From 837a752c1cb4a81db3fd5b2a04cfd12e601e5ab8 Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Wed, 24 Aug 2016 10:34:24 +0200
Subject: [PATCH] com admissible positions for hrp2
---
.../admissibleComPositionsFromEffector.py | 168 +
script/tools/hrp2/LA_com.obj | 76288 +++++++++++++++
script/tools/hrp2/LA_com_reduced.obj | 188 +
script/tools/hrp2/LL_com._reduced.obj | 108 +
script/tools/hrp2/LL_com.obj | 76190 +++++++++++++++
script/tools/hrp2/RA_com.obj | 76340 ++++++++++++++++
script/tools/hrp2/RA_com_reduced.obj | 138 +
script/tools/hrp2/RL_com._reduced.obj | 168 +
script/tools/hrp2/RL_com.obj | 76142 +++++++++++++++
9 files changed, 305730 insertions(+)
create mode 100644 script/tools/admissibleComPositionsFromEffector.py
create mode 100644 script/tools/hrp2/LA_com.obj
create mode 100644 script/tools/hrp2/LA_com_reduced.obj
create mode 100644 script/tools/hrp2/LL_com._reduced.obj
create mode 100644 script/tools/hrp2/LL_com.obj
create mode 100644 script/tools/hrp2/RA_com.obj
create mode 100644 script/tools/hrp2/RA_com_reduced.obj
create mode 100644 script/tools/hrp2/RL_com._reduced.obj
create mode 100644 script/tools/hrp2/RL_com.obj
diff --git a/script/tools/admissibleComPositionsFromEffector.py b/script/tools/admissibleComPositionsFromEffector.py
new file mode 100644
index 00000000..750a0df0
--- /dev/null
+++ b/script/tools/admissibleComPositionsFromEffector.py
@@ -0,0 +1,168 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+
+import quaternion as quat
+
+packageName = "hrp2_14_description"
+meshPackageName = "hrp2_14_description"
+rootJointType = "freeflyer"
+##
+# Information to retrieve urdf and srdf files.
+urdfName = "hrp2_14"
+urdfSuffix = "_reduced"
+srdfSuffix = ""
+
+fullBody = FullBody ()
+#~ fullBody.setJointBounds ("base_joint_xyz", [-2,2, -2, 2, -2, 2])
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz", [-20,20, -20, 20, -20, 20])
+
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+nbSamples = 1
+
+ps = ProblemSolver( fullBody )
+
+rootName = 'base_joint_xyz'
+
+
+rLegId = 'RL'
+rLeg = 'RLEG_JOINT0'
+rfoot = 'RLEG_JOINT5'
+rLegOffset = [0,-0.105,0,]
+rLegNormal = [0,1,0]
+rLegx = 0.09; rLegy = 0.05
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, "manipulability", 0.1)
+
+lLegId = 'LL'
+lLeg = 'LLEG_JOINT0'
+lfoot = 'LLEG_JOINT5'
+lLegOffset = [0,-0.105,0]
+lLegNormal = [0,1,0]
+lLegx = 0.09; lLegy = 0.05
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, "manipulability", 0.1)
+
+rarmId = 'RA'
+rarm = 'RARM_JOINT0'
+rHand = 'RARM_JOINT5'
+rArmOffset = [-0.05,-0.050,-0.050]
+rArmNormal = [1,0,0]
+rArmx = 0.024; rArmy = 0.024
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, nbSamples, "manipulability", 0.05)
+
+larmId = 'LA'
+larm = 'LARM_JOINT0'
+lHand = 'LARM_JOINT5'
+lArmOffset = [-0.05,-0.050,-0.050]
+lArmNormal = [1,0,0]
+lArmx = 0.024; lArmy = 0.024
+fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, nbSamples, "manipulability", 0.05)
+
+#~ rLegId = 'rLeg'
+#~ rLeg = 'RLEG_JOINT0'
+#~ rfoot = 'RLEG_JOINT5'
+#~ rLegOffset = [0,-0.105,0,]
+#~ rLegNormal = [0,1,0]
+#~ rLegx = 0.09; rLegy = 0.05
+#~ fullBody.addLimb(rLegId,rLeg,rfoot,rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, 0.01)
+#~
+#~ lLegId = 'lLeg'
+#~ lLeg = 'LLEG_JOINT0'
+#~ lfoot = 'LLEG_JOINT5'
+#~ lLegOffset = [0,-0.105,0]
+#~ lLegNormal = [0,1,0]
+#~ lLegx = 0.09; lLegy = 0.05
+#~ fullBody.addLimb(lLegId,lLeg,lfoot,lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, 0.01)
+#~
+#~ rarmId = 'rArm'
+#~ rarm = 'RARM_JOINT0'
+#~ rHand = 'RARM_JOINT5'
+#~ rArmOffset = [-0.05,-0.050,-0.050]
+#~ rArmNormal = [1,0,0]
+#~ rArmx = 0.024; rArmy = 0.024
+#~ fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, nbSamples, 0.01)
+#~
+#~ larmId = 'lArm'
+#~ larm = 'LARM_JOINT0'
+#~ lHand = 'LARM_JOINT5'
+#~ lArmOffset = [-0.05,-0.050,-0.050]
+#~ lArmNormal = [1,0,0]
+#~ lArmx = 0.024; lArmy = 0.024
+#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, nbSamples, 0.01)
+
+
+#make sure this is 0
+q_0 = fullBody.getCurrentConfig ()
+zeroConf = [0,0,0, 1, 0, 0, 0]
+q_0[0:7] = zeroConf
+fullBody.setCurrentConfig (q_0)
+
+effectors = [rfoot, lfoot, lHand, rHand]
+limbIds = [rLegId, lLegId, larmId, rarmId ]
+
+import numpy as np
+#~ effectorName = rfoot
+#~ limbId = rLegId
+#~ q = fullBody.getSample(limbId, 1)
+#~ fullBody.setCurrentConfig(q) #setConfiguration matching sample
+#~ qEffector = fullBody.getJointPosition(effectorName)
+#~ q0 = quat.Quaternion(qEffector[3:7])
+#~ rot = q0.toRotationMatrix() #compute rotation matrix world -> local
+#~ p = qEffector[0:3] #(0,0,0) coordinate expressed in effector fram
+#~ rm=np.zeros((4,4))
+#~ for i in range(0,3):
+ #~ for j in range(0,3):
+ #~ rm[i,j] = rot[i,j]
+#~ for i in range(0,3):
+ #~ rm[i,3] = qEffector[i]
+#~ rm[3,3] = 1
+#~ invrm = np.linalg.inv(rm)
+#~ p = invrm.dot([0,0,0,1])
+
+points = [[],[],[],[]]
+
+def printComPosition(nbConfigs):
+ for i in range(0,nbConfigs):
+ q = fullBody.shootRandomConfig()
+ q[0:7] = zeroConf
+ fullBody.setCurrentConfig(q) #setConfiguration matching sample
+ com = fullBody.getCenterOfMass()
+ for x in range(0,3):
+ q[x] = -com[x]
+ fullBody.setCurrentConfig(q)
+ #~ print ("final com" + str(com))
+ #~ print ("final com" + str(fullBody.getCenterOfMass()))
+ if(fullBody.isConfigValid(q)[0]):
+ for j in range(0,len(effectors)):
+ effectorName = effectors[j]
+ limbId = limbIds[j]
+ qEffector = fullBody.getJointPosition(effectorName)
+ q0 = quat.Quaternion(qEffector[3:7])
+ rot = q0.toRotationMatrix() #compute rotation matrix world -> local
+ p = qEffector[0:3] #(0,0,0) coordinate expressed in effector fram
+ rm=np.zeros((4,4))
+ for k in range(0,3):
+ for l in range(0,3):
+ rm[k,l] = rot[k,l]
+ for m in range(0,3):
+ rm[m,3] = qEffector[m]
+ rm[3,3] = 1
+ invrm = np.linalg.inv(rm)
+ p = invrm.dot([0,0,0,1])
+ points[j].append(p)
+ #~ print (points[j])
+ #~ else:
+ #~ print fullBody.isConfigValid(q)[1]
+ for j in range(0,len(limbIds)):
+ f1=open('./'+str(limbIds[j])+'_com.erom', 'w+')
+ for p in points[j]:
+ f1.write(str(p[0]) + "," + str(p[1]) + "," + str(p[2]) + "\n")
+ f1.close()
+
+#~ printRootPosition(rLegId, rfoot, nbSamples)
+#~ printRootPosition(lLegId, lfoot, nbSamples)
+#~ printRootPosition(rarmId, rHand, nbSamples)
+#~ printRootPosition(larmId, lHand, nbSamples)
+printComPosition(100000)
diff --git a/script/tools/hrp2/LA_com.obj b/script/tools/hrp2/LA_com.obj
new file mode 100644
index 00000000..fba7e7cc
--- /dev/null
+++ b/script/tools/hrp2/LA_com.obj
@@ -0,0 +1,76288 @@
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diff --git a/script/tools/hrp2/LA_com_reduced.obj b/script/tools/hrp2/LA_com_reduced.obj
new file mode 100644
index 00000000..0528238d
--- /dev/null
+++ b/script/tools/hrp2/LA_com_reduced.obj
@@ -0,0 +1,188 @@
+# Blender v2.75 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib LA_com_reduced.mtl
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index 00000000..8480e0fc
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diff --git a/script/tools/hrp2/RA_com_reduced.obj b/script/tools/hrp2/RA_com_reduced.obj
new file mode 100644
index 00000000..0c0fac35
--- /dev/null
+++ b/script/tools/hrp2/RA_com_reduced.obj
@@ -0,0 +1,138 @@
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+# www.blender.org
+mtllib RA_com_reduced.mtl
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diff --git a/script/tools/hrp2/RL_com._reduced.obj b/script/tools/hrp2/RL_com._reduced.obj
new file mode 100644
index 00000000..bfd06c9e
--- /dev/null
+++ b/script/tools/hrp2/RL_com._reduced.obj
@@ -0,0 +1,168 @@
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--
GitLab