#!/usr/bin/env python
# Copyright (c) 2019 CNRS
# Author: Pierre Fernbach
#
# This file is part of hpp-rbprm-robot-data.
# hpp_tutorial 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.
#
# hpp_tutorial 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
# hpp_tutorial. If not, see
# <http://www.gnu.org/licenses/>.
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody as Parent
from pinocchio import SE3
import numpy as np
class Robot(Parent):
##
# Information to retrieve urdf and srdf files.
name = "anymal"
packageName = "example-robot-data/robots/anymal_b_simple_description"
meshPackageName = "example-robot-data/robots/anymal_b_simple_description"
rootJointType = "freeflyer"
urdfName = "anymal"
urdfSuffix = ""
# urdfSuffix="_ORI"
srdfSuffix = ""
# Information about the names of thes joints defining the limbs of the robot
rLegId = 'RFleg'
rleg = 'RF_HAA'
rfoot = 'RF_ADAPTER_TO_FOOT'
lLegId = 'LFleg'
lleg = 'LF_HAA'
lfoot = 'LF_ADAPTER_TO_FOOT'
lArmId = 'LHleg'
larm = 'LH_HAA'
lhand = 'LH_ADAPTER_TO_FOOT'
rArmId = 'RHleg'
rarm = 'RH_HAA'
rhand = 'RH_ADAPTER_TO_FOOT'
referenceConfig_asymetric = [
0.,
0.,
0.461,
0.,
0.,
0.,
1., # FF
0.0,
0.611,
-1.0452,
0.0,
-0.853,
1.0847,
-0.0,
0.74,
-1.08,
-0.0,
-0.74,
1.08,
]
"""
referenceConfig=[0,0,0.448,0,0,0,1,
0.079,0.78,-1.1,
0.079,-0.78,1.1,
-0.079,0.78,-1.1,
-0.079,-0.78,1.1
]
"""
"""
referenceConfig=[0,0,0.448,0,0,0,1,
0.095,0.76,-1.074,
0.095,-0.76,1.074,
-0.095,0.76,-1.074,
-0.095,-0.76,1.074
]
"""
referenceConfig = [
0, 0, 0.47, 0, 0, 0, 1, -0.12, 0.724, -1.082, -0.12, -0.724, 1.082, 0.12, 0.724, -1.082, 0.12, -0.724, 1.082
]
postureWeights = [
0,
0,
0,
0,
0,
0, # FF
100.,
1.,
20.,
100.,
1.,
20.,
100.,
1.,
20.,
100.,
1.,
20.,
]
DEFAULT_COM_HEIGHT = 0.445
# informations required to generate the limbs databases the limbs :
nbSamples = 50000
octreeSize = 0.002
cType = "_3_DOF"
offset = [0., 0., -0.005] # was 0.005
rLegLimbOffset = [0.373, -0.264, -0.448]
lLegLimbOffset = [0.373, 0.264, -0.448]
rArmLimbOffset = [-0.373, -0.264, -0.448]
lArmLimbOffset = [-0.373, 0.264, -0.448]
normal = [0, 0, 1]
legx = 0.02
legy = 0.02
import anymal_rbprm
kinematic_constraints_path = str(
anymal_rbprm.prefix() / "share/anymal-rbprm/com_inequalities/feet_quasi_flat/anymal_")
relative_feet_constraints_path = str(
anymal_rbprm.prefix() / "share/anymal-rbprm/relative_effector_positions/anymal_")
minDist = 0.2
dict_ref_effector_from_root = {
rLegId: rLegLimbOffset,
lLegId: lLegLimbOffset,
rArmId: rArmLimbOffset,
lArmId: lArmLimbOffset
}
# data used by scripts :,,,
# limbs_names = [rArmId,lLegId,lArmId,rLegId]
# reverse default order to try to remove contacts at the beginning of the contact plan
# limbs_names = [lLegId,rArmId,rLegId,lArmId]
# default order to try to remove contacts at the beginning of the contact plan
limbs_names = [rArmId, rLegId, lArmId, lLegId]
dict_limb_rootJoint = {rLegId: rleg, lLegId: lleg, rArmId: rarm, lArmId: larm}
dict_limb_joint = {rLegId: rfoot, lLegId: lfoot, rArmId: rhand, lArmId: lhand}
dict_limb_color_traj = {rfoot: [0, 1, 0, 1], lfoot: [1, 0, 0, 1], rhand: [0, 0, 1, 1], lhand: [0.9, 0.5, 0, 1]}
FOOT_SAFETY_SIZE = 0.01
# size of the contact surface (x,y)
dict_size = {rfoot: [0.01, 0.01], lfoot: [0.01, 0.01], rhand: [0.01, 0.01], lhand: [0.01, 0.01]}
# dict_size={rfoot:[0.01 , 0.01], lfoot:[0.01 , 0.01],rhand:[0.01 , 0.01],lhand:[0.01 , 0.01]}
# various offset used by scripts
MRsole_offset = SE3.Identity()
MRsole_offset.translation = np.matrix(offset).T
MLsole_offset = MRsole_offset.copy()
MRhand_offset = MRsole_offset.copy()
MLhand_offset = MRsole_offset.copy()
dict_offset = {rfoot: MRsole_offset, lfoot: MLsole_offset, rhand: MRhand_offset, lhand: MLhand_offset}
dict_limb_offset = {rLegId: rLegLimbOffset, lLegId: lLegLimbOffset, rArmId: rArmLimbOffset, lArmId: lArmLimbOffset}
dict_normal = {rfoot: normal, lfoot: normal, rhand: normal, lhand: normal}
# display transform :
MRsole_display = SE3.Identity()
MLsole_display = SE3.Identity()
MRhand_display = SE3.Identity()
MLhand_display = SE3.Identity()
dict_display_offset = {rfoot: MRsole_display, lfoot: MLsole_display, rhand: MRhand_display, lhand: MLhand_display}
kneeIds = {"LF": 9, "LH": 12, "RF": 15, "RH": 18}
def __init__(self, name=None, load=True, client=None, clientRbprm=None):
if name is not None:
self.name = name
Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm)
# save original bounds of the urdf for futur reset
self.LF_HAA_bounds = self.getJointBounds('LF_HAA')
self.LF_HFE_bounds = self.getJointBounds('LF_HFE')
self.LF_KFE_bounds = self.getJointBounds('LF_KFE')
self.RF_HAA_bounds = self.getJointBounds('RF_HAA')
self.RF_HFE_bounds = self.getJointBounds('RF_HFE')
self.RF_KFE_bounds = self.getJointBounds('RF_KFE')
self.LH_HAA_bounds = self.getJointBounds('LH_HAA')
self.LH_HFE_bounds = self.getJointBounds('LH_HFE')
self.LH_KFE_bounds = self.getJointBounds('LH_KFE')
self.RH_HAA_bounds = self.getJointBounds('RH_HAA')
self.RH_HFE_bounds = self.getJointBounds('RH_HFE')
self.RH_KFE_bounds = self.getJointBounds('RH_KFE')
def loadAllLimbs(self,
heuristic,
analysis=None,
nbSamples=nbSamples,
octreeSize=octreeSize,
disableEffectorCollision=False):
if isinstance(heuristic, str): # only one heuristic name given assign it to all the limbs
dict_heuristic = {}
for id in self.limbs_names:
dict_heuristic.update({id: heuristic})
elif isinstance(heuristic, dict):
dict_heuristic = heuristic
else:
raise Exception("heuristic should be either a string or a map limbId:string")
# dict_heuristic = {self.rLegId:"static", self.lLegId:"static", self.rArmId:"fixedStep04",
# self.lArmId:"fixedStep04"}
for id in self.limbs_names:
print("add limb : ", id)
eff = self.dict_limb_joint[id]
print("effector name = ", eff)
self.addLimb(id,
self.dict_limb_rootJoint[id],
eff,
self.dict_offset[eff].translation.tolist(),
self.dict_normal[eff],
self.dict_size[eff][0] / 2.,
self.dict_size[eff][1] / 2.,
nbSamples,
dict_heuristic[id],
octreeSize,
self.cType,
disableEffectorCollision=disableEffectorCollision,
kinematicConstraintsPath=self.kinematicConstraintsPath + self.dict_limb_rootJoint[id] +
"_06_com_constraints.obj",
limbOffset=self.dict_limb_offset[id],
kinematicConstraintsMin=self.minDist)
if analysis:
self.runLimbSampleAnalysis(id, analysis, True)
def setSlightlyConstrainedJointsBounds(self):
self.setJointBounds('LF_HAA', [-1., 1.])
self.setJointBounds('LF_HFE', [-0.25, 2.35])
self.setJointBounds('LF_KFE', [-2.35, 0.])
self.setJointBounds('RF_HAA', [-1., 1.])
self.setJointBounds('RF_HFE', [-0.4, 2.35])
self.setJointBounds('RF_KFE', [-2.35, 0.])
self.setJointBounds('LH_HAA', [-1., 1.])
self.setJointBounds('LH_HFE', [-2.35, 0.4])
self.setJointBounds('LH_KFE', [0., 2.35])
self.setJointBounds('RH_HAA', [-1., 1.])
self.setJointBounds('RH_HFE', [-2.35, 0.25])
self.setJointBounds('RH_KFE', [0., 2.35])
def setConstrainedJointsBounds(self):
self.setJointBounds('LF_HAA', [-0.6, 0.6])
self.setJointBounds('LF_HFE', [0.25, 1.])
self.setJointBounds('LF_KFE', [-2.35, 0.])
self.setJointBounds('RF_HAA', [-0.6, 0.6])
self.setJointBounds('RF_HFE', [0.25, 1.])
self.setJointBounds('RF_KFE', [-2.35, 0.])
self.setJointBounds('LH_HAA', [-0.6, 0.6])
self.setJointBounds('LH_HFE', [-1.05, -0.45])
self.setJointBounds('LH_KFE', [0., 2.35])
self.setJointBounds('RH_HAA', [-0.6, 0.6])
self.setJointBounds('RH_HFE', [-1.05, -0.45])
self.setJointBounds('RH_KFE', [0., 2.35])
def setVeryConstrainedJointsBounds(self):
self.setJointBounds('LF_HAA', [-0.35, 0.05])
self.setJointBounds('LF_HFE', [0.3, 0.95])
self.setJointBounds('LF_KFE', [-2.35, 0.])
self.setJointBounds('RF_HAA', [-0.05, 0.35])
self.setJointBounds('RF_HFE', [0.3, 0.95])
self.setJointBounds('RF_KFE', [-2.35, 0.])
self.setJointBounds('LH_HAA', [-0.35, 0.05])
self.setJointBounds('LH_HFE', [-1., -0.5])
self.setJointBounds('LH_KFE', [0., 2.35])
self.setJointBounds('RH_HAA', [-0.05, 0.35])
self.setJointBounds('RH_HFE', [-1., -0.5])
self.setJointBounds('RH_KFE', [0., 2.35])
def resetJointsBounds(self):
self.setJointBounds('LF_HAA', self.LF_HAA_bounds)
self.setJointBounds('LF_HFE', self.LF_HFE_bounds)
self.setJointBounds('LF_KFE', self.LF_KFE_bounds)
self.setJointBounds('RF_HAA', self.RF_HAA_bounds)
self.setJointBounds('RF_HFE', self.RF_HFE_bounds)
self.setJointBounds('RF_KFE', self.RF_KFE_bounds)
self.setJointBounds('LH_HAA', self.LH_HAA_bounds)
self.setJointBounds('LH_HFE', self.LH_HFE_bounds)
self.setJointBounds('LH_KFE', self.LH_KFE_bounds)
self.setJointBounds('RH_HAA', self.RH_HAA_bounds)
self.setJointBounds('RH_HFE', self.RH_HFE_bounds)
self.setJointBounds('RH_KFE', self.RH_KFE_bounds)