klampt.model.map module¶
Defines a convenient object-oriented interface for accessing worlds, robots, objects, links, etc. For example, you can write
wm = map.map(world)
wm.robots[0].links[4].transform
instead of
world.robot(0).link(4).getTransform().
Most notably used in the klampt.sim.batch module.
Helpers for accessing world/simulation variables using a class-style interface.
For example,:
map(world).robots[0].config
retrieves the name of robot 0. This saves a little writing compared to world.robot(0).getConfig().
You can also write:
map(world).robots[0].config = [q1,...,qn]
to set the configuration of robot 0, rather than world.robot(0).setConfig([q1,…,qn]).
Conveniently, you can write expressions like:
print len(map(world).robots)
map(world).robots[0].config[4] = 3.5
Which is a shortcut to:
print world.numRobots()
q = world.robot(0).getConfig()
q[4] = 3.5
world.robot(0).setConfig(q)
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class
klampt.model.map.Vectorizer(world, items)[source]¶ A class that retrieves named items in a world and places them into a flattened vector. Useful for planning.
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klampt.model.map.get_dict(world, items)[source]¶ Retrieves a dictionary of elements referred to by the given list of items.
Note: not secure! Uses eval()
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klampt.model.map.get_item(obj, name)[source]¶ Given a attribute item like ‘robots[2].links[4].name’, evaluates the value of the item in the object.
Note: not secure! Uses eval()
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class
klampt.model.map.map(obj, setter=None)[source]¶ A class-style interface for accessing all elements of a WorldModel or Simulator.
The following class hierarchy is supported:
- * indicates read-only
- # indicates sub-item set access is supported (otherwise, to set you have to set the entire object)
WorldModel:
- *robots (list/dict of RobotModels)
- *rigidObjects (list/dict of RigidObjectModels)
- *terrains (list/dict of TerrainModels)
- *elements (list/dict of all elements by id)
- *[string]: accesses objects by name
RobotModel:
- *name (string)
- *id (int)
- *links (list/dict of RobotModelLinks)
- #config (list of floats)
- #velocity (list of floats)
- #jointLimits (pair of lists of floats)
- velocityLimits (list of floats)
- accelerationLimits (list of floats)
- torqueLimits (list of floats)
- *[string]: accesses links by name
RobotModelLink:
- *name (string)
- *id (int)
- *robot (RobotModel)
- parent (int)
- geometry (Geometry3D)
- appearance (Appearance)
- mass (Mass)
- #parentTransform (se3 object (R,t))
- #transform (se3 object (R,t))
- #axis (3-list of floats)
- RigidObjectModel:
- *name (string)
- *id (int)
- geometry (Geometry3D)
- appearance (Appearance)
- mass (Mass)
- contactParameters (ContactParameters)
- # transform (se3 object (R,t))
- # velocity (pair of 3D vectors w,v giving angular and translational velocity)
- TerrainModel:
- *name (string)
- *id (int)
- geometry (Geometry3D)
- appearance (Appearance)
Simulator:
- *world (WorldModel)
- *bodies (list of SimBodys)
- *controllers (list/dict of SimRobotControllers)
- *time (float)
- *robots (list/dict of SimRobots)
- *rigidObjects (list/dict of SimBodys)
- *terrains (list of SimBodys)
- gravity (3-list of floats)
- [string]: accesses bodies by name
- SimRobot:
- *actualConfig (list of floats)
- *actualVelocity (list of floats)
- *actualTorques (list of floats)
- *config (an alias of actualConfig)
- *velocity (an alias of actualVelocity)
- *torques (an alias of actualTorques)
- *links (list/dict of SimLinks)
SimLink:
- # transform (se3 object (R,t))
- # velocity (pair of 3D vectors w,v giving angular and translational velocity)
SimBody:
- enabled (bool)
- collisionPadding (float)
- surface (ContactParameters)
- # transform (se3 object (R,t))
- # objectTransform (se3 object (R,t))
- # velocity (pair of 3D vectors w,v giving angular and translational velocity)
- # objectVelocity (pair of 3D vectors w,v giving angular and translational velocity)
SimRobotController:
- *commandedConfig (list of floats)
- *commandedVelocity (list of floats)
- *sensedConfig (list of floats)
- *sensedVelocity (list of floats)
- *sensors (list/dict of SimRobotSensors)
dicts, lists, tuples: behave like normal
Other objects (e.g., ContactParameters, Mass, Geometry3D): must be operated with using the standard Klamp’t API.