def getFeetMidPoint(model, useWorldZ=True):
'''
Returns a frame in world coordinate system that is the average of the left
and right foot reference point positions in world frame, the average of the
left and right foot yaw in world frame, and Z axis aligned with world Z.
The foot reference point is the average of the foot contact points in the foot frame.
'''
contact_pts_left, contact_pts_right = FootstepsDriver.getContactPts()
contact_pts_mid_left = np.mean(contact_pts_left, axis=0) # mid point on foot relative to foot frame
contact_pts_mid_right = np.mean(contact_pts_right, axis=0) # mid point on foot relative to foot frame
t_lf_mid = model.getLinkFrame(_leftFootLink)
t_lf_mid.PreMultiply()
t_lf_mid.Translate(contact_pts_mid_left)
t_rf_mid = model.getLinkFrame(_rightFootLink)
t_rf_mid.PreMultiply()
t_rf_mid.Translate(contact_pts_mid_right)
if "atlas" in _modelName: # atlas_v3/v4/v5
t_feet_mid = transformUtils.frameInterpolate(t_lf_mid, t_rf_mid, 0.5)
elif (_modelName == "valkyrie"): # valkyrie
t_feet_mid = transformUtils.frameInterpolate(t_lf_mid, t_rf_mid, 0.5)
else:
raise ValueError("Model Name not recognised")
if useWorldZ:
rpy = [0.0, 0.0, np.degrees(transformUtils.rollPitchYawFromTransform(t_feet_mid)[2])]
return transformUtils.frameFromPositionAndRPY(t_feet_mid.GetPosition(), rpy)
else:
return t_feet_mid
def interpolateSplineFrame(u):
assert 0.0 <= u <= 1.0
pt = [0.0, 0.0, 0.0]
self.splineWidget.GetRepresentation().GetParametricSpline(
).Evaluate([u, 0.0, 0.0], pt, range(9))
handleParameterization = self.computeHandleParameterization()
if u >= handleParameterization[self.rotationEndIndex]:
uu = 1.0
elif u <= handleParameterization[self.rotationStartIndex]:
uu = 0.0
else:
uu = (u - handleParameterization[self.rotationStartIndex]) / (
handleParameterization[self.rotationEndIndex] -
handleParameterization[self.rotationStartIndex])
#print 'rescaled u:', u, '-->', uu
t = transformUtils.frameInterpolate(palmFrame, goalFrame, uu)
t.PostMultiply()
t.Translate(np.array(pt) - np.array(t.GetPosition()))
return t
def getFeetMidPoint(self, useWorldZ=True):
"""
Returns a frame in world coordinate system that is the average of the left
and right foot reference point positions in world frame, the average of the
left and right foot yaw in world frame, and Z axis aligned with world Z.
The foot reference point is the average of the foot contact points in the foot frame.
"""
if self.quadruped:
t_lf = np.array(self.getLinkFrame(self.leftHandLink).GetPosition())
t_rf = np.array(
self.getLinkFrame(self.rightHandLink).GetPosition())
t_lh = np.array(self.getLinkFrame(self.leftFootLink).GetPosition())
t_rh = np.array(
self.getLinkFrame(self.rightFootLink).GetPosition())
mid = (t_lf + t_rf + t_lh + t_rh) / 4
# this is not optimal, correct approach should use contact points to
# determine desired orientation, not the current orientation
rpy = [
0.0, 0.0,
self.getLinkFrame(self.pelvisLink).GetOrientation()[2]
]
return transformUtils.frameFromPositionAndRPY(mid, rpy)
contact_pts_left, contact_pts_right = self.getContactPts()
contact_pts_mid_left = np.mean(
contact_pts_left,
axis=0) # mid point on foot relative to foot frame
contact_pts_mid_right = np.mean(
contact_pts_right,
axis=0) # mid point on foot relative to foot frame
t_lf_mid = self.getLinkFrame(self.leftFootLink)
t_lf_mid.PreMultiply()
t_lf_mid.Translate(contact_pts_mid_left)
t_rf_mid = self.getLinkFrame(self.rightFootLink)
t_rf_mid.PreMultiply()
t_rf_mid.Translate(contact_pts_mid_right)
if self._modelName == "anymal": # anymal (not used)
t_feet_mid = transformUtils.frameInterpolate(
t_lf_mid, t_rf_mid, 0.5)
else:
raise ValueError("Model Name not recognised")
if useWorldZ:
rpy = [
0.0,
0.0,
np.degrees(
transformUtils.rollPitchYawFromTransform(t_feet_mid)[2]),
]
return transformUtils.frameFromPositionAndRPY(
t_feet_mid.GetPosition(), rpy)
else:
return t_feet_mid
def getPelvisEstimate(self):
p = robotStateModel.getLinkFrame('pelvis')
lf = robotStateModel.getLinkFrame('l_foot')
rf = robotStateModel.getLinkFrame('r_foot')
pelvisLeft = self.getPelvisEstimateFromFoot(p, lf, self.lfootFrame)
pelvisRight = self.getPelvisEstimateFromFoot(p, rf, self.rfootFrame)
return transformUtils.frameInterpolate(pelvisLeft, pelvisRight, self.footBias)
def getFeetMidPoint(model, useWorldZ=True):
'''
Returns a frame in world coordinate system that is the average of the left
and right foot reference point positions in world frame, the average of the
left and right foot yaw in world frame, and Z axis aligned with world Z.
The foot reference point is the average of the foot contact points in the foot frame.
'''
contact_pts_left, contact_pts_right = FootstepsDriver.getContactPts()
contact_pts_mid_left = np.mean(contact_pts_left, axis=0) # mid point on foot relative to foot frame
contact_pts_mid_right = np.mean(contact_pts_right, axis=0) # mid point on foot relative to foot frame
t_lf_mid = model.getLinkFrame(_leftFootLink)
t_lf_mid.PreMultiply()
t_lf_mid.Translate(contact_pts_mid_left)
t_rf_mid = model.getLinkFrame(_rightFootLink)
t_rf_mid.PreMultiply()
t_rf_mid.Translate(contact_pts_mid_right)
if (_robotType == 0): # Atlas
t_feet_mid = transformUtils.frameInterpolate(t_lf_mid, t_rf_mid, 0.5)
elif (_robotType == 1):
# Valkyrie v1 Foot orientation is silly
l_foot_sole = transformUtils.frameFromPositionAndRPY([0,0,0], [180.0, 82.5, 0])
l_foot_sole.PostMultiply()
l_foot_sole.Concatenate(t_lf_mid)
r_foot_sole = transformUtils.frameFromPositionAndRPY([0,0,0], [0.0, -82.5, 0])
r_foot_sole.PostMultiply()
r_foot_sole.Concatenate(t_rf_mid)
t_feet_mid = transformUtils.frameInterpolate(l_foot_sole, r_foot_sole, 0.5)
elif (_robotType == 2):
# Valkyrie v2 is better
t_feet_mid = transformUtils.frameInterpolate(t_lf_mid, t_rf_mid, 0.5)
if useWorldZ:
rpy = [0.0, 0.0, np.degrees(transformUtils.rollPitchYawFromTransform(t_feet_mid)[2])]
return transformUtils.frameFromPositionAndRPY(t_feet_mid.GetPosition(), rpy)
else:
return t_feet_mid
def planRoomSweep(self):
self.initConstraintSet()
faceFrameDesired = transformUtils.frameInterpolate(
self.startFrame.transform, self.endFrame.transform, 0)
vis.showFrame(faceFrameDesired,
'frame 0',
visible=True,
scale=0.1,
parent=self.mapFolder)
self.addConstraintForTargetFrame(faceFrameDesired, 0)
faceFrameDesired = transformUtils.frameInterpolate(
self.startFrame.transform, self.endFrame.transform, 1.0 / 3.0)
vis.showFrame(faceFrameDesired,
'frame 1',
visible=True,
scale=0.1,
parent=self.mapFolder)
self.addConstraintForTargetFrame(faceFrameDesired, 1)
faceFrameDesired = transformUtils.frameInterpolate(
self.startFrame.transform, self.endFrame.transform, 2.0 / 3.0)
vis.showFrame(faceFrameDesired,
'frame 2',
visible=True,
scale=0.1,
parent=self.mapFolder)
self.addConstraintForTargetFrame(faceFrameDesired, 2)
faceFrameDesired = transformUtils.frameInterpolate(
self.startFrame.transform, self.endFrame.transform, 3.0 / 3.0)
vis.showFrame(faceFrameDesired,
'frame 3',
visible=True,
scale=0.1,
parent=self.mapFolder)
self.addConstraintForTargetFrame(faceFrameDesired, 3)
#self.ikPlanner.ikServer.maxDegreesPerSecond = self.speedLow
self.planTrajectory()
def planRoomSweep(self):
self.initConstraintSet()
faceFrameDesired = transformUtils.frameInterpolate(self.startFrame.transform , self.endFrame.transform, 0)
vis.showFrame(faceFrameDesired, 'frame 0', visible=True, scale=0.1,parent=self.mapFolder)
self.addConstraintForTargetFrame(faceFrameDesired, 0)
faceFrameDesired = transformUtils.frameInterpolate(self.startFrame.transform , self.endFrame.transform, 1.0/3.0)
vis.showFrame(faceFrameDesired, 'frame 1', visible=True, scale=0.1,parent=self.mapFolder)
self.addConstraintForTargetFrame(faceFrameDesired, 1)
faceFrameDesired = transformUtils.frameInterpolate(self.startFrame.transform , self.endFrame.transform, 2.0/3.0)
vis.showFrame(faceFrameDesired, 'frame 2', visible=True, scale=0.1,parent=self.mapFolder)
self.addConstraintForTargetFrame(faceFrameDesired, 2)
faceFrameDesired = transformUtils.frameInterpolate(self.startFrame.transform , self.endFrame.transform, 3.0/3.0)
vis.showFrame(faceFrameDesired, 'frame 3', visible=True, scale=0.1,parent=self.mapFolder)
self.addConstraintForTargetFrame(faceFrameDesired, 3)
#self.ikPlanner.ikServer.maxDegreesPerSecond = self.speedLow
self.planTrajectory()
def interpolateSplineFrame(u):
assert 0.0 <= u <= 1.0
pt = [0.0, 0.0, 0.0]
self.splineWidget.GetRepresentation().GetParametricSpline().Evaluate([u,0.0,0.0], pt, range(9))
handleParameterization = self.computeHandleParameterization()
if u >= handleParameterization[self.rotationEndIndex]:
uu = 1.0
elif u <= handleParameterization[self.rotationStartIndex]:
uu = 0.0
else:
uu = (u - handleParameterization[self.rotationStartIndex]) / (handleParameterization[self.rotationEndIndex] - handleParameterization[self.rotationStartIndex])
#print 'rescaled u:', u, '-->', uu
t = transformUtils.frameInterpolate(palmFrame, goalFrame, uu)
t.PostMultiply()
t.Translate(np.array(pt) - np.array(t.GetPosition()))
return t
