diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index b0e9861cdfa..61fa48958e1 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -9,6 +9,7 @@ add_subdirectory(PA10) add_subdirectory(HRP4C) add_subdirectory(SampleRobot) add_subdirectory(Sample6dofRobot) +add_subdirectory(environments) install(PROGRAMS simTest1.py simTest2.py simTest3.py simTest4.py simTest5.py diff --git a/sample/SampleRobot/CMakeLists.txt b/sample/SampleRobot/CMakeLists.txt index 4d4a5be08a9..92b12d37f01 100644 --- a/sample/SampleRobot/CMakeLists.txt +++ b/sample/SampleRobot/CMakeLists.txt @@ -12,9 +12,19 @@ foreach(_idx 0 1) configure_file(SampleRobot.conf.in ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.${_tmp_controller_period}.conf) endforeach() +set(robot_waist_translation "-0.8 0 0" "-4.15 -0.2 0" "-5.83 -0.2 -0.6096") +set(file_suffix "SlopeUpDown" "StairUp" "StairDown") +foreach(_idx 0 1 2) + list(GET robot_waist_translation ${_idx} _tmp_robot_waist_translation) + list(GET file_suffix ${_idx} _tmp_file_suffix) + set(ROBOT_WAIST_TRANSLATION ${_tmp_robot_waist_translation}) + configure_file(SampleRobot.TerrainFloor.xml.in ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.TerrainFloor.${_tmp_file_suffix}.xml) +endforeach() + # Use configure_file to specify openhrp3 directory for sample1.wrl model configure_file(samplerobot_walk.py.in ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_walk.py) configure_file(samplerobot_auto_balancer.py.in ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_auto_balancer.py) +configure_file(samplerobot_terrain_walk.py.in ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_terrain_walk.py) configure_file(samplerobot_data_logger.py.in ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_data_logger.py) configure_file(samplerobot_impedance_controller.py.in ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_impedance_controller.py) configure_file(samplerobot_remove_force_offset.py.in ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_remove_force_offset.py) @@ -23,6 +33,7 @@ configure_file(samplerobot_stabilizer.py.in ${CMAKE_CURRENT_BINARY_DIR}/samplero install(PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_data_logger.py ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_auto_balancer.py + ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_terrain_walk.py ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_stabilizer.py ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_remove_force_offset.py ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_impedance_controller.py @@ -41,5 +52,9 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.200.torque.xml ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.RobotHardware.200.conf SampleRobot.PDgain.dat + # TerrainFloor + ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.TerrainFloor.SlopeUpDown.xml + ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.TerrainFloor.StairUp.xml + ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.TerrainFloor.StairDown.xml DESTINATION share/hrpsys/samples/SampleRobot) diff --git a/sample/SampleRobot/SampleRobot.TerrainFloor.xml.in b/sample/SampleRobot/SampleRobot.TerrainFloor.xml.in new file mode 100644 index 00000000000..f24e6623c3a --- /dev/null +++ b/sample/SampleRobot/SampleRobot.TerrainFloor.xml.in @@ -0,0 +1,198 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sample/SampleRobot/samplerobot_terrain_walk.py.in b/sample/SampleRobot/samplerobot_terrain_walk.py.in new file mode 100755 index 00000000000..e038a9221a7 --- /dev/null +++ b/sample/SampleRobot/samplerobot_terrain_walk.py.in @@ -0,0 +1,92 @@ +#!/usr/bin/env python + +try: + from hrpsys.hrpsys_config import * + import OpenHRP +except: + print "import without hrpsys" + import rtm + from rtm import * + from OpenHRP import * + import waitInput + from waitInput import * + import socket + import time + +def init (): + global hcf + hcf = HrpsysConfigurator() + hcf.getRTCList = hcf.getRTCListUnstable + hcf.init ("SampleRobot(Robot)0", "@OPENHRP_DIR@/share/OpenHRP-3.1/sample/model/sample1.wrl") + +def initPose(): + initial_pose=[1.336179e-17, -0.631511, -6.328912e-18, 1.30679, -0.675275, -1.709808e-17, 0.523599, 0.0, 0.0, -1.0472, 0.15708, -0.113446, 0.637045, -1.132555e-17, -0.631511, -6.328860e-18, 1.30679, -0.675275, 7.588845e-18, 0.523599, 0.0, 0.0, -1.0472, -0.15708, -0.113446, -0.637045, 0.0, 0.0, 0.0] + hcf.seq_svc.setJointAngles(initial_pose, 1.0) + hcf.seq_svc.waitInterpolation() + +def demo(): + init() + initPose() + print "Please execute 'demoStairUp()', 'demoStairDown()', and 'demoSlopeUpDown()'" + +def setupGaitGeneratorParam(): + ggp = hcf.abc_svc.getGaitGeneratorParam() + ggp[1].default_step_height = 0.20 + ggp[1].default_double_support_ratio = 0.3 + ggp[1].default_step_time = 1.2 + ggp[1].default_orbit_type = OpenHRP.AutoBalancerService.RECTANGLE; + hcf.abc_svc.setGaitGeneratorParam(ggp[1]) + +def stairWalk(stair_height = 0.1524): + stair_stride_x = 0.25 + floor_stride_x = 0.157 + init_step_x = 0 + init_step_z = 0 + for step_idx in [1,2,3,4]: + hcf.abc_svc.setFootSteps([OpenHRP.AutoBalancerService.Footstep([init_step_x, -0.09, init_step_z], [1,0,0,0], "rleg"), + OpenHRP.AutoBalancerService.Footstep([init_step_x+stair_stride_x, 0.09, init_step_z+stair_height], [1,0,0,0], "lleg")]) + hcf.abc_svc.waitFootSteps() + hcf.abc_svc.setFootSteps([OpenHRP.AutoBalancerService.Footstep([init_step_x+stair_stride_x, 0.09, init_step_z+stair_height], [1,0,0,0], "lleg"), + OpenHRP.AutoBalancerService.Footstep([init_step_x+stair_stride_x, -0.09, init_step_z+stair_height], [1,0,0,0], "rleg")]) + hcf.abc_svc.waitFootSteps() + hcf.abc_svc.setFootSteps([OpenHRP.AutoBalancerService.Footstep([init_step_x+stair_stride_x, 0.09, init_step_z+stair_height], [1,0,0,0], "lleg"), + OpenHRP.AutoBalancerService.Footstep([init_step_x+stair_stride_x+floor_stride_x, -0.09, init_step_z+stair_height], [1,0,0,0], "rleg"), + OpenHRP.AutoBalancerService.Footstep([init_step_x+stair_stride_x+floor_stride_x, 0.09, init_step_z+stair_height], [1,0,0,0], "lleg")]) + hcf.abc_svc.waitFootSteps() + init_step_x = init_step_x + stair_stride_x + floor_stride_x + init_step_z = init_step_z + stair_height + +# sample for SampleRobot.TerrainFloor.SlopeUpDown.xml +def demoSlopeUpDown(): + print "Start stlop up down" + setupGaitGeneratorParam() + hcf.abc_svc.startAutoBalancer(["rleg", "lleg"]); + fsList=[OpenHRP.AutoBalancerService.Footstep([0.8,-0.09,0.0], [1.0,0.0,2.775558e-17,0.0], "rleg"), OpenHRP.AutoBalancerService.Footstep([1.0953,0.09,0.030712], [0.991445,0.0,-0.130526,0.0], "lleg"), OpenHRP.AutoBalancerService.Footstep([1.28848,-0.09,0.082475], [0.991445,0.0,-0.130526,0.0], "rleg"), OpenHRP.AutoBalancerService.Footstep([1.38508,0.09,0.108357], [0.991445,0.0,-0.130526,0.0], "lleg"), OpenHRP.AutoBalancerService.Footstep([1.38508,-0.09,0.108357], [0.991445,0.0,-0.130526,0.0], "rleg"), OpenHRP.AutoBalancerService.Footstep([1.54959,0.09,0.125863], [0.991445,0.0,0.130526,0.0], "lleg"), OpenHRP.AutoBalancerService.Footstep([1.74277,-0.09,0.074099], [0.991445,0.0,0.130526,0.0], "rleg"), OpenHRP.AutoBalancerService.Footstep([1.79107,0.09,0.061158], [0.991445,0.0,0.130526,0.0], "lleg"), OpenHRP.AutoBalancerService.Footstep([2.05,-0.09,0.0], [1.0,0.0,0.0,0.0], "rleg"), OpenHRP.AutoBalancerService.Footstep([2.05,0.09,0.0], [1.0,0.0,0.0,0.0], "lleg")] + # set st Parameter + # stp1 = hcf.st_svc.getParameter() + # stp1.k_tpcc_p=[0.05, 0.05] + # stp1.k_tpcc_x=[4.0, 4.0] + # stp1.k_brot_p=[0.0, 0.0] + # hcf.st_svc.setParameter(stp1) + # hcf.st_svc.startStabilizer () + for idx in range(len(fsList)-1): + hcf.abc_svc.setFootSteps([fsList[idx],fsList[idx+1]]) + hcf.abc_svc.waitFootSteps() + hcf.abc_svc.stopAutoBalancer(); + +# sample for SampleRobot.TerrainFloor.StairUp.xml +def demoStairUp(): + print "Start stair up" + setupGaitGeneratorParam() + hcf.abc_svc.startAutoBalancer(["rleg", "lleg"]); + stairWalk() + hcf.abc_svc.stopAutoBalancer(); + +# sample for SampleRobot.TerrainFloor.StairDown.xml +def demoStairDown(): + print "Start stair down" + setupGaitGeneratorParam() + hcf.abc_svc.startAutoBalancer(["rleg", "lleg"]); + stairWalk(-0.1524) + hcf.abc_svc.stopAutoBalancer(); + diff --git a/sample/environments/CMakeLists.txt b/sample/environments/CMakeLists.txt new file mode 100644 index 00000000000..87554b30fea --- /dev/null +++ b/sample/environments/CMakeLists.txt @@ -0,0 +1,4 @@ +install(FILES + TerrainFloor.wrl + DESTINATION share/hrpsys/samples/environments) + diff --git a/sample/environments/TerrainFloor.wrl b/sample/environments/TerrainFloor.wrl new file mode 100644 index 00000000000..cda1f1f4033 --- /dev/null +++ b/sample/environments/TerrainFloor.wrl @@ -0,0 +1,8858 @@ +#VRML V2.0 utf8 + +# Produced by EusLisp 9.00(e6031bb e48f610 63139) for Linux64 created on W540-nozawa(Sat Jul 19 16:26:23 JST 2014) +# Date: Fri Aug 29 00:27:25 2014 + + +PROTO Joint [ + exposedField SFVec3f center 0 0 0 + exposedField MFNode children [] + exposedField MFFloat llimit [] + exposedField SFRotation limitOrientation 0 0 1 0 + exposedField SFString name "" + exposedField SFRotation rotation 0 0 1 0 + exposedField SFVec3f scale 1 1 1 + exposedField SFRotation scaleOrientation 0 0 1 0 + exposedField MFFloat stiffness [ 0 0 0 ] + exposedField SFVec3f translation 0 0 0 + exposedField MFFloat ulimit [] + exposedField MFFloat dh [0 0 0 0] + exposedField SFString jointType "" + exposedField SFInt32 jointId -1 + exposedField SFVec3f jointAxis 0 0 1 +] +{ + Transform { + center IS center + children IS children + rotation IS rotation + scale IS scale + scaleOrientation IS scaleOrientation + translation IS translation + } +} + +PROTO Segment [ + field SFVec3f bboxCenter 0 0 0 + field SFVec3f bboxSize -1 -1 -1 + exposedField SFVec3f centerOfMass 0 0 0 + exposedField MFNode children [ ] + exposedField SFNode coord NULL + exposedField MFNode displacers [ ] + exposedField SFFloat mass 0 + exposedField MFFloat momentsOfInertia [ 0 0 0 0 0 0 0 0 0 ] + exposedField SFString name "" + eventIn MFNode addChildren + eventIn MFNode removeChildren +] +{ + Group { + addChildren IS addChildren + bboxCenter IS bboxCenter + bboxSize IS bboxSize + children IS children + removeChildren IS removeChildren + } +} + + +PROTO Humanoid [ + field SFVec3f bboxCenter 0 0 0 + field SFVec3f bboxSize -1 -1 -1 + exposedField SFVec3f center 0 0 0 + exposedField MFNode humanoidBody [ ] + exposedField MFString info [ ] + exposedField MFNode joints [ ] + exposedField SFString name "" + exposedField SFRotation rotation 0 0 1 0 + exposedField SFVec3f scale 1 1 1 + exposedField SFRotation scaleOrientation 0 0 1 0 + exposedField MFNode segments [ ] + exposedField MFNode sites [ ] + exposedField SFVec3f translation 0 0 0 + exposedField SFString version "1.1" + exposedField MFNode viewpoints [ ] +] +{ + Transform { + bboxCenter IS bboxCenter + bboxSize IS bboxSize + center IS center + rotation IS rotation + scale IS scale + scaleOrientation IS scaleOrientation + translation IS translation + children [ + Group { + children IS viewpoints + } + Group { + children IS humanoidBody + } + ] + } +} + + +PROTO VisionSensor [ + exposedField SFVec3f translation 0 0 0 + exposedField SFRotation rotation 0 0 1 0 + #exposedField SFRotation orientation 0 0 1 0 + exposedField SFFloat fieldOfView 0.785398 + exposedField SFString name "" + exposedField SFFloat frontClipDistance 0.01 + exposedField SFFloat backClipDistance 10.0 + exposedField SFString type "NONE" + exposedField SFInt32 sensorId -1 + exposedField SFInt32 width 320 # + exposedField SFInt32 height 240 # + #exposedField MFNode children [] # for me +] +{ + Transform { + rotation IS rotation + translation IS translation + #children IS children # for me + } +} + + +PROTO ForceSensor [ + exposedField SFVec3f maxForce -1 -1 -1 + exposedField SFVec3f maxTorque -1 -1 -1 + exposedField SFVec3f translation 0 0 0 + exposedField SFRotation rotation 0 0 1 0 + exposedField SFInt32 sensorId -1 +] +{ + Transform { +translation IS translation + rotation IS rotation + } +} + +PROTO Gyro [ + exposedField SFVec3f maxAngularVelocity -1 -1 -1 + exposedField SFVec3f translation 0 0 0 + exposedField SFRotation rotation 0 0 1 0 + exposedField SFInt32 sensorId -1 +] +{ + Transform { + translation IS translation + rotation IS rotation + } +} + +PROTO AccelerationSensor [ + exposedField SFVec3f maxAcceleration -1 -1 -1 + exposedField SFVec3f translation 0 0 0 + exposedField SFRotation rotation 0 0 1 0 + exposedField SFInt32 sensorId -1 +] +{ + Transform { + translation IS translation + rotation IS rotation + } +} + +PROTO PressureSensor [ + exposedField SFFloat maxPressure -1 + exposedField SFVec3f translation 0 0 0 + exposedField SFRotation rotation 0 0 1 0 + exposedField SFInt32 sensorId -1 +] +{ + Transform { + translation IS translation + rotation IS rotation + } +} + + +NavigationInfo { + avatarSize 0.5 + headlight TRUE + type ["EXAMINE", "ANY"] +} +Viewpoint { + position 3 0 0.835 + orientation 0.5770 0.5775 0.5775 2.0935 +} +DEF TerrainFloor Humanoid { + humanoidBody [ + DEF WAIST Joint { + jointType "fixed" + dh [0 0 0 0] + translation 0.000000 0.000000 0.000000 + rotation 0.0 0.0 1.0 0 + children [ + DEF ROOT_S Segment { + centerOfMass 0.0 0.0 0.0 + mass 0.001 + momentsOfInertia [ 1.000000e-09 0.0 0.0 0.0 1.000000e-09 0.0 0.0 0.0 1.000000e-09 ] + children [ + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.796875 0.796875 0.796875, + ] + } + coord DEF ROOT-COORD Coordinate { + point[ + 11.870502 -1.016000 -0.000000, + 11.909946 -1.016000 0.147207, + 11.870502 -1.219200 -0.000000, + 11.909946 -1.219200 0.147207, + 11.477950 -1.016000 0.105184, + 11.477950 -1.219200 0.105184, + 11.517394 -1.219200 0.252391, + 11.517394 -1.016000 0.252391, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.796875 0.796875 0.796875, + ] + } + coord DEF ROOT-COORD Coordinate { + point[ + 11.870502 -0.812800 -0.000000, + 11.909946 -0.812800 0.147207, + 11.870502 -1.016000 -0.000000, + 11.909946 -1.016000 0.147207, + 11.477950 -0.812800 0.105184, + 11.477950 -1.016000 0.105184, + 11.517394 -1.016000 0.252391, + 11.517394 -0.812800 0.252391, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.796875 0.796875 0.796875, + ] + } + coord DEF ROOT-COORD Coordinate { + point[ + 11.235306 -0.816262 0.257584, + 11.235306 -0.855706 0.404791, + 11.438506 -0.816262 0.257584, + 11.438506 -0.855706 0.404791, + 11.235306 -1.208814 0.152400, + 11.438506 -1.208814 0.152400, + 11.438506 -1.248258 0.299607, + 11.235306 -1.248258 0.299607, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.796875 0.796875 0.796875, + ] + } + coord DEF ROOT-COORD Coordinate { + point[ + 11.032106 -0.816262 0.257584, + 11.032106 -0.855706 0.404791, + 11.235306 -0.816262 0.257584, + 11.235306 -0.855706 0.404791, + 11.032106 -1.208814 0.152400, + 11.235306 -1.208814 0.152400, + 11.235306 -1.248258 0.299607, + 11.032106 -1.248258 0.299607, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.796875 0.796875 0.796875, + ] + } + coord DEF ROOT-COORD Coordinate { + point[ + 11.032106 -1.016000 0.304800, + 11.071550 -1.016000 0.452007, + 11.032106 -1.219200 0.304800, + 11.071550 -1.219200 0.452007, + 10.639554 -1.016000 0.409984, + 10.639554 -1.219200 0.409984, + 10.678998 -1.219200 0.557191, + 10.678998 -1.016000 0.557191, + ] + } + coordIndex [ + 3, 1, 7, -1, + 7, 6, 3, -1, + 5, 4, 0, -1, + 0, 2, 5, -1, + 7, 1, 0, -1, + 0, 4, 7, -1, + 1, 3, 2, -1, + 2, 0, 1, -1, + 3, 6, 5, -1, + 5, 2, 3, -1, + 6, 7, 4, -1, + 4, 5, 6, -1, + ] + colorIndex [ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + ] + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF ROOT-FACES IndexedFaceSet { + creaseAngle 0.8 + ccw TRUE + solid TRUE + colorPerVertex FALSE + color Color { + color [ + 0.796875 0.796875 0.796875, + ] + } + coord DEF ROOT-COORD Coordinate { + point[ + 11.032106 -0.812800 0.304800, + 11.071550 -0.812800 0.452007, + 11.032106 -1.016000 0.304800, + 11.071550 -1.016000 0.452007, + 10.639554 -0.812800 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