timor.parameterized
Classes
A parameterizable module that represents one joint as defined by DH / MDH parameters. |
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A body that has a geometry which is subject to change depending on an arbitrary number of parameters. |
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A module body composed of a box with parameterizable dimensions |
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A module body composed of a cylinder with a parameterizable radius and length |
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Abstract base class for parameterizable modules that contain joints. |
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A parameterizable module may contain bodies that are subject to change and is non-static until frozen. |
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A parameterizable multi body is a module body made from multiple generic geometries. |
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A module body composed of a sphere with a parameterizable radius |
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This is a module in cylinder shape with connectors at both ends that can be used to construct a robot. |
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This is a module in L-shape with connectors at both ends and a joint in the 'elbow'. |
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This is a module in L-shape with connectors at both ends that can be used to construct a robot. |
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This is a module in cylinder shape with connectors at both ends and a joint in the middle. |
Module Contents
- class timor.parameterized.DHJoint(header, convention_parameters=(1.0, 1.0, np.pi / 2), convention='DH', radius=1.0, mass_density=1.0, limits=((0, float('inf')), (-float('inf'), float('inf')), (-float('inf'), float('inf')), (-2 * np.pi, 2 * np.pi)), joint_type=TimorJointType.revolute, joint_parameters=None, connector_arguments=None)
A parameterizable module that represents one joint as defined by DH / MDH parameters.
Creates a parameterized module defined by DH/MDH parameters. The joint is before or after the composed bodies.
For this module, we assume that there are two bodies: one actual body that, up to the parameters, has an I or L-shape, and one “proxy” body with an empty geometry. These two are connected by a joint. Their order is defined by the convention that can either be DH (the joint is “before the real body” or MDH (the joint is “at the end of the body”).
- Parameters:
header (timor.Module.ModuleHeader) – The module header for the generated module
convention_parameters (Sequence[float, float, float]) – Parameters in order (d, a, alpha)
convention (str) – Either DH (Denavit-Hartenberg) or MDH (modified, after Craig)
radius (float) – The radius of the cylinder bodies
mass_density (float) – The mass density of the bodies’ material (kg/m^3) – assumed to be uniform
limits (Sequence[Sequence[float]]) – Optional lower and upper bounds on the radius and parameters (r, d, a, alpha)
joint_type (timor.Joints.TimorJointType) – The type of joint to use – currently, needs to be revolute.
joint_parameters (Dict[str, any]) – Additional arguments for timor.Joint such as limits or gear ratio; applied to all joints within the module.
connector_arguments (Optional[Dict[str, any]]) – Mapping from keyword to 2-tuples of values
- __connector_arguments = None
- __copy__()
Deactivates the builtin copy method.
- __eq__(other)
Equality check for modules. Two modules are equal if they have the same header, bodies, names, and joints.
- __getstate__()
For a parameterizable module, we can rely on the default pickling.
- __hash__()
Custom hash function for modules that should be uniquely determined by their ID.
- __parameter_limits
- __setstate__(state)
For a parameterizable module, we can rely on the default pickling.
- __slots__ = ()
- __str__()
String representation for the module.
- _bodies: timor.Bodies.BodySet
- _check_unique_connectors()
Sanity check that all connectors are unique
- static _deduce_package_dir(filepath, content)
Logic for deducing the package directory if the JSONable object is loaded from a file.
- Parameters:
filepath (pathlib.Path) – The path to the file.
content (Union[Dict, List]) – The content of the file parsed into a dictionary.
- Note:
This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.
- Return type:
- static _generate_connectors(ids=('proximal', 'distal'), genders=(Gender.female, Gender.male), types=('', ''), sizes=((), ()))
Generates the connectors for this module.
- Parameters:
genders (Tuple[timor.Bodies.Gender, timor.Bodies.Gender])
- Return type:
Tuple[timor.Bodies.Connector, Ellipsis]
- _get_copy_args()
Returns the arguments to use when copying this module.
- Return type:
Tuple
- _joint_parameters
- _joints: timor.Joints.JointSet
- _module_graph: networkx.DiGraph
- _update_connector_placements()
This updates the connector attached to the actual link
- _update_geometry_placements()
Makes sure the two cylinders composing this joint are placed correctly relative to each other.
The body frames are aligned with “beginning” of the geometry here.
- _update_joint_placement()
For this module, we assume body coordinate frames to be at the ‘beginning’ of the body
- property available_connectors: Dict[Tuple[str, str, str], timor.Bodies.Connector]
Returns all connectors of all bodies contained in this module as a mapping ID -> instance
- Return type:
Dict[Tuple[str, str, str], timor.Bodies.Connector]
- property bodies: timor.Bodies.BodySet
Returns all bodies contained in this module.
- Return type:
- build_module_graph()
Builds the directed graph of atomic module elements. See module_graph property for more information.
- Return type:
networkx.DiGraph
- can_connect(other)
Returns true if at least one of the connectors of this module matches at least one connector of other
- Parameters:
other (ModuleBase)
- Return type:
- property connectors_by_own_id: Dict[str, timor.Bodies.Connector]
Returns a mapping of connector._id values to the instance.
Keep in mind, these are not the composed id’s of the connectors, so they are not unambiguous outside a module!
- Return type:
Dict[str, timor.Bodies.Connector]
- debug_visualization(viz=None, show_com=True, base_placement=Transformation.neutral())
Do not use this method in proper environment visualizations
- Parameters:
viz (pinocchio.visualize.MeshcatVisualizer) – MeshcatVisualizer to show debug information in
show_com (bool) – show center of mass frame
base_placement (numpy.array) – where to show this module in the global frame
- Returns:
visualizer object (keep if you want to add more to this)
- Return type:
pinocchio.visualize.MeshcatVisualizer
- dh_transformation(theta=0)
Computes the DH transformation of this single joint.
- Parameters:
theta (float)
- Return type:
- freeze()
Returns a static module representation of this module.
- Return type:
- classmethod from_json_data(d, *args, **kwargs)
Create from a json description.
- Parameters:
d (Dict)
- classmethod from_json_file(filepath, *args, **kwargs)
Factory method to load a class instance from a json file.
- Parameters:
filepath (Union[pathlib.Path, str]) – The path to the json file.
args – Additional arguments to pass to the from_json_data factory method of the specific class.
kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.
- header: ModuleHeader
- joint
- property joints: timor.Joints.JointSet
Returns all joints contained in this module
- Return type:
- property module_graph: networkx.DiGraph
The module graph for a parameterizable module has to be recomputed with every resize.
- Return type:
networkx.DiGraph
- property num_bodies
The number of bodies in this module.
- property num_connectors
The number of connectors available in the module.
- property num_joints
The number of joints in this module
- property parameters: Tuple[float, float, float, float]
Returns the defining parameters (radius, d, a, alpha)
- resize(parameters)
The interface to change the link’s length or radius and adapt the connector placements accordingly.
- to_json_data()
Freezes the parameters of this module to serialize it.
- Return type:
Dict
- to_json_file(save_at, *args, **kwargs)
Writes the instance to a json file.
- Parameters:
save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.
- class timor.parameterized.ParameterizableBody(body_id, parameters, parameter_limits=None, mass_density=1.0, connectors=(), geometry_placement=Transformation.neutral(), in_module=None)
A body that has a geometry which is subject to change depending on an arbitrary number of parameters.
Construct a parameterizable body from a geometry reference and parameters.
A parameterizable body has a fixed geometry type – depending on this type, there is a fixed number of parameters that define the expansion of the geometry in the respective direction. For example, a sphere has a single parameter that defines the radius, a cylinder has two parameters that define the radius and the length, and a box has three parameters that define the expansion in x, y, and z direction.
- Parameters:
body_id (str) – The unique ID of the body
parameters (Iterable[float]) – The number of parameters depends on the geometry type. Their (positive) value defines the expansion of the geometry in the respective direction. For a sphere, this is the radius, for a cylinder, this is the radius and the length, and for a box, this is the expansion in x, y, and z direction.
parameter_limits (Optional[Sequence[Sequence[float]]]) – The lower and upper bounds for each parameter. If None is given (default), the bounds are set to [0, inf] for all parameters. Bounds for geometric attributes cannot be negative.
mass_density (float) – The mass density of the body (in kg/m^3), implicitly assuming a homogeneous material.
connectors (Iterable[timor.Bodies.Connector]) – The connectors of the body - their placement has to be externally and dynamically updated. The connector_placements_valid attribute is used to indicate whether the position of the connectors was updated since the parameters have been changed last time.
geometry_placement (timor.utilities.transformation.Transformation) – Parametrized bodies cannot contain composed geometries, so we need to define a relative geometry placement to the origin in order to combine multiple parameterized bodies in a module. This parameter defines the relative transformation between geometry origin and body frame.
in_module (timor.Module.ModuleBase) – The module this body is part of. Will be automatically assigned if the body is defined and added to a module later on.
- __copy__()
Parameterizable bodies are actually quite easy to copy as geometries are calculated on-the-fly.
- __eq__(other)
Parameterizable body equality is given by the original parameters - no need to compute the geometry.
- __geometry_type: timor.Geometry.GeometryType = None
- __getstate__()
For parameterized bodies, we can rely on the python builtin actually
- __hash__()
Hashing is equal to hashes of regular bodies - ID should be unique.
- __setstate__(state)
For parameterized bodies, we can rely on the python builtin actually
- __slots__ = ()
- static _deduce_package_dir(filepath, content)
Logic for deducing the package directory if the JSONable object is loaded from a file.
- Parameters:
filepath (pathlib.Path) – The path to the file.
content (Union[Dict, List]) – The content of the file parsed into a dictionary.
- Note:
This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.
- Return type:
- _geometry_transformation: timor.utilities.transformation.Transformation
- _parameter_limits: numpy.array = None
- _visual: timor.Geometry.Geometry | None = None
- as_pin_body(placement=Transformation.neutral())
Extracts the body properties that describe a body in a pinocchio robot.
Always places the body in the origin.
- Parameters:
placement (timor.utilities.transformation.TransformationLike) – Relative placement of the body to its parent joint
- Return type:
- property collision: timor.Geometry.Geometry
- Abstractmethod:
- Return type:
Returns the momentary collision geometry of the body taking the current parameters into account.
For parameterizable bodies, the collision geometry is always the same as the visual geometry. As the visual defaults to collision anyways, we just need to implement the collision geometry here. We implicitly assume that the body frame coincides with the geometry center-of-mass frame.
- connectors: timor.Bodies.ConnectorSet
- freeze()
Freeze the body, i.e. make it immutable by transforming it to an unparameterized body.
- Return type:
- classmethod from_json_data(d, *args, **kwargs)
Create from a json description.
- Parameters:
d (Dict)
- classmethod from_json_file(filepath, *args, **kwargs)
Factory method to load a class instance from a json file.
- Parameters:
filepath (Union[pathlib.Path, str]) – The path to the json file.
args – Additional arguments to pass to the from_json_data factory method of the specific class.
kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.
- property geometry_type: timor.Geometry.GeometryType
The geometry type of the body. Ensured to be in the set of valid geometry types.
- Return type:
- in_module: timor.Module.ModuleBase = None
- property inertia: pinocchio.Inertia
- Abstractmethod:
- Return type:
pinocchio.Inertia
The inertia needs to be dynamically calculated, depending on the geometry.
- property mass: float
The mass needs to be dynamically calculated, depending on the geometry expansion.
- Return type:
- mass_density = 1.0
- property parameter_limits: numpy.array
Returns a copy of the parameter limits of the body.
- Return type:
numpy.array
- parameter_order: Dict[timor.Geometry.GeometryType, Tuple[str, Ellipsis]]
- property parameters: Tuple[float, Ellipsis]
The parameters of the geometry, returned as a tuple to avoid external changes.
- Return type:
Tuple[float, Ellipsis]
- possible_connections_with(other)
Returns a set of connectors that can connect this with other body.
This method does not check whether the connector IDs of the other body overlap with the connector IDs of this body - this has to be achieved by e.g. putting both bodies in a module or in the same ModulesDB.
- Parameters:
other (BodyBase) – Another body
- Returns:
A list of matching connector pairs like (this_body_connector, other_body_connector)
- Return type:
- to_json_data()
Freezes the current body with the currently set parameters and returns the according JSON
- Return type:
Dict[str, any]
- to_json_file(save_at, *args, **kwargs)
Writes the instance to a json file.
- Parameters:
save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.
- property visual: timor.Geometry.Geometry
Defaults to collision if not explicitly specified
- Return type:
- class timor.parameterized.ParameterizableBoxBody(body_id, parameters, parameter_limits=None, mass_density=1.0, connectors=(), geometry_placement=Transformation.neutral(), in_module=None)
A module body composed of a box with parameterizable dimensions
Construct a parameterizable body from a geometry reference and parameters.
A parameterizable body has a fixed geometry type – depending on this type, there is a fixed number of parameters that define the expansion of the geometry in the respective direction. For example, a sphere has a single parameter that defines the radius, a cylinder has two parameters that define the radius and the length, and a box has three parameters that define the expansion in x, y, and z direction.
- Parameters:
body_id (str) – The unique ID of the body
parameters (Iterable[float]) – The number of parameters depends on the geometry type. Their (positive) value defines the expansion of the geometry in the respective direction. For a sphere, this is the radius, for a cylinder, this is the radius and the length, and for a box, this is the expansion in x, y, and z direction.
parameter_limits (Optional[Sequence[Sequence[float]]]) – The lower and upper bounds for each parameter. If None is given (default), the bounds are set to [0, inf] for all parameters. Bounds for geometric attributes cannot be negative.
mass_density (float) – The mass density of the body (in kg/m^3), implicitly assuming a homogeneous material.
connectors (Iterable[timor.Bodies.Connector]) – The connectors of the body - their placement has to be externally and dynamically updated. The connector_placements_valid attribute is used to indicate whether the position of the connectors was updated since the parameters have been changed last time.
geometry_placement (timor.utilities.transformation.Transformation) – Parametrized bodies cannot contain composed geometries, so we need to define a relative geometry placement to the origin in order to combine multiple parameterized bodies in a module. This parameter defines the relative transformation between geometry origin and body frame.
in_module (timor.Module.ModuleBase) – The module this body is part of. Will be automatically assigned if the body is defined and added to a module later on.
- __copy__()
Parameterizable bodies are actually quite easy to copy as geometries are calculated on-the-fly.
- __eq__(other)
Parameterizable body equality is given by the original parameters - no need to compute the geometry.
- __geometry_type: timor.Geometry.GeometryType = None
- __getstate__()
For parameterized bodies, we can rely on the python builtin actually
- __hash__()
Hashing is equal to hashes of regular bodies - ID should be unique.
- __setstate__(state)
For parameterized bodies, we can rely on the python builtin actually
- __slots__ = ()
- static _deduce_package_dir(filepath, content)
Logic for deducing the package directory if the JSONable object is loaded from a file.
- Parameters:
filepath (pathlib.Path) – The path to the file.
content (Union[Dict, List]) – The content of the file parsed into a dictionary.
- Note:
This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.
- Return type:
- _geometry_transformation: timor.utilities.transformation.Transformation
- _parameter_limits: numpy.array = None
- _visual: timor.Geometry.Geometry | None = None
- as_pin_body(placement=Transformation.neutral())
Extracts the body properties that describe a body in a pinocchio robot.
Always places the body in the origin.
- Parameters:
placement (timor.utilities.transformation.TransformationLike) – Relative placement of the body to its parent joint
- Return type:
- property collision: timor.Geometry.Box
The collision geometry of the body.
- Return type:
- connectors: timor.Bodies.ConnectorSet
- freeze()
Freeze the body, i.e. make it immutable by transforming it to an unparameterized body.
- Return type:
- classmethod from_json_data(d, *args, **kwargs)
Create from a json description.
- Parameters:
d (Dict)
- classmethod from_json_file(filepath, *args, **kwargs)
Factory method to load a class instance from a json file.
- Parameters:
filepath (Union[pathlib.Path, str]) – The path to the json file.
args – Additional arguments to pass to the from_json_data factory method of the specific class.
kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.
- geometry_type: timor.Geometry.GeometryType
The geometry type of the body. Ensured to be in the set of valid geometry types.
- in_module: timor.Module.ModuleBase = None
- property inertia: pinocchio.Inertia
Assuming a homogeneous material, compute the inertia tensor of self for the current parameters
- Return type:
pinocchio.Inertia
- property mass: float
The mass needs to be dynamically calculated, depending on the geometry expansion.
- Return type:
- mass_density = 1.0
- property parameter_limits: numpy.array
Returns a copy of the parameter limits of the body.
- Return type:
numpy.array
- parameter_order: Dict[timor.Geometry.GeometryType, Tuple[str, Ellipsis]]
- property parameters: Tuple[float, Ellipsis]
The parameters of the geometry, returned as a tuple to avoid external changes.
- Return type:
Tuple[float, Ellipsis]
- possible_connections_with(other)
Returns a set of connectors that can connect this with other body.
This method does not check whether the connector IDs of the other body overlap with the connector IDs of this body - this has to be achieved by e.g. putting both bodies in a module or in the same ModulesDB.
- Parameters:
other (BodyBase) – Another body
- Returns:
A list of matching connector pairs like (this_body_connector, other_body_connector)
- Return type:
- to_json_data()
Freezes the current body with the currently set parameters and returns the according JSON
- Return type:
Dict[str, any]
- to_json_file(save_at, *args, **kwargs)
Writes the instance to a json file.
- Parameters:
save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.
- property visual: timor.Geometry.Geometry
Defaults to collision if not explicitly specified
- Return type:
- class timor.parameterized.ParameterizableCylinderBody(body_id, parameters, parameter_limits=None, mass_density=1.0, connectors=(), geometry_placement=Transformation.neutral(), in_module=None)
A module body composed of a cylinder with a parameterizable radius and length
Construct a parameterizable body from a geometry reference and parameters.
A parameterizable body has a fixed geometry type – depending on this type, there is a fixed number of parameters that define the expansion of the geometry in the respective direction. For example, a sphere has a single parameter that defines the radius, a cylinder has two parameters that define the radius and the length, and a box has three parameters that define the expansion in x, y, and z direction.
- Parameters:
body_id (str) – The unique ID of the body
parameters (Iterable[float]) – The number of parameters depends on the geometry type. Their (positive) value defines the expansion of the geometry in the respective direction. For a sphere, this is the radius, for a cylinder, this is the radius and the length, and for a box, this is the expansion in x, y, and z direction.
parameter_limits (Optional[Sequence[Sequence[float]]]) – The lower and upper bounds for each parameter. If None is given (default), the bounds are set to [0, inf] for all parameters. Bounds for geometric attributes cannot be negative.
mass_density (float) – The mass density of the body (in kg/m^3), implicitly assuming a homogeneous material.
connectors (Iterable[timor.Bodies.Connector]) – The connectors of the body - their placement has to be externally and dynamically updated. The connector_placements_valid attribute is used to indicate whether the position of the connectors was updated since the parameters have been changed last time.
geometry_placement (timor.utilities.transformation.Transformation) – Parametrized bodies cannot contain composed geometries, so we need to define a relative geometry placement to the origin in order to combine multiple parameterized bodies in a module. This parameter defines the relative transformation between geometry origin and body frame.
in_module (timor.Module.ModuleBase) – The module this body is part of. Will be automatically assigned if the body is defined and added to a module later on.
- __copy__()
Parameterizable bodies are actually quite easy to copy as geometries are calculated on-the-fly.
- __eq__(other)
Parameterizable body equality is given by the original parameters - no need to compute the geometry.
- __geometry_type: timor.Geometry.GeometryType
- __getstate__()
For parameterized bodies, we can rely on the python builtin actually
- __hash__()
Hashing is equal to hashes of regular bodies - ID should be unique.
- __setstate__(state)
For parameterized bodies, we can rely on the python builtin actually
- __slots__ = ()
- static _deduce_package_dir(filepath, content)
Logic for deducing the package directory if the JSONable object is loaded from a file.
- Parameters:
filepath (pathlib.Path) – The path to the file.
content (Union[Dict, List]) – The content of the file parsed into a dictionary.
- Note:
This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.
- Return type:
- _geometry_transformation: timor.utilities.transformation.Transformation
- _parameter_limits: numpy.array = None
- _visual: timor.Geometry.Geometry | None = None
- as_pin_body(placement=Transformation.neutral())
Extracts the body properties that describe a body in a pinocchio robot.
Always places the body in the origin.
- Parameters:
placement (timor.utilities.transformation.TransformationLike) – Relative placement of the body to its parent joint
- Return type:
- property collision: timor.Geometry.Cylinder
The collision geometry of the body.
- Return type:
- connectors: timor.Bodies.ConnectorSet
- freeze()
Freeze the body, i.e. make it immutable by transforming it to an unparameterized body.
- Return type:
- classmethod from_json_data(d, *args, **kwargs)
Create from a json description.
- Parameters:
d (Dict)
- classmethod from_json_file(filepath, *args, **kwargs)
Factory method to load a class instance from a json file.
- Parameters:
filepath (Union[pathlib.Path, str]) – The path to the json file.
args – Additional arguments to pass to the from_json_data factory method of the specific class.
kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.
- property geometry_type: timor.Geometry.GeometryType
The geometry type of the body. Ensured to be in the set of valid geometry types.
- Return type:
- in_module: timor.Module.ModuleBase = None
- property inertia: pinocchio.Inertia
Assuming a homogeneous material, compute the inertia tensor of self for the current parameters
- Return type:
pinocchio.Inertia
- property mass: float
The mass needs to be dynamically calculated, depending on the geometry expansion.
- Return type:
- mass_density = 1.0
- property parameter_limits: numpy.array
Returns a copy of the parameter limits of the body.
- Return type:
numpy.array
- parameter_order: Dict[timor.Geometry.GeometryType, Tuple[str, Ellipsis]]
- property parameters: Tuple[float, Ellipsis]
The parameters of the geometry, returned as a tuple to avoid external changes.
- Return type:
Tuple[float, Ellipsis]
- possible_connections_with(other)
Returns a set of connectors that can connect this with other body.
This method does not check whether the connector IDs of the other body overlap with the connector IDs of this body - this has to be achieved by e.g. putting both bodies in a module or in the same ModulesDB.
- Parameters:
other (BodyBase) – Another body
- Returns:
A list of matching connector pairs like (this_body_connector, other_body_connector)
- Return type:
- to_json_data()
Freezes the current body with the currently set parameters and returns the according JSON
- Return type:
Dict[str, any]
- to_json_file(save_at, *args, **kwargs)
Writes the instance to a json file.
- Parameters:
save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.
- property visual: timor.Geometry.Geometry
Defaults to collision if not explicitly specified
- Return type:
- class timor.parameterized.ParameterizableJointModule(header, bodies, parameters, joint_parameters, joints)
Abstract base class for parameterizable modules that contain joints.
This mainly checks that joint parameters are valid.
- Parameters:
joints (Iterable[timor.Joints.Joint]) – The joints of this module
joint_parameters (Dict[str, any]) – Additional arguments for timor.Joint such as limits or gear ratio; applied to all joints within the module.
header (timor.Module.ModuleHeader)
bodies (Iterable[timor.Bodies.BodyBase])
parameters (Tuple[float, Ellipsis])
- __copy__()
Deactivates the builtin copy method.
- __eq__(other)
Equality check for modules. Two modules are equal if they have the same header, bodies, names, and joints.
- __getstate__()
For a parameterizable module, we can rely on the default pickling.
- __hash__()
Custom hash function for modules that should be uniquely determined by their ID.
- __setstate__(state)
For a parameterizable module, we can rely on the default pickling.
- __slots__ = ()
- __str__()
String representation for the module.
- _bodies: timor.Bodies.BodySet
- _check_unique_connectors()
Sanity check that all connectors are unique
- static _deduce_package_dir(filepath, content)
Logic for deducing the package directory if the JSONable object is loaded from a file.
- Parameters:
filepath (pathlib.Path) – The path to the file.
content (Union[Dict, List]) – The content of the file parsed into a dictionary.
- Note:
This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.
- Return type:
- static _generate_connectors(ids=('proximal', 'distal'), genders=(Gender.female, Gender.male), types=('', ''), sizes=((), ()))
Generates the connectors for this module.
- Parameters:
genders (Tuple[timor.Bodies.Gender, timor.Bodies.Gender])
- Return type:
Tuple[timor.Bodies.Connector, Ellipsis]
- abstractmethod _get_copy_args()
Returns the arguments for the copy constructor.
- Return type:
Tuple
- _joint_parameters
- _joints: timor.Joints.JointSet
- _module_graph: networkx.DiGraph
- abstractmethod _update_connector_placements()
Based on the current body parameters, updates the placements of the connectors.
- abstractmethod _update_joint_placement()
Makes sure the joint is always placed in the middle of the module.
- property available_connectors: Dict[Tuple[str, str, str], timor.Bodies.Connector]
Returns all connectors of all bodies contained in this module as a mapping ID -> instance
- Return type:
Dict[Tuple[str, str, str], timor.Bodies.Connector]
- property bodies: timor.Bodies.BodySet
Returns all bodies contained in this module.
- Return type:
- build_module_graph()
Builds the directed graph of atomic module elements. See module_graph property for more information.
- Return type:
networkx.DiGraph
- can_connect(other)
Returns true if at least one of the connectors of this module matches at least one connector of other
- Parameters:
other (ModuleBase)
- Return type:
- property connectors_by_own_id: Dict[str, timor.Bodies.Connector]
Returns a mapping of connector._id values to the instance.
Keep in mind, these are not the composed id’s of the connectors, so they are not unambiguous outside a module!
- Return type:
Dict[str, timor.Bodies.Connector]
- debug_visualization(viz=None, show_com=True, base_placement=Transformation.neutral())
Do not use this method in proper environment visualizations
- Parameters:
viz (pinocchio.visualize.MeshcatVisualizer) – MeshcatVisualizer to show debug information in
show_com (bool) – show center of mass frame
base_placement (numpy.array) – where to show this module in the global frame
- Returns:
visualizer object (keep if you want to add more to this)
- Return type:
pinocchio.visualize.MeshcatVisualizer
- freeze()
Returns a static module representation of this module.
- Return type:
- classmethod from_json_data(d, *args, **kwargs)
Create from a json description.
- Parameters:
d (Dict)
- classmethod from_json_file(filepath, *args, **kwargs)
Factory method to load a class instance from a json file.
- Parameters:
filepath (Union[pathlib.Path, str]) – The path to the json file.
args – Additional arguments to pass to the from_json_data factory method of the specific class.
kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.
- header: ModuleHeader
- property joints: timor.Joints.JointSet
Returns all joints contained in this module
- Return type:
- property module_graph: networkx.DiGraph
The module graph for a parameterizable module has to be recomputed with every resize.
- Return type:
networkx.DiGraph
- property num_bodies
The number of bodies in this module.
- property num_connectors
The number of connectors available in the module.
- property num_joints
The number of joints in this module
- property parameters: Tuple[float, Ellipsis]
- Abstractmethod:
- Return type:
Tuple[float, Ellipsis]
Returns the parameters of this module.
- abstractmethod resize(parameters)
Resizes the module according to the given parameters and updates the connector placements.
- Parameters:
parameters (Tuple[float, Ellipsis])
- Return type:
None
- to_json_data()
Freezes the parameters of this module to serialize it.
- Return type:
Dict
- to_json_file(save_at, *args, **kwargs)
Writes the instance to a json file.
- Parameters:
save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.
- class timor.parameterized.ParameterizableModule(header, bodies, joints, parameters)
A parameterizable module may contain bodies that are subject to change and is non-static until frozen.
Parameterizable modules can be dynamically resized. The automatic calculation of dynamic properties happens on the basis of the inherent parameterizable bodies – however, as the connector placement must also dynamically be re-computed with every resizing, only simple geometries are supported.
Creates a parameterized module.
- Parameters:
header (timor.Module.ModuleHeader) – The module header for the generated link module
bodies (Iterable[timor.Bodies.BodyBase]) – The bodies of this module
joints (Iterable[timor.Joints.Joint]) – The joints of this module
parameters (Tuple[float, Ellipsis]) – The extension-defining parameters of this module
- __copy__()
Deactivates the builtin copy method.
- __eq__(other)
Equality check for modules. Two modules are equal if they have the same header, bodies, names, and joints.
- __getstate__()
For a parameterizable module, we can rely on the default pickling.
- __hash__()
Custom hash function for modules that should be uniquely determined by their ID.
- __setstate__(state)
For a parameterizable module, we can rely on the default pickling.
- __slots__ = ()
- __str__()
String representation for the module.
- _bodies: timor.Bodies.BodySet
- _check_unique_connectors()
Sanity check that all connectors are unique
- static _deduce_package_dir(filepath, content)
Logic for deducing the package directory if the JSONable object is loaded from a file.
- Parameters:
filepath (pathlib.Path) – The path to the file.
content (Union[Dict, List]) – The content of the file parsed into a dictionary.
- Note:
This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.
- Return type:
- static _generate_connectors(ids=('proximal', 'distal'), genders=(Gender.female, Gender.male), types=('', ''), sizes=((), ()))
Generates the connectors for this module.
- Parameters:
genders (Tuple[timor.Bodies.Gender, timor.Bodies.Gender])
- Return type:
Tuple[timor.Bodies.Connector, Ellipsis]
- abstractmethod _get_copy_args()
Returns the arguments for the copy constructor.
- Return type:
Tuple
- _joints: timor.Joints.JointSet
- _module_graph: networkx.DiGraph
- abstractmethod _update_connector_placements()
Based on the current body parameters, updates the placements of the connectors.
- property available_connectors: Dict[Tuple[str, str, str], timor.Bodies.Connector]
Returns all connectors of all bodies contained in this module as a mapping ID -> instance
- Return type:
Dict[Tuple[str, str, str], timor.Bodies.Connector]
- property bodies: timor.Bodies.BodySet
Returns all bodies contained in this module.
- Return type:
- build_module_graph()
Builds the directed graph of atomic module elements. See module_graph property for more information.
- Return type:
networkx.DiGraph
- can_connect(other)
Returns true if at least one of the connectors of this module matches at least one connector of other
- Parameters:
other (ModuleBase)
- Return type:
- property connectors_by_own_id: Dict[str, timor.Bodies.Connector]
Returns a mapping of connector._id values to the instance.
Keep in mind, these are not the composed id’s of the connectors, so they are not unambiguous outside a module!
- Return type:
Dict[str, timor.Bodies.Connector]
- debug_visualization(viz=None, show_com=True, base_placement=Transformation.neutral())
Do not use this method in proper environment visualizations
- Parameters:
viz (pinocchio.visualize.MeshcatVisualizer) – MeshcatVisualizer to show debug information in
show_com (bool) – show center of mass frame
base_placement (numpy.array) – where to show this module in the global frame
- Returns:
visualizer object (keep if you want to add more to this)
- Return type:
pinocchio.visualize.MeshcatVisualizer
- freeze()
Returns a static module representation of this module.
- Return type:
- classmethod from_json_data(d, *args, **kwargs)
Create from a json description.
- Parameters:
d (Dict)
- classmethod from_json_file(filepath, *args, **kwargs)
Factory method to load a class instance from a json file.
- Parameters:
filepath (Union[pathlib.Path, str]) – The path to the json file.
args – Additional arguments to pass to the from_json_data factory method of the specific class.
kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.
- header: ModuleHeader
- property joints: timor.Joints.JointSet
Returns all joints contained in this module
- Return type:
- property module_graph: networkx.DiGraph
The module graph for a parameterizable module has to be recomputed with every resize.
- Return type:
networkx.DiGraph
- property num_bodies
The number of bodies in this module.
- property num_connectors
The number of connectors available in the module.
- property num_joints
The number of joints in this module
- property parameters: Tuple[float, Ellipsis]
- Abstractmethod:
- Return type:
Tuple[float, Ellipsis]
Returns the parameters of this module.
- abstractmethod resize(parameters)
Resizes the module according to the given parameters and updates the connector placements.
- Parameters:
parameters (Tuple[float, Ellipsis])
- Return type:
None
- to_json_data()
Freezes the parameters of this module to serialize it.
- Return type:
Dict
- to_json_file(save_at, *args, **kwargs)
Writes the instance to a json file.
- Parameters:
save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.
- class timor.parameterized.ParameterizableMultiBody(body_id, geometry_types, parameters, parameter_limits=None, mass_density=1.0, connectors=(), geometry_placements=None, in_module=None)
A parameterizable multi body is a module body made from multiple generic geometries.
Initialize a parameterizable body composed of multiple geometries that are placed relative to self’s origin.
A ParameterizableMultiBody can contain an arbitrary number of geometries that are allowed for a ParameterizableBody. Each one of them has a placement transformation relative to the origin of the origin. The inertia, mass and volume of the body are calculated as the sum of the corresponding values of the geometries.
- Parameters:
body_id (str) – The id of the body
geometry_types (Sequence[timor.Geometry.GeometryType]) – The types of the geometries composing this body.
parameters (Iterable[float]) – The parameters of the geometries, flattened and in the order the geometries are given
parameter_limits (Optional[Sequence[Sequence[float]]]) – The limits of the parameters, flattened and in the same order as parameters (n x 2)
mass_density (float) – The mass density of the body - uniform for all geometries
geometry_placements (Iterable[timor.utilities.transformation.Transformation]) – The placement transformations between body frame and center of the geometries. They are given in the order of geometry_types. Placements do not automatically change when geometry parameters do.
connectors (Iterable[timor.Bodies.Connector])
in_module (timor.Module.ModuleBase)
- __copy__()
Parameterizable bodies are actually quite easy to copy as geometries are calculated on-the-fly.
- __eq__(other)
Parameterizable body equality is given by the original parameters - no need to compute the geometry.
- __geometry_type: timor.Geometry.GeometryType = None
- __getstate__()
For parameterized bodies, we can rely on the python builtin actually
- __hash__()
Hashing is equal to hashes of regular bodies - ID should be unique.
- __setstate__(state)
For parameterized bodies, we can rely on the python builtin actually
- __slots__ = ()
- static _deduce_package_dir(filepath, content)
Logic for deducing the package directory if the JSONable object is loaded from a file.
- Parameters:
filepath (pathlib.Path) – The path to the file.
content (Union[Dict, List]) – The content of the file parsed into a dictionary.
- Note:
This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.
- Return type:
- _geometry_transformation: Tuple[timor.utilities.transformation.Transformation]
- _parameter_limits: numpy.array = None
- _visual: timor.Geometry.Geometry | None = None
- as_pin_body(placement=Transformation.neutral())
Extracts the body properties that describe a body in a pinocchio robot.
Always places the body in the origin.
- Parameters:
placement (timor.utilities.transformation.TransformationLike) – Relative placement of the body to its parent joint
- Return type:
- property collision: timor.Geometry.ComposedGeometry
Returns the collision geometry of the body.
- Return type:
- composing_geometry_types: Tuple[timor.Geometry.GeometryType]
- connectors: timor.Bodies.ConnectorSet
- freeze()
Freeze the body, i.e. make it immutable by transforming it to an unparameterized body.
- Return type:
- classmethod from_json_data(d, *args, **kwargs)
Create from a json description.
- Parameters:
d (Dict)
- classmethod from_json_file(filepath, *args, **kwargs)
Factory method to load a class instance from a json file.
- Parameters:
filepath (Union[pathlib.Path, str]) – The path to the json file.
args – Additional arguments to pass to the from_json_data factory method of the specific class.
kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.
- property geometry_placements: Tuple[timor.utilities.transformation.Transformation]
Returns the placement transformations between body frame and geometry reference frames.
- Return type:
- geometry_type: timor.Geometry.GeometryType
The geometry type of the body. Ensured to be in the set of valid geometry types.
- geometry_type_to_class: Dict[timor.Geometry.GeometryType, Type[ParameterizableBody]]
- static get_num_parameters(gt)
Returns the number of parameters necessary to define the given geometry type.
- Parameters:
- Return type:
- in_module: timor.Module.ModuleBase = None
- property inertia: pinocchio.Inertia
The inertia is calculated as the sum of the inertia of the composing geometries.
- Return type:
pinocchio.Inertia
- property mass: float
The mass needs to be dynamically calculated, depending on the geometry expansion.
- Return type:
- mass_density = 1.0
- num_geometries
- property num_parameters: int
Returns the number of parameters necessary to define all geometries for this body.
- Return type:
- property parameter_limits: numpy.array
Returns a copy of the parameter limits of the body.
- Return type:
numpy.array
- parameter_order: Dict[timor.Geometry.GeometryType, Tuple[str, Ellipsis]]
- property parameters: Tuple[float, Ellipsis]
The parameters of the geometry, returned as a tuple to avoid external changes.
- Return type:
Tuple[float, Ellipsis]
- possible_connections_with(other)
Returns a set of connectors that can connect this with other body.
This method does not check whether the connector IDs of the other body overlap with the connector IDs of this body - this has to be achieved by e.g. putting both bodies in a module or in the same ModulesDB.
- Parameters:
other (BodyBase) – Another body
- Returns:
A list of matching connector pairs like (this_body_connector, other_body_connector)
- Return type:
- print_parameter_info()
A helper method to show the current parameters and how they are mapped to the underlying geometries.
- to_json_data()
Freezes the current body with the currently set parameters and returns the according JSON
- Return type:
Dict[str, any]
- to_json_file(save_at, *args, **kwargs)
Writes the instance to a json file.
- Parameters:
save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.
- property visual: timor.Geometry.Geometry
Defaults to collision if not explicitly specified
- Return type:
- class timor.parameterized.ParameterizableSphereBody(body_id, parameters, parameter_limits=None, mass_density=1.0, connectors=(), geometry_placement=Transformation.neutral(), in_module=None)
A module body composed of a sphere with a parameterizable radius
Construct a parameterizable body from a geometry reference and parameters.
A parameterizable body has a fixed geometry type – depending on this type, there is a fixed number of parameters that define the expansion of the geometry in the respective direction. For example, a sphere has a single parameter that defines the radius, a cylinder has two parameters that define the radius and the length, and a box has three parameters that define the expansion in x, y, and z direction.
- Parameters:
body_id (str) – The unique ID of the body
parameters (Iterable[float]) – The number of parameters depends on the geometry type. Their (positive) value defines the expansion of the geometry in the respective direction. For a sphere, this is the radius, for a cylinder, this is the radius and the length, and for a box, this is the expansion in x, y, and z direction.
parameter_limits (Optional[Sequence[Sequence[float]]]) – The lower and upper bounds for each parameter. If None is given (default), the bounds are set to [0, inf] for all parameters. Bounds for geometric attributes cannot be negative.
mass_density (float) – The mass density of the body (in kg/m^3), implicitly assuming a homogeneous material.
connectors (Iterable[timor.Bodies.Connector]) – The connectors of the body - their placement has to be externally and dynamically updated. The connector_placements_valid attribute is used to indicate whether the position of the connectors was updated since the parameters have been changed last time.
geometry_placement (timor.utilities.transformation.Transformation) – Parametrized bodies cannot contain composed geometries, so we need to define a relative geometry placement to the origin in order to combine multiple parameterized bodies in a module. This parameter defines the relative transformation between geometry origin and body frame.
in_module (timor.Module.ModuleBase) – The module this body is part of. Will be automatically assigned if the body is defined and added to a module later on.
- __copy__()
Parameterizable bodies are actually quite easy to copy as geometries are calculated on-the-fly.
- __eq__(other)
Parameterizable body equality is given by the original parameters - no need to compute the geometry.
- __geometry_type: timor.Geometry.GeometryType
- __getstate__()
For parameterized bodies, we can rely on the python builtin actually
- __hash__()
Hashing is equal to hashes of regular bodies - ID should be unique.
- __setstate__(state)
For parameterized bodies, we can rely on the python builtin actually
- __slots__ = ()
- static _deduce_package_dir(filepath, content)
Logic for deducing the package directory if the JSONable object is loaded from a file.
- Parameters:
filepath (pathlib.Path) – The path to the file.
content (Union[Dict, List]) – The content of the file parsed into a dictionary.
- Note:
This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.
- Return type:
- _geometry_transformation: timor.utilities.transformation.Transformation
- _parameter_limits: numpy.array = None
- _visual: timor.Geometry.Geometry | None = None
- as_pin_body(placement=Transformation.neutral())
Extracts the body properties that describe a body in a pinocchio robot.
Always places the body in the origin.
- Parameters:
placement (timor.utilities.transformation.TransformationLike) – Relative placement of the body to its parent joint
- Return type:
- property collision: timor.Geometry.Sphere
The collision geometry of the body.
- Return type:
- connectors: timor.Bodies.ConnectorSet
- freeze()
Freeze the body, i.e. make it immutable by transforming it to an unparameterized body.
- Return type:
- classmethod from_json_data(d, *args, **kwargs)
Create from a json description.
- Parameters:
d (Dict)
- classmethod from_json_file(filepath, *args, **kwargs)
Factory method to load a class instance from a json file.
- Parameters:
filepath (Union[pathlib.Path, str]) – The path to the json file.
args – Additional arguments to pass to the from_json_data factory method of the specific class.
kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.
- property geometry_type: timor.Geometry.GeometryType
The geometry type of the body. Ensured to be in the set of valid geometry types.
- Return type:
- in_module: timor.Module.ModuleBase = None
- property inertia: pinocchio.Inertia
Assuming a homogeneous material, compute the inertia tensor of self for the current parameters
- Return type:
pinocchio.Inertia
- property mass: float
The mass needs to be dynamically calculated, depending on the geometry expansion.
- Return type:
- mass_density = 1.0
- property parameter_limits: numpy.array
Returns a copy of the parameter limits of the body.
- Return type:
numpy.array
- parameter_order: Dict[timor.Geometry.GeometryType, Tuple[str, Ellipsis]]
- property parameters: Tuple[float, Ellipsis]
The parameters of the geometry, returned as a tuple to avoid external changes.
- Return type:
Tuple[float, Ellipsis]
- possible_connections_with(other)
Returns a set of connectors that can connect this with other body.
This method does not check whether the connector IDs of the other body overlap with the connector IDs of this body - this has to be achieved by e.g. putting both bodies in a module or in the same ModulesDB.
- Parameters:
other (BodyBase) – Another body
- Returns:
A list of matching connector pairs like (this_body_connector, other_body_connector)
- Return type:
- to_json_data()
Freezes the current body with the currently set parameters and returns the according JSON
- Return type:
Dict[str, any]
- to_json_file(save_at, *args, **kwargs)
Writes the instance to a json file.
- Parameters:
save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.
- property visual: timor.Geometry.Geometry
Defaults to collision if not explicitly specified
- Return type:
- class timor.parameterized.ParameterizedCylinderLink(header, length=1.0, radius=1.0, mass_density=1.0, limits=None, connector_arguments=None)
This is a module in cylinder shape with connectors at both ends that can be used to construct a robot.
Creates a parameterized module with one, i-shaped link.
The link has a varying length and radius. Connectors are placed at x=0, y=0 and z chosen s.t. they are aligned with the cylinder’s flat surfaces. The body coordinate system is placed in the center of the cylinder.
- Parameters:
header (timor.Module.ModuleHeader) – The module header for the generated link module
length (float) – The length of the cylinder
radius (float) – The radius of the cylinder
mass_density (float) – The mass density of the link’s material (kg/m^3) – assumed to be uniform
limits (Optional[Sequence[Sequence[float]]]) – Optional lower and upper bounds on the link’s length and radius
connector_arguments (Optional[Dict[str, any]]) – Mapping from keyword to 2-tuples of values for gender, size, type.
- __connector_arguments = None
- __copy__()
Deactivates the builtin copy method.
- __eq__(other)
Equality check for modules. Two modules are equal if they have the same header, bodies, names, and joints.
- __getstate__()
For a parameterizable module, we can rely on the default pickling.
- __hash__()
Custom hash function for modules that should be uniquely determined by their ID.
- __setstate__(state)
For a parameterizable module, we can rely on the default pickling.
- __slots__ = ()
- __str__()
String representation for the module.
- _bodies: timor.Bodies.BodySet
- _check_unique_connectors()
Sanity check that all connectors are unique
- static _deduce_package_dir(filepath, content)
Logic for deducing the package directory if the JSONable object is loaded from a file.
- Parameters:
filepath (pathlib.Path) – The path to the file.
content (Union[Dict, List]) – The content of the file parsed into a dictionary.
- Note:
This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.
- Return type:
- static _generate_connectors(ids=('proximal', 'distal'), genders=(Gender.female, Gender.male), types=('', ''), sizes=((), ()))
Generates the connectors for this module.
- Parameters:
genders (Tuple[timor.Bodies.Gender, timor.Bodies.Gender])
- Return type:
Tuple[timor.Bodies.Connector, Ellipsis]
- _get_copy_args()
Returns the arguments for the copy constructor.
- Return type:
Tuple
- _joints: timor.Joints.JointSet
- _module_graph: networkx.DiGraph
- _update_connector_placements()
Makes sure the connectors are always placed on the bottom/top and centered in the link.
- property available_connectors: Dict[Tuple[str, str, str], timor.Bodies.Connector]
Returns all connectors of all bodies contained in this module as a mapping ID -> instance
- Return type:
Dict[Tuple[str, str, str], timor.Bodies.Connector]
- property bodies: timor.Bodies.BodySet
Returns all bodies contained in this module.
- Return type:
- build_module_graph()
Builds the directed graph of atomic module elements. See module_graph property for more information.
- Return type:
networkx.DiGraph
- can_connect(other)
Returns true if at least one of the connectors of this module matches at least one connector of other
- Parameters:
other (ModuleBase)
- Return type:
- property connectors_by_own_id: Dict[str, timor.Bodies.Connector]
Returns a mapping of connector._id values to the instance.
Keep in mind, these are not the composed id’s of the connectors, so they are not unambiguous outside a module!
- Return type:
Dict[str, timor.Bodies.Connector]
- debug_visualization(viz=None, show_com=True, base_placement=Transformation.neutral())
Do not use this method in proper environment visualizations
- Parameters:
viz (pinocchio.visualize.MeshcatVisualizer) – MeshcatVisualizer to show debug information in
show_com (bool) – show center of mass frame
base_placement (numpy.array) – where to show this module in the global frame
- Returns:
visualizer object (keep if you want to add more to this)
- Return type:
pinocchio.visualize.MeshcatVisualizer
- freeze()
Returns a static module representation of this module.
- Return type:
- classmethod from_json_data(d, *args, **kwargs)
Create from a json description.
- Parameters:
d (Dict)
- classmethod from_json_file(filepath, *args, **kwargs)
Factory method to load a class instance from a json file.
- Parameters:
filepath (Union[pathlib.Path, str]) – The path to the json file.
args – Additional arguments to pass to the from_json_data factory method of the specific class.
kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.
- header: ModuleHeader
- property joints: timor.Joints.JointSet
Returns all joints contained in this module
- Return type:
- property module_graph: networkx.DiGraph
The module graph for a parameterizable module has to be recomputed with every resize.
- Return type:
networkx.DiGraph
- property num_bodies
The number of bodies in this module.
- property num_connectors
The number of connectors available in the module.
- property num_joints
The number of joints in this module
- resize(parameters)
The interface to change the link’s length or radius and adapt the connector placements accordingly.
- to_json_data()
Freezes the parameters of this module to serialize it.
- Return type:
Dict
- to_json_file(save_at, *args, **kwargs)
Writes the instance to a json file.
- Parameters:
save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.
- class timor.parameterized.ParameterizedOrthogonalJoint(header, lengths=(1.0, 1.0), radius=1.0, mass_density=1.0, limits=((0, float('inf')), (0, float('inf')), (0, float('inf'))), joint_type=TimorJointType.revolute, joint_parameters=None, connector_arguments=None, alpha_rot_x=np.pi / 2, convention_alpha='DH')
This is a module in L-shape with connectors at both ends and a joint in the ‘elbow’.
Creates a parameterized module with two cylinders being orthogonal to each other.
The first cylinder is placed along the z-Axis. The symmetry axes of body 2 run through z=l1, where the z-Axis of the second cylinder is aligned with the y-axis of the first cylinder for q_joint=0. Both have varying length and the same, varying radius. At their connection is a joint, which can be revolute or prismatic. For q_joint=0, the surface of the second cylinder is aligned with z=0. The joint axis is the initial z-Axis.
- Parameters:
header (timor.Module.ModuleHeader) – The module header for the generated module
lengths (Sequence[float, float]) – (l1, l2) for the two bodies in this module
radius (float) – The radius of the cylinders
mass_density (float) – The mass density of the bodies’ material (kg/m^3) – assumed to be uniform
limits (Sequence[Sequence[float]]) – Optional lower and upper bounds on the link’s length and radius (r, l1, l2)
joint_type (timor.Joints.TimorJointType) – The type of joint to use \(\in\) (revolute, prismatic)
joint_parameters (Dict[str, any]) – Additional arguments for timor.Joint such as limits or gear ratio; applied to all joints within the module.
connector_arguments (Optional[Dict[str, any]]) – Mapping from keyword to 2-tuples of values
alpha_rot_x (float) – The rotation angle around the x-axis for the second cylinder.
convention_alpha (str) – Either DH (apply x-rotation AFTER joint rotation) or MDH (apply x-rotation BEFORE)
- __connector_arguments = None
- __copy__()
Deactivates the builtin copy method.
- __eq__(other)
Equality check for modules. Two modules are equal if they have the same header, bodies, names, and joints.
- __getstate__()
For a parameterizable module, we can rely on the default pickling.
- __hash__()
Custom hash function for modules that should be uniquely determined by their ID.
- __setstate__(state)
For a parameterizable module, we can rely on the default pickling.
- __slots__ = ()
- __str__()
String representation for the module.
- _bodies: timor.Bodies.BodySet
- _check_unique_connectors()
Sanity check that all connectors are unique
- static _deduce_package_dir(filepath, content)
Logic for deducing the package directory if the JSONable object is loaded from a file.
- Parameters:
filepath (pathlib.Path) – The path to the file.
content (Union[Dict, List]) – The content of the file parsed into a dictionary.
- Note:
This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.
- Return type:
- static _generate_connectors(ids=('proximal', 'distal'), genders=(Gender.female, Gender.male), types=('', ''), sizes=((), ()))
Generates the connectors for this module.
- Parameters:
genders (Tuple[timor.Bodies.Gender, timor.Bodies.Gender])
- Return type:
Tuple[timor.Bodies.Connector, Ellipsis]
- _get_copy_args()
Returns the arguments to use when copying this module.
- Return type:
Tuple
- _joint_parameters
- _joints: timor.Joints.JointSet
- _module_graph: networkx.DiGraph
- _update_connector_placements()
Makes sure the connectors are always placed on the bottom/top and centered in the link.
- _update_joint_placement()
Makes sure the joint is always placed in the middle of the module.
- property available_connectors: Dict[Tuple[str, str, str], timor.Bodies.Connector]
Returns all connectors of all bodies contained in this module as a mapping ID -> instance
- Return type:
Dict[Tuple[str, str, str], timor.Bodies.Connector]
- property bodies: timor.Bodies.BodySet
Returns all bodies contained in this module.
- Return type:
- build_module_graph()
Builds the directed graph of atomic module elements. See module_graph property for more information.
- Return type:
networkx.DiGraph
- can_connect(other)
Returns true if at least one of the connectors of this module matches at least one connector of other
- Parameters:
other (ModuleBase)
- Return type:
- property connectors_by_own_id: Dict[str, timor.Bodies.Connector]
Returns a mapping of connector._id values to the instance.
Keep in mind, these are not the composed id’s of the connectors, so they are not unambiguous outside a module!
- Return type:
Dict[str, timor.Bodies.Connector]
- debug_visualization(viz=None, show_com=True, base_placement=Transformation.neutral())
Do not use this method in proper environment visualizations
- Parameters:
viz (pinocchio.visualize.MeshcatVisualizer) – MeshcatVisualizer to show debug information in
show_com (bool) – show center of mass frame
base_placement (numpy.array) – where to show this module in the global frame
- Returns:
visualizer object (keep if you want to add more to this)
- Return type:
pinocchio.visualize.MeshcatVisualizer
- distal_link: ParameterizableCylinderBody
- freeze()
Returns a static module representation of this module.
- Return type:
- classmethod from_json_data(d, *args, **kwargs)
Create from a json description.
- Parameters:
d (Dict)
- classmethod from_json_file(filepath, *args, **kwargs)
Factory method to load a class instance from a json file.
- Parameters:
filepath (Union[pathlib.Path, str]) – The path to the json file.
args – Additional arguments to pass to the from_json_data factory method of the specific class.
kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.
- header: ModuleHeader
- joint
- property joints: timor.Joints.JointSet
Returns all joints contained in this module
- Return type:
- property module_graph: networkx.DiGraph
The module graph for a parameterizable module has to be recomputed with every resize.
- Return type:
networkx.DiGraph
- property num_bodies
The number of bodies in this module.
- property num_connectors
The number of connectors available in the module.
- property num_joints
The number of joints in this module
- proximal_link: ParameterizableCylinderBody
- resize(parameters)
The interface to change both of the bodies’ length and/or radius and adapt the connector and joint placements.
- to_json_data()
Freezes the parameters of this module to serialize it.
- Return type:
Dict
- to_json_file(save_at, *args, **kwargs)
Writes the instance to a json file.
- Parameters:
save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.
- class timor.parameterized.ParameterizedOrthogonalLink(header, lengths=(1.0, 1.0), radius=1.0, mass_density=1.0, limits=((0, float('inf')), (0, float('inf')), (0, float('inf'))), connector_arguments=None, alpha_rot_x=np.pi / 2)
This is a module in L-shape with connectors at both ends that can be used to construct a robot.
Creates a parameterized module with one, L-shaped link.
The link has a varying lengths and radius. Connectors are placed at the flat surfaces of the cylinders. The body coordinate systems share origins with the connectors – body coordinate systems are pointing inwards though.
- Parameters:
header (timor.Module.ModuleHeader) – The module header for the generated link module
lengths (Iterable[float]) – The lengths l1 and l2 of the cylinders
radius (float) – The radius of the cylinders
mass_density (float) – The mass density of the link’s material (kg/m^3) – assumed to be uniform
limits (Sequence[Sequence[float]]) – Optional lower and upper bounds on the link’s lengths and radius (r, l1, l2)
connector_arguments (Optional[Dict[str, any]]) – Mapping from keyword to 2-tuples of values for gender, size, type.
alpha_rot_x (float) – The rotation angle around the x-axis for the second cylinder
- __connector_arguments = None
- __copy__()
Deactivates the builtin copy method.
- __eq__(other)
Equality check for modules. Two modules are equal if they have the same header, bodies, names, and joints.
- __getstate__()
For a parameterizable module, we can rely on the default pickling.
- __hash__()
Custom hash function for modules that should be uniquely determined by their ID.
- __setstate__(state)
For a parameterizable module, we can rely on the default pickling.
- __slots__ = ()
- __str__()
String representation for the module.
- _bodies: timor.Bodies.BodySet
- _check_unique_connectors()
Sanity check that all connectors are unique
- static _deduce_package_dir(filepath, content)
Logic for deducing the package directory if the JSONable object is loaded from a file.
- Parameters:
filepath (pathlib.Path) – The path to the file.
content (Union[Dict, List]) – The content of the file parsed into a dictionary.
- Note:
This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.
- Return type:
- static _generate_connectors(ids=('proximal', 'distal'), genders=(Gender.female, Gender.male), types=('', ''), sizes=((), ()))
Generates the connectors for this module.
- Parameters:
genders (Tuple[timor.Bodies.Gender, timor.Bodies.Gender])
- Return type:
Tuple[timor.Bodies.Connector, Ellipsis]
- _get_copy_args()
Returns the arguments for the copy constructor.
- Return type:
Tuple
- _joints: timor.Joints.JointSet
- _module_graph: networkx.DiGraph
- _update_connector_placements()
Makes sure the connectors are always placed on the bottom/top and centered in the link.
- _update_geometry_placements()
Makes sure the two cylinders composing this link are placed correctly relative to each other.
Assumes the reference frame for this module is aligned with the proximal connector. The frame for the first geometry is centered in the first cylinder, l/2 above the module reference frame. The frame for the second geometry is placed accordingly in the second cylinder.
- property available_connectors: Dict[Tuple[str, str, str], timor.Bodies.Connector]
Returns all connectors of all bodies contained in this module as a mapping ID -> instance
- Return type:
Dict[Tuple[str, str, str], timor.Bodies.Connector]
- property bodies: timor.Bodies.BodySet
Returns all bodies contained in this module.
- Return type:
- build_module_graph()
Builds the directed graph of atomic module elements. See module_graph property for more information.
- Return type:
networkx.DiGraph
- can_connect(other)
Returns true if at least one of the connectors of this module matches at least one connector of other
- Parameters:
other (ModuleBase)
- Return type:
- property connectors_by_own_id: Dict[str, timor.Bodies.Connector]
Returns a mapping of connector._id values to the instance.
Keep in mind, these are not the composed id’s of the connectors, so they are not unambiguous outside a module!
- Return type:
Dict[str, timor.Bodies.Connector]
- debug_visualization(viz=None, show_com=True, base_placement=Transformation.neutral())
Do not use this method in proper environment visualizations
- Parameters:
viz (pinocchio.visualize.MeshcatVisualizer) – MeshcatVisualizer to show debug information in
show_com (bool) – show center of mass frame
base_placement (numpy.array) – where to show this module in the global frame
- Returns:
visualizer object (keep if you want to add more to this)
- Return type:
pinocchio.visualize.MeshcatVisualizer
- freeze()
Returns a static module representation of this module.
- Return type:
- classmethod from_json_data(d, *args, **kwargs)
Create from a json description.
- Parameters:
d (Dict)
- classmethod from_json_file(filepath, *args, **kwargs)
Factory method to load a class instance from a json file.
- Parameters:
filepath (Union[pathlib.Path, str]) – The path to the json file.
args – Additional arguments to pass to the from_json_data factory method of the specific class.
kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.
- header: ModuleHeader
- property joints: timor.Joints.JointSet
Returns all joints contained in this module
- Return type:
- property l1_position: timor.utilities.transformation.Transformation
Describes the relative transformation between body origin and the geometry frame of the first geometry.
- Return type:
- property l2_position: timor.utilities.transformation.Transformation
Describes the relative transformation between body origin and the geometry frame of the second geometry.
- Return type:
- property module_graph: networkx.DiGraph
The module graph for a parameterizable module has to be recomputed with every resize.
- Return type:
networkx.DiGraph
- property num_bodies
The number of bodies in this module.
- property num_connectors
The number of connectors available in the module.
- property num_joints
The number of joints in this module
- resize(parameters)
The interface to change the link’s length or radius and adapt the connector placements accordingly.
- to_json_data()
Freezes the parameters of this module to serialize it.
- Return type:
Dict
- to_json_file(save_at, *args, **kwargs)
Writes the instance to a json file.
- Parameters:
save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.
- class timor.parameterized.ParameterizedStraightJoint(header, length=1.0, radius=1.0, mass_density=1.0, limits=((0, float('inf')), (0, float('inf'))), joint_type=TimorJointType.revolute, joint_parameters=None, connector_arguments=None)
This is a module in cylinder shape with connectors at both ends and a joint in the middle.
Creates a parameterized module with two cylinders, connected by a joint.
The module has a varying length and radius. Connectors are placed at the flat surfaces of the cylinders that are not attached to the joint.
- Parameters:
header (timor.Module.ModuleHeader) – The module header for the generated module
length (float) – The overall length of the module. Will be divided equally between the two bodies.
radius (float) – The radius of the cylinders
mass_density (float) – The mass density of the bodies’ material (kg/m^3) – assumed to be uniform
limits (Sequence[Sequence[float]]) – Optional lower and upper bounds on the link’s length and radius
joint_type (timor.Joints.TimorJointType) – The type of joint to use \(\in\) (revolute, prismatic)
joint_parameters (Dict[str, any]) – Additional arguments for timor.Joint such as limits or gear ratio; applied to all joints within the module.
connector_arguments (Optional[Dict[str, any]]) – Mapping from keyword to 2-tuples of values
- __connector_arguments = None
- __copy__()
Deactivates the builtin copy method.
- __eq__(other)
Equality check for modules. Two modules are equal if they have the same header, bodies, names, and joints.
- __getstate__()
For a parameterizable module, we can rely on the default pickling.
- __hash__()
Custom hash function for modules that should be uniquely determined by their ID.
- __setstate__(state)
For a parameterizable module, we can rely on the default pickling.
- __slots__ = ()
- __str__()
String representation for the module.
- _bodies: timor.Bodies.BodySet
- _check_unique_connectors()
Sanity check that all connectors are unique
- static _deduce_package_dir(filepath, content)
Logic for deducing the package directory if the JSONable object is loaded from a file.
- Parameters:
filepath (pathlib.Path) – The path to the file.
content (Union[Dict, List]) – The content of the file parsed into a dictionary.
- Note:
This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.
- Return type:
- static _generate_connectors(ids=('proximal', 'distal'), genders=(Gender.female, Gender.male), types=('', ''), sizes=((), ()))
Generates the connectors for this module.
- Parameters:
genders (Tuple[timor.Bodies.Gender, timor.Bodies.Gender])
- Return type:
Tuple[timor.Bodies.Connector, Ellipsis]
- _get_copy_args()
Returns the arguments to use when copying this module.
- Return type:
Tuple
- _joint_parameters
- _joints: timor.Joints.JointSet
- _module_graph: networkx.DiGraph
- _update_connector_placements()
Makes sure the connectors are always placed on the bottom/top and centered in the link.
- _update_joint_placement()
Makes sure the joint is always placed in the middle of the module.
- property available_connectors: Dict[Tuple[str, str, str], timor.Bodies.Connector]
Returns all connectors of all bodies contained in this module as a mapping ID -> instance
- Return type:
Dict[Tuple[str, str, str], timor.Bodies.Connector]
- property bodies: timor.Bodies.BodySet
Returns all bodies contained in this module.
- Return type:
- build_module_graph()
Builds the directed graph of atomic module elements. See module_graph property for more information.
- Return type:
networkx.DiGraph
- can_connect(other)
Returns true if at least one of the connectors of this module matches at least one connector of other
- Parameters:
other (ModuleBase)
- Return type:
- property connectors_by_own_id: Dict[str, timor.Bodies.Connector]
Returns a mapping of connector._id values to the instance.
Keep in mind, these are not the composed id’s of the connectors, so they are not unambiguous outside a module!
- Return type:
Dict[str, timor.Bodies.Connector]
- debug_visualization(viz=None, show_com=True, base_placement=Transformation.neutral())
Do not use this method in proper environment visualizations
- Parameters:
viz (pinocchio.visualize.MeshcatVisualizer) – MeshcatVisualizer to show debug information in
show_com (bool) – show center of mass frame
base_placement (numpy.array) – where to show this module in the global frame
- Returns:
visualizer object (keep if you want to add more to this)
- Return type:
pinocchio.visualize.MeshcatVisualizer
- distal_link: ParameterizableCylinderBody
- freeze()
Returns a static module representation of this module.
- Return type:
- classmethod from_json_data(d, *args, **kwargs)
Create from a json description.
- Parameters:
d (Dict)
- classmethod from_json_file(filepath, *args, **kwargs)
Factory method to load a class instance from a json file.
- Parameters:
filepath (Union[pathlib.Path, str]) – The path to the json file.
args – Additional arguments to pass to the from_json_data factory method of the specific class.
kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.
- header: ModuleHeader
- joint
- property joints: timor.Joints.JointSet
Returns all joints contained in this module
- Return type:
- property module_graph: networkx.DiGraph
The module graph for a parameterizable module has to be recomputed with every resize.
- Return type:
networkx.DiGraph
- property num_bodies
The number of bodies in this module.
- property num_connectors
The number of connectors available in the module.
- property num_joints
The number of joints in this module
- proximal_link: ParameterizableCylinderBody
- resize(parameters)
The interface to change both of the bodies’ length and/or radius and adapt the connector and joint placements.
- to_json_data()
Freezes the parameters of this module to serialize it.
- Return type:
Dict
- to_json_file(save_at, *args, **kwargs)
Writes the instance to a json file.
- Parameters:
save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.