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mass_rand_centipede.py
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mass_rand_centipede.py
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"""component_lib: Centipede."""
import numpy as np
import itertools
def generate_centipede_config_with_n_torso(n: int, mass_values: list):
assert n >= 2
"""Generate info for n-torso centipede."""
def template_torso(theta, ind, mass_1, mass_2):
tmp = f"""
bodies {{
name: "torso_{str(ind)}"
colliders {{
capsule {{
radius: 0.25
length: 0.5
end: 1
}}
}}
inertia {{ x: 1.0 y: 1.0 z: 1.0 }}
mass: 10
}}
bodies {{
name: "Aux 1_{str(ind)}"
colliders {{
rotation {{ x: 90 y: -90 }}
capsule {{
radius: 0.08
length: 0.4428427219390869
}}
}}
inertia {{ x: 1.0 y: 1.0 z: 1.0 }}
mass: {mass_1}
}}
bodies {{
name: "$ Body 4_{str(ind)}"
colliders {{
rotation {{ x: 90 y: -90 }}
capsule {{
radius: 0.08
length: 0.7256854176521301
end: -1
}}
}}
inertia {{ x: 1.0 y: 1.0 z: 1.0 }}
mass: {mass_1}
}}
joints {{
name: "torso_{str(ind)}_Aux 1_{str(ind)}"
parent_offset {{ x: {((0.4428427219390869/2.)+.08)*np.cos(theta)} y: {((0.4428427219390869/2.)+.08)*np.sin(theta)} }}
child_offset {{ }}
parent: "torso_{str(ind)}"
child: "Aux 1_{str(ind)}"
stiffness: 5000.0
angular_damping: 35
angle_limit {{ min: -30.0 max: 30.0 }}
rotation {{ y: -90 }}
reference_rotation {{ z: {theta*180/np.pi} }}
}}
joints {{
name: "Aux 1_{str(ind)}_$ Body 4_{str(ind)}"
parent_offset {{ x: 0.14142136096954344 }}
child_offset {{ x:-0.28284270882606505 }}
parent: "Aux 1_{str(ind)}"
child: "$ Body 4_{str(ind)}"
stiffness: 5000.0
angular_damping: 35
rotation: {{ z: 90 }}
angle_limit {{
min: 30.0
max: 70.0
}}
}}
actuators {{
name: "torso_{str(ind)}_Aux 1_{str(ind)}"
joint: "torso_{str(ind)}_Aux 1_{str(ind)}"
strength: 350.0
torque {{}}
}}
actuators {{
name: "Aux 1_{str(ind)}_$ Body 4_{str(ind)}"
joint: "Aux 1_{str(ind)}_$ Body 4_{str(ind)}"
strength: 350.0
torque {{}}
}}
bodies {{
name: "Aux 2_{str(ind)}"
colliders {{
rotation {{ x: 90 y: -90 }}
capsule {{
radius: 0.08
length: 0.4428427219390869
}}
}}
inertia {{ x: 1.0 y: 1.0 z: 1.0 }}
mass: {mass_2}
}}
bodies {{
name: "$ Body 5_{str(ind)}"
colliders {{
rotation {{ x: 90 y: -90 }}
capsule {{
radius: 0.08
length: 0.7256854176521301
end: -1
}}
}}
inertia {{ x: 1.0 y: 1.0 z: 1.0 }}
mass: {mass_2}
}}
joints {{
name: "torso_{str(ind)}_Aux 2_{str(ind)}"
parent_offset {{ x: {((0.4428427219390869/2.)+.08)*np.cos(-theta)} y: {((0.4428427219390869/2.)+.08)*np.sin(-theta)} }}
child_offset {{ }}
parent: "torso_{str(ind)}"
child: "Aux 2_{str(ind)}"
stiffness: 5000.0
angular_damping: 35
angle_limit {{ min: -30.0 max: 30.0 }}
rotation {{ y: -90 }}
reference_rotation {{ z: {-theta*180/np.pi} }}
}}
joints {{
name: "Aux 2_{str(ind)}_$ Body 5_{str(ind)}"
parent_offset {{ x: 0.14142136096954344 }}
child_offset {{ x:-0.28284270882606505 }}
parent: "Aux 2_{str(ind)}"
child: "$ Body 5_{str(ind)}"
stiffness: 5000.0
angular_damping: 35
rotation: {{ z: 90 }}
angle_limit {{
min: 30.0
max: 70.0
}}
}}
actuators {{
name: "torso_{str(ind)}_Aux 2_{str(ind)}"
joint: "torso_{str(ind)}_Aux 2_{str(ind)}"
strength: 350.0
torque {{}}
}}
actuators {{
name: "Aux 2_{str(ind)}_$ Body 5_{str(ind)}"
joint: "Aux 2_{str(ind)}_$ Body 5_{str(ind)}"
strength: 350.0
torque {{}}
}}
"""
collides = (
f'torso_{str(ind)}',
f'Aux 1_{str(ind)}',
f'$ Body 4_{str(ind)}',
f'Aux 2_{str(ind)}',
f'$ Body 5_{str(ind)}')
return tmp, collides
def template_joint(ind):
tmp = f"""
joints {{
name: "torso_{str(ind)}_torso_{str(ind+1)}"
parent_offset {{ x: 0.25 z: 0.0 }}
child_offset {{ x: -0.25 z: -0.0 }}
parent: "torso_{str(ind)}"
child: "torso_{str(ind+1)}"
stiffness: 5000.0
angular_damping: 35
angle_limit {{ min: -60.0 max: 60.0 }}
rotation {{ y: -90 z: 0.0 }}
reference_rotation {{ y: 0.0 }}
}}
actuators {{
name: "torso_{str(ind)}_torso_{str(ind+1)}"
joint: "torso_{str(ind)}_torso_{str(ind+1)}"
strength: 300.0
torque {{}}
}}
"""
collides = tuple()
return tmp, collides
base_config = f""""""
collides = tuple()
mass_iterator = itertools.cycle(mass_values)
for i in range(n):
mass_1 = next(mass_iterator)
mass_2 = next(mass_iterator)
theta = np.pi / 2
config_i, collides_i = template_torso(theta, i, mass_1, mass_2)
base_config += config_i
collides += collides_i
if i < n - 1:
joint_i, _ = template_joint(i)
base_config += joint_i
return base_config, collides
def get_specs(n: int = 3, mass_values: list = []):
message_str, collides = generate_centipede_config_with_n_torso(n, mass_values)
return dict(
message_str=message_str,
collides=collides,
root='torso_0',
term_fn=None)