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[jskeus-commit] SF.net SVN: jskeus:[963] trunk/irteus/irtgl.l

From: <ky...@us...> - 2013-10-04 11:35:06

Revision: 963
          http://sourceforge.net/p/jskeus/code/963
Author:   kyouhei
Date:     2013-10-04 11:35:02 +0000 (Fri, 04 Oct 2013)
Log Message:
-----------
fix face direction (euslisp use cw)

Modified Paths:
--------------
    trunk/irteus/irtgl.l

Modified: trunk/irteus/irtgl.l
===================================================================
--- trunk/irteus/irtgl.l	2013-10-04 02:27:41 UTC (rev 962)
+++ trunk/irteus/irtgl.l	2013-10-04 11:35:02 UTC (rev 963)
@@ -866,25 +866,25 @@
                (when amb
                  (if stransparent
                      (setf (elt amb 3) (float-vector stransparent)))
-                 (glMaterialfv GL_FRONT GL_AMBIENT amb))
+                 (glMaterialfv GL_BACK GL_AMBIENT amb))
                (when diff
                  (if stransparent
                      (setf (elt diff 3) (float-vector stransparent)))
-                 (glMaterialfv GL_FRONT GL_DIFFUSE diff))
+                 (glMaterialfv GL_BACK GL_DIFFUSE diff))
                (when spec
                  (if stransparent
                      (setf (elt spec 3) (float-vector stransparent)))
-                 (glMaterialfv GL_FRONT GL_SPECULAR spec))
+                 (glMaterialfv GL_BACK GL_SPECULAR spec))
                (when emi
                  (if stransparent
                      (setf (elt emi 3) (float-vector stransparent)))
-                 (glMaterialfv GL_FRONT GL_EMISSION emi))
+                 (glMaterialfv GL_BACK GL_EMISSION emi))
                (cond
                 (shin
-                 (glMaterialf GL_FRONT GL_SHININESS shin))
+                 (glMaterialf GL_BACK GL_SHININESS shin))
                 (t
-                 (glMaterialf GL_FRONT GL_SHININESS 0.0)
-                 (glMaterialfv GL_FRONT GL_SPECULAR (float-vector 0 0 0 0))
+                 (glMaterialf GL_BACK GL_SHININESS 0.0)
+                 (glMaterialfv GL_BACK GL_SPECULAR (float-vector 0 0 0 0))
                  ))
                (when (and teximg texcoords)
                  (let ((im_width  (send teximg :width))

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[jskeus-commit] SF.net SVN: jskeus:[962] trunk/irteus/irtgl.l

From: <ky...@us...> - 2013-10-04 02:27:48

Revision: 962
          http://sourceforge.net/p/jskeus/code/962
Author:   kyouhei
Date:     2013-10-04 02:27:41 +0000 (Fri, 04 Oct 2013)
Log Message:
-----------
change back face color on glvertices

Modified Paths:
--------------
    trunk/irteus/irtgl.l

Modified: trunk/irteus/irtgl.l
===================================================================
--- trunk/irteus/irtgl.l	2013-10-03 17:32:51 UTC (rev 961)
+++ trunk/irteus/irtgl.l	2013-10-04 02:27:41 UTC (rev 962)
@@ -804,6 +804,7 @@
      (glPushAttrib GL_ALL_ATTRIB_BITS)
      (glpushmatrix)
      (glmultmatrixf (array-entity (transpose mat *temp-matrix*)))
+     (gl::glLightModeli GL_LIGHT_MODEL_TWO_SIDE GL_TRUE) ;; draw back side
      (cond
       ((setq newlis (cdr (assq glcon (get self :GL-DISPLAYLIST-ID))))
        (glCallList newlis))
@@ -834,10 +835,13 @@
            (cond
             (fcol ;; use :face-color
              (glColor3fv fcol)
-             (glMaterialfv GL_FRONT_AND_BACK GL_AMBIENT_AND_DIFFUSE
+             (glMaterialfv GL_BACK  GL_AMBIENT_AND_DIFFUSE
                            (if stransparent
                                (concatenate float-vector fcol (float-vector stransparent))
                              fcol))
+             (glMaterialfv GL_FRONT GL_AMBIENT_AND_DIFFUSE (if stransparent
+                                                               (float-vector 0.8 0.0 0.54 1)
+                                                             (float-vector 0.8 0.0 0.54)))
              ;;(glMaterialfv GL_FRONT_AND_BACK GL_SPECULAR (float-vector 0.2 0.2 0.2 0.1))
              ;;(glMaterialfv GL_FRONT_AND_BACK GL_EMISSION (float-vector 0.1 0.1 0.1 0.1))
              )
@@ -914,10 +918,17 @@
                    ))
                ))
             (t ;; default color
-             (glMaterialfv GL_FRONT_AND_BACK GL_AMBIENT (float-vector 0.1 0.1 0.1 0.1))
-             (glMaterialfv GL_FRONT_AND_BACK GL_DIFFUSE (float-vector 1 1 1 1))
-             (glMaterialfv GL_FRONT_AND_BACK GL_SPECULAR (float-vector 0.2 0.2 0.2 0.1))
-             (glMaterialfv GL_FRONT_AND_BACK GL_EMISSION (float-vector 0.1 0.1 0.1 0.1)))
+             ;; Font face was set CW at glview.l (glFrontFace GL_CW)
+             (glMaterialfv GL_BACK  GL_AMBIENT (float-vector 0.2 0.2 0.2 0.1))
+             (glMaterialfv GL_BACK  GL_DIFFUSE (float-vector 1 1 1 1))
+             (glMaterialfv GL_BACK  GL_SPECULAR (float-vector 0.2 0.2 0.2 0.1))
+             (glMaterialfv GL_BACK  GL_EMISSION (float-vector 0.1 0.1 0.1 0.1))
+             ;;
+             (glMaterialfv GL_FRONT GL_AMBIENT (float-vector 0.8 0.0 0.54 1))
+             (glMaterialfv GL_FRONT GL_DIFFUSE (float-vector 0.8 0.0 0.54 1))
+             (glMaterialfv GL_FRONT GL_SPECULAR (float-vector 0.2 0.2 0.2 1))
+             (glMaterialfv GL_FRONT GL_EMISSION (float-vector 0.1 0.1 0.1 1))
+             )
             ) ;; /cond
            (unless (and teximg texcoords) (setq texcoords nil))
            ;;
@@ -980,6 +991,7 @@
                    (get self :GL-DISPLAYLIST-ID)))
        (setq newlis nil)
        ))
+     (gl::glLightModeli GL_LIGHT_MODEL_TWO_SIDE GL_TRUE) ;; return to default
      (glpopmatrix)
      (glpopattrib)
 #+:jsk

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[jskeus-commit] SF.net SVN: jskeus:[961] trunk/irteus/irtcollada.l

From: <sn...@us...> - 2013-10-03 17:32:56

Revision: 961
          http://sourceforge.net/p/jskeus/code/961
Author:   snozawa
Date:     2013-10-03 17:32:51 +0000 (Thu, 03 Oct 2013)
Log Message:
-----------
use :set-color instead of :put :face-color

Modified Paths:
--------------
    trunk/irteus/irtcollada.l

Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	2013-10-03 17:27:59 UTC (rev 960)
+++ trunk/irteus/irtcollada.l	2013-10-03 17:32:51 UTC (rev 961)
@@ -207,7 +207,7 @@
                                  :faces
                                  (send (geo::body-to-triangles b nil)
                                        :faces))))
-                  (setf (get trimesh :face-color) (get b :face-color))
+                  (send trimesh :set-color (get b :face-color))
                   ;; move trimesh to origin...
                   (send trimesh
                         :move-to (send (send b :copy-worldcoords)

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[jskeus-commit] SF.net SVN: jskeus:[960] trunk/irteus/demo/dual-manip-ik.l

From: <sn...@us...> - 2013-10-03 17:28:02

Revision: 960
          http://sourceforge.net/p/jskeus/code/960
Author:   snozawa
Date:     2013-10-03 17:27:59 +0000 (Thu, 03 Oct 2013)
Log Message:
-----------
use set-color instead of :put face-color

Modified Paths:
--------------
    trunk/irteus/demo/dual-manip-ik.l

Modified: trunk/irteus/demo/dual-manip-ik.l
===================================================================
--- trunk/irteus/demo/dual-manip-ik.l	2013-10-03 15:02:22 UTC (rev 959)
+++ trunk/irteus/demo/dual-manip-ik.l	2013-10-03 17:27:59 UTC (rev 960)
@@ -23,7 +23,7 @@
                                 :translate (float-vector -75 0 0))))
     (send *obj* :assoc (send *obj* :get l)))
   (send *obj* :newcoords (make-coords :pos #f(300 0 700)))
-  (send *obj* :put :face-color :blue)
+  (send *obj* :set-color :blue)
   (send *robot* :head :look-at (send *obj* :worldpos))
   (objects (list *obj* *robot*))
   ;; ik codes

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[jskeus-commit] SF.net SVN: jskeus:[959] trunk/irteus/irtcollada.l

From: <sn...@us...> - 2013-10-03 15:02:24

Revision: 959
          http://sourceforge.net/p/jskeus/code/959
Author:   snozawa
Date:     2013-10-03 15:02:22 +0000 (Thu, 03 Oct 2013)
Log Message:
-----------
add error for missing face-color

Modified Paths:
--------------
    trunk/irteus/irtcollada.l

Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	2013-10-03 13:05:53 UTC (rev 958)
+++ trunk/irteus/irtcollada.l	2013-10-03 15:02:22 UTC (rev 959)
@@ -389,6 +389,8 @@
             meshes ids)))
 
 (defun mesh-description->collada-effect (mesh id)
+  (unless (get mesh :face-color)
+    (error ";; please set face-color for meshes ~A~%" mesh))
   `(effect
     (@ (id ,id))
     (|profile_COMMON|

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[jskeus-commit] SF.net SVN: jskeus:[958] trunk/irteus/irtext.l

From: <sn...@us...> - 2013-10-03 13:05:57

Revision: 958
          http://sourceforge.net/p/jskeus/code/958
Author:   snozawa
Date:     2013-10-03 13:05:53 +0000 (Thu, 03 Oct 2013)
Log Message:
-----------
export eus2collada function to user package

Modified Paths:
--------------
    trunk/irteus/irtext.l

Modified: trunk/irteus/irtext.l
===================================================================
--- trunk/irteus/irtext.l	2013-10-03 13:04:42 UTC (rev 957)
+++ trunk/irteus/irtext.l	2013-10-03 13:05:53 UTC (rev 958)
@@ -36,7 +36,7 @@
 	   *eusdir* (unix:getenv "ARCHDIR"))
    '("irtgeo" "euspqp" "pqp" "irtscene" "irtmodel" "irtdyna" "irtrobot" "irtsensor" "irtbvh" "irtcollada" "irtpointcloud"))
   (in-package "USER")
-  (import '(collada::convert-irtmodel-to-collada)))
+  (import '(collada::convert-irtmodel-to-collada collada::eus2collada)))
 (defun load-irteusx ()
   (in-package "X")
   (load-library

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[jskeus-commit] SF.net SVN: jskeus:[957] trunk/irteus/irtcollada.l

From: <sn...@us...> - 2013-10-03 13:04:50

Revision: 957
          http://sourceforge.net/p/jskeus/code/957
Author:   snozawa
Date:     2013-10-03 13:04:42 +0000 (Thu, 03 Oct 2013)
Log Message:
-----------
suppor conversion of body or bodyset

Modified Paths:
--------------
    trunk/irteus/irtcollada.l

Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	2013-09-28 13:45:06 UTC (rev 956)
+++ trunk/irteus/irtcollada.l	2013-10-03 13:04:42 UTC (rev 957)
@@ -327,6 +327,13 @@
   (let ((name (send obj :name)))
     (unless name
       (error "You need to specify name"))
+    ;; support body or bodyset
+    (if (or (eq (send (class obj) :name) 'geo::body) (eq (send (class obj) :name) 'geo::bodyset))
+        (setq obj (let ((rb (instance user::cascaded-link :init :name (send obj :name))))
+                    (setq (rb . user::links) (list (instance user::bodyset-link :init (user::make-cascoords) :bodies (list obj))))
+                    (send rb :assoc (car (send rb :links)))
+                    (send rb :init-ending)
+                    rb)))
     (let ((descrpition (eusmodel-description obj)))
       (let ((sxml (eusmodel-description->collada
                    name descrpition :scale scale)))

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[jskeus-commit] SF.net SVN: jskeus:[956] trunk/irteus/irtgeo.l

From: <sn...@us...> - 2013-09-28 13:45:10

Revision: 956
          http://sourceforge.net/p/jskeus/code/956
Author:   snozawa
Date:     2013-09-28 13:45:06 +0000 (Sat, 28 Sep 2013)
Log Message:
-----------
add :move-coords method to cascaded-coords

Modified Paths:
--------------
    trunk/irteus/irtgeo.l

Modified: trunk/irteus/irtgeo.l
===================================================================
--- trunk/irteus/irtgeo.l	2013-09-27 10:13:36 UTC (rev 955)
+++ trunk/irteus/irtgeo.l	2013-09-28 13:45:06 UTC (rev 956)
@@ -219,6 +219,11 @@
 	    (transform-coords (send (send self :parentcoords)
 				    :inverse-transformation) cc cc)
 	    (send self :newcoords cc))))
+  (:move-coords
+   (target at) ;; fix "at" coords on "self" to "target"
+   (send self :transform (send at :transformation target) at)
+   (send self :worldcoords)
+   )
   )
 
 (defun transform-coords (c1 c2 &optional

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[jskeus-commit] SF.net SVN: jskeus:[955] trunk/irteus/irtrobot.l

From: <sn...@us...> - 2013-09-27 10:13:40

Revision: 955
          http://sourceforge.net/p/jskeus/code/955
Author:   snozawa
Date:     2013-09-27 10:13:36 +0000 (Fri, 27 Sep 2013)
Log Message:
-----------
add calc-zmp-from-forces-moments method

Modified Paths:
--------------
    trunk/irteus/irtrobot.l

Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l	2013-09-26 14:24:33 UTC (rev 954)
+++ trunk/irteus/irtrobot.l	2013-09-27 10:13:36 UTC (rev 955)
@@ -443,6 +443,41 @@
        (format t "~%      "))
      (format t ")~%")
      vec))
+  ;; Calculate zmp[mm] from sensor local forces and moments
+  ;;   If force_z is large, zmp can be defined and returns 3D zmp.
+  ;;   Otherwise, zmp cannot be defined and returns nil.
+  (:calc-zmp-from-forces-moments
+   (forces moments ;; [N] [Nm], sensor local force & moment
+    &key (wrt :world)
+         ;; :wrt is :local => calc local zmp for robot's root-link coords
+         ;; :wrt is :world => calc world zmp for robot
+         (limbs '(:rleg :lleg))
+         (force-sensors (mapcar #'(lambda (l) (send self :force-sensor l)) limbs))
+         (zmp-z (elt (apply #'midpoint 0.5 (mapcar #'(lambda (l) (send self l :end-coords :worldpos)) limbs)) 2)) ;; [mm]
+         (fz-thre 50)) ;; [N]
+   (let ((tmpzmpx 0) (tmpzmpy 0) (tmpfz 0)
+         (tmp-zmp-z (* 1e-3 zmp-z))) ;; [mm]->[m]
+     (mapcar #'(lambda (fs f m)
+                 (let ((fsp (scale 1e-3 (send fs :worldpos))) ;; [mm]->[m]
+                       (nf (send fs :rotate-vector f))
+                       (nm (send fs :rotate-vector m)))
+                   (setq tmpzmpx (+ tmpzmpx
+                                    (* (elt nf 2) (elt fsp 0))
+                                    (- (* (- (elt fsp 2) tmp-zmp-z) (elt nf 0)))
+                                    (- (elt nm 1)))
+                         tmpzmpy (+ tmpzmpy
+                                    (* (elt nf 2) (elt fsp 1))
+                                    (- (* (- (elt fsp 2) tmp-zmp-z) (elt nf 1)))
+                                    (elt nm 0))
+                         tmpfz (+ tmpfz (elt nf 2)))))
+             force-sensors forces moments)
+     (let ((tmpzmp (scale 1e3 (float-vector (/ tmpzmpx tmpfz) (/ tmpzmpy tmpfz) tmp-zmp-z)))) ;; [m]->[mm]
+       (cond
+        ((< tmpfz fz-thre) nil)
+        ((eq wrt :world) tmpzmp)
+        ((eq wrt :local) (send (car (send self :links)) :inverse-transform-vector tmpzmp))
+        (t )
+        ))))
   )
 
 ;;; moved from rbrarin libraries

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[jskeus-commit] SF.net SVN: jskeus:[954] trunk/irteus/irtmodel.l

From: <sn...@us...> - 2013-09-26 14:24:40

Revision: 954
          http://sourceforge.net/p/jskeus/code/954
Author:   snozawa
Date:     2013-09-26 14:24:33 +0000 (Thu, 26 Sep 2013)
Log Message:
-----------
check existence of index of additional-nspace-list or additional-weight-list

Modified Paths:
--------------
    trunk/irteus/irtmodel.l

Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l	2013-09-20 22:03:19 UTC (rev 953)
+++ trunk/irteus/irtmodel.l	2013-09-26 14:24:33 UTC (rev 954)
@@ -1293,13 +1293,15 @@
     (when (and debug-view (not (memq :no-message debug-view)))
       (format-array weight "usrwei:"))
     (dolist (ls additional-weight-list)
-      (let ((idx (reduce #'+ (send-all (send-all (subseq union-link-list 0 (position (car ls) union-link-list :test #'equal)) :joint) :joint-dof)
-                         :initial-value 0)))
-        (dotimes (ii (send (send (car ls) :joint) :joint-dof))
-          (let ((var (if (functionp (cadr ls)) (funcall (cadr ls)) (cadr ls))))
-            (setf (elt weight (+ ii idx)) (* (elt weight (+ ii idx))
-                                             (if (float-vector-p var) (elt var ii) var)))))
-        ))
+      (let ((ll-pos (position (car ls) union-link-list :test #'equal)))
+        (when ll-pos
+          (let ((idx (reduce #'+ (send-all (send-all (subseq union-link-list 0 ll-pos) :joint) :joint-dof)
+                             :initial-value 0)))
+            (dotimes (ii (send (send (car ls) :joint) :joint-dof))
+              (let ((var (if (functionp (cadr ls)) (funcall (cadr ls)) (cadr ls))))
+                (setf (elt weight (+ ii idx)) (* (elt weight (+ ii idx))
+                                                 (if (float-vector-p var) (elt var ii) var)))))
+            ))))
     (when (and debug-view (not (memq :no-message debug-view)))
       (format-array weight "addwei:"))
     ;; calc weight from joint limit
@@ -1369,14 +1371,16 @@
      ((functionp null-space) (setq null-space (funcall null-space)))
      ((listp null-space) (setq null-space (eval null-space))))
     (dolist (ls additional-nspace-list)
-      (let ((idx (reduce #'+ (send-all (send-all (subseq union-link-list 0 (position (car ls) union-link-list :test #'equal)) :joint) :joint-dof)
-                         :initial-value 0)))
-        (dotimes (ii (send (send (car ls) :joint) :joint-dof))
-          (let ((var (if (functionp (cadr ls)) (funcall (cadr ls)) (cadr ls))))
-            (setf (elt tmp-nspace (+ ii idx))
-                  (+ (elt tmp-nspace (+ ii idx))
-                     (if (float-vector-p var) (elt var ii) var)))))
-        ))
+      (let ((ll-pos (position (car ls) union-link-list :test #'equal)))
+        (when ll-pos
+          (let ((idx (reduce #'+ (send-all (send-all (subseq union-link-list 0 ll-pos) :joint) :joint-dof)
+                             :initial-value 0)))
+            (dotimes (ii (send (send (car ls) :joint) :joint-dof))
+              (let ((var (if (functionp (cadr ls)) (funcall (cadr ls)) (cadr ls))))
+                (setf (elt tmp-nspace (+ ii idx))
+                      (+ (elt tmp-nspace (+ ii idx))
+                         (if (float-vector-p var) (elt var ii) var)))))
+            ))))
     (if null-space
         (setq tmp-nspace
               (v+ null-space tmp-nspace tmp-nspace)))

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[jskeus-commit] SF.net SVN: jskeus:[953] trunk/irteus/irtutil.l

From: <sn...@us...> - 2013-09-20 22:03:23

Revision: 953
          http://sourceforge.net/p/jskeus/code/953
Author:   snozawa
Date:     2013-09-20 22:03:19 +0000 (Fri, 20 Sep 2013)
Log Message:
-----------
add macro to re-direct output and error output

Modified Paths:
--------------
    trunk/irteus/irtutil.l

Modified: trunk/irteus/irtutil.l
===================================================================
--- trunk/irteus/irtutil.l	2013-09-20 21:42:55 UTC (rev 952)
+++ trunk/irteus/irtutil.l	2013-09-20 22:03:19 UTC (rev 953)
@@ -301,6 +301,32 @@
          ,@args
          (send ,tm :stop)))))
 
+;; redirect euslisp standard-output and error-output (null-output and with-all-output->file)
+;; null-ouput usage : (null-output (form1) (form2) .. )
+(defmacro null-output (&rest bodies)
+  `(with-all-output->file "/dev/null" ,@bodies))
+
+;; with-all-output->file : (with-all-output->file "filename" (form1) (form2) .. )
+(defmacro with-all-output->file (fname &rest bodies)
+  (let ((tmp-stdout (gensym))
+        (tmp-stderr (gensym))
+        (null-port (gensym))
+        (ret (gensym)))
+    `(progn
+       (let ((,tmp-stdout *standard-output*)
+             (,tmp-stderr *error-output*)
+             (,ret nil))
+         (unwind-protect
+             (with-open-file (,null-port ,fname :direction :output)
+               (setq *standard-output* ,null-port)
+               (setq *error-output* ,null-port)
+               (setq ,ret (progn ,@bodies))
+               )
+           (progn
+             (setq *standard-output* ,tmp-stdout)
+             (setq *error-output* ,tmp-stdout)
+             ,ret))))))
+
 (provide :irtutil "$Id$")
 
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

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[jskeus-commit] SF.net SVN: jskeus:[952] trunk/irteus/irtutil.l

From: <sn...@us...> - 2013-09-20 21:42:58

Revision: 952
          http://sourceforge.net/p/jskeus/code/952
Author:   snozawa
Date:     2013-09-20 21:42:55 +0000 (Fri, 20 Sep 2013)
Log Message:
-----------
add bench macro to measure time using mtimer

Modified Paths:
--------------
    trunk/irteus/irtutil.l

Modified: trunk/irteus/irtutil.l
===================================================================
--- trunk/irteus/irtutil.l	2013-09-17 04:47:21 UTC (rev 951)
+++ trunk/irteus/irtutil.l	2013-09-20 21:42:55 UTC (rev 952)
@@ -266,6 +266,41 @@
       ret)
      (t (list h i s)))))
 
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;; macros for calculating execution time using mtimer
+;; bench  : args -> arbitrary S-exp.
+;;          return -> return value of args
+;;          ex. $ (bench (unix:sleep 1))
+;;                ;; time -> 1.0001[s]
+;;                t
+;;              $ (bench :print-string "hogehoge" (unix:usleep 500000))
+;;                ;; hogehoge -> 0.500067[s]
+;;                t
+;; bench2 : args -> arbitrary S-exp.
+;;          return -> execution time of args
+;;          ex. $ (bench2 (unix:sleep 1))
+;;                1.00024
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(defmacro bench (&rest args)
+  (let ((tm (gensym))
+        (str (gensym)))
+    `(let ((,tm (instance mtimer :init))
+           (,str ,(if (memq :print-string args)
+                      (cadr (memq :print-string args))
+                    "time")))
+       (send ,tm :start)
+       (prog1
+           (progn ,@args)
+         (format t ";; ~A -> ~A[s]~%" ,str (send ,tm :stop))))))
+
+(defmacro bench2 (&rest args)
+  (let ((tm (gensym)))
+    `(let ((,tm (instance mtimer :init)))
+       (send ,tm :start)
+       (progn
+         ,@args
+         (send ,tm :stop)))))
+
 (provide :irtutil "$Id$")
 
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

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[jskeus-commit] SF.net SVN: jskeus:[951] trunk/irteus/irtmodel.l

From: <sn...@us...> - 2013-09-17 04:47:23

Revision: 951
          http://sourceforge.net/p/jskeus/code/951
Author:   snozawa
Date:     2013-09-17 04:47:21 +0000 (Tue, 17 Sep 2013)
Log Message:
-----------
support 6dof joint for additional nspace and weight

Modified Paths:
--------------
    trunk/irteus/irtmodel.l

Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l	2013-09-11 11:18:07 UTC (rev 950)
+++ trunk/irteus/irtmodel.l	2013-09-17 04:47:21 UTC (rev 951)
@@ -1283,7 +1283,7 @@
           (union-link-list (send self :calc-union-link-list link-list))
           (fik-len (send self :calc-target-joint-dimension union-link-list))
           (weight (fill (instantiate float-vector fik-len) 1)) ;; additional weight
-          (additional-weight-list) ;; (list (list joint1 var1) (list joint2 var2) ...) ;; var is value or function (lambda)
+          (additional-weight-list) ;; (list (list link1 var1) (list link2 var2) ...) ;; var is value or function (lambda)
           (debug-view)
           (tmp-weight (instantiate float-vector fik-len))
           (tmp-len (instantiate float-vector fik-len)))
@@ -1293,12 +1293,13 @@
     (when (and debug-view (not (memq :no-message debug-view)))
       (format-array weight "usrwei:"))
     (dolist (ls additional-weight-list)
-      (let ((idx (reduce #'+ (send-all (send-all (subseq union-link-list 0 (position (send (car ls) :child-link) union-link-list :test #'equal)) :joint) :joint-dof)
+      (let ((idx (reduce #'+ (send-all (send-all (subseq union-link-list 0 (position (car ls) union-link-list :test #'equal)) :joint) :joint-dof)
                          :initial-value 0)))
-        (setf (elt weight idx) (* (elt weight idx)
-                                  (if (functionp (cadr ls))
-                                      (funcall (cadr ls))
-                                    (cadr ls))))))
+        (dotimes (ii (send (send (car ls) :joint) :joint-dof))
+          (let ((var (if (functionp (cadr ls)) (funcall (cadr ls)) (cadr ls))))
+            (setf (elt weight (+ ii idx)) (* (elt weight (+ ii idx))
+                                             (if (float-vector-p var) (elt var ii) var)))))
+        ))
     (when (and debug-view (not (memq :no-message debug-view)))
       (format-array weight "addwei:"))
     ;; calc weight from joint limit
@@ -1347,7 +1348,7 @@
           (union-link-list (send self :calc-union-link-list link-list))
           (fik-len (send self :calc-target-joint-dimension union-link-list))
           (null-space) (debug-view)
-          (additional-nspace-list) ;; (list (list joint1 var1) (list joint2 var2) ...) ;; var is value or function (lambda)
+          (additional-nspace-list) ;; (list (list link1 var1) (list link2 var2) ...) ;; var is value or function (lambda)
 	  ;; if user wants to use cog-jacobian as null-space, please set cog-gain(> 0.0) and target-centroid-pos
 	  (cog-gain 0.0) (target-centroid-pos) (centroid-offset-func)
           (weight (fill (instantiate float-vector fik-len) 1.0))
@@ -1368,12 +1369,14 @@
      ((functionp null-space) (setq null-space (funcall null-space)))
      ((listp null-space) (setq null-space (eval null-space))))
     (dolist (ls additional-nspace-list)
-      (let ((idx (reduce #'+ (send-all (send-all (subseq union-link-list 0 (position (send (car ls) :child-link) union-link-list :test #'equal)) :joint) :joint-dof)
+      (let ((idx (reduce #'+ (send-all (send-all (subseq union-link-list 0 (position (car ls) union-link-list :test #'equal)) :joint) :joint-dof)
                          :initial-value 0)))
-        (setf (elt tmp-nspace idx) (+ (elt tmp-nspace idx)
-                                      (if (functionp (cadr ls))
-                                          (funcall (cadr ls))
-                                        (cadr ls))))))
+        (dotimes (ii (send (send (car ls) :joint) :joint-dof))
+          (let ((var (if (functionp (cadr ls)) (funcall (cadr ls)) (cadr ls))))
+            (setf (elt tmp-nspace (+ ii idx))
+                  (+ (elt tmp-nspace (+ ii idx))
+                     (if (float-vector-p var) (elt var ii) var)))))
+        ))
     (if null-space
         (setq tmp-nspace
               (v+ null-space tmp-nspace tmp-nspace)))

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[jskeus-commit] SF.net SVN: jskeus:[950] trunk/irteus/irtmodel.l

From: <sn...@us...> - 2013-09-11 11:18:11

Revision: 950
          http://sourceforge.net/p/jskeus/code/950
Author:   snozawa
Date:     2013-09-11 11:18:07 +0000 (Wed, 11 Sep 2013)
Log Message:
-----------
add additional-nspace-list and additional-weight-list to set nspace or weight of specific joints

Modified Paths:
--------------
    trunk/irteus/irtmodel.l

Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l	2013-08-19 15:48:01 UTC (rev 949)
+++ trunk/irteus/irtmodel.l	2013-09-11 11:18:07 UTC (rev 950)
@@ -1283,6 +1283,7 @@
           (union-link-list (send self :calc-union-link-list link-list))
           (fik-len (send self :calc-target-joint-dimension union-link-list))
           (weight (fill (instantiate float-vector fik-len) 1)) ;; additional weight
+          (additional-weight-list) ;; (list (list joint1 var1) (list joint2 var2) ...) ;; var is value or function (lambda)
           (debug-view)
           (tmp-weight (instantiate float-vector fik-len))
           (tmp-len (instantiate float-vector fik-len)))
@@ -1291,6 +1292,15 @@
      ((listp weight) (setq weight (eval weight))))
     (when (and debug-view (not (memq :no-message debug-view)))
       (format-array weight "usrwei:"))
+    (dolist (ls additional-weight-list)
+      (let ((idx (reduce #'+ (send-all (send-all (subseq union-link-list 0 (position (send (car ls) :child-link) union-link-list :test #'equal)) :joint) :joint-dof)
+                         :initial-value 0)))
+        (setf (elt weight idx) (* (elt weight idx)
+                                  (if (functionp (cadr ls))
+                                      (funcall (cadr ls))
+                                    (cadr ls))))))
+    (when (and debug-view (not (memq :no-message debug-view)))
+      (format-array weight "addwei:"))
     ;; calc weight from joint limit
     (setq tmp-weight
           (send self :calc-weight-from-joint-limit
@@ -1337,6 +1347,7 @@
           (union-link-list (send self :calc-union-link-list link-list))
           (fik-len (send self :calc-target-joint-dimension union-link-list))
           (null-space) (debug-view)
+          (additional-nspace-list) ;; (list (list joint1 var1) (list joint2 var2) ...) ;; var is value or function (lambda)
 	  ;; if user wants to use cog-jacobian as null-space, please set cog-gain(> 0.0) and target-centroid-pos
 	  (cog-gain 0.0) (target-centroid-pos) (centroid-offset-func)
           (weight (fill (instantiate float-vector fik-len) 1.0))
@@ -1356,6 +1367,13 @@
     (cond
      ((functionp null-space) (setq null-space (funcall null-space)))
      ((listp null-space) (setq null-space (eval null-space))))
+    (dolist (ls additional-nspace-list)
+      (let ((idx (reduce #'+ (send-all (send-all (subseq union-link-list 0 (position (send (car ls) :child-link) union-link-list :test #'equal)) :joint) :joint-dof)
+                         :initial-value 0)))
+        (setf (elt tmp-nspace idx) (+ (elt tmp-nspace idx)
+                                      (if (functionp (cadr ls))
+                                          (funcall (cadr ls))
+                                        (cadr ls))))))
     (if null-space
         (setq tmp-nspace
               (v+ null-space tmp-nspace tmp-nspace)))
@@ -1375,6 +1393,7 @@
               ((:collision-avoidance-link-pair pair-list)
                (send self :collision-avoidance-link-pair-from-link-list link-list :obstacles (cadr (memq :obstacles args)) :debug (cadr (memq :debug-view args))))
 	      (cog-gain 0.0) (target-centroid-pos) (centroid-offset-func)
+              (additional-weight-list) (additional-nspace-list)
               (tmp-len (instantiate float-vector fik-len))
               (tmp-len2 (instantiate float-vector fik-len))
 	      (tmp-weight (instantiate float-vector fik-len))
@@ -1405,7 +1424,8 @@
            (send self :calc-inverse-kinematics-weight-from-link-list
                  link-list :weight weight :fik-len fik-len
                  :avoid-weight-gain avoid-weight-gain :union-link-list union-link-list
-                 :debug-view debug-view :tmp-len tmp-len :tmp-weight tmp-weight))
+                 :debug-view debug-view :tmp-len tmp-len :tmp-weight tmp-weight
+                 :additional-weight-list additional-weight-list))
 
      ;; calc inverse jacobian and projection jacobian
      (setq jacobi# (send* self :calc-inverse-jacobian jacobi :weight weight args))
@@ -1470,7 +1490,8 @@
                  link-list :union-link-list union-link-list
                  :avoid-nspace-gain avoid-nspace-gain :debug-view debug-view
 		 :cog-gain cog-gain :target-centroid-pos target-centroid-pos :centroid-offset-func centroid-offset-func
-                 :weight weight :fik-len fik-len :null-space null-space :tmp-nspace tmp-nspace))
+                 :weight weight :fik-len fik-len :null-space null-space :tmp-nspace tmp-nspace
+                 :additional-nspace-list additional-nspace-list))
      (if (send self :get :collision-avoidance-null-vector)
 	 (v+ tmp-nspace (send self :get :collision-avoidance-null-vector) tmp-nspace))
      ;;

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[jskeus-commit] SF.net SVN: jskeus:[949] trunk/irteus/irtcollada.l

From: <ky...@us...> - 2013-08-19 15:48:07

Revision: 949
          http://sourceforge.net/p/jskeus/code/949
Author:   kyouhei
Date:     2013-08-19 15:48:01 +0000 (Mon, 19 Aug 2013)
Log Message:
-----------
fix: moved link coords while computing inertia frame

Modified Paths:
--------------
    trunk/irteus/irtcollada.l

Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	2013-08-19 10:33:12 UTC (rev 948)
+++ trunk/irteus/irtcollada.l	2013-08-19 15:48:01 UTC (rev 949)
@@ -173,11 +173,11 @@
   (mapcar #'eusmodel-joint-spec joints))
 
 (defun eusmodel-link-spec (link)
-  (let* ((ac (send link :centroid))
+  (let* ((ac (link . user::acentroid))
          (it (send link :inertia-tensor))
          (rt-cds (let ((lnk link)) (while (send lnk :parent) (setq lnk (send lnk :parent)))
                       (send (car (send lnk :links)) :worldcoords)))
-         (mframe (send link :worldcoords))
+         (mframe (send link :copy-worldcoords))
          rot inertia)
     ;; centroid frame on rootlink coordinate
     (send mframe :translate ac)

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[jskeus-commit] Jenkinsのビルドが正常に戻りました: jskeus #95

From: <je...@js...> - 2013-08-19 10:39:20

<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/95/changes>を確認してください。

[jskeus-commit] SF.net SVN: jskeus:[948] trunk/irteus/irtrobot.l

From: <sn...@us...> - 2013-08-19 10:33:17

Revision: 948
          http://sourceforge.net/p/jskeus/code/948
Author:   snozawa
Date:     2013-08-19 10:33:12 +0000 (Mon, 19 Aug 2013)
Log Message:
-----------
add print-vector-for-robot-limb

Modified Paths:
--------------
    trunk/irteus/irtrobot.l

Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l	2013-08-16 14:28:51 UTC (rev 947)
+++ trunk/irteus/irtrobot.l	2013-08-19 10:33:12 UTC (rev 948)
@@ -428,6 +428,21 @@
        (push j result)
        (setq j nil))
      (nreverse result)))
+  (:print-vector-for-robot-limb
+   (vec)
+   (let ((tmp-limbs
+          (remove-duplicates
+           (mapcar #'(lambda (l)
+                       (find-if #'(lambda (tmp-limb) (member l (send self tmp-limb :links))) '(:rarm :larm :rleg :lleg :torso :head)))
+                   (send-all (send self :joint-list) :child-link))))
+         (ordered-joint-list (send self :joint-list)))
+     (format t "    #f(~%      ")
+     (dolist (tmp-limb tmp-limbs)
+       (dolist (j (send self tmp-limb :joint-list))
+         (format t "~6,2f " (elt vec (position j ordered-joint-list))))
+       (format t "~%      "))
+     (format t ")~%")
+     vec))
   )
 
 ;;; moved from rbrarin libraries

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[jskeus-commit] Jenkinsのビルドが失敗しました: jskeus #94

From: <je...@js...> - 2013-08-16 14:34:42

<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/94/changes>を確認してください。

変更履歴:

[kyouhei] remove debug print

------------------------------------------
[...truncated 897 lines...]
A         eus/models/akira-robot.l
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A         eus/models/room602-trashbox0-object.l
A         eus/models/askul-gdh-cupboard-object.l
A         eus/models/room73b2-coe-450-shelf-object.l
A         eus/models/tot-robot.l
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A         eus/models/room73b2-bariera-900-left-object.l
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A         eus/models/askul-ntr-cupboard-object.l
A         eus/models/room73b2-askul-1200x700-desk-6-object.l
A         eus/models/broom-object.l
A         eus/models/room73a3-village-chair-2-object.l
A         eus/models/sakae-900-desk-object.l
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A         eus/models/akira3-robot.l
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A         eus/models/book-object.l
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A         eus/models/room73a3-askul-1400-desk-2-object.l
A         eus/models/knife-object.l
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A         eus/models/sharp-52-aquostv-object.l
A         eus/models/white-bread-salad-dish-object.l
A         eus/models/room610-610-ground-object.l
A         eus/models/room602-askul-1200x700-desk-2-object.l
A         eus/models/room73b2-door-left-object.l
A         eus/models/uchida-2400-desk-object.l
A         eus/models/room602-door-object.l
A         eus/models/ape3-robot.l
A         eus/models/room73a3-officeprinter-object.l
A         eus/models/room73a3-shelf-1-object.l
AU        eus/models/wheelchair-seat2.jpg
A         eus/models/coe-stairs-object.l
A         eus/models/ball-object.l
A         eus/models/room73b2-sushi-cup2-object.l
A         eus/models/hitachi-fiesta-refrigerator-object.l
A         eus/models/h3s-robot.l
A         eus/models/plus-1800-pdesk-object.l
A         eus/models/room602-trashbox2-object.l
A         eus/models/room83b1-uchida-1800-desk-object.l
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A         eus/doc/latex/opengl.tex
A         eus/doc/latex/mars-pre.tex
A         eus/doc/latex/symbols.tex
A         eus/doc/latex/sysfunc.tex
A         eus/doc/latex/mytabbing.sty
A         eus/doc/latex/contact.tex
AU        eus/doc/latex/intro.tex
A         eus/doc/latex/sequences.tex
A         eus/doc/latex/voronoi.tex
A         eus/doc/latex/datetime.tex
A         eus/doc/latex/manual.ps
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A         eus/doc/latex/fig/synchports.ps
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A         eus/doc/latex/fig/fig-peg-naname-m4.ps
A         eus/doc/latex/fig/fig-peg-in-hole3.ps
A         eus/doc/latex/fig/robot-st2.ps
A         eus/doc/latex/fig/parathreads.ps
A         eus/doc/latex/fig/beam.ps
A         eus/doc/latex/fig/eta3coords.ps
A         eus/doc/latex/fig/object.ps
A         eus/doc/latex/fig/block1.edg.ps
A         eus/doc/latex/fig/loop.ps
A         eus/doc/latex/fig/torus.ps
A         eus/doc/latex/fig/panelitem.ps
A         eus/doc/latex/fig/pointer.ps
A         eus/doc/latex/fig/simwindow.ps
A         eus/doc/latex/fig/fig1.ps
A         eus/doc/latex/fig/fig-peg-naname-m1.ps
A         eus/doc/latex/fig/cup.ps
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A         eus/doc/latex/http.tex
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A         eus/doc/latex/text.tex
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AU        eus/doc/latex/manual.dvi
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A         eus/doc/latex/database.tex
A         eus/doc/latex/arith.tex
A         eus/doc/latex/euslisp.hlp
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A         eus/doc/jlatex/tape.tex
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A         eus/doc/jlatex/jimage.tex
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AU        eus/doc/jlatex/jmanual.pdf
AU        eus/doc/jlatex/test.dvi
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A         eus/doc/jlatex/jgeometry.tex
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AU        eus/doc/jlatex/fig
A         eus/doc/jlatex/jxwindow.tex
AU        eus/doc/jlatex/jmanual.dvi
A         eus/doc/jlatex/jmanual.idx
A         eus/doc/jlatex/jcontrols.tex
AU        eus/doc/jlatex/Makefile
A         eus/doc/jlatex/jmatrix.tex
A         eus/doc/jlatex/jarith.tex
A         eus/doc/jlatex/jvxw.tex
A         eus/doc/jlatex/jmars-pre.tex
A         eus/doc/jlatex/test.ps
A         eus/doc/jlatex/jsymbols.tex
A         eus/doc/jlatex/jsysfunc.tex
A         eus/doc/jlatex/jintro.tex
A         eus/doc/jlatex/jcontact.tex
A         eus/doc/jlatex/jsequences.tex
A         eus/doc/jlatex/jvoronoi.tex
A         eus/doc/jlatex/server.tex
A         eus/doc/jlatex/euslisp.hlp
A         eus/doc/jlatex/jgenerals.tex
A         eus/doc/jlatex/jgraphics.tex
A         eus/doc/jlatex/test.tex
Fetching 'hudson.scm.subversion.SubversionUpdateEventHandler$SVNExternalDetails@5de8f13a' at 652 into '<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/doc/jlatex'>
At revision 652
At revision 947
no change for https://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lisp since the previous build
no change for https://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib since the previous build
no change for https://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/models since the previous build
no change for https://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/doc/latex since the previous build
no change for https://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/doc/jlatex since the previous build
[jskeus] $ /bin/sh -xe /tmp/hudson7848216359852644496.sh
+ sudo apt-get install -y subversion gcc g++ libjpeg-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng12-dev xfonts-100dpi xfonts-75dpi msttcorefonts
Reading package lists...
Building dependency tree...
Reading state information...
g++ is already the newest version.
g++ set to manually installed.
gcc is already the newest version.
libjpeg-dev is already the newest version.
libjpeg-dev set to manually installed.
libpng12-dev is already the newest version.
libpng12-dev set to manually installed.
xfonts-100dpi is already the newest version.
xfonts-75dpi is already the newest version.
libgl1-mesa-dev is already the newest version.
libgl1-mesa-dev set to manually installed.
libglu1-mesa-dev is already the newest version.
libglu1-mesa-dev set to manually installed.
libpq-dev is already the newest version.
libpq-dev set to manually installed.
libx11-dev is already the newest version.
libx11-dev set to manually installed.
libxext-dev is already the newest version.
libxext-dev set to manually installed.
subversion is already the newest version.
The following NEW packages will be installed:
  ttf-mscorefonts-installer
0 upgraded, 1 newly installed, 0 to remove and 20 not upgraded.
Need to get 27.4 kB of archives.
After this operation, 133 kB of additional disk space will be used.
Get:1 http://jp.archive.ubuntu.com/ubuntu/ precise/multiverse ttf-mscorefonts-installer all 3.4ubuntu3 [27.4 kB]
perl: warning: Setting locale failed.
perl: warning: Please check that your locale settings:
	LANGUAGE = (unset),
	LC_ALL = (unset),
	LC_TIME = "ja_JP.UTF-8",
	LC_MONETARY = "ja_JP.UTF-8",
	LC_ADDRESS = "ja_JP.UTF-8",
	LC_TELEPHONE = "ja_JP.UTF-8",
	LC_NAME = "ja_JP.UTF-8",
	LC_MEASUREMENT = "ja_JP.UTF-8",
	LC_IDENTIFICATION = "ja_JP.UTF-8",
	LC_NUMERIC = "ja_JP.UTF-8",
	LC_PAPER = "ja_JP.UTF-8",
	LANG = "en_US.UTF-8"
    are supported and installed on your system.
perl: warning: Falling back to the standard locale ("C").
locale: Cannot set LC_ALL to default locale: No such file or directory
dpkg-preconfigure: unable to re-open stdin: No such file or directory
Fetched 27.4 kB in 0s (187 kB/s)
(Reading database ... 331231 files and directories currently installed.)
Unpacking ttf-mscorefonts-installer (from .../ttf-mscorefonts-installer_3.4ubuntu3_all.deb) ...
locale: Cannot set LC_ALL to default locale: No such file or directory
/usr/bin/locale: Cannot set LC_ALL to default locale: No such file or directory
[?1049h[1;24r[4l(B)0[m[37m[40m[1;24r[H[J[1;1H[35m                                                                                [2;1H                                                                                [3;1H                                                                                [4;1H                                                                                [5;1H                                                                                [6;1H                                                                                [7;1H                                                                                [8;1H                                                                                [9;1H                                                                                [10;1H                                                                                [11;1H                                                                                [12;1H                                                                                [13;1H                                                                                [14;1H                                                                                [15;1H                                                                                [16;1H                                                                                [17;1H                                                                                [18;1H                                                                                [19;1H                                                                                [20;1H                                                                                [21;1H                                                                                [22;1H                                                                                [23;1H                                                                                [24;1H                                                                               [24;79H [4h [4l[1;1H[33m[42mPackage configuration[2;2H[34m[40mlqqqqqqqqqqqqqqqqqu[m[34m[40m [31mConfiguring ttf-mscorefonts-installer[34m [34m[40mtqqqqqqqqqqqqqqqqqk[3;2Hx[m[33m[40m                                                                           [34m[40mx[m[32m[40m [4;2H[34m[40mx[m[33m[40m [36m[42mTrueType core fonts for the Web EULA                                       [32m[40m [5;2H[34m[40mx[m[33m[40m [36m[42m                                                                           [32m[40m [6;2H[34m[40mx[m[33m[40m [36m[42mEND-USER LICENSE AGREEMENT FOR MICROSOFT SOFTWARE                          [32m[40m [7;2H[34m[40mx[m[33m[40m [36m[42m                                                                           [32m[40m [8;2H[34m[40mx[m[33m[40m [36m[42mIMPORTANT-READ CAREFULLY: This Microsoft End-User License Agreement        [32m[40m [9;2H[34m[40mx[m[33m[40m [36m[42m("EULA") is a legal agreement between you (either an individual or a       [32m[40m [10;2H[34m[40mx[m[33m[40m [36m[42msingle entity) and Microsoft Corporation for the Microsoft software        [32m[40m [11;2H[34m[40mx[m[33m[40m [36m[42maccompanying this EULA, which includes computer software and may include   [32m[40m [12;2H[34m[40mx[m[33m[40m [36m[42massociated media, printed materials, and "on-line" or electronic           [32m[40m [13;2H[34m[40mx[m[33m[40m [36m[42mdocumentation ("SOFTWARE PRODUCT" or "SOFTWARE"). By exercising your       [32m[40m [14;2H[34m[40mx[m[33m[40m [36m[42mrights to make and use copies of the SOFTWARE PRODUCT, you agree to be     [32m[40m [15;2H[34m[40mx[m[33m[40m [36m[42mbound by the terms of this EULA. If you do not agree to the terms of       [32m[40m [16;2H[34m[40mx[m[33m[40m [36m[42mthis EULA, you may not use the SOFTWARE PRODUCT.                           [32m[40m [17;2H[34m[40mx[m[33m[40m [36m[42m                                                                           [32m[40m [18;2H[34m[40mx[m[33m[40m [36m[42mSOFTWARE PRODUCT LICENSE The SOFTWARE PRODUCT is protected by copyright    [32m[40m [19;2H[34m[40mx[m[33m[40m                                                                            [32m [20;2H[34m[40mx[m[33m[40m                                  [36m[43m<Ok>[33m[40m                                      [32m [21;2H[34m[40mx[m[33m[40m                                                                           [34m[40mx[m[32m[40m [22;2H[34m[40mmqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqj[m[32m[40m [23;3H                                                                             [4;4HFailed to open terminal.debconf: whiptail output the above errors, giving up!
dpkg: error processing /var/cache/apt/archives/ttf-mscorefonts-installer_3.4ubuntu3_all.deb (--unpack):
 subprocess new pre-installation script returned error exit status 255
Errors were encountered while processing:
 /var/cache/apt/archives/ttf-mscorefonts-installer_3.4ubuntu3_all.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)
Build step 'シェルの実行' marked build as failure

[jskeus-commit] SF.net SVN: jskeus:[947] trunk/irteus/irtcollada.l

From: <ky...@us...> - 2013-08-16 14:28:57

Revision: 947
          http://sourceforge.net/p/jskeus/code/947
Author:   kyouhei
Date:     2013-08-16 14:28:51 +0000 (Fri, 16 Aug 2013)
Log Message:
-----------
remove debug print

Modified Paths:
--------------
    trunk/irteus/irtcollada.l

Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	2013-08-16 14:27:11 UTC (rev 946)
+++ trunk/irteus/irtcollada.l	2013-08-16 14:28:51 UTC (rev 947)
@@ -185,7 +185,6 @@
     ;; calc principal axis
     (setq rot (search-minimum-rotation-matrix (car (user::sv-decompose it))))
     (setq inertia (m* (m* (transpose rot) it) rot))
-    (pprint (list rot inertia))
     (setq inertia (scale 1.0e-9 (float-vector (aref inertia 0 0) (aref inertia 1 1) (aref inertia 2 2))))
     ;; rotate inertia frame
     (send mframe :rotate rot)

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[jskeus-commit] SF.net SVN: jskeus:[946] trunk/irteus/irtcollada.l

From: <ky...@us...> - 2013-08-16 14:27:16

Revision: 946
          http://sourceforge.net/p/jskeus/code/946
Author:   kyouhei
Date:     2013-08-16 14:27:11 +0000 (Fri, 16 Aug 2013)
Log Message:
-----------
add values of mass, inertia and mass_frame to collada file in irtcollada.l [#38]

Modified Paths:
--------------
    trunk/irteus/irtcollada.l

Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	2013-08-15 14:36:57 UTC (rev 945)
+++ trunk/irteus/irtcollada.l	2013-08-16 14:27:11 UTC (rev 946)
@@ -128,10 +128,14 @@
 ;;  <joint-specs> := (<joint-spec> ...)
 ;;  <link-spec> := ((:name . <string>)
 ;;                  (:origin . <coordinates>)
-;;                  (:mesh . <mesh-spec>))
+;;                  (:mesh . <mesh-spec>)
+;;                  (:mass_frame . <coordinates>)
+;;                  (:mass . <float>)
+;;                  (:inertia . <float-vector>))
 ;;  <mesh-spec> := (<triangle faceset>)
 ;;   (all of the vertices has relative coordinates from the origin of the link)
 ;;  <joint-spec> := ((:name . <string>)
+;;                   (:id . <integer>)
 ;;                   (:type . <joint-type>)
 ;;                   (:limit . <limit-spec>)
 ;;                   (:axis . <float-vector>)
@@ -149,6 +153,7 @@
     ;; verification
     (verificate-unique-strings (mapcar #'string (send-all links :name)))
     (verificate-unique-strings (mapcar #'string (send-all joints :name)))
+    (dotimes (i (length joints)) (setf (get (elt joints i) :jointid) i)) ;; set :jointid to joint
     (list (eusmodel-link-specs links)
           (eusmodel-joint-specs joints)
           (eusmodel-endcoords-specs model))))
@@ -168,11 +173,31 @@
   (mapcar #'eusmodel-joint-spec joints))
 
 (defun eusmodel-link-spec (link)
-  (list (cons :name (string (send link :name)))
-        (cons :origin                   ;parent -> child transformation
-              (let ((parent (send link :parent)))
-                (send parent :transformation link)))
-        (cons :mesh (eusmodel-mesh-spec link))))
+  (let* ((ac (send link :centroid))
+         (it (send link :inertia-tensor))
+         (rt-cds (let ((lnk link)) (while (send lnk :parent) (setq lnk (send lnk :parent)))
+                      (send (car (send lnk :links)) :worldcoords)))
+         (mframe (send link :worldcoords))
+         rot inertia)
+    ;; centroid frame on rootlink coordinate
+    (send mframe :translate ac)
+    (setq mframe (send rt-cds :transformation mframe))
+    ;; calc principal axis
+    (setq rot (search-minimum-rotation-matrix (car (user::sv-decompose it))))
+    (setq inertia (m* (m* (transpose rot) it) rot))
+    (pprint (list rot inertia))
+    (setq inertia (scale 1.0e-9 (float-vector (aref inertia 0 0) (aref inertia 1 1) (aref inertia 2 2))))
+    ;; rotate inertia frame
+    (send mframe :rotate rot)
+    (list (cons :name (string (send link :name)))
+          (cons :origin                   ;parent -> child transformation
+                (let ((parent (send link :parent)))
+                  (send parent :transformation link)))
+          (cons :mesh (eusmodel-mesh-spec link))
+          (cons :mass_frame mframe)
+          (cons :mass (/ (send link :weight) 1000.0))
+          (cons :inertia inertia)
+          )))
 
 (defun eusmodel-mesh-spec (link)
   ;; right?
@@ -198,6 +223,7 @@
                       :rotational-joint)
                      ((derivedp _joint user::linear-joint)
                       :linear-joint)))
+        (cons :id (get _joint :jointid))
         (cons :limit (eusmodel-limit-spec _joint))
         (cons :axis (case (_joint . user::axis)
                       (:x #f(1 0 0)) (:y #f(0 1 0)) (:z #f(0 0 1))
@@ -552,11 +578,17 @@
                    (sid ,(format nil "~a" sid))
                    (name ,(format nil "~a_link" link-name)))
                 (technique_common
-                 (mass "1")
+                 (mass ,(format nil "~A" (cdr (assoc :mass ld))))
                  (mass_frame
-                  (translate "0 0 0")
-                  (rotate "0 0 1 0"))
-                 (inertia "1 1 1")
+                  (translate
+                   ,(float-vector->collada-string
+                     (send (cdr (assoc :mass_frame ld)) :worldpos)))
+                  (rotate
+                   ,(float-vector->collada-string
+                     (matrix->collada-rotate-vector
+                      (send (cdr (assoc :mass_frame ld)) :worldrot)))))
+                 (inertia
+                  ,(float-vector->collada-string (cdr (assoc :inertia ld))))
                  ,@(mapcar
                     #'(lambda (ii)
                         `(shape
@@ -786,7 +818,8 @@
         (name (cdr (assoc :name joint-description))))
     `(joint
       (@ (id ,id)
-         (name ,(format nil "~A" name)))
+         (name ,(format nil "~A" name))
+         (sid ,(format nil "jointsid~A" (cdr (assoc :id joint-description)))))
       ,(cond ((eq (cdr (assoc :type joint-description)) :linear-joint)
               (linear-joint-description->collada-joint joint-description))
              ((eq (cdr (assoc :type joint-description)) :rotational-joint)
@@ -990,6 +1023,52 @@
       (push i ids))
     (reverse ids)))
 
+(defun search-minimum-rotation-matrix (mat)
+  (let* ((a (matrix-column mat 0))
+         (b (matrix-column mat 1))
+         (c (matrix-column mat 2))
+         (src-lst (list a b c))
+         (xx (float-vector 1 0 0))
+         (yy (float-vector 0 1 0))
+         (zz (float-vector 0 0 1))
+         (dst-lst (list xx yy zz))
+         (max-dist -2)
+         ret)
+    ;; search minimum distance of each axis on new matrix
+    (dolist (src src-lst)
+      (dolist (dst dst-lst)
+        (let ((dist (abs (v. src dst))))
+          (when (> dist max-dist)
+            (setq max-dist dist)
+            (setq ret (cons src dst))))))
+    ;; choose order for making rotation matrix
+    (transpose
+    (cond
+     ((eq (cdr ret) xx)
+      (let ((r (apply #'matrix (if (> (v. (car ret) (cdr ret)) 0)
+                                   (car ret) (scale -1.0 (car ret)))
+                      (remove (car ret) src-lst))))
+        (if (< (user::matrix-determinant r) 0)
+            (apply #'matrix (if (> (v. (car ret) (cdr ret)) 0)
+                                (car ret) (scale -1.0 (car ret)))
+                   (reverse (remove (car ret) src-lst))) r)))
+     ((eq (cdr ret) yy)
+      (let* ((sc (remove (car ret) src-lst))
+             (r (matrix (car sc) (if (> (v. (car ret) (cdr ret)) 0)
+                                     (car ret) (scale -1.0 (car ret)))
+                        (cadr sc))))
+        (if (< (user::matrix-determinant r) 0)
+            (matrix (cadr sc) (if (> (v. (car ret) (cdr ret)) 0)
+                                (car ret) (scale -1.0 (car ret)))
+                    (car sc)) r)))
+     (t ;;(eq (cdr ret) zz)
+      (let* ((sc (remove (car ret) src-lst))
+             (r (matrix (car sc) (cadr sc) (if (> (v. (car ret) (cdr ret)) 0)
+                                               (car ret) (scale -1.0 (car ret))))))
+        (if (< (user::matrix-determinant r) 0)
+            (matrix (cadr sc) (car sc) (if (> (v. (car ret) (cdr ret)) 0)
+                                           (car ret) (scale -1.0 (car ret))))))))
+      )))
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 ;; convert function
 ;;  irtmodel -> collada model

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[jskeus-commit] SF.net SVN: jskeus:[945] trunk/irteus/irtcollada.l

From: <ky...@us...> - 2013-08-15 14:37:00

Revision: 945
          http://sourceforge.net/p/jskeus/code/945
Author:   kyouhei
Date:     2013-08-15 14:36:57 +0000 (Thu, 15 Aug 2013)
Log Message:
-----------
add sid to collada node for removing root_node in irtcollada.l, [#38]

Modified Paths:
--------------
    trunk/irteus/irtcollada.l

Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	2013-08-15 13:17:08 UTC (rev 944)
+++ trunk/irteus/irtcollada.l	2013-08-15 14:36:57 UTC (rev 945)
@@ -269,8 +269,7 @@
        ;; (xsi:schemaLocation "http://www.collada.org/2008/03/COLLADASchema http://www.khronos.org/files/collada_schema_1_5")
        )
     (asset
-     (contributor (authoring_tool 
-                    "Eus2Collada"))
+     (contributor (authoring_tool "Eus2Collada"))
      (unit (@ (meter ,scale)
               (name "millimeter")))
      (up_axis "Z_UP"))
@@ -416,10 +415,15 @@
          (link-descriptions (eusmodel-link-description desc))
          (j (find-joint-from-link-description target-link (eusmodel-joint-description desc)))
          (meshes (cdr (assoc :mesh target-link)))
-         (origin (cdr (assoc :origin target-link))))
+         (origin (cdr (assoc :origin target-link)))
+         (pos (position-if #'(lambda (l)
+                               (string= (cdr (assoc :name target-link))
+                                        (cdr (assoc :name l))))
+                           (eusmodel-link-description desc))))
   `(node
     (@ (id ,(collada-node-id target-link))
-       (name ,(collada-node-name target-link)))
+       (name ,(collada-node-name target-link))
+       (sid ,(format nil "node~D" pos)))
     ,@(eusmodel-description->collada-node-transformations target-link desc)
     ,@(mapcar
        #'(lambda (i)
@@ -447,12 +451,9 @@
       (@ (id "visual1")
          (sid "visual1")
          (name ,name))
-      (node
-       (@ (id "root_node")
-          (name "RootNode"))
-       ,@(mapcar #'(lambda (l)
-                     (eusmodel-description->collada-node l desc))
-                 (eusmodel-link-description desc)))))))
+      ,@(mapcar #'(lambda (l)
+                    (eusmodel-description->collada-node l desc))
+                (eusmodel-link-description desc))))))
 
 (defun mesh-description->instance-material (s)
   `(instance_material
@@ -827,7 +828,7 @@
     (instance_kinematics_scene
      (@ (url "#kscene"))
      (bind_kinematics_model
-      (@ (node "root_node"))
+      (@ (node "visual1/node0"))
       (param
        "kscene_kmodel1_inst"))
      ;; bind_joint_axis

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[jskeus-commit] SF.net SVN: jskeus:[944] trunk/irteus/irtcollada.l

From: <ky...@us...> - 2013-08-15 13:17:11

Revision: 944
          http://sourceforge.net/p/jskeus/code/944
Author:   kyouhei
Date:     2013-08-15 13:17:08 +0000 (Thu, 15 Aug 2013)
Log Message:
-----------
add library_physics_models and library_physics_scene in irtcollada.l, but now adding dummy mass and inertia [#38]

Modified Paths:
--------------
    trunk/irteus/irtcollada.l

Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	2013-08-15 12:32:50 UTC (rev 943)
+++ trunk/irteus/irtcollada.l	2013-08-15 13:17:08 UTC (rev 944)
@@ -274,12 +274,14 @@
      (unit (@ (meter ,scale)
               (name "millimeter")))
      (up_axis "Z_UP"))
-    ,(eusmodel-description->collada-library-visual-scenes description)
+    ,(eusmodel-description->collada-library-visual-scenes name description)
     ,(eusmodel-description->collada-library-joints description)
     ,(links-description->collada-library-effects (eusmodel-link-description description))
     ,(links-description->collada-library-materials (eusmodel-link-description description))
     ,(eusmodel-description->collada-library-kinematics-models name description)
     ,(eusmodel-description->collada-library-kinematics-scenes name description)
+    ,(eusmodel-description->collada-library-physics-scenes name description)
+    ,(eusmodel-description->collada-library-physics-models name description)
     ,(eusmodel-description->collada-library-geometries description)
     ,(eusmodel-description->collada-library-articulated-systems description name)
     ;; default scene...
@@ -435,7 +437,7 @@
                                     (collada-geometry-id-base target-link) i))))))))
        (enum-integer-list (length meshes))))))
 
-(defun eusmodel-description->collada-library-visual-scenes (desc)
+(defun eusmodel-description->collada-library-visual-scenes (name desc)
   `(library_visual_scenes
     (@ (id "vscenes"))
     (visual_scene
@@ -444,7 +446,7 @@
      (node
       (@ (id "visual1")
          (sid "visual1")
-         (name "VisualRoot"))
+         (name ,name))
       (node
        (@ (id "root_node")
           (name "RootNode"))
@@ -508,11 +510,64 @@
   (let ((joints-desc (eusmodel-joint-description desc)))
     `(kinematics_model
       (@ (id "kmodel1")
-         (name ,(format nil "~A-kmodel1" name))) ;the name of robot...?
+         (name ,name)) ;the name of robot...?
       (technique_common
        ,@(joints-description->collada-instance-joints joints-desc)
        ,@(eusmodel-description->collada-links desc)))))
 
+;; physics
+(defun eusmodel-description->collada-library-physics-scenes (name desc)
+  `(library_physics_scenes
+    (@ (id "pscenes"))
+    (physics_scene
+     (@ (id "pscene")
+        (name "Eus2Collada Physics Scene"))
+     (instance_physics_model
+      (@ (url "#pmodel1")
+         (sid "pmodel1")
+         (parent "#visual1"))
+      ,(let* ((links (eusmodel-link-description desc))
+              (ids (enum-integer-list (length links))))
+         (mapcar #'(lambda (i l)
+                     `(instance_rigid_body
+                       (@ (body ,(format nil "rigid~a" i))
+                          (target ,(format nil "#~a" (collada-node-id l))))))
+                 ids links))))))
+
+(defun eusmodel-description->collada-library-physics-models (name desc)
+  `(library_physics_models
+    (@ (id "pmodels"))
+    (physics_model
+     (@ (id "pmodel1")
+        (name ,name))
+     ,@(mapcar
+        #'(lambda (i ld)
+            (let* ((link-name (cdr (assoc :name ld))) ;; link-name without _link
+                   (id (format nil "rigid~a" i)) ;; id
+                   (sid (format nil "rigid~a" i)) ;; sid
+                   (meshes (cdr (assoc :mesh ld))))
+              `(rigid_body
+                (@ (id ,(format nil "~a" id))
+                   (sid ,(format nil "~a" sid))
+                   (name ,(format nil "~a_link" link-name)))
+                (technique_common
+                 (mass "1")
+                 (mass_frame
+                  (translate "0 0 0")
+                  (rotate "0 0 1 0"))
+                 (inertia "1 1 1")
+                 ,@(mapcar
+                    #'(lambda (ii)
+                        `(shape
+                          (instance_geometry
+                           (@ (url ,(format nil "#~a.geometry.~a" link-name ii)
+                                   )))
+                          (translate "0 0 0")
+                          (rotate "0 0 1 0")))
+                    (enum-integer-list (length meshes)))))))
+        (enum-integer-list (length (eusmodel-link-description desc)))
+        (eusmodel-link-description desc)))))
+
 ;; returns the name of root link
 ;; TODO: this function does not work. we need to create a tree
 ;; of robot models and find the root of the tree.
@@ -765,6 +820,8 @@
 
 (defun eusmodel-description->collada-scene (description)
   `(scene
+    (instance_physics_scene
+     (@ (url "#pscene")))
     (instance_visual_scene
      (@ (url "#vscene")))
     (instance_kinematics_scene

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[jskeus-commit] SF.net SVN: jskeus:[943] trunk/irteus/irtcollada.l

From: <ky...@us...> - 2013-08-15 12:32:54

Revision: 943
          http://sourceforge.net/p/jskeus/code/943
Author:   kyouhei
Date:     2013-08-15 12:32:50 +0000 (Thu, 15 Aug 2013)
Log Message:
-----------
swap order of <articulated_system> in irtcollada.l [#39]

Modified Paths:
--------------
    trunk/irteus/irtcollada.l

Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	2013-08-15 10:32:04 UTC (rev 942)
+++ trunk/irteus/irtcollada.l	2013-08-15 12:32:50 UTC (rev 943)
@@ -476,8 +476,9 @@
      (@ (id "kscene")
         (name "Eus2Collada Kinematics Scene"))
      (instance_articulated_system
-      (@ (url "#robot1_motion")
-         (sid "robot1_motion_inst"))
+      (@ (sid "robot1_motion_inst")
+         (url "#robot1_motion")
+         (name ,name))
       (newparam
        (@ (sid "kscene_kmodel1_inst"))
        "<SIDREF>robot1_motion/robot1_motion.kmodel1_inst</SIDREF>")
@@ -590,47 +591,10 @@
   `(library_articulated_systems
     (@ (id "asystems"))
     (articulated_system
-     (@ (id "robot1_kinematics")
-        (name ,name))
-     (kinematics
-      (instance_kinematics_model
-       (@ (url "#kmodel1")
-          (sid "kmodel1_inst"))
-       (newparam
-        (@ (sid "robot1_motion_kmodel1_inst"))
-        "<SIDREF>robot1_kinematics/kmodel1_inst</SIDREF>")
-       ;; joint axis
-       ,@(mapcar #'(lambda (j)
-                     (let ((joint-name (cdr (assoc :name j))))
-                       `(newparam
-                         (@ (sid ,(format nil "robot1_motion_kmodel1_inst.~A_axis0" joint-name)))
-                         ,(format nil
-                                  "<SIDREF>robot1_kinematics/kmodel1_inst/~A/axis0</SIDREF>~%" joint-name))))
-                 (eusmodel-joint-description desc))
-       ;; joint axis value
-       ,@(mapcar #'(lambda (j)
-                     (let ((joint-name (cdr (assoc :name j))))
-                       `(newparam
-                         (@ (sid ,(format nil "robot1_motion_kmodel1_inst.~A.value" joint-name)))
-                         (float "0"))))
-                 (eusmodel-joint-description desc)))
-      (technique_common
-       ,@(mapcar
-          #'(lambda (j)
-              (let ((joint-name (cdr (assoc :name j))))
-                `(axis_info
-                  (@ (axis ,(format nil "kmodel1/~A/axis0" joint-name)) ;??
-                     (sid ,(format nil "~A_info" joint-name))))))
-          (eusmodel-joint-description desc)))))
-    (articulated_system
-     (@ (id "robot1_motion")
-        ;; (name "robot1_motion") ;; name not needed ??
-        )
+     (@ (id "robot1_motion"))
      (motion
        (instance_articulated_system
-        (@ (url "#robot1_kinematics")
-           ;; (sid "kmodel1_inst") ;; sid not needed ??
-           )
+        (@ (url "#robot1_kinematics"))
         ;; here we bind parameters...
         (newparam
          (@ (sid "robot1_motion.kmodel1_inst"))
@@ -664,6 +628,38 @@
         #'(lambda (e)
             (eusmodel-endcoords-description->openrave-manipulator e desc))
         (eusmodel-endcoords-description desc)))
+    (articulated_system
+     (@ (id "robot1_kinematics"))
+     (kinematics
+      (instance_kinematics_model
+       (@ (url "#kmodel1")
+          (sid "kmodel1_inst"))
+       (newparam
+        (@ (sid "robot1_motion_kmodel1_inst"))
+        "<SIDREF>robot1_kinematics/kmodel1_inst</SIDREF>")
+       ;; joint axis
+       ,@(mapcar #'(lambda (j)
+                     (let ((joint-name (cdr (assoc :name j))))
+                       `(newparam
+                         (@ (sid ,(format nil "robot1_motion_kmodel1_inst.~A_axis0" joint-name)))
+                         ,(format nil
+                                  "<SIDREF>robot1_kinematics/kmodel1_inst/~A/axis0</SIDREF>~%" joint-name))))
+                 (eusmodel-joint-description desc))
+       ;; joint axis value
+       ,@(mapcar #'(lambda (j)
+                     (let ((joint-name (cdr (assoc :name j))))
+                       `(newparam
+                         (@ (sid ,(format nil "robot1_motion_kmodel1_inst.~A.value" joint-name)))
+                         (float "0"))))
+                 (eusmodel-joint-description desc)))
+      (technique_common
+       ,@(mapcar
+          #'(lambda (j)
+              (let ((joint-name (cdr (assoc :name j))))
+                `(axis_info
+                  (@ (axis ,(format nil "kmodel1/~A/axis0" joint-name)) ;??
+                     (sid ,(format nil "~A_info" joint-name))))))
+          (eusmodel-joint-description desc)))))
     ))
 
 (defun eusmodel-endcoords-description->openrave-manipulator (end-coords description)

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[jskeus-commit] SF.net SVN: jskeus:[942] trunk/irteus/irtcollada.l

From: <ky...@us...> - 2013-08-15 10:32:09

Revision: 942
          http://sourceforge.net/p/jskeus/code/942
Author:   kyouhei
Date:     2013-08-15 10:32:04 +0000 (Thu, 15 Aug 2013)
Log Message:
-----------
rename attribute kinsystem -> robot1_kinematics, rename libarticulated_systems.kinScene_libarticulated_systems.kinScene -> robot1_motion,add attribute id=asystems to library_articulated_systems, in irtcollada.l [#39]

Modified Paths:
--------------
    trunk/irteus/irtcollada.l

Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	2013-08-15 05:59:17 UTC (rev 941)
+++ trunk/irteus/irtcollada.l	2013-08-15 10:32:04 UTC (rev 942)
@@ -588,29 +588,30 @@
 
 (defun eusmodel-description->collada-library-articulated-systems (desc name)
   `(library_articulated_systems
+    (@ (id "asystems"))
     (articulated_system
-     (@ (id "kinsystem")
+     (@ (id "robot1_kinematics")
         (name ,name))
      (kinematics
       (instance_kinematics_model
        (@ (url "#kmodel1")
           (sid "kmodel1_inst"))
        (newparam
-        (@ (sid "libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst"))
-        "<SIDREF>kinsystem/kmodel1_inst</SIDREF>")
+        (@ (sid "robot1_motion_kmodel1_inst"))
+        "<SIDREF>robot1_kinematics/kmodel1_inst</SIDREF>")
        ;; joint axis
        ,@(mapcar #'(lambda (j)
                      (let ((joint-name (cdr (assoc :name j))))
                        `(newparam
-                         (@ (sid ,(format nil "libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst.~A_axis0" joint-name)))
+                         (@ (sid ,(format nil "robot1_motion_kmodel1_inst.~A_axis0" joint-name)))
                          ,(format nil
-                                  "<SIDREF>kinsystem/kmodel1_inst/~A/axis0</SIDREF>~%" joint-name))))
+                                  "<SIDREF>robot1_kinematics/kmodel1_inst/~A/axis0</SIDREF>~%" joint-name))))
                  (eusmodel-joint-description desc))
        ;; joint axis value
        ,@(mapcar #'(lambda (j)
                      (let ((joint-name (cdr (assoc :name j))))
                        `(newparam
-                         (@ (sid ,(format nil "libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst.~A.value" joint-name)))
+                         (@ (sid ,(format nil "robot1_motion_kmodel1_inst.~A.value" joint-name)))
                          (float "0"))))
                  (eusmodel-joint-description desc)))
       (technique_common
@@ -623,21 +624,23 @@
           (eusmodel-joint-description desc)))))
     (articulated_system
      (@ (id "robot1_motion")
-        (name "robot1_motion"))
+        ;; (name "robot1_motion") ;; name not needed ??
+        )
      (motion
        (instance_articulated_system
-        (@ (url "#kinsystem")
-           (sid "kmodel1_inst"))
+        (@ (url "#robot1_kinematics")
+           ;; (sid "kmodel1_inst") ;; sid not needed ??
+           )
         ;; here we bind parameters...
         (newparam
          (@ (sid "robot1_motion.kmodel1_inst"))
-         "<SIDREF>kinsystem/libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst</SIDREF>")
+         "<SIDREF>robot1_kinematics/robot1_motion_kmodel1_inst</SIDREF>")
         ,@(mapcar
            #'(lambda (j)
                (let ((joint-name (cdr (assoc :name j))))
                  `(newparam
                    (@ (sid ,(format nil "robot1_motion.kmodel1_inst.inst_~A_axis0" joint-name)))
-                   ,(format nil "<SIDREF>kinsystem/libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst.~A_axis0</SIDREF>"
+                   ,(format nil "<SIDREF>robot1_kinematics/robot1_motion_kmodel1_inst.~A_axis0</SIDREF>"
                             joint-name)
                    )))
            (eusmodel-joint-description desc))
@@ -646,7 +649,7 @@
                (let ((joint-name (cdr (assoc :name j))))
                  `(newparam
                    (@ (sid ,(format nil "robot1_motion.kmodel1_inst.inst_~A_value" joint-name)))
-                   ,(format nil "<SIDREF>libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst.~A.value</SIDREF>"
+                   ,(format nil "<SIDREF>robot1_motion_kmodel1_inst.~A.value</SIDREF>"
                             joint-name))))
            (eusmodel-joint-description desc)))
        (technique_common
@@ -654,14 +657,14 @@
            #'(lambda (j)
                (let ((joint-name (cdr (assoc :name j))))
                  `(axis_info
-                   (@ (axis ,(format nil "kinsystem/~A_info" joint-name))))))
+                   (@ (axis ,(format nil "robot1_kinematics/~A_info" joint-name))))))
            (eusmodel-joint-description desc))))
      ;; for openrave profile
      ,@(mapcar
         #'(lambda (e)
             (eusmodel-endcoords-description->openrave-manipulator e desc))
-        (eusmodel-endcoords-description desc))
-     )))
+        (eusmodel-endcoords-description desc)))
+    ))
 
 (defun eusmodel-endcoords-description->openrave-manipulator (end-coords description)
   (let ((name (car end-coords))

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[jskeus-commit] SF.net SVN: jskeus:[941] trunk/irteus/irtcollada.l

From: <ky...@us...> - 2013-08-15 05:59:23

Revision: 941
          http://sourceforge.net/p/jskeus/code/941
Author:   kyouhei
Date:     2013-08-15 05:59:17 +0000 (Thu, 15 Aug 2013)
Log Message:
-----------
rename attribute kinsystem_motion -> robot1_motion, inst_kinsystem -> robot1_motion_inst, kinsystem_inst -> kmodel1_inst in irtcollada.l [#39]

Modified Paths:
--------------
    trunk/irteus/irtcollada.l

Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	2013-08-15 04:19:21 UTC (rev 940)
+++ trunk/irteus/irtcollada.l	2013-08-15 05:59:17 UTC (rev 941)
@@ -476,25 +476,25 @@
      (@ (id "kscene")
         (name "Eus2Collada Kinematics Scene"))
      (instance_articulated_system
-      (@ (url "#kinsystem_motion")
-         (sid "inst_kinsystem"))
+      (@ (url "#robot1_motion")
+         (sid "robot1_motion_inst"))
       (newparam
-       (@ (sid "kscene_kscene_kmodel1_inst"))
-       "<SIDREF>kinsystem_motion/kinsystem_motion.kinsystem_inst</SIDREF>")
+       (@ (sid "kscene_kmodel1_inst"))
+       "<SIDREF>robot1_motion/robot1_motion.kmodel1_inst</SIDREF>")
       ;; joint axis
       ,@(mapcar #'(lambda (j)
                     (let ((joint-name (cdr (assoc :name j))))
                       `(newparam
-                        (@ (sid ,(format nil "kscene_kscene_kmodel1_inst.~A_axis0" joint-name)))
-                        ,(format nil "<SIDREF>kinsystem_motion/kinsystem_motion.kinsystem_inst.inst_~A_axis0</SIDREF>"
+                        (@ (sid ,(format nil "kscene_kmodel1_inst.~A_axis0" joint-name)))
+                        ,(format nil "<SIDREF>robot1_motion/robot1_motion.kmodel1_inst.inst_~A_axis0</SIDREF>"
                                  joint-name))))
                 (eusmodel-joint-description desc))
       ;; joint axis value
       ,@(mapcar #'(lambda (j)
                     (let ((joint-name (cdr (assoc :name j))))
                       `(newparam
-                        (@ (sid ,(format nil "kscene_kscene_kmodel1_inst.~A.value" joint-name)))
-                        ,(format nil "<SIDREF>kinsystem_motion/kinsystem_motion.kinsystem_inst.inst_~A_value</SIDREF>"
+                        (@ (sid ,(format nil "kscene_kmodel1_inst.~A.value" joint-name)))
+                        ,(format nil "<SIDREF>robot1_motion/robot1_motion.kmodel1_inst.inst_~A_value</SIDREF>"
                                  joint-name))))
                 (eusmodel-joint-description desc))))))
 
@@ -622,21 +622,21 @@
                      (sid ,(format nil "~A_info" joint-name))))))
           (eusmodel-joint-description desc)))))
     (articulated_system
-     (@ (id "kinsystem_motion")
-        (name "kinsystem_motion"))
+     (@ (id "robot1_motion")
+        (name "robot1_motion"))
      (motion
        (instance_articulated_system
         (@ (url "#kinsystem")
-           (sid "kinsystem_inst"))
+           (sid "kmodel1_inst"))
         ;; here we bind parameters...
         (newparam
-         (@ (sid "kinsystem_motion.kinsystem_inst"))
+         (@ (sid "robot1_motion.kmodel1_inst"))
          "<SIDREF>kinsystem/libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst</SIDREF>")
         ,@(mapcar
            #'(lambda (j)
                (let ((joint-name (cdr (assoc :name j))))
                  `(newparam
-                   (@ (sid ,(format nil "kinsystem_motion.kinsystem_inst.inst_~A_axis0" joint-name)))
+                   (@ (sid ,(format nil "robot1_motion.kmodel1_inst.inst_~A_axis0" joint-name)))
                    ,(format nil "<SIDREF>kinsystem/libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst.~A_axis0</SIDREF>"
                             joint-name)
                    )))
@@ -645,7 +645,7 @@
            #'(lambda (j)
                (let ((joint-name (cdr (assoc :name j))))
                  `(newparam
-                   (@ (sid ,(format nil "kinsystem_motion.kinsystem_inst.inst_~A_value" joint-name)))
+                   (@ (sid ,(format nil "robot1_motion.kmodel1_inst.inst_~A_value" joint-name)))
                    ,(format nil "<SIDREF>libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst.~A.value</SIDREF>"
                             joint-name))))
            (eusmodel-joint-description desc)))
@@ -773,7 +773,7 @@
      (bind_kinematics_model
       (@ (node "root_node"))
       (param
-       "kscene_kscene_kmodel1_inst"))
+       "kscene_kmodel1_inst"))
      ;; bind_joint_axis
       ,@(mapcar
          #'(lambda (j)
@@ -786,12 +786,12 @@
                 (param
                    ,(format
                      nil
-                     "kscene_kscene_kmodel1_inst.~A_axis0"
+                     "kscene_kmodel1_inst.~A_axis0"
                      (cdr (assoc :name j)))))
                (value
                 (param
                  ,(format nil
-                          "kscene_kscene_kmodel1_inst.~A.value" (cdr (assoc :name j)))))))
+                          "kscene_kmodel1_inst.~A.value" (cdr (assoc :name j)))))))
          (eusmodel-joint-description description)))))
 
 (defun eusmodel-description->collada-library-geometries (description)

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