`base`

Abstract Base Modules for Robots.

Package Contents

Classes

`ActiveHinge`	An Active Hinge Module.
`AttachmentFace`	Collect AttachmentPoints on a modules face.
`Body`	Body of a modular robot.
`Brick`	A Brick Module.
`Core`	The core module of a modular robot.

class ActiveHinge(rotation: float | modular_robot.body._right_angles.RightAngles, servo1_bounding_box: pyrr.Vector3, servo2_bounding_box: pyrr.Vector3, frame_bounding_box: pyrr.Vector3, frame_offset: float, servo_offset: float, frame_mass: float, servo1_mass: float, servo2_mass: float, joint_offset: float, static_friction: float, dynamic_friction: float, range: float, effort: float, velocity: float, armature: float, pid_gain_p: float, pid_gain_d: float, child_offset: float, sensors: list[modular_robot.body.sensors.Sensor])

Bases: modular_robot.body._module.Module

Inheritance diagram of modular_robot.body.base.ActiveHinge

An Active Hinge Module.

property attachment: modular_robot.body._module.Module | None

Get the module attached to this hinge.

Returns:: The attachment points module.

property static_friction: float

Get the static friction.

Returns:: The value.

property dynamic_friction: float

Get the dynamic friction.

Returns:: The value.

property range: float

Get the range of the servo.

Returns:: The value.

property effort: float

Get the effort of the servo.

Returns:: The value.

property velocity: float

Get the velocity of the servo.

Returns:: The value.

property servo1_bounding_box: pyrr.Vector3

Get the bounding box of the first servo part.

Sizes are total length, not half-length from origin. :return: Vector3 with sizes of bbox in x,y,z dimension (m).

property servo2_bounding_box: pyrr.Vector3

Get the bounding box of the second servo part.

Sizes are total length, not half-length from origin. :return: Vector3 with sizes of bbox in x,y,z dimension (m).

property frame_bounding_box: pyrr.Vector3

Get the bounding box of the frame.

Sizes are total length, not half-length from origin. :return: Vector3 with sizes of bbox in x,y,z dimension (m).

property frame_offset: float

Get the offset of the frame (in m).

Returns:: The value.

property servo_offset: float

Get the servo offset (in m).

Returns:: The value.

property frame_mass: float

Get the frame mass (in kg).

Returns:: The value.

property servo1_mass: float

Get the mass of the first servo part (in kg).

Returns:: The value.

property servo2_mass: float

Get the mass of the second servo part (in kg).

Returns:: The value.

property joint_offset: float

Get the joint offset (in m).

Returns:: The value.

property armature: float

Get the armature of the joint.

This represents the inertia of the motor itself when nothing is attached.

Returns:: The value.

property pid_gain_p: float

Get the proportional gain of the pid position controller.

Returns:: The value.

property pid_gain_d: float

Get the derivative gain of the pid position controller.

Returns:: The value.

ATTACHMENT = 0

attachment_points

The base module only has orientation as its parameter since not all modules are square.

Here we covert the angle of the module to its orientation in space.

class AttachmentFace(rotation: float | modular_robot.body._right_angles.RightAngles, attachment_points: dict[int, modular_robot.body._attachment_point.AttachmentPoint])

Bases: modular_robot.body._module.Module

Inheritance diagram of modular_robot.body.base.AttachmentFace

Collect AttachmentPoints on a modules face.

This face can be thought of as a pseudo-module which usually does not have a body on its own.

class Body(core: modular_robot.body.base._core.Core)

Body of a modular robot.

property core: modular_robot.body.base._core.Core

Get the core of the Body.

Returns:: The core.

classmethod grid_position(module: modular_robot.body._module.Module) → pyrr.Vector3

Calculate the position of this module in a 3d grid with the core as center.

The distance between all modules is assumed to be one grid cell. All module angles must be multiples of 90 degrees.

Parameters:: module – The module to calculate the position for.
Returns:: The calculated position.
Raises:: KeyError – In case an attachment point is not found.

find_modules_of_type(module_type: Type[TModule], exclude: list[Type[TModule]] | None = None) → list[TModule]

Find all Modules of a certain type in the robot.

Parameters:

module_type – The type.
exclude – Module types to be excluded in search.

Returns:

The list of Modules.

to_grid() → tuple[numpy.typing.NDArray[TModuleNP], pyrr.Vector3[numpy.int_]]

Convert the tree structure to a grid.

The distance between all modules is assumed to be one grid cell. All module angles must be multiples of 90 degrees.

The grid is indexed depth, width, height, or x, y, z, from the perspective of the core.

Returns:: The created grid with cells set to either a Module or None and a position vector of the core. The position Vector3 is dtype: int.

class Brick(rotation: float | modular_robot.body._right_angles.RightAngles, mass: float, bounding_box: pyrr.Vector3, child_offset: float, sensors: list[modular_robot.body.sensors.Sensor])

Bases: modular_robot.body._module.Module

Inheritance diagram of modular_robot.body.base.Brick

A Brick Module.

property front: modular_robot.body._module.Module | None

Get the front module of the brick.

Returns:: The attachment points module.

property right: modular_robot.body._module.Module | None

Get right module of the brick.

Returns:: The attachment points module.

property left: modular_robot.body._module.Module | None

Get the left module of the brick.

Returns:: The attachment points module.

property mass: float

Get the mass of the brick (in kg).

Returns:: The value.

property bounding_box: pyrr.Vector3

Get the bounding box size.

Sizes are total length, not half-length from origin. :return: Vector3 with sizes of bbox in x,y,z dimension (in m).

FRONT = 0

RIGHT = 1

LEFT = 2

class Core(rotation: float | modular_robot.body._right_angles.RightAngles, mass: float, bounding_box: pyrr.Vector3, child_offset: float, sensors: list[modular_robot.body.sensors.Sensor])