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Commit fccc4771 authored by Florent Lamiraux's avatar Florent Lamiraux
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Remove obsolete hrp2.py file 

  This file is now defined by package sot-hrp2.
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1 merge request!1[major][cpp] starting point to integrate pinocchio
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src/CMakeLists.txt
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......@@ -78,12 +78,6 @@ INSTALL(FILES
)
IF(HRP2_DYNAMICS_FOUND)
CONFIG_FILES(dynamic_graph/sot/dynamics/hrp2.py)
INSTALL(FILES
${CMAKE_CURRENT_BINARY_DIR}/dynamic_graph/sot/dynamics/hrp2.py
DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics
)
PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2 hrp2-dynamics)
ENDIF(HRP2_DYNAMICS_FOUND)
......
src/dynamic_graph/sot/dynamics/hrp2.py.in deleted 100755 → 0
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− 190
View file @ c6376c9d
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
#
# This file is part of dynamic-graph.
# dynamic-graph is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# dynamic-graph is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
import numpy as np
from dynamic_graph.sot import SE3, R3, SO3
from dynamic_graph.sot.core import FeatureGeneric, FeatureJointLimits, Task, \
Constraint, GainAdaptive, SOT
from dynamic_graph.sot.dynamics import AngleEstimator
from dynamic_graph import enableTrace, plug
from dynamic_graph.sot.se3 import R3, SO3, SE3
from dynamic_graph.sot.dynamics.dynamic_hrp2 import DynamicHrp2
from dynamic_graph.sot.dynamics.dynamic_hrp2_10 import DynamicHrp2_10
from dynamic_graph.sot.dynamics.humanoid_robot import AbstractHumanoidRobot
hrp2_10_pkgdatarootdir = "@HRP2_10_PKGDATAROOTDIR@"
hrp2_14_pkgdatarootdir = "@HRP2_14_PKGDATAROOTDIR@"
# Internal helper tool.
def matrixToTuple(M):
tmp = M.tolist()
res = []
for i in tmp:
res.append(tuple(i))
return tuple(res)
class Hrp2(AbstractHumanoidRobot):
"""
This class instanciates a Hrp2 robot
"""
forceSensorInLeftAnkle = ((1.,0.,0.,0.),
(0.,1.,0.,0.),
(0.,0.,1.,-0.105),
(0.,0.,0.,1.))
forceSensorInRightAnkle = ((1.,0.,0.,0.),
(0.,1.,0.,0.),
(0.,0.,1.,-0.105),
(0.,0.,0.,1.))
def smallToFull(self, config):
res = (config + 10*(0.,))
return res
def __init__(self, name, modelDir, xmlDir, device, dynamicType,
tracer = None):
AbstractHumanoidRobot.__init__ (self, name, tracer)
self.OperationalPoints.append('waist')
self.device = device
modelName = 'HRP2JRLmainsmall.wrl'
specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
self.dynamic = self.loadModelFromJrlDynamics(
self.name + '_dynamic',
modelDir,
modelName,
specificitiesPath,
jointRankPath,
dynamicType)
self.dimension = self.dynamic.getDimension()
if self.dimension != len(self.halfSitting):
raise RuntimeError("invalid half-sitting pose")
self.initializeRobot()
class Hrp2Jrl (Hrp2):
"""
This class instanciates LAAS Hrp2 robot
"""
halfSitting = (
# Free flyer
0., 0., 0.648702, 0., 0. , 0.,
# Legs
0., 0., -0.453786, 0.872665, -0.418879, 0.,
0., 0., -0.453786, 0.872665, -0.418879, 0.,
# Chest and head
0., 0., 0., 0.,
# Arms
0.261799, -0.17453, 0., -0.523599, 0., 0., 0.1, 0.261799,
0.261799, 0.17453, 0., -0.523599, 0., 0., 0.1, 0.261799,
)
def __init__(self, name,
modelDir = hrp2_10_pkgdatarootdir,
xmlDir = hrp2_10_pkgdatarootdir,
device = None,
tracer = None):
Hrp2.__init__(self, name, modelDir, xmlDir, device, DynamicHrp2_10,
tracer)
class Hrp2Laas (Hrp2):
"""
This class instanciates LAAS Hrp2 robot
"""
halfSitting = (
# Free flyer
0., 0., 0.648702, 0., 0. , 0.,
# Legs
0., 0., -0.453786, 0.872665, -0.418879, 0.,
0., 0., -0.453786, 0.872665, -0.418879, 0.,
# Chest and head
0., 0., 0., 0.,
# Arms
0.261799, -0.17453, 0., -0.523599, 0., 0., 0.1,
0.261799, 0.17453, 0., -0.523599, 0., 0., 0.1,
)
def __init__(self, name,
modelDir = hrp2_14_pkgdatarootdir,
xmlDir = hrp2_14_pkgdatarootdir,
device = None,
tracer = None):
# Define camera positions w.r.t gaze.
# These positions have been copied from hrp2.geom and
# roughly checked. Do not trust them too much.
cameraBottomLeftPosition = np.matrix((
(0.98481, 0.00000, 0.17365, 0.035),
(0., 1., 0., 0.072),
(-0.17365, 0.00000, 0.98481, 0.075 - 0.03),
(0., 0., 0., 1.),
))
cameraBottomRightPosition = np.matrix((
(0.98481, 0.00000, 0.17365, 0.035),
(0., 1., 0., -0.072),
(-0.17365, 0.00000, 0.98481, 0.075 - 0.03),
(0., 0., 0., 1.),
))
cameraTopLeftPosition = np.matrix((
(0.99920, 0.00120, 0.03997, 0.01),
(0.00000, 0.99955,-0.03000, 0.029),
(-0.03999, 0.02997, 0.99875, 0.145 - 0.03),
(0., 0., 0., 1.),
))
cameraTopRightPosition = np.matrix((
(0.99920, 0.00000, 0.03999, 0.01),
(0.00000, 1.00000, 0.00000, -0.029),
(-0.03999, 0.00000, 0.99920, 0.145 - 0.03),
(0., 0., 0., 1.),
))
# Frames re-orientation:
# Z = depth (increase from near to far)
# X = increase from left to right
# Y = increase from top to bottom
c1_M_c = np.matrix(
[[ 0., 0., 1., 0.],
[-1., 0., 0., 0.],
[ 0., -1., 0., 0.],
[ 0., 0., 0., 1.]])
self.AdditionalFrames.append(
("cameraBottomLeft",
matrixToTuple(c1_M_c * cameraBottomLeftPosition), "gaze"))
self.AdditionalFrames.append(
("cameraBottomRight",
matrixToTuple(c1_M_c * cameraBottomRightPosition), "gaze"))
self.AdditionalFrames.append(
("cameraTopLeft",
matrixToTuple(c1_M_c * cameraTopLeftPosition), "gaze"))
self.AdditionalFrames.append(
("cameraTopRight",
matrixToTuple(c1_M_c * cameraTopRightPosition), "gaze"))
Hrp2.__init__(self, name, modelDir, xmlDir, device, DynamicHrp2, tracer)
__all__ = [Hrp2, Hrp2Jrl, Hrp2Laas]
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