| 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 |
|
|
| |
| 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.visual_data = pin.GeometryData(g2) |
|
|
| |
| 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() |
| |
| self.addFreeFlyerJointLimits() |
|
|
