From 26d7ae331e4bcf95e4b2d0cf49b1dc4a2fa722d4 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Tue, 26 Feb 2019 23:20:36 +0100
Subject: [PATCH] [effector] constraints work exept for sizeObject
---
.../end_effector/bezier_constrained.py | 219 +++++++++++++-----
.../wholebody/tsid_invdyn.py | 16 +-
2 files changed, 175 insertions(+), 60 deletions(-)
diff --git a/scripts/hpp_wholebody_motion/end_effector/bezier_constrained.py b/scripts/hpp_wholebody_motion/end_effector/bezier_constrained.py
index c40c268..750927b 100644
--- a/scripts/hpp_wholebody_motion/end_effector/bezier_constrained.py
+++ b/scripts/hpp_wholebody_motion/end_effector/bezier_constrained.py
@@ -3,7 +3,7 @@ import time
import os
from hpp_wholebody_motion.utils.polyBezier import *
import pinocchio as se3
-from pinocchio import SE3
+from pinocchio import SE3, Quaternion
from pinocchio.utils import *
import numpy.linalg
from locomote import WrenchCone,SOC6,ContactSequenceHumanoid
@@ -92,21 +92,16 @@ def saveProblem(pDef):
def rot_quat_x(client,a):
x = [1.,0.,0.]
- return client.rotationQuaternion(x,a)
+ return Quaternion(np.matrix(x).T,np.matrix(a).T).coeffs().T.tolist()[0]
def rot_mat_x(client,a):
x = [1.,0.,0.]
- q = client.rotationQuaternion(x,a)
- return toRotationMatrix(q)
+ return Quaternion(np.matrix(x).T,np.matrix(a).T).matrix()
-def display_box(viewer,client,a,b,y,z):
- ar_a = array(a)
- ar_b = array(b)
- x_len = norm(ar_b - ar_a)
- x_pos = ar_a + (ar_b - ar_a) / 2
- rootName = "constraints_"
+def display_box(viewer,client,center,dir,dim,groupName):
+ rootName = groupName+"/box_"
list = viewer.client.gui.getNodeList()
i=0
name = rootName
@@ -114,34 +109,26 @@ def display_box(viewer,client,a,b,y,z):
name=rootName+"_"+str(i)
i+=1
- viewer.client.gui.addBox(name,x_len/ 2,y*x_len,z*x_len, [0.,1.,0.,0.3])
- config = x_pos.tolist()+rot_quat_x(client, ((ar_b - ar_a) / x_len).tolist() )
+ viewer.client.gui.addBox(name,dim[0],dim[1],dim[2], [0.,1.,0.,0.3])
+ config = center+rot_quat_x(client, dir )
viewer.client.gui.applyConfiguration(name,config)
- viewer.client.gui.addToGroup(name,viewer.sceneName)
- viewer.client.gui.refresh()
+ viewer.client.gui.addToGroup(name,groupName)
+ #viewer.client.gui.addTriangleFace(name,p1,p2,p3,color)
-
-def to_ineq(client,a,b,y_r,z_r):
- a_r = array(a); b_r = array(b);
- normba = norm(b_r - a_r)
- x_dir = (b_r - a_r) / normba
- x_pos = a_r + (b_r - a_r) / 2
-
- x = normba / 2.
- y = y_r * normba;
- z = z_r * normba;
-
- points = [ [x,-y,z], [x,-y,z], [-x,-y,z], [x,-y,-z], [x,y,-z], [x,y,z], [-x,y,z], [-x,y,-z] ]
+def to_ineq(client,c,dir,dim):
+ center = np.array(c)
+ # TODO, make a loop
+ points = [ [dim[0],-dim[1],dim[2]], [dim[0],-dim[1],dim[2]], [-dim[0],-dim[1],dim[2]], [dim[0],-dim[1],-dim[2]], [dim[0],dim[1],-dim[2]], [dim[0],dim[1],dim[2]], [-dim[0],dim[1],dim[2]], [-dim[0],dim[1],-dim[2]] ]
#transform
- rot = rot_mat_x(client,x_dir.tolist())
- points = [rot.dot(array(el)) + x_pos for el in points]
+ rot = rot_mat_x(client,dir)
+ points = [rot.dot(array(el)) + center for el in points]
ineq = ConvexHull(points).equations
return ineq[:,:-1],-ineq[:,-1]
##############################################" CALCUL ##################################""
-
+"""
# a et b sont les extremites du rrt
# y le poids initial alloue a la largeur (si la distance ab vaut 1, initialement la largeur vaut y)
# z le poids initial alloue a la hauteur (si la distance ab vaut 1, initialement la hauteur vaut y)
@@ -261,39 +248,159 @@ def large_col_free_box(client,a,b,y = 0.3 ,z = 0.3, sizeObject = [0.,0.,0.], mar
b_r = (b_r - x_dir*sizeObject/2.).tolist()
return (a_r, b_r, y_r, z_r)
+"""
+# a et b sont les extremites du rrt
+# x_r,y_r,z_r : ratio of the maximal size of the box along each axis (x = direction of the segment)
+def large_col_free_box(client,a,b,maxX = 2.,maxY = 0.05 ,maxZ = 0.1, sizeObject = [0.,0.,0.], margin = 0.):
+ a_r = np.array(a)
+ b_r = np.array(b)
+ center = (b_r+a_r) / 2.
+ x = norm(b_r - a_r)
+ x_origin = x
+ x_dir = (b_r -a_r)/x
+ x /= 2. # initial half-length
+ maxs = [x*maxX_ratio+sizeObject[0],x*maxX_ratio+sizeObject[0],maxY+sizeObject[1],maxY+sizeObject[1],maxZ+sizeObject[2],maxZ+sizeObject[2]]
+
+ if VERBOSE :
+ print "compute constraints for segment : "+str(a)+" -> "+str(b)
+ print "center = ",center
+ print "x init = ",x
+ print "direction : ",x_dir
+ print "maxs = ",maxs
+ x_max = maxs[0] # initial max bounds of dichotomy
+ y_max = maxs[2]
+ z_max = maxs[4]
+ y_prev = 0.001 # initial min bounds of dichotomy
+ z_prev = 0.001
+ x_prev = x # original lenght of the rrt solution
+
+ collision = not client.isBoxAroundAxisCollisionFree(center.tolist(),x_dir.tolist(),[x,x,y_prev,y_prev,z_prev,z_prev],margin)
+ assert not collision and "initial box is already in collision, limb-rrt path cannot be approximated by a straight line."
+ # By dichotomy : find the maximal value for y,z with a uniform scaling leading to a collision-free box
+ it = 0
+ found = False
+ eps = 0.01
+ while not found and it < 100:
+ y = (y_max - y_prev)/2. + y_prev
+ z = (z_max - z_prev)/2. + z_prev
+ print "try "+str(y)+" , "+str(z)
+ collision = not client.isBoxAroundAxisCollisionFree(center.tolist(),x_dir.tolist(),[x,x,y,y,z,z],margin)
+ if collision :
+ print "collision"
+ y_max = y
+ z_max = z
+ else :
+ print "no collision"
+ if y-y_prev <= eps and z-z_prev <= eps :
+ print "end dichotomy"
+ found = True
+ else :
+ y_prev = y
+ z_prev = z
+ it += 1
+
+ if VERBOSE :
+ print "after dichotomy for uniform scaling : "
+ print "y = ",y
+ print "z = ",z
+
+ #Now we do the same along x axis :
+ found = True
+ it = 0
+ while not found and it < 100:
+ x = (x_max - x_prev)/2. + x_prev
+ collision = not client.isBoxAroundAxisCollisionFree(center.tolist(),x_dir.tolist(),[x,x,y,y,z,z],margin)
+ if collision :
+ x_max = x
+ else :
+ if x-x_prev <= eps :
+ found = True
+ else :
+ x_prev = x
+ it += 1
+
+ if VERBOSE :
+ print "x = ",x
+
+ # now we try iteratively in each direction (non symetric) :
+ success = True
+ it = 0
+ step = 0.01
+ eps = 0.001
+ dim = [x,x,y,y,z,z]
+
+ while success and it < 100 :
+ success = False # true if at least one axis have been made successfully bigger
+ for i in range(6):
+ if dim[i] < maxs[i] :
+ dim[i] += step
+ collision = not client.isBoxAroundAxisCollisionFree(center.tolist(),x_dir.tolist(),dim,margin)
+ if collision :
+ dim[i] -= step
+ else :
+ success = True
+ it += 1
+ if not success and step > eps: #reduce the step
+ success = True
+ step /= 10.
+
+ if VERBOSE :
+ print "dimensions after iterative resizing : ",dim
+ for k in range(3):
+ for i in range(2):
+ dim[k*2+i] -= sizeObject[k]/2.
+ if dim[k*2+i] <= 0:
+ dim[k*2+i] = 0.005
+ if VERBOSE :
+ print "dimensions after taking objectSize : ",dim
+
+ # compute the new center and the symetric size values:
+ tr_c = [] # translation from the current center to the new one, on the x_dir frame
+ dim_sym = []
+ for i in range(3):
+ tr_c += [(dim[i*2+1] - dim[i*2])/2.]
+ dim_sym += [(dim[i*2+1] + dim[i*2])/2.]
+ transform_cn_co = SE3.Identity() # new center in old center frame
+ transform_cn_co.translation = np.matrix(tr_c).T
+ transform_co_w = SE3.Identity() # old center in world frame
+ transform_co_w.translation = np.matrix(center).T
+ transform_co_w.rotation = rot_mat_x(client,x_dir)
+ transform_cn_w = transform_co_w.act(transform_cn_co) # T_b^a = T_c^a act T_b^c
+
+ if VERBOSE :
+ print "final center :",transform_cn_w.translation.T.tolist()[0]
+ print "dir : ",x_dir.tolist()
+ print "dim : ",dim_sym
+ return transform_cn_w.translation.T.tolist()[0],x_dir.tolist(),dim_sym
+
### compute the inequalities constraints around the given line
# The line (p_from, p_to) must be expressed at the contact position
# but the constraints (H,h) are expressed at the joint level
# the display is done before the transform and thus show the constraints at the contact level
-def computeInequalitiesAroundLine(fullBody,p_from,p_to,eeName,viewer):
+def computeInequalitiesAroundLine(fullBody,p_from,p_to,eeName,groupName,viewer):
a = p_from.translation.T.tolist()[0]
b = p_to.translation.T.tolist()[0]
- if VERBOSE :
- print "compute constrained for segment : "+str(a)+" -> "+str(b)
# size of the end effector (x,y,z)
- size = []
- size+=[cfg.Robot.dict_size[eeName][0]+0.03] # 3cm of margin
- size+=[cfg.Robot.dict_size[eeName][1]+0.03] # 3cm of margin
- size+= [0.005] # hardcoded z value
-
- (a, b, y, z) = large_col_free_box(fullBody.clientRbprm.rbprm,a,b,sizeObject = size)
+ size_diagonal = math.sqrt(cfg.Robot.dict_size[eeName][0]**2 + cfg.Robot.dict_size[eeName][1]**2) + 0.02 #2cm of margin
+ size = [size_diagonal]*2
+ size+= [0.01] # hardcoded z value
+ size=[0,0,0] #FIXME debug
+ center,dir,dim = large_col_free_box(fullBody.clientRbprm.rbprm,a,b,sizeObject = size)
if DISPLAY_CONSTRAINTS and not DISPLAY_JOINT_LEVEL:
- display_box(viewer,fullBody.clientRbprm.rbprm,a,b,y,z)
+ display_box(viewer,fullBody.clientRbprm.rbprm,center,dir,dim,groupName)
- # transform back to joint level
- pa = p_from.copy()
- pa.translation = np.matrix(a).T
- pb = p_to.copy()
- pb.translation = np.matrix(b).T
- pa = cfg.Robot.dict_offset[eeName].actInv(pa)
- pb = cfg.Robot.dict_offset[eeName].actInv(pb)
- a_j = pa.translation.T.tolist()[0]
- b_j = pb.translation.T.tolist()[0]
- H,h = to_ineq(fullBody.clientRbprm.rbprm,a_j, b_j, y, z)
+ # transform the center back to joint level
+ pc = SE3.Identity()
+ pc.translation = np.matrix(center).T
+ pc.rotation = rot_mat_x(fullBody.clientRbprm.rbprm,dir)
+ pc = cfg.Robot.dict_offset[eeName].actInv(pc)
+ center = pc.translation.T.tolist()[0]
+ if VERBOSE :
+ print "center after transform to joint level : ",center
+ H,h = to_ineq(fullBody.clientRbprm.rbprm,center,dir,dim)
if DISPLAY_CONSTRAINTS and DISPLAY_JOINT_LEVEL:
- display_box(viewer,fullBody.clientRbprm.rbprm,a_j,b_j,y,z)
-
+ display_box(viewer,fullBody.clientRbprm.rbprm,center,dir,dim)
return H,h.reshape(-1,1)
def contactPlacementFromConfig(fullBody,q,eeName):
@@ -301,10 +408,13 @@ def contactPlacementFromConfig(fullBody,q,eeName):
p = fullBody.getJointPosition(eeName)
p = se3FromConfig(p)
# transform to contact position (from joint position)
- p_contact = cfg.Robot.dict_offset[eeName].act(p)
+ p_contact = p.act(cfg.Robot.dict_offset[eeName])
return p_contact
def computeProblemConstraints(pData,fullBody,pathId,t,eeName,viewer):
+ groupName = "constraints_"+str(pathId)
+ if DISPLAY_CONSTRAINTS :
+ viewer.client.gui.createGroup(groupName)
pDef = hpp_spline.problemDefinition()
# set up problem definition :
pDef.flag = int(hpp_spline.constraint_flag.INIT_POS) | int(hpp_spline.constraint_flag.INIT_VEL) |int(hpp_spline.constraint_flag.INIT_ACC)|int(hpp_spline.constraint_flag.INIT_JERK) |int(hpp_spline.constraint_flag.END_POS) | int(hpp_spline.constraint_flag.END_VEL) |int(hpp_spline.constraint_flag.END_ACC)|int(hpp_spline.constraint_flag.END_JERK)
@@ -346,11 +456,14 @@ def computeProblemConstraints(pData,fullBody,pathId,t,eeName,viewer):
for i in range(1,len(wps)):
q_to = wps[i]
p_to = contactPlacementFromConfig(fullBody,q_to,eeName)
- A,b = computeInequalitiesAroundLine(fullBody,p_from,p_to,eeName,viewer)
+ A,b = computeInequalitiesAroundLine(fullBody,p_from,p_to,eeName,groupName,viewer)
if VERBOSE :
print "Inequalities computed."
pDef.addInequality(A,b)
p_from = p_to.copy()
+ if DISPLAY_CONSTRAINTS :
+ viewer.client.gui.addToGroup(groupName,viewer.sceneName)
+ viewer.client.gui.refresh()
return pDef
diff --git a/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py b/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py
index 011aa55..cb7291e 100644
--- a/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py
+++ b/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py
@@ -205,8 +205,6 @@ def generateEEReferenceTraj(robot,robotData,t,phase,phase_next,eeName,viewer = N
if cfg.WB_VERBOSE :
print "t interval : ",time_interval
print "positions : ",placements
- if viewer and cfg.DISPLAY_FEET_TRAJ :
- display_tools.displaySE3Traj(ref_traj,viewer,eeName+"_traj",cfg.Robot.dict_limb_color_traj[eeName] ,time_interval ,cfg.Robot.dict_offset[eeName])
return ref_traj
def generateEEReferenceTrajCollisionFree(fullBody,robot,robotData,t,phase_previous,phase,phase_next,q_t,predefTraj,eeName,phaseId,viewer = None):
@@ -217,10 +215,6 @@ def generateEEReferenceTrajCollisionFree(fullBody,robot,robotData,t,phase_previo
placements.append(placement_init)
placements.append(placement_end)
ref_traj = bezier_constrained.generateConstrainedBezierTraj(time_interval,placement_init,placement_end,q_t,predefTraj,phase_previous,phase,phase_next,fullBody,phaseId,eeName,viewer)
-
- if viewer and cfg.DISPLAY_FEET_TRAJ :
- display_tools.displaySE3Traj(ref_traj,viewer,eeName+"_trajNoColl",cfg.Robot.dict_limb_color_traj[eeName] ,time_interval ,cfg.Robot.dict_offset[eeName])
- viewer.client.gui.setVisibility(eeName+"_trajNoColl",'ALWAYS_ON_TOP')
return ref_traj
def generateWholeBodyMotion(cs,viewer=None,fullBody=None):
@@ -412,6 +406,7 @@ def generateWholeBodyMotion(cs,viewer=None,fullBody=None):
sampleEff.vel(MotiontoVec(traj(t)[1]))
dic_effectors_tasks[eeName].setReference(sampleEff)
+ # solve HQP for the current time
HQPData = invdyn.computeProblemData(t, q, v)
if cfg.WB_VERBOSE and t < phase.time_trajectory[0]+dt:
print "final data for phase ",pid
@@ -432,7 +427,7 @@ def generateWholeBodyMotion(cs,viewer=None,fullBody=None):
for eeName,task in dic_effectors_tasks.iteritems():
print "\ttracking err %s: %.3f" % (task.name.ljust(20, '.'), norm(task.position_error, 2))
print "\t||v||: %.3f\t ||dv||: %.3f" % (norm(v, 2), norm(dv))
-
+ # update state
v_mean = v + 0.5 * dt * dv
v += dt * dv
q = se3.integrate(robot.model(), q, dt * v_mean)
@@ -464,6 +459,13 @@ def generateWholeBodyMotion(cs,viewer=None,fullBody=None):
print "Phase "+str(pid)+" valid."
if phaseValid:
q_t += q_t_phase
+ # display all the effector trajectories for this phase
+ if viewer and cfg.DISPLAY_FEET_TRAJ :
+ time_interval = [phase.time_trajectory[0], phase.time_trajectory[-1]]
+ for eeName,ref_traj in dic_effectors_trajs.iteritems():
+ if ref_traj :
+ display_tools.displaySE3Traj(ref_traj,viewer,eeName+"_traj_"+str(pid),cfg.Robot.dict_limb_color_traj[eeName] ,time_interval ,cfg.Robot.dict_offset[eeName])
+ viewer.client.gui.setVisibility(eeName+"_traj_"+str(pid),'ALWAYS_ON_TOP')
#end while not phaseValid
time_end = time.time() - time_start
print "Whole body motion generated in : "+str(time_end)+" s."
--
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