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The aim of CoDyCo is to advance the current control and cognitive understanding about robust, goal- directed whole-body motion interaction with multiple contacts. CoDyCo will go beyond traditional approaches: (1) proposing methodologies for performing coordinated interaction tasks with complex systems; (2) combining planning and compliance to deal with predictable and unpredictable events and contacts; (3) validating theoretical advances in real-world interaction scenarios.

http://www.codyco.eu/

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@article{huston1981multi,
  title={Multi-body dynamics including the effects of flexibility and compliance},
  author={Huston, Ronald L},
  journal={Computers \& Structures},
  volume={14},
  number={5},
  pages={443--451},
  year={1981},
  publisher={Elsevier}
}

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from sympy import *
from sympy.matrices import *

x1, y1, x2, y2, x3, y3, x4, y4 = symbols('x1 y1 x2 y2 x3 y3 x4 y4');

r1 = x1*x1+y1*y1;
r2 = x2*x2+y2*y2;
r3 = x3*x3+y3*y3;
r4 = x4*x4+y4*y4;

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N_PARTICLE = 4
N_SIMULATIONS = 100000

zeroth_moment = zeros(N_SIMULATIONS,1);
first_moment = zeros(N_SIMULATIONS,1);
second_moment = zeros(N_SIMULATIONS,1);

for i = 1:N_SIMULATIONS
  m = 100*rand(N_PARTICLE,1);
  x = 4*rand(N_PARTICLE,1)-2; %between -2 and 2 to have both 

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#load pls and pca result
b = load("testb.csv");

n_samples = size(b,1)/6;

bm = reshape(b',6,n_samples)';

b_pca = load("hatb_opt_pca_val.csv");

n_samples = size(b_pca,1)/6;

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#!/usr/bin/python
"""Script for facilitating the use of dataDumper with multiple ports

In case of dumping n ports simultaniously, this scripts creates n istances of 
dataDumper, and connects them to the port do dump. The it can be closed 
withc Ctrl+C and it closes cleanly all instances of dataDumper.
"""


import sys

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par_string = {0:'M', 1 : 'MX', 2 : 'MY', 3 : 'MZ', 4 : 'XX', 5: 'XY', 6: 'XZ', 7: 'YY', 8: 'YZ', 9: 'ZZ'};

for row in range(0,6):
    for col in range(10,70):
        link = col%10;
        if( link < row+1 ):
            print "double DG"+str(row+1)+par_string[col%10]+str(col/10) + " = 0;" ;

            
        

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Z_B_2 = [0,0,1,0;0,0,0,1];
X_B_2 = Z_B_2';
P_B_2 = X_B_2*Z_B_2;

Z_B_1 = [1,0,0,0;0,1,0,0];
X_B_1 = Z_B_1';
P_B_1 = X_B_1*Z_B_1;

Z_I = [1,0,0,0;0,0,1,0;0,sqrt(2)/2,0,sqrt(2)/2];
X_I = Z_I';

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#this data is used to inizialize the fake controlBoard device in gazebo
#the JointNames parameter list provide a mapping between the joints in
#the controlBoard and the joints in Gazebo
[GENERAL]
Joints 23 // the number of joints of the robot part
 
[GAZEBO]
device controlboard
subdevice coman
name /coman/test

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import bpy
 
#unselect everything
# <insert code here, this can vary depending on your situation>
bpy.ops.object.select_all()
 
# gather list of items of interest.
candidate_list = [item.name for item in bpy.data.objects if (item.name == "l_hand_mesh" or item.name == "l_hand")]
 
# select them only.