unittest_utils.py

import numpy as np

import pinocchio
from pinocchio.robot_wrapper import RobotWrapper


def readParamsFromSrdf(robot, SRDF_PATH, verbose):
    rmodel = robot.model

    pinocchio.loadRotorParameters(rmodel, SRDF_PATH, verbose)
    rmodel.armature = \
        np.multiply(rmodel.rotorInertia.flat,
                    np.square(rmodel.rotorGearRatio.flat))
    try:
        pinocchio.loadReferenceConfigurations(rmodel, SRDF_PATH, verbose)
        robot.q0.flat[:] = \
            rmodel.referenceConfigurations["half_sitting"].copy()
    except:
        print "loadReferenceConfigurations did not work. Please check your \
            Pinocchio Version"
        try:
            pinocchio.getNeutralConfiguration(rmodel, SRDF_PATH, verbose)
            robot.q0.flat[:] = rmodel.neutralConfiguration.copy()
        except:
            robot.q0.flat[:] = pinocchio.neutral(rmodel)
    return


def loadTalosArm(modelPath='../..'):
    URDF_FILENAME = "talos_left_arm.urdf"
    URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
    SRDF_FILENAME = "talos.srdf"
    SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME
    # Load URDF file
    robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath])

    # Load SRDF file
    readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
    return robot


def loadTalos(modelPath='../..'):
    URDF_FILENAME = "talos_reduced.urdf"
    SRDF_FILENAME = "talos.srdf"
    SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME
    URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
    # Load URDF file
    robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
                                       pinocchio.JointModelFreeFlyer())
    # Load SRDF file
    readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
    assert((robot.model.armature[:6] == 0.).all())
    return robot


def loadHyQ(modelPath='../..'):
    URDF_FILENAME = "hyq_no_sensors.urdf"
    URDF_SUBPATH = "/hyq_description/robots/" + URDF_FILENAME
    robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
                                       pinocchio.JointModelFreeFlyer())
    # TODO define default position inside srdf
    robot.q0.flat[7:] = [-0.2, 0.75, -1.5, -0.2, -
                         0.75, 1.5, -0.2, 0.75, -1.5, -0.2, -0.75, 1.5]
    robot.q0[2] = 0.57750958
    robot.model.referenceConfigurations["half_sitting"] = robot.q0
    return robot