klampt.model.create package

Submodules

klampt.model.create.moving_base_robot module

Common code for creating and moving free-floating moving bases.

The way to do this is to add a “virtual linkage” of 3 translational DOFs and 3 revolute DOFs. Some tuning may need to be done to the motor drivers in order to make the controller stable.

klampt.model.create.moving_base_robot.get_xform(robot)[source]

For a moving base robot model, returns the current base rotation matrix R and translation t.

klampt.model.create.moving_base_robot.make(robotfile, world, tempname='temp.rob', debug=False)[source]

Converts the given fixed-base robot file into a moving base robot and loads it into the given world.

Parameters:
  • robotfile (str) – the name of a fixed-base robot file to load
  • world (WorldModel) – a world that will contain the new robot
  • tempname (str, optional) – a name of a temporary file containing the moving-base robot
  • debug (bool, optional) – if True, the robot file named by tempname is not removed from disk.
Returns:

the loaded robot, stored in world.
Return type:

(RobotModel)
klampt.model.create.moving_base_robot.send_xform_PID(controller, R, t)[source]

For a moving base robot model, send a command to move to the rotation matrix R and translation t by setting the PID setpoint

Note: with the reflex model, can’t currently set hand commands and linear base commands simultaneously

klampt.model.create.moving_base_robot.send_xform_linear(controller, R, t, dt)[source]

For a moving base robot model, send a command to move to the rotation matrix R and translation t using linear interpolation over the duration dt.

Note: with the reflex model, can’t currently set hand commands and linear base commands simultaneously

klampt.model.create.moving_base_robot.set_xform(robot, R, t)[source]

For a moving base robot model, set the current base rotation matrix R and translation t. (Note: if you are controlling a robot during simulation, use send_moving_base_xform_command)

klampt.model.create.pile module

Utility functions for making arrangments / piles of objects.

Key functions are make_object_arrangement and make_object_pile.

klampt.model.create.pile.make_object_arrangement(world, container, objects, container_wall_thickness=0.01, max_iterations=100, remove_failures=False)[source]

For a given container and a list of objects in the world, places the objects inside the container with randomized x-y locations and z orientations so that they are initially collision free and on the bottom of the container.

Parameters:
  • world (WorldModel) – the world containing the objects and obstacles
  • container – the container RigidObject / Terrain in world into which objects should be spawned. Assumed axis-aligned.
  • objects (list of RigidObject) – a list of RigidObjects in the world, at arbitrary locations. They are placed in order.
  • container_wall_thickness (float, optional) – a margin subtracted from the container’s outer dimensions into which the objects are spawned.
  • max_iterations (int, optional) – the maximum number of iterations used for sampling object initial poses
  • remove_failures (bool) – if True, then instead of returning None on failure, the objects that fail placement are removed from the world.
Returns:

if successful, the positions of objects in world are modified and world is returned. On failure, None is returned.
Return type:

(WorldModel)

Note

Since world is modified in-place, if you wish to make multiple worlds with piles of the same objects, you should use world.copy() to store the configuration of the objects. You may also wish to randomize the object ordering using random.shuffle(objects) between instances.

klampt.model.create.pile.make_object_pile(world, container, objects, container_wall_thickness=0.01, randomize_orientation=True, visualize=False, verbose=0)[source]

For a given container and a list of objects in the world, drops the objects inside the container and simulates until stable.

Parameters:
  • world (WorldModel) – the world containing the objects and obstacles
  • container – the container RigidObject / Terrain in world into which objects should be spawned. Assumed axis-aligned.
  • objects (list of RigidObject) – a list of RigidObjects in the world, at arbitrary locations. They are placed in order.
  • container_wall_thickness (float, optional) – a margin subtracted from the container’s outer dimensions into which the objects are spawned.
  • randomize_orientation (bool or str, optional) – if True, the orientation of the objects are completely randomized. If ‘z’, only the z orientation is randomized. If False or None, the orientation is unchanged
  • visualize (bool, optional) – if True, pops up a visualization window to show the progress of the pile
  • verbose (int, optional) – if > 0, prints progress of the pile.

Side effect: the positions of objects in world are modified

Returns:(world,sim), containing
  • world (WorldModel): the original world
  • sim (Simulator): the Simulator instance at the state used to obtain the stable placement of the objects.
Return type:(tuple)

Note

Since world is modified in-place, if you wish to make multiple worlds with piles of the same objects, you should use world.copy() to store the configuration of the objects. You may also wish to randomize the object ordering using random.shuffle(objects) between instances.

klampt.model.create.pile.xy_jiggle(world, objects, fixed_objects, bmin, bmax, iters, randomize=True, verbose=0)[source]

Jiggles the objects’ x-y positions within the range bmin - bmax, and randomizes orientation about the z axis until the objects are collision free. A list of fixed objects (fixed_objects) may be given as well.

Objects for which collision-free resolutions are not found are returned.

klampt.model.create.pile.xy_randomize(obj, bmin, bmax)[source]

Randomizes the xy position and z orientation of an object inside of a bounding box bmin->bmax. Assumes the bounding box is large enough to hold the object in any orientation.

klampt.model.create.primitives module

klampt.model.create.primitives.box(width, depth, height, center=None, R=None, t=None, world=None, name=None, mass=inf, type='TriangleMesh')[source]

Makes a box with dimensions width x depth x height.

Parameters:
  • width,depth,height (float) – x,y,z dimensions of the box
  • center (list of 3 floats, optional) – if None (typical), the geometry of the box is centered at 0. Otherwise, the geometry of the box is shifted relative to the box’s local coordinate system.
  • R,t (se3 transform, optional) – if given, the box’s world coordinates will be rotated and shifted by this transform.
  • world (WorldModel, optional) – If given, then the box will be a RigidObjectModel or TerrainModel will be created in this world
  • name (str, optional) – If world is given, this is the name of the object. Default is ‘box’.
  • mass (float, optional) – If world is given and this is inf, then a TerrainModel will be created. Otherwise, a RigidObjectModel will be created with automatically determined inertia.
  • type (str, optional) – the geometry type. Defaults to ‘TriangleMesh’, but also ‘GeometricPrimitive’ and ‘VolumeGrid’ are accepted.
Returns:

either a Geometry3D, RigidObjectModel, or TerrainModel. In the latter two cases, the box is added to the world.
Return type:

box
klampt.model.create.primitives.sphere(radius, center=None, R=None, t=None, world=None, name=None, mass=inf, type='TriangleMesh')[source]

Makes a sphere with the given radius

Parameters:
  • radius (float) – radius of the sphere
  • center (list of 3 floats, optional) – if None (typical), the geometry of the sphere is centered at 0. Otherwise, the geometry of the sphere is shifted relative to the sphere’s local coordinate system.
  • R,t (se3 transform, optional) – if given, the sphere’s world coordinates will be rotated and shifted by this transform.
  • world (WorldModel, optional) – If given, then the sphere will be a RigidObjectModel or TerrainModel will be created in this world
  • name (str, optional) – If world is given, this is the name of the object. Default is ‘sphere’.
  • mass (float, optional) – If world is given and this is inf, then a TerrainModel will be created. Otherwise, a RigidObjectModel will be created with automatically determined inertia.
  • type (str, optional) – the geometry type. Defaults to ‘TriangleMesh’, but also ‘GeometricPrimitive’ and ‘VolumeGrid’ are accepted.
Returns:

either a Geometry3D, RigidObjectModel, or TerrainModel. In the latter two cases, the sphere is added to the world.
Return type:

sphere

Module contents