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Jason Chemin
hpp-rbprm-corba
Commits
a6d09efe
Commit
a6d09efe
authored
Jan 10, 2019
by
Pierre Fernbach
Browse files
[script] add a script to generate reference config for Kevin
parent
17657c8d
Changes
1
Hide whitespace changes
Inline
Side-by-side
script/dynamic/talos_table.py
0 → 100644
View file @
a6d09efe
from
hpp.corbaserver.rbprm.rbprmbuilder
import
Builder
from
hpp.corbaserver.rbprm.rbprmfullbody
import
FullBody
from
hpp.gepetto
import
Viewer
import
time
from
hpp.corbaserver
import
ProblemSolver
from
hpp.corbaserver.rbprm.rbprmstate
import
State
,
StateHelper
import
time
rLegId
=
'talos_rleg_rom'
rLeg
=
'leg_right_1_joint'
rFoot
=
'leg_right_6_joint'
lLegId
=
'talos_lleg_rom'
lLeg
=
'leg_left_1_joint'
lFoot
=
'leg_left_6_joint'
rArmId
=
'talos_rarm_rom'
rArm
=
'arm_right_1_joint'
rHand
=
'arm_right_7_joint'
lArmId
=
'talos_larm_rom'
lArm
=
'arm_left_1_joint'
lHand
=
'arm_left_7_joint'
packageName
=
"talos_data"
meshPackageName
=
"talos_data"
rootJointType
=
"freeflyer"
urdfName
=
"talos"
urdfSuffix
=
"_reduced"
srdfSuffix
=
""
fullBody
=
FullBody
()
fullBody
.
loadFullBodyModel
(
urdfName
,
rootJointType
,
meshPackageName
,
packageName
,
urdfSuffix
,
srdfSuffix
)
fullBody
.
setJointBounds
(
"root_joint"
,
[
-
5
,
5
,
-
1.5
,
1.5
,
0.95
,
1.05
])
ps
=
ProblemSolver
(
fullBody
)
from
hpp.gepetto
import
ViewerFactory
vf
=
ViewerFactory
(
ps
)
vf
.
loadObstacleModel
(
"hpp-rbprm-corba"
,
"table_140_70_73"
,
"planning"
)
q_ref
=
[
0.0
,
0.0
,
1.0232773
,
0.0
,
0.0
,
0.0
,
1
,
#Free flyer
0.0
,
0.0
,
-
0.411354
,
0.859395
,
-
0.448041
,
-
0.001708
,
#Left Leg
0.0
,
0.0
,
-
0.411354
,
0.859395
,
-
0.448041
,
-
0.001708
,
#Right Leg
0.0
,
0.006761
,
#Chest
0.25847
,
0.173046
,
-
0.0002
,
-
0.525366
,
0.0
,
-
0.0
,
0.1
,
-
0.005
,
#Left Arm
-
0.25847
,
-
0.173046
,
0.0002
,
-
0.525366
,
0.0
,
0.0
,
0.1
,
-
0.005
,
#Right Arm
0.
,
0.
];
# head
q_init
=
q_ref
[::]
fullBody
.
setReferenceConfig
(
q_ref
)
tStart
=
time
.
time
()
# generate databases :
nbSamples
=
1000
rLegOffset
=
[
0
,
-
0.00018
,
-
0.107
]
rLegOffset
[
2
]
+=
0.006
rLegNormal
=
[
0
,
0
,
1
]
rLegx
=
0.1
;
rLegy
=
0.06
fullBody
.
addLimb
(
rLegId
,
rLeg
,
rFoot
,
rLegOffset
,
rLegNormal
,
rLegx
,
rLegy
,
nbSamples
,
"static"
,
0.01
)
fullBody
.
runLimbSampleAnalysis
(
rLegId
,
"ReferenceConfiguration"
,
True
)
#fullBody.saveLimbDatabase(rLegId, "./db/talos_rLeg_walk.db")
lLegOffset
=
[
0
,
-
0.00018
,
-
0.107
]
lLegOffset
[
2
]
+=
0.006
lLegNormal
=
[
0
,
0
,
1
]
lLegx
=
0.1
;
lLegy
=
0.06
fullBody
.
addLimb
(
lLegId
,
lLeg
,
lFoot
,
lLegOffset
,
rLegNormal
,
lLegx
,
lLegy
,
nbSamples
,
"static"
,
0.01
)
fullBody
.
runLimbSampleAnalysis
(
lLegId
,
"ReferenceConfiguration"
,
True
)
#fullBody.saveLimbDatabase(rLegId, "./db/talos_lLeg_walk.db")
#rArmOffset = [0.055,-0.04,-0.13]
rArmOffset
=
[
-
0.01
,
0.
,
-
0.154
]
rArmNormal
=
[
0
,
0
,
1
]
rArmx
=
0.005
;
rArmy
=
0.005
fullBody
.
addLimb
(
rArmId
,
rArm
,
rHand
,
rArmOffset
,
rArmNormal
,
rArmx
,
rArmy
,
nbSamples
,
"EFORT"
,
0.01
)
fullBody
.
runLimbSampleAnalysis
(
rArmId
,
"ReferenceConfiguration"
,
True
)
"""
lArmOffset = [0.055,0.04,-0.13]
lArmNormal = [0,0,1]
lArmx = 0.02; lArmy = 0.02
fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, nbSamples, "EFORT", 0.01)
fullBody.runLimbSampleAnalysis(larmId, "ReferenceConfiguration", True)
"""
tGenerate
=
time
.
time
()
-
tStart
print
"generate databases in : "
+
str
(
tGenerate
)
+
" s"
v
=
vf
.
createViewer
(
displayCoM
=
True
)
v
(
q_init
)
v
.
addLandmark
(
v
.
sceneName
,
0.5
)
v
.
addLandmark
(
'talos/arm_right_7_link'
,
0.1
)
q_init
[
0
:
2
]
=
[
-
0.5
,
0.8
]
q_init
[
32
]
-=
1.5
# right elbow
v
(
q_init
)
# sphere = target
from
display_tools
import
*
createSphere
(
'target'
,
v
,
size
=
0.05
,
color
=
v
.
color
.
red
)
v
.
client
.
gui
.
setVisibility
(
'target'
,
'ON'
)
moveSphere
(
'target'
,
v
,[
0
,
0
,
0.5
])
# create contact :
fullBody
.
setStartState
(
q_init
,[
lLegId
,
rLegId
])
q_ref
[
0
:
3
]
=
q_init
[
0
:
3
]
sref
=
State
(
fullBody
,
q
=
q_ref
,
limbsIncontact
=
[
lLegId
,
rLegId
])
s0
=
State
(
fullBody
,
q
=
q_init
,
limbsIncontact
=
[
lLegId
,
rLegId
])
createSphere
(
's'
,
v
)
p0
=
[
-
0.25
,
0.5
,
0.75
]
#p1 = [-0,0.45,0.8]
p
=
[
0.1
,
0.5
,
0.75
]
moveSphere
(
's'
,
v
,
p
)
s0_bis
,
success
=
StateHelper
.
addNewContact
(
sref
,
rArmId
,
p0
,[
0
,
0
,
1
])
#s0_bis2,success = StateHelper.addNewContact(s0_bis,rArmId,p1,[0,0,1])
s1
,
success
=
StateHelper
.
addNewContact
(
s0_bis
,
rArmId
,
p
,[
0
,
0
,
1
])
assert
(
success
)
v
(
s1
.
q
())
#project com
v
(
q_init
)
com_i
=
fullBody
.
getCenterOfMass
()
com_i
[
2
]
-=
0.03
com_i
[
0
]
+=
0.06
createSphere
(
"com"
,
v
)
moveSphere
(
"com"
,
v
,
com_i
)
s1
.
projectToCOM
(
com_i
)
v
(
s1
.
q
())
s1_feet
=
State
(
fullBody
,
q
=
s1
.
q
(),
limbsIncontact
=
[
lLegId
,
rLegId
])
s2
,
success
=
StateHelper
.
addNewContact
(
s0_bis
,
rArmId
,
p
,[
0
,
0
,
1
])
com
=
s2
.
getCenterOfMass
()
#com[0] += 0.03
com
[
1
]
-=
0.06
com
[
2
]
-=
0.02
moveSphere
(
"com"
,
v
,
com
)
s2
.
projectToCOM
(
com
)
v
(
s2
.
q
())
q3
=
q_init
[::]
q3
[
20
]
=
1.2
s3_0
=
State
(
fullBody
,
q
=
q3
,
limbsIncontact
=
[
lLegId
,
rLegId
])
s3
,
success
=
StateHelper
.
addNewContact
(
s3_0
,
rArmId
,
p
,[
0
,
0
,
1
])
assert
(
success
)
com
=
s3
.
getCenterOfMass
()
#com[0] += 0.03
com
[
1
]
-=
0.1
com
[
2
]
-=
0.02
moveSphere
(
"com"
,
v
,
com
)
s3
.
projectToCOM
(
com
)
v
(
s3
.
q
())
"""
jointsName = [rFoot,lFoot,rHand]
contactPos = []
contactNormal = []
pn = s1.getCenterOfContactForLimb(rLegId)
contactPos += [pn[0]]
contactNormal += [pn[1]]
pn = s1.getCenterOfContactForLimb(lLegId)
contactPos += [pn[0]]
contactNormal += [pn[1]]
pn = s1.getCenterOfContactForLimb(rArmId)
contactPos += [pn[0]]
contactNormal += [pn[1]]
ps.client.problem.createStaticStabilityConstraint ('staticStability',
jointsName, contactPos, contactNormal,'root_joint')
"""
q2
=
q_ref
[::]
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