Verified Commit 2fa6576c authored by Justin Carpentier's avatar Justin Carpentier
Browse files

example: add example of buildReducedModel

parent 1931a51c
......@@ -8,6 +8,7 @@ SET(${PROJECT_NAME}_EXAMPLES
overview-SE3
overview-urdf
interpolation-SE3
build-reduced-model
)
ADD_DEFINITIONS(-DPINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
......
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/model.hpp"
#include <iostream>
#include <algorithm>
// PINOCCHIO_MODEL_DIR is defined by the CMake but you can define your own directory here.
#ifndef PINOCCHIO_MODEL_DIR
#define PINOCCHIO_MODEL_DIR "path_to_the_model_dir"
#endif
template<typename T>
bool is_in_vector(const std::vector<T> & vector, const T & elt)
{
return vector.end() != std::find(vector.begin(),vector.end(),elt);
}
int main(int argc, char ** argv)
{
using namespace pinocchio;
// You should change here to set up your own URDF file or just pass it as an argument of this example.
const std::string urdf_filename = (argc<=1) ? PINOCCHIO_MODEL_DIR + std::string("/others/ur_description/urdf/ur5_robot.urdf") : argv[1];
// Load the urdf model
Model model;
pinocchio::urdf::buildModel(urdf_filename,model);
// Create a list of joint to lock
std::vector<std::string> list_of_joints_to_lock_by_name;
list_of_joints_to_lock_by_name.push_back("elbow_joint");
list_of_joints_to_lock_by_name.push_back("wrist_3_joint"); // It can be in the wrong order
list_of_joints_to_lock_by_name.push_back("wrist_2_joint");
list_of_joints_to_lock_by_name.push_back("blabla"); // Joint not in the model
// Print the list of joints to remove + retrieve the joint id
std::vector<JointIndex> list_of_joints_to_lock_by_id;
for(std::vector<std::string>::const_iterator it = list_of_joints_to_lock_by_name.begin();
it != list_of_joints_to_lock_by_name.end(); ++it)
{
const std::string & joint_name = *it;
if(model.existJointName(joint_name)) // do not consider joint that are not in the model
list_of_joints_to_lock_by_id.push_back(model.getJointId(joint_name));
else
std::cout << "joint: " << joint_name << " does not belong to the model" << std::endl;
}
// Sample any random configuration
Eigen::VectorXd q_rand = randomConfiguration(model);
// std::cout << "q_rand: " << q_rand.transpose() << std::endl;
// But should be also a neutral configuration
Eigen::VectorXd q_neutral= neutral(model);
PINOCCHIO_UNUSED_VARIABLE(q_neutral);
// std::cout << "q_neutral: " << q_neutral.transpose() << std::endl;
std::cout << "\n\nFIRST CASE: BUILD A REDUCED MODEL FROM A LIST OF JOINT TO LOCK" << std::endl;
// Build the reduced model from the list of lock joints
Model reduced_model = buildReducedModel(model,list_of_joints_to_lock_by_id,q_rand);
// Print the list of joints in the original model
std::cout << "List of joints in the original model:" << std::endl;
for(JointIndex joint_id = 1; joint_id < model.joints.size(); ++joint_id)
std::cout << "\t- " << model.names[joint_id] << std::endl;
// Print the list of joints in the reduced model
std::cout << "List of joints in the reduced model:" << std::endl;
for(JointIndex joint_id = 1; joint_id < reduced_model.joints.size(); ++joint_id)
std::cout << "\t- " << reduced_model.names[joint_id] << std::endl;
std::cout << "\n\nSECOND CASE: BUILD A REDUCED MODEL FROM A LIST OF JOINT TO KEEP UNLOCKED" << std::endl;
// The same thing, but this time with an input list of joint to keep
std::vector<std::string> list_of_joints_to_keep_unlocked_by_name;
list_of_joints_to_keep_unlocked_by_name.push_back("shoulder_pan_joint");
list_of_joints_to_keep_unlocked_by_name.push_back("shoulder_lift_joint");
list_of_joints_to_keep_unlocked_by_name.push_back("wrist_1_joint");
std::vector<JointIndex> list_of_joints_to_keep_unlocked_by_id;
for(std::vector<std::string>::const_iterator it = list_of_joints_to_keep_unlocked_by_name.begin();
it != list_of_joints_to_keep_unlocked_by_name.end(); ++it)
{
const std::string & joint_name = *it;
if(model.existJointName(joint_name))
list_of_joints_to_keep_unlocked_by_id.push_back(model.getJointId(joint_name));
else
std::cout << "joint: " << joint_name << " does not belong to the model";
}
// Transform the list into a list of joints to lock
list_of_joints_to_lock_by_id.clear();
for(JointIndex joint_id = 1; joint_id < model.joints.size(); ++joint_id)
{
const std::string joint_name = model.names[joint_id];
if(is_in_vector(list_of_joints_to_keep_unlocked_by_name,joint_name))
continue;
else
{
list_of_joints_to_lock_by_id.push_back(joint_id);
}
}
// Build the reduced model from the list of lock joints
Model reduced_model2 = buildReducedModel(model,list_of_joints_to_lock_by_id,q_rand);
// Print the list of joints in the second reduced model
std::cout << "List of joints in the second reduced model:" << std::endl;
for(JointIndex joint_id = 1; joint_id < reduced_model2.joints.size(); ++joint_id)
std::cout << "\t- " << reduced_model2.names[joint_id] << std::endl;
}
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