The pydart from jslee02

pydart's Introduction

PyDart

====== PyDART is an open source python binding of [DART](https://github.com/dartsim/dart)(4.3.4), an open source physics simulator. All APIs are designed to provide a concise and powerful control on [DART](https://github.com/dartsim/dart) physics worlds. Further, a user can write simulations with a numerous python scientific libraries, such as [NumPy](http://www.numpy.org/)(linear algebra), [SciPy](http://www.scipy.org/)(optimization), [scikit-learn] (http://scikit-learn.org/stable/) (machine learning), [PyBrain](http://pybrain.org/)(machine learning), and so on.

Requirements

DART(4.3.4)

https://github.com/dartsim/dart/wiki/Installation

SWIG (Simplified Wrapper and Interface Generator)
NumPy & SciPy
PyOpenGL
PyQt4(Optional)

sudo aptitude install swig
sudo aptitude install python-numpy python-scipy 
sudo apt-get install python-pip
sudo pip install PyOpenGL PyOpenGL_accelerate

Installation

Checkout the project

git clone https://github.com/sehoonha/pydart.git
cd pydart

Setup the python package for development

sudo python setup.py develop

Compile the API

mkdir build
cd build
cmake ..
make
make install

Run the first application

python apps/helloPyDART/main.py

Screenshots

Code snippets

Modifying a skeleton pose using dof names (q is still a numerical vector)

q = skel.q
q["j_pelvis_rot_y"] = -0.2
q["j_thigh_left_z", "j_shin_left", "j_heel_left_1"] = 0.15, -0.4, 0.25
q["j_thigh_right_z", "j_shin_right", "j_heel_right_1"] = 0.15, -0.4, 0.25
q["j_abdomen_2"] = 0.0
skel.set_positions(q)

Add damping forces to the rigid chain

class DampingController:
    """ Add damping force to the skeleton """
    def __init__(self, skel):
        self.skel = skel

    def compute(self):
        damping = -0.01 * self.skel.qdot
        for i in range(1, self.skel.ndofs, 3):
            damping[i] *= 0.1
        return damping

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