File size: 3,147 Bytes
33956db | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 | import numpy as np
import pinocchio as pin
from .utils import RobotLoader, readParamsFromSrdf
class TalosLoader(RobotLoader):
path = "talos_data"
urdf_filename = "talos_reduced.urdf"
srdf_filename = "talos.srdf"
free_flyer = True
has_rotor_parameters = True
class TalosBoxLoader(TalosLoader):
urdf_filename = "talos_reduced_box.urdf"
class TalosFullLoader(TalosLoader):
urdf_filename = "talos_full_v2.urdf"
class TalosFullBoxLoader(TalosLoader):
urdf_filename = "talos_full_v2_box.urdf"
class TalosArmLoader(TalosLoader):
urdf_filename = "talos_left_arm.urdf"
free_flyer = False
class TalosLegsLoader(TalosLoader):
def __init__(self, verbose=False):
super().__init__(verbose=verbose)
legMaxId = 14
m1 = self.robot.model
m2 = pin.Model()
for j, M, name, parent, Y in zip(
m1.joints, m1.jointPlacements, m1.names, m1.parents, m1.inertias
):
if j.id < legMaxId:
jid = m2.addJoint(parent, getattr(pin, j.shortname())(), M, name)
idx_q, idx_v = m2.joints[jid].idx_q, m2.joints[jid].idx_v
m2.upperPositionLimit[idx_q : idx_q + j.nq] = m1.upperPositionLimit[
j.idx_q : j.idx_q + j.nq
]
m2.lowerPositionLimit[idx_q : idx_q + j.nq] = m1.lowerPositionLimit[
j.idx_q : j.idx_q + j.nq
]
m2.velocityLimit[idx_v : idx_v + j.nv] = m1.velocityLimit[
j.idx_v : j.idx_v + j.nv
]
m2.effortLimit[idx_v : idx_v + j.nv] = m1.effortLimit[
j.idx_v : j.idx_v + j.nv
]
assert jid == j.id
m2.appendBodyToJoint(jid, Y, pin.SE3.Identity())
upperPos = m2.upperPositionLimit
upperPos[:7] = 1
m2.upperPositionLimit = upperPos
lowerPos = m2.lowerPositionLimit
lowerPos[:7] = -1
m2.lowerPositionLimit = lowerPos
effort = m2.effortLimit
effort[:6] = np.inf
m2.effortLimit = effort
# q2 = self.robot.q0[:19]
for f in m1.frames:
if tuple(int(i) for i in pin.__version__.split(".")) >= (3, 0, 0):
if f.parentJoint < legMaxId:
m2.addFrame(f)
elif f.parent < legMaxId:
m2.addFrame(f)
g2 = pin.GeometryModel()
for g in self.robot.visual_model.geometryObjects:
if g.parentJoint < 14:
g2.addGeometryObject(g)
self.robot.model = m2
self.robot.data = m2.createData()
self.robot.visual_model = g2
# self.robot.q0=q2
self.robot.visual_data = pin.GeometryData(g2)
# Load SRDF file
self.robot.q0 = readParamsFromSrdf(
self.robot.model,
self.srdf_path,
self.verbose,
self.has_rotor_parameters,
self.ref_posture,
)
assert (m2.armature[:6] == 0.0).all()
# Add the free-flyer joint limits to the new model
self.addFreeFlyerJointLimits()
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