def processs_body_geom(self): skel = self.skeleton for i in range(skel.getJointNum()): joint = skel.getJoint(i) # type: ym.Joint self.body_name.append(joint.name) # print(joint.children) avg_offset = mm.seq2Vec3( sum([child.offset for child in joint.children]) / len(joint.children)) length = mm.length(avg_offset) length *= 0.9 mass = self.mass_map[joint.name] width = math.sqrt(mass / 1000. / length * 0.9) height = width geom_type = 'box' if self.shape_map[ joint.name] is None else self.shape_map[joint.name][0] geom_size = [width, height, length] if self.shape_map[ joint.name] is None else self.shape_map[joint.name][1] offset_T = mm.getSE3ByTransV(.5 * avg_offset) defaultBoneV = mm.unitZ() boneR = mm.SO3ToSE3(mm.getSO3FromVectors(defaultBoneV, avg_offset)) boneT = np.dot(offset_T, boneR) # boneT = offset_T self.joint_to_body_transf.append(boneT) self.body_transf.append(np.dot(self.joint_transf[i], boneT)) self.body_mass.append(mass) self.body_geom_type.append(geom_type) self.body_geom_size.append(geom_size)
def sample_target(self): angle = 2. * pi * random() radius = 5. * random() self.goal_in_world_frame = self.skel.body(0).to_world() + radius * ( cos(angle) * mm.unitX() - sin(angle) * mm.unitZ()) self.goal_in_world_frame[1] = 0.
def get_plane_align_transform_by_posture(posture_to_be_aligned, posture_base): """ aligning posture in XZ plane :type posture_base: ym.JointPosture :type posture_to_be_aligned: ym.JointPosture :return: """ base_transform = posture_base.globalTs[0] before_transform = posture_to_be_aligned.globalTs[0] align_translation = mm.T2p(base_transform) - mm.T2p(before_transform) align_translation[1] = 0. base_direction = np.dot(mm.T2R(base_transform), mm.unitZ()) before_direction = np.dot(mm.T2R(before_transform), mm.unitZ()) base_direction[1] = 0. before_direction[1] = 0. align_rotation = mm.getSO3FromVectors(before_direction, base_direction) return mm.getSE3FromSO3andVec3(align_rotation, align_translation)
def fix_dofs(_DOFs, nested_dof_values, _mcfg, _joint_names): fixed_nested_dof_values = list() fixed_nested_dof_values.append(nested_dof_values[0]) for i in range(1, len(_DOFs)): dof = _DOFs[i] if dof == 1: node = _mcfg.getNode(_joint_names[i]) axis = mm.unitZ() if node.jointAxes[0] == 'X': axis = mm.unitX() elif node.jointAxes[0] == 'Y': axis = mm.unitY() fixed_nested_dof_values.append(np.array([np.dot(nested_dof_values[i], axis)])) else: fixed_nested_dof_values.append(nested_dof_values[i]) return fixed_nested_dof_values
def step(self, target): target = self.config.x_normal.normalize_l(target) m = self.model feed_dict = {m.x: [[target]], m.prev_y: self.current_y} if self.state is not None: feed_dict[m.initial_state] = self.state # x : target x, target y => 2 # # y : foot contact=2, root transform(rotation, tx, ty)=3, root_height, joint pos=3*13=39 => 45 # y : foot contact=2, root transform(rotation, tx, ty)=3, root_height, joint pos=3*19=57 => 63 output, self.state, self.current_y = self.sess.run( [m.generated, m.final_state, m.final_y], feed_dict) output = output[0][0] output = self.config.y_normal.de_normalize_l(output) angles = copy(output[63:]) output = output[:63] contacts = copy(output[:2]) output = output[2:] # move root self.pose = self.pose.transform(output) root_orientation = mm.getSO3FromVectors( (self.pose.d[0], 0., self.pose.d[1]), -mm.unitZ()) points = [[0, output[3], 0]] output = output[4:] for i in range(len(output) // 3): points.append(output[i * 3:(i + 1) * 3]) point_offset = mm.seq2Vec3([0., -0.05, 0.]) for i in range(len(points)): points[i] = mm.seq2Vec3(self.pose.global_point_3d( points[i])) / 100. + point_offset orientations = list() for i in range(len(angles) // 3): orientations.append(mm.exp(angles[i * 3:(i + 1) * 3])) return contacts, points, angles, orientations, root_orientation
def simulateCallback(frame): # print(frame) # print(motion[frame].getJointOrientationLocal(footIdDic['RightFoot_foot_0_1_0'])) # hfi.footAdjust(motion[frame], idDic, SEGMENT_FOOT_MAG=.03, SEGMENT_FOOT_RAD=.015, baseHeight=0.02) if abs(getParamVal('tiptoe angle')) > 0.001: tiptoe_angle = getParamVal('tiptoe angle') motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_0_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_0_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) # motion[frame].mulJointOrientationLocal(idDic['LeftFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95)) # motion[frame].mulJointOrientationLocal(idDic['RightFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95)) # motion[frame].mulJointOrientationLocal(idDic['LeftFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle)) # motion[frame].mulJointOrientationLocal(idDic['RightFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle)) if getParamVal('left tilt angle') > 0.001: left_tilt_angle = getParamVal('left tilt angle') if motion[0].skeleton.getJointIndex( 'LeftFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) else: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) elif getParamVal('left tilt angle') < -0.001: left_tilt_angle = getParamVal('left tilt angle') motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_0'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) if motion[0].skeleton.getJointIndex( 'LeftFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) else: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) if getParamVal('right tilt angle') > 0.001: right_tilt_angle = getParamVal('right tilt angle') if motion[0].skeleton.getJointIndex( 'RightFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) else: motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) elif getParamVal('right tilt angle') < -0.001: right_tilt_angle = getParamVal('right tilt angle') motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_0'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) if motion[0].skeleton.getJointIndex( 'RightFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) # else: # motion[frame].mulJointOrientationLocal(idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) motionModel.update(motion[frame]) motionModel.translateByOffset( np.array([ getParamVal('com X offset'), getParamVal('com Y offset'), getParamVal('com Z offset') ])) controlModel_ik.set_q(controlModel.get_q()) global g_initFlag global forceShowTime global JsysPre global JsupPreL global JsupPreR global JconstPre global preFootCenter global maxContactChangeCount global contactChangeCount global contact global contactChangeType Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals( ['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt']) Dt = 2 * (Kt**.5) Dl = 2 * (Kl**.5) Dh = 2 * (Kh**.5) dt_sup = 2 * (kt_sup**.5) # tracking th_r = motion.getDOFPositions(frame) th = controlModel.getDOFPositions() dth_r = motion.getDOFVelocities(frame) dth = controlModel.getDOFVelocities() ddth_r = motion.getDOFAccelerations(frame) ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt) # ype.flatten(fix_dofs(DOFs, ddth_des, mcfg, joint_names), ddth_des_flat) # ype.flatten(fix_dofs(DOFs, dth, mcfg, joint_names), dth_flat) ype.flatten(ddth_des, ddth_des_flat) ype.flatten(dth, dth_flat) ################################################# # jacobian ################################################# contact_des_ids = list() # desired contact segments if foot_viewer.check_om_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0')) if foot_viewer.check_op_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0_0')) if foot_viewer.check_im_l is not None and foot_viewer.check_im_l.value( ): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1')) if foot_viewer.check_ip_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1_0')) if foot_viewer.check_h_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_1_0')) if foot_viewer.check_om_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_0')) if foot_viewer.check_op_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_0_0')) if foot_viewer.check_im_r is not None and foot_viewer.check_im_r.value( ): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_1')) if foot_viewer.check_ip_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_1_0')) if foot_viewer.check_h_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_1_0')) contact_ids = list() # temp idx for balancing contact_ids.extend(contact_des_ids) contact_joint_ori = list( map(controlModel.getJointOrientationGlobal, contact_ids)) contact_joint_pos = list( map(controlModel.getJointPositionGlobal, contact_ids)) contact_body_ori = list( map(controlModel.getBodyOrientationGlobal, contact_ids)) contact_body_pos = list( map(controlModel.getBodyPositionGlobal, contact_ids)) contact_body_vel = list( map(controlModel.getBodyVelocityGlobal, contact_ids)) contact_body_angvel = list( map(controlModel.getBodyAngVelocityGlobal, contact_ids)) ref_joint_ori = list( map(motion[frame].getJointOrientationGlobal, contact_ids)) ref_joint_pos = list( map(motion[frame].getJointPositionGlobal, contact_ids)) ref_joint_vel = [ motion.getJointVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_joint_angvel = [ motion.getJointAngVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_body_ori = list( map(motionModel.getBodyOrientationGlobal, contact_ids)) ref_body_pos = list(map(motionModel.getBodyPositionGlobal, contact_ids)) # ref_body_vel = list(map(controlModel.getBodyVelocityGlobal, contact_ids)) ref_body_angvel = [ motion.getJointAngVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_body_vel = [ ref_joint_vel[i] + np.cross(ref_joint_angvel[i], ref_body_pos[i] - ref_joint_pos[i]) for i in range(len(ref_joint_vel)) ] is_contact = [1] * len(contact_ids) contact_right = len(set(contact_des_ids).intersection(rIDlist)) > 0 contact_left = len(set(contact_des_ids).intersection(lIDlist)) > 0 contMotionOffset = th[0][0] - th_r[0][0] linkPositions = controlModel.getBodyPositionsGlobal() linkVelocities = controlModel.getBodyVelocitiesGlobal() linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal() linkInertias = controlModel.getBodyInertiasGlobal() CM = yrp.getCM(linkPositions, linkMasses, totalMass) dCM = yrp.getCM(linkVelocities, linkMasses, totalMass) CM_plane = copy.copy(CM) CM_plane[1] = 0. dCM_plane = copy.copy(dCM) dCM_plane[1] = 0. P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM, linkInertias) dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses, linkVelocities, dCM, linkAngVelocities, linkInertias) # calculate jacobian Jsys, dJsys = controlModel.computeCom_J_dJdq() J_contacts = [] # type: list[np.ndarray] dJ_contacts = [] # type: list[np.ndarray] for contact_id in contact_ids: J_contacts.append(Jsys[6 * contact_id:6 * contact_id + 6, :]) dJ_contacts.append(dJsys[6 * contact_id:6 * contact_id + 6]) # calculate footCenter footCenter = sum(contact_body_pos) / len(contact_body_pos) if len(contact_body_pos) > 0 \ else .5 * (controlModel.getBodyPositionGlobal(supL) + controlModel.getBodyPositionGlobal(supR)) footCenter[1] = 0. # if len(contact_body_pos) > 2: # hull = ConvexHull(contact_body_pos) footCenter_ref = sum(ref_body_pos) / len(ref_body_pos) if len(ref_body_pos) > 0 \ else .5 * (motionModel.getBodyPositionGlobal(supL) + motionModel.getBodyPositionGlobal(supR)) footCenter_ref = footCenter_ref + contMotionOffset # if len(ref_body_pos) > 2: # hull = ConvexHull(ref_body_pos) footCenter_ref[1] = 0. # footCenter[0] = footCenter[0] + getParamVal('com X offset') # footCenter[1] = footCenter[0] + getParamVal('com Y offset') # footCenter[2] = footCenter[2] + getParamVal('com Z offset') # initialization if g_initFlag == 0: preFootCenter[0] = footCenter.copy() g_initFlag = 1 # if contactChangeCount == 0 and np.linalg.norm(footCenter - preFootCenter[0]) > 0.01: # contactChangeCount += 30 if contactChangeCount > 0: # change footcenter gradually footCenter = preFootCenter[0] + ( maxContactChangeCount - contactChangeCount) * ( footCenter - preFootCenter[0]) / maxContactChangeCount else: preFootCenter[0] = footCenter.copy() # linear momentum # TODO: # We should consider dCM_ref, shouldn't we? # add getBodyPositionGlobal and getBodyPositionsGlobal in csVpModel! # to do that, set joint velocities to vpModel CM_ref_plane = footCenter # CM_ref_plane = footCenter_ref CM_ref = footCenter + np.array([ getParamVal('com X offset'), motionModel.getCOM()[1] + getParamVal('com Y offset'), getParamVal('com Z offset') ]) dL_des_plane = Kl * totalMass * (CM_ref - CM) - Dl * totalMass * dCM # dL_des_plane = Kl * totalMass * (CM_ref_plane - CM_plane) - Dl * totalMass * dCM_plane # dL_des_plane[1] = 0. # print('dCM_plane : ', np.linalg.norm(dCM_plane)) # angular momentum CP_ref = footCenter # CP_ref = footCenter_ref bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) CP = yrp.getCP(contactPositions, contactForces) if CP_old[0] is None or CP is None: dCP = None else: dCP = (CP - CP_old[0]) / (1 / 30.) CP_old[0] = CP if CP is not None and dCP is not None: ddCP_des = Kh * (CP_ref - CP) - Dh * dCP dCP_des = dCP + ddCP_des * (1 / 30.) CP_des = CP + dCP_des * (1 / 30.) # CP_des = footCenter CP_des = CP + dCP * (1 / 30.) + .5 * ddCP_des * ((1 / 30.)**2) dH_des = np.cross( (CP_des - CM), (dL_des_plane + totalMass * mm.s2v(wcfg.gravity))) if contactChangeCount > 0: # and contactChangeType == 'DtoS': dH_des *= (maxContactChangeCount - contactChangeCount) / maxContactChangeCount else: dH_des = None # convex hull contact_pos_2d = np.asarray([ np.array([contactPosition[0], contactPosition[2]]) for contactPosition in contactPositions ]) p = np.array([CM_plane[0], CM_plane[2]]) # hull = None # type: Delaunay # if contact_pos_2d.shape[0] > 0: # hull = Delaunay(contact_pos_2d) # print(hull.find_simplex(p) >= 0) # set up equality constraint # TODO: # logSO3 is just q'', not acceleration. # To make a_oris acceleration, q'' -> a will be needed # body_ddqs = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori])) # body_ddqs = list(map(mm.logSO3, [np.dot(contact_body_ori[i].T, np.dot(ref_body_ori[i], mm.getSO3FromVectors(np.dot(ref_body_ori[i], mm.unitY()), mm.unitY()))) for i in range(len(contact_body_ori))])) # body_ddqs = list(map(mm.logSO3, [np.dot(contact_body_ori[i].T, np.dot(ref_body_ori[i], mm.getSO3FromVectors(np.dot(ref_body_ori[i], up_vec_in_each_link[contact_ids[i]]), mm.unitY()))) for i in range(len(contact_body_ori))])) a_oris = list( map(mm.logSO3, [ np.dot( contact_body_ori[i].T, np.dot( ref_body_ori[i], mm.getSO3FromVectors( np.dot(ref_body_ori[i], up_vec_in_each_link[contact_ids[i]]), mm.unitY()))) for i in range(len(contact_body_ori)) ])) a_oris = list( map(mm.logSO3, [ np.dot( np.dot( ref_body_ori[i], mm.getSO3FromVectors( np.dot(ref_body_ori[i], up_vec_in_each_link[contact_ids[i]]), mm.unitY())), contact_body_ori[i].T) for i in range(len(contact_body_ori)) ])) body_qs = list(map(mm.logSO3, contact_body_ori)) body_angs = [ np.dot(contact_body_ori[i], contact_body_angvel[i]) for i in range(len(contact_body_ori)) ] body_dqs = [ mm.vel2qd(body_angs[i], body_qs[i]) for i in range(len(body_angs)) ] # a_oris = [np.dot(contact_body_ori[i], mm.qdd2accel(body_ddqs[i], body_dqs[i], body_qs[i])) for i in range(len(contact_body_ori))] # body_ddq = body_ddqs[0] # body_ori = contact_body_ori[0] # body_ang = np.dot(body_ori.T, contact_body_angvel[0]) # # body_q = mm.logSO3(body_ori) # body_dq = mm.vel2qd(body_ang, body_q) # a_ori = np.dot(body_ori, mm.qdd2accel(body_ddq, body_dq, body_q)) KT_SUP = np.diag([kt_sup / 10., kt_sup, kt_sup / 10.]) # KT_SUP = np.diag([kt_sup, kt_sup, kt_sup]) # a_oris = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori])) # a_oris = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(contact_body_ori[i], up_vec_in_each_link[contact_ids[i]]), mm.unitY()) for i in range(len(contact_body_ori))])) # a_sups = [np.append(kt_sup*(ref_body_pos[i] - contact_body_pos[i] + contMotionOffset) + dt_sup*(ref_body_vel[i] - contact_body_vel[i]), # kt_sup*a_oris[i]+dt_sup*(ref_body_angvel[i]-contact_body_angvel[i])) for i in range(len(a_oris))] # a_sups = [np.append(kt_sup*(ref_body_pos[i] - contact_body_pos[i] + contMotionOffset) - dt_sup * contact_body_vel[i], # kt_sup*a_oris[i] - dt_sup * contact_body_angvel[i]) for i in range(len(a_oris))] a_sups = [ np.append( np.dot(KT_SUP, (ref_body_pos[i] - contact_body_pos[i] + contMotionOffset)) - dt_sup * contact_body_vel[i], kt_sup * a_oris[i] - dt_sup * contact_body_angvel[i]) for i in range(len(a_oris)) ] # for i in range(len(a_sups)): # a_sups[i][1] = -kt_sup * contact_body_pos[i][1] - dt_sup * contact_body_vel[i][1] # momentum matrix RS = np.dot(P, Jsys) R, S = np.vsplit(RS, 2) # rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat) rs = np.dot(dP, np.dot(Jsys, dth_flat)) + np.dot(P, dJsys) r_bias, s_bias = np.hsplit(rs, 2) ####################################################### # optimization ####################################################### # if contact == 2 and footCenterR[1] > doubleTosingleOffset/2: if contact_left and not contact_right: config['weightMap']['RightUpLeg'] = .8 config['weightMap']['RightLeg'] = .8 config['weightMap']['RightFoot'] = .8 else: config['weightMap']['RightUpLeg'] = .1 config['weightMap']['RightLeg'] = .25 config['weightMap']['RightFoot'] = .2 # if contact == 1 and footCenterL[1] > doubleTosingleOffset/2: if contact_right and not contact_left: config['weightMap']['LeftUpLeg'] = .8 config['weightMap']['LeftLeg'] = .8 config['weightMap']['LeftFoot'] = .8 else: config['weightMap']['LeftUpLeg'] = .1 config['weightMap']['LeftLeg'] = .25 config['weightMap']['LeftFoot'] = .2 w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap']) mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat) if dH_des is not None: mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias) mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias) if True: for c_idx in range(len(contact_ids)): mot.addConstraint2(problem, totalDOF, J_contacts[c_idx], dJ_contacts[c_idx], dth_flat, a_sups[c_idx]) if contactChangeCount > 0: contactChangeCount = contactChangeCount - 1 if contactChangeCount == 0: maxContactChangeCount = 30 contactChangeType = 0 r = problem.solve() problem.clear() ddth_sol_flat = np.asarray(r['x']) # ddth_sol_flat[foot_seg_dofs] = np.array(ddth_des_flat)[foot_seg_dofs] ype.nested(ddth_sol_flat, ddth_sol) rootPos[0] = controlModel.getBodyPositionGlobal(selectedBody) localPos = [[0, 0, 0]] for i in range(stepsPerFrame): # apply penalty force bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) # bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds) vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) controlModel.setDOFAccelerations(ddth_sol) # controlModel.setDOFAccelerations(ddth_des) # controlModel.set_ddq(ddth_sol_flat) # controlModel.set_ddq(ddth_des_flat) controlModel.solveHybridDynamics() if forceShowTime > viewer.objectInfoWnd.labelForceDur.value(): forceShowTime = 0 viewer_ResetForceState() forceforce = np.array([ viewer.objectInfoWnd.labelForceX.value(), viewer.objectInfoWnd.labelForceY.value(), viewer.objectInfoWnd.labelForceZ.value() ]) extraForce[0] = getParamVal('Fm') * mm.normalize2(forceforce) if viewer_GetForceState(): forceShowTime += wcfg.timeStep vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce) vpWorld.step() controlModel_ik.set_q(controlModel.get_q()) if foot_viewer is not None: foot_viewer.foot_pressure_gl_window.refresh_foot_contact_info( frame, vpWorld, bodyIDsToCheck, mus, Ks, Ds) foot_viewer.foot_pressure_gl_window.goToFrame(frame) # rendering for foot_seg_id in footIdlist: control_model_renderer.body_colors[foot_seg_id] = (255, 240, 255) for contact_id in contact_ids: control_model_renderer.body_colors[contact_id] = (255, 0, 0) rd_footCenter[0] = footCenter rd_footCenter_ref[0] = footCenter_ref rd_CM[0] = CM rd_CM_plane[0] = CM.copy() rd_CM_plane[0][1] = 0. if CP is not None and dCP is not None: rd_CP[0] = CP rd_CP_des[0] = CP_des rd_dL_des_plane[0] = [ dL_des_plane[0] / 100, dL_des_plane[1] / 100, dL_des_plane[2] / 100 ] rd_dH_des[0] = dH_des rd_grf_des[0] = dL_des_plane - totalMass * mm.s2v(wcfg.gravity) del rd_foot_ori[:] del rd_foot_pos[:] # for seg_foot_id in footIdlist: # rd_foot_ori.append(controlModel.getJointOrientationGlobal(seg_foot_id)) # rd_foot_pos.append(controlModel.getJointPositionGlobal(seg_foot_id)) rd_foot_ori.append(controlModel.getJointOrientationGlobal(supL)) rd_foot_ori.append(controlModel.getJointOrientationGlobal(supR)) rd_foot_pos.append(controlModel.getJointPositionGlobal(supL)) rd_foot_pos.append(controlModel.getJointPositionGlobal(supR)) rd_root_des[0] = rootPos[0] rd_root_ori[0] = controlModel.getBodyOrientationGlobal(0) rd_root_pos[0] = controlModel.getBodyPositionGlobal(0) del rd_CF[:] del rd_CF_pos[:] for i in range(len(contactPositions)): rd_CF.append(contactForces[i] / 400) rd_CF_pos.append(contactPositions[i].copy()) if viewer_GetForceState(): rd_exfen_des[0] = [ extraForce[0][0] / 100, extraForce[0][1] / 100, extraForce[0][2] / 100 ] rd_exf_des[0] = [0, 0, 0] else: rd_exf_des[0] = [ extraForce[0][0] / 100, extraForce[0][1] / 100, extraForce[0][2] / 100 ] rd_exfen_des[0] = [0, 0, 0] # extraForcePos[0] = controlModel.getBodyPositionGlobal(selectedBody) extraForcePos[0] = controlModel.getBodyPositionGlobal( selectedBody) - 0.1 * np.array([ viewer.objectInfoWnd.labelForceX.value(), 0., viewer.objectInfoWnd.labelForceZ.value() ]) # render contact_ids # render skeleton if SKELETON_ON: Ts = dict() Ts['pelvis'] = controlModel.getJointTransform(idDic['Hips']) Ts['thigh_R'] = controlModel.getJointTransform(idDic['RightUpLeg']) Ts['shin_R'] = controlModel.getJointTransform(idDic['RightLeg']) Ts['foot_R'] = controlModel.getJointTransform(idDic['RightFoot']) Ts['foot_heel_R'] = controlModel.getJointTransform( idDic['RightFoot']) Ts['heel_R'] = np.eye(4) Ts['outside_metatarsal_R'] = controlModel.getJointTransform( idDic['RightFoot_foot_0_0']) Ts['outside_phalanges_R'] = controlModel.getJointTransform( idDic['RightFoot_foot_0_0_0']) # Ts['inside_metatarsal_R'] = controlModel.getJointTransform(idDic['RightFoot_foot_0_1']) Ts['inside_metatarsal_R'] = np.eye(4) Ts['inside_phalanges_R'] = controlModel.getJointTransform( idDic['RightFoot_foot_0_1_0']) Ts['spine_ribs'] = controlModel.getJointTransform(idDic['Spine']) Ts['head'] = controlModel.getJointTransform(idDic['Spine1']) Ts['upper_limb_R'] = controlModel.getJointTransform( idDic['RightArm']) Ts['lower_limb_R'] = controlModel.getJointTransform( idDic['RightForeArm']) Ts['thigh_L'] = controlModel.getJointTransform(idDic['LeftUpLeg']) Ts['shin_L'] = controlModel.getJointTransform(idDic['LeftLeg']) Ts['foot_L'] = controlModel.getJointTransform(idDic['LeftFoot']) Ts['foot_heel_L'] = controlModel.getJointTransform( idDic['LeftFoot']) Ts['heel_L'] = np.eye(4) Ts['outside_metatarsal_L'] = controlModel.getJointTransform( idDic['LeftFoot_foot_0_0']) Ts['outside_phalanges_L'] = controlModel.getJointTransform( idDic['LeftFoot_foot_0_0_0']) # Ts['inside_metatarsal_L'] = controlModel.getJointTransform(idDic['LeftFoot_foot_0_1']) Ts['inside_metatarsal_L'] = np.eye(4) Ts['inside_phalanges_L'] = controlModel.getJointTransform( idDic['LeftFoot_foot_0_1_0']) Ts['upper_limb_L'] = controlModel.getJointTransform( idDic['LeftArm']) Ts['lower_limb_L'] = controlModel.getJointTransform( idDic['LeftForeArm']) skeleton_renderer.appendFrameState(Ts)
def simulateCallback(frame): global COLOR_ON # print(frame) # print(motion[frame].getJointOrientationLocal(footIdDic['RightFoot_foot_0_1_0'])) if False: if frame == 200: if motionFile == 'wd2_tiptoe.bvh': setParamVal('tiptoe angle', 0.3) if motionFile == 'wd2_tiptoe_zygote.bvh': setParamVal('tiptoe angle', 0.3) # elif 210 < frame < 240: # if motionFile == 'wd2_tiptoe_zygote.bvh': # setParamVal('com Y offset', 0.01/30. * (frame-110)) elif frame == 400: setParamVal('com Y offset', 0.) setParamVal('tiptoe angle', 0.) elif frame == 430: foot_viewer.check_all_seg() # setParamVal('SupKt', 30.) # elif frame == 400: # setParamVal('SupKt', 17.) # hfi.footAdjust(motion[frame], idDic, SEGMENT_FOOT_MAG=.03, SEGMENT_FOOT_RAD=.015, baseHeight=0.02) if abs(getParamVal('tiptoe angle')) > 0.001: tiptoe_angle = getParamVal('tiptoe angle') motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_0_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_0_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) # motion[frame].mulJointOrientationLocal(idDic['LeftFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95)) # motion[frame].mulJointOrientationLocal(idDic['RightFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle)) if getParamVal('left tilt angle') > 0.001: left_tilt_angle = getParamVal('left tilt angle') if motion[0].skeleton.getJointIndex( 'LeftFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) else: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_1_0'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) elif getParamVal('left tilt angle') < -0.001: left_tilt_angle = getParamVal('left tilt angle') motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_0'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) if motion[0].skeleton.getJointIndex( 'LeftFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) # else: # motion[frame].mulJointOrientationLocal(idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_1_0'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) if getParamVal('right tilt angle') > 0.001: right_tilt_angle = getParamVal('right tilt angle') if motion[0].skeleton.getJointIndex( 'RightFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) else: motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_1_0'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) elif getParamVal('right tilt angle') < -0.001: right_tilt_angle = getParamVal('right tilt angle') motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_0'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) if motion[0].skeleton.getJointIndex( 'RightFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) # else: # motion[frame].mulJointOrientationLocal(idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_1_0'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) motionModel.update(motion[frame]) motionModel.translateByOffset( np.array([ getParamVal('com X offset'), getParamVal('com Y offset'), getParamVal('com Z offset') ])) controlModel.update(motion[frame]) # controlModel_ik.set_q(controlModel.get_q()) # controlModel_ik.set_q(controlModel.get_q()) controlModel_ik.update(motion[frame]) controlModel_ik.translateByOffset( np.array([ -getParamVal('com X offset') * 2., getParamVal('com Y offset'), getParamVal('com Z offset') ])) global g_initFlag global forceShowTime global JsysPre global JsupPreL global JsupPreR global JconstPre global preFootCenter global maxContactChangeCount global contactChangeCount global contact global contactChangeType Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals( ['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt']) Dt = 2 * (Kt**.5) Dl = 2 * (Kl**.5) Dh = 2 * (Kh**.5) dt_sup = 2 * (kt_sup**.5) # tracking th_r = motion.getDOFPositions(frame) th = controlModel.getDOFPositions() dth_r = motion.getDOFVelocities(frame) dth = controlModel.getDOFVelocities() ddth_r = motion.getDOFAccelerations(frame) ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt) # ype.flatten(fix_dofs(DOFs, ddth_des, mcfg, joint_names), ddth_des_flat) # ype.flatten(fix_dofs(DOFs, dth, mcfg, joint_names), dth_flat) ype.flatten(ddth_des, ddth_des_flat) ype.flatten(dth, dth_flat) ################################################# # jacobian ################################################# contact_des_ids = list() # desired contact segments if foot_viewer.check_om_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0')) if foot_viewer.check_op_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0_0')) if foot_viewer.check_im_l is not None and foot_viewer.check_im_l.value( ): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1')) if foot_viewer.check_ip_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1_0')) if foot_viewer.check_h_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_1_0')) if foot_viewer.check_om_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_0')) if foot_viewer.check_op_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_0_0')) if foot_viewer.check_im_r is not None and foot_viewer.check_im_r.value( ): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_1')) if foot_viewer.check_ip_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_1_0')) if foot_viewer.check_h_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_1_0')) contact_ids = list() # temp idx for balancing contact_ids.extend(contact_des_ids) contact_joint_ori = list( map(controlModel.getJointOrientationGlobal, contact_ids)) contact_joint_pos = list( map(controlModel.getJointPositionGlobal, contact_ids)) contact_body_ori = list( map(controlModel.getBodyOrientationGlobal, contact_ids)) contact_body_pos = list( map(controlModel.getBodyPositionGlobal, contact_ids)) contact_body_vel = list( map(controlModel.getBodyVelocityGlobal, contact_ids)) contact_body_angvel = list( map(controlModel.getBodyAngVelocityGlobal, contact_ids)) ref_joint_ori = list( map(motion[frame].getJointOrientationGlobal, contact_ids)) ref_joint_pos = list( map(motion[frame].getJointPositionGlobal, contact_ids)) ref_joint_vel = [ motion.getJointVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_joint_angvel = [ motion.getJointAngVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_body_ori = list( map(motionModel.getBodyOrientationGlobal, contact_ids)) ref_body_pos = list(map(motionModel.getBodyPositionGlobal, contact_ids)) # ref_body_vel = list(map(controlModel.getBodyVelocityGlobal, contact_ids)) ref_body_angvel = [ motion.getJointAngVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_body_vel = [ ref_joint_vel[i] + np.cross(ref_joint_angvel[i], ref_body_pos[i] - ref_joint_pos[i]) for i in range(len(ref_joint_vel)) ] is_contact = [1] * len(contact_ids) contact_right = len(set(contact_des_ids).intersection(rIDlist)) > 0 contact_left = len(set(contact_des_ids).intersection(lIDlist)) > 0 contMotionOffset = th[0][0] - th_r[0][0] linkPositions = controlModel.getBodyPositionsGlobal() linkVelocities = controlModel.getBodyVelocitiesGlobal() linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal() linkInertias = controlModel.getBodyInertiasGlobal() CM = yrp.getCM(linkPositions, linkMasses, totalMass) dCM = yrp.getCM(linkVelocities, linkMasses, totalMass) CM_plane = copy.copy(CM) CM_plane[1] = 0. dCM_plane = copy.copy(dCM) dCM_plane[1] = 0. P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM, linkInertias) dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses, linkVelocities, dCM, linkAngVelocities, linkInertias) if foot_viewer is not None: foot_viewer.foot_pressure_gl_window.refresh_foot_contact_info( frame, vpWorld, bodyIDsToCheck, mus, Ks, Ds) foot_viewer.foot_pressure_gl_window.goToFrame(frame) # rendering for foot_seg_id in footIdlist: motion_model_renderer.body_colors[foot_seg_id] = (255, 240, 255) for contact_id in contact_ids: motion_model_renderer.body_colors[contact_id] = (255, 0, 0) pallete2 = list() pallete2.append((244, 198, 61)) pallete2.append((4, 105, 113)) pallete2.append((234, 219, 196)) pallete2.append((216, 1, 6)) pallete2.append((230, 230, 230)) pallete = pallete2 color = dict() color['RightFoot'] = pallete[0] color['RightFoot_foot_1_0'] = pallete[4] color['RightFoot_foot_0_0'] = pallete[1] color['RightFoot_foot_0_0_0'] = pallete[2] color['RightFoot_foot_0_1_0'] = pallete[3] color['LeftFoot'] = pallete[0] color['LeftFoot_foot_1_0'] = pallete[4] color['LeftFoot_foot_0_0'] = pallete[1] color['LeftFoot_foot_0_0_0'] = pallete[2] color['LeftFoot_foot_0_1_0'] = pallete[3] if COLOR_ON: for color_key in color.keys(): motion_model_renderer.body_colors[ idDic[color_key]] = color[color_key] rd_CM[0] = CM rd_CM_plane[0] = CM.copy() rd_CM_plane[0][1] = 0. del rd_foot_ori[:] del rd_foot_pos[:] # for seg_foot_id in footIdlist: # rd_foot_ori.append(controlModel.getJointOrientationGlobal(seg_foot_id)) # rd_foot_pos.append(controlModel.getJointPositionGlobal(seg_foot_id)) rd_foot_ori.append(controlModel.getJointOrientationGlobal(supL)) rd_foot_ori.append(controlModel.getJointOrientationGlobal(supR)) rd_foot_pos.append(controlModel.getJointPositionGlobal(supL)) rd_foot_pos.append(controlModel.getJointPositionGlobal(supR)) rd_root_des[0] = rootPos[0] rd_root_ori[0] = controlModel.getBodyOrientationGlobal(0) rd_root_pos[0] = controlModel.getBodyPositionGlobal(0) del rd_CF[:] del rd_CF_pos[:] # render contact_ids # render skeleton if SKELETON_ON: Ts = dict() Ts['pelvis'] = controlModel_ik.getJointTransform(idDic['Hips']) Ts['thigh_R'] = controlModel_ik.getJointTransform( idDic['RightUpLeg']) Ts['shin_R'] = controlModel_ik.getJointTransform(idDic['RightLeg']) Ts['foot_R'] = controlModel_ik.getJointTransform( idDic['RightFoot']) Ts['foot_heel_R'] = controlModel_ik.getJointTransform( idDic['RightFoot']) Ts['heel_R'] = np.eye(4) Ts['outside_metatarsal_R'] = controlModel_ik.getJointTransform( idDic['RightFoot_foot_0_0']) Ts['outside_phalanges_R'] = controlModel_ik.getJointTransform( idDic['RightFoot_foot_0_0_0']) # Ts['inside_metatarsal_R'] = controlModel.getJointTransform(idDic['RightFoot_foot_0_1']) Ts['inside_metatarsal_R'] = np.eye(4) Ts['inside_phalanges_R'] = controlModel_ik.getJointTransform( idDic['RightFoot_foot_0_1_0']) Ts['spine_ribs'] = controlModel_ik.getJointTransform( idDic['Spine']) Ts['head'] = controlModel_ik.getJointTransform(idDic['Spine1']) Ts['upper_limb_R'] = controlModel_ik.getJointTransform( idDic['RightArm']) Ts['lower_limb_R'] = controlModel_ik.getJointTransform( idDic['RightForeArm']) Ts['thigh_L'] = controlModel_ik.getJointTransform( idDic['LeftUpLeg']) Ts['shin_L'] = controlModel_ik.getJointTransform(idDic['LeftLeg']) Ts['foot_L'] = controlModel_ik.getJointTransform(idDic['LeftFoot']) Ts['foot_heel_L'] = controlModel_ik.getJointTransform( idDic['LeftFoot']) Ts['heel_L'] = np.eye(4) Ts['outside_metatarsal_L'] = controlModel_ik.getJointTransform( idDic['LeftFoot_foot_0_0']) Ts['outside_phalanges_L'] = controlModel_ik.getJointTransform( idDic['LeftFoot_foot_0_0_0']) # Ts['inside_metatarsal_L'] = controlModel.getJointTransform(idDic['LeftFoot_foot_0_1']) Ts['inside_metatarsal_L'] = np.eye(4) Ts['inside_phalanges_L'] = controlModel_ik.getJointTransform( idDic['LeftFoot_foot_0_1_0']) Ts['upper_limb_L'] = controlModel_ik.getJointTransform( idDic['LeftArm']) Ts['lower_limb_L'] = controlModel_ik.getJointTransform( idDic['LeftForeArm']) color = dict() color['foot_R'] = pallete[0] color['heel_R'] = pallete[4] color['outside_metatarsal_R'] = pallete[1] color['outside_phalanges_R'] = pallete[2] color['inside_phalanges_R'] = pallete[3] color['foot_L'] = pallete[0] color['heel_L'] = pallete[4] color['outside_metatarsal_L'] = pallete[1] color['outside_phalanges_L'] = pallete[2] color['inside_phalanges_L'] = pallete[3] if COLOR_ON: skeleton_renderer.appendFrameState(Ts, color) else: skeleton_renderer.appendFrameState(Ts)
def create_biped(motionName='wd2_n_kick.bvh', SEGMENT_FOOT=True, SEGMENT_FOOT_MAG=.03, SEGMENT_FOOT_RAD=None): """ :param motionName: motion file name :param SEGMENT_FOOT: whether segment foot is :param SEGMENT_FOOT_MAG: :return: """ # :rtype: ym.JointMotion, ypc.ModelConfig, ypc.WorldConfig, int, dict[str, float|dict[str, float]], float if SEGMENT_FOOT_RAD is None: SEGMENT_FOOT_RAD = SEGMENT_FOOT_MAG * .5 SEGMENT_FOOT_SEPARATE = True SEGMENT_FOOT_OUTSIDE_JOINT_FIRST = True SEGMENT_FOOT_ARC = True SEGMENT_BETWEEN_SPACE = 1.2 SEGMENT_METATARSAL_LEN = 2.5 SEGMENT_THIRD_PHA_LEN = 1.8 SEGMENT_FOURTH_PHA_RATIO = 5./6. SEGMENT_HEEL_LEN = 1.2 # motion # motionName = 'wd2_n_kick.bvh' # motionName = 'wd2_tiptoe.bvh' # motionName = 'wd2_n_kick_zygote.bvh' # motionName = 'wd2_jump.bvh' # motionName = 'wd2_stand.bvh' bvh = yf.readBvhFileAsBvh(motionName) bvh.set_scale(.01) if SEGMENT_FOOT: # partBvhFilePath = '../PyCommon/modules/samples/simpleJump_long_test2.bvh' current_path = os.path.dirname(os.path.abspath(__file__)) partBvhFilePath = current_path + '/../../PyCommon/modules/samples/' if SEGMENT_FOOT_SEPARATE: partBvhFilePath = partBvhFilePath + 'foot_model_real_joint_01.bvh' elif SEGMENT_FOOT_OUTSIDE_JOINT_FIRST: # partBvhFilePath = partBvhFilePath + 'simpleJump_long_test3.bvh' partBvhFilePath = partBvhFilePath + 'foot_model_01.bvh' else: partBvhFilePath = partBvhFilePath + 'simpleJump_long_test4.bvh' partBvh = yf.readBvhFileAsBvh(partBvhFilePath) partSkeleton = partBvh.toJointSkeleton(1., False) # SEGMENT_BETWEEN_SPACE = partSkeleton.getOffset(partSkeleton.getElementIndex('foot_0_1'))[0] SEGMENT_BETWEEN_SPACE = 0.6 SEGMENT_METATARSAL_LEN = partSkeleton.getOffset(partSkeleton.getElementIndex('foot_0_1_0'))[2] SEGMENT_THIRD_PHA_LEN = partSkeleton.getOffset(partSkeleton.getElementIndex('foot_0_0_0_Effector'))[2] SEGMENT_HEEL_LEN = abs(partSkeleton.getOffset(partSkeleton.getElementIndex('foot_1_0_Effector'))[2]) bvh.replaceJointFromBvh('RightFoot', partBvh, SEGMENT_FOOT_MAG) partBvh = yf.readBvhFileAsBvh(partBvhFilePath) partBvh.mirror('YZ') bvh.replaceJointFromBvh('LeftFoot', partBvh, SEGMENT_FOOT_MAG) motion = bvh.toJointMotion(1., False) # type: ym.JointMotion # motion.translateByOffset((0., 0.15, 0.)) # motion.translateByOffset((0., -0.12, 0.)) # motion.rotateByOffset(mm.rotZ(math.pi*1./18.)) # motion = yf.readBvhFile(motionName, .01) # yme.offsetJointLocal(motion, 'RightArm', (.03,-.05,0), False) # yme.offsetJointLocal(motion, 'LeftArm', (-.03,-.05,0), False) # yme.rotateJointLocal(motion, 'Hips', mm.exp(mm.v3(1, 0, 0), .01), False) # yme.rotateJointLocal(motion, 'LeftFoot', mm.exp(mm.v3(1,-0.0,.3), -.5), False) # yme.rotateJointLocal(motion, 'RightFoot', mm.exp(mm.v3(1,0.0,-.3), -.5), False) # yme.rotateJointLocal(motion, 'LeftFoot', mm.exp(mm.v3(1,-0.5,0), -.6), False) # yme.rotateJointLocal(motion, 'RightFoot', mm.exp(mm.v3(1,0.5,0), -.6), False) # yme.rotateJointLocal(motion, 'LeftFoot', mm.exp(mm.v3(1,-0.0,.3), -.1), False) # yme.rotateJointLocal(motion, 'RightFoot', mm.exp(mm.v3(1,0.0,-.3), -.1), False) # yme.removeJoint(motion, 'RightFoot_foot_1_1') # yme.removeJoint(motion, 'RightFoot_foot_1_2') # yme.removeJoint(motion, 'LeftFoot_foot_1_1') # yme.removeJoint(motion, 'LeftFoot_foot_1_2') if motionName == 'wd2_n_kick.bvh' or motionName == 'wd2_n_kick_zygote.bvh': yme.rotateJointLocal(motion, 'Hips', mm.exp(mm.v3(1, 0, 0), .01), False) yme.updateGlobalT(motion) motion.translateByOffset((0, 0.04, 0)) for i in range(2000): motion.data.insert(0, copy.deepcopy(motion[0])) motion.extend([motion[-1]]*300) elif motionName == 'wd2_tiptoe.bvh' or motionName == 'wd2_tiptoe_zygote.bvh': yme.rotateJointLocal(motion, 'Hips', mm.exp(mm.v3(1, 0, 0), .01), False) yme.rotateJointLocal(motion, 'LeftFoot', mm.exp(mm.v3(1., 0., 0.), -.1), False) yme.rotateJointLocal(motion, 'RightFoot', mm.exp(mm.v3(1., 0., 0.), -.1), False) yme.updateGlobalT(motion) motion.translateByOffset((0, 0.06, 0)) # if motionName == 'wd2_tiptoe.bvh': # motion.translateByOffset((0, 0.06, 0)) # else: # motion.translateByOffset((0, -0.03, 0)) del motion[:270] for i in range(2000): motion.data.insert(0, copy.deepcopy(motion[0])) # world, model mcfg = ypc.ModelConfig() mcfg.defaultDensity = 1000. mcfg.defaultBoneRatio = .9 for name in massMap: node = mcfg.addNode(name) node.mass = massMap[name] wcfg = ypc.WorldConfig() wcfg.planeHeight = 0. wcfg.useDefaultContactModel = False stepsPerFrame = 60 # stepsPerFrame = 30 frame_rate = 30 wcfg.timeStep = 1./(frame_rate * stepsPerFrame) # wcfg.timeStep = (1/30.)/(stepsPerFrame) # wcfg.timeStep = (1/1000.) # width : x axis on body frame # height: y axis on body frame # length: z axis on body frame node = mcfg.getNode('Hips') node.length = 4./27. node.width = .25 # node.height = .2 # node.width = .25 node = mcfg.getNode('Spine1') node.length = .2 node.offset = (0,0,0.1) node = mcfg.getNode('Spine') node.width = .22 node = mcfg.getNode('RightFoot') node.length = .25 #node.length = .2 #node.width = .15 node.width = .2 node.mass = 2. node = mcfg.getNode('LeftFoot') node.length = .25 #node.length = .2 #node.width = .15 node.width = .2 node.mass = 2. def capsulize(node_name): node_capsule = mcfg.getNode(node_name) node_capsule.geom = 'MyFoot4' node_capsule.width = 0.01 node_capsule.density = 200. # node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0., math.pi/4., 0.])], ypc.CapsuleMaterial(1000., .02, .2)) # node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0., math.pi/4., 0.])], ypc.CapsuleMaterial(1000., .02, .1)) # node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0., 0., 0.])], ypc.CapsuleMaterial(1000., .01, -1)) # node.addGeom('MyFoot4', None, ypc.CapsuleMaterial(1000., .02, .1)) # capsulize('RightFoot') # capsulize('LeftFoot') if SEGMENT_FOOT: node = mcfg.getNode('RightFoot') node.density = 200. node.geom = 'MyFoot5' node.width = SEGMENT_FOOT_RAD node.jointType = 'B' node = mcfg.getNode('LeftFoot') node.density = 200. node.geom = 'MyFoot5' node.width = SEGMENT_FOOT_RAD node.jointType = 'B' # bird foot # capsulize('RightFoot_foot_0_0') # capsulize('RightFoot_foot_0_1') # capsulize('RightFoot_foot_1_0') # capsulize('RightFoot_foot_1_1') # capsulize('RightFoot_foot_2_0') # capsulize('RightFoot_foot_2_1') # capsulize('LeftFoot_foot_0_0') # capsulize('LeftFoot_foot_0_1') # capsulize('LeftFoot_foot_1_0') # capsulize('LeftFoot_foot_1_1') # capsulize('LeftFoot_foot_2_0') # capsulize('LeftFoot_foot_2_1') # human foot if SEGMENT_FOOT: footJointType = 'B' capsulDensity = 400. if SEGMENT_FOOT_SEPARATE: node = mcfg.getNode('RightFoot') node.bone_dir_child = 'RightFoot_foot_0_1_0' body_vector = np.array([-1.823, -5.399, 10.397]) body_ori = mm.getSO3FromVectors(mm.unitZ(), body_vector) third_metatarsal_vector = np.array([-0.4, -3.4, 6.63]) node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, 0.*mm.unitX() + body_vector/2. - third_metatarsal_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, third_metatarsal_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(third_metatarsal_vector) + 2*SEGMENT_FOOT_RAD)) second_metatarsal_vector = np.array([0., -3.8, 6.63]) node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, 1.8*mm.unitX() + body_vector/2. - second_metatarsal_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, second_metatarsal_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(second_metatarsal_vector) + 2*SEGMENT_FOOT_RAD)) first_metatarsal_vector = np.array([0.2, -4.98, 6.63]) node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, 3.6*mm.unitX() + body_vector/2. - first_metatarsal_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, first_metatarsal_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(first_metatarsal_vector) + 2*SEGMENT_FOOT_RAD)) calcaneus_origin = np.array([0., -5.399, -1.0]) calcaneus_vector = np.array([-2.784, -3.463, 4.52]) - calcaneus_origin node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, calcaneus_origin - body_vector/2. + calcaneus_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, calcaneus_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(calcaneus_vector) + 2*SEGMENT_FOOT_RAD)) calcaneus_vector = body_vector - third_metatarsal_vector - calcaneus_origin node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, calcaneus_origin - body_vector/2. + calcaneus_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, calcaneus_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(calcaneus_vector) + 2*SEGMENT_FOOT_RAD)) calcaneus_vector = 1.8*mm.unitX() + body_vector - second_metatarsal_vector - calcaneus_origin node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, calcaneus_origin - body_vector/2. + calcaneus_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, calcaneus_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(calcaneus_vector) + 2*SEGMENT_FOOT_RAD)) calcaneus_vector = 3.6*mm.unitX() + body_vector - first_metatarsal_vector - calcaneus_origin node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, calcaneus_origin - body_vector/2. + calcaneus_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, calcaneus_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(calcaneus_vector) + 2*SEGMENT_FOOT_RAD)) node = mcfg.getNode('LeftFoot') node.bone_dir_child = 'LeftFoot_foot_0_1_0' body_vector = np.array([1.823, -5.399, 10.397]) body_ori = mm.getSO3FromVectors(mm.unitZ(), body_vector) third_metatarsal_vector = np.array([0.4, -3.4, 6.63]) node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, 0.*mm.unitX() + body_vector/2. - third_metatarsal_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, third_metatarsal_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(third_metatarsal_vector) + 2*SEGMENT_FOOT_RAD)) second_metatarsal_vector = np.array([0., -3.8, 6.63]) node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, -1.8*mm.unitX() + body_vector/2. - second_metatarsal_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, second_metatarsal_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(second_metatarsal_vector) + 2*SEGMENT_FOOT_RAD)) first_metatarsal_vector = np.array([-0.2, -4.98, 6.63]) node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, -3.6*mm.unitX() + body_vector/2. - first_metatarsal_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, first_metatarsal_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(first_metatarsal_vector) + 2*SEGMENT_FOOT_RAD)) calcaneus_origin = np.array([0., -5.399, -1.0]) calcaneus_vector = np.array([2.784, -3.463, 4.52]) - calcaneus_origin node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, calcaneus_origin - body_vector/2. + calcaneus_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, calcaneus_vector), body_ori))], ypc.CapsuleMaterial(0.0, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(calcaneus_vector) + 2*SEGMENT_FOOT_RAD)) calcaneus_vector = body_vector - third_metatarsal_vector - calcaneus_origin node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, calcaneus_origin - body_vector/2. + calcaneus_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, calcaneus_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(calcaneus_vector) + 2*SEGMENT_FOOT_RAD)) calcaneus_vector = -1.8*mm.unitX() + body_vector - second_metatarsal_vector - calcaneus_origin node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, calcaneus_origin - body_vector/2. + calcaneus_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, calcaneus_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(calcaneus_vector) + 2*SEGMENT_FOOT_RAD)) calcaneus_vector = -3.6*mm.unitX() + body_vector - first_metatarsal_vector - calcaneus_origin node.addGeom('MyFoot5', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, calcaneus_origin - body_vector/2. + calcaneus_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, calcaneus_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(calcaneus_vector) + 2*SEGMENT_FOOT_RAD)) # RightFoot_foot_0_0 : outside metatarsals capsulize('RightFoot_foot_0_0') node = mcfg.getNode('RightFoot_foot_0_0') body_vector = np.array([-0.773, -1.936, 5.877]) body_ori = mm.getSO3FromVectors(mm.unitZ(), body_vector) node.addGeom('MyFoot6', [SEGMENT_FOOT_MAG*np.array([0., 0., 0.]), mm.exp([0., 0., 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) fifth_metatarsal_vector = np.array([-0.773, 0., 5.877]) node.addGeom('MyFoot6', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, -1.8*mm.unitX() + body_vector/2. - fifth_metatarsal_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, fifth_metatarsal_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(fifth_metatarsal_vector) + 2*SEGMENT_FOOT_RAD)) node.jointType = footJointType capsulize('LeftFoot_foot_0_0') node = mcfg.getNode('LeftFoot_foot_0_0') body_vector = np.array([0.773, -1.936, 5.877]) body_ori = mm.getSO3FromVectors(mm.unitZ(), body_vector) node.addGeom('MyFoot6', [SEGMENT_FOOT_MAG*np.array([0., 0., 0.]), mm.exp([0., 0., 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) fifth_metatarsal_vector = np.array([0.773, 0., 5.877]) node.addGeom('MyFoot6', [SEGMENT_FOOT_MAG*np.dot(body_ori.T, 1.8*mm.unitX() + body_vector/2. - fifth_metatarsal_vector/2.), np.dot(body_ori.T, np.dot(mm.getSO3FromVectors(body_vector, fifth_metatarsal_vector), body_ori))], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * np.linalg.norm(fifth_metatarsal_vector) + 2*SEGMENT_FOOT_RAD)) node.jointType = footJointType # RightFoot_foot_0_0_0 : outside phalanges capsulize('RightFoot_foot_0_0_0') node = mcfg.getNode('RightFoot_foot_0_0_0') node.addGeom('MyFoot3', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-1.8, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType capsulize('LeftFoot_foot_0_0_0') node = mcfg.getNode('LeftFoot_foot_0_0_0') node.addGeom('MyFoot3', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([+1.8, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # RightFoot_foot_0_1_0 : inside phalanges capsulize('RightFoot_foot_0_1_0') node = mcfg.getNode('RightFoot_foot_0_1_0') node.addGeom('MyFoot3', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([1.8, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([3.6, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType capsulize('LeftFoot_foot_0_1_0') node = mcfg.getNode('LeftFoot_foot_0_1_0') node.addGeom('MyFoot3', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-1.8, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-3.6, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # RightFoot_foot_1_0 : center heel capsulize('RightFoot_foot_1_0') node = mcfg.getNode('RightFoot_foot_1_0') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-.9, 0., 0.]), mm.exp([0.]*3)], # ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*3.6+2.*SEGMENT_FOOT_RAD)) ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([+.9, 0., 0.]), mm.exp([0.]*3)], # ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*3.6+2.*SEGMENT_FOOT_RAD)) ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType capsulize('LeftFoot_foot_1_0') node = mcfg.getNode('LeftFoot_foot_1_0') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-.9, 0., .0]), mm.exp([0.]*3)], # ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*3.6+2.*SEGMENT_FOOT_RAD)) ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([+.9, 0., .0]), mm.exp([0.]*3)], # ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*3.6+2.*SEGMENT_FOOT_RAD)) ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType elif SEGMENT_FOOT_OUTSIDE_JOINT_FIRST and not SEGMENT_FOOT_ARC: # RightFoot_foot_0_0 : outside metatarsals capsulize('RightFoot_foot_0_0') node = mcfg.getNode('RightFoot_foot_0_0') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-0.3, 0., 2.5*0.25]), mm.exp([0., -math.atan2(1.2, 2.5), 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*2.5 + 2.*SEGMENT_FOOT_RAD)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-0.3-1.2, 0., 2.5*0.25]), mm.exp([0., -math.atan2(1.2, 2.5), 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*2.5 + 2.*SEGMENT_FOOT_RAD)) # node.jointType = footJointType node.jointType = 'B' # RightFoot_foot_0_0_0 : outside phalanges capsulize('RightFoot_foot_0_0_0') node = mcfg.getNode('RightFoot_foot_0_0_0') node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([-1.2, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # node.jointType = 'R' # node.jointAxes = ['X'] # RightFoot_foot_0_1 : inside metatarsals capsulize('RightFoot_foot_0_1') node = mcfg.getNode('RightFoot_foot_0_1') node.addGeom('MyFoot3', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([1.2, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity,SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # node.jointType = 'R' # node.jointAxes = ['Z'] # RightFoot_foot_0_1_0 : inside phalanges capsulize('RightFoot_foot_0_1_0') node = mcfg.getNode('RightFoot_foot_0_1_0') node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([1.2, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # node.jointType = 'R' # node.jointAxes = ['X'] # RightFoot_foot_1_0 : center heel capsulize('RightFoot_foot_1_0') node = mcfg.getNode('RightFoot_foot_1_0') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-.6, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*1.2+2.*SEGMENT_FOOT_RAD)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([+.6, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*1.2+2.*SEGMENT_FOOT_RAD)) # node.jointType = footJointType node.jointType = 'B' # left foot # outside metatarsals capsulize('LeftFoot_foot_0_0') node = mcfg.getNode('LeftFoot_foot_0_0') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([0.3, 0., 2.5*0.25]), mm.exp([0., math.atan2(1.2, 2.5), 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*2.5+2.*SEGMENT_FOOT_RAD)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([0.3+1.2, 0., 2.5*0.25]), mm.exp([0., math.atan2(1.2, 2.5), 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*2.5+2.*SEGMENT_FOOT_RAD)) # node.jointType = footJointType node.jointType = 'B' capsulize('LeftFoot_foot_0_0_0') node = mcfg.getNode('LeftFoot_foot_0_0_0') node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([1.2, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # node.jointType = 'R' # node.jointAxes = ['X'] capsulize('LeftFoot_foot_0_1') node = mcfg.getNode('LeftFoot_foot_0_1') node.addGeom('MyFoot3', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-1.2, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # node.jointType = 'R' # node.jointAxes = ['Z'] capsulize('LeftFoot_foot_0_1_0') node = mcfg.getNode('LeftFoot_foot_0_1_0') node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([-1.2, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # node.jointType = 'R' # node.jointAxes = ['X'] capsulize('LeftFoot_foot_1_0') node = mcfg.getNode('LeftFoot_foot_1_0') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-.6, 0., .0]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*1.2+2.*SEGMENT_FOOT_RAD)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([+.6, 0., .0]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*1.2+2.*SEGMENT_FOOT_RAD)) # node.jointType = footJointType node.jointType = 'B' elif SEGMENT_FOOT_OUTSIDE_JOINT_FIRST and SEGMENT_FOOT_ARC: FIRST_METATARSAL_ANGLE = mm.deg2Rad(30.) SECOND_METATARSAL_ANGLE = mm.deg2Rad(20.) THIRD_METATARSAL_ANGLE = mm.deg2Rad(15.) # RightFoot_foot_0_0 : outside metatarsals capsulize('RightFoot_foot_0_0') node = mcfg.getNode('RightFoot_foot_0_0') node.bone_dir_child = 'RightFoot_foot_0_0_0' # third node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([0., .5*SEGMENT_METATARSAL_LEN*math.tan(THIRD_METATARSAL_ANGLE), 0.]), mm.exp(THIRD_METATARSAL_ANGLE * mm.unitX())], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * SEGMENT_METATARSAL_LEN / math.cos(THIRD_METATARSAL_ANGLE) + 2.*SEGMENT_FOOT_RAD)) # fourth node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-SEGMENT_BETWEEN_SPACE, 0., 0.]), mm.exp([0., 0., 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) # node.jointType = footJointType node.jointType = 'B' capsulize('LeftFoot_foot_0_0') node = mcfg.getNode('LeftFoot_foot_0_0') node.bone_dir_child = 'LeftFoot_foot_0_0_0' node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([0., .5*SEGMENT_METATARSAL_LEN*math.tan(THIRD_METATARSAL_ANGLE), 0.]), mm.exp(THIRD_METATARSAL_ANGLE * mm.unitX())], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * SEGMENT_METATARSAL_LEN / math.cos(THIRD_METATARSAL_ANGLE) + 2.*SEGMENT_FOOT_RAD)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([SEGMENT_BETWEEN_SPACE, 0., 0.]), mm.exp([0., 0., 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) # node.jointType = footJointType node.jointType = 'B' # RightFoot_foot_0_0_0 : outside phalanges SEGMENT_FOURTH_PHA_OFFSET = .5 * SEGMENT_THIRD_PHA_LEN * (1. - SEGMENT_FOURTH_PHA_RATIO) capsulize('RightFoot_foot_0_0_0') node = mcfg.getNode('RightFoot_foot_0_0_0') # third node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([0., 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) # fourth node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([-SEGMENT_BETWEEN_SPACE, 0., -SEGMENT_FOURTH_PHA_OFFSET]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*SEGMENT_THIRD_PHA_LEN*SEGMENT_FOURTH_PHA_RATIO + 2.*SEGMENT_FOOT_RAD)) node.jointType = footJointType # node.jointType = 'R' # node.jointAxes = ['X'] capsulize('LeftFoot_foot_0_0_0') node = mcfg.getNode('LeftFoot_foot_0_0_0') node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([0., 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([SEGMENT_BETWEEN_SPACE, 0., -SEGMENT_FOURTH_PHA_OFFSET]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*SEGMENT_THIRD_PHA_LEN*SEGMENT_FOURTH_PHA_RATIO + 2.*SEGMENT_FOOT_RAD)) node.jointType = footJointType # node.jointType = 'R' # node.jointAxes = ['X'] # RightFoot_foot_0_1 : inside metatarsals capsulize('RightFoot_foot_0_1') node = mcfg.getNode('RightFoot_foot_0_1') # second node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([0., .5*SEGMENT_METATARSAL_LEN*math.tan(SECOND_METATARSAL_ANGLE), 0.]), mm.exp(SECOND_METATARSAL_ANGLE*mm.unitX())], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * SEGMENT_METATARSAL_LEN / math.cos(SECOND_METATARSAL_ANGLE) + 2.*SEGMENT_FOOT_RAD)) # first node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([SEGMENT_BETWEEN_SPACE, .5*SEGMENT_METATARSAL_LEN*math.tan(FIRST_METATARSAL_ANGLE), 0.]), mm.exp(FIRST_METATARSAL_ANGLE*mm.unitX())], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * SEGMENT_METATARSAL_LEN / math.cos(FIRST_METATARSAL_ANGLE) + 2.*SEGMENT_FOOT_RAD)) node.jointType = footJointType # node.jointType = 'R' # node.jointAxes = ['Z'] capsulize('LeftFoot_foot_0_1') node = mcfg.getNode('LeftFoot_foot_0_1') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([0., .5*SEGMENT_METATARSAL_LEN*math.tan(SECOND_METATARSAL_ANGLE), 0.]), mm.exp(SECOND_METATARSAL_ANGLE*mm.unitX())], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * SEGMENT_METATARSAL_LEN / math.cos(SECOND_METATARSAL_ANGLE) + 2.*SEGMENT_FOOT_RAD)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-SEGMENT_BETWEEN_SPACE, .5*SEGMENT_METATARSAL_LEN*math.tan(FIRST_METATARSAL_ANGLE), 0.]), mm.exp(FIRST_METATARSAL_ANGLE*mm.unitX())], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG * SEGMENT_METATARSAL_LEN / math.cos(FIRST_METATARSAL_ANGLE) + 2.*SEGMENT_FOOT_RAD)) node.jointType = footJointType # node.jointType = 'R' # node.jointAxes = ['Z'] # RightFoot_foot_0_1_0 : inside phalanges capsulize('RightFoot_foot_0_1_0') node = mcfg.getNode('RightFoot_foot_0_1_0') node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([SEGMENT_BETWEEN_SPACE, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # node.jointType = 'R' # node.jointAxes = ['X'] capsulize('LeftFoot_foot_0_1_0') node = mcfg.getNode('LeftFoot_foot_0_1_0') node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([-SEGMENT_BETWEEN_SPACE, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # node.jointType = 'R' # node.jointAxes = ['X'] # RightFoot_foot_1_0 : center heel capsulize('RightFoot_foot_1_0') node = mcfg.getNode('RightFoot_foot_1_0') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-SEGMENT_BETWEEN_SPACE/2., 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*SEGMENT_HEEL_LEN + 2.*SEGMENT_FOOT_RAD)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([+SEGMENT_BETWEEN_SPACE/2., 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*SEGMENT_HEEL_LEN + 2.*SEGMENT_FOOT_RAD)) # node.jointType = footJointType node.jointType = 'B' capsulize('LeftFoot_foot_1_0') node = mcfg.getNode('LeftFoot_foot_1_0') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-SEGMENT_BETWEEN_SPACE/2., 0., .0]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*SEGMENT_HEEL_LEN+2.*SEGMENT_FOOT_RAD)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([+SEGMENT_BETWEEN_SPACE/2., 0., .0]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*SEGMENT_HEEL_LEN+2.*SEGMENT_FOOT_RAD)) # node.jointType = footJointType node.jointType = 'B' else: # SEGMENT_FOOT_INSIDE_FIRST # TODO: # adjust transformation of geometries # RightFoot_foot_0_1 : inside metatarsals capsulize('RightFoot_foot_0_1') node = mcfg.getNode('RightFoot_foot_0_1') node.addGeom('MyFoot3', [np.array([0.]*3), mm.exp([0., math.atan2(1.2, 2.5), 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([1.2, 0., 0.]), mm.exp([0., math.atan2(1.2, 2.5), 0.])], ypc.CapsuleMaterial(capsulDensity,SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # RightFoot_foot_0_1_0 : inside phalanges capsulize('RightFoot_foot_0_1_0') node = mcfg.getNode('RightFoot_foot_0_1_0') node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([1.2, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # RightFoot_foot_0_0 : outside metatarsals capsulize('RightFoot_foot_0_0') node = mcfg.getNode('RightFoot_foot_0_0') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-0.3, 0., 2.5*0.25]), mm.exp([0., -math.atan2(1.2, 2.5), 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*2.5 + 2.*SEGMENT_FOOT_RAD)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-0.3-1.2, 0., 2.5*0.25]), mm.exp([0., -math.atan2(1.2, 2.5), 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*2.5 + 2.*SEGMENT_FOOT_RAD)) node.jointType = footJointType # RightFoot_foot_0_0_0 : outside phalanges capsulize('RightFoot_foot_0_0_0') node = mcfg.getNode('RightFoot_foot_0_0_0') node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([-1.2, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType # RightFoot_foot_1_0 : center heel capsulize('RightFoot_foot_1_0') node = mcfg.getNode('RightFoot_foot_1_0') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-.6, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*1.2+2.*SEGMENT_FOOT_RAD)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([+.6, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*1.2+2.*SEGMENT_FOOT_RAD)) node.jointType = footJointType capsulize('LeftFoot_foot_0_1') node = mcfg.getNode('LeftFoot_foot_0_1') node.addGeom('MyFoot3', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-1.2, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType capsulize('LeftFoot_foot_0_1_0') node = mcfg.getNode('LeftFoot_foot_0_1_0') node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([-1.2, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType capsulize('LeftFoot_foot_0_0') node = mcfg.getNode('LeftFoot_foot_0_0') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([0.3, 0., 2.5*0.25]), mm.exp([0., math.atan2(1.2, 2.5), 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*2.5+2.*SEGMENT_FOOT_RAD)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([0.3+1.2, 0., 2.5*0.25]), mm.exp([0., math.atan2(1.2, 2.5), 0.])], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*2.5+2.*SEGMENT_FOOT_RAD)) node.jointType = footJointType capsulize('LeftFoot_foot_0_0_0') node = mcfg.getNode('LeftFoot_foot_0_0_0') node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.addGeom('MyFoot4', [SEGMENT_FOOT_MAG*np.array([1.2, 0., 0.]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1)) node.jointType = footJointType capsulize('LeftFoot_foot_1_0') node = mcfg.getNode('LeftFoot_foot_1_0') node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([-.6, 0., .0]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*1.2+2.*SEGMENT_FOOT_RAD)) node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([+.6, 0., .0]), mm.exp([0.]*3)], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, SEGMENT_FOOT_MAG*1.2+2.*SEGMENT_FOOT_RAD)) node.jointType = footJointType # parameter config = {} ''' config['Kt'] = 200; config['Dt'] = 2*(config['Kt']**.5) # tracking gain config['Kl'] = 2.5; config['Dl'] = 2*(config['Kl']**.5) # linear balance gain config['Kh'] = 1; config['Dh'] = 2*(config['Kh']**.5) # angular balance gain config['Ks'] = 20000; config['Ds'] = 2*(config['Ks']**.5) # penalty force spring gain config['Bt'] = 1. config['Bl'] = 2.5 config['Bh'] = 1. ''' config['Kt'] = 200; config['Dt'] = 2*(config['Kt']**.5) # tracking gain config['Kl'] = .10; config['Dl'] = 2*(config['Kl']**.5) # linear balance gain config['Kh'] = 0.1; config['Dh'] = 2*(config['Kh']**.5) # angular balance gain config['Ks'] = 15000; config['Ds'] = 2*(config['Ks']**.5) # penalty force spring gain config['Bt'] = 1. config['Bl'] = 1.#0.5 config['Bh'] = 1. #config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\ #'Spine':1., 'Spine1':1., 'RightFoot':.5, 'LeftFoot':.5, 'Hips':1.5,\ #'RightUpLeg':1., 'RightLeg':1., 'LeftUpLeg':1., 'LeftLeg':1.} #config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\ #'Spine':1., 'Spine1':1., 'RightFoot':1.0, 'LeftFoot':1.0, 'Hips':1.5,\ #'RightUpLeg':2., 'RightLeg':2., 'LeftUpLeg':2., 'LeftLeg':2.} config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2, 'Spine':.6, 'Spine1':.6, 'RightFoot':.2, 'LeftFoot':.2, 'Hips':0.5, 'RightUpLeg':.1, 'RightLeg':.3, 'LeftUpLeg':.1, 'LeftLeg':.3} if SEGMENT_FOOT: segfoot_weight = 10. # segfoot_weight = .1 config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2, 'Spine':.6, 'Spine1':.6, 'RightFoot':.2, 'LeftFoot':.2, 'Hips':0.5, 'RightUpLeg':.1, 'RightLeg':.3, 'LeftUpLeg':.1, 'LeftLeg':.3, 'RightFoot_foot_0_0':segfoot_weight, 'RightFoot_foot_0_1':segfoot_weight, 'RightFoot_foot_1_0':segfoot_weight, 'RightFoot_foot_1_1':segfoot_weight, 'RightFoot_foot_1_2':segfoot_weight, 'RightFoot_foot_0_0_0':segfoot_weight, 'RightFoot_foot_0_1_0':segfoot_weight, 'LeftFoot_foot_0_0':segfoot_weight, 'LeftFoot_foot_0_1':segfoot_weight, 'LeftFoot_foot_1_0':segfoot_weight, 'LeftFoot_foot_1_1':segfoot_weight, 'LeftFoot_foot_1_2':segfoot_weight, 'LeftFoot_foot_0_0_0':segfoot_weight, 'LeftFoot_foot_0_1_0':segfoot_weight} #config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\ #'Spine':.6, 'Spine1':.6, 'RightFoot':.2, 'LeftFoot':1., 'Hips':0.5,\ #'RightUpLeg':.1, 'RightLeg':.3, 'LeftUpLeg':.5, 'LeftLeg':1.5} #success!! ''' config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\ 'Spine':.5, 'Spine1':.5, 'RightFoot':1., 'LeftFoot':1., 'Hips':0.5,\ 'RightUpLeg':1., 'RightLeg':1., 'LeftUpLeg':1., 'LeftLeg':1.} ''' #config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\ #'Spine':1.5, 'LeftFoot':1., 'Hips':1.5,\ #'RightUpLeg':1., 'RightLeg':1., 'LeftUpLeg':1.5, 'LeftLeg':1.5} config['supLink'] = 'LeftFoot' config['supLink1'] = 'LeftFoot' config['supLink2'] = 'RightFoot' #config['end'] = 'Hips' config['end'] = 'Spine1' return motion, mcfg, wcfg, stepsPerFrame, config, frame_rate
def footAdjust(posture_ori, touch_body_indices, SEGMENT_FOOT_MAG, SEGMENT_FOOT_RAD, baseHeight=0.): """ :param posture_ori: :type posture_ori: ym.JointPosture :param touch_body_indices: :type touch_body_indices: list[str] :param SEGMENT_FOOT_MAG: :type SEGMENT_FOOT_MAG: float :param SEGMENT_FOOT_RAD: :type SEGMENT_FOOT_RAD: float :param baseHeight: :type baseHeight: float :return: """ if len(touch_body_indices) == 0: return # idDic: name to idx idDic = dict() for i in range(posture_ori.skeleton.getJointNum()): idDic[posture_ori.skeleton.getJointName(i)] = i # nameDic: index to name nameDic = dict() for i in range(posture_ori.skeleton.getJointNum()): nameDic[i] = posture_ori.skeleton.getJointName(i) # specified foot_name = "LeftFoot" # side_touch_body_indices: left or right foot touch body indices side_touch_body_indices = [touch_body_idx for touch_body_idx in touch_body_indices if foot_name in nameDic[touch_body_idx]] # foot_joint_pos: ankle joint position foot_joint_pos = posture_ori.getJointPositionGlobal(idDic[foot_name]) seg_joint_ori = [posture_ori.getJointOrientationGlobal(touch_body_idx) for touch_body_idx in side_touch_body_indices] seg_joint_pos = [] for touch_body_idx in side_touch_body_indices: if nameDic[touch_body_idx] == foot_name+'_foot_0_0': seg_joint_pos.append(posture_ori.getJointPositionGlobal(touch_body_idx) + SEGMENT_FOOT_MAG*np.dot(seg_joint_ori, -1.936*mm.unitY()).flatten()) else: seg_joint_pos.append(posture_ori.getJointPositionGlobal(touch_body_idx)) if len(side_touch_body_indices) == 0: pass elif len(side_touch_body_indices) == 1: seg_idx = side_touch_body_indices[0] # seg joint y pos to 0 ankle_to_joint_vec = seg_joint_pos[0] - foot_joint_pos joint_vec_rot_axis, temp_angle = mm.getRotAxisAngleFromVectors(ankle_to_joint_vec, -mm.unitY()) joint_y_to_zero_angle = temp_angle - math.acos((foot_joint_pos[1] - SEGMENT_FOOT_RAD - baseHeight)/np.linalg.norm(ankle_to_joint_vec)) posture_ori.mulJointOrientationGlobal(idDic[foot_name], mm.exp(joint_vec_rot_axis, joint_y_to_zero_angle)) ############################################################### # TODO: ############################################################### # rotate seg to parallel ground seg_ori = posture_ori.getJointOrientationGlobal(seg_idx) posture_ori.mulJointOrientationGlobal(seg_idx, seg_ori.T) elif len(side_touch_body_indices) == 2: seg_idx = [side_touch_body_indices[0], side_touch_body_indices[1]] ankle_to_joint_vecs = [seg_joint_pos[i] - foot_joint_pos for i in range(len(seg_idx))] ankle_to_joint_vec = .5*(ankle_to_joint_vecs[0] + ankle_to_joint_vecs[1]) joint_vec_rot_axis, temp_angle = mm.getRotAxisAngleFromVectors(ankle_to_joint_vec, -mm.unitY()) joint_y_to_zero_angle = temp_angle - math.acos((foot_joint_pos[1] - SEGMENT_FOOT_RAD - baseHeight)/np.linalg.norm(ankle_to_joint_vec)) posture_ori.mulJointOrientationGlobal(idDic[foot_name], mm.exp(joint_vec_rot_axis, joint_y_to_zero_angle)) seg_contact_pos = [] for touch_body_idx in side_touch_body_indices: ith_seg_contact_pos = [] if nameDic[touch_body_idx] == foot_name+'_foot_0_0_0': ith_seg_contact_pos.append(seg_joint_pos) ith_seg_contact_pos.append(seg_joint_pos + np.dot(seg_joint_ori, mm.unitZ())) ith_seg_contact_pos.append(seg_joint_pos + np.dot(seg_joint_ori, mm.unitX())) if nameDic[touch_body_idx] == foot_name+'_foot_0_1_0': ith_seg_contact_pos.append(seg_joint_pos + np.dot(seg_joint_ori, np.array([0., 0., 0.]))) pass if nameDic[touch_body_idx] == foot_name+'_foot_0_0': pass if nameDic[touch_body_idx] == foot_name+'_foot_1_0': pass # unspecified pass
def main(): # np.set_printoptions(precision=4, linewidth=200) np.set_printoptions(precision=5, threshold=np.inf, suppress=True, linewidth=3000) motionFile = 'wd2_tiptoe_zygote.bvh' # motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped(motionFile, SEGMENT_FOOT_RAD=0.008) motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped(motionFile, SEGMENT_FOOT_MAG=0.01, SEGMENT_FOOT_RAD=0.008) # motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped() # motion, mcfg, wcfg, stepsPerFrame, config = mit.create_jump_biped() vpWorld = cvw.VpWorld(wcfg) vpWorld.SetGlobalDamping(0.999) motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg) controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg) # controlModel_shadow_for_ik = cvm.VpControlModel(vpWorld, motion[0], mcfg) vpWorld.initialize() controlModel.initializeHybridDynamics() # controlToMotionOffset = (1.5, -0.02, 0) controlToMotionOffset = (1.5, 0., 0) controlModel.translateByOffset(controlToMotionOffset) # controlModel_shadow_for_ik.set_q(controlModel.get_q()) # controlModel_shadow_for_ik.computeJacobian(0, np.array([0., 0., 0.])) wcfg_ik = copy.deepcopy(wcfg) vpWorld_ik = cvw.VpWorld(wcfg_ik) controlModel_ik = cvm.VpControlModel(vpWorld_ik, motion[0], mcfg) vpWorld_ik.initialize() controlModel_ik.set_q(np.zeros_like(controlModel.get_q())) print('<?xml version="1.0" ?>') print('<skel version="1.0">') print('<world name="world 1">') print(' <physics>') print(' <time_step>0.001</time_step>') print(' <gravity>0 -9.81 0</gravity>') print(' <collision_detector>fcl_mesh</collision_detector>') print(' </physics>') print(' <skeleton name="grount skeleton">') print(' <mobile>false</mobile>') print(' <body name="ground">') print(' <transformation>0 -0.025 0 0 0 0</transformation>') print(' <visualization_shape name=" - visual - 0">') print(' <transformation>0.0 0.0 0.0 0.0 0.0 0.0 </transformation>') print(' <geometry>') print(' <box>') print(' <size>10000.0 0.05 10000.0</size>') print(' </box>') print(' </geometry>') print(' </visualization_shape>') print(' <collision_shape name=" - collision - 0">') print(' <transformation>0.0 0.0 0.0 0.0 0.0 0.0 </transformation>') print(' <geometry>') print(' <box>') print(' <size>100.0 0.05 100.0</size>') print(' </box>') print(' </geometry>') print(' </collision_shape>') print(' </body>') print(' <joint name="joint 1" type="free">') print(' <parent>world</parent>') print(' <child>ground</child>') print(' </joint>') print(' </skeleton>') print(' <skeleton name="dartModel">') for i in range(controlModel.getJointNum()): body_name = controlModel_ik.index2name(i) print(' <body name="'+body_name+'">') print(' <transformation>'+str(np.concatenate((controlModel_ik.getBodyPositionGlobal(i), mm.logSO3(controlModel_ik.getBodyOrientationGlobal(i)))))[1:-1]+'</transformation>') print(' <inertia>') print(' <mass>' + str(controlModel_ik.getBodyMass(i))+'</mass>') print(' <offset>'+str(controlModel_ik.getBodyLocalCom(i))[1:-1]+'</offset>') print(' </inertia>') geom_types = controlModel_ik.getBodyGeomsType(i) geom_sizes = controlModel_ik.getBodyGeomsSize(i) geom_local_frames = controlModel_ik.getBodyGeomsLocalFrame(i) geom_count = 0 for j in range(len(geom_types)): if geom_types[j] == 'B': print(' <visualization_shape name="'+body_name+' - visual shape '+str(geom_count)+'">') print(' <transformation>'+str(np.concatenate((geom_local_frames[j][:3, 3], mm.logSO3(geom_local_frames[j][:3, :3]))))[1:-1]+'</transformation>') print(' <geometry>') print(' <box>') print(' <size>'+str(geom_sizes[j])[1:-1]+'</size>') print(' </box>') print(' </geometry>') print(' </visualization_shape>') geom_count += 1 elif geom_types[j] in ('C', 'D', 'E', 'F'): print(' <visualization_shape name="'+body_name+' - visual shape '+str(geom_count)+'">') print(' <transformation>'+str(np.concatenate((geom_local_frames[j][:3, 3], mm.logSO3(geom_local_frames[j][:3, :3]))))[1:-1]+'</transformation>') print(' <geometry>') print(' <capsule>') print(' <radius>'+str(geom_sizes[j][0])+'</radius>') print(' <height>'+str(geom_sizes[j][1]-2.*geom_sizes[j][0])+'</height>') print(' </capsule>') print(' </geometry>') print(' </visualization_shape>') geom_count += 1 geom_count = 0 for j in range(len(geom_types)): if geom_types[j] == 'B': print(' <collision_shape name="'+body_name+' - collision shape '+str(geom_count)+'">') print(' <transformation>'+str(np.concatenate((geom_local_frames[j][:3, 3], mm.logSO3(geom_local_frames[j][:3, :3]))))[1:-1]+'</transformation>') print(' <geometry>') print(' <box>') print(' <size>'+str(geom_sizes[j])[1:-1]+'</size>') print(' </box>') print(' </geometry>') print(' </collision_shape>') geom_count += 1 if geom_types[j] in ('C', 'D'): print(' <collision_shape name="'+body_name+' - collision shape '+str(geom_count)+'">') print(' <transformation>'+str(np.concatenate((np.dot(geom_local_frames[j], mm.TransVToSE3((geom_sizes[j][1]/2.-geom_sizes[j][0])*mm.unitZ()))[:3, 3], mm.logSO3(geom_local_frames[j][:3, :3]))))[1:-1]+'</transformation>') print(' <geometry>') print(' <sphere>') print(' <radius>'+str(geom_sizes[j][0])+'</radius>') print(' </sphere>') print(' </geometry>') print(' </collision_shape>') geom_count += 1 if geom_types[j] in ('C', 'F'): print(' <collision_shape name="'+body_name+' - collision shape '+str(geom_count)+'">') print(' <transformation>'+str(np.concatenate((np.dot(geom_local_frames[j], mm.TransVToSE3(-(geom_sizes[j][1]/2.-geom_sizes[j][0])*mm.unitZ()))[:3, 3], mm.logSO3(geom_local_frames[j][:3, :3]))))[1:-1]+'</transformation>') print(' <geometry>') print(' <sphere>') print(' <radius>'+str(geom_sizes[j][0])+'</radius>') print(' </sphere>') print(' </geometry>') print(' </collision_shape>') geom_count += 1 print(' </body>') for i in range(controlModel.getJointNum()): name = controlModel_ik.index2name(i) inv_bone_R, inv_bone_p = controlModel_ik.getInvBoneT(i) if i == 0: print(' <joint name="j_'+name+'" type="free">') print(' <transformation>'+str(np.concatenate((inv_bone_p, mm.logSO3(inv_bone_R))))[1:-1]+'</transformation>') print(' <parent>world</parent>') print(' <child>'+name+'</child>') print(' </joint>') else: parent_name = controlModel_ik.index2name(controlModel_ik.getParentIndex(i)) print(' <joint name="j_'+name+'" type="ball">') print(' <transformation>'+str(np.concatenate((inv_bone_p, mm.logSO3(inv_bone_R))))[1:-1]+'</transformation>') print(' <parent>'+parent_name+'</parent>') print(' <child>'+name+'</child>') print(' </joint>') print(' </skeleton>') print('</world>') print('</skel>')