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from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from hpp.gepetto import ViewerFactory
from numpy import array
from numpy.linalg import norm
from hpp.corbaserver.rbprm.anymal import Robot
from hpp.corbaserver.rbprm.tools.display_tools import *
from plot_polytopes import *
from pinocchio import Quaternion
NUM_SAMPLES = 18000
IT_DISPLAY_PROGRESS = NUM_SAMPLES / 10
MIN_DIST_BETWEEN_FEET_Y = 0.10
MIN_DIST_BETWEEN_FEET_X = 0.10
MAX_DIST_BETWEEN_FEET_Z = 0.35
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MIN_HEIGHT_COM = 0.3
# margin used to constrain the com y position : if it's on the left of the left foot or on the right of the right foot
# for more than this margin, we reject this sample:
MARGIN_FEET_SIDE = 0.05
fullBody = Robot ()
fullBody.setConstrainedJointsBounds()
fullBody.setJointBounds("LF_KFE",[-1.4,0.])
fullBody.setJointBounds("RF_KFE",[-1.4,0.])
fullBody.setJointBounds("LH_KFE",[0.,1.4])
fullBody.setJointBounds("RH_KFE",[0.,1.4])
fullBody.setJointBounds ("root_joint", [-20,20, -20, 20, -20, 20])
dict_heuristic = {fullBody.rLegId:"static", fullBody.lLegId:"static", fullBody.rArmId:"fixedStep04", fullBody.lArmId:"fixedStep04"}
fullBody.loadAllLimbs(dict_heuristic,"ReferenceConfiguration",nbSamples=12)
#~ from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from hpp.corbaserver import ProblemSolver
nbSamples = 1
ps = ProblemSolver( fullBody )
vf = ViewerFactory (ps)
v = vf.createViewer()
rootName = 'root_joint'
zero = [0.,0.,0.]
rLegId = fullBody.rLegId
rLeg = fullBody.rleg
rfoot = fullBody.rfoot
rLegOffset = fullBody.offset[:]
lLegOffset = fullBody.offset[:]
rArmOffset = fullBody.offset[:]
lArmOffset = fullBody.offset[:]
lLegId = fullBody.lLegId
lLeg = fullBody.lleg
lfoot = fullBody.lfoot
#make sure this is 0
q_0 = fullBody.getCurrentConfig ()
zeroConf = [0,0,0, 0, 0, 0, 1.]
q_0[0:7] = zeroConf
fullBody.setCurrentConfig (q_0)
effectors = [fullBody.rfoot, fullBody.lfoot, fullBody.rhand, fullBody.lhand,]
limbIds = [fullBody.rLegId, fullBody.lLegId, fullBody.rArmId, fullBody.lArmId]
offsets = [array(rLegOffset), array(lLegOffset), array(rArmOffset), array(lArmOffset)]
import numpy as np
compoints = [[] for _ in effectors]
#~ compoints = [[[0.012471792486262121, 0.0015769611415203033, 0.8127583093263778]],[[0.012471792486262121, 0.0015769611415203033, 0.8127583093263778]]]
points = [ {} for _ in effectors]
for i, eff in enumerate(effectors):
for j, otherEff in enumerate(effectors):
if i != j:
points[i][otherEff] = []
success = 0
fails = 0
from hpp.corbaserver.rbprm import rbprmstate, state_alg
from scipy.spatial import ConvexHull
from scipy.optimize import linprog
#static eq is com is convex combination of pos (projected)
def staticEq(positions, com):
sizeX = len(positions)
E = zeros((3,sizeX))
for i, pos in enumerate(positions):
E[:2,i] = pos[:2]
e = array([com[0], com[1], 1.])
E[2,:] = ones(sizeX)
try:
res = linprog(ones(sizeX), A_ub=None, b_ub=None, A_eq=E, b_eq=e, bounds=[(0.,1.) for _ in range(sizeX)], method='interior-point', callback=None, options={'presolve': True})
return res['success']
except:
return False
#returns true of one of the point is inside the convex hulls of the others. We do not want that
def pointInsideHull(positions):
for i, pos in enumerate(positions):
others = positions[:i] + positions[i+1:]
if staticEq(others, pos):
return True
return False
def genFlat(init = False):
if init:
q = fullBody.referenceConfig[::]
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q[0:7] = zeroConf
fullBody.setCurrentConfig(q)
#~ v(q)
positions = [fullBody.getJointPosition(foot)[:3] for foot in effectors]
s = rbprmstate.State(fullBody, q = q, limbsIncontact = limbIds)
succ = True
for effId, pos in zip(limbIds,positions):
s, succ = state_alg.addNewContact(s, effId, pos, [0.,0.,1.], num_max_sample = 0)
if not succ:
break
# ~ posrf = fullBody.getJointPosition(rfoot)[:3]
# ~ poslf = fullBody.getJointPosition(lfoot)[:3]
# ~ print ("limbsIds ", limbIds)
# ~ s = rbprmstate.State(fullBody, q = q, limbsIncontact = limbIds)
# ~ s, succ = state_alg.addNewContact(s, rLegId, posrf, [0.,0.,1.], num_max_sample = 0)
# ~ if succ:
# ~ s, succ = state_alg.addNewContact(s, lLegId, poslf, [0.,0.,1.], num_max_sample = 0)
if succ:
# ~ succ = fullBody.isConfigValid(q)[0] and norm (array(posrf[:2]) - array(poslf[:2]) ) >= 0.3
succ = fullBody.isConfigValid(q)[0]
#assert that in static equilibrium
if succ:
fullBody.setCurrentConfig(q)
succ = staticEq(positions, fullBody.getCenterOfMass())
if not succ:
v(q)
if succ:
succ = not pointInsideHull(positions)
if not succ:
print ("************* contacts crossing", not succ)
v(q)
#~ if succ and norm (array(posrf[:2]) - array(poslf[:2]) ) <= 0.1:
# ~ if succ and norm (array(posrf) - array(poslf) ) <= 0.1:
v(s.q())
return s.q(), succ, s, positions
def printFootPositionRelativeToOther(nbConfigs):
for i in range(0, nbConfigs):
if i > 0 and not i % IT_DISPLAY_PROGRESS:
print(int((i * 100) / nbConfigs), " % done")
q, succ, s, pos = genFlat(i==0)
if succ:
global success
success += 1
addCom = True
for j, effectorName in enumerate(effectors):
for otheridx, (oeffectorName, limbId) in enumerate(zip(effectors,limbIds)):
if otheridx != j:
fullBody.setCurrentConfig(q)
pos_other = fullBody.getJointPosition(oeffectorName)
pos = fullBody.getJointPosition(effectorName)
p = array(pos_other[:3]) - array(pos[:3]).tolist()
# ~ qtr = q[:]
# ~ qtr[:3] = [qtr[0] - pos_other[0], qtr[1] - pos_other[1], qtr[2] - pos_other[2]]
# ~ fullBody.setCurrentConfig(qtr)
# ~ qEffector = fullBody.getJointPosition(effectorName)
# ~ q0 = Quaternion(qEffector[6], qEffector[3], qEffector[4], qEffector[5])
# ~ rot = q0.matrix() # 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])
if (MAX_DIST_BETWEEN_FEET_Z > abs(p[2])):
if (MIN_DIST_BETWEEN_FEET_Y <= abs(p[1])):
if (MIN_DIST_BETWEEN_FEET_X <= abs(p[0])): #this is not what we want to do in theory but it works well in fact
points[j][oeffectorName].append(p[:3])
else:
addCom = False
else:
addCom = False
print ('rejecting ',effectorName, ' ', oeffectorName , p, abs(p[2]))
# ~ print ('pos_other', pos_other)
# ~ print ('old_pos', old_pos)
addCom = False
v(q)
# ~ if (j == 0 and p[1] > MIN_DIST_BETWEEN_FEET_Y and abs(p[0]) < MAX_DIST_BETWEEN_FEET_X):
# ~ points[j].append(p[:3])
# ~ elif (j == 1 and p[1] < -MIN_DIST_BETWEEN_FEET_Y and abs(p[0]) < MAX_DIST_BETWEEN_FEET_X):
# ~ points[j].append(p[:3])
# ~ else:
# ~ addCom =
# now compute coms
fullBody.setCurrentConfig(q)
# ~ for x in range(0, 3):
# ~ q[x] = -com[x]
pos = fullBody.getJointPosition(effectorName)
rp = array(com) - array(pos[:3]).tolist()
# ~ qEffector = fullBody.getJointPosition(effectorName)
# ~ q0 = Quaternion(qEffector[6], qEffector[3], qEffector[4], qEffector[5])
# ~ rot = q0.matrix() # 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])
# ~ # add offset
# ~ rp = array(p[:3] - offsets[j]).tolist()
if (rp[2] < MIN_HEIGHT_COM):
addCom = False
print ("reject min heught")
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if addCom:
compoints[j].append(rp)
# ~ if j == 1:
# ~ if rp[1] < MARGIN_FEET_SIDE:
# ~ compoints[j].append(rp)
# ~ else:
# ~ if rp[1] > -MARGIN_FEET_SIDE:
# ~ compoints[j].append(rp)
else:
global fails
fails += 1
# 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()
s = rbprmstate.State(fullBody, q = fullBody.getCurrentConfig(), limbsIncontact = [fullBody.limbs_names[0]])
#~ printRootPosition(rLegId, rfoot, nbSamples)
#~ printRootPosition(lLegId, lfoot, nbSamples)
#~ printRootPosition(rarmId, rHand, nbSamples)
#~ printRootPosition(larmId, lHand, nbSamples)
print ("successes ", success )
print ("fails ", fails )
# ~ for effector, comData, pointsData in zip(effectors, compoints, points):
# ~ for effector, limbId, comData, pointsData in zip(effectors[:1],limbIds[1:], compoints[:1], points[:1]):
for effector, limbId, comData, pointsData in zip(effectors,limbIds, compoints, points):
hull_to_obj(hcom,comData,"anymal_COM_constraints_in_"+str(limbId)+"_effector_frame_quasi_static.obj")
fig = plt.figure()
fig.suptitle("anymal_COM_constraints_in_"+str(limbId)+"_effector_frame_quasi_static.obj", fontsize=16)
plot_hull(hcom, comData, array(comData), color = "r", plot = False, fig = fig, ax = None)
fig.suptitle(str(limbId), fontsize=16)
# ~ axes = [221,222,223,224]
# ~ for (oEffector, pts), axId in zip(pointsData.items(), axes):
for (oEffector, pts) in pointsData.items():
# ~ ax = fig.add_subplot(axId, projection="3d")
hpts = ConvexHull(pts)
hull_to_obj(hpts,pts,"anymal_"+str(oEffector)+"_constraints_in_" +str(limbId)+".obj")
print ("ax ", ax)
ax = plot_hull(hpts, pts, array(pts), color = "b", plot = False, fig = fig, ax = ax)
print("effector ", limbId, )
print("oEffector ", oEffector, )
plt.show(block = False)
# ~ hcomRF = ConvexHull(compoints[0])
# ~ hcomLF = ConvexHull(compoints[1])
# ~ hull_to_obj(hcomRF,compoints[0],"anymal_COM_constraints_in_RF_effector_frame.obj")
# ~ hull_to_obj(hcomLF,compoints[1],"anymal_COM_constraints_in_LF_effector_frame.obj")
# ~ hptsRF = ConvexHull(points[0])
# ~ hptsLF = ConvexHull(points[1])
# ~ hull_to_obj(hptsRF,points[0],"anymal_LF_constraints_in_RF.obj")
# ~ hull_to_obj(hptsLF,points[1],"anymal_RF_constraints_in_LF.obj")
# ~ for k in range(2):
# ~ hcom = ConvexHull(compoints[k])
# ~ plot_hull(hcom, compoints[k], array(compoints[k]))
# ~ hpts = ConvexHull(points[k])
# ~ plot_hull(hpts, points[k], array(points[k]), color = "b", plot = k == 1 and True)