From 4099335ececfd5702ee7ce70666c1433cdfc81a2 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Tue, 26 Feb 2019 14:48:08 +0100
Subject: [PATCH] [effector] constrained effector work (but need to work on the
constraint computation)
---
scripts/hpp_wholebody_motion/config.py | 2 +-
.../end_effector/bezier_constrained.py | 96 +++++++++++--------
.../end_effector/limb_rrt.py | 9 +-
scripts/hpp_wholebody_motion/utils/util.py | 25 +++++
.../wholebody/tsid_invdyn.py | 4 +-
5 files changed, 91 insertions(+), 45 deletions(-)
create mode 100644 scripts/hpp_wholebody_motion/utils/util.py
diff --git a/scripts/hpp_wholebody_motion/config.py b/scripts/hpp_wholebody_motion/config.py
index 0cdf32a..53073ab 100644
--- a/scripts/hpp_wholebody_motion/config.py
+++ b/scripts/hpp_wholebody_motion/config.py
@@ -28,7 +28,7 @@ EXPORT_PATH = OUTPUT_DIR+"/export"
##DISPLAY settings :
DISPLAY_CS = False # display contact sequence from rbprm
-DISPLAY_CS_STONES = True # display stepping stones
+DISPLAY_CS_STONES = False # display stepping stones
DISPLAY_INIT_GUESS_TRAJ = False
DISPLAY_WP_COST=False
DISPLAY_COM_TRAJ = True
diff --git a/scripts/hpp_wholebody_motion/end_effector/bezier_constrained.py b/scripts/hpp_wholebody_motion/end_effector/bezier_constrained.py
index 9d60142..c40c268 100644
--- a/scripts/hpp_wholebody_motion/end_effector/bezier_constrained.py
+++ b/scripts/hpp_wholebody_motion/end_effector/bezier_constrained.py
@@ -22,6 +22,7 @@ import quadprog
from numpy import array, dot, vstack, hstack, asmatrix, identity
import bezier_predef
import limb_rrt
+from hpp_wholebody_motion.utils.util import toRotationMatrix, se3FromConfig
eigenpy.switchToNumpyArray()
@@ -29,6 +30,8 @@ VERBOSE = True
DISPLAY = True
DISPLAY_RRT = True
DISPLAY_CONSTRAINTS = True
+DISPLAY_JOINT_LEVEL = False
+
@@ -87,24 +90,6 @@ def saveProblem(pDef):
f.close()
-def toRotationMatrix(q):
- """
- Returns a (3*3) array (rotation matrix)
- representing the same rotation as the (normalized) quaternion.
- """
- rm=zeros((3,3))
- rm[0,0]=1-2*(q[2]**2+q[3]**2)
- rm[0,1]=2*q[1]*q[2]-2*q[0]*q[3]
- rm[0,2]=2*q[1]*q[3]+2*q[0]*q[2]
- rm[1,0]=2*q[1]*q[2]+2*q[0]*q[3]
- rm[1,1]=1-2*(q[1]**2+q[3]**2)
- rm[1,2]=2*q[2]*q[3]-2*q[0]*q[1]
- rm[2,0]=2*q[1]*q[3]-2*q[0]*q[2]
- rm[2,1]=2*q[2]*q[3]+2*q[0]*q[1]
- rm[2,2]=1-2*(q[1]**2+q[2]**2)
- return rm
-
-
def rot_quat_x(client,a):
x = [1.,0.,0.]
return client.rotationQuaternion(x,a)
@@ -161,7 +146,7 @@ def to_ineq(client,a,b,y_r,z_r):
# 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)
# sizeObject dimension de securite de l'effecteur
-def large_col_free_box(client,a,b,y = 0.3 ,z = 0.3, sizeObject = 0.05, margin = 0.):
+def large_col_free_box(client,a,b,y = 0.3 ,z = 0.3, sizeObject = [0.,0.,0.], margin = 0.):
# margin distance is not so good, better expand and then reduce box
# d abord o nessaie de trouver une boite sans collsion
collision = True
@@ -269,25 +254,55 @@ def large_col_free_box(client,a,b,y = 0.3 ,z = 0.3, sizeObject = 0.05, margin =
z_r = tmp_z_r
#removing offset
-
+ print "a_r = ",a_r
+ print "b_r = ",b_r
+ print "x_dir = ",x_dir
a_r = (a_r + x_dir*sizeObject/2.).tolist()
b_r = (b_r - x_dir*sizeObject/2.).tolist()
- return (a_r, b_r, y_r, z_r), to_ineq(client,a_r, b_r, y_r, z_r)
+ return (a_r, b_r, y_r, z_r)
-
-def computeInequalitiesAroundLine(fullBody,p_from,p_to,viewer):
+### 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):
+ a = p_from.translation.T.tolist()[0]
+ b = p_to.translation.T.tolist()[0]
if VERBOSE :
- print "compute constrained for segment : "+str(p_from)+" -> "+str(p_to)
- (a, b, y, z),(H,h) = large_col_free_box(fullBody.clientRbprm.rbprm,p_from,p_to)
- if DISPLAY_CONSTRAINTS :
+ 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)
+ if DISPLAY_CONSTRAINTS and not DISPLAY_JOINT_LEVEL:
display_box(viewer,fullBody.clientRbprm.rbprm,a,b,y,z)
+
+ # 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)
+ if DISPLAY_CONSTRAINTS and DISPLAY_JOINT_LEVEL:
+ display_box(viewer,fullBody.clientRbprm.rbprm,a_j,b_j,y,z)
+
return H,h.reshape(-1,1)
-def effPosFromConfig(fullBody,q,eeName):
+def contactPlacementFromConfig(fullBody,q,eeName):
fullBody.setCurrentConfig(q)
p = fullBody.getJointPosition(eeName)
- return p[0:3]
+ p = se3FromConfig(p)
+ # transform to contact position (from joint position)
+ p_contact = cfg.Robot.dict_offset[eeName].act(p)
+ return p_contact
def computeProblemConstraints(pData,fullBody,pathId,t,eeName,viewer):
pDef = hpp_spline.problemDefinition()
@@ -307,35 +322,35 @@ def computeProblemConstraints(pData,fullBody,pathId,t,eeName,viewer):
# get all the waypoints from the limb-rrt
wps,t_paths = fullBody.client.problem.getWaypoints(pathId)
# approximate the switching times (infos from limb-rrt)
- if len(t_norm)>2 :
+ if len(t_paths)>2 :
splits=[]
t_ratio = t/t_paths[-1] # ratio between the imposed time of the bezier curve (t) and the "time" (a pseudo distance) of the solution of the rrt
- for i in range(1,len(t_norm)-1):
- ti = t_norm[i]*t_ratio
+ for i in range(1,len(t_paths)-1):
+ ti = t_paths[i]*t_ratio
if ti > t:
ti = t
splits+= [ti]
if len(splits) > 1:
if splits[-1] == splits[-2] :
print "Error in bezier_constrained : two adjacent constrained have the same switch time !!"
- pDef.splits = np.array([splits])
if VERBOSE:
print "number of switch between constraints : ",len(splits)
print "splits timings : ",splits
+ pDef.splits = np.array([splits]).T
else :
if VERBOSE :
print "Only one constraint set for the whole trajectory."
# compute constraints around each line of the limb-rrt solution :
q_from = wps[0]
- p_from = effPosFromConfig(fullBody,q_from,eeName)
+ p_from = contactPlacementFromConfig(fullBody,q_from,eeName)
for i in range(1,len(wps)):
q_to = wps[i]
- p_to = effPosFromConfig(fullBody,q_to,eeName)
- A,b = computeInequalitiesAroundLine(fullBody,p_from,p_to,viewer)
+ p_to = contactPlacementFromConfig(fullBody,q_to,eeName)
+ A,b = computeInequalitiesAroundLine(fullBody,p_from,p_to,eeName,viewer)
if VERBOSE :
print "Inequalities computed."
pDef.addInequality(A,b)
- p_from = p_to[::]
+ p_from = p_to.copy()
return pDef
@@ -367,7 +382,11 @@ def generateConstrainedBezierTraj(time_interval,placement_init,placement_end,q_t
if viewer and cfg.DISPLAY_FEET_TRAJ and DISPLAY_RRT:
from hpp.gepetto import PathPlayer
pp = PathPlayer (viewer)
- pp.displayPath(pathId,jointName=fullBody.getLinkNames(eeName)[0])
+ if DISPLAY_JOINT_LEVEL :
+ pp.displayPath(pathId,jointName=fullBody.getLinkNames(eeName)[0])
+ else :
+ #TODO
+ pp.displayPath(pathId,jointName=fullBody.getLinkNames(eeName)[0],offset =cfg.Robot.dict_offset[eeName].translation.T.tolist()[0] )
# compute constraints for the end effector trajectories :
pData = bezier_com.ProblemData()
@@ -430,7 +449,8 @@ def generateConstrainedBezierTraj(time_interval,placement_init,placement_end,q_t
print "Succeed."
else :
print "Constrained End effector Bezier method failed for all numbers of variables control points."
- # TODO : what to do here ??
+ print "Return predef trajectory (may be in collision)."
+ return predefTraj # FIXME throw an error instead of this ? require changes in wb scripts
# retrieve the result of quadprog and create a bezier curve :
vars = np.split(res,numVars)
diff --git a/scripts/hpp_wholebody_motion/end_effector/limb_rrt.py b/scripts/hpp_wholebody_motion/end_effector/limb_rrt.py
index 14b5518..052e21f 100644
--- a/scripts/hpp_wholebody_motion/end_effector/limb_rrt.py
+++ b/scripts/hpp_wholebody_motion/end_effector/limb_rrt.py
@@ -10,6 +10,8 @@ import numpy as np
import math
VERBOSE = True
DISPLAY_RRT_PATH = True
+DISPLAY_JOINT_LEVEL = True
+
def stdVecToMatrix(std_vector):
vec_l = []
for vec in std_vector:
@@ -95,7 +97,7 @@ def generateLimbRRTPath(q_init,q_end,phase_previous,phase,phase_next,fullBody,ph
print "ref : ",com1
# run limb-rrt in hpp :
- paths_rrt_ids = fullBody.comRRTOnePhase(s0,s1,path_com_id,10)
+ paths_rrt_ids = fullBody.comRRTOnePhase(s0,s1,path_com_id,1)
if VERBOSE :
print "Limb-rrt returned path(s) : ",paths_rrt_ids
path_rrt_id= int(paths_rrt_ids[0])
@@ -108,9 +110,8 @@ def generateLimbRRTTraj(time_interval,placement_init,placement_end,q_init,q_end,
if viewer and cfg.DISPLAY_FEET_TRAJ and DISPLAY_RRT_PATH:
from hpp.gepetto import PathPlayer
- pp = PathPlayer (viewer)
+ pp = PathPlayer (viewer)
pp.displayPath(pathId,jointName=fullBody.getLinkNames(eeName)[0])
-
-
+
# TODO : make a HPPRefTraj object and return it
return None
\ No newline at end of file
diff --git a/scripts/hpp_wholebody_motion/utils/util.py b/scripts/hpp_wholebody_motion/utils/util.py
new file mode 100644
index 0000000..b673076
--- /dev/null
+++ b/scripts/hpp_wholebody_motion/utils/util.py
@@ -0,0 +1,25 @@
+from pinocchio import SE3
+import numpy as np
+
+def toRotationMatrix(q):
+ """
+ Returns a (3*3) array (rotation matrix)
+ representing the same rotation as the (normalized) quaternion.
+ """
+ rm=np.zeros((3,3))
+ rm[0,0]=1-2*(q[2]**2+q[3]**2)
+ rm[0,1]=2*q[1]*q[2]-2*q[0]*q[3]
+ rm[0,2]=2*q[1]*q[3]+2*q[0]*q[2]
+ rm[1,0]=2*q[1]*q[2]+2*q[0]*q[3]
+ rm[1,1]=1-2*(q[1]**2+q[3]**2)
+ rm[1,2]=2*q[2]*q[3]-2*q[0]*q[1]
+ rm[2,0]=2*q[1]*q[3]-2*q[0]*q[2]
+ rm[2,1]=2*q[2]*q[3]+2*q[0]*q[1]
+ rm[2,2]=1-2*(q[1]**2+q[2]**2)
+ return rm
+
+def se3FromConfig(q):
+ placement = SE3.Identity()
+ placement.translation = np.matrix(q[0:3]).T
+ placement.rotation = toRotationMatrix(q[3:7])
+ return placement
\ No newline at end of file
diff --git a/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py b/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py
index 5f6ce28..011aa55 100644
--- a/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py
+++ b/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py
@@ -219,7 +219,7 @@ def generateEEReferenceTrajCollisionFree(fullBody,robot,robotData,t,phase_previo
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 ,SE3.Identity())#,cfg.Robot.dict_offset[eeName])
+ 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
@@ -457,7 +457,7 @@ def generateWholeBodyMotion(cs,viewer=None,fullBody=None):
for eeName,oldTraj in dic_effectors_trajs.iteritems():
if oldTraj: # update the traj in the map
ref_traj = generateEEReferenceTrajCollisionFree(fullBody,robot,invdyn.data(),t_begin,phase_prev,phase,phase_next,q_t_phase,oldTraj,eeName,pid,viewer)
- #dic_effectors_trajs.update({eeName:ref_traj})
+ dic_effectors_trajs.update({eeName:ref_traj})
else :
phaseValid = True
if cfg.WB_VERBOSE :
--
GitLab