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[collada2eus] add rhand lhand limbs #232

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[collada2eus] add rhand lhand limbs #232

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04a7d25
add rhand lhand
Naoki-Hiraoka Apr 20, 2021
e7b7dad
[euscollada] read limbs parameter from yaml file
Naoki-Hiraoka May 8, 2021
17bf0a3
Merge branch 'master' into hrp2_with_3hand
Naoki-Hiraoka Apr 6, 2022
2cc9493
remove unnecessary diff
Naoki-Hiraoka Apr 18, 2022
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61 changes: 38 additions & 23 deletions euscollada/src/collada2eus_urdfmodel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -591,7 +591,13 @@ void ModelEuslisp::printMesh(const aiScene* scene, const aiNode* node, const Vec
bool limb_order_asc(const pair<string, size_t>& left, const pair<string, size_t>& right) { return left.second < right.second; }
void ModelEuslisp::readYaml (string &config_file) {
// read yaml
string limb_candidates[] = {"torso", "larm", "rarm", "lleg", "rleg", "head"}; // candidates of limb names
std::vector<string> limb_candidates; // candidates of limb names
limb_candidates.push_back("torso");
limb_candidates.push_back("larm");
limb_candidates.push_back("rarm");
limb_candidates.push_back("lleg");
limb_candidates.push_back("rleg");
limb_candidates.push_back("head");

vector<pair<string, size_t> > limb_order;
#ifndef USE_CURRENT_YAML
Expand All @@ -607,6 +613,14 @@ void ModelEuslisp::readYaml (string &config_file) {
// yaml-cpp is greater than 0.5.0
doc = YAML::LoadFile(config_file.c_str());
#endif
#ifdef USE_CURRENT_YAML
if (doc["limbs"]) {
#else
if ( doc.FindValue("limbs") ) {
#endif
limb_candidates = doc["limbs"].as<std::vector<std::string> >();
}

/* re-order limb name by lines of yaml */
BOOST_FOREACH(string& limb, limb_candidates) {
#ifdef USE_CURRENT_YAML
Expand Down Expand Up @@ -1043,13 +1057,17 @@ void ModelEuslisp::printMimicJoints () {


void ModelEuslisp::printEndCoords () {
// TODO: end coords from collada ...
fprintf(fp, " ;; end coords from yaml file\n");
BOOST_FOREACH(link_joint_pair& limb, limbs) {
string limb_name = limb.first;
vector<string> link_names = limb.second.first;

if (link_names.size()>0) {
fprintf(fp, " (let (%s-end-coords\n", limb_name.c_str());
fprintf(fp, " %s\n", limb_name.c_str());
fprintf(fp, " %s-root-link)\n", limb_name.c_str());

// TODO: end coords from collada ...
fprintf(fp, " ;; end coords from yaml file\n");
string end_coords_parent_name(link_names.back());
try {
const YAML::Node& n = doc[limb_name+"-end-coords"]["parent"];
Expand All @@ -1061,17 +1079,17 @@ void ModelEuslisp::printEndCoords () {
} catch(YAML::RepresentationException& e) {
}
if (add_link_suffix) {
fprintf(fp, " (setq %s-end-coords (make-cascoords :coords (send %s_lk :copy-worldcoords) :name :%s-end-coords))\n",
fprintf(fp, " (setq %s-end-coords (make-cascoords :coords (send %s_lk :copy-worldcoords) :name :%s-end-coords))\n",
limb_name.c_str(), end_coords_parent_name.c_str(), limb_name.c_str());
} else {
fprintf(fp, " (setq %s-end-coords (make-cascoords :coords (send %s :copy-worldcoords) :name %s-end-coords))\n",
fprintf(fp, " (setq %s-end-coords (make-cascoords :coords (send %s :copy-worldcoords) :name %s-end-coords))\n",
limb_name.c_str(), end_coords_parent_name.c_str(), limb_name.c_str());
}
try {
const YAML::Node& n = doc[limb_name+"-end-coords"]["translate"];
if ( n.size() > 0 ) {
double value;
fprintf(fp, " (send %s-end-coords :translate (float-vector", limb_name.c_str());
fprintf(fp, " (send %s-end-coords :translate (float-vector", limb_name.c_str());
#ifdef USE_CURRENT_YAML
for(unsigned int i = 0; i < 3; i++) fprintf(fp, " "FLOAT_PRECISION_FINE"", 1000*n[i].as<double>());
#else
Expand All @@ -1085,7 +1103,7 @@ void ModelEuslisp::printEndCoords () {
const YAML::Node& n = doc[limb_name+"-end-coords"]["rotate"];
if ( n.size() > 0 ) {
double value;
fprintf(fp, " (send %s-end-coords :rotate", limb_name.c_str());
fprintf(fp, " (send %s-end-coords :rotate", limb_name.c_str());
#if USE_CURRENT_YAML
for(unsigned int i = 3; i < 4; i++) fprintf(fp, " "FLOAT_PRECISION_FINE"", M_PI/180*n[i].as<double>());
#else
Expand All @@ -1102,21 +1120,15 @@ void ModelEuslisp::printEndCoords () {
} catch(YAML::RepresentationException& e) {
}
if(add_link_suffix) {
fprintf(fp, " (send %s_lk :assoc %s-end-coords)\n", end_coords_parent_name.c_str(), limb_name.c_str());
fprintf(fp, " (send %s_lk :assoc %s-end-coords)\n", end_coords_parent_name.c_str(), limb_name.c_str());
} else {
fprintf(fp, " (send %s :assoc %s-end-coords)\n", end_coords_parent_name.c_str(), limb_name.c_str());
fprintf(fp, " (send %s :assoc %s-end-coords)\n", end_coords_parent_name.c_str(), limb_name.c_str());
}
}
}
fprintf(fp, "\n");
fprintf(fp, "\n");

// limb name
fprintf(fp, " ;; limbs\n");
BOOST_FOREACH(link_joint_pair& limb, limbs) {
string limb_name = limb.first;
vector<string> link_names = limb.second.first;
if ( link_names.size() > 0 ) {
fprintf(fp, " (setq %s (list", limb_name.c_str());
// links
fprintf(fp, " ;; links\n");
fprintf(fp, " (setq %s (list", limb_name.c_str());
if (add_link_suffix) {
for (unsigned int i = 0; i < link_names.size(); i++)
fprintf(fp, " %s_lk", link_names[i].c_str());
Expand All @@ -1128,13 +1140,16 @@ void ModelEuslisp::printEndCoords () {
}
fprintf(fp, "\n");
// find root link by tracing limb's link list
fprintf(fp, " (setq %s-root-link\n", limb_name.c_str());
fprintf(fp, " (labels ((find-parent (l) (if (find (send l :parent) %s) (find-parent (send l :parent)) l)))\n",
fprintf(fp, " (setq %s-root-link\n", limb_name.c_str());
fprintf(fp, " (labels ((find-parent (l) (if (find (send l :parent) %s) (find-parent (send l :parent)) l)))\n",
limb_name.c_str());
fprintf(fp, " (find-parent (car %s))))\n", limb_name.c_str());
fprintf(fp, " (find-parent (car %s))))\n", limb_name.c_str());
fprintf(fp, "\n");

fprintf(fp, " (send self :add-limb :%s :end-coords %s-end-coords :links %s :root-link %s-root-link))\n", limb_name.c_str(), limb_name.c_str(), limb_name.c_str(), limb_name.c_str());

}
}
fprintf(fp, "\n");

// link name
fprintf(fp, " ;; links\n");
Expand Down