Commit 38886382 authored by Nicolas Mansard's avatar Nicolas Mansard Committed by Nicolas Mansard
Browse files

Added a test on the inertia matrix values.

parent c288c492
...@@ -2,7 +2,6 @@ ...@@ -2,7 +2,6 @@
# in the sot v1 with Layale spatial computations. # in the sot v1 with Layale spatial computations.
# All displayed values should be small. # All displayed values should be small.
from numpy import * from numpy import *
from dynamic_graph import plug from dynamic_graph import plug
from dynamic_graph.sot.core import * from dynamic_graph.sot.core import *
...@@ -40,7 +39,7 @@ ddrift = array(dyn.dynamicDrift.value) ...@@ -40,7 +39,7 @@ ddrift = array(dyn.dynamicDrift.value)
ref = array(( 6.15826833972e-15, 2.04697370165e-15, 557.874599016, 0.641696754304, -18.1784009655, -3.53009451098e-16, -0.561345854374, -5.59139028064, -1.66325193145, 3.79937151465, -0.042195289264, -0.0753854655127, 0.577468383095, 5.68293013333, -1.64852865759, 3.77694588165, -0.0421792204661, 0.0753854655127, 0.0760309106086, 2.98886493437, 0.00199513302756, -0.206211080736, 2.37751559015, -2.48334149087, -0.506787659257, -0.865989320327, -0.000989247550942, -0.201930987365, -0.0213613521542, 2.41976949542, 2.5218506675, 0.505404479576, -0.823853743424, -0.00357458175468, -0.161145047381, -0.00793718359791 )) ref = array(( 6.15826833972e-15, 2.04697370165e-15, 557.874599016, 0.641696754304, -18.1784009655, -3.53009451098e-16, -0.561345854374, -5.59139028064, -1.66325193145, 3.79937151465, -0.042195289264, -0.0753854655127, 0.577468383095, 5.68293013333, -1.64852865759, 3.77694588165, -0.0421792204661, 0.0753854655127, 0.0760309106086, 2.98886493437, 0.00199513302756, -0.206211080736, 2.37751559015, -2.48334149087, -0.506787659257, -0.865989320327, -0.000989247550942, -0.201930987365, -0.0213613521542, 2.41976949542, 2.5218506675, 0.505404479576, -0.823853743424, -0.00357458175468, -0.161145047381, -0.00793718359791 ))
print((abs(ref-ddrift)>1e-7)*(ddrift-ref)/ref) #print((abs(ref-ddrift)>1e-7)*(ddrift-ref)/ref)
...@@ -53,7 +52,7 @@ ddrift = array(dyn.dynamicDrift.value) ...@@ -53,7 +52,7 @@ ddrift = array(dyn.dynamicDrift.value)
ref = ( -10.4462414565, -4.3292836684, 572.739982784, 4.3826925928, -20.6895818638, -0.309654185483, -0.509501347316, -3.96038629169, -1.09416860245, 4.58301173612, -0.000338502715373, -0.0845375737968, 0.334196137848, 5.4536935243, -2.48838005393, 3.68382917018, -0.0741738186845, -0.0323824017553, 0.16063411303, 3.3095960491, -0.00598500403802, -0.232210715353, 3.33374916121, -2.53815497569, -0.493590609397, -0.539999494748, -0.00130282444639, -0.139868810641, -0.0205679407975, 3.59400850451, 1.9369355767, 0.434182418961, -0.435862556043, -0.00358566323652, -0.0793825642475, -0.00601992786276) ref = ( -10.4462414565, -4.3292836684, 572.739982784, 4.3826925928, -20.6895818638, -0.309654185483, -0.509501347316, -3.96038629169, -1.09416860245, 4.58301173612, -0.000338502715373, -0.0845375737968, 0.334196137848, 5.4536935243, -2.48838005393, 3.68382917018, -0.0741738186845, -0.0323824017553, 0.16063411303, 3.3095960491, -0.00598500403802, -0.232210715353, 3.33374916121, -2.53815497569, -0.493590609397, -0.539999494748, -0.00130282444639, -0.139868810641, -0.0205679407975, 3.59400850451, 1.9369355767, 0.434182418961, -0.435862556043, -0.00358566323652, -0.0793825642475, -0.00601992786276)
print((abs(ref-ddrift)>1e-7)*(ddrift-ref)/ref) #print((abs(ref-ddrift)>1e-7)*(ddrift-ref)/ref)
...@@ -65,8 +64,34 @@ inertia = dyn.inertia.value ...@@ -65,8 +64,34 @@ inertia = dyn.inertia.value
inertiaRef = array((( 56.86795097, 0, 0, 0, 9.02470818748, -0.513553850349, 0.340916888107, -0.0381020152154, -2.34844376815, -0.943308251678, -0.10877179732, -4.95751437323e-05, -0.764265726167, 0.0874688770777, -2.37397921028, -0.965110373621, -0.108460788158, 0.0024987286952, 0.0479596069503, 1.32694523125, -0.00128311347439, 0.0758969910749, -1.32827533222, -0.092977682241, 0.00815005591961, -0.553139030052, 0.00159196118054, -0.105716386044, -0.000320902708953, -1.36094402765, 0.114588879074, 0.00450752777591, -0.550959788883, -0.00043926070454, -0.10571364841, -0.000908742104883), (0, 56.86795097, 0, -9.02470818748, 0, 1.92652295354, 0.410448520579, 2.31787491793, -0.00219429646583, 0.00194762764744, -7.49864040047e-05, 0.107147785642, 0.451848291201, 2.25147436824, 0.0911743743159, -0.0373173165435, 0.00327376633775, 0.107115480145, -0.444475901252, -0.0349576830043, 0.0127225130237, -0.00274148720609, 0.0462340335434, 1.33386790108, 0.261942546091, -0.0400791410749, 0.00219381634416, -0.00848285880832, 0.00877606731312, 0.0471559048689, 1.36934242699, 0.264640327235, 0.0551021198473, -0.00210238178572, 0.0105770275177, -0.00917176051472), (0, 0, 56.86795097, 0.513553850349, -1.92652295354, 0, -0.0406590950292, -0.383949789425, -0.191330099074, 0.406429435016, -0.00430983902285, -0.00764423390295, 0.0692100189475, 0.735056817302, -0.219332540854, 0.35540037299, -0.00469098704753, 0.00768862834576, 0.0023110444299, 0.300385891187, -2.80490075177e-05, -0.0227959493311, 0.289188322556, -0.341878103124, -0.0702260943961, -0.0626805730269, -0.000301899269019, -0.015551972784, -0.00279824362629, 0.285006035381, 0.153085795534, 0.0305416055484, -0.0700059385031, -0.000216927339369, -0.0136158548917, -7.416382281e-05), (0, -9.02470818748, 0.513553850349, 9.60483303449, -0.0603020252951, -0.553706541733, 0.155119773391, 1.20377852895, 0.0249828097142, -0.0422949887711, 0.000467975474715, 0.0696401381491, 0.181963830508, 1.25458718499, -0.00114626822162, 0.0474244798953, 0.00125024320328, 0.0700185628768, 0.310661063016, 0.0411928322304, -0.00767210589372, 0.00183520593937, -0.097581694413, -0.0349493522061, 0.0262794477324, 0.0235880355895, 0.000471517595361, 0.00544512921934, 0.00194216877554, 0.079249973408, -0.0808789890779, 0.0153615837082, -0.0210545611783, -0.000234618827988, -0.00343662312502, -0.00119439216176), (9.02470818748, 0, -1.92652295354, -0.0603020486212, 8.34725231947, 0.0819925414426, -0.101304604736, 0.0258591604313, 1.19441562662, 0.546731159933, 0.0733363639979, -7.35866779443e-05, 0.304251621797, -0.0617408110411, 1.19414481323, 0.548942990746, 0.0728607120291, -0.00161991630966, 0.00101765106769, 1.53077078055, -0.000782267065671, 0.0618079596602, -0.138789634747, -0.00587244545582, 0.00867770310809, -0.0052148685875, 0.000354174660425, 0.00667801240344, 0.000177313621399, -0.119984195089, 0.00736682005592, -0.00818007825022, 0.00957290890096, -0.000489342591947, 0.00955416948939, 0.00011301822002), (-0.513553850349, 1.92652295354, 0, -0.553706501441, 0.0819925579913, 1.90394172822, 0.0909290659, 0.0228226849751, -0.263661495897, -0.10138538624, -0.0114133106788, -0.00208521612127, 0.187706767901, 0.0376948047466, 0.449780370203, 0.186908661156, 0.022085164062, -0.000785847487639, 1.20345682711, -0.0635702286675, 0.00768894524829, -0.00128476384184, -0.462393049379, -0.00248658463989, 0.0133541088622, -0.204943135534, 0.00192646920944, -0.0407963597097, 0.000357624409966, 0.415089367132, 0.0240006497361, 0.0155201689623, 0.172886483011, 0.00129859081842, 0.0335849525676, -0.000256631470019), (0.340916888107, 0.410448520579, -0.0406590950292, 0.155119783324, -0.101304586707, 0.0909290646183, 0.0840653013456, 0.144972951912, -0.101777905605, -0.0376446142388, -0.00367431128744, 0.00490756075627, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0), (-0.0381020152154, 2.31787491793, -0.383949789425, 1.20377852795, 0.0258591594187, 0.0228226750305, 0.144972941903, 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0, 0), (-4.95751437323e-05, 0.107147785642, -0.00764423390295, 0.0696401381491, -7.35866779443e-05, -0.00208521612127, 0.00490756075627, 0.0691476806116, -8.74182099774e-05, -0.000902514838823, 9.02274643345e-05, 0.0110420682603, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0), (-0.764265726167, 0.451848291201, 0.0692100189475, 0.181963839957, 0.304251603466, 0.187706767249, 0, 0, 0, 0, 0, 0, 0.163254181536, 0.160170658895, 0.325880322905, 0.139712387715, 0.0168065543991, 0.00616628253964, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0), (0.0874688770777, 2.25147436824, 0.735056817302, 1.25458718405, -0.0617408080086, 0.0376947951628, 0, 0, 0, 0, 0, 0, 0.160170649315, 1.19843460822, -0.0260807810106, 0.00978647853516, -0.000478883372156, 0.0691823954613, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0), (-2.37397921028, 0.0911743743159, -0.219332540854, -0.00114626782989, 1.19414481019, 0.449780388273, 0, 0, 0, 0, 0, 0, 0.325880340873, 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(0.0479596069503, -0.444475901252, 0.0023110444299, 0.310661083485, 0.00101768015229, 1.20345682459, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.24245973753, -0.0340764471647, 0.00646747938307, -6.96590261451e-05, -0.472708219318, -0.0488682348116, 0.00761650025662, -0.200151948953, 0.00189818242039, -0.0396327037015, 0.000269695005692, 0.418184455413, -0.0278245740519, 0.00838808914902, 0.168497705139, 0.00132817840113, 0.03292331812, -7.85988331203e-05), (1.32694523125, -0.0349576830043, 0.300385891187, 0.0411928194549, 1.53077078039, -0.0635702572802, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.0340764769053, 1.09321211632, -0.000570724376908, 0.034068390017, 0.345972430779, 0.0183202194207, 0.00484135835504, 0.185939076177, -0.000212556311594, 0.0430187672094, 0.000258738964378, 0.364495432076, -0.00874507575316, -0.0043858069072, 0.192042455675, -0.000408506030894, 0.0445583546738, 0.000281561648034), (-0.00128311347439, 0.0127225130237, -2.80490075177e-05, -0.00767210589372, 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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.168497705139, 0.192042455675, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.288525051974, 0.00396307423271, 0.00024704864082, 0.169133219334, -0.000328239076966, 0.0402016106633, -7.90368878813e-08), (-0.00043926070454, -0.00210238178572, -0.000216927339369, -0.000234618827988, -0.000489342591947, 0.00129859081842, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00132817840113, -0.000408506030894, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.000349555102925, -0.00169510899408, 0.000860267466088, -0.000328239076966, 0.00131933930816, -0.000188699048521, 0.000102942264638), (-0.10571364841, 0.0105770275177, -0.0136158548917, -0.00343662312502, 0.00955416948939, 0.0335849525676, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.03292331812, 0.0445583546738, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0630650067676, 0.000936549733259, -0.000198919905024, 0.0402016106633, -0.000188699048521, 0.013424077006, 5.64793897724e-07), (-0.000908742104883, -0.00917176051472, -7.416382281e-05, -0.00119439216176, 0.00011301822002, -0.000256631470019, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -7.85988331203e-05, 0.000281561648034, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000385857807184, -0.00570053882302, -0.00182087441397, -7.90368878813e-08, 0.000102942264638, 5.64793897724e-07, 0.000675783014847 )))
delta = (inertiaRef-inertia) delta = (inertiaRef-inertia)
print((abs(delta)>1e-7)*delta ) #print((abs(delta)>1e-7)*delta )
# --- DYN HARD CODED
from dynamic_graph.sot.dynamics.dynamic_hrp2 import DynamicHrp2
# --- Dynamic model
dyn10 = DynamicHrp2('dyn10')
dyn10.setFiles(modelDir, modelName,specificitiesPath, jointRankPath)
dyn10.parse()
dyn10.position.value = dyn.position.value
dyn10.ffposition.value = dyn.ffposition.value
dyn10.velocity.value = dyn.velocity.value
dyn10.acceleration.value = dyn.acceleration.value
dyn10.setProperty('ComputeBackwardDynamics','true')
dyn10.setProperty('ComputeAccelerationCoM ','true')
#dyn10.com.recompute(1)
#dyn.com.recompute(1)
#dyn10.com.m
#dyn.com.m
dyn.createOpPoint('rh','right-wrist')
dyn.rh.recompute(1)
dyn.rh.m
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