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crank-motion.l
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crank-motion.l
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;;;
;;; Copyright (c) 1987- JSK, The University of Tokyo. All Rights Reserved.
;;;
;;; This software is a collection of EusLisp code for robot applications,
;;; which has been developed by the JSK Laboratory for the IRT project.
;;; For more information on EusLisp and its application to the robotics,
;;; please refer to the following papers.
;;;
;;; Toshihiro Matsui
;;; Multithread object-oriented language euslisp for parallel and
;;; asynchronous programming in robotics
;;; Workshop on Concurrent Object-based Systems,
;;; IEEE 6th Symposium on Parallel and Distributed Processing, 1994
;;;
;;; Redistribution and use in source and binary forms, with or without
;;; modification, are permitted provided that the following conditions are met:
;;;
;;; * Redistributions of source code must retain the above copyright notice,
;;; this list of conditions and the following disclaimer.
;;; * Redistributions in binary form must reproduce the above copyright notice,
;;; this list of conditions and the following disclaimer in the documentation
;;; and/or other materials provided with the distribution.
;;; * Neither the name of JSK Robotics Laboratory, The University of Tokyo
;;; (JSK) nor the names of its contributors may be used to endorse or promote
;;; products derived from this software without specific prior written
;;; permission.
;;;
;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
;;; THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
;;; PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
;;; CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
;;; EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
;;; PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
;;; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
;;; WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
;;; OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
;;; ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
;;;
(load "sample-robot-model.l")
(defclass sample-crank
:super cascaded-link
:slots (handle crank-joint)
)
(defmethod sample-crank
(:init
(&rest args
&key (root-bar-height 550) (handle-base-radius 100) (handle-bar-height 40)
&allow-other-keys)
(send-super* :init args)
(setq handle nil)
;; 1. make links links and assoc all links
(let ((rl (send self :make-root-link root-bar-height))
(cl (send self :make-crank-link handle-base-radius handle-bar-height)))
(send cl :translate (float-vector 0 0 root-bar-height) :world)
;; 2. assoc links
;; Root link should be associated with "self".
(send self :assoc rl)
(send rl :assoc cl)
;; 3. make all joints
;; Before making joints, you should :assoc all links.
(setq crank-joint (instance rotational-joint :init
:parent-link rl :child-link cl
:name :crank-joint :axis :z
:min *-inf* :max *inf*))
;; 4. define slots for robot class
;; links and joint-list for cascaded-link.
(setq links (list rl cl))
(setq joint-list (list crank-joint))
;; 5. call :init-ending after defining links and joint-list and return "self"
(send self :init-ending)
self))
;; Methods to define robot links
(:make-root-link
(root-bar-height)
(instance bodyset-link :init (make-cascoords)
:bodies (list (make-cylinder 10 root-bar-height))
:name :crank-root-link))
(:make-crank-link
(handle-base-radius handle-bar-height)
(let* ((handle-base-thickness 10)
(handle-bar-radius 15)
(handle-base (make-cube (* handle-bar-radius 2) handle-base-radius handle-base-thickness))
(handle-bar (make-cylinder handle-bar-radius handle-bar-height)))
(send handle-bar :translate
(float-vector 0 (- handle-bar-radius handle-base-radius) (/ handle-base-thickness 2.0)))
(send handle-base :translate (float-vector 0 (/ handle-base-radius -2.0) 0))
(send handle-base :assoc handle-bar)
(send handle-base :translate (float-vector 0 0 (/ handle-base-thickness 2.0)))
(let* ((br (instance bodyset-link :init (make-cascoords)
:bodies (list handle-base handle-bar) :name :crank-handle-link))
(ahandle
(make-cascoords :coords
(send (send handle-base :copy-worldcoords)
:translate (float-vector 0 (* -0.5 handle-base-radius) (/ handle-bar-height 2.0)))
:name :crank-handle)))
(send br :assoc ahandle)
(push ahandle handle)
br)))
(:handle () handle)
(:crank-handle () (car handle))
(:crank-joint (&rest args) (forward-message-to crank-joint args))
)
(defun crank-motion
()
"crank motion using full body ik"
(send *irtviewer* :title "crank-motion")
(unless (boundp '*robot*)
(setq *robot* (instance sample-robot :init)))
(send *robot* :reset-pose)
(send *robot* :newcoords (make-coords))
(unless (some #'null (send *robot* :legs))
(send *robot* :fix-leg-to-coords (make-coords)))
(send *robot* :update-descendants)
(let ((crank (instance sample-crank :init)))
(send crank :locate #f(350 100 0) :world)
(objects (list crank *robot*))
(let* ((cog-target-pos
(if (some #'null (send *robot* :legs))
(send (car (send *robot* :links)) :worldpos)
(apply #'midpoint 0.5 (send *robot* :legs :end-coords :worldpos))))
(fix-leg-coords
(unless (some #'null (send *robot* :legs))
(send *robot* :legs :end-coords :copy-worldcoords)))
;; append legs' parameters for move-target, link-list, thre, rotation-axis, and target-coords
;; all parameter list -> (list larm rleg lleg)
(move-target (append (list (send *robot* :larm :end-coords))
(send *robot* :legs :end-coords)))
(link-list (mapcar #'(lambda (l) (send *robot* :link-list (send l :parent)))
move-target))
(thre (list 15 1 1))
(rotation-axis (list nil t t))
(fp (apply #'midpoint 0.5 (send-all fix-leg-coords :worldpos))))
(do-until-key
(send crank :crank-joint :joint-angle 15 :relative t)
(let* ((target-coords (append (list (send crank :crank-handle)) fix-leg-coords)))
(send *robot* :fullbody-inverse-kinematics target-coords
:move-target move-target :link-list link-list
:rotation-axis rotation-axis :thre thre
:look-at-target t :centroid-thre 10.0
:dump-command nil)
;; draw
(send *irtviewer* :draw-objects :flush nil)
(send (send *robot* :support-polygon '(:rleg :lleg)) :draw-on :flush nil :width 4)
(mapcar #'(lambda (act ref)
(send act :draw-on :flush nil :size 100)
(send ref :draw-on :flush nil :color #f(1 0 0)))
(append (list (let ((ac (send *robot* :centroid)))
(setf (elt ac 2) 0) ac))
(send-all move-target :worldpos))
(append (list cog-target-pos) target-coords))
(send *robot* :draw-torque *viewer*)
(send *irtviewer* :flush)
(x::window-main-one)
))
)))
(unless (boundp '*irtviewer*) (make-irtviewer))
(warn "(crank-motion) ;; for fullbody motion~%")