Example listing#
- Example:
- Tags:
dynamics cart pole machine learning
- Folder:
example_2_link_cartpole
- Description:
We will now demonstrate training the model using StableBaselines 3
- Example:
- Tags:
dynamics time domain flexible slider crank
- Folder:
example_flexible_slider_crank
- Description:
Illustrates a slider-crank with a flexible body. This is a system that has both flexible bodies and closed loops.
- Example:
- Tags:
dynamics cart pole machine learning
- Folder:
example_cartpole
- Description:
This notebook demonstrates implementing a custom learning environment using kdFlex. By implementing the simple cart pole scenario in a Gymnasium class, any machine learning library that is compatible with Gymnasium can be trained on the scenario. This tutorial consists of 2 parts: building the environment and training a model on the environment.
- Example:
- Tags:
data logging
- Folder:
example_data_logging
- Description:
This notebook explores kdflex’s built in data logging capabilities using a 2-link pendulum example multibody. We start with generic non-simulation data logging to H5 files using
Karana.KUtils.H5Writer. Then we will demonstrate automatically logging sim data using theKarana.Models.DataLogger. This requires going through the typical process of setting up a multibody and running the simulation.
- Example:
- Tags:
dynamics double wishbone constraints cutjoint flexible TA model
- Folder:
example_flexible_double_wishbone
- Description:
This example builds a flexible body double-wishbone example. This example and makes one of its links flexible, adds a spring-damper, and runs a full simulation of the double-wishbone system. This is an example of a multibody that has flexible bodies and constraints. _
- Example:
- Tags:
visualization 3D graphics
- Folder:
example_visualization
- Description:
In this tutorial we will:
Create a two-link pendulum multibody
Attach a primitive geometry to a body
Attach a 3D mesh geometry to a body
Setup web-based 3d visualization
Render to a file
Prerequisites:
- Example:
- Tags:
dynamics urdf import robot WAM
- Folder:
example_urdf
- Narration:
- Description:
The purpose of this notebook is to
demonstrate the creation of a
Karana.Dynamics.Multibodyinstance for a robot arm from a URDF model fileshow the structure of the loaded model
show a 3D visualization of the robot arm
serve as a
hello worldscript for verifying a properkdFlexinstallation
Resources
Acknowledgements The Barrett WAM urdf is sourced from the public repository barrett-ros2-pkg. Thank you to the authors and contributors.
- Example:
- Tags:
time domain parallelization
- Folder:
example_parallel_vehicles
- Description:
This notebook runs two independent vehicle
SubTreesin parallel viaKarana.Models.ParallelVehicles.ParallelVehiclesregisters on a globalstate propagatorand advances a list of vehiclestate propagatorinstances during the global propagator’s hop.This example uses small serial-chain vehicles so the setup is easy to see. Each vehicle has its own
SubTree, its ownstate propagator, its own integrator, and a recurring pre-hop event that sleeps for 0.1 seconds. The sleep events make the wall-clock difference between parallel and serial execution visible.
- Example:
- Tags:
frames
- Folder:
example_frames
- Description:
Illustrates frames layer usage
- Example:
- Tags:
pendulum contact time domain
- Folder:
example_procedural_collision
- Description:
This notebook is a more advanced version of the n-link pendulum and 2-link pendulum collision tutorials.In this notebook a pendulum is created using the procedural approach to allow for an n number of linked bodies to be built at once. Collision detection is added in this notebook and visualized using material colors.
Requirements:
In this example we will:
Create the n-link pendulum multibody
Create the kdFlex Scene
Setup geometries
Set up the state propagator and models
Set initial state
Register a timed event
Run the simulation
Clean up the simulation
For a more in-depth descriptions of kdflex concepts see usage.
- Example:
- Tags:
math beginner
- Folder:
example_math
- Description:
This notebook demonstrates how to work with basic math objects using kdFlex
- Example:
- Tags:
dynamics ground vehicle skid steered machine learning ATRV Jr
- Folder:
example_atrvjr_learning
- Description:
This tutorial trains a model to drive an ATRVjr vehicle to a target. This tutorial consists of 2 parts: building the environment and training a model on the environment.
- Example:
- Tags:
dynamics pendulum gui beginner
- Folder:
example_serial_chain
- Description:
This is an introductory example of creating a serial chain system along with starting up the GUI for introspection.
- Example:
- Tags:
dynamics double wishbone constraints cutjoint TA model
- Folder:
example_double_wishbone
- Description:
This notebook walks through loading a DARTS Model file of a Double Wishbone multibody. Additionally, it demonstrates how to enforce loop constraints in the graph multibody.
- Example:
- Tags:
dynamics cutjoint constraints TA model beginner time domain planar 4-bar
- Folder:
example_4_bar
- Description:
This notebook builds upon the system-level simulation showcased in the system-level notebook. If you are not already familiar with the concepts described in that notebook, please go through it before this one.
- Example:
- Tags:
import pendulum time domain
- Folder:
example_import_export
- Description:
Illustrates importing and exporting multibody models files in various formats; also, the use of units and quantities.
- Example:
- Tags:
import urdf ground vehicle
- Folder:
example_m2020
- Description:
Illustrates importing a Mars 2020 rover model from a URDF file
- Example:
- Tags:
dynamics constraints cutjoint TA model time domain
- Folder:
example_cut_joint_constraint
- Description:
This notebook illustrates the use of a cu-joint loop constraint.
- Example:
- Tags:
dynamics time domain pendulum
- Folder:
example_2_link_pendulum
- Description:
This notebook walks you through every step to manually create a simple two-link pendulum multibody simulation. While the majority of the kdFlex software is in C++, Python bindings for the C++ classes are available as Python extensions. This example illustrates the use of the kdFlex Python extensions.
- Example:
- Tags:
pendulum time domain
- Folder:
example_rigid_timing
- Description:
In this notebook we benchmark the n-link pendulum example. This notebook is similar to the \(n\)-link pendulum but is designed for benchmarking kdFlex’s simulation performance and demonstrating how kdFlex’s multibody simulation performance scales.
Requirements:
In this tutorial we will:
Define a method to create the multibody
Run the simulation with increasing number of links
Benchmark simulation runtimes
For a more in-depth descriptions of kdflex concepts see usage.
- Example:
- Tags:
dynamics pendulum beginner KModels time domain
- Folder:
example_system_level
- Description:
An introductory example of setting up a time-domain simulation of a serial chain system along with a gravity
KModeland starting up the GUI for introspection.This notebook builds upon the time domain simulation showcased in the time domain notebook. If you are not already familiar with the concepts described in that notebook, please go through it before this one.
- Example:
- Tags:
import math robot
- Folder:
example_robotics_algorithms
- Description:
The purpose of this notebook is to demonstrate how kdflex’s various algorithms can be used. This notebook uses the Barret WAM arm to showcase these algorithms.
Resources
Acknowledgements The Barret WAM urdf is sourced from the public repository barrett-ros2-pkg. Thank you to the authors and contributors.
- Example:
- Tags:
pendulum dynamics time domain
- Folder:
example_n_link_pendulum
- Description:
This notebook walks through the process required to create an n-link pendulum multibody simulation in kdflex. This problem is an extension to the 2-link pendulum by creating the pendulum using a procedural approach to allow for an n number of linked bodies to be built at once. This method uses the
Karana.Dynamics.PhysicalBody.addSerialChain()method which can be useful for automating the creation of large multibody systems.Requirements:
In this tutorial we will:
Create the multibody
Setup the kdFlex scene
Add a root visual geometry
Set up the state propagator and models
Set initial state
Register a timed event
Run the simulation
Clean up the simulation
For a more in-depth descriptions of kdflex concepts see usage.
- Example:
- Tags:
dynamics time domain pendulum TA model
- Folder:
example_fully_augmented_benchmark
- Description:
In this notebook, we use the \(n\)-link pendulum example to compare the performance of kdFlex’s default SOA-base \(O(N)\) dynamics algorithm with the conventional \(O(N^{3}\)) methods for a fully augmented (FA) model.
- Example:
- Tags:
frames spice ephemerides
- Folder:
example_spice_frames
- Description:
This notebook walks the user through the process of creating Spice Frames. The
Karana.Frame.SpiceFrameis a special type ofKarana.Frame.Framethat is associated with planetary bodies for ephemerides.Requirements:
In this tutorial we will:
Create SpiceFrames for planetary bodies
Create SpiceFrameToFrames to tie together ephemerides
Setup the kdFlex scene
Attach ProxySceneNodes to each planet
Query ephemeris data for bodies
Run and Clean up the Simulation
- Example:
- Tags:
dynamics slider crank constraints cutjoint
- Folder:
example_slider_crank
- Description:
This notebook is an example of creating a simple slider crank with loop constraints and graph topology. This demonstrates how to do the following:
In this tutorial we will:
Create a Multibody using DataStruct.DataStruct
Use ConstraintKinematicsSolver solve a system
Setup the simulation
Run the simulation with constraints
Prerequisites:
- Example:
- Tags:
dynamics ground vehicle skid steered ATRV Jr
- Folder:
example_atrvjr_drive
- Description:
In this notebook we import the ATRVjr rover model into kdflex and drive it around using a simple manual applied torque approach.
- Example:
- Tags:
pendulum contact time domain
- Folder:
example_pendulum_collision
- Description:
This notebook is a more advanced version of the 2-link pendulum example by adding a collision dynamics. This tutorial notebook walks you through the steps to create a 2-link pendulum manually and then adds collision dynamics in addition to extra visualization geometries.
Requirements:
In this example we will:
Create the multibody
Setup the kdFlex Scene
Setup geometries
Set up the state propagator and models
Set initial state
Register a timed event
Run the simulation
Clean up the simulation
For a more in-depth descriptions of kdflex concepts see usage.
- Example:
- Tags:
dynamics ground vehicle skid steered ATRV Jr ROS
- Folder:
example_atrvjr_ros
- Description:
In this notebook we import the ATRVjr rover model into kdflex and interface with ROS. We will publish messages to ROS as the sim advances as well as listen for a ROS message to command the vehicle’s driving mode.
- Example:
- Tags:
dynamics time domain pendulum constraints cutjoint
- Folder:
example_loop_assignment
- Description:
This notebook servers as a simple assignment (with answers) to help you understand how to build a closed-loop kdFlex simulation.