92 lines
No EOL
4 KiB
Python
92 lines
No EOL
4 KiB
Python
from pinocchio.utils import *
|
|
from pinocchio.explog import exp,log
|
|
from numpy.linalg import pinv,norm
|
|
from pinocchio import forwardKinematics, Inertia, JointModelRX, Model, SE3
|
|
import gepetto.corbaserver
|
|
from display import Display
|
|
import eigenpy
|
|
eigenpy.switchToNumpyArray()
|
|
|
|
from pinocchio.utils import *
|
|
from pinocchio.explog import exp,log
|
|
from numpy.linalg import pinv,norm
|
|
from pinocchio import forwardKinematics, Inertia, JointModelRX, Model, SE3
|
|
import gepetto.corbaserver
|
|
from display import Display
|
|
import eigenpy
|
|
eigenpy.switchToNumpyArray()
|
|
|
|
class Visual:
|
|
def __init__(self,name,jointParent,placement):
|
|
self.name = name # Name in gepetto viewer
|
|
self.jointParent = jointParent # ID (int) of the joint
|
|
self.placement = placement # placement of the body wrt joint, i.e. bodyMjoint
|
|
def place(self,display,oMjoint):
|
|
oMbody = oMjoint*self.placement
|
|
display.place(self.name,oMbody,False)
|
|
class Robot():
|
|
def __init__(self):
|
|
self.thigh = 1.
|
|
self.tibia = 1.
|
|
self.feetsize = (.2,.5,.1)
|
|
self.feet = 0.2
|
|
self.leglen=1.+1.+.25
|
|
self.legdist=0.5
|
|
|
|
self.viewer = Display()
|
|
self.visuals = []
|
|
self.model = Model ()
|
|
self.Create()
|
|
self.data = self.model.createData()
|
|
self.q0 = zero(self.model.nq)
|
|
|
|
def CreateLeg(self,rootId=0,name='',jointPlacement):
|
|
color = [red,green,blue,transparency] = [1,1,0.78,1.0]
|
|
colorred = [1.0,0.0,0.0,1.0]
|
|
|
|
jointId = rootId
|
|
|
|
jointId = rootId
|
|
|
|
jointName = name+"hip_joint"
|
|
joint = JointModelRX()
|
|
jointId = self.model.addJoint(jointId,joint,jointPlacement,jointName)
|
|
self.model.appendBodyToJoint(jointId,Inertia.Random(),SE3.Identity())
|
|
self.viewer.viewer.gui.addSphere('world/' +name+ 'hip', 0.3,colorred)
|
|
self.visuals.append( Visual('world/' + name+'hip',jointId,SE3.Identity()) )
|
|
self.viewer.viewer.gui.addBox('world/' +name+ 'thigh', .1,.1,.5,color)
|
|
self.visuals.append( Visual('world/' + name+'thigh',jointId,SE3(eye(3),np.array([0., 0., -.5]))))
|
|
|
|
jointName = name+"knee_joint"
|
|
jointPlacement = SE3(eye(3),np.array( [0, 0, -1.0] ))
|
|
joint = JointModelRX()
|
|
jointId = self.model.addJoint(jointId,joint,jointPlacement,jointName)
|
|
self.model.appendBodyToJoint(jointId,Inertia.Random(),SE3.Identity())
|
|
self.viewer.viewer.gui.addSphere('world/' +name+ 'knee', 0.3,colorred)
|
|
self.visuals.append( Visual('world/' + name+'knee',jointId,SE3.Identity()) )
|
|
self.viewer.viewer.gui.addBox('world/' +name+ 'tibia', .1,.1,.5,color)
|
|
self.visuals.append( Visual('world/' +name+ 'tibia',jointId,SE3(eye(3),np.array([0., 0., -.5]))))
|
|
|
|
jointName = name+"ankle_joint"
|
|
jointPlacement = SE3(eye(3),np.array( [0, 0, -1.0] ))
|
|
joint = JointModelRX()
|
|
jointId = self.model.addJoint(jointId,joint,jointPlacement,jointName)
|
|
self.model.appendBodyToJoint(jointId,Inertia.Random(),SE3.Identity())
|
|
self.viewer.viewer.gui.addSphere('world/' + name+'ankle', 0.3,colorred)
|
|
self.visuals.append( Visual('world/' + name+'ankle',jointId,SE3.Identity()) )
|
|
self.viewer.viewer.gui.addBox('world/' +name+ 'feet', .25,.5,.1,color)
|
|
self.visuals.append( Visual('world/' +name+ 'feet',jointId,SE3(eye(3),np.array([0., .1, -.25]))))
|
|
|
|
def Crleft(self):
|
|
self.CreateLeg(name='left_',jointPlacement=pin.SE3(np.eye(3), np.array([0, self.legdist/2, self.leglen])))
|
|
def Crright(self):
|
|
self.CreateLeg(name='right_',jointPlacement=pin.SE3(np.eye(3), np.array([0, -self.legdist/2, self.leglen])))
|
|
def Create(self):
|
|
self.Crleft()
|
|
self.Crright()
|
|
|
|
def display(self,q):
|
|
forwardKinematics(self.model,self.data,q)
|
|
for visual in self.visuals:
|
|
visual.place( self.viewer,self.data.oMi[visual.jointParent] )
|
|
self.viewer.viewer.gui.refresh() |