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Ramps and jumps #17

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merged 8 commits into from
Jul 29, 2024
Merged

Ramps and jumps #17

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6aae4df
Added possibility to get the terrain transform matrix given a function
S-Dafarra May 27, 2024
3f6cbd3
Added main file for walking on ramps
S-Dafarra May 27, 2024
ae16dad
First attempt for jumping on flat ground
S-Dafarra May 28, 2024
88c2cdc
It walks, but it should jump
S-Dafarra May 29, 2024
3984b3d
Still walking
S-Dafarra May 29, 2024
a8a1be2
Some initial jump (on rollerblades)
S-Dafarra May 29, 2024
29ade0e
A bit better jump
S-Dafarra May 29, 2024
22f07f2
Some further tuning for jumping
S-Dafarra May 29, 2024
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27 changes: 27 additions & 0 deletions src/hippopt/robot_planning/utilities/terrain_descriptor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@ class TerrainDescriptor(abc.ABC):
_height_function: cs.Function | None = dataclasses.field(default=None)
_normal_direction_function: cs.Function | None = dataclasses.field(default=None)
_orientation_function: cs.Function | None = dataclasses.field(default=None)
_transform_function: cs.Function | None = dataclasses.field(default=None)
_point_position_name: str = dataclasses.field(default="point_position")
_name: str = dataclasses.field(default=None)
_options: dict = dataclasses.field(default_factory=dict)
Expand Down Expand Up @@ -78,6 +79,25 @@ def create_orientation_function(self) -> cs.Function:
self._options,
)

def create_transform_function(self) -> cs.Function:
point_position = cs.MX.sym(self.get_point_position_name(), 3)
height = self.height_function()(point_position)
rotation = self.orientation_function()(point_position)

point_on_surface = cs.vertcat(point_position[:2], point_position[2] - height)
top_rows = cs.horzcat(rotation, point_on_surface)
fourth_row = cs.DM.eye(4)[3, :]
transform_matrix = cs.vertcat(top_rows, fourth_row)

return cs.Function(
"terrain_transform",
[point_position],
[transform_matrix],
[self.get_point_position_name()],
["plane_transform"],
self._options,
)

def height_function(self) -> cs.Function:
if not isinstance(self._height_function, cs.Function):
self._height_function = self.create_height_function()
Expand All @@ -96,6 +116,12 @@ def orientation_function(self) -> cs.Function:

return self._orientation_function

def transform_function(self) -> cs.Function:
if not isinstance(self._transform_function, cs.Function):
self._transform_function = self.create_transform_function()

return self._transform_function

def get_point_position_name(self) -> str:
return self._point_position_name

Expand All @@ -109,3 +135,4 @@ def invalidate_functions(self) -> None:
self._height_function = None
self._normal_direction_function = None
self._orientation_function = None
self._transform_function = None
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