class Hrp2(AbstractHumanoidRobot):
"""
This class instantiates a Hrp2 robot
"""
forceSensorInLeftAnkle = ((1., 0., 0., 0.), (0., 1., 0., 0.),
(0., 0., 1., -0.105), (0., 0., 0., 1.))
forceSensorInRightAnkle = ((1., 0., 0., 0.), (0., 1., 0., 0.),
(0., 0., 1., -0.105), (0., 0., 0., 1.))
accelerometerPosition = np.matrix((
(
1.,
0.,
0.,
-.13,
),
(
0.,
1.,
0.,
0.,
),
(
0.,
0.,
1.,
.118,
),
(
0.,
0.,
0.,
1.,
),
))
gyrometerPosition = np.matrix((
(
1.,
0.,
0.,
-.13,
),
(
0.,
1.,
0.,
0.,
),
(
0.,
0.,
1.,
.118,
),
(
0.,
0.,
0.,
1.,
),
))
def smallToFull(self, config):
res = (config + 10 * (0., ))
return res
def __init__(self, name, robotnumber, device=None, tracer=None):
AbstractHumanoidRobot.__init__(self, name, tracer)
self.OperationalPoints.append('waist')
self.OperationalPoints.append('chest')
self.device = device
self.AdditionalFrames.append(
("accelerometer", matrixToTuple(self.accelerometerPosition),
"chest"))
self.AdditionalFrames.append(
("gyrometer", matrixToTuple(self.gyrometerPosition), "chest"))
self.AdditionalFrames.append(
("leftFootForceSensor", self.forceSensorInLeftAnkle, "left-ankle"))
self.AdditionalFrames.append(
("rightFootForceSensor", self.forceSensorInRightAnkle,
"right-ankle"))
self.OperationalPointsMap = {
'left-wrist': 'LARM_JOINT5',
'right-wrist': 'RARM_JOINT5',
'left-ankle': 'LLEG_JOINT5',
'right-ankle': 'RLEG_JOINT5',
'gaze': 'HEAD_JOINT1',
'waist': 'WAIST',
'chest': 'CHEST_JOINT1'
}
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
rospack = RosPack()
self.urdfPath = rospack.get_path('hrp2_{0}_description'.format(
robotnumber)) + '/urdf/hrp2_{0}_reduced.urdf'.format(robotnumber)
self.pinocchioModel = se3.buildModelFromUrdf(self.urdfPath,
se3.JointModelFreeFlyer())
self.pinocchioData = self.pinocchioModel.createData()
self.dynamic.setModel(self.pinocchioModel)
self.dynamic.setData(self.pinocchioData)
self.dimension = self.dynamic.getDimension()
self.plugVelocityFromDevice = True
if self.dimension != len(self.halfSitting):
raise RuntimeError(
"Dimension of half-sitting: {0} differs from dimension of robot: {1}"
.format(len(self.halfSitting), self.dimension))
self.initializeRobot()
self.dynamic.displayModel()
class Hrp2(AbstractHumanoidRobot):
"""
This class instantiates a Hrp2 robot
"""
forceSensorInLeftAnkle = ((1.,0.,0.,0.),
(0.,1.,0.,0.),
(0.,0.,1.,-0.105),
(0.,0.,0.,1.))
forceSensorInRightAnkle = ((1.,0.,0.,0.),
(0.,1.,0.,0.),
(0.,0.,1.,-0.105),
(0.,0.,0.,1.))
accelerometerPosition = np.matrix ((
(1., 0., 0., -.13,),
(0., 1., 0., 0.,),
(0., 0., 1., .118,),
(0., 0., 0., 1.,),
))
gyrometerPosition = np.matrix ((
(1., 0., 0., -.13,),
(0., 1., 0., 0.,),
(0., 0., 1., .118,),
(0., 0., 0., 1.,),
))
def smallToFull(self, config):
res = (config + 10*(0.,))
return res
def __init__(self, name, robotnumber,
device = None, tracer = None):
AbstractHumanoidRobot.__init__ (self, name, tracer)
self.OperationalPoints.append('waist')
self.OperationalPoints.append('chest')
self.device = device
self.AdditionalFrames.append(
("accelerometer",
matrixToTuple(self.accelerometerPosition), "chest"))
self.AdditionalFrames.append(
("gyrometer",
matrixToTuple(self.gyrometerPosition), "chest"))
self.AdditionalFrames.append(
("leftFootForceSensor",
self.forceSensorInLeftAnkle, "left-ankle"))
self.AdditionalFrames.append(
("rightFootForceSensor",
self.forceSensorInRightAnkle, "right-ankle"))
self.OperationalPointsMap = {'left-wrist' : 'LARM_JOINT5',
'right-wrist' : 'RARM_JOINT5',
'left-ankle' : 'LLEG_JOINT5',
'right-ankle' : 'RLEG_JOINT5',
'gaze' : 'HEAD_JOINT1',
'waist' : 'WAIST',
'chest' : 'CHEST_JOINT1'}
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
rospack = RosPack()
self.urdfPath = rospack.get_path('hrp2_{0}_description'.format(robotnumber)) + '/urdf/hrp2_{0}.urdf'.format(robotnumber)
self.pinocchioModel = se3.buildModelFromUrdf(self.urdfPath, se3.JointModelFreeFlyer())
self.pinocchioData = self.pinocchioModel.createData()
self.dynamic.setModel(self.pinocchioModel)
self.dynamic.setData(self.pinocchioData)
self.dimension = self.dynamic.getDimension()
self.plugVelocityFromDevice = True
if self.dimension != len(self.halfSitting):
raise RuntimeError("Dimension of half-sitting: {0} differs from dimension of robot: {1}".format (len(self.halfSitting), self.dimension))
self.initializeRobot()
self.dynamic.displayModel()
