Robot HyQ2Max", Semini et al., 2016
+        [2] https://dls.iit.it/robots/hyq2max
+        [3] https://github.com/iit-DLSLab/hyq2max-description
     """
 
     def __init__(self,

pyrobolearn/robots/icub.py

@@ -7,11 +7,22 @@ import os
 from pyrobolearn.robots.legged_robot import BipedRobot
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class ICub(BipedRobot, BiManipulatorRobot):
     r"""ICub robot
 
     References:
+        [1] http://www.icub.org/
+        [2] https://github.com/robotology-playground/icub-models
+        [3] https://github.com/robotology-playground/icub-model-generator
     """
 
     def __init__(self,
@@ -31,7 +42,7 @@ class ICub(BipedRobot, BiManipulatorRobot):
         if fixed_base is None:
             fixed_base = False
 
-        super(ICub, self).__init__(simulator, urdf, position, orientation, fixed_base)
+        super(ICub, self).__init__(simulator, urdf, position, orientation, fixed_base, scaling=scaling)
         self.name = 'icub'
 
         self.head = self.get_link_ids('head') if 'head' in self.link_names else None

pyrobolearn/robots/jaco.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.manipulator import ManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Jaco(ManipulatorRobot):
     r"""Jaco (manipulator) robot

pyrobolearn/robots/kr5.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.manipulator import ManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class KR5(ManipulatorRobot):
     r"""Kuka KR5 sixx R650 robot

pyrobolearn/robots/kuka_iiwa.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.manipulator import ManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class KukaIIWA(ManipulatorRobot):
     r"""Kuka IIWA robot
@@ -83,7 +91,7 @@ if __name__ == "__main__":
         dx = robot.get_link_world_linear_velocities(linkId)
 
         # get (linear) jacobian
-        J = robot.getLinearJacobian(linkId, q)
+        J = robot.get_linear_jacobian(linkId, q)
 
         # get coriolis, gravity compensation torques
         torques = robot.get_coriolis_and_gravity_compensation_torques(q, dq)
@@ -92,7 +100,7 @@ if __name__ == "__main__":
         F = K.dot(x_des - x) - D.dot(dx)
         # F = -D.dot(dx)
         tau = J.T.dot(F)
-        print(tau)
+        print("Torques: {}".format(tau))
         torques += tau
         robot.set_joint_torques(torques)
 

pyrobolearn/robots/kuka_lwr.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.manipulator import ManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class KukaLWR(ManipulatorRobot):
     r"""Kuka LWR robot

pyrobolearn/robots/laikago.py

@@ -7,6 +7,14 @@ import numpy as np
 
 from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Laikago(QuadrupedRobot):
     r"""Laikago robot

pyrobolearn/robots/legged_robot.py

@@ -5,10 +5,20 @@ Classes that are defined here: LeggedRobot, BipedRobot, QuadrupedRobot, HexapodR
 """
 
 import collections
+import itertools
 import numpy as np
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class LeggedRobot(Robot):
     r"""Legged robot
@@ -17,12 +27,18 @@ class LeggedRobot(Robot):
     in the standard regime are rhythmic movements.
     """
 
-    def __init__(self, simulator, urdf, position=None, orientation=None, fixed_base=False, scaling=1.):
+    def __init__(self, simulator, urdf, position=None, orientation=None, fixed_base=False, scaling=1.,
+                 foot_frictions=None):
         super(LeggedRobot, self).__init__(simulator, urdf, position, orientation, fixed_base, scaling=scaling)
 
+        # leg and feet ids
         self.legs = []  # list of legs where a leg is a list of links
         self.feet = []  # list of feet ids
 
+        # set the foot frictions
+        if foot_frictions is not None:
+            self.set_foot_friction(foot_frictions)
+
     ##############
     # Properties #
     ##############

pyrobolearn/robots/littledog.py

@@ -7,10 +7,22 @@ import numpy as np
 
 from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class LittleDog(QuadrupedRobot):
     r"""Little Dog
 
+    References:
+        [1] "The LittleDog Robot", Murphy et al., 2010
+            https://journals.sagepub.com/doi/abs/10.1177/0278364910387457?journalCode=ijra
+        [2] https://github.com/RobotLocomotion/LittleDog
     """
 
     def __init__(self,

pyrobolearn/robots/manipulator.py

@@ -4,6 +4,15 @@
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class ManipulatorRobot(Robot):
     r"""Manipulator robot

pyrobolearn/robots/manipulator2d.py

@@ -7,6 +7,14 @@ import numpy as np
 
 from pyrobolearn.robots.manipulator import ManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Manipulator2D(ManipulatorRobot):
     r"""2D manipulator robot

pyrobolearn/robots/minitaur.py

@@ -8,6 +8,14 @@ import numpy as np
 
 from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Minitaur(QuadrupedRobot):
     r"""Minitaur robot
@@ -229,7 +237,7 @@ if __name__ == "__main__":
     # print("Robot feet ids: {}".format(robot.feet))
 
     # Position control using sliders
-    # robot.add_joint_slider(robot.getLeftFrontLegIds())
+    # robot.add_joint_slider(robot.left_front_leg)
 
     t = 0
     # run simulator

pyrobolearn/robots/mkz.py

@@ -7,6 +7,14 @@ import numpy as np
 
 from pyrobolearn.robots.wheeled_robot import AckermannWheeledRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class MKZ(AckermannWheeledRobot):
     r"""Lincoln MKZ car

pyrobolearn/robots/morphex.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.legged_robot import HexapodRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Morphex(HexapodRobot):
     r"""Morphex Hexapod robot

pyrobolearn/robots/nao.py

@@ -8,6 +8,14 @@ from pyrobolearn.robots.legged_robot import BipedRobot
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 from pyrobolearn.robots.hand import TwoHand
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Nao(BipedRobot, BiManipulatorRobot, TwoHand):
     r"""Nao robot

pyrobolearn/robots/opendog.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class OpenDog(QuadrupedRobot):
     r""" OpenDog robot
@@ -64,7 +72,7 @@ if __name__ == "__main__":
     robot.print_info()
 
     # Position control using sliders
-    # robot.add_joint_slider(robot.getLeftFrontLegIds())
+    # robot.add_joint_slider(robot.left_front_leg)
 
     # run simulator
     for _ in count():

pyrobolearn/robots/pepper.py

@@ -8,6 +8,14 @@ from pyrobolearn.robots.wheeled_robot import WheeledRobot
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 from pyrobolearn.robots.sensors.camera import CameraSensor
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Pepper(WheeledRobot, BiManipulatorRobot):
     r"""Pepper robot.
@@ -38,7 +46,7 @@ class Pepper(WheeledRobot, BiManipulatorRobot):
         if fixed_base is None:
             fixed_base = False
 
-        super(Pepper, self).__init__(simulator, urdf, position, orientation, fixed_base)
+        super(Pepper, self).__init__(simulator, urdf, position, orientation, fixed_base, scaling=scaling)
         self.name = 'pepper'
 
         # 2D Camera sensor

pyrobolearn/robots/phantomx.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.legged_robot import HexapodRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class PhantomX(HexapodRobot):
     r"""Phantom X Hexapod robot

pyrobolearn/robots/pleurobot.py

@@ -8,6 +8,14 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot
 from pyrobolearn.robots.uuv import UUVRobot
 from pyrobolearn.robots.usv import USVRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Pleurobot(QuadrupedRobot, UUVRobot, USVRobot):
     r"""Pleurobot Salamander robot

pyrobolearn/robots/pr2.py

@@ -7,10 +7,21 @@ import os
 from pyrobolearn.robots.wheeled_robot import WheeledRobot
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class PR2(WheeledRobot, BiManipulatorRobot):
     r"""PR2 robot
 
+    References:
+        [1] http://www.willowgarage.com/pages/pr2/overview
+        [2] https://github.com/pr2/pr2_common
     """
 
     def __init__(self,

pyrobolearn/robots/quadcopter.py

@@ -6,6 +6,16 @@ import os
 import numpy as np
 
 from pyrobolearn.robots.uav import RotaryWingUAV
+from pyrobolearn.utils.orientation import get_matrix_from_quaternion
+from pyrobolearn.utils.units import inches_to_meters, rpm_to_rad_per_second
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
 
 
 class Quadcopter(RotaryWingUAV):
@@ -81,7 +91,7 @@ class Quadcopter(RotaryWingUAV):
         self.diameter = 2. * self.radius
         self.area = np.pi * self.radius**2
 
-        self.max_velocity = 770 # rad/sec
+        self.max_velocity = 770  # rad/sec
 
         # joints 1 and 3 are CCW, and joints 2 and 4 are CW
         # CCW = +1, CW = -1
@@ -95,26 +105,14 @@ class Quadcopter(RotaryWingUAV):
         # (in inches) and `P` is the propeller pitch (also in inches).
         # 1 inch = 0.0254m --> 0.28m = 11 inches
         # The value of the pitch below has been set by looking online for quadcopter props with 11 inches of length
-        self.propeller_pitch = self.inchesToMeters(4.7) # self.inchesToMeters(5.)
+        self.propeller_pitch = inches_to_meters(4.7)  # inches_to_meters(5.)
 
         # some constants
         self.k1 = 1./3.29546
         self.k2 = 1.5
 
-    def inchesToMeters(self, inch):
-        return inch * 0.0254
-
-    def metersToInches(self, meter):
-        return meter / 0.0254
-
-    def rpmToRadPerSecond(self, rpm):
-        return rpm * 2 * np.pi/60
-
-    def radPerSecondToRPM(self, omega):
-        return omega * 60 / (2*np.pi)
-
-    def calculateThrustForce(self, angular_speed, area, propeller_pitch, v0=0, air_density=1.225):
-        """
+    def calculate_thrust_force(self, angular_speed, area, propeller_pitch, v0=0, air_density=1.225):
+        r"""
         Calculate the thrust force generated by the propeller (based on [6]).
 
         Args:
@@ -123,6 +121,7 @@ class Quadcopter(RotaryWingUAV):
             area (float): area of the propeller [m^2]
             propeller_pitch (float): "distance a propeller would move in 1 revolution if it were moving through a
                 soft solid" [m]
+            v0 (float): initial velocity
             air_density (float): density of air [kg/m^3]. By default, it is the density of the air at sea level and at
                 15 degrees Celsius. Note that this varies with the temperature, humidity, and pressure. It decreases
                 with increasing altitude.
@@ -134,7 +133,7 @@ class Quadcopter(RotaryWingUAV):
         diameter = (4. * area / np.pi)**0.5
         return air_density * area * (tmp**2 - tmp*v0) * (self.k1 * diameter / propeller_pitch)**self.k2
 
-    def set_joint_velocities(self, velocities, joint_ids=None, maxVelocity=True, maxTorque=True):
+    def set_joint_velocities(self, velocities, joint_ids=None, max_velocity=True, forces=True):
         """
         Set the joint velocities and apply the thrust force on the propeller link corresponding to the given
         joint id(s).
@@ -142,8 +141,11 @@ class Quadcopter(RotaryWingUAV):
         Args:
             velocities (float[4]): velocity of each propeller
             joint_ids (int[4], None): Not used here
-            maxVelocity (bool):
-            maxTorque (bool):
+            forces (float, np.float[N], None, bool): maximum motor torques / forces. If True, it will apply the
+                default maximum force values.
+            max_velocity (float, bool, None): if True, it will make sure that the given velocity(ies) are below their
+                authorized maximum value(s) (inferred from the URDF, or set previously by the user). If you already
+                did the check outside the method or if you don't want limits, set this variable to False.
 
         Returns:
             None
@@ -154,34 +156,34 @@ class Quadcopter(RotaryWingUAV):
         joint_ids = self.joints
 
         # call parent method
-        super(Quadcopter, self).set_joint_velocities(velocities, joint_ids, maxVelocity, maxTorque)
+        super(Quadcopter, self).set_joint_velocities(velocities, joint_ids, max_velocity, forces)
 
         # calculate thrust force of the given joints, and apply it on the link
         for jnt, d, v in zip(joint_ids, self.turning_directions, velocities):
-            if maxVelocity and v > self.max_velocity:
+            if max_velocity and v > self.max_velocity:
                 v = self.max_velocity
 
             # compute propeller speed v0
-            state = self.sim.getLinkState(self.id, jnt, computeLinkVelocity=True)  #, computeForwardKinematics=True)
-            R = np.array(self.sim.getMatrixFromQuaternion(state[1])).reshape(3, 3)
+            state = self.sim.get_link_state(self.id, jnt, compute_velocity=True)  # , compute_forward_kinematics=True)
+            R = np.array(get_matrix_from_quaternion(state[1]))
             linear_velocity = np.array(state[-2])
-            propeller_upVec = R.dot(np.array([0.,0.,1.]))
-            v0 = linear_velocity.dot(propeller_upVec)
+            propeller_up_vec = R.dot(np.array([0., 0., 1.]))
+            v0 = linear_velocity.dot(propeller_up_vec)
             # v0 = 0    # static thrust
 
             # compute thrust
-            f = self.calculateThrustForce(v*d, self.area, self.propeller_pitch, v0)
+            f = self.calculate_thrust_force(v * d, self.area, self.propeller_pitch, v0)
             # f = self.mass * self.gravity / 4.
 
             # apply force in the simulation
             self.apply_external_force([0, 0, f], jnt, position=(0., 0., 0.))
 
-    def getStationaryJointVelocity(self):
+    def get_stationary_joint_velocity(self):
         fg = self.mass * self.gravity / 4.
         p = self.propeller_pitch
         return (2*np.pi / p) * (fg / (self.air_density * self.area) * (p / (self.k1 * self.diameter))**self.k2)**0.5
 
-    def getStationaryRPM(self):
+    def get_stationary_rpm(self):
         fg = self.mass * self.gravity / 4.
         p = self.propeller_pitch
         return (60 / p) * (fg / (self.air_density * self.area) * (p / (self.k1 * self.diameter))**self.k2)**0.5
@@ -192,7 +194,6 @@ class Quadcopter(RotaryWingUAV):
 
 # Test
 if __name__ == "__main__":
-    import numpy as np
     from itertools import count
     from pyrobolearn.simulators import BulletSim
     from pyrobolearn.worlds import BasicWorld
@@ -209,9 +210,9 @@ if __name__ == "__main__":
     # print information about the robot
     robot.print_info()
 
-    rpm = robot.getStationaryRPM()
+    rpm = robot.get_stationary_rpm()
     print("Stationary RPM: {}".format(rpm))
-    v = robot.rpmToRadPerSecond(rpm+20)
+    v = rpm_to_rad_per_second(rpm + 20)
     v = [v, -v, v, -v]
 
     # run simulation

pyrobolearn/robots/rhex.py

@@ -7,6 +7,14 @@ import numpy as np
 
 from pyrobolearn.robots.legged_robot import HexapodRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 # TODO add inertial tags
 class Rhex(HexapodRobot):

pyrobolearn/robots/robot.py

@@ -1650,10 +1650,10 @@ class Robot(ControllableBody):
 
         Args:
             link_id (int): link id.
-            q (np.float[N]): joint positions of size N, where N is the number of DoFs. If None, it will compute q based
-                on the current joint positions.
-            local_position: the point on the specified link to compute the Jacobian (in link local coordinates around
-                its center of mass). If None, it will use the CoM position (in the link frame).
+            q (np.float[N], None): joint positions of size N, where N is the number of DoFs. If None, it will compute q
+                based on the current joint positions.
+            local_position (None, np.array[3]): the point on the specified link to compute the Jacobian (in link local
+                coordinates around its center of mass). If None, it will use the CoM position (in the link frame).
 
         Returns:
             np.float[6,N], np.float[6,(6+N)]: full geometric (linear and angular) Jacobian matrix. The number of columns

pyrobolearn/robots/rrbot.py

@@ -7,6 +7,14 @@ import numpy as np
 
 from pyrobolearn.robots.manipulator import ManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class RRBot(ManipulatorRobot):
     r"""RRBot
@@ -147,19 +155,19 @@ if __name__ == "__main__":
     print(robot.get_link_names())
     force = np.array([1., 0., 0.])
     pos = np.array([0., 0., 0.])
-    sim.applyExternalForce(robot.id, 1, force, pos, flags=p.LINK_FRAME) # link_frame = 1
+    sim.apply_external_force(robot.id, 1, force, pos, frame=1)  # link_frame = 1, world_frame = 2
 
-    slider = sim.addUserDebugParameter('force', -1000., 1000., 0)
+    slider = sim.add_user_debug_parameter('force', -1000., 1000., 0)
 
     dq, ddq = [0., 0.], [0., 0.]
-    J = sim.get_jacobian(robot.id, 1, [0., 0., 0.])
+    J = sim.calculate_jacobian(robot.id, 1, [0., 0., 0.])
     print(np.array(J[0]))
 
     a = robot.get_joint_positions()
-    # print(robot.getJacobianMatrix(1, np.array([0.,0.]))) # TODO: need to convert numpy array to list
+    # print(robot.get_jacobian(1, np.array([0.,0.]))) # TODO: need to convert numpy array to list
 
     linkId = 2
-    com_frame = robot.getLinkStates(linkId)[2]
+    com_frame = robot.get_link_states(linkId)[2]
     xdes = np.array(robot.get_link_world_positions(linkId))
     K = 100*np.identity(3)
     D = 2*np.sqrt(K)  # critically damped
@@ -176,11 +184,11 @@ if __name__ == "__main__":
         # dq = robot.get_joint_velocities().tolist()
         x = np.array(robot.get_link_world_positions(linkId))
         dx = np.array(robot.get_link_world_linear_velocities(linkId))
-        tau = robot.calculateID(q, dq, ddq)  # Coriolis, centrifugal and gravity compensation
-        Jlin = np.array(sim.get_jacobian(robot.id, linkId, com_frame)[0])
-        F = K.dot(xdes - x) - D.dot(dx) # compute cartesian forces
+        tau = robot.calculate_inverse_dynamics(ddq, dq, q)  # Coriolis, centrifugal and gravity compensation
+        Jlin = np.array(sim.calculate_jacobian(robot.id, linkId, com_frame)[0])
+        F = K.dot(xdes - x) - D.dot(dx)  # compute cartesian forces
         # print("force: {}".format(F))
-        tau += Jlin.T.dot(F) # cartesian PD with gravity compensation
+        tau += Jlin.T.dot(F)  # cartesian PD with gravity compensation
         # tau += Jlin.T.dot(- D.dot(dx))  # active compliance
 
         # tau = Jlin.T.dot(F)
@@ -191,14 +199,13 @@ if __name__ == "__main__":
         # print("manipulability: {}".format(w))
 
         # Impedance/Torque control
-        sim.setJointMotorControlArray(robot.id, robot.joint_indices, sim.TORQUE_CONTROL, forces=tau)
-
-        force = sim.readUserDebugParameter(slider)
+        sim.set_joint_motor_control(robot.id, robot.joints, sim.TORQUE_CONTROL, forces=tau)
+        force = sim.read_user_debug_parameter(slider)
         if force > 0:
             force = np.array([0., 0., 1.])
         else:
             force = np.array([0., 0., 0.])
-        sim.applyExternalForce(robot.id, linkId, force, pos, flags=p.LINK_FRAME)  # p.LINK_FRAME = 1
+        sim.apply_external_force(robot.id, linkId, force, pos, frame=1)  # p.LINK_FRAME = 1, p.WORLD_FRAME = 2
 
         # robot.update_joint_slider()
         world.step(sleep_dt=1./240)

pyrobolearn/robots/sawyer.py

@@ -7,6 +7,14 @@ import os
 from pyrobolearn.robots.wheeled_robot import WheeledRobot
 from pyrobolearn.robots.manipulator import ManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Sawyer(ManipulatorRobot, WheeledRobot):
     r"""Sawyer robot
@@ -15,6 +23,7 @@ class Sawyer(ManipulatorRobot, WheeledRobot):
 
     References:
         [1] Rethink Robotics
+        [2] https://github.com/RethinkRobotics/sawyer_robot
     """
 
     def __init__(self,

pyrobolearn/robots/sea_hexapod.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.legged_robot import HexapodRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class SEAHexapod(HexapodRobot):
     r"""SEA Hexapod robot (from CMU Biorobotics Lab)

pyrobolearn/robots/sea_snake.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class SEASnake(Robot):
     r"""SEA snake robot (from CMU Biorobotics Lab)

pyrobolearn/robots/shadowhand.py

@@ -0,0 +1,87 @@
+#!/usr/bin/env python
+"""Provide the Shadow Hand robotic platform.
+"""
+
+import os
+
+from pyrobolearn.robots.hand import Hand
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+class ShadowHand(Hand):
+    r"""Shadow Hand
+
+    References:
+        [1] https://www.shadowrobot.com/products/dexterous-hand/
+        [2] Shadow hand description: https://github.com/shadow-robot/sr_common
+        [3] Documentation: https://dexterous-hand.readthedocs.io/en/latest/index.html
+    """
+
+    def __init__(self,
+                 simulator,
+                 position=(0, 0, 0),
+                 orientation=(0, 0, 0.707, 0.707),
+                 scaling=1.,
+                 left=True,
+                 fixed_base=True):
+        # check parameters
+        if position is None:
+            position = (0., 0., 0.)
+        if len(position) == 2:  # assume x, y are given
+            position = tuple(position) + (0.,)
+        if fixed_base is None:
+            fixed_base = True
+
+        if left:
+            if orientation is None:
+                orientation = (0, 0, 0.707, 0.707)
+            urdf_path = os.path.dirname(__file__) + '/urdfs/shadowhand/left_hand.urdf'
+        else:
+            if orientation is None:
+                orientation = (0, 0, 1, 0)
+            urdf_path = os.path.dirname(__file__) + '/urdfs/shadowhand/right_hand.urdf'
+
+        super(ShadowHand, self).__init__(simulator, urdf_path, position, orientation, fixed_base, scaling)
+        self.name = 'shadow_hand'
+
+
+# Test
+if __name__ == "__main__":
+    from itertools import count
+    from pyrobolearn.simulators import BulletSim
+    from pyrobolearn.worlds import BasicWorld
+
+    # Create simulator
+    sim = BulletSim()
+
+    # create world
+    world = BasicWorld(sim)
+
+    # create robot
+    left_hand = ShadowHand(sim, position=(-0.15, 0, 0), left=True)
+    right_hand = ShadowHand(sim, position=(0.15, 0., 0.), orientation=(0, 0, 0.707, -0.707), left=False)
+
+    # print information about the robot
+    left_hand.print_info()
+    # H = left_hand.get_mass_matrix()
+    # print("Inertia matrix: H(q) = {}".format(H))
+
+    # Position control using sliders
+    # left_hand.add_joint_slider()
+
+    left_hand.set_joint_positions([0.] * left_hand.num_dofs)
+    right_hand.set_joint_positions([0.] * right_hand.num_dofs)
+
+    for i in count():
+        # left_hand.update_joint_slider()
+        # left_hand.set_joint_positions([0.] * left_hand.num_dofs)
+        # right_hand.set_joint_positions([0.] * right_hand.num_dofs)
+
+        world.step(sleep_dt=1./240)

pyrobolearn/robots/softhand.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.hand import Hand
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 # TODO: correct the inertia matrices and masses; they are too big!
 class SoftHand(Hand):
@@ -68,12 +76,12 @@ if __name__ == "__main__":
     # Position control using sliders
     # left_hand.add_joint_slider()
 
-    left_hand.set_joint_positions([0.] * left_hand.getNumberOfDoFs())
-    right_hand.set_joint_positions([0.] * right_hand.getNumberOfDoFs())
+    left_hand.set_joint_positions([0.] * left_hand.num_dofs)
+    right_hand.set_joint_positions([0.] * right_hand.num_dofs)
 
     for i in count():
         # left_hand.update_joint_slider()
-        # left_hand.set_joint_positions([0.] * left_hand.getNumberOfDoFs())
-        # right_hand.set_joint_positions([0.] * right_hand.getNumberOfDoFs())
+        # left_hand.set_joint_positions([0.] * left_hand.num_dofs)
+        # right_hand.set_joint_positions([0.] * right_hand.num_dofs)
 
         world.step(sleep_dt=1./240)

pyrobolearn/robots/swimmer.py

@@ -6,9 +6,20 @@ import os
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Swimmer(Robot):
     r"""Swimmer Mujoco Model
+
+    References:
+        [1] description: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf
     """
 
     def __init__(self,

pyrobolearn/robots/uav.py

@@ -4,6 +4,15 @@
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class UAVRobot(Robot):
     r"""Unmanned Aerial Vehicle Robot

pyrobolearn/robots/urdfs/references

@@ -6,6 +6,10 @@ Here is the list of repos where you can find the original URDF/meshes of each ro
     * Pepper: https://github.com/ros-naoqi/pepper_robot
     * PR2: https://github.com/pr2/pr2_common
     * Fetch: https://github.com/fetchrobotics/fetch_ros
+    * Youbot: https://github.com/youbot/youbot_description
+    * Epuck: https://github.com/gctronic/epuck_driver_cpp
+    * F10 racecar: https://github.com/erwincoumans/pybullet_robots/tree/master/data/f10_racecar
+    * Lincoln MKZ car: https://bitbucket.org/DataspeedInc/dbw_mkz_ros
 
 * Quadruped
     * Aibo: https://github.com/dkotfis/aibo_ros
@@ -23,6 +27,8 @@ Here is the list of repos where you can find the original URDF/meshes of each ro
     * Atlas: https://github.com/openai/roboschool
     * Valkyrie: https://github.com/openhumanoids/val_description
     * Cassie: https://github.com/UMich-BipedLab/Cassie_Model   and    https://github.com/agilityrobotics/cassie-gazebo-sim
+    * Darwin: https://github.com/HumaRobotics/darwin_description
+    * Blackbird: https://hackaday.io/project/160882-blackbird-bipedal-robot
 
 * Manipulator
     * rrbot: https://github.com/ros-simulation/gazebo_ros_demos
@@ -31,11 +37,18 @@ Here is the list of repos where you can find the original URDF/meshes of each ro
     * franka-emika: https://github.com/frankaemika/franka_ros
     * Baxter: https://github.com/RethinkRobotics/baxter_common
     * Jaco: https://github.com/JenniferBuehler/jaco-arm-pkgs
+    * e.DO: https://github.com/Comau/eDO_description
 
 * Hexapod
     * phantomx: https://github.com/HumaRobotics/phantomx_description
     * crab: https://github.com/tuuzdu/crab_project
     * SEA (Series Elastic Actuators) hexapod (CMU): https://github.com/alexansari101/snake_ws
+    * Rhex: https://github.com/grafoteka/rhex
+
+* Hand
+    * allegrohand: https://github.com/simlabrobotics/allegro_hand_ros
+    * softhand: https://github.com/CentroEPiaggio/pisa-iit-soft-hand
+    * shadowhand: https://github.com/shadow-robot/sr_common   and    https://github.com/shadow-robot/sr_ur_arm
 
 * UVA
     * quadcopter: https://github.com/wilselby/ROS_quadrotor_simulator
@@ -52,7 +65,8 @@ Here is the list of repos where you can find the original URDF/meshes of each ro
     * SEA (Series Elastic Actuators) snake (CMU): https://github.com/alexansari101/snake_ws
 
 * Others
-    * cubli: modeled by Songyan Xin 
+    * cubli: modeled by Songyan Xin
+    * ballbot: https://github.com/CesMak/bb
 
 
 **Notes**:

pyrobolearn/robots/urdfs/shadowhand/LICENSE

@@ -0,0 +1,25 @@
+BSD 2-Clause License
+
+Copyright (c) 2019, The Shadow Robot Company
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

pyrobolearn/robots/urdfs/shadowhand/meshes/F1.dae

@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
+			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
+			<comments></comments>
+			<copyright></copyright>
+			<source_data>file:///media/ce7ff5ed-1b73-453e-869e-58fb97d47a68/ProjetHandle/ShadowHand/Modeles/VALIDE_vOptimizedWithoutDetails/BETA_shadow_hand_2012-07-22_envelop_opt_Zaligned_texture_decimate-ready.blend</source_data>
+		</contributor>
+		<created>2012-07-23T02:16:01.949584</created>
+		<modified>2012-07-23T02:16:01.949597</modified>
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+		<up_axis>Y_UP</up_axis>
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+		</effect>
+	</library_effects>
+	<library_materials>
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+		</material>
+	</library_materials>
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pyrobolearn/robots/urdfs/shadowhand/meshes/F2.dae

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+		<contributor>
+			<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
+			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
+			<comments></comments>
+			<copyright></copyright>
+			<source_data>file:///media/ce7ff5ed-1b73-453e-869e-58fb97d47a68/ProjetHandle/ShadowHand/Modeles/VALIDE_vOptimizedWithoutDetails/BETA_shadow_hand_2012-07-22_envelop_opt_Zaligned_texture_decimate-ready.blend</source_data>
+		</contributor>
+		<created>2012-07-23T02:15:44.246463</created>
+		<modified>2012-07-23T02:15:44.246477</modified>
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+		<up_axis>Y_UP</up_axis>
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pyrobolearn/robots/urdfs/shadowhand/meshes/F3.dae

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+			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
+			<comments></comments>
+			<copyright></copyright>
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pyrobolearn/robots/urdfs/shadowhand/meshes/TH1_z.dae

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+			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
+			<comments></comments>
+			<copyright></copyright>
+			<source_data>file:///media/ce7ff5ed-1b73-453e-869e-58fb97d47a68/ProjetHandle/ShadowHand/Modeles/VALIDE_vOptimizedWithoutDetails/BETA_shadow_hand_2012-07-22_envelop_opt_Zaligned_texture_decimate-ready.blend</source_data>
+		</contributor>
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pyrobolearn/robots/urdfs/shadowhand/meshes/TH2_z.dae

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+			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
+			<comments></comments>
+			<copyright></copyright>
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pyrobolearn/robots/urdfs/shadowhand/meshes/TH3_z.dae

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+		<contributor>
+			<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
+			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
+			<comments></comments>
+			<copyright></copyright>
+			<source_data>file:///media/ce7ff5ed-1b73-453e-869e-58fb97d47a68/ProjetHandle/ShadowHand/Modeles/VALIDE_vOptimizedWithoutDetails/BETA_shadow_hand_2012-07-22_envelop_opt_Zaligned_texture_decimate-ready.blend</source_data>
+		</contributor>
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+		<modified>2012-07-23T02:14:18.666047</modified>
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pyrobolearn/robots/urdfs/shadowhand/meshes/forearm.dae

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+		<contributor>
+			<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
+			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
+			<comments></comments>
+			<copyright></copyright>
+			<source_data>file:///home/guihome/Projets/ProjetHandle/ShadowHand/Modeles/VALIDE_vOptimizedWithoutDetails/BETA_shadow_forearm_2011-11-08_envelop_optimized.blend</source_data>
+		</contributor>
+		<created>2012-07-09T16:29:53.272413</created>
+		<modified>2012-07-09T16:29:53.272436</modified>
+		<unit meter="1.0" name="meter"/>
+		<up_axis>Y_UP</up_axis>
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pyrobolearn/robots/urdfs/shadowhand/meshes/knuckle.dae

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pyrobolearn/robots/urdfs/shadowhand/meshes/lfmetacarpal.dae

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+			<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
+			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
+			<comments></comments>
+			<copyright></copyright>
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+				</vertices>
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+				</triangles>
+			</mesh>
+		</geometry>
+	</library_geometries>
+	<library_visual_scenes>
+		<visual_scene id="Scene" name="Scene">
+			<node layer="L6" id="metacarpal" name="metacarpal">
+				<translate sid="translate">0.00000 0.00002 0.00000</translate>
+				<rotate sid="rotateZ">0 0 1 0.00000</rotate>
+				<rotate sid="rotateY">0 1 0 -0.00000</rotate>
+				<rotate sid="rotateX">1 0 0 0.00000</rotate>
+				<scale sid="scale">1.00000 1.00000 1.00000</scale>
+				<instance_geometry url="#metacarpal_001">
+					<bind_material>
+						<technique_common>
+							<instance_material symbol="black_spec" target="#black_spec">
+								<bind_vertex_input input_semantic="TEXCOORD" input_set="1" semantic="CHANNEL1"/>
+							</instance_material>
+						</technique_common>
+					</bind_material>
+				</instance_geometry>
+			</node>
+		</visual_scene>
+	</library_visual_scenes>
+	<scene>
+		<instance_visual_scene url="#Scene"/>
+	</scene>
+</COLLADA>

pyrobolearn/robots/urdfs/shadowhand/meshes/palm.dae

@@ -0,0 +1,119 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
+			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
+			<comments></comments>
+			<copyright></copyright>
+			<source_data>file:///media/ce7ff5ed-1b73-453e-869e-58fb97d47a68/ProjetHandle/ShadowHand/Modeles/VALIDE_vOptimizedWithoutDetails/BETA_shadow_hand_2012-07-22_envelop_opt_Zaligned_decimate-ready.blend</source_data>
+		</contributor>
+		<created>2012-07-23T02:03:42.155704</created>
+		<modified>2012-07-23T02:03:42.155716</modified>
+		<unit meter="1.0" name="meter"/>
+		<up_axis>Y_UP</up_axis>
+	</asset>
+	<library_effects>
+		<effect id="black_spec-fx" name="black_spec-fx">
+			<profile_COMMON>
+				<technique sid="blender">
+					<phong>
+						<emission>
+							<color>0.00000 0.00000 0.00000 1</color>
+						</emission>
+						<ambient>
+							<color>0.05997 0.05997 0.05997 1</color>
+						</ambient>
+						<diffuse>
+							<color>0.16355 0.16355 0.16355 1</color>
+						</diffuse>
+						<specular>
+							<color>0.36585 0.36585 0.36585 1</color>
+						</specular>
+						<shininess>
+							<float>12.5</float>
+						</shininess>
+						<reflective>
+							<color>1.00000 1.00000 1.00000 1</color>
+						</reflective>
+						<reflectivity>
+							<float>0.0</float>
+						</reflectivity>
+						<transparent>
+							<color>1 1 1 1</color>
+						</transparent>
+						<transparency>
+							<float>0.0</float>
+						</transparency>
+					</phong>
+				</technique>
+			</profile_COMMON>
+		</effect>
+	</library_effects>
+	<library_materials>
+		<material id="black_spec" name="black_spec">
+			<instance_effect url="#black_spec-fx"/>
+		</material>
+	</library_materials>
+	<library_geometries>
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pyrobolearn/robots/urdfs/shadowhand/meshes/wrist.dae

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+	<asset>
+		<contributor>
+			<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
+			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
+			<comments></comments>
+			<copyright></copyright>
+			<source_data>file:///media/ce7ff5ed-1b73-453e-869e-58fb97d47a68/ProjetHandle/ShadowHand/Modeles/VALIDE_vOptimizedWithoutDetails/BETA_shadow_hand_2012-07-22_envelop_opt_Zaligned_texture_decimate-ready.blend</source_data>
+		</contributor>
+		<created>2012-07-23T02:14:55.555034</created>
+		<modified>2012-07-23T02:14:55.555052</modified>
+		<unit meter="1.0" name="meter"/>
+		<up_axis>Y_UP</up_axis>
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0.00843 -0.01435 0.99986 0.00870 -0.01944 0.99980 -0.00420 -0.01935 0.99979 0.00629 -0.01869 0.99979 0.00875 -0.01694 0.99985 0.00178 -0.01695 0.99986 -0.00144 -0.01682 0.99986 -0.00177 -0.01650 0.99985 -0.00438 -0.01602 0.99986 -0.00521 -0.01551 0.99985 -0.00718 -0.01457 0.99986 -0.00842 -0.01402 0.99985 -0.00977 -0.01253 0.99986 -0.01128 -0.01209 0.99985 -0.01203 -0.00975 0.99986 -0.01385 -0.95927 0.00000 -0.28251 -0.95855 0.00402 -0.28490 -0.95788 0.00000 -0.28717 -0.90737 0.00000 -0.42034 -0.90737 0.00000 -0.42034 -0.96656 -0.00572 -0.25638 -0.46377 -0.36064 -0.80923 -0.45318 -0.53536 -0.71275 -0.99676 0.00262 -0.08039 -0.99223 -0.09399 -0.08153 -0.94714 -0.27414 -0.16666 -0.99664 -0.00000 -0.08188 -0.97827 0.00001 -0.20735 -0.18189 -0.98107 -0.06642 -0.16835 -0.98346 -0.06677 -0.97827 -0.00001 -0.20736 -0.94410 0.00001 -0.32965 -0.94410 -0.00001 -0.32967 0.99529 0.00011 0.09690 0.99524 0.00000 0.09744 0.97160 -0.00000 0.23664 0.97160 0.00000 0.23664 0.92871 -0.00000 0.37082 0.20791 -0.00842 -0.97811 0.09802 0.00749 -0.99516 0.00000 -0.00856 -0.99996 -0.09801 0.00749 -0.99516 -0.20791 -0.00842 -0.97811 -0.29027 0.00722 -0.95692 -0.40672 -0.00803 -0.91352 -0.47139 0.00669 -0.88190 -0.58777 -0.00735 -0.80900 -0.63438 0.00589 -0.77300 -0.74313 -0.00642 -0.66912 -0.77300 0.00481 -0.63439 -0.86601 -0.00521 -0.49999 -0.88192 0.00348 -0.47139 -0.95105 -0.00374 -0.30901 -0.95694 0.00187 -0.29029 -0.99452 -0.00200 -0.10453 -0.99518 0.00000 -0.09802 -0.33023 -0.01785 0.94373 -0.23926 0.02143 0.97072 -0.11194 -0.01875 0.99354 0.00000 0.02187 0.99976 0.11194 -0.01875 0.99354 0.23926 0.02143 0.97072 0.33023 -0.01785 0.94373 0.46462 0.02008 0.88528 0.53196 -0.01607 0.84662 0.66302 0.01785 0.74839 0.70705 -0.01339 0.70704 0.82289 0.01472 0.56800 0.84668 -0.00982 0.53201 0.93496 0.01071 0.35459 0.94387 -0.00535 0.33027 0.99271 -0.00000 0.12054 0.99369 0.00624 0.11196 0.99371 0.00000 -0.11196 0.99269 0.00580 -0.12054 0.94387 -0.00535 -0.33028 0.93496 0.01071 -0.35459 0.84668 -0.00981 -0.53201 0.82290 0.01472 -0.56800 0.70704 -0.01339 -0.70704 0.66302 0.01785 -0.74839 0.53196 -0.01607 -0.84661 0.46463 0.02008 -0.88528 0.33023 -0.01785 -0.94373 0.23926 0.02143 -0.97072 0.11194 -0.01875 -0.99354 0.00000 0.02187 -0.99976 -0.11194 -0.01875 -0.99354 -0.23926 0.02143 -0.97072 -0.33023 -0.01785 -0.94373 0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 -0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 -0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 -0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 -0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 -0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 -0.00000 -0.99452 -0.00000 0.10453 -0.99518 -0.00214 0.09802 -0.95694 0.00187 0.29028 -0.95105 -0.00374 0.30902 -0.88192 0.00348 0.47139 -0.86601 -0.00521 0.49999 -0.77300 0.00481 0.63439 -0.74313 -0.00642 0.66912 -0.63438 0.00588 0.77300 -0.58777 -0.00735 0.80900 -0.47139 0.00669 0.88190 -0.40672 -0.00803 0.91352 -0.29028 0.00722 0.95692 -0.20790 -0.00843 0.97811 -0.09801 0.00749 0.99516 0.00000 -0.00856 0.99996 0.09801 0.00749 0.99516 0.20790 -0.00843 0.97811 0.00350 0.99986 -0.01649 0.00351 0.99986 0.01650 0.00145 0.99985 -0.01703 0.00133 0.99985 0.01702 0.00000 0.99986 -0.01683 -0.00000 0.99986 0.01683 -0.00153 0.99985 -0.01702 -0.00350 0.99986 -0.01648 -0.00152 0.99985 0.01701 -0.00432 0.99985 0.01649 -0.00350 0.99986 0.01649 -0.00446 0.99985 -0.01647 -0.00688 0.99986 -0.01545 -0.00689 0.99986 0.01548 -0.00698 0.99986 0.01547 -0.00723 0.99986 -0.01540 -0.01001 0.99985 -0.01378 -0.01006 0.99985 0.01384 0.20790 0.00843 0.97811 0.09801 -0.00749 0.99516 -0.00000 0.00856 0.99996 -0.09801 -0.00749 0.99516 -0.20791 0.00843 0.97811 -0.29028 -0.00722 0.95692 -0.40672 0.00803 0.91352 Line truncated
+					<technique_common>
+						<accessor count="1842" source="#wrist_001-Normals-array" stride="3">
+							<param type="float" name="X"></param>
+							<param type="float" name="Y"></param>
+							<param type="float" name="Z"></param>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="wrist_001-Vertex">
+					<input semantic="POSITION" source="#wrist_001-Position"/>
+				</vertices>
+				<triangles count="1842" material="osg2mat0">
+					<input offset="0" semantic="VERTEX" source="#wrist_001-Vertex"/>
+					<input offset="1" semantic="NORMAL" source="#wrist_001-Normals"/>
+					<p>253 0 61 0 63 0 255 1 59 1 61 1 180 2 173 2 175 2 179 3 175 3 172 3 180 4 175 4 179 4 178 5 172 5 177 5 178 6 177 6 176 6 245 7 56 7 243 7 243 8 56 8 241 8 241 9 56 9 53 9 241 10 53 10 239 10 239 11 53 11 237 11 237 12 53 12 52 12 237 13 52 13 235 13 235 14 52 14 49 14 235 15 49 15 233 15 233 16 49 16 48 16 233 17 48 17 47 17 233 18 47 18 225 18 225 19 47 19 46 19 225 20 46 20 103 20 103 21 46 21 50 21 103 22 50 22 102 22 267 23 102 23 50 23 267 24 50 24 51 24 271 25 267 25 51 25 271 26 51 26 54 26 271 27 54 27 263 27 263 28 54 28 261 28 261 29 54 29 55 29 261 30 55 30 259 30 262 31 260 31 37 31 266 32 262 32 37 32 266 33 37 33 40 33 266 34 40 34 264 34 264 35 40 35 42 35 264 36 42 36 130 36 222 37 130 37 42 37 222 38 42 38 43 38 223 39 222 39 43 39 223 40 43 40 45 40 228 41 223 41 45 41 228 42 45 42 44 42 234 43 228 43 44 43 234 44 44 44 41 44 236 45 234 45 41 45 236 46 41 46 39 46 238 47 236 47 39 47 238 48 39 48 38 48 240 49 238 49 38 49 242 50 240 50 38 50 234 51 0 51 230 51 230 52 0 52 231 52 0 53 235 53 231 53 0 54 234 54 236 54 235 55 0 55 236 55 235 56 233 56 231 56 221 57 219 57 220 57 220 58 219 58 218 58 382 59 381 59 380 59 381 60 365 60 198 60 365 61 196 61 198 61 382 62 365 62 381 62 382 63 366 63 365 63 208 64 143 64 140 64 208 65 140 65 204 65 383 66 365 66 366 66 367 67 383 67 366 67 384 68 383 68 367 68 351 69 350 69 349 69 352 70 350 70 351 70 353 71 352 71 351 71 354 72 352 72 353 72 355 73 354 73 353 73 27 74 29 74 348 74 347 75 348 75 29 75 29 76 31 76 347 76 346 77 347 77 31 77 31 78 33 78 346 78 345 79 346 79 33 79 33 80 35 80 345 80 343 81 345 81 35 81 35 82 38 82 343 82 341 83 343 83 38 83 38 84 39 84 341 84 339 85 341 85 39 85 39 86 41 86 339 86 333 87 339 87 41 87 41 88 44 88 333 88 330 89 333 89 44 89 44 90 45 90 330 90 327 91 330 91 45 91 334 92 336 92 4 92 2 93 4 93 336 93 336 94 337 94 2 94 1 95 2 95 337 95 337 96 338 96 1 96 3 97 1 97 338 97 338 98 335 98 3 98 5 99 3 99 335 99 335 100 332 100 5 100 7 101 5 101 332 101 332 102 331 102 7 102 9 103 7 103 331 103 331 104 329 104 9 104 11 105 9 105 329 105 329 106 328 106 11 106 13 107 11 107 326 107 11 108 328 108 326 108 326 109 324 109 13 109 15 110 13 110 324 110 324 111 323 111 15 111 17 112 15 112 323 112 323 113 321 113 17 113 19 114 17 114 321 114 321 115 320 115 19 115 21 116 19 116 320 116 320 117 318 117 21 117 23 118 21 118 318 118 318 119 315 119 23 119 24 120 23 120 315 120 315 121 312 121 24 121 26 122 24 122 312 122 312 123 314 123 26 123 25 124 26 124 314 124 314 125 317 125 25 125 1 126 3 126 2 126 4 127 2 127 3 127 3 128 5 128 4 128 6 129 4 129 5 129 5 130 7 130 6 130 8 131 6 131 7 131 7 132 9 132 8 132 10 133 8 133 9 133 9 134 11 134 10 134 12 135 10 135 11 135 11 136 13 136 12 136 14 137 12 137 13 137 13 138 15 138 14 138 16 139 14 139 15 139 15 140 17 140 16 140 18 141 16 141 17 141 17 142 19 142 18 142 20 143 18 143 19 143 19 144 21 144 20 144 22 145 20 145 21 145 21 146 23 146 22 146 25 147 22 147 23 147 23 148 24 148 25 148 26 149 25 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55 194 54 194 298 194 296 195 298 195 54 195 54 196 51 196 296 196 294 197 296 197 51 197 51 198 50 198 294 198 292 199 294 199 50 199 50 200 46 200 292 200 290 201 292 201 46 201 46 202 47 202 290 202 288 203 290 203 47 203 47 204 48 204 288 204 48 205 286 205 288 205 284 206 286 206 48 206 48 207 49 207 284 207 282 208 284 208 49 208 49 209 52 209 282 209 280 210 282 210 52 210 52 211 53 211 280 211 278 212 280 212 53 212 53 213 56 213 278 213 276 214 278 214 56 214 56 215 58 215 276 215 274 216 276 216 58 216 58 217 60 217 274 217 272 218 274 218 60 218 60 219 62 219 272 219 273 220 272 220 62 220 62 221 64 221 273 221 245 222 247 222 56 222 257 223 259 223 57 223 259 224 55 224 57 224 58 225 56 225 247 225 57 226 59 226 257 226 247 227 249 227 58 227 249 228 60 228 58 228 255 229 257 229 59 229 62 230 60 230 249 230 253 231 255 231 61 231 249 232 251 232 62 232 64 233 62 233 251 233 189 234 110 234 193 234 110 235 65 235 193 235 67 236 65 236 110 236 110 237 115 237 67 237 66 238 67Line truncated
+				</triangles>
+			</mesh>
+		</geometry>
+	</library_geometries>
+	<library_visual_scenes>
+		<visual_scene id="Scene" name="Scene">
+			<node layer="L12" id="wrist" name="wrist">
+				<translate sid="translate">0.00000 0.00000 0.00000</translate>
+				<rotate sid="rotateZ">0 0 1 0.00000</rotate>
+				<rotate sid="rotateY">0 1 0 -0.00000</rotate>
+				<rotate sid="rotateX">1 0 0 0.00000</rotate>
+				<scale sid="scale">1.00000 1.00000 1.00000</scale>
+				<instance_geometry url="#wrist_001">
+					<bind_material>
+						<technique_common>
+							<instance_material symbol="osg2mat0" target="#osg2mat0">
+								<bind_vertex_input input_semantic="TEXCOORD" input_set="1" semantic="CHANNEL1"/>
+							</instance_material>
+						</technique_common>
+					</bind_material>
+				</instance_geometry>
+			</node>
+		</visual_scene>
+	</library_visual_scenes>
+	<scene>
+		<instance_visual_scene url="#Scene"/>
+	</scene>
+</COLLADA>

pyrobolearn/robots/usv.py

@@ -4,6 +4,15 @@
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class USVRobot(Robot):
     r"""Unmanned Surface Vehicle Robot

pyrobolearn/robots/uuv.py

@@ -4,6 +4,15 @@
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class UUVRobot(Robot):
     r"""Unmanned Underwater Vehicle Robot

pyrobolearn/robots/walker2d.py

@@ -6,9 +6,20 @@ import os
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Walker2D(Robot):
     r"""Walker 2D Mujoco Model
+
+    References:
+        [1] description: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf
     """
 
     def __init__(self,

pyrobolearn/robots/walkman.py

@@ -8,6 +8,14 @@ from pyrobolearn.robots.legged_robot import BipedRobot
 from pyrobolearn.robots.manipulator import BiManipulatorRobot
 from pyrobolearn.robots.sensors import CameraSensor
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class Walkman(BipedRobot, BiManipulatorRobot):
     r"""Walk-man robot
@@ -18,6 +26,7 @@ class Walkman(BipedRobot, BiManipulatorRobot):
 
     References:
         [1] "WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments", Tsagarakis et al., 2017
+        [2] https://github.com/ADVRHumanoids/iit-walkman-ros-pkg
     """
 
     def __init__(self,
@@ -50,7 +59,7 @@ class Walkman(BipedRobot, BiManipulatorRobot):
         self.left_camera = CameraSensor(self.sim, self.id, 11, width=800, height=800, fovy=80, near=0.02, far=300,
                                         refresh_rate=30)  # 11
         self.right_camera = CameraSensor(self.sim, self.id, 13, width=800, height=800, fovy=80, near=0.02, far=300,
-                                        refresh_rate=30)  # 13
+                                         refresh_rate=30)  # 13
 
         # Laser (depth) sensor: Hokuyo sensor
         # link: "head_hokuyo_frame"
@@ -82,13 +91,6 @@ class Walkman(BipedRobot, BiManipulatorRobot):
         self.hands = [self.get_link_ids(link) for link in ['LSoftHand', 'RSoftHand'] if link in self.link_names]
 
 
-def WalkmanLowerBody(simulator, init_pos=(0, 0, 1.5), init_orient=(0, 0, 0, 1), useFixedBase=False, scaling=1.,
-                       urdf_path=os.path.dirname(__file__) + '/urdfs/walkman/walkman_lower_body.urdf'):
-    """Load Walkman Lower Body"""
-    return Walkman(simulator=simulator, position=init_pos, orientation=init_orient, fixed_base=useFixedBase,
-                   scaling=scaling, urdf=urdf_path)
-
-
 # Test
 if __name__ == "__main__":
     # Imports
@@ -101,8 +103,8 @@ if __name__ == "__main__":
 
     # Create world
     world = BasicWorld(sim)
-    world.loadSphere([2., 0, 2.], mass=0., color=(1, 0, 0, 1))
-    world.loadSphere([2., 1., 2.], mass=0., color=(0, 0, 1, 1))
+    world.load_sphere([2., 0, 2.], mass=0., color=(1, 0, 0, 1))
+    world.load_sphere([2., 1., 2.], mass=0., color=(0, 0, 1, 1))
 
     # load robot
     robot = Walkman(sim, fixed_base=False, lower_body=False)

pyrobolearn/robots/wam.py

@@ -6,6 +6,14 @@ import os
 
 from pyrobolearn.robots.manipulator import ManipulatorRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class WAM(ManipulatorRobot):
     r"""Wam robot
@@ -58,7 +66,7 @@ if __name__ == "__main__":
     # H = robot.get_mass_matrix()
     # print("Inertia matrix: H(q) = {}".format(H))
 
-    robot.set_joint_positions([np.pi / 4, np.pi / 2], joint_ids=[0, 1]) #2, 4])
+    robot.set_joint_positions([np.pi / 4, np.pi / 2], joint_ids=[0, 1])  # 2, 4])
 
     Jlin = robot.get_jacobian(6)[:3]
     robot.draw_velocity_manipulability_ellipsoid(6, Jlin, color=(1, 0, 0, 0.7))

pyrobolearn/robots/wheeled_robot.py

@@ -6,6 +6,15 @@ import numpy as np
 
 from pyrobolearn.robots.robot import Robot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class WheeledRobot(Robot):
     r"""Wheeled robot

pyrobolearn/robots/youbot.py

@@ -10,6 +10,14 @@ import numpy as np
 from pyrobolearn.robots.manipulator import ManipulatorRobot, BiManipulatorRobot
 from pyrobolearn.robots.wheeled_robot import DifferentialWheeledRobot
 
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
 
 class YoubotBase(DifferentialWheeledRobot):
     r"""Youbot Base robot

pyrobolearn/simulators/bullet.py

@@ -1272,7 +1272,7 @@ class Bullet(Simulator):
 
     def set_joint_motor_control(self, body_id, joint_ids, control_mode=pybullet.POSITION_CONTROL, positions=None,
                                 velocities=None, forces=None, kp=None, kd=None, max_velocity=None):
-        """
+        r"""
         Set the joint motor control.
 
         In position control:
@@ -1294,7 +1294,7 @@ class Bullet(Simulator):
 
         Args:
             body_id (int): body unique id.
-            joint_ids (int): joint/link id, or list of joint ids.
+            joint_ids ((list of) int): joint/link id, or list of joint ids.
             control_mode (int): POSITION_CONTROL (=2) (which is in fact CONTROL_MODE_POSITION_VELOCITY_PD),
                 VELOCITY_CONTROL (=0), TORQUE_CONTROL (=1) and PD_CONTROL (=3).
             positions (float, np.float[N]): target joint position(s) (used in POSITION_CONTROL).
@@ -1865,6 +1865,8 @@ class Bullet(Simulator):
             joint_ids (int, list of int): joint id, or list of joint ids.
             accelerations (float, np.float[N]): desired joint acceleration, or list of desired joint accelerations
                 [rad/s^2]
+            q (None, list of float, float): current joint positions.
+            dq (None, list of float, float): current joint velocities.
         """
         # check joint ids
         if isinstance(joint_ids, int):
@@ -2935,7 +2937,7 @@ class Bullet(Simulator):
         self.sim.changeDynamics(body_id, link_id, **kwargs)
 
     def calculate_jacobian(self, body_id, link_id, local_position, q, dq, des_ddq):
-        """
+        r"""
         Return the full geometric Jacobian matrix :math:`J(q) = [J_{lin}(q), J_{ang}(q)]^T`, such that:
 
         .. math:: v = [\dot{p}, \omega]^T = J(q) \dot{q}
@@ -2975,7 +2977,7 @@ class Bullet(Simulator):
         return np.vstack((lin_jac, ang_jac))
 
     def calculate_mass_matrix(self, body_id, q):
-        """
+        r"""
         Return the mass/inertia matrix :math:`H(q)`, which is used in the rigid-body equation of motion (EoM) in joint
         space given by (see [1]):
 
@@ -3002,7 +3004,7 @@ class Bullet(Simulator):
     def calculate_inverse_kinematics(self, body_id, link_id, position, orientation=None, lower_limits=None,
                                      upper_limits=None, joint_ranges=None, rest_poses=None, joint_dampings=None,
                                      solver=None, q_curr=None, max_iters=None, threshold=None):
-        """
+        r"""
         Compute the FULL Inverse kinematics; it will return a position for all the actuated joints.
 
         "You can compute the joint angles that makes the end-effector reach a given target position in Cartesian world

pyrobolearn/utils/torch_utils.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python
+"""Provide few PyTorch utils methods.
+
+For instance, it can evaluate the Hessian matrix of a scalar function.
+
+References:
+    [1] https://pytorch.org/
+    [2] https://github.com/mariogeiger/hessian
+    [3] https://github.com/Ageliss/For_shared_codes/blob/master/Second_order_gradients.py
+"""
+
+import torch
+from torch.autograd import grad
+
+# import hessian
+
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+def kronecker(A, B):
+    """
+    Return the kronecker product between two matrices [1].
+
+    Args:
+        A (torch.Tensor): 1st matrix.
+        B (torch.Tensor): 2nd matrix.
+
+    Returns:
+        torch.Tensor: kronecker product between two matrices
+
+    References:
+        [1] Kronecker product (Wikipedia): https://discuss.pytorch.org/t/kronecker-product/3919/7
+        [2] https://discuss.pytorch.org/t/kronecker-product/3919/7
+        [3] Another implementation:
+            https://github.com/cornellius-gp/gpytorch/blob/master/gpytorch/lazy/kronecker_product_lazy_tensor.py
+    """
+    return torch.einsum("ab,cd->acbd", A, B).view(A.size(0)*B.size(0),  A.size(1)*B.size(1))
+
+
+def hessian(f, model):
+    r"""
+    Get the Hessian matrix of the model.
+
+    Args:
+        f:
+        model:
+
+    Returns:
+        torch.Tensor: Hessian matrix (which is a square symmetric and positive-definite real matrix)
+
+    References:
+        [1] https://github.com/mariogeiger/hessian
+        [2] https://github.com/Ageliss/For_shared_codes/blob/master/Second_order_gradients.py
+    """
+    pass
+
+
+def hessian_vector(f, model):
+    r"""
+    Get the Hessian-vector product.
+
+    Args:
+        f:
+        model:
+
+    Returns:
+        torch.Tensor: vector
+
+    References:
+        [1] https://github.com/pytorch/pytorch/releases/tag/v0.2.0
+    """
+    pass

pyrobolearn/utils/units.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python
+"""Convert units from one system to another one.
+"""
+
+import numpy as np
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+def inches_to_meters(inch):
+    """
+    Convert the inches to meters.
+
+    Args:
+        inch (float): inches.
+
+    Returns:
+        float: meters
+    """
+    return inch * 0.0254
+
+
+def meters_to_inches(meter):
+    """
+    Convert the meters to inches.
+
+    Args:
+        meter (float): meters.
+
+    Returns:
+        float: inches
+    """
+    return meter / 0.0254
+
+
+def rpm_to_rad_per_second(rpm):
+    """
+    Convert the revolutions per minute to rad/sec.
+
+    Args:
+        rpm (float): revolutions per minute.
+
+    Returns:
+        float: rad/sec
+    """
+    return rpm * 2 * np.pi/60
+
+
+def rad_per_second_to_rpm(omega):
+    """
+    Convert rad/sec to revolutions/minute.
+
+    Args:
+        omega (float): angular velocity (rad/sec)
+
+    Returns:
+        float: revolutions/minute
+    """
+    return omega * 60 / (2*np.pi)