Minor changes.

srl-climb · Aug 21, 2024 · 63c363e · 63c363e
1 parent f53c766
commit 63c363e
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Showing 245 changed files with 126,539 additions and 5,781 deletions.
diff --git a/tbotsim/script_build config/pickle/tetherbot.pkl b/tbotsim/script_build config/pickle/tetherbot.pkl
diff --git a/tbotsim/script_build config/pickle/tetherbot_light.pkl b/tbotsim/script_build config/pickle/tetherbot_light.pkl
diff --git a/tbotsim/script_build config/script_build config.py b/tbotsim/script_build config/script_build config.py
@@ -78,20 +78,21 @@
 # create tetherbot file
 mapping = [[0,0],[1,1],[2,2],[3,3],[4,4],[0,5],[1,6],[2,7],[3,8],[4,9]]
 aorder = Ring([4,3,2,1,0]) #indices of the grippers counter clockwise 
-W = hyperRectangle(np.array([2,2,0,0,0,0.22]), np.array([-2,-2,-0,-0,-0,-0.22]))
+W = TbRectangleWrenchSet([2,2,0,0,0,0.22], [-2,-2,-0,-0,-0,-0.22])
+F = TbTetherForceSet(0, 150)
 tbot = TbTetherbot(platform = platform, grippers = grippers, tethers = tethers, wall = wall, 
                    mode_2d = True, 
                    mapping = mapping,
                    aorder = aorder, 
                    W = W,
-                   tether_collision_margin = 0.055,
+                   F = F,
                    l_min = 0.12,
                    l_max = 2)
 tbot.place_all([0,1,2,3,4])
 tbot.save(os.path.join(absolute_path, 'pickle/tetherbot.pkl'), overwrite = True)
 
-vi = TetherbotVisualizer(tbot)
-vi.run()
+""" vi = TetherbotVisualizer(tbot)
+vi.run() """
 
 # create urdf files
 tb2urdf(tbot, prefix = '', stlpath = 'package://tbotros_description/desc/', filepath = os.path.join(absolute_path, 'urdf'))
@@ -101,7 +102,7 @@
                    mapping = mapping,
                    aorder = aorder, 
                    W = W,
-                   tether_collision_margin = 0.055,
+                   F = F,
                    l_min = 0.12,
                    l_max = 2)
 tbot_light.remove_all_geometries()

diff --git a/tbotsim/script_build config/urdf/tetherbot.urdf b/tbotsim/script_build config/urdf/tetherbot.urdf
@@ -22,6 +22,15 @@
   <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/> 
  </joint> 
 
+ <link name="tetherforceset0"> 
+ </link> 
+
+ <joint name="map_to_tetherforceset0" type="fixed"> 
+  <parent link="map"/> 
+  <child link="tetherforceset0"/> 
+  <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/> 
+ </joint> 
+
  <link name="gripper0"> 
  </link> 
 
@@ -280,6 +289,15 @@
   <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/> 
  </joint> 
 
+ <link name="rectanglewrenchset0"> 
+ </link> 
+
+ <joint name="platform0_to_rectanglewrenchset0" type="fixed"> 
+  <parent link="platform0"/> 
+  <child link="rectanglewrenchset0"/> 
+  <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/> 
+ </joint> 
+
  <link name="trianglemesh14"> 
   <visual> 
    <geometry> 

diff --git a/...obal path planning_3D/data/commands_3.pkl → ...al path planning_3D/data/125/commands.pkl b/...obal path planning_3D/data/commands_3.pkl → ...al path planning_3D/data/125/commands.pkl
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