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From: <sn...@us...> - 2011-10-13 06:54:04
|
Revision: 713
http://jskeus.svn.sourceforge.net/jskeus/?rev=713&view=rev
Author: snozawa
Date: 2011-10-13 06:53:58 +0000 (Thu, 13 Oct 2011)
Log Message:
-----------
support function target-coords in ik fail message
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2011-10-12 18:48:34 UTC (rev 712)
+++ trunk/irteus/irtmodel.l 2011-10-13 06:53:58 UTC (rev 713)
@@ -1755,7 +1755,9 @@
(warn ";; inverse-kinematics failed.~%")
(dotimes (i (length move-target))
(let ((move-target (elt move-target i))
- (target-coords (elt target-coords i))
+ (target-coords (if (functionp (elt target-coords i))
+ (funcall (elt target-coords i))
+ (elt target-coords i)))
(rotation-axis (elt rotation-axis i))
(translation-axis (elt translation-axis i))
(thre (elt thre i)) (rthre (elt rthre i)))
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|
|
From: <sn...@us...> - 2011-10-12 18:48:40
|
Revision: 712
http://jskeus.svn.sourceforge.net/jskeus/?rev=712&view=rev
Author: snozawa
Date: 2011-10-12 18:48:34 +0000 (Wed, 12 Oct 2011)
Log Message:
-----------
add orient-coords-to-axis function and use it in :look-at ik
Modified Paths:
--------------
trunk/irteus/irtgeo.l
trunk/irteus/irtrobot.l
Modified: trunk/irteus/irtgeo.l
===================================================================
--- trunk/irteus/irtgeo.l 2011-10-12 18:07:30 UTC (rev 711)
+++ trunk/irteus/irtgeo.l 2011-10-12 18:48:34 UTC (rev 712)
@@ -26,7 +26,7 @@
(in-package "GEOMETRY")
-(export '(body-to-faces body-to-triangles midcoords bodyset *g-vec*
+(export '(body-to-faces body-to-triangles midcoords orient-coords-to-axis bodyset *g-vec*
make-sphere x-of-cube y-of-cube z-of-cube
height-of-cylinder radius-of-cylinder radius-of-sphere
matrix-to-euler-angle))
@@ -259,6 +259,23 @@
(v &optional v3a v3b m33)
(send (send self :worldcoords) :inverse-transform-vector v v3a v3b m33)))
+
+;; orient-coords-to-axis
+;; orient "axis" in "target-coords" to the direction specified by "v" destructively.
+;; "v" must be non-zero vector.
+(defun orient-coords-to-axis (target-coords v &optional (axis :z))
+ (let* ((nv (normalize-vector v))
+ (ax (send target-coords :rotate-vector
+ (case axis
+ (:x #f(1 0 0))
+ (:y #f(0 1 0))
+ (:z #f(0 0 1))
+ (t axis))))
+ (vcr (v* ax nv)))
+ (if (not (eps= (norm vcr) 0.0)) ;; check vcr ;; if vcr is zero-vector, it is unnecessary to rotate target-coords.
+ (send target-coords :rotate (acos (v. nv ax)) vcr :world))
+ target-coords))
+
;;
;; bodyset class
;;
Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l 2011-10-12 18:07:30 UTC (rev 711)
+++ trunk/irteus/irtrobot.l 2011-10-12 18:48:34 UTC (rev 712)
@@ -143,12 +143,10 @@
dif-pos dif-rot p-dif-rot (count 0))
(while (and (< (incf count) stop)
(if p-dif-rot (> (norm (v- p-dif-rot dif-rot)) 1e-3) t))
- (let* ((target-coords (make-coords :pos (car args)))
- (v (normalize-vector (v- (send target-coords :worldpos)
- (send move-target :worldpos))))
- (z (matrix-column (send target-coords :worldrot) 2)))
- (if (< -1.0 (v. v z) 1.0)
- (send target-coords :rotate (acos (v. z v)) (v* z v) :world))
+ (let* ((target-coords
+ (orient-coords-to-axis ;; orient target-coords to look-at direction
+ (make-coords :pos (car args))
+ (v- (car args) (send move-target :worldpos)))))
(setq p-dif-rot dif-rot
dif-pos (send move-target :difference-position target-coords :translation-axis nil)
dif-rot (send move-target :difference-rotation target-coords :rotation-axis :z))
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|
|
From: <sn...@us...> - 2011-10-12 18:07:36
|
Revision: 711
http://jskeus.svn.sourceforge.net/jskeus/?rev=711&view=rev
Author: snozawa
Date: 2011-10-12 18:07:30 +0000 (Wed, 12 Oct 2011)
Log Message:
-----------
fix only indent according to r710 commit
Revision Links:
--------------
http://jskeus.svn.sourceforge.net/jskeus/?rev=710&view=rev
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2011-10-12 18:05:40 UTC (rev 710)
+++ trunk/irteus/irtmodel.l 2011-10-12 18:07:30 UTC (rev 711)
@@ -1707,16 +1707,16 @@
(mapcar #'(lambda (x)
(if (functionp x) (funcall x) x))
target-coords))
- (dif-pos
- (mapcar #'(lambda (mv tc trans-axis)
- (send mv :difference-position tc
- :translation-axis trans-axis))
- move-target target-coords translation-axis))
- (dif-rot
- (mapcar #'(lambda (mv tc rot-axis)
- (send mv :difference-rotation tc
- :rotation-axis rot-axis))
- move-target target-coords rotation-axis)))
+ (dif-pos
+ (mapcar #'(lambda (mv tc trans-axis)
+ (send mv :difference-position tc
+ :translation-axis trans-axis))
+ move-target target-coords translation-axis))
+ (dif-rot
+ (mapcar #'(lambda (mv tc rot-axis)
+ (send mv :difference-rotation tc
+ :rotation-axis rot-axis))
+ move-target target-coords rotation-axis)))
(setq success (send* self :inverse-kinematics-loop
dif-pos dif-rot
:target-coords target-coords
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|
|
From: <sn...@us...> - 2011-10-12 18:05:46
|
Revision: 710
http://jskeus.svn.sourceforge.net/jskeus/?rev=710&view=rev
Author: snozawa
Date: 2011-10-12 18:05:40 +0000 (Wed, 12 Oct 2011)
Log Message:
-----------
support lambda target-coords to update target-coords in every ik loop ;; for example, target-coords must be updated in look-at ik
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2011-10-04 16:37:30 UTC (rev 709)
+++ trunk/irteus/irtmodel.l 2011-10-12 18:05:40 UTC (rev 710)
@@ -1703,7 +1703,11 @@
;; inverse kinematics loop
(while (< (incf loop) stop)
- (let ((dif-pos
+ (let* ((target-coords
+ (mapcar #'(lambda (x)
+ (if (functionp x) (funcall x) x))
+ target-coords))
+ (dif-pos
(mapcar #'(lambda (mv tc trans-axis)
(send mv :difference-position tc
:translation-axis trans-axis))
@@ -1730,7 +1734,9 @@
;; update difference
(dotimes (i (length move-target))
(let ((move-target (elt move-target i))
- (target-coords (elt target-coords i))
+ (target-coords (if (functionp (elt target-coords i))
+ (funcall (elt target-coords i))
+ (elt target-coords i)))
(rotation-axis (elt rotation-axis i))
(translation-axis (elt translation-axis i))
(thre (elt thre i)) (rthre (elt rthre i)))
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|
|
From: <sn...@us...> - 2011-10-04 16:37:37
|
Revision: 709
http://jskeus.svn.sourceforge.net/jskeus/?rev=709&view=rev
Author: snozawa
Date: 2011-10-04 16:37:30 +0000 (Tue, 04 Oct 2011)
Log Message:
-----------
remove unused variable dt from :calc-torque and :torque-vector
Modified Paths:
--------------
trunk/irteus/irtdyna.l
trunk/irteus/irtrobot.l
Modified: trunk/irteus/irtdyna.l
===================================================================
--- trunk/irteus/irtdyna.l 2011-10-04 16:19:08 UTC (rev 708)
+++ trunk/irteus/irtdyna.l 2011-10-04 16:37:30 UTC (rev 709)
@@ -610,8 +610,7 @@
(incf i)))
ret))
(:calc-torque
- (&key (dt 0.005) ;; dt [s]
- (debug-view nil)
+ (&key (debug-view nil)
(jvv (instantiate float-vector (length joint-list))) ;; [rad/s] or [m/s]
(jav (instantiate float-vector (length joint-list))) ;; [rad/s^2] or [m/s^2]
;; buffers for computation
Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l 2011-10-04 16:19:08 UTC (rev 708)
+++ trunk/irteus/irtrobot.l 2011-10-04 16:37:30 UTC (rev 709)
@@ -232,7 +232,6 @@
ret))
(:torque-vector
(&key (force-list) (moment-list) (target-coords)
- (dt 0.005) ;; dt [s]
(debug-view nil)
(jvv (instantiate float-vector (calc-target-joint-dimension joint-list))) ;; [rad/s] or [m/s]
(jav (instantiate float-vector (calc-target-joint-dimension joint-list)))) ;; [rad/s^2] or [m/s^2]
@@ -280,7 +279,7 @@
force-list moment-list target-coords)
)
)
- (send-super :calc-torque :dt dt
+ (send-super :calc-torque
:debug-view debug-view
:jvv jvv :jav jav)
)
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|
|
From: <sn...@us...> - 2011-10-04 16:19:14
|
Revision: 708
http://jskeus.svn.sourceforge.net/jskeus/?rev=708&view=rev
Author: snozawa
Date: 2011-10-04 16:19:08 +0000 (Tue, 04 Oct 2011)
Log Message:
-----------
fix calculation of default moment ;; minimal interanl moments
Modified Paths:
--------------
trunk/irteus/irtrobot.l
Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l 2011-10-04 15:46:37 UTC (rev 707)
+++ trunk/irteus/irtrobot.l 2011-10-04 16:19:08 UTC (rev 708)
@@ -249,13 +249,22 @@
(dolist (limb '(:rleg :lleg))
(push (send self limb :end-coords) target-coords)))
(unless force-list ;; force [N]
- (dolist (limb '(:rleg :lleg))
- (push (float-vector 0.0 0.0 (case limb
- ((:rleg :lleg) (* (send self :weight) 0.0098 0.5))
- (t 0.0))) force-list)))
+ (let ((total-force/2 (* (send self :weight) 1e-3 9.8 0.5)))
+ ;; hypothesis : lleg force = rleg force, lleg force + rleg force + gravity force = 0
+ (dolist (limb '(:rleg :lleg))
+ (push (float-vector 0.0 0.0 (case limb
+ ((:rleg :lleg) total-force/2)
+ (t 0.0))) force-list))
+ ))
(unless moment-list ;; moment [Nm]
- (dolist (limb '(:rleg :lleg))
- (push (float-vector 0.0 0.0 0.0) moment-list)))
+ (let ((total-moment (v* (scale 1e-3
+ (v- (send self :centroid nil)
+ (apply #'midpoint 0.5 (send-all target-coords :worldpos))))
+ (float-vector 0 0 (* 1e-3 (send self :weight nil) 9.8)))))
+ ;; hypothesis : gravity force moment + rleg moment + lleg moment = 0, minimal internal moments <-> pseudo-inverse <-> lleg moment = rleg moment
+ (dolist (limb '(:rleg :lleg))
+ (push (scale 0.5 total-moment) moment-list))
+ ))
(unless (= (length force-list) (length moment-list)
(length target-coords))
(warn ";; ERROR : list length differ : force-list ~A moment-list ~A target-coords ~A~%"
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|
|
From: <sn...@us...> - 2011-10-04 15:46:43
|
Revision: 707
http://jskeus.svn.sourceforge.net/jskeus/?rev=707&view=rev
Author: snozawa
Date: 2011-10-04 15:46:37 +0000 (Tue, 04 Oct 2011)
Log Message:
-----------
fix typo ;; rleg-end-coords -> lleg-end-coords
Modified Paths:
--------------
trunk/irteus/demo/sample-robot-model.l
Modified: trunk/irteus/demo/sample-robot-model.l
===================================================================
--- trunk/irteus/demo/sample-robot-model.l 2011-09-30 16:50:36 UTC (rev 706)
+++ trunk/irteus/demo/sample-robot-model.l 2011-10-04 15:46:37 UTC (rev 707)
@@ -100,7 +100,7 @@
(send bl6 :assoc rleg-end-coords))
(:lleg
(setq lleg-end-coords (make-cascoords))
- (send rleg-end-coords :locate (float-vector 0 0 (- (+ ankle-length (/ foot-thickness 2.0)))))
+ (send lleg-end-coords :locate (float-vector 0 0 (- (+ ankle-length (/ foot-thickness 2.0)))))
(send bl6 :assoc lleg-end-coords)))
(send bl5 :assoc bl6)
(send bl5 :translate (float-vector 0 0 (- lower-leg-length)) :world)
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|
|
From: <sn...@us...> - 2011-09-30 16:50:43
|
Revision: 706
http://jskeus.svn.sourceforge.net/jskeus/?rev=706&view=rev
Author: snozawa
Date: 2011-09-30 16:50:36 +0000 (Fri, 30 Sep 2011)
Log Message:
-----------
fix bug of axes of ankle joints ;; ankle-p -> :y, ankle-r -> :x
Modified Paths:
--------------
trunk/irteus/demo/full-body-ik.l
trunk/irteus/demo/sample-robot-model.l
Modified: trunk/irteus/demo/full-body-ik.l
===================================================================
--- trunk/irteus/demo/full-body-ik.l 2011-09-30 16:27:51 UTC (rev 705)
+++ trunk/irteus/demo/full-body-ik.l 2011-09-30 16:50:36 UTC (rev 706)
@@ -9,7 +9,7 @@
(setq *robot* (instance sample-robot :init)))
(send *robot* :reset-pose)
(if (= (length (car (send *robot* :legs))) 6)
- (send *robot* :legs :angle-vector #f(0 0 -10 20 -10 0 0)))
+ (send *robot* :legs :angle-vector #f(0 0 -10 20 0 -10)))
(if (send *robot* :lleg)
(send *robot* :transform (send (send *robot* :lleg :end-coords) :transformation (make-coords)))
(send *robot* :newcoords (make-coords)))
Modified: trunk/irteus/demo/sample-robot-model.l
===================================================================
--- trunk/irteus/demo/sample-robot-model.l 2011-09-30 16:27:51 UTC (rev 705)
+++ trunk/irteus/demo/sample-robot-model.l 2011-09-30 16:50:36 UTC (rev 706)
@@ -154,15 +154,15 @@
(setq jll1 (instance rotational-joint :init :parent-link (elt lleg 0) :child-link (elt lleg 1) :name :lleg-crotch-r :axis :x))
(setq jll2 (instance rotational-joint :init :parent-link (elt lleg 1) :child-link (elt lleg 2) :name :lleg-crotch-p :axis :y))
(setq jll3 (instance rotational-joint :init :parent-link (elt lleg 2) :child-link (elt lleg 3) :name :lleg-knee-p :axis :y :min 0))
- (setq jll4 (instance rotational-joint :init :parent-link (elt lleg 3) :child-link (elt lleg 4) :name :lleg-ankle-p :axis :x))
- (setq jll5 (instance rotational-joint :init :parent-link (elt lleg 4) :child-link (elt lleg 5) :name :lleg-ankle-r :axis :y))
+ (setq jll4 (instance rotational-joint :init :parent-link (elt lleg 3) :child-link (elt lleg 4) :name :lleg-ankle-p :axis :y))
+ (setq jll5 (instance rotational-joint :init :parent-link (elt lleg 4) :child-link (elt lleg 5) :name :lleg-ankle-r :axis :x))
(setq jlr0 (instance rotational-joint :init :parent-link aroot-link :child-link (elt rleg 0) :name :rleg-crotch-y :axis :-z))
(setq jlr1 (instance rotational-joint :init :parent-link (elt rleg 0) :child-link (elt rleg 1) :name :rleg-crotch-r :axis :-x))
(setq jlr2 (instance rotational-joint :init :parent-link (elt rleg 1) :child-link (elt rleg 2) :name :rleg-crotch-p :axis :y))
(setq jlr3 (instance rotational-joint :init :parent-link (elt rleg 2) :child-link (elt rleg 3) :name :rleg-knee-p :axis :y :min 0))
- (setq jlr4 (instance rotational-joint :init :parent-link (elt rleg 3) :child-link (elt rleg 4) :name :rleg-ankle-p :axis :-x))
- (setq jlr5 (instance rotational-joint :init :parent-link (elt rleg 4) :child-link (elt rleg 5) :name :rleg-ankle-r :axis :y))
+ (setq jlr4 (instance rotational-joint :init :parent-link (elt rleg 3) :child-link (elt rleg 4) :name :rleg-ankle-p :axis :y))
+ (setq jlr5 (instance rotational-joint :init :parent-link (elt rleg 4) :child-link (elt rleg 5) :name :rleg-ankle-r :axis :-x))
;; define other parameters
(setq larm-root-link (car larm) rarm-root-link (car rarm)
@@ -196,7 +196,7 @@
(send self :init-ending)
self)))
(:reset-pose ()
- (send self :angle-vector #f(0.0 0.0 0.0 0.0 10.0 20.0 0.0 -20.0 10.0 0.0 0.0 10.0 20.0 0.0 -20.0 10.0 0.0 0.0 0.0 0.0 -15.0 30.0 0.0 -15.0 0.0 0.0 -15.0 30.0 0.0 -15.0)))
+ (send self :angle-vector #f(0.0 0.0 0.0 0.0 10.0 20.0 0.0 -20.0 10.0 0.0 0.0 10.0 20.0 0.0 -20.0 10.0 0.0 0.0 0.0 0.0 -15.0 30.0 -15.0 0.0 0.0 0.0 -15.0 30.0 -15.0 0.0)))
)
;; user-defined joint
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|
|
From: <sn...@us...> - 2011-09-30 16:27:57
|
Revision: 705
http://jskeus.svn.sourceforge.net/jskeus/?rev=705&view=rev
Author: snozawa
Date: 2011-09-30 16:27:51 +0000 (Fri, 30 Sep 2011)
Log Message:
-----------
fix direction of z axis for rarm-wrist-y
Modified Paths:
--------------
trunk/irteus/demo/sample-robot-model.l
Modified: trunk/irteus/demo/sample-robot-model.l
===================================================================
--- trunk/irteus/demo/sample-robot-model.l 2011-09-30 13:04:11 UTC (rev 704)
+++ trunk/irteus/demo/sample-robot-model.l 2011-09-30 16:27:51 UTC (rev 705)
@@ -146,7 +146,7 @@
(setq jar1 (instance rotational-joint :init :parent-link (elt rarm 0) :child-link (elt rarm 1) :name :rarm-shoulder-r :axis :-x :min -30 :max 180))
(setq jar2 (instance rotational-joint :init :parent-link (elt rarm 1) :child-link (elt rarm 2) :name :rarm-shoulder-y :axis :-z))
(setq jar3 (instance rotational-joint :init :parent-link (elt rarm 2) :child-link (elt rarm 3) :name :rarm-elbow-p :axis :y :min -180 :max 0))
- (setq jar4 (instance rotational-joint :init :parent-link (elt rarm 3) :child-link (elt rarm 4) :name :rarm-wrist-y :axis :z))
+ (setq jar4 (instance rotational-joint :init :parent-link (elt rarm 3) :child-link (elt rarm 4) :name :rarm-wrist-y :axis :-z))
(setq jar5 (instance rotational-joint :init :parent-link (elt rarm 4) :child-link (elt rarm 5) :name :rarm-wrist-r :axis :-x))
(setq jar6 (instance rotational-joint :init :parent-link (elt rarm 5) :child-link (elt rarm 6) :name :rarm-wrist-p :axis :y))
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|
|
From: <sn...@us...> - 2011-09-30 13:04:17
|
Revision: 704
http://jskeus.svn.sourceforge.net/jskeus/?rev=704&view=rev
Author: snozawa
Date: 2011-09-30 13:04:11 +0000 (Fri, 30 Sep 2011)
Log Message:
-----------
fix typo ;; rleg-kneep-p -> rleg-knee-p
Modified Paths:
--------------
trunk/irteus/demo/sample-robot-model.l
Modified: trunk/irteus/demo/sample-robot-model.l
===================================================================
--- trunk/irteus/demo/sample-robot-model.l 2011-09-29 05:01:04 UTC (rev 703)
+++ trunk/irteus/demo/sample-robot-model.l 2011-09-30 13:04:11 UTC (rev 704)
@@ -160,7 +160,7 @@
(setq jlr0 (instance rotational-joint :init :parent-link aroot-link :child-link (elt rleg 0) :name :rleg-crotch-y :axis :-z))
(setq jlr1 (instance rotational-joint :init :parent-link (elt rleg 0) :child-link (elt rleg 1) :name :rleg-crotch-r :axis :-x))
(setq jlr2 (instance rotational-joint :init :parent-link (elt rleg 1) :child-link (elt rleg 2) :name :rleg-crotch-p :axis :y))
- (setq jlr3 (instance rotational-joint :init :parent-link (elt rleg 2) :child-link (elt rleg 3) :name :rleg-kneep-p :axis :y :min 0))
+ (setq jlr3 (instance rotational-joint :init :parent-link (elt rleg 2) :child-link (elt rleg 3) :name :rleg-knee-p :axis :y :min 0))
(setq jlr4 (instance rotational-joint :init :parent-link (elt rleg 3) :child-link (elt rleg 4) :name :rleg-ankle-p :axis :-x))
(setq jlr5 (instance rotational-joint :init :parent-link (elt rleg 4) :child-link (elt rleg 5) :name :rleg-ankle-r :axis :y))
@@ -228,7 +228,7 @@
(:rleg-crotch-y (&rest args) (forward-message-to jlr0 args))
(:rleg-crotch-r (&rest args) (forward-message-to jlr1 args))
(:rleg-crotch-p (&rest args) (forward-message-to jlr2 args))
- (:rleg-kneep-p (&rest args) (forward-message-to jlr3 args))
+ (:rleg-knee-p (&rest args) (forward-message-to jlr3 args))
(:rleg-ankle-p (&rest args) (forward-message-to jlr4 args))
(:rleg-ankle-r (&rest args) (forward-message-to jlr5 args))
)
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|
|
From: <sn...@us...> - 2011-09-29 05:01:10
|
Revision: 703
http://jskeus.svn.sourceforge.net/jskeus/?rev=703&view=rev
Author: snozawa
Date: 2011-09-29 05:01:04 +0000 (Thu, 29 Sep 2011)
Log Message:
-----------
reset ext-force and ext-moment because these parameters are always set before :calc-torque
Modified Paths:
--------------
trunk/irteus/irtdyna.l
Modified: trunk/irteus/irtdyna.l
===================================================================
--- trunk/irteus/irtdyna.l 2011-09-28 07:38:48 UTC (rev 702)
+++ trunk/irteus/irtdyna.l 2011-09-29 05:01:04 UTC (rev 703)
@@ -640,6 +640,9 @@
:debug-view debug-view
:tmp-va tmp-va :tmp-vb tmp-vb :tmp-vc tmp-vc
:tmp-ma tmp-ma :tmp-mb tmp-mb :tmp-mc tmp-mc :tmp-md tmp-md)
+ ;; reset ext force and ext moment
+ (send-all (send self :links) :ext-force (float-vector 0 0 0))
+ (send-all (send self :links) :ext-moment (float-vector 0 0 0))
(dotimes (i (length torque-vector))
(setf (elt torque-vector i) (send (elt joint-list i) :joint-torque)))
torque-vector))
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|
|
From: <sn...@us...> - 2011-09-28 07:38:57
|
Revision: 702
http://jskeus.svn.sourceforge.net/jskeus/?rev=702&view=rev
Author: snozawa
Date: 2011-09-28 07:38:48 +0000 (Wed, 28 Sep 2011)
Log Message:
-----------
enable to configure arms and legs sizes
Modified Paths:
--------------
trunk/irteus/demo/sample-robot-model.l
Modified: trunk/irteus/demo/sample-robot-model.l
===================================================================
--- trunk/irteus/demo/sample-robot-model.l 2011-09-28 06:50:19 UTC (rev 701)
+++ trunk/irteus/demo/sample-robot-model.l 2011-09-28 07:38:48 UTC (rev 702)
@@ -8,7 +8,11 @@
jlr0 jlr1 jlr2 jlr3 jlr4 jlr5))
(defmethod sample-robot
(:init
- (&rest args)
+ (&rest args
+ ;; key word arguments for configure model size
+ &key (leg-radius 50) (upper-leg-length 250) (lower-leg-length 250) (ankle-length 50)
+ (crotch-width 75) (foot-depth 200) (foot-width 100) (foot-thickness 25) (foot-offset 50)
+ (arm-radius 50) (upper-arm-length 275) (lower-arm-length 195) (shoulder-width 150) (hand-length 50))
(send-super* :init args)
;; define local functions to generate limb links
(labels ((make-root-link
@@ -47,67 +51,67 @@
(list bh0 bh1)))
(make-arm-links
(l/r)
- (let ((ba1 (make-default-robot-link 0 50 :y (read-from-string (format nil "~A-link0" l/r))))
- (ba2 (make-default-robot-link 0 50 :x (read-from-string (format nil "~A-link1" l/r))))
- (ba3 (make-default-robot-link 275 50 :z (read-from-string (format nil "~A-link2" l/r))))
- (ba4 (make-default-robot-link 195 50 :y (read-from-string (format nil "~A-link3" l/r))))
- (ba5 (make-default-robot-link 0 50 :z (read-from-string (format nil "~A-link4" l/r))))
- (ba6 (make-default-robot-link 0 50 :x (read-from-string (format nil "~A-link5" l/r))))
- (ba7 (make-default-robot-link 50 50 :y (read-from-string (format nil "~A-link6" l/r)))))
+ (let ((ba1 (make-default-robot-link 0 arm-radius :y (read-from-string (format nil "~A-link0" l/r))))
+ (ba2 (make-default-robot-link 0 arm-radius :x (read-from-string (format nil "~A-link1" l/r))))
+ (ba3 (make-default-robot-link upper-arm-length arm-radius :z (read-from-string (format nil "~A-link2" l/r))))
+ (ba4 (make-default-robot-link lower-arm-length arm-radius :y (read-from-string (format nil "~A-link3" l/r))))
+ (ba5 (make-default-robot-link 0 arm-radius :z (read-from-string (format nil "~A-link4" l/r))))
+ (ba6 (make-default-robot-link 0 arm-radius :x (read-from-string (format nil "~A-link5" l/r))))
+ (ba7 (make-default-robot-link hand-length arm-radius :y (read-from-string (format nil "~A-link6" l/r)))))
(case l/r
(:rarm
(setq rarm-end-coords (make-cascoords))
- (send rarm-end-coords :locate #f(0 0 -50))
+ (send rarm-end-coords :locate (float-vector 0 0 (- hand-length)))
(send rarm-end-coords :rotate pi/2 :y)
(send ba7 :assoc rarm-end-coords))
(:larm
(setq larm-end-coords (make-cascoords))
- (send larm-end-coords :locate #f(0 0 -50))
+ (send larm-end-coords :locate (float-vector 0 0 (- hand-length)))
(send larm-end-coords :rotate pi/2 :y)
(send ba7 :assoc larm-end-coords)))
(send ba6 :assoc ba7)
(send ba5 :assoc ba6)
- (send ba5 :translate #f(0 0 -195) :world)
+ (send ba5 :translate (float-vector 0 0 (- lower-arm-length)) :world)
(send ba4 :assoc ba5)
- (send ba4 :translate #f(0 0 -275) :world)
+ (send ba4 :translate (float-vector 0 0 (- upper-arm-length)) :world)
(send ba3 :assoc ba4)
(send ba2 :assoc ba3)
(send ba1 :assoc ba2)
(case l/r
- (:rarm (send ba1 :translate #f(0 -150 175) :world))
- (:larm (send ba1 :translate #f(0 150 175) :world)))
+ (:rarm (send ba1 :translate (float-vector 0 (- shoulder-width) 175) :world))
+ (:larm (send ba1 :translate (float-vector 0 shoulder-width 175) :world)))
(list ba1 ba2 ba3 ba4 ba5 ba6 ba7)))
(make-leg-links
(l/r)
- (let* ((bl1 (make-default-robot-link 0 50 :y (read-from-string (format nil "~A-link0" l/r))))
- (bl2 (make-default-robot-link 0 50 :x (read-from-string (format nil "~A-link1" l/r))))
- (bl3 (make-default-robot-link 225 50 :z (read-from-string (format nil "~A-link2" l/r))))
- (bl4 (make-default-robot-link 225 50 :y (read-from-string (format nil "~A-link3" l/r))))
- (bl5 (make-default-robot-link 0 50 :x (read-from-string (format nil "~A-link4" l/r))))
- (bl6b (make-cube 200 100 25))
+ (let* ((bl1 (make-default-robot-link 0 leg-radius :y (read-from-string (format nil "~A-link0" l/r))))
+ (bl2 (make-default-robot-link 0 leg-radius :x (read-from-string (format nil "~A-link1" l/r))))
+ (bl3 (make-default-robot-link (- upper-leg-length (/ leg-radius 2.0)) leg-radius :z (read-from-string (format nil "~A-link2" l/r))))
+ (bl4 (make-default-robot-link (- lower-leg-length (/ leg-radius 2.0)) leg-radius :y (read-from-string (format nil "~A-link3" l/r))))
+ (bl5 (make-default-robot-link 0 leg-radius :x (read-from-string (format nil "~A-link4" l/r))))
+ (bl6b (make-cube foot-depth foot-width foot-thickness))
(bl6))
- (send bl6b :locate #f(50 0 -50))
+ (send bl6b :locate (float-vector foot-offset 0 (- ankle-length)))
(send bl6b :set-color :green)
- (setq bl6 (make-default-robot-link 50 50 :y (read-from-string (format nil "~A-link5" l/r)) (list bl6b)))
+ (setq bl6 (make-default-robot-link ankle-length leg-radius :y (read-from-string (format nil "~A-link5" l/r)) (list bl6b)))
(case l/r
(:rleg
(setq rleg-end-coords (make-cascoords))
- (send rleg-end-coords :locate #f(0 0 -62.5))
+ (send rleg-end-coords :locate (float-vector 0 0 (- (+ ankle-length (/ foot-thickness 2.0)))))
(send bl6 :assoc rleg-end-coords))
(:lleg
(setq lleg-end-coords (make-cascoords))
- (send lleg-end-coords :locate #f(0 0 -62.5))
+ (send rleg-end-coords :locate (float-vector 0 0 (- (+ ankle-length (/ foot-thickness 2.0)))))
(send bl6 :assoc lleg-end-coords)))
(send bl5 :assoc bl6)
- (send bl5 :translate #f(0 0 -250) :world)
+ (send bl5 :translate (float-vector 0 0 (- lower-leg-length)) :world)
(send bl4 :assoc bl5)
- (send bl4 :translate #f(0 0 -250) :world)
+ (send bl4 :translate (float-vector 0 0 (- upper-leg-length)) :world)
(send bl3 :assoc bl4)
(send bl2 :assoc bl3)
(send bl1 :assoc bl2)
(case l/r
- (:rleg (send bl1 :translate #f(0 -75 -150) :world))
- (:lleg (send bl1 :translate #f(0 75 -150) :world)))
+ (:rleg (send bl1 :translate (float-vector 0 (- crotch-width) -150) :world))
+ (:lleg (send bl1 :translate (float-vector 0 crotch-width -150) :world)))
(list bl1 bl2 bl3 bl4 bl5 bl6)))
)
;; generate links and assoc all links
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|
|
From: <sn...@us...> - 2011-09-28 06:50:26
|
Revision: 701
http://jskeus.svn.sourceforge.net/jskeus/?rev=701&view=rev
Author: snozawa
Date: 2011-09-28 06:50:19 +0000 (Wed, 28 Sep 2011)
Log Message:
-----------
add labels functions to reduce duplicate codes to generate limbs
Modified Paths:
--------------
trunk/irteus/demo/sample-robot-model.l
Modified: trunk/irteus/demo/sample-robot-model.l
===================================================================
--- trunk/irteus/demo/sample-robot-model.l 2011-09-28 02:27:49 UTC (rev 700)
+++ trunk/irteus/demo/sample-robot-model.l 2011-09-28 06:50:19 UTC (rev 701)
@@ -9,224 +9,188 @@
(defmethod sample-robot
(:init
(&rest args)
- (let (bal1 bal2 bal3 bal4 bal5 bal6 bal7
- bar1 bar2 bar3 bar4 bar5 bar6 bar7
- bll1 bll2 bll3 bll4 bll5 bll6 bll6b
- blr1 blr2 blr3 blr4 blr5 blr6 blr6b
- bc0 bc1 bc2
- bh0 bh1 bh2
- bh2e
- )
- (send-super* :init args)
+ (send-super* :init args)
+ ;; define local functions to generate limb links
+ (labels ((make-root-link
+ ()
+ (let ((bc0 (make-cube 100 200 100)))
+ (send bc0 :locate #f(0 0 -75))
+ (send bc0 :set-color :green)
+ (instance bodyset-link :init (make-cascoords) :bodies (list bc0) :name :waist)))
+ (make-torso-links
+ ()
+ (let ((bc1 (make-default-robot-link 0 50 :y :torso-link0))
+ (bc2 (make-cube 100 200 200)))
+ (send bc1 :locate #f(0 0 -12.5))
+ (send bc2 :locate #f(0 0 100))
+ (send bc2 :set-color :green)
+ (setq bc2 (instance bodyset-link :init (make-cascoords :pos #f(0 0 -12.5)) :bodies (list bc2) :name :torso-link1))
+ (send bc1 :assoc bc2)
+ (list bc1 bc2)))
+ (make-head-links
+ ()
+ (let ((bh0 (make-default-robot-link 0 50 :y :head-link0))
+ (bh2 (make-cube 120 100 150))
+ (bh2e (make-cylinder 10 30))
+ (bh1))
+ (send bh2 :locate #f(0 0 80))
+ (send bh2 :set-color :green)
+ (send bh2e :rotate pi/2 :y)
+ (send bh2e :locate #f(60 0 70) :world)
+ (send bh2e :set-color :green)
+ (send bh2 :assoc bh2e)
+ (setq bh1 (instance bodyset-link :init (make-cascoords) :bodies (list bh2 bh2e) :name :head-link1))
+ (setq head-end-coords (make-cascoords :pos #f(60 0 100) :rpy (float-vector 0 pi/2 0)))
+ (send bh1 :assoc head-end-coords)
+ (send bh0 :assoc bh1)
+ (send bh0 :locate #f(0 0 225))
+ (list bh0 bh1)))
+ (make-arm-links
+ (l/r)
+ (let ((ba1 (make-default-robot-link 0 50 :y (read-from-string (format nil "~A-link0" l/r))))
+ (ba2 (make-default-robot-link 0 50 :x (read-from-string (format nil "~A-link1" l/r))))
+ (ba3 (make-default-robot-link 275 50 :z (read-from-string (format nil "~A-link2" l/r))))
+ (ba4 (make-default-robot-link 195 50 :y (read-from-string (format nil "~A-link3" l/r))))
+ (ba5 (make-default-robot-link 0 50 :z (read-from-string (format nil "~A-link4" l/r))))
+ (ba6 (make-default-robot-link 0 50 :x (read-from-string (format nil "~A-link5" l/r))))
+ (ba7 (make-default-robot-link 50 50 :y (read-from-string (format nil "~A-link6" l/r)))))
+ (case l/r
+ (:rarm
+ (setq rarm-end-coords (make-cascoords))
+ (send rarm-end-coords :locate #f(0 0 -50))
+ (send rarm-end-coords :rotate pi/2 :y)
+ (send ba7 :assoc rarm-end-coords))
+ (:larm
+ (setq larm-end-coords (make-cascoords))
+ (send larm-end-coords :locate #f(0 0 -50))
+ (send larm-end-coords :rotate pi/2 :y)
+ (send ba7 :assoc larm-end-coords)))
+ (send ba6 :assoc ba7)
+ (send ba5 :assoc ba6)
+ (send ba5 :translate #f(0 0 -195) :world)
+ (send ba4 :assoc ba5)
+ (send ba4 :translate #f(0 0 -275) :world)
+ (send ba3 :assoc ba4)
+ (send ba2 :assoc ba3)
+ (send ba1 :assoc ba2)
+ (case l/r
+ (:rarm (send ba1 :translate #f(0 -150 175) :world))
+ (:larm (send ba1 :translate #f(0 150 175) :world)))
+ (list ba1 ba2 ba3 ba4 ba5 ba6 ba7)))
+ (make-leg-links
+ (l/r)
+ (let* ((bl1 (make-default-robot-link 0 50 :y (read-from-string (format nil "~A-link0" l/r))))
+ (bl2 (make-default-robot-link 0 50 :x (read-from-string (format nil "~A-link1" l/r))))
+ (bl3 (make-default-robot-link 225 50 :z (read-from-string (format nil "~A-link2" l/r))))
+ (bl4 (make-default-robot-link 225 50 :y (read-from-string (format nil "~A-link3" l/r))))
+ (bl5 (make-default-robot-link 0 50 :x (read-from-string (format nil "~A-link4" l/r))))
+ (bl6b (make-cube 200 100 25))
+ (bl6))
+ (send bl6b :locate #f(50 0 -50))
+ (send bl6b :set-color :green)
+ (setq bl6 (make-default-robot-link 50 50 :y (read-from-string (format nil "~A-link5" l/r)) (list bl6b)))
+ (case l/r
+ (:rleg
+ (setq rleg-end-coords (make-cascoords))
+ (send rleg-end-coords :locate #f(0 0 -62.5))
+ (send bl6 :assoc rleg-end-coords))
+ (:lleg
+ (setq lleg-end-coords (make-cascoords))
+ (send lleg-end-coords :locate #f(0 0 -62.5))
+ (send bl6 :assoc lleg-end-coords)))
+ (send bl5 :assoc bl6)
+ (send bl5 :translate #f(0 0 -250) :world)
+ (send bl4 :assoc bl5)
+ (send bl4 :translate #f(0 0 -250) :world)
+ (send bl3 :assoc bl4)
+ (send bl2 :assoc bl3)
+ (send bl1 :assoc bl2)
+ (case l/r
+ (:rleg (send bl1 :translate #f(0 -75 -150) :world))
+ (:lleg (send bl1 :translate #f(0 75 -150) :world)))
+ (list bl1 bl2 bl3 bl4 bl5 bl6)))
+ )
+ ;; generate links and assoc all links
+ (let ((aroot-link (make-root-link)))
+ (setq torso (make-torso-links) head (make-head-links)
+ rarm (make-arm-links :rarm) larm (make-arm-links :larm)
+ rleg (make-leg-links :rleg) lleg (make-leg-links :lleg))
+ (send self :assoc aroot-link)
+ (send aroot-link :assoc (car torso))
+ (send (cadr torso) :assoc (car head))
+ (send (cadr torso) :assoc (car rarm))
+ (send (cadr torso) :assoc (car larm))
+ (send aroot-link :assoc (car rleg))
+ (send aroot-link :assoc (car lleg))
- (setq bc0 (make-cube 100 200 100))
- (send bc0 :locate #f(0 0 -75))
- (send bc0 :set-color :green)
- (setq bc0 (instance bodyset-link :init (make-cascoords) :bodies (list bc0) :name :waist))
- (setq bc1 (make-default-robot-link 0 50 :y :torso-link0))
- (send bc1 :locate #f(0 0 -12.5))
+ ;; generate all joints
+ (setq jc0 (instance rotational-joint :init :parent-link aroot-link :child-link (car torso) :name :torso-waist-y :axis :z :min -45 :max 45))
+ (setq jc1 (instance rotational-joint :init :parent-link (car torso) :child-link (cadr torso) :name :torso-waist-p :axis :y))
- (setq bc2 (make-cube 100 200 200))
- (send bc2 :locate #f(0 0 100))
- (send bc2 :set-color :green)
- (setq bc2 (instance bodyset-link :init (make-cascoords :pos #f(0 0 -12.5)) :bodies (list bc2) :name :torso-link1))
+ (setq jh0 (instance rotational-joint :init :parent-link (cadr torso) :child-link (car head) :name :head-neck-y :axis :z))
+ (setq jh1 (instance rotational-joint :init :parent-link (car head) :child-link (cadr head) :name :head-neck-p :axis :y))
- (send self :assoc bc0)
- (send bc0 :assoc bc1)
- (send bc1 :assoc bc2)
-
- (setq jc0 (instance rotational-joint :init :parent-link bc0 :child-link bc1 :name :torso-waist-y :axis :z :min -45 :max 45))
- (setq jc1 (instance rotational-joint :init :parent-link bc1 :child-link bc2 :name :torso-waist-p :axis :y))
-
- ;;
- ;;
+ (setq jal0 (instance rotational-joint :init :parent-link (cadr torso) :child-link (elt larm 0) :name :larm-shoulder-p :axis :y))
+ (setq jal1 (instance rotational-joint :init :parent-link (elt larm 0) :child-link (elt larm 1) :name :larm-shoulder-r :axis :x :min -30 :max 180))
+ (setq jal2 (instance rotational-joint :init :parent-link (elt larm 1) :child-link (elt larm 2) :name :larm-shoulder-y :axis :z))
+ (setq jal3 (instance rotational-joint :init :parent-link (elt larm 2) :child-link (elt larm 3) :name :larm-elbow-p :axis :y :min -180 :max 0))
+ (setq jal4 (instance rotational-joint :init :parent-link (elt larm 3) :child-link (elt larm 4) :name :larm-wrist-y :axis :z))
+ (setq jal5 (instance rotational-joint :init :parent-link (elt larm 4) :child-link (elt larm 5) :name :larm-wrist-r :axis :x))
+ (setq jal6 (instance rotational-joint :init :parent-link (elt larm 5) :child-link (elt larm 6) :name :larm-wrist-p :axis :y))
- (setq bh0 (make-default-robot-link 0 50 :y :head-link0))
+ (setq jar0 (instance rotational-joint :init :parent-link (cadr torso) :child-link (elt rarm 0) :name :rarm-shoulder-p :axis :y))
+ (setq jar1 (instance rotational-joint :init :parent-link (elt rarm 0) :child-link (elt rarm 1) :name :rarm-shoulder-r :axis :-x :min -30 :max 180))
+ (setq jar2 (instance rotational-joint :init :parent-link (elt rarm 1) :child-link (elt rarm 2) :name :rarm-shoulder-y :axis :-z))
+ (setq jar3 (instance rotational-joint :init :parent-link (elt rarm 2) :child-link (elt rarm 3) :name :rarm-elbow-p :axis :y :min -180 :max 0))
+ (setq jar4 (instance rotational-joint :init :parent-link (elt rarm 3) :child-link (elt rarm 4) :name :rarm-wrist-y :axis :z))
+ (setq jar5 (instance rotational-joint :init :parent-link (elt rarm 4) :child-link (elt rarm 5) :name :rarm-wrist-r :axis :-x))
+ (setq jar6 (instance rotational-joint :init :parent-link (elt rarm 5) :child-link (elt rarm 6) :name :rarm-wrist-p :axis :y))
- (setq bh2 (make-cube 120 100 150))
- (send bh2 :locate #f(0 0 80))
- (send bh2 :set-color :green)
- (setq bh2e (make-cylinder 10 30))
- (send bh2e :rotate pi/2 :y)
- (send bh2e :locate #f(60 0 70) :world)
- (send bh2e :set-color :green)
- (send bh2 :assoc bh2e)
- (setq bh1 (instance bodyset-link :init (make-cascoords) :bodies (list bh2 bh2e) :name :head-link1))
+ (setq jll0 (instance rotational-joint :init :parent-link aroot-link :child-link (elt lleg 0) :name :lleg-crotch-y :axis :z))
+ (setq jll1 (instance rotational-joint :init :parent-link (elt lleg 0) :child-link (elt lleg 1) :name :lleg-crotch-r :axis :x))
+ (setq jll2 (instance rotational-joint :init :parent-link (elt lleg 1) :child-link (elt lleg 2) :name :lleg-crotch-p :axis :y))
+ (setq jll3 (instance rotational-joint :init :parent-link (elt lleg 2) :child-link (elt lleg 3) :name :lleg-knee-p :axis :y :min 0))
+ (setq jll4 (instance rotational-joint :init :parent-link (elt lleg 3) :child-link (elt lleg 4) :name :lleg-ankle-p :axis :x))
+ (setq jll5 (instance rotational-joint :init :parent-link (elt lleg 4) :child-link (elt lleg 5) :name :lleg-ankle-r :axis :y))
- (setq head-end-coords (make-cascoords :pos #f(60 0 100) :rpy (float-vector 0 pi/2 0)))
- (send bh1 :assoc head-end-coords)
- (send bh0 :assoc bh1)
- (send bh0 :locate #f(0 0 225))
- (send bc2 :assoc bh0)
-
- (setq jh0 (instance rotational-joint :init :parent-link bc2 :child-link bh0 :name :head-neck-y :axis :z))
- (setq jh1 (instance rotational-joint :init :parent-link bh0 :child-link bh1 :name :head-neck-p :axis :y))
+ (setq jlr0 (instance rotational-joint :init :parent-link aroot-link :child-link (elt rleg 0) :name :rleg-crotch-y :axis :-z))
+ (setq jlr1 (instance rotational-joint :init :parent-link (elt rleg 0) :child-link (elt rleg 1) :name :rleg-crotch-r :axis :-x))
+ (setq jlr2 (instance rotational-joint :init :parent-link (elt rleg 1) :child-link (elt rleg 2) :name :rleg-crotch-p :axis :y))
+ (setq jlr3 (instance rotational-joint :init :parent-link (elt rleg 2) :child-link (elt rleg 3) :name :rleg-kneep-p :axis :y :min 0))
+ (setq jlr4 (instance rotational-joint :init :parent-link (elt rleg 3) :child-link (elt rleg 4) :name :rleg-ankle-p :axis :-x))
+ (setq jlr5 (instance rotational-joint :init :parent-link (elt rleg 4) :child-link (elt rleg 5) :name :rleg-ankle-r :axis :y))
- ;;
- ;;
+ ;; define other parameters
+ (setq larm-root-link (car larm) rarm-root-link (car rarm)
+ lleg-root-link (car lleg) rleg-root-link (car rleg)
+ torso-root-link (car torso) head-root-link (car head))
+ (setq links (append (list aroot-link) torso head larm rarm lleg rleg))
+ (setq joint-list (list jc0 jc1 jh0 jh1
+ jal0 jal1 jal2 jal3 jal4 jal5 jal6
+ jar0 jar1 jar2 jar3 jar4 jar5 jar6
+ jll0 jll1 jll2 jll3 jll4 jll5
+ jlr0 jlr1 jlr2 jlr3 jlr4 jlr5
+ ))
+ (setq collision-avoidance-links (list aroot-link (elt torso 1) (elt larm 3) (elt rarm 3)))
- (setq bal1 (make-default-robot-link 0 50 :y :larm-link0))
- (setq bal2 (make-default-robot-link 0 50 :x :larm-link1))
- (setq bal3 (make-default-robot-link 275 50 :z :larm-link2))
- (setq bal4 (make-default-robot-link 195 50 :y :larm-link3))
- (setq bal5 (make-default-robot-link 0 50 :z :larm-link4))
- (setq bal6 (make-default-robot-link 0 50 :x :larm-link5))
- (setq bal7 (make-default-robot-link 50 50 :y :larm-link6))
- (setq larm-end-coords (make-cascoords))
- (send larm-end-coords :locate #f(0 0 -50))
- (send larm-end-coords :rotate pi/2 :y)
- (send bal7 :assoc larm-end-coords)
- (send bal6 :assoc bal7)
- (send bal5 :assoc bal6)
- (send bal5 :translate #f(0 0 -195) :world)
- (send bal4 :assoc bal5)
- (send bal4 :translate #f(0 0 -275) :world)
- (send bal3 :assoc bal4)
- (send bal2 :assoc bal3)
- (send bal1 :assoc bal2)
- (send bal1 :translate #f(0 150 175) :world)
- (send bc2 :assoc bal1)
+ ;; set mass properties
+ (dolist (l (append (list aroot-link) torso))
+ (send l :weight 100.0))
+ (dolist (l (append larm rarm lleg rleg head))
+ (send l :weight 7.0))
+ (dolist (l (list aroot-link (elt torso 1) (elt head 1)))
+ (let* ((valid-bodies (remove-if #'(lambda (x)
+ (and (> (send x :volume) 0) (< (send x :volume) 0))) ;; nan check
+ (send l :bodies))))
+ (send l :centroid
+ (if (= (length valid-bodies) 1)
+ (send (car valid-bodies) :centroid)
+ (scale (/ 1.0 (reduce #'+ (mapcar #'(lambda (x) (send x :volume)) valid-bodies)))
+ (reduce #'v+ (mapcar #'(lambda (x) (scale (send x :volume) (send x :centroid))) valid-bodies)))))
+ ))
- (setq bar1 (make-default-robot-link 0 50 :y :rarm-link0))
- (setq bar2 (make-default-robot-link 0 50 :x :rarm-link1))
- (setq bar3 (make-default-robot-link 275 50 :z :rarm-link2))
- (setq bar4 (make-default-robot-link 195 50 :y :rarm-link3))
- (setq bar5 (make-default-robot-link 0 50 :z :rarm-link4))
- (setq bar6 (make-default-robot-link 0 50 :x :rarm-link5))
- (setq bar7 (make-default-robot-link 50 50 :y :rarm-link6))
- (setq rarm-end-coords (make-cascoords))
- (send rarm-end-coords :locate #f(0 0 -50))
- (send rarm-end-coords :rotate pi/2 :y)
- (send bar7 :assoc rarm-end-coords)
- (send bar6 :assoc bar7)
- (send bar5 :assoc bar6)
- (send bar5 :translate #f(0 0 -195) :world)
- (send bar4 :assoc bar5)
- (send bar4 :translate #f(0 0 -275) :world)
- (send bar3 :assoc bar4)
- (send bar2 :assoc bar3)
- (send bar1 :assoc bar2)
- (send bar1 :translate #f(0 -150 175) :world)
- (send bc2 :assoc bar1)
-
- (setq jal0 (instance rotational-joint :init :parent-link bc2 :child-link bal1 :name :larm-shoulder-p :axis :y))
- (setq jal1 (instance rotational-joint :init :parent-link bal1 :child-link bal2 :name :larm-shoulder-r :axis :x :min -30 :max 180))
- (setq jal2 (instance rotational-joint :init :parent-link bal2 :child-link bal3 :name :larm-shoulder-y :axis :z))
- (setq jal3 (instance rotational-joint :init :parent-link bal3 :child-link bal4 :name :larm-elbow-p :axis :y :min -180 :max 0))
- (setq jal4 (instance rotational-joint :init :parent-link bal4 :child-link bal5 :name :larm-wrist-y :axis :z))
- (setq jal5 (instance rotational-joint :init :parent-link bal5 :child-link bal6 :name :larm-wrist-r :axis :x))
- (setq jal6 (instance rotational-joint :init :parent-link bal6 :child-link bal7 :name :larm-wrist-p :axis :y))
-
- (setq jar0 (instance rotational-joint :init :parent-link bc2 :child-link bar1 :name :rarm-shoulder-p :axis :y))
- (setq jar1 (instance rotational-joint :init :parent-link bar1 :child-link bar2 :name :rarm-shoulder-r :axis :-x :min -30 :max 180))
- (setq jar2 (instance rotational-joint :init :parent-link bar2 :child-link bar3 :name :rarm-shoulder-y :axis :-z))
- (setq jar3 (instance rotational-joint :init :parent-link bar3 :child-link bar4 :name :rarm-elbow-p :axis :y :min -180 :max 0))
- (setq jar4 (instance rotational-joint :init :parent-link bar4 :child-link bar5 :name :rarm-wrist-y :axis :z))
- (setq jar5 (instance rotational-joint :init :parent-link bar5 :child-link bar6 :name :rarm-wrist-r :axis :-x))
- (setq jar6 (instance rotational-joint :init :parent-link bar6 :child-link bar7 :name :rarm-wrist-p :axis :y))
- ;;;
- ;;;
- (setq bll1 (make-default-robot-link 0 50 :y :lleg-link0))
- (setq bll2 (make-default-robot-link 0 50 :x :lleg-link1))
- (setq bll3 (make-default-robot-link 225 50 :z :lleg-link2))
- (setq bll4 (make-default-robot-link 225 50 :y :lleg-link3))
- (setq bll5 (make-default-robot-link 0 50 :x :lleg-link4))
- (setq bll6b (make-cube 200 100 25))
- (send bll6b :locate #f(50 0 -50))
- (send bll6b :set-color :green)
- (setq bll6 (make-default-robot-link 50 50 :y :lleg-link5 (list bll6b)))
- (setq lleg-end-coords (make-cascoords))
- (send lleg-end-coords :locate #f(0 0 -62.5))
- (send bll6 :assoc lleg-end-coords)
- (send bll5 :assoc bll6)
- (send bll5 :translate #f(0 0 -250) :world)
- (send bll4 :assoc bll5)
- (send bll4 :translate #f(0 0 -250) :world)
- (send bll3 :assoc bll4)
- (send bll2 :assoc bll3)
- (send bll1 :assoc bll2)
- (send bll1 :translate #f(0 75 -150) :world)
- (send bc0 :assoc bll1)
-
- (setq blr1 (make-default-robot-link 0 50 :y :rleg-link0))
- (setq blr2 (make-default-robot-link 0 50 :-x :rleg-link1))
- (setq blr3 (make-default-robot-link 225 50 :-z :rleg-link2))
- (setq blr4 (make-default-robot-link 225 50 :y :rleg-link3))
- (setq blr5 (make-default-robot-link 0 50 :-x :rleg-link4))
- (setq blr6b (make-cube 200 100 25))
- (send blr6b :locate #f(50 0 -50))
- (send blr6b :set-color :green)
- (setq blr6 (make-default-robot-link 50 50 :y :rleg-link5 (list blr6b)))
- (setq rleg-end-coords (make-cascoords))
- (send rleg-end-coords :locate #f(0 0 -62.5))
- (send blr6 :assoc rleg-end-coords)
- (send blr5 :assoc blr6)
- (send blr5 :translate #f(0 0 -250) :world)
- (send blr4 :assoc blr5)
- (send blr4 :translate #f(0 0 -250) :world)
- (send blr3 :assoc blr4)
- (send blr2 :assoc blr3)
- (send blr1 :assoc blr2)
- (send blr1 :translate #f(0 -75 -150) :world)
- (send bc0 :assoc blr1)
-
- (setq jll0 (instance rotational-joint :init :parent-link bc0 :child-link bll1 :name :lleg-crotch-y :axis :z))
- (setq jll1 (instance rotational-joint :init :parent-link bll1 :child-link bll2 :name :lleg-crotch-r :axis :x))
- (setq jll2 (instance rotational-joint :init :parent-link bll2 :child-link bll3 :name :lleg-crotch-p :axis :y))
- (setq jll3 (instance rotational-joint :init :parent-link bll3 :child-link bll4 :name :lleg-knee-p :axis :y :min 0))
- (setq jll4 (instance rotational-joint :init :parent-link bll4 :child-link bll5 :name :lleg-ankle-p :axis :x))
- (setq jll5 (instance rotational-joint :init :parent-link bll5 :child-link bll6 :name :lleg-ankle-r :axis :y))
-
- (setq jlr0 (instance rotational-joint :init :parent-link bc0 :child-link blr1 :name :rleg-crotch-y :axis :-z))
- (setq jlr1 (instance rotational-joint :init :parent-link blr1 :child-link blr2 :name :rleg-crotch-r :axis :-x))
- (setq jlr2 (instance rotational-joint :init :parent-link blr2 :child-link blr3 :name :rleg-crotch-p :axis :y))
- (setq jlr3 (instance rotational-joint :init :parent-link blr3 :child-link blr4 :name :rleg-kneep-p :axis :y :min 0))
- (setq jlr4 (instance rotational-joint :init :parent-link blr4 :child-link blr5 :name :rleg-ankle-p :axis :-x))
- (setq jlr5 (instance rotational-joint :init :parent-link blr5 :child-link blr6 :name :rleg-ankle-r :axis :y))
-
- ;;;
- ;;;
- (setq larm-root-link bal1 rarm-root-link bar1
- lleg-root-link bll1 rleg-root-link blr1
- torso-root-link bc1 head-root-link bh0)
- (setq larm (list bal1 bal2 bal3 bal4 bal5 bal6 bal7)
- rarm (list bar1 bar2 bar3 bar4 bar5 bar6 bar7)
- lleg (list bll1 bll2 bll3 bll4 bll5 bll6)
- rleg (list blr1 blr2 blr3 blr4 blr5 blr6)
- head (list bh0 bh1)
- torso (list bc1 bc2))
-
- (setq links (list bc0 bc1 bc2 bh0 bh1
- bal1 bal2 bal3 bal4 bal5 bal6 bal7
- bar1 bar2 bar3 bar4 bar5 bar6 bar7
- bll1 bll2 bll3 bll4 bll5 bll6
- blr1 blr2 blr3 blr4 blr5 blr6
- ))
- (setq joint-list (list jc0 jc1 jh0 jh1
- jal0 jal1 jal2 jal3 jal4 jal5 jal6
- jar0 jar1 jar2 jar3 jar4 jar5 jar6
- jll0 jll1 jll2 jll3 jll4 jll5
- jlr0 jlr1 jlr2 jlr3 jlr4 jlr5
- ))
- (setq collision-avoidance-links (list bc0 bc2 bal4 bar4))
- ;; set mass properties
- (dolist (l (append (list bc0) torso))
- (send l :weight 100.0))
- (dolist (l (append larm rarm lleg rleg head))
- (send l :weight 7.0))
- (dolist (l (list bc0 bc2 bh1))
- (let* ((valid-bodies (remove-if #'(lambda (x)
- (and (> (send x :volume) 0) (< (send x :volume) 0))) ;; nan check
- (send l :bodies))))
- (send l :centroid
- (if (= (length valid-bodies) 1)
- (send (car valid-bodies) :centroid)
- (scale (/ 1.0 (reduce #'+ (mapcar #'(lambda (x) (send x :volume)) valid-bodies)))
- (reduce #'v+ (mapcar #'(lambda (x) (scale (send x :volume) (send x :centroid))) valid-bodies)))))
- ))
-
- (send self :init-ending)
- self))
+ (send self :init-ending)
+ self)))
(:reset-pose ()
(send self :angle-vector #f(0.0 0.0 0.0 0.0 10.0 20.0 0.0 -20.0 10.0 0.0 0.0 10.0 20.0 0.0 -20.0 10.0 0.0 0.0 0.0 0.0 -15.0 30.0 0.0 -15.0 0.0 0.0 -15.0 30.0 0.0 -15.0)))
)
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From: <sn...@us...> - 2011-09-28 02:27:55
|
Revision: 700
http://jskeus.svn.sourceforge.net/jskeus/?rev=700&view=rev
Author: snozawa
Date: 2011-09-28 02:27:49 +0000 (Wed, 28 Sep 2011)
Log Message:
-----------
remove unused variable c in sample-robot-init
Modified Paths:
--------------
trunk/irteus/demo/sample-robot-model.l
Modified: trunk/irteus/demo/sample-robot-model.l
===================================================================
--- trunk/irteus/demo/sample-robot-model.l 2011-09-26 13:12:29 UTC (rev 699)
+++ trunk/irteus/demo/sample-robot-model.l 2011-09-28 02:27:49 UTC (rev 700)
@@ -9,16 +9,15 @@
(defmethod sample-robot
(:init
(&rest args)
- (let (c bal1 bal2 bal3 bal4 bal5 bal6 bal7
- bar1 bar2 bar3 bar4 bar5 bar6 bar7
- bll1 bll2 bll3 bll4 bll5 bll6 bll6b
- blr1 blr2 blr3 blr4 blr5 blr6 blr6b
- bc0 bc1 bc2
- bh0 bh1 bh2
- bh2e
- )
+ (let (bal1 bal2 bal3 bal4 bal5 bal6 bal7
+ bar1 bar2 bar3 bar4 bar5 bar6 bar7
+ bll1 bll2 bll3 bll4 bll5 bll6 bll6b
+ blr1 blr2 blr3 blr4 blr5 blr6 blr6b
+ bc0 bc1 bc2
+ bh0 bh1 bh2
+ bh2e
+ )
(send-super* :init args)
- (setq c (make-coords :pos #f(0 100 0) :rpy (float-vector pi/2 pi/2 0)))
(setq bc0 (make-cube 100 200 100))
(send bc0 :locate #f(0 0 -75))
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|
From: <sn...@us...> - 2011-09-26 13:12:40
|
Revision: 699
http://jskeus.svn.sourceforge.net/jskeus/?rev=699&view=rev
Author: snozawa
Date: 2011-09-26 13:12:29 +0000 (Mon, 26 Sep 2011)
Log Message:
-----------
rename rleg link names ;; rarm-link? -> rleg-link?
Modified Paths:
--------------
trunk/irteus/demo/sample-robot-model.l
Modified: trunk/irteus/demo/sample-robot-model.l
===================================================================
--- trunk/irteus/demo/sample-robot-model.l 2011-09-26 08:52:41 UTC (rev 698)
+++ trunk/irteus/demo/sample-robot-model.l 2011-09-26 13:12:29 UTC (rev 699)
@@ -149,15 +149,15 @@
(send bll1 :translate #f(0 75 -150) :world)
(send bc0 :assoc bll1)
- (setq blr1 (make-default-robot-link 0 50 :y :rarm-link0))
- (setq blr2 (make-default-robot-link 0 50 :-x :rarm-link1))
- (setq blr3 (make-default-robot-link 225 50 :-z :rarm-link2))
- (setq blr4 (make-default-robot-link 225 50 :y :rarm-link3))
- (setq blr5 (make-default-robot-link 0 50 :-x :rarm-link4))
+ (setq blr1 (make-default-robot-link 0 50 :y :rleg-link0))
+ (setq blr2 (make-default-robot-link 0 50 :-x :rleg-link1))
+ (setq blr3 (make-default-robot-link 225 50 :-z :rleg-link2))
+ (setq blr4 (make-default-robot-link 225 50 :y :rleg-link3))
+ (setq blr5 (make-default-robot-link 0 50 :-x :rleg-link4))
(setq blr6b (make-cube 200 100 25))
(send blr6b :locate #f(50 0 -50))
(send blr6b :set-color :green)
- (setq blr6 (make-default-robot-link 50 50 :y :rarm-link5 (list blr6b)))
+ (setq blr6 (make-default-robot-link 50 50 :y :rleg-link5 (list blr6b)))
(setq rleg-end-coords (make-cascoords))
(send rleg-end-coords :locate #f(0 0 -62.5))
(send blr6 :assoc rleg-end-coords)
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From: <sn...@us...> - 2011-09-26 08:52:47
|
Revision: 698
http://jskeus.svn.sourceforge.net/jskeus/?rev=698&view=rev
Author: snozawa
Date: 2011-09-26 08:52:41 +0000 (Mon, 26 Sep 2011)
Log Message:
-----------
set centroid of links other than default-robot-link
Modified Paths:
--------------
trunk/irteus/demo/sample-robot-model.l
Modified: trunk/irteus/demo/sample-robot-model.l
===================================================================
--- trunk/irteus/demo/sample-robot-model.l 2011-09-26 08:46:36 UTC (rev 697)
+++ trunk/irteus/demo/sample-robot-model.l 2011-09-26 08:52:41 UTC (rev 698)
@@ -196,10 +196,6 @@
rleg (list blr1 blr2 blr3 blr4 blr5 blr6)
head (list bh0 bh1)
torso (list bc1 bc2))
- (dolist (l (append (list bc0) torso))
- (send l :weight 100.0))
- (dolist (l (append larm rarm lleg rleg head))
- (send l :weight 7.0))
(setq links (list bc0 bc1 bc2 bh0 bh1
bal1 bal2 bal3 bal4 bal5 bal6 bal7
@@ -214,6 +210,21 @@
jlr0 jlr1 jlr2 jlr3 jlr4 jlr5
))
(setq collision-avoidance-links (list bc0 bc2 bal4 bar4))
+ ;; set mass properties
+ (dolist (l (append (list bc0) torso))
+ (send l :weight 100.0))
+ (dolist (l (append larm rarm lleg rleg head))
+ (send l :weight 7.0))
+ (dolist (l (list bc0 bc2 bh1))
+ (let* ((valid-bodies (remove-if #'(lambda (x)
+ (and (> (send x :volume) 0) (< (send x :volume) 0))) ;; nan check
+ (send l :bodies))))
+ (send l :centroid
+ (if (= (length valid-bodies) 1)
+ (send (car valid-bodies) :centroid)
+ (scale (/ 1.0 (reduce #'+ (mapcar #'(lambda (x) (send x :volume)) valid-bodies)))
+ (reduce #'v+ (mapcar #'(lambda (x) (scale (send x :volume) (send x :centroid))) valid-bodies)))))
+ ))
(send self :init-ending)
self))
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|
|
From: <sn...@us...> - 2011-09-26 08:46:42
|
Revision: 697
http://jskeus.svn.sourceforge.net/jskeus/?rev=697&view=rev
Author: snozawa
Date: 2011-09-26 08:46:36 +0000 (Mon, 26 Sep 2011)
Log Message:
-----------
set a mass center of default-robot-link as a volume center
Modified Paths:
--------------
trunk/irteus/irtrobot.l
Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l 2011-09-01 08:17:31 UTC (rev 696)
+++ trunk/irteus/irtrobot.l 2011-09-26 08:46:36 UTC (rev 697)
@@ -27,7 +27,7 @@
(require :irtmodel)
(defun make-default-robot-link (len radius axis name &optional extbody)
- (let (bs b0 b1 c a l (r/2 (/ radius 2)))
+ (let (bs b0 b1 c a (r/2 (/ radius 2)))
(setq b0 (make-cylinder r/2 radius))
(setq b1 (make-cube r/2 r/2 len))
@@ -52,8 +52,18 @@
(when extbody
(dolist (b extbody) (send b1 :assoc b))
(setq bs (append bs extbody)))
- (setq l (instance bodyset-link :init (make-cascoords) :bodies bs :name name))
- l))
+ ;; set a mass center of default-robot-link as a volume center
+ (let* ((valid-bodies (remove-if #'(lambda (x)
+ (and (> (send x :volume) 0) (< (send x :volume) 0))) ;; nan check
+ bs))
+ (bodies-centroid
+ (if (= (length valid-bodies) 1)
+ (send (car valid-bodies) :centroid)
+ (scale (/ 1.0 (reduce #'+ (mapcar #'(lambda (x) (send x :volume)) valid-bodies)))
+ (reduce #'v+ (mapcar #'(lambda (x) (scale (send x :volume) (send x :centroid))) valid-bodies))))))
+ (instance bodyset-link :init (make-cascoords)
+ :bodies bs :name name :centroid bodies-centroid)
+ )))
(defclass robot-model
:super cascaded-link
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From: <sn...@us...> - 2011-09-01 08:17:38
|
Revision: 696
http://jskeus.svn.sourceforge.net/jskeus/?rev=696&view=rev
Author: snozawa
Date: 2011-09-01 08:17:31 +0000 (Thu, 01 Sep 2011)
Log Message:
-----------
set objs to *irtviewer-objects*
Modified Paths:
--------------
trunk/irteus/irtviewer.l
Modified: trunk/irteus/irtviewer.l
===================================================================
--- trunk/irteus/irtviewer.l 2011-09-01 08:02:25 UTC (rev 695)
+++ trunk/irteus/irtviewer.l 2011-09-01 08:17:31 UTC (rev 696)
@@ -318,7 +318,7 @@
(defun objects (&optional (objs t) vw)
(when (or (null x::*display*) (= x::*display* 0))
(if (not (eq objs t))
- (setq *irtviewer-objects* nil))
+ (setq *irtviewer-objects* objs))
(warning-message 1 ";; (objects ~A) was called, but no display is found.~%" (if (eq objs t) "" objs))
(return-from objects *irtviewer-objects*))
(when
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From: <k-...@js...> - 2011-09-01 08:06:35
|
See <http://157.82.13.120:8080/job/jskeus/33/> |
|
From: <sn...@us...> - 2011-09-01 08:02:31
|
Revision: 695
http://jskeus.svn.sourceforge.net/jskeus/?rev=695&view=rev
Author: snozawa
Date: 2011-09-01 08:02:25 +0000 (Thu, 01 Sep 2011)
Log Message:
-----------
fix typos ;; irtiewer-objects -> irtviewer-objects
Modified Paths:
--------------
trunk/irteus/irtviewer.l
Modified: trunk/irteus/irtviewer.l
===================================================================
--- trunk/irteus/irtviewer.l 2011-09-01 07:42:11 UTC (rev 694)
+++ trunk/irteus/irtviewer.l 2011-09-01 08:02:25 UTC (rev 695)
@@ -314,13 +314,13 @@
(in-package "USER")
-(setq *irtiewer-objects* nil)
+(setq *irtviewer-objects* nil)
(defun objects (&optional (objs t) vw)
(when (or (null x::*display*) (= x::*display* 0))
(if (not (eq objs t))
- (setq *irtiewer-objects* nil))
+ (setq *irtviewer-objects* nil))
(warning-message 1 ";; (objects ~A) was called, but no display is found.~%" (if (eq objs t) "" objs))
- (return-from objects *irtiewer-objects*))
+ (return-from objects *irtviewer-objects*))
(when
(and objs (not (boundp '*irtviewer*)) (null vw))
(warn ";; (make-irtviewer) executed~%")
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From: <k-...@js...> - 2011-09-01 07:50:45
|
See <http://157.82.13.120:8080/job/jskeus/32/> ------------------------------------------ Started by an SCM change Cleaning workspace <http://157.82.13.120:8080/job/jskeus/ws/> Checking out http://jskeus.svn.sourceforge.net/svnroot/jskeus/trunk A irteus AU irteus/irtx.l A irteus/irtsensor.l A irteus/demo A irteus/demo/hand-grasp-ik.l A irteus/demo/sample-hand-model.l A irteus/demo/dual-manip-ik.l A irteus/demo/hanoi-arm.l A irteus/demo/sample-arm-model.l A irteus/demo/full-body-ik.l A irteus/demo/hanoi.l A irteus/demo/crank-motion.l A irteus/demo/sample-robot-model.l A irteus/demo/dual-arm-ik.l A irteus/demo/particle.l AU irteus/demo/demo.l A irteus/Makefile.Linux64 AU irteus/compile_irtx.l A irteus/irtbvh.l AU irteus/pqp.l AU irteus/irtimage.l AU irteus/euspqp.c A irteus/Makefile.Darwin A irteus/PQP A irteus/PQP/Linux AU irteus/PQP/Linux/.keepme AU irteus/PQP/Linux/.cvsignore A irteus/PQP/Cygwin AU irteus/PQP/Cygwin/.keepme AU irteus/PQP/Cygwin/.cvsignore A irteus/PQP/Makefile.Darwin A irteus/PQP/Darwin A irteus/PQP/Makefile.Linux64 A irteus/PQP/src AU irteus/PQP/src/Build.cpp AU irteus/PQP/src/PQP.cpp AU irteus/PQP/src/PQP_Internal.h AU irteus/PQP/src/GetTime.h AU irteus/PQP/src/Tri.h AU irteus/PQP/src/Build.h AU irteus/PQP/src/PQP.h AU irteus/PQP/src/BV.cpp AU irteus/PQP/src/OBB_Disjoint.h AU irteus/PQP/src/BV.h AU irteus/PQP/src/PQP_Compile.h AU irteus/PQP/src/BVTQ.h AU irteus/PQP/src/TriDist.cpp AU irteus/PQP/src/MatVec.h AU irteus/PQP/src/RectDist.h AU irteus/PQP/src/TriDist.h A irteus/PQP/Linux64 AU irteus/PQP/Makefile.Linux AU irteus/PQP/README.txt AU irteus/PQP/Makefile.Cygwin AU irteus/PQP/Makefile AU irteus/irtdyna.l AU irteus/irtmodel.l AU irteus/irtext.l AU irteus/irtgl.l AU irteus/Makefile.Linux AU irteus/Makefile.Cygwin AU irteus/Makefile AU irteus/png.l A irteus/euspng.c AU irteus/irtc.c AU irteus/compile_irtgl.l AU irteus/irtgeo.l AU irteus/CPQP.C AU irteus/irtutil.l AU irteus/compile_irtimg.l AU irteus/irtrobot.l AU irteus/nr.c AU irteus/compile_irt.l AU irteus/irtmath.l AU irteus/nr.h A irteus/irtscene.l AU irteus/irtglrgb.l AU irteus/compile_irtg.l ERROR: Failed to check out http://jskeus.svn.sourceforge.net/svnroot/jskeus/trunk org.tmatesoft.svn.core.SVNException: svn: REPORT /svnroot/jskeus/!svn/vcc/default failed at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection.request(HTTPConnection.java:291) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection.request(HTTPConnection.java:276) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection.request(HTTPConnection.java:264) at org.tmatesoft.svn.core.internal.io.dav.DAVConnection.doReport(DAVConnection.java:266) at org.tmatesoft.svn.core.internal.io.dav.DAVRepository.runReport(DAVRepository.java:1263) at org.tmatesoft.svn.core.internal.io.dav.DAVRepository.update(DAVRepository.java:820) at org.tmatesoft.svn.core.wc.SVNUpdateClient.update(SVNUpdateClient.java:564) at org.tmatesoft.svn.core.wc.SVNUpdateClient.doCheckout(SVNUpdateClient.java:922) at hudson.scm.subversion.CheckoutUpdater$1.perform(CheckoutUpdater.java:83) at hudson.scm.subversion.WorkspaceUpdater$UpdateTask.delegateTo(WorkspaceUpdater.java:135) at hudson.scm.SubversionSCM$CheckOutTask.perform(SubversionSCM.java:747) at hudson.scm.SubversionSCM$CheckOutTask.invoke(SubversionSCM.java:728) at hudson.scm.SubversionSCM$CheckOutTask.invoke(SubversionSCM.java:712) at hudson.FilePath.act(FilePath.java:758) at hudson.FilePath.act(FilePath.java:740) at hudson.scm.SubversionSCM.checkout(SubversionSCM.java:705) at hudson.scm.SubversionSCM.checkout(SubversionSCM.java:654) at hudson.model.AbstractProject.checkout(AbstractProject.java:1193) at hudson.model.AbstractBuild$AbstractRunner.checkout(AbstractBuild.java:555) at hudson.model.AbstractBuild$AbstractRunner.run(AbstractBuild.java:443) at hudson.model.Run.run(Run.java:1376) at hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:46) at hudson.model.ResourceController.execute(ResourceController.java:88) at hudson.model.Executor.run(Executor.java:230) Caused by: org.tmatesoft.svn.core.SVNErrorMessage: svn: REPORT /svnroot/jskeus/!svn/vcc/default failed at org.tmatesoft.svn.core.SVNErrorMessage.create(SVNErrorMessage.java:200) at org.tmatesoft.svn.core.SVNErrorMessage.create(SVNErrorMessage.java:146) at org.tmatesoft.svn.core.SVNErrorMessage.create(SVNErrorMessage.java:89) ... 24 more Caused by: org.tmatesoft.svn.core.SVNException: svn: REPORT request failed on '/svnroot/jskeus/!svn/vcc/default' svn: Connection reset at org.tmatesoft.svn.core.internal.wc.SVNErrorManager.error(SVNErrorManager.java:64) at org.tmatesoft.svn.core.internal.wc.SVNErrorManager.error(SVNErrorManager.java:51) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection._request(HTTPConnection.java:644) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection.request(HTTPConnection.java:285) ... 23 more Caused by: org.tmatesoft.svn.core.SVNErrorMessage: svn: REPORT request failed on '/svnroot/jskeus/!svn/vcc/default' at org.tmatesoft.svn.core.SVNErrorMessage.create(SVNErrorMessage.java:200) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection._request(HTTPConnection.java:642) ... 24 more Caused by: org.tmatesoft.svn.core.SVNErrorMessage: svn: Connection reset at org.tmatesoft.svn.core.SVNErrorMessage.create(SVNErrorMessage.java:101) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection._request(HTTPConnection.java:408) ... 24 more Caused by: java.net.SocketException: Connection reset at java.net.SocketInputStream.read(SocketInputStream.java:168) at java.io.BufferedInputStream.fill(BufferedInputStream.java:218) at java.io.BufferedInputStream.read1(BufferedInputStream.java:258) at java.io.BufferedInputStream.read(BufferedInputStream.java:317) at org.tmatesoft.svn.core.internal.util.ChunkedInputStream.read(ChunkedInputStream.java:70) at sun.nio.cs.StreamDecoder.readBytes(StreamDecoder.java:264) at sun.nio.cs.StreamDecoder.implRead(StreamDecoder.java:306) at sun.nio.cs.StreamDecoder.read(StreamDecoder.java:158) at java.io.InputStreamReader.read(InputStreamReader.java:167) at org.tmatesoft.svn.core.internal.io.dav.http.XMLReader.read(XMLReader.java:39) at org.apache.xerces.impl.XMLEntityScanner.load(Unknown Source) at org.apache.xerces.impl.XMLEntityScanner.scanContent(Unknown Source) at org.apache.xerces.impl.XMLDocumentFragmentScannerImpl.scanContent(Unknown Source) at org.apache.xerces.impl.XMLDocumentFragmentScannerImpl$FragmentContentDispatcher.dispatch(Unknown Source) at org.apache.xerces.impl.XMLDocumentFragmentScannerImpl.scanDocument(Unknown Source) at org.apache.xerces.parsers.XML11Configuration.parse(Unknown Source) at org.apache.xerces.parsers.XML11Configuration.parse(Unknown Source) at org.apache.xerces.parsers.XMLParser.parse(Unknown Source) at org.apache.xerces.parsers.AbstractSAXParser.parse(Unknown Source) at org.apache.xerces.jaxp.SAXParserImpl$JAXPSAXParser.parse(Unknown Source) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection.readData(HTTPConnection.java:754) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection.readData(HTTPConnection.java:719) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPRequest.dispatch(HTTPRequest.java:216) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection._request(HTTPConnection.java:364) ... 24 more WARNING: clock of the subversion server appears to be out of sync. This can result in inconsistent check out behavior. |
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From: <k-...@us...> - 2011-09-01 07:42:18
|
Revision: 694
http://jskeus.svn.sourceforge.net/jskeus/?rev=694&view=rev
Author: k-okada
Date: 2011-09-01 07:42:11 +0000 (Thu, 01 Sep 2011)
Log Message:
-----------
do not occur error when mkae-irtviewer/objects was called with out X server
Modified Paths:
--------------
trunk/irteus/irtviewer.l
Modified: trunk/irteus/irtviewer.l
===================================================================
--- trunk/irteus/irtviewer.l 2011-07-27 12:21:23 UTC (rev 693)
+++ trunk/irteus/irtviewer.l 2011-09-01 07:42:11 UTC (rev 694)
@@ -314,7 +314,13 @@
(in-package "USER")
+(setq *irtiewer-objects* nil)
(defun objects (&optional (objs t) vw)
+ (when (or (null x::*display*) (= x::*display* 0))
+ (if (not (eq objs t))
+ (setq *irtiewer-objects* nil))
+ (warning-message 1 ";; (objects ~A) was called, but no display is found.~%" (if (eq objs t) "" objs))
+ (return-from objects *irtiewer-objects*))
(when
(and objs (not (boundp '*irtviewer*)) (null vw))
(warn ";; (make-irtviewer) executed~%")
@@ -330,6 +336,9 @@
;;
(proclaim '(special *irtviewer*))
(defun make-irtviewer (&rest args)
+ (when (or (null x::*display*) (= x::*display* 0))
+ (warning-message 1 ";; no display is found. exit from (make-irtviewer)~%")
+ (return-from make-irtviewer nil))
(setq *irtviewer* (send-lexpr (instantiate x::irtviewer) :create args)))
(in-package "GL")
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From: <sn...@us...> - 2011-07-27 12:23:42
|
Revision: 692
http://jskeus.svn.sourceforge.net/jskeus/?rev=692&view=rev
Author: snozawa
Date: 2011-07-27 11:48:32 +0000 (Wed, 27 Jul 2011)
Log Message:
-----------
add make-package to irtext.l to import collada functions
Modified Paths:
--------------
trunk/irteus/irtext.l
Modified: trunk/irteus/irtext.l
===================================================================
--- trunk/irteus/irtext.l 2011-07-26 11:08:07 UTC (rev 691)
+++ trunk/irteus/irtext.l 2011-07-27 11:48:32 UTC (rev 692)
@@ -22,6 +22,7 @@
;;; above copyright notice remains intact.
;;;
+(unless (find-package "COLLADA") (make-package "COLLADA")) ;; define collad package to import collada function
(defun load-irteus ()
(in-package "USER")
(load-library
@@ -29,12 +30,13 @@
*eusdir* (unix:getenv "ARCHDIR"))
'("irtmath" "irtutil" "irtc" "pgsql")))
(defun load-irteusg ()
- (unless (find-package "COLLADA") (make-package "COLLADA"))
(in-package "GEOMETRY")
(load-library
(format nil "~A~A/lib/libirteusg"
*eusdir* (unix:getenv "ARCHDIR"))
- '("irtgeo" "euspqp" "pqp" "irtscene" "irtmodel" "irtdyna" "irtrobot" "irtsensor" "irtbvh" "irtcollada")))
+ '("irtgeo" "euspqp" "pqp" "irtscene" "irtmodel" "irtdyna" "irtrobot" "irtsensor" "irtbvh" "irtcollada"))
+ (in-package "USER")
+ (import '(collada::convert-irtmodel-to-collada)))
(defun load-irteusx ()
(in-package "X")
(load-library
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From: <sn...@us...> - 2011-07-27 12:21:29
|
Revision: 693
http://jskeus.svn.sourceforge.net/jskeus/?rev=693&view=rev
Author: snozawa
Date: 2011-07-27 12:21:23 +0000 (Wed, 27 Jul 2011)
Log Message:
-----------
remove implicit mkdir;; use must specify output directory explicitly
Modified Paths:
--------------
trunk/irteus/irtcollada.l
Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l 2011-07-27 11:48:32 UTC (rev 692)
+++ trunk/irteus/irtcollada.l 2011-07-27 12:21:23 UTC (rev 693)
@@ -287,9 +287,7 @@
(defun setup-collada-filesystem (obj-name base-dir)
(if (not (eq (probe-file base-dir) :directory))
- (error "~A must be a directory" base-dir)
- (progn
- (unix::mkdir (format nil "~A/collada" base-dir)))))
+ (error "~A must be a directory" base-dir)))
(defun range2 (n)
(if (= n 0)
@@ -306,8 +304,8 @@
(let ((descrpition (eusmodel-description obj)))
(let ((sxml (eusmodel-description->collada
name descrpition :scale scale)))
- (setup-collada-filesystem name full-root-dir) ;mkdir for collada
- (let ((xml-file (format nil "~Acollada/~A.dae" full-root-dir name))
+ (setup-collada-filesystem name full-root-dir) ;only check directory existence
+ (let ((xml-file (format nil "~A/~A.dae" full-root-dir name))
(xml (sxml->xml sxml)))
(with-open-file (f xml-file :direction :output)
(format f "<?xml version=\"1.0\"?>~%")
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From: <sn...@us...> - 2011-07-26 11:08:13
|
Revision: 691
http://jskeus.svn.sourceforge.net/jskeus/?rev=691&view=rev
Author: snozawa
Date: 2011-07-26 11:08:07 +0000 (Tue, 26 Jul 2011)
Log Message:
-----------
add exit-p to indicate whether exit or not
Modified Paths:
--------------
trunk/irteus/irtcollada.l
Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l 2011-07-26 07:00:49 UTC (rev 690)
+++ trunk/irteus/irtcollada.l 2011-07-26 11:08:07 UTC (rev 691)
@@ -948,7 +948,7 @@
(format nil "~A.~A" (pathname-name p) (pathname-type p))))
(defun convert-irtmodel-to-collada
- (model-file &optional (output-full-dir (send (truename "./") :namestring)) (model-name))
+ (model-file &optional (output-full-dir (send (truename "./") :namestring)) (model-name) (exit-p t))
"convert irtmodel to collada model. (convert-irtmodel-to-collada irtmodel-file-path &optional (output-full-dir (send (truename \"./\") :namestring)) (model-name))"
(format t "convert ~A and output to ~A~%" model-file output-full-dir)
@@ -960,7 +960,7 @@
(let ((model (instance (eval (intern model-class-name)) :init)))
(if model-name (send model :name model-name))
(eus2collada model output-full-dir)))
- (exit))
+ (if exit-p (exit)))
(in-package "GEOMETRY")
;;(import '(collada::convert-irtmodel-to-collada))
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