def main():
np.set_printoptions(precision=4, linewidth=200)
#motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5()
motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped()
mcfg_motion = mit.normal_mcfg()
vpWorld = cvw.VpWorld(wcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
motionModel.recordVelByFiniteDiff()
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
footPartNum = config['FootPartNum']
if footPartNum > 1:
elasticity = 2000
damping = 2 * (elasticity**.5)
springBody1 = 5
springBody2 = 6
springBody1Pos = motionModel.getBodyPositionGlobal(
motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]))
springBody2Pos = motionModel.getBodyPositionGlobal(
motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]))
initialDist = mm.length(springBody1Pos - springBody2Pos) * 1.
node = mcfg.getNode(mit.LEFT_PHALANGE_1)
initialDist -= node.width #0.084
v1 = (-node.width * 0.5, 0.0, node.length * 0.4)
v2 = (node.width * 0.5, 0.0, node.length * 0.4)
controlModel.setSpring(
motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]),
motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]),
elasticity, damping, v2, v1, initialDist)
controlModel.setSpring(
motion[0].skeleton.getJointIndex(config['FootRPart'][springBody1]),
motion[0].skeleton.getJointIndex(config['FootRPart'][springBody2]),
elasticity, damping, v1, v2, initialDist)
#elasticity = 10
#damping = 2*(elasticity**.5)
#springBody1 = 3
#springBody2 = 4
#node = mcfg.getNode(mit.LEFT_PHALANGE_1)
#springBody1Pos = motionModel.getBodyPositionGlobal(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]))
#springBody2Pos = motionModel.getBodyPositionGlobal(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]))
#initialDist = mm.length(springBody1Pos - springBody2Pos)*1.
#initialDist -= node.width#0.084
#v1 = (-node.width*0.5,0.0,-node.length*0.4)
#v2 = (node.width*0.5,0.0,-node.length*0.4)
##controlModel.setSpring(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]), motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]), elasticity, damping, v2, v1, initialDist)
##controlModel.setSpring(motion[0].skeleton.getJointIndex(config['FootRPart'][springBody1]), motion[0].skeleton.getJointIndex(config['FootRPart'][springBody2]), elasticity, damping, v1, v2, initialDist)
vpWorld.initialize()
controlModel.initializeHybridDynamics()
#ModelOffset = (1.5, -0.01, 0)
ModelOffset = (1.5, 0.04, 0)
controlModel.translateByOffset(ModelOffset)
totalDOF = controlModel.getTotalDOF()
DOFs = controlModel.getDOFs()
# parameter
Kt = config['Kt']
Dt = config['Dt'] # tracking gain
Kl = config['Kl']
Dl = config['Dl'] # linear balance gain
Kh = config['Kh']
Dh = config['Dh'] # angular balance gain
Ks = config['Ks']
Ds = config['Ds'] # penalty force spring gain
Bt = config['Bt']
Bl = config['Bl']
Bh = config['Bh']
w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap'])
w2 = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap2'])
#w_IK = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['IKweightMap'])
supL = motion[0].skeleton.getJointIndex(config['supLink'])
supR = motion[0].skeleton.getJointIndex(config['supLink2'])
rootB = motion[0].skeleton.getJointIndex(config['root'])
selectedBody = motion[0].skeleton.getJointIndex(config['end'])
#constBody = motion[0].skeleton.getJointIndex('LeftForeArm')
constBody = motion[0].skeleton.getJointIndex(config['const'])
# jacobian
Jsup = yjc.makeEmptyJacobian(DOFs, 1)
dJsup = Jsup.copy()
JsupPre = Jsup.copy()
Jsys = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum())
dJsys = Jsys.copy()
JsysPre = Jsys.copy()
Jconst = yjc.makeEmptyJacobian(DOFs, 1)
dJconst = Jconst.copy()
Jcom = yjc.makeEmptyJacobian(DOFs, 1, False)
dJcom = Jcom.copy()
JcomAng = yjc.makeEmptyJacobian(DOFs, 1, False)
dJcomAng = JcomAng.copy()
###############
indexFootL = [None] * footPartNum
indexFootR = [None] * footPartNum
jFootL = [None] * footPartNum
dJFootL = [None] * footPartNum
jFootR = [None] * footPartNum
dJFootR = [None] * footPartNum
jointMasksFootL = [None] * footPartNum
jointMasksFootR = [None] * footPartNum
for i in range(footPartNum):
jFootL[i] = yjc.makeEmptyJacobian(DOFs, 1)
dJFootL[i] = jFootL[i].copy()
jFootR[i] = yjc.makeEmptyJacobian(DOFs, 1)
dJFootR[i] = jFootR[i].copy()
indexFootL[i] = motion[0].skeleton.getJointIndex(
config['FootLPart'][i])
indexFootR[i] = motion[0].skeleton.getJointIndex(
config['FootRPart'][i])
jointMasksFootL[i] = [
yjc.getLinkJointMask(motion[0].skeleton, indexFootL[i])
]
jointMasksFootR[i] = [
yjc.getLinkJointMask(motion[0].skeleton, indexFootR[i])
]
constJointMasks = [
yjc.getLinksJointMask(motion[0].skeleton,
[indexFootL[0], indexFootR[0]])
]
#constJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [indexFootL[0]])]
#constJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, constBody)]
allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton)
#comLowerJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [motion[0].skeleton.getJointIndex('LeftLeg'), motion[0].skeleton.getJointIndex('RightLeg')])]
comUpperJointMasks = [
yjc.getLinkJointMask(motion[0].skeleton, selectedBody)
]
#comLowerJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [motion[0].skeleton.getJointIndex('LeftLeg'), motion[0].skeleton.getJointIndex('RightLeg')])]
comUpperJointMasks[0][0] = 0
#comUpperJointMasks[0][1] = 1
#comUpperJointMasks[0][10] = 1
comUpperJointMasks[0][2] = 1
comUpperJointMasks[0][11] = 1
#print(comUpperJointMasks)
comLowerJointMasks = [
yjc.getLinksJointMask(motion[0].skeleton, [
motion[0].skeleton.getJointIndex('LeftLeg'),
motion[0].skeleton.getJointIndex('RightLeg')
])
]
'''
maskArray = [foreSupLJointMasks, foreSupRJointMasks, rearSupLJointMasks, rearSupRJointMasks]
parentArray = [supL, supR, supL, supR]
effectorArray = [foreSupL, foreSupR, rearSupL, rearSupR]
for j in range(4) :
for i in range(len(foreSupLJointMasks)) :
if i == parentArray[j] or i == effectorArray[j] :
maskArray[j][0][i] = 1
else :
maskArray[j][0][i] = 0
'''
# momentum matrix
linkMasses = controlModel.getBodyMasses()
totalMass = controlModel.getTotalMass()
TO = ymt.make_TO(linkMasses)
dTO = ymt.make_dTO(len(linkMasses))
# optimization
problem = yac.LSE(totalDOF, 6)
a_sup = (0, 0, 0, 0, 0, 0) #L
#a_sup2 = (0,0,0, 0,0,0)#R
a_sup2 = [0, 0, 0, 0, 0, 0] #R
a_sup_2 = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
CP_old = [mm.v3(0., 0., 0.)]
# penalty method
bodyIDsToCheck = range(vpWorld.getBodyNum())
mus = [1.] * len(bodyIDsToCheck)
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
d_th_IK = ype.makeNestedList(DOFs)
d_th_IK_L = ype.makeNestedList(DOFs)
d_th_IK_R = ype.makeNestedList(DOFs)
dd_th_IK = ype.makeNestedList(DOFs)
dd_th_IK_flat = ype.makeFlatList(totalDOF)
d_th_IK_flat = ype.makeFlatList(totalDOF)
ddth_c_flat = ype.makeFlatList(totalDOF)
# viewer
rd_footCenter = [None]
rd_footCenter_ref = [None]
rd_footCenterL = [None]
rd_footCenterR = [None]
rd_CM_plane = [None]
rd_CM_plane_ref = [None]
rd_CM_ref = [None]
rd_CM_des = [None]
rd_CM = [None]
rd_CM_vec = [None]
rd_CM_ref_vec = [None]
rd_CP = [None]
rd_CP_des = [None]
rd_dL_des_plane = [None]
rd_dH_des = [None]
rd_grf_des = [None]
rd_footCenter_des = [None]
rd_exf_des = [None]
rd_root_des = [None]
rd_soft_const_vec = [None]
rd_root = [None]
rd_footL_vec = [None]
rd_footR_vec = [None]
rd_CMP = [None]
rd_DesPosL = [None]
rd_DesPosR = [None]
rd_DesForePosL = [None]
rd_DesForePosR = [None]
rd_DesRearPosL = [None]
rd_DesRearPosR = [None]
rd_Joint = [None]
rd_Joint2 = [None]
rd_Joint3 = [None]
rd_Joint4 = [None]
rd_desPoints = [None]
rd_contactForces = [None]
rd_contactPositions = [None]
#rd_contactForces = [None]*10000
#rd_contactPositions = [None]*10000
rd_virtualForce = [None]
rootPos = [None]
selectedBodyId = [selectedBody]
extraForce = [None]
applyedExtraForce = [None]
applyedExtraForce[0] = [0, 0, 0]
normalVector = [[0, 2, 0]]
if MULTI_VIEWER:
viewer = ymv.MultiViewer(800, 655)
#viewer = ymv.MultiViewer(1600, 1255)
viewer.setRenderers1([
cvr.VpModelRenderer(motionModel, CHARACTER_COLOR, yr.POLYGON_FILL)
])
viewer.setRenderers2([
cvr.VpModelRenderer(controlModel, CHARACTER_COLOR, yr.POLYGON_FILL)
])
else:
viewer = ysv.SimpleViewer()
# viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer(
'motionModel',
cvr.VpModelRenderer(motionModel, (100, 100, 100),
yr.POLYGON_FILL)) #(150,150,255)
viewer.doc.addRenderer(
'controlModel',
cvr.VpModelRenderer(controlModel, CHARACTER_COLOR,
yr.POLYGON_FILL))
#viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, CHARACTER_COLOR, yr.POLYGON_LINE))
#viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter))
#viewer.doc.addRenderer('rd_footCenter_des', yr.PointsRenderer(rd_footCenter_des, (150,0,150)) )
#viewer.doc.addRenderer('rd_footCenterL', yr.PointsRenderer(rd_footCenterL))
#viewer.doc.addRenderer('rd_footCenterR', yr.PointsRenderer(rd_footCenterR))
viewer.doc.addRenderer('rd_CM_plane',
yr.PointsRenderer(rd_CM_plane, (255, 255, 0)))
viewer.doc.addRenderer('rd_CM',
yr.PointsRenderer(rd_CM, (255, 0, 255)))
viewer.doc.addRenderer('rd_CM_des',
yr.PointsRenderer(rd_CM_des, (64, 64, 255)))
viewer.doc.addRenderer(
'rd_CM_vec',
yr.VectorsRenderer(rd_CM_vec, rd_CM_plane, (255, 0, 0), 3))
#viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (0,255,0)))
viewer.doc.addRenderer('rd_CP_des',
yr.PointsRenderer(rd_CP_des, (255, 0, 128)))
# viewer.doc.addRenderer('rd_dL_des_plane', yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255,255,0)))
# viewer.doc.addRenderer('rd_dH_des', yr.VectorsRenderer(rd_dH_des, rd_CM, (0,255,0)))
#viewer.doc.addRenderer('rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP, (0,255,255), .001))
viewer.doc.addRenderer(
'rd_exf_des',
yr.ForcesRenderer(rd_exf_des, rd_root_des, (0, 255, 0), .009,
0.04))
#viewer.doc.addRenderer('rd_CMP', yr.PointsRenderer(rd_CMP, (0,0,255)))
#viewer.doc.addRenderer('rd_DesPosL', yr.PointsRenderer(rd_DesPosL, (0,0,255)))
#viewer.doc.addRenderer('rd_DesPosR', yr.PointsRenderer(rd_DesPosR, (0,100,255)))
#viewer.doc.addRenderer('rd_DesForePosL', yr.PointsRenderer(rd_DesForePosL, (150,0,200)))
#viewer.doc.addRenderer('rd_DesForePosR', yr.PointsRenderer(rd_DesForePosR, (150,0,250)))
#viewer.doc.addRenderer('rd_DesRearPosL', yr.PointsRenderer(rd_DesRearPosL, (0,150,200)))
#viewer.doc.addRenderer('rd_DesRearPosR', yr.PointsRenderer(rd_DesRearPosR, (0,150,250)))
#viewer.doc.addRenderer('softConstraint', yr.VectorsRenderer(rd_soft_const_vec, rd_CMP, (150,100,100), 3))
#viewer.doc.addRenderer('rd_footLVec', yr.VectorsRenderer(rd_footL_vec, rd_footCenterL, (255,0,0), 3))
#viewer.doc.addRenderer('rd_footRVec', yr.VectorsRenderer(rd_footR_vec, rd_footCenterR, (255,255,0), 3))
#viewer.doc.addRenderer('rd_footCenter_ref', yr.PointsRenderer(rd_footCenter_ref))
#viewer.doc.addRenderer('rd_CM_plane_ref', yr.PointsRenderer(rd_CM_plane_ref, (255,255,0)))
#viewer.doc.addRenderer('rd_refNormalVec', yr.VectorsRenderer(normalVector, rd_footCenter_ref, (255,0,0), 3))
#viewer.doc.addRenderer('rd_refCMVec', yr.VectorsRenderer(rd_CM_ref_vec, rd_footCenter_ref, (255,0,255), 3))
#viewer.doc.addRenderer('rd_curNormalVec', yr.VectorsRenderer(normalVector, rd_footCenter, (255,0,0), 3))
#viewer.doc.addRenderer('rd_CMVec', yr.VectorsRenderer(rd_CM_vec, rd_footCenter, (255,0,255), 3))
viewer.doc.addRenderer(
'rd_contactForces',
yr.VectorsRenderer(rd_contactForces, rd_contactPositions,
(0, 255, 0), .1))
#viewer.doc.addRenderer('rd_virtualForce', yr.ForcesRenderer(rd_virtualForce, rd_CM, (50,255,0), 0.5, 0.02))
#viewer.doc.addRenderer('rd_Joint', yr.PointsRenderer(rd_Joint, (255,0,0)))
#viewer.doc.addRenderer('rd_Joint2', yr.PointsRenderer(rd_Joint2, (0,255,0)))
#viewer.doc.addRenderer('rd_Joint3', yr.PointsRenderer(rd_Joint3, (0,0,255)))
#viewer.doc.addRenderer('rd_Joint4', yr.PointsRenderer(rd_Joint4, (255,255,0)))
#viewer.doc.addRenderer('rd_desPoints', yr.PointsRenderer(rd_desPoints, (255,0,0)))
stage = STATIC_BALANCING
contactRendererName = []
#for i in range (motion[0].skeleton.getJointNum()):
# print(i, motion[0].skeleton.getJointName(i))
print "(index, id, name)"
for i in range(controlModel.getBodyNum()):
print(i, controlModel.index2id(i), controlModel.index2name(i))
desCOMOffset = 0.0
pt = [0.]
timeReport = [0.] * 7
viewer.objectInfoWnd.comOffsetY.value(-0.05)
viewer.objectInfoWnd.comOffsetZ.value(0.00)
viewer.objectInfoWnd.begin()
viewer.objectInfoWnd.Bc = Fl_Value_Input(100, 450, 40, 10, 'Bc')
viewer.objectInfoWnd.Bc.value(0.1)
viewer.objectInfoWnd.end()
viewer.objectInfoWnd.labelKt.value(50)
viewer.objectInfoWnd.labelKk.value(17)
def simulateCallback(frame):
print "main:frame : ", frame
curTime = time.time()
if frame % 30 == 1: pt[0] = time.time()
global g_initFlag
global forceShowFrame
global forceApplyFrame
global JsysPre
global JsupPreL
global JsupPreR
global JsupPre
global softConstPoint
global stage
global contactRendererName
global desCOMOffset
motionModel.update(motion[0])
Kt, Kk, Kl, Kh, Ksc, Bt, Bl, Bh, B_CM, B_CMSd, B_Toe = viewer.GetParam(
)
Dt = 2 * (Kt**.5)
Dk = 2 * (Kk**.5)
Dl = 2 * (Kl**.5)
Dh = 2 * (Kh**.5)
Dsc = 2 * (Ksc**.5)
# tracking
th_r_ori = motion.getDOFPositions(frame)
th_r = copy.copy(th_r_ori)
############################
#Reference motion modulation
dCM_k = 10.
linkVelocities = controlModel.getBodyVelocitiesGlobal()
dCM = yrp.getCM(linkVelocities, linkMasses, totalMass)
dCM_plane = copy.copy(dCM)
dCM_plane[1] = 0.
global leftHipTimer
if viewer.objectInfoWnd.onLeftHip:
leftHipTimer = 60
viewer.objectInfoWnd.onLeftHip = False
if leftHipTimer > 0:
viewer.objectInfoWnd.comOffsetX.value(
0.08 * np.sin(2 * 3.14 * leftHipTimer / 60.))
#viewer.objectInfoWnd.comOffsetZ.value(0.04*np.cos(2*3.14*leftHipTimer/90.))
#B_Hipd = viewer.objectInfoWnd.labelLeftHip.value()
#newR1 = mm.exp(mm.v3(0.0,1.0,0.0), 3.14*0.5*B_Hipd/100.)
#idx = motion[0].skeleton.getJointIndex('LeftUpLeg')
#th_r[idx] = np.dot(th_r[idx], newR1)
#idx = motion[0].skeleton.getJointIndex('RightUpLeg')
#th_r[idx] = np.dot(th_r[idx], newR1)
leftHipTimer -= 1
timeReport[0] += time.time() - curTime
curTime = time.time()
th = controlModel.getDOFPositions()
dth_r = motion.getDOFVelocities(frame)
dth = controlModel.getDOFVelocities()
ddth_r = motion.getDOFAccelerations(frame)
ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r,
Kt, Dt)
ddth_c = controlModel.getDOFAccelerations()
ype.flatten(ddth_des, ddth_des_flat)
ype.flatten(dth, dth_flat)
ype.flatten(ddth_c, ddth_c_flat)
# jacobian
refFootL = motionModel.getBodyPositionGlobal(supL)
refFootR = motionModel.getBodyPositionGlobal(supR)
positionFootL = [None] * footPartNum
positionFootR = [None] * footPartNum
for i in range(footPartNum):
positionFootL[i] = controlModel.getBodyPositionGlobal(
indexFootL[i])
positionFootR[i] = controlModel.getBodyPositionGlobal(
indexFootR[i])
linkPositions = controlModel.getBodyPositionsGlobal()
linkVelocities = controlModel.getBodyVelocitiesGlobal()
linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal()
linkInertias = controlModel.getBodyInertiasGlobal()
jointPositions = controlModel.getJointPositionsGlobal()
jointAxeses = controlModel.getDOFAxeses()
CM = yrp.getCM(linkPositions, linkMasses, totalMass)
dCM = yrp.getCM(linkVelocities, linkMasses, totalMass)
CM_plane = copy.copy(CM)
CM_plane[1] = 0.
dCM_plane = copy.copy(dCM)
dCM_plane[1] = 0.
linkPositions_ref = motionModel.getBodyPositionsGlobal()
linkVelocities_ref = motionModel.getBodyVelocitiesGlobal()
linkAngVelocities_ref = motionModel.getBodyAngVelocitiesGlobal()
linkInertias_ref = motionModel.getBodyInertiasGlobal()
CM_ref = yrp.getCM(linkPositions_ref, linkMasses, totalMass)
CM_plane_ref = copy.copy(CM_ref)
CM_plane_ref[1] = 0.
P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM,
linkInertias)
dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses,
linkVelocities, dCM,
linkAngVelocities,
linkInertias)
timeReport[1] += time.time() - curTime
curTime = time.time()
yjc.computeJacobian2(Jsys, DOFs, jointPositions, jointAxeses,
linkPositions, allLinkJointMasks)
timeReport[2] += time.time() - curTime
curTime = time.time()
# yjc.computeJacobianDerivative2(dJsys, DOFs, jointPositions, jointAxeses, linkAngVelocities, linkPositions, allLinkJointMasks)
if frame > 0:
dJsys = (Jsys - JsysPre) * 30.
else:
dJsys = (Jsys - Jsys)
JsysPre = Jsys.copy()
timeReport[3] += time.time() - curTime
curTime = time.time()
lcpBodyIDs, lcpContactPositions, lcpContactPositionLocals, lcpContactForces = hls.calcLCPForces(
motion, vpWorld, controlModel, bodyIDsToCheck, 1., 4, None)
# bodyIDs : IDs for Virtual Physics, not VpModel !!!
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
CP = yrp.getCP(contactPositions, contactForces)
if (CP is not None):
CP[1] = 0.
for i in range(controlModel.getBodyNum()):
controlModel.SetBodyColor(bodyIDsToCheck[i], 0, 0, 0, 255)
contactFlagFootL = [0] * footPartNum
contactFlagFootR = [0] * footPartNum
for i in range(len(bodyIDs)):
controlModel.SetBodyColor(bodyIDs[i], 255, 105, 105, 200)
index = controlModel.id2index(bodyIDs[i])
for j in range(len(indexFootL)):
if index == indexFootL[j]:
contactFlagFootL[j] = 1
for j in range(len(indexFootR)):
if index == indexFootR[j]:
contactFlagFootR[j] = 1
for j in range(0, footPartNum):
jFootR[j] = Jsys[6 * indexFootR[j]:6 * indexFootR[j] + 6] #.copy()
jFootL[j] = Jsys[6 * indexFootL[j]:6 * indexFootL[j] + 6] #.copy()
dJFootR[j] = dJsys[6 * indexFootR[j]:6 * indexFootR[j] +
6] #.copy()
dJFootL[j] = dJsys[6 * indexFootL[j]:6 * indexFootL[j] +
6] #.copy()
if footPartNum == 1:
desFCL = (controlModel.getBodyPositionGlobal(supL))
desFCR = (controlModel.getBodyPositionGlobal(supR))
else:
r = .5 + desCOMOffset
desFCL = (controlModel.getBodyPositionGlobal(indexFootL[0]) * r +
controlModel.getBodyPositionGlobal(indexFootL[1]) *
(1.0 - r)
) #controlModel.getBodyPositionGlobal(indexFootL[1])
desFCR = (controlModel.getBodyPositionGlobal(indexFootR[0]) * r +
controlModel.getBodyPositionGlobal(indexFootR[1]) *
(1.0 - r)
) #controlModel.getBodyPositionGlobal(indexFootR[1])
desFC = desFCL + (desFCR - desFCL) / 2.0
desFC[1] = 0
rd_footCenter_des[0] = desFC.copy()
curRelCMVec = CM_plane - desFC
vecRatio = mm.length(curRelCMVec) * 0.
#print(frame, vecRatio)
footCenter = desFC - curRelCMVec * (vecRatio) #/10.0
footCenter = (
getBodyGlobalPos(controlModel, motion, 'LeftCalcaneus_1') +
getBodyGlobalPos(controlModel, motion, 'LeftPhalange_1') +
getBodyGlobalPos(controlModel, motion, 'RightCalcaneus_1') +
getBodyGlobalPos(controlModel, motion, 'RightPhalange_1')) / 4.
#footCenter = (getBodyGlobalPos(controlModel, motion, 'LeftCalcaneus_1') + getBodyGlobalPos(controlModel, motion, 'LeftTalus_1') + getBodyGlobalPos(controlModel, motion, 'RightCalcaneus_1') + getBodyGlobalPos(controlModel, motion, 'RightTalus_1'))/4.
footCenter_ref = refFootL + (refFootR - refFootL) / 2.0
#footCenter_ref[1] = 0.
footCenter[1] = 0.
footCenterOffset = np.array([
viewer.objectInfoWnd.comOffsetX.value(), 0,
viewer.objectInfoWnd.comOffsetZ.value()
])
#footCenter += footCenterOffset
vecRatio = mm.length(curRelCMVec) * 0.
softConstPointOffset = -curRelCMVec * (vecRatio) #/10.0
#print(frame, vecRatio, softConstPointOffset)
desForeSupLAcc = [0, 0, 0]
desForeSupRAcc = [0, 0, 0]
totalNormalForce = [0, 0, 0]
for i in range(len(contactForces)):
totalNormalForce[0] += contactForces[i][0]
totalNormalForce[1] += contactForces[i][1]
totalNormalForce[2] += contactForces[i][2]
#print((totalMass*mm.s2v(wcfg.gravity))[1])
footCenterOffset = np.array([
viewer.objectInfoWnd.comOffsetX.value(),
viewer.objectInfoWnd.comOffsetY.value(),
viewer.objectInfoWnd.comOffsetZ.value()
])
######################
# optimization terms
######################
# linear momentum
CM_ref_plane = footCenter + footCenterOffset
dL_des_plane = Kl * totalMass * (CM_ref_plane -
CM_plane) - Dl * totalMass * dCM_plane
dL_des_plane[1] = Kl * totalMass * (CM_ref[1] + footCenterOffset[1] -
CM[1]) - Dl * totalMass * dCM[1]
#dL_des_plane[1] = 0.
#print 'dL_des_plane', dL_des_plane
# angular momentum
CP_ref = footCenter + footCenterOffset
CP_ref[1] = 0.
timeStep = 30.
if (CP_old[0] is None) or (CP is None):
dCP = None
else:
dCP = (CP - CP_old[0]) * timeStep
CP_old[0] = CP
if (CP is not None) and (dCP is not None):
ddCP_des = Kh * (CP_ref - CP) - Dh * (dCP)
CP_des = CP + dCP * (1 / timeStep) + .5 * ddCP_des * (
(1 / timeStep)**2)
#print 'dCP: ', dCP
#print 'ddCP_des: ', ddCP_des
#print 'CP_des: ', CP_des
#dH_des = np.cross((CP_des - CM), (dL_des_plane + totalMass*mm.s2v(wcfg.gravity)))
dH_des = np.cross(
(CP_des - CM_plane),
(dL_des_plane + totalMass * mm.s2v(wcfg.gravity)))
else:
dH_des = None
# momentum matrix
RS = np.dot(P, Jsys)
R, S = np.vsplit(RS, 2)
rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat)
r_bias, s_bias = np.hsplit(rs, 2)
flagContact = True
if (dH_des is None) or np.any(np.isnan(dH_des)) == True:
flagContact = False
#viewer.doc.showRenderer('rd_grf_des', False)
#viewer.motionViewWnd.update(1, viewer.doc)
#else:
#viewer.doc.showRenderer('rd_grf_des', True)
#viewer.motionViewWnd.update(1, viewer.doc)
'''
0 : initial
1 : contact
2 : fly
3 : landing
'''
#MOTION = FORWARD_JUMP
if mit.MOTION == mit.FORWARD_JUMP:
frame_index = [136, 100]
#frame_index = [100000, 100000]
elif mit.MOTION == mit.TAEKWONDO:
frame_index = [130, 100]
#frame_index = [100000, 100000]
elif mit.MOTION == mit.TAEKWONDO2:
frame_index = [130 + 40, 100]
elif mit.MOTION == mit.WALK:
frame_index = [10000, 60]
elif mit.MOTION == mit.TIPTOE:
frame_index = [1000000, 1000000]
#frame_index = [10000, 165]
else:
frame_index = [1000000, 1000000]
#MOTION = TAEKWONDO
#frame_index = [135, 100]
if frame > frame_index[0]:
if stage != POWERFUL_BALANCING:
print("#", frame, "-POWERFUL_BALANCING")
stage = POWERFUL_BALANCING
Kk = Kk * 2
Dk = 2 * (Kk**.5)
elif frame > frame_index[1]:
if stage != MOTION_TRACKING:
print("#", frame, "-MOTION_TRACKING")
stage = MOTION_TRACKING
trackingW = w
#if checkAll(contactFlagFootR, 0) != 1 :
if 0: #stage == MOTION_TRACKING:
trackingW = w2
#stage = POWERFUL_BALANCING
Bt = Bt * 2
# optimization
mot.addTrackingTerms(problem, totalDOF, Bt, trackingW, ddth_des_flat)
#mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1, q_bias1)
if flagContact == True:
if stage != MOTION_TRACKING + 10:
mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R,
r_bias)
#mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias)
# using || dH ||^2 instead
mot.addAnotherTerms(problem, totalDOF, Bh, S,
-(s_bias + Kh * np.dot(S, dth_flat)))
a_sup_2 = None
Jsup_2 = None
dJsup_2 = None
##############################
# Hard constraint
Kk2 = Kk * 4.0
Dk2 = 2 * (Kk2**.5)
ankleW = 0
ankleOffset = ankleW * curRelCMVec[2]
metatarW = 0
metatarOffset = metatarW * curRelCMVec[2]
##############################
##############################
# Additional constraint
if stage != MOTION_TRACKING and frame > 5:
# ankle strategy
idx = 0 #LEFT/RIGHT_TOES
if mit.FOOT_PART_NUM == 1:
yOffset = 0.03
else:
yOffset = 0.069
#yOffset = 0.06
# ankleOffset = (footCenter - CM_plane)*4.
ankleOffset = footCenterOffset * 10.
ankleOffset[1] = 0.
#ankleOffset[2] = 0.
ankleOffset[2] = ankleOffset[2] * 20.
ankleOffsetL = ankleOffset.copy()
ankleOffsetR = ankleOffset.copy()
#ankleOffset= np.array((0,0,0))
if footCenterOffset[0] > 0.0:
ankleOffsetL[0] = 0.
else:
ankleOffsetR[0] = 0.
# print 'ankleOffset=', ankleOffset
desLinearAccL, desPosL = getDesFootLinearAcc(
motionModel, controlModel, indexFootL[idx], ModelOffset,
CM_ref, CM, Kk, Dk, yOffset) #0.076) #0.14)
desLinearAccR, desPosR = getDesFootLinearAcc(
motionModel, controlModel, indexFootR[idx], ModelOffset,
CM_ref, CM, Kk, Dk, yOffset)
ax = [0, 0, -1]
aaa = getBodyGlobalOri(controlModel, motion, 'RightFoot')
#print np.dot(aaa, ax)
if mit.FOOT_PART_NUM == 1:
ax = [0, 1, 0]
desAngularAccL = getDesFootAngularAcc(
motionModel, controlModel, indexFootL[idx], Kk, Dk, ax,
mm.normalize([0, 1, 0] + ankleOffsetL))
desAngularAccR = getDesFootAngularAcc(
motionModel, controlModel, indexFootR[idx], Kk, Dk, ax,
mm.normalize([0, 1, 0] + ankleOffsetR))
a_sup_2 = np.hstack((np.hstack((desLinearAccL, desAngularAccL)),
np.hstack((desLinearAccR, desAngularAccR))))
Jsup_2 = np.vstack((jFootL[idx], jFootR[idx]))
dJsup_2 = np.vstack((dJFootL[idx], dJFootR[idx]))
#mot.addConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat, a_sup_2)
#mot.addConstraint(problem, totalDOF, Jsup_2[:1], dJsup_2[:1], dth_flat, a_sup_2[:1])
#mot.addConstraint(problem, totalDOF, Jsup_2[2:], dJsup_2[2:], dth_flat, a_sup_2[2:])
#mot.addConstraint(problem, totalDOF, Jsup_2[3:], dJsup_2[3:], dth_flat, a_sup_2[3:])
mot.addAnotherTerms(problem, totalDOF,
viewer.objectInfoWnd.Bc.value(), Jsup_2[3:],
a_sup_2[3:] - np.dot(dJsup_2[3:], dth_flat))
#mot.addAnotherTerms(problem, totalDOF, viewer.objectInfoWnd.Bc.value(), Jsup_2, a_sup_2 - np.dot(dJsup_2, dth_flat))
#mot.addAnotherTerms(problem, totalDOF, 1.*viewer.objectInfoWnd.Bc.value(), Jsup_2[0:1], a_sup_2[0:1] - np.dot(dJsup_2[0:1] , dth_flat))
#mot.addAnotherTerms(problem, totalDOF, 1.*viewer.objectInfoWnd.Bc.value(), Jsup_2[2:], a_sup_2[2:] - np.dot(dJsup_2[2:] , dth_flat))
desCOMOffset = 0.0
rd_DesPosL[0] = desPosL.copy()
rd_DesPosR[0] = desPosR.copy()
if stage == STATIC_BALANCING and frame > 10: # and False:
del rd_desPoints[:]
# foot strategy
#Kk2 = Kk * 2.5
#Kk2 = Kk * .2
#Dk2 = 2*(Kk2**.5)
desForePosL = [0, 0, 0]
desForePosR = [0, 0, 0]
desRearPosL = [0, 0, 0]
desRearPosR = [0, 0, 0]
footPartPos = []
footPartPos.append(
controlModel.getBodyPositionGlobal(
motion[0].skeleton.getJointIndex('LeftCalcaneus_1')))
footPartPos.append(
controlModel.getBodyPositionGlobal(
motion[0].skeleton.getJointIndex('LeftPhalange_1')))
footPartPos.append(
controlModel.getBodyPositionGlobal(
motion[0].skeleton.getJointIndex('RightCalcaneus_1')))
footPartPos.append(
controlModel.getBodyPositionGlobal(
motion[0].skeleton.getJointIndex('RightPhalange_1')))
for i in range(1, footPartNum):
contactFlagFootL[i] = 1
contactFlagFootR[i] = 1
SupPts = np.vstack(
(np.array((footPartPos[0][0], footPartPos[1][0],
footPartPos[2][0], footPartPos[3][0])),
np.array(
(footPartPos[0][2], footPartPos[1][2], footPartPos[2][2],
footPartPos[3][2])), np.array((1., 1., 1., 1.))))
coordWidthLen = 2.
coordLengthLen = 1.5
SupUV = np.vstack(
(np.array((-coordWidthLen, -coordWidthLen, coordWidthLen,
coordWidthLen)),
np.array((-coordLengthLen, coordLengthLen, -coordLengthLen,
coordLengthLen)), np.array((1., 1., 1., 1.))))
SupMap = np.dot(np.dot(SupUV, SupUV.T),
np.linalg.inv(np.dot(SupPts, SupUV.T)))
#print SupMap
desFootCenter = footCenter + footCenterOffset
footCenterPts = np.array((desFootCenter[0], desFootCenter[2], 1))
#print np.dot(SupMap, footCenterPts)
#print np.dot(getBodyGlobalOri(controlModel, motion, 'LeftMetatarsal_1'), np.array((0,1,0)))
CM_plane_2D = np.array((CM[0], CM[2], 1))
# CM_plane_UV = np.dot(SupMap, CM_plane_2D)
CM_plane_UV = np.dot(SupMap, footCenterPts)
# print CM_plane_UV
# for i in range(1, footPartNum):
if CM_plane_UV[1] > .5:
# com is in front
for i in range(1, 5):
contactFlagFootL[i] = 0
contactFlagFootR[i] = 0
elif CM_plane_UV[1] < -.5:
# com is back
for i in range(3, footPartNum):
contactFlagFootL[i] = 0
contactFlagFootR[i] = 0
else:
# com is in middle position
for i in range(3, 5):
contactFlagFootL[i] = 0
contactFlagFootR[i] = 0
contactFlagFoot = contactFlagFootL
if CM_plane_UV[0] < 0.:
contactFlagFoot = contactFlagFootR
# CM_plane_UV[0] = -CM_plane_UV[0]
if abs(CM_plane_UV[0]) > 1.:
for j in range(0, 3):
contactFlagFoot[2 * j + 2] = 0
# print 'footL : ',contactFlagFootL
# print 'footR : ',contactFlagFootR
for i in range(1, footPartNum):
axis = [0, 0, 1]
if i == 1 or i == 2:
axis = [0, 0, -1]
desAng = [0, 0, 1]
if i == 1 or i == 2:
desAng = [0, 0, -1]
desY = 0.029
if contactFlagFootL[i] == 1:
desLinearAccL, desForePosL = getDesFootLinearAcc(
motionModel, controlModel, indexFootL[i], ModelOffset,
CM_ref, CM, Kk2, Dk2, desY)
desAngularAccL = getDesFootAngularAcc(
motionModel, controlModel, indexFootL[i], Kk2, Dk2,
axis, desAng)
a_sup_2 = np.hstack((desLinearAccL, desAngularAccL))
Jsup_2 = jFootL[i].copy()
dJsup_2 = dJFootL[i].copy()
mot.addConstraint(problem, totalDOF, Jsup_2, dJsup_2,
dth_flat, a_sup_2)
#mot.addAnotherTerms(problem, totalDOF, viewer.objectInfoWnd.Bc.value(), Jsup_2, a_sup_2 - np.dot(dJsup_2, dth_flat))
#mot.addAnotherTerms(problem, totalDOF, viewer.objectInfoWnd.Bc.value(), Jsup_2[3:], a_sup_2[3:] - np.dot(dJsup_2[3:] , dth_flat))
rd_desPoints.append(desForePosL.copy())
if contactFlagFootR[i] == 1:
desLinearAccR, desForePosR = getDesFootLinearAcc(
motionModel, controlModel, indexFootR[i], ModelOffset,
CM_ref, CM, Kk2, Dk2, desY)
desAngularAccR = getDesFootAngularAcc(
motionModel, controlModel, indexFootR[i], Kk2, Dk2,
axis, desAng)
a_sup_2 = np.hstack((desLinearAccR, desAngularAccR))
Jsup_2 = jFootR[i].copy()
dJsup_2 = dJFootR[i].copy()
mot.addConstraint(problem, totalDOF, Jsup_2, dJsup_2,
dth_flat, a_sup_2)
#mot.addAnotherTerms(problem, totalDOF, viewer.objectInfoWnd.Bc.value(), Jsup_2, a_sup_2 - np.dot(dJsup_2, dth_flat))
#mot.addAnotherTerms(problem, totalDOF, viewer.objectInfoWnd.Bc.value(), Jsup_2[3:], a_sup_2[3:] - np.dot(dJsup_2[3:], dth_flat))
rd_desPoints.append(desForePosR.copy())
rd_DesForePosL[0] = desForePosL
rd_DesForePosR[0] = desForePosR
rd_DesRearPosL[0] = desRearPosL
rd_DesRearPosR[0] = desRearPosR
##############################
#if Jsup_2 is not None:
# mot.addConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat, a_sup_2)
timeReport[4] += time.time() - curTime
curTime = time.time()
r = problem.solve()
#print frame
#Ashape = np.shape(problem.A)
#if len(Ashape) >0 :
# for i in range(0, Ashape[0]):
# print problem.A[i]
#print problem.A[]
#print problem.b
#print r
problem.clear()
#print r['x']
ype.nested(r['x'], ddth_sol)
#print ddth_sol
rootPos[0] = controlModel.getBodyPositionGlobal(selectedBody)
localPos = [[0, 0, 0]]
###########################################
##Jacobian Transpose control
# COM Position control
#fCom = Wcp*(pHatComDes - pHatCom) + Wcv*(vComDes - vCom) + Wcm*(footCenter_plane - CM_plane)
w1 = 10 #10.1
w2 = 1 #1#2*(w1**.5)
if frame > 100:
w1 = 10.1 #10.1
w2 = 1
footToCMVec = CM - footCenter
desCMPos = [footCenter[0], mm.length(footToCMVec), footCenter[2]]
#print("desCMPos", desCMPos)
#print("CM", CM)
fCom = w1 * (desCMPos - CM) + w2 * (-dCM)
#print("fCom", fCom)
#fCom[0] = 0.
#fCom[1] = 0
#fCom[2] = 0
rd_virtualForce[0] = fCom.copy()
#hipPos = controlModel.getBodyPositionGlobal(rootB)
headPos = controlModel.getBodyPositionGlobal(selectedBody)
hipPos = controlModel.getBodyPositionGlobal(rootB)
yjc.computeJacobian2(Jcom, DOFs, jointPositions, jointAxeses,
[headPos], comUpperJointMasks)
#yjc.computeJacobianDerivative2(dJcom, DOFs, jointPositions, jointAxeses, linkAngVelocities, [CM], comUpperJointMasks, False)
JcomT = Jcom.T
TauJT = np.dot(JcomT, fCom)
# Angular Momentum
Hc = ymt.getAngularMomentum(CM, linkInertias, linkAngVelocities,
linkPositions, linkMasses, linkVelocities)
Href = ymt.getAngularMomentum(CM_ref, linkInertias_ref,
linkAngVelocities_ref, linkPositions_ref,
linkMasses, linkVelocities_ref)
Wam = .05
Tam = Wam * (Href - Hc)
#print("Tam", Tam)
yjc.computeAngJacobian2(JcomAng, DOFs, jointPositions, jointAxeses,
[headPos], comUpperJointMasks)
TauAM = np.dot(JcomAng.T, Tam)
timeReport[5] += time.time() - curTime
curTime = time.time()
for i in range(stepsPerFrame):
# apply penalty force
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
#print frame, bodyIDs, contactPositions, contactPositionLocals, contactForces
vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals,
contactForces)
extraForce[0] = viewer.GetForce()
if (extraForce[0][0] != 0 or extraForce[0][1] != 0
or extraForce[0][2] != 0):
forceApplyFrame += 1
#vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce)
controlModel.applyBodyForceGlobal(selectedBody, extraForce[0])
applyedExtraForce[0] = extraForce[0]
if forceApplyFrame * wcfg.timeStep > 0.1:
viewer.ResetForce()
forceApplyFrame = 0
#print ddth_sol
controlModel.setDOFAccelerations(ddth_sol)
controlModel.solveHybridDynamics()
vpWorld.step()
#if frame%30==0: print 'elapsed time for 30 frames:', time.time()-pt[0]
# rendering
rd_footCenter[0] = footCenter
rd_CM[0] = CM.copy()
rd_CM_plane[0] = CM_plane.copy()
rd_footCenter_ref[0] = footCenter_ref
rd_CM_plane_ref[0] = CM_ref.copy()
rd_CM_ref[0] = CM_ref.copy()
rd_CM_ref_vec[0] = (CM_ref - footCenter_ref) * 3.
rd_CM_vec[0] = (CM - CM_plane)
rd_CM_des[0] = CM_ref_plane.copy()
rd_CM_des[0][1] = .01
#rd_CM_plane[0][1] = 0.
if (CP is not None) and (dCP is not None):
rd_CP[0] = CP
rd_CP_des[0] = CP_des
rd_dL_des_plane[0] = dL_des_plane
rd_dH_des[0] = dH_des
rd_grf_des[
0] = totalNormalForce # - totalMass*mm.s2v(wcfg.gravity)#dL_des_plane - totalMass*mm.s2v(wcfg.gravity)
rd_exf_des[0] = applyedExtraForce[0]
rd_root_des[0] = rootPos[0]
rd_CMP[0] = softConstPoint
rd_soft_const_vec[0] = controlModel.getBodyPositionGlobal(
constBody) - softConstPoint
del rd_contactForces[:]
del rd_contactPositions[:]
if CP is not None:
for i in range(len(lcpBodyIDs)):
rd_contactForces.append(lcpContactForces[i].copy() / 200.)
rd_contactPositions.append(lcpContactPositions[i].copy())
timeReport[6] += time.time() - curTime
# print timeReport
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def main():
np.set_printoptions(precision=4, linewidth=200)
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5()
motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped()
vpWorld = cvw.VpWorld(wcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
#motionModel.recordVelByFiniteDiff()
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.initializeHybridDynamics()
#ModelOffset = (1.5, -0.01, 0)
ModelOffset = (1.5, 0.03, 0)
controlModel.translateByOffset(ModelOffset)
totalDOF = controlModel.getTotalDOF()
DOFs = controlModel.getDOFs()
# parameter
Kt = config['Kt']
Dt = config['Dt'] # tracking gain
Kl = config['Kl']
Dl = config['Dl'] # linear balance gain
Kh = config['Kh']
Dh = config['Dh'] # angular balance gain
Ks = config['Ks']
Ds = config['Ds'] # penalty force spring gain
Bt = config['Bt']
Bl = config['Bl']
Bh = config['Bh']
w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap'])
w2 = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap2'])
#w_IK = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['IKweightMap'])
supL = motion[0].skeleton.getJointIndex(config['supLink'])
supR = motion[0].skeleton.getJointIndex(config['supLink2'])
rootB = motion[0].skeleton.getJointIndex(config['root'])
selectedBody = motion[0].skeleton.getJointIndex(config['end'])
#constBody = motion[0].skeleton.getJointIndex('LeftForeArm')
constBody = motion[0].skeleton.getJointIndex(config['const'])
# jacobian
Jsup = yjc.makeEmptyJacobian(DOFs, 1)
dJsup = Jsup.copy()
JsupPre = Jsup.copy()
Jsys = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum())
dJsys = Jsys.copy()
JsysPre = Jsys.copy()
Jconst = yjc.makeEmptyJacobian(DOFs, 1)
dJconst = Jconst.copy()
###############
footPartNum = config['FootPartNum']
indexFootL = [None] * footPartNum
indexFootR = [None] * footPartNum
jFootL = [None] * footPartNum
dJFootL = [None] * footPartNum
jFootR = [None] * footPartNum
dJFootR = [None] * footPartNum
jointMasksFootL = [None] * footPartNum
jointMasksFootR = [None] * footPartNum
jAngFootL = [None] * footPartNum
dJAngFootL = [None] * footPartNum
jAngFootR = [None] * footPartNum
dJAngFootR = [None] * footPartNum
for i in range(footPartNum):
jFootL[i] = yjc.makeEmptyJacobian(DOFs, 1)
dJFootL[i] = jFootL[i].copy()
jFootR[i] = yjc.makeEmptyJacobian(DOFs, 1)
dJFootR[i] = jFootR[i].copy()
jAngFootL[i] = yjc.makeEmptyJacobian(DOFs, 1, False)
dJAngFootL[i] = jAngFootL[i].copy()
jAngFootR[i] = yjc.makeEmptyJacobian(DOFs, 1, False)
dJAngFootR[i] = jAngFootR[i].copy()
indexFootL[i] = motion[0].skeleton.getJointIndex(
config['FootLPart'][i])
indexFootR[i] = motion[0].skeleton.getJointIndex(
config['FootRPart'][i])
jointMasksFootL[i] = [
yjc.getLinkJointMask(motion[0].skeleton, indexFootL[i])
]
jointMasksFootR[i] = [
yjc.getLinkJointMask(motion[0].skeleton, indexFootR[i])
]
constJointMasks = [
yjc.getLinksJointMask(motion[0].skeleton,
[indexFootL[0], indexFootR[0]])
]
#constJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, constBody)]
allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton)
'''
maskArray = [foreSupLJointMasks, foreSupRJointMasks, rearSupLJointMasks, rearSupRJointMasks]
parentArray = [supL, supR, supL, supR]
effectorArray = [foreSupL, foreSupR, rearSupL, rearSupR]
for j in range(4) :
for i in range(len(foreSupLJointMasks)) :
if i == parentArray[j] or i == effectorArray[j] :
maskArray[j][0][i] = 1
else :
maskArray[j][0][i] = 0
'''
# momentum matrix
linkMasses = controlModel.getBodyMasses()
totalMass = controlModel.getTotalMass()
TO = ymt.make_TO(linkMasses)
dTO = ymt.make_dTO(len(linkMasses))
# optimization
problem = yac.LSE(totalDOF, 6)
a_sup = (0, 0, 0, 0, 0, 0) #L
#a_sup2 = (0,0,0, 0,0,0)#R
a_sup2 = [0, 0, 0, 0, 0, 0] #R
a_sup_2 = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
CP_old = [mm.v3(0., 0., 0.)]
# penalty method
bodyIDsToCheck = range(vpWorld.getBodyNum())
mus = [1.] * len(bodyIDsToCheck)
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
d_th_IK = ype.makeNestedList(DOFs)
d_th_IK_L = ype.makeNestedList(DOFs)
d_th_IK_R = ype.makeNestedList(DOFs)
dd_th_IK = ype.makeNestedList(DOFs)
dd_th_IK_flat = ype.makeFlatList(totalDOF)
d_th_IK_flat = ype.makeFlatList(totalDOF)
ddth_c_flat = ype.makeFlatList(totalDOF)
# viewer
rd_footCenter = [None]
rd_footCenter_ref = [None]
rd_footCenterL = [None]
rd_footCenterR = [None]
rd_CM_plane = [None]
rd_CM_plane_ref = [None]
rd_CM_ref = [None]
rd_CM = [None]
rd_CM_vec = [None]
rd_CM_ref_vec = [None]
rd_CP = [None]
rd_CP_des = [None]
rd_dL_des_plane = [None]
rd_dH_des = [None]
rd_grf_des = [None]
rd_footCenter_des = [None]
rd_exf_des = [None]
rd_root_des = [None]
rd_soft_const_vec = [None]
rd_root = [None]
rd_footL_vec = [None]
rd_footR_vec = [None]
rd_CMP = [None]
rd_DesPosL = [None]
rd_DesPosR = [None]
rd_DesForePosL = [None]
rd_DesForePosR = [None]
rd_DesRearPosL = [None]
rd_DesRearPosR = [None]
rd_contactForces = [None] * 1000
rd_contactPositions = [None] * 1000
rootPos = [None]
selectedBodyId = [selectedBody]
extraForce = [None]
applyedExtraForce = [None]
applyedExtraForce[0] = [0, 0, 0]
normalVector = [[0, 2, 0]]
viewer = ysv.SimpleViewer()
# viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer(
'motionModel',
cvr.VpModelRenderer(motionModel, (150, 150, 255), yr.POLYGON_FILL))
viewer.doc.addRenderer(
'controlModel',
cvr.VpModelRenderer(controlModel, (255, 240, 255), yr.POLYGON_FILL))
viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter))
viewer.doc.addRenderer('rd_footCenter_des',
yr.PointsRenderer(rd_footCenter_des, (150, 0, 150)))
#viewer.doc.addRenderer('rd_footCenterL', yr.PointsRenderer(rd_footCenterL))
#viewer.doc.addRenderer('rd_footCenterR', yr.PointsRenderer(rd_footCenterR))
#viewer.doc.addRenderer('rd_CM_plane', yr.PointsRenderer(rd_CM_plane, (255,255,0)))
viewer.doc.addRenderer('rd_CM',
yr.PointsRenderer(rd_CM_plane, (255, 255, 0)))
viewer.doc.addRenderer('rd_CP_des',
yr.PointsRenderer(rd_CP_des, (0, 255, 0)))
#viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (255,0,255)))
# viewer.doc.addRenderer('rd_dL_des_plane', yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255,255,0)))
# viewer.doc.addRenderer('rd_dH_des', yr.VectorsRenderer(rd_dH_des, rd_CM, (0,255,0)))
viewer.doc.addRenderer(
'rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP, (0, 255, 255),
.001))
viewer.doc.addRenderer(
'rd_exf_des',
yr.ForcesRenderer(rd_exf_des, rd_root_des, (0, 255, 0), .009, 0.05))
viewer.doc.addRenderer('rd_CMP', yr.PointsRenderer(rd_CMP, (0, 0, 255)))
viewer.doc.addRenderer('rd_DesPosL',
yr.PointsRenderer(rd_DesPosL, (0, 0, 255)))
viewer.doc.addRenderer('rd_DesPosR',
yr.PointsRenderer(rd_DesPosR, (0, 100, 255)))
viewer.doc.addRenderer('rd_DesForePosL',
yr.PointsRenderer(rd_DesForePosL, (150, 0, 200)))
viewer.doc.addRenderer('rd_DesForePosR',
yr.PointsRenderer(rd_DesForePosR, (150, 0, 250)))
viewer.doc.addRenderer('rd_DesRearPosL',
yr.PointsRenderer(rd_DesRearPosL, (0, 150, 200)))
viewer.doc.addRenderer('rd_DesRearPosR',
yr.PointsRenderer(rd_DesRearPosR, (0, 150, 250)))
viewer.doc.addRenderer(
'softConstraint',
yr.VectorsRenderer(rd_soft_const_vec, rd_CMP, (150, 100, 100), 3))
viewer.doc.addRenderer(
'rd_footLVec',
yr.VectorsRenderer(rd_footL_vec, rd_footCenterL, (255, 0, 0), 3))
viewer.doc.addRenderer(
'rd_footRVec',
yr.VectorsRenderer(rd_footR_vec, rd_footCenterL, (255, 255, 0), 3))
#viewer.doc.addRenderer('rd_footCenter_ref', yr.PointsRenderer(rd_footCenter_ref))
viewer.doc.addRenderer('rd_CM_plane_ref',
yr.PointsRenderer(rd_CM_plane_ref, (255, 255, 0)))
viewer.doc.addRenderer(
'rd_refNormalVec',
yr.VectorsRenderer(normalVector, rd_footCenter_ref, (255, 0, 0), 3))
viewer.doc.addRenderer(
'rd_refCMVec',
yr.VectorsRenderer(rd_CM_ref_vec, rd_footCenter_ref, (255, 0, 255), 3))
viewer.doc.addRenderer(
'rd_curNormalVec',
yr.VectorsRenderer(normalVector, rd_footCenter, (255, 0, 0), 3))
viewer.doc.addRenderer(
'rd_CMVec',
yr.VectorsRenderer(rd_CM_vec, rd_footCenter, (255, 0, 255), 3))
viewer.doc.addRenderer(
'rd_contactForces',
yr.ForcesRenderer(rd_contactForces, rd_contactPositions, (0, 255, 0),
.009, 0.009))
stage = STATIC_BALANCING
contactRendererName = []
for i in range(motion[0].skeleton.getJointNum()):
print(i, motion[0].skeleton.getJointName(i))
def simulateCallback(frame):
global g_initFlag
global forceShowFrame
global forceApplyFrame
global JsysPre
global JsupPreL
global JsupPreR
global JsupPre
global softConstPoint
global stage
global contactRendererName
motionModel.update(motion[frame])
Kt, Kk, Kl, Kh, Ksc, Bt, Bl, Bh, Bsc = viewer.GetParam()
Dt = 2 * (Kt**.5)
Dk = 2 * (Kk**.5)
Dl = 2 * (Kl**.5)
Dh = 2 * (Kh**.5)
Dsc = 2 * (Ksc**.5)
if Bsc == 0.0:
viewer.doc.showRenderer('softConstraint', False)
viewer.motionViewWnd.update(1, viewer.doc)
else:
viewer.doc.showRenderer('softConstraint', True)
renderer1 = viewer.doc.getRenderer('softConstraint')
renderer1.rc.setLineWidth(0.1 + Bsc * 3)
viewer.motionViewWnd.update(1, viewer.doc)
# tracking
th_r = motion.getDOFPositions(frame)
th = controlModel.getDOFPositions()
dth_r = motion.getDOFVelocities(frame)
dth = controlModel.getDOFVelocities()
ddth_r = motion.getDOFAccelerations(frame)
ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r,
Kt, Dt)
ddth_c = controlModel.getDOFAccelerations()
ype.flatten(ddth_des, ddth_des_flat)
ype.flatten(dth, dth_flat)
ype.flatten(ddth_c, ddth_c_flat)
# jacobian
refFootL = motionModel.getBodyPositionGlobal(supL)
refFootR = motionModel.getBodyPositionGlobal(supR)
positionFootL = [None] * footPartNum
positionFootR = [None] * footPartNum
for i in range(footPartNum):
positionFootL[i] = controlModel.getBodyPositionGlobal(
indexFootL[i])
positionFootR[i] = controlModel.getBodyPositionGlobal(
indexFootR[i])
linkPositions = controlModel.getBodyPositionsGlobal()
linkVelocities = controlModel.getBodyVelocitiesGlobal()
linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal()
linkInertias = controlModel.getBodyInertiasGlobal()
jointPositions = controlModel.getJointPositionsGlobal()
jointAxeses = controlModel.getDOFAxeses()
CM = yrp.getCM(linkPositions, linkMasses, totalMass)
dCM = yrp.getCM(linkVelocities, linkMasses, totalMass)
CM_plane = copy.copy(CM)
CM_plane[1] = 0.
dCM_plane = copy.copy(dCM)
dCM_plane[1] = 0.
linkPositions_ref = motionModel.getBodyPositionsGlobal()
CM_ref = yrp.getCM(linkPositions_ref, linkMasses, totalMass)
CM_plane_ref = copy.copy(CM_ref)
CM_plane_ref[1] = 0.
P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM,
linkInertias)
dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses,
linkVelocities, dCM,
linkAngVelocities,
linkInertias)
yjc.computeJacobian2(Jsys, DOFs, jointPositions, jointAxeses,
linkPositions, allLinkJointMasks)
yjc.computeJacobianDerivative2(dJsys, DOFs, jointPositions,
jointAxeses, linkAngVelocities,
linkPositions, allLinkJointMasks)
yjc.computeJacobian2(jFootL[0], DOFs, jointPositions, jointAxeses,
[positionFootL[0]], jointMasksFootL[0])
yjc.computeJacobianDerivative2(dJFootL[0], DOFs, jointPositions,
jointAxeses, linkAngVelocities,
[positionFootL[0]], jointMasksFootL[0],
False)
yjc.computeJacobian2(jFootR[0], DOFs, jointPositions, jointAxeses,
[positionFootR[0]], jointMasksFootR[0])
yjc.computeJacobianDerivative2(dJFootR[0], DOFs, jointPositions,
jointAxeses, linkAngVelocities,
[positionFootR[0]], jointMasksFootR[0],
False)
yjc.computeAngJacobian2(jAngFootL[0], DOFs, jointPositions,
jointAxeses, [positionFootL[0]],
jointMasksFootL[0])
yjc.computeAngJacobianDerivative2(dJAngFootL[0], DOFs, jointPositions,
jointAxeses, linkAngVelocities,
[positionFootL[0]],
jointMasksFootL[0], False)
yjc.computeAngJacobian2(jAngFootR[0], DOFs, jointPositions,
jointAxeses, [positionFootR[0]],
jointMasksFootR[0])
yjc.computeAngJacobianDerivative2(dJAngFootR[0], DOFs, jointPositions,
jointAxeses, linkAngVelocities,
[positionFootR[0]],
jointMasksFootR[0], False)
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
CP = yrp.getCP(contactPositions, contactForces)
for i in range(len(bodyIDsToCheck)):
controlModel.SetBodyColor(bodyIDsToCheck[i], 0, 0, 0)
##########################################
for i in range(len(rd_contactPositions)):
rd_contactPositions[i] = [0, 0, 0]
rd_contactForces[i] = [0, 0, 0]
for i in range(len(contactPositions)):
rd_contactPositions[i] = np.copy(contactPositions[i])
rd_contactForces[i] = np.copy(contactForces[i])
'''
if len(contactPositions) > 0:
rd_contactPositions = np.copy(contactPositions)
rd_contactForces = np.copy(contactForces)
print("rd_contactPositions", rd_contactPositions)
print("contactPositions", contactPositions)
'''
'''
for i in range(len(contactRendererName)):
viewer.doc.removeRenderer(contactRendererName[i])
del contactRendererName[:]
for i in range(len(contactPositions)):
contactRendererName.append(str(i))
#viewer.doc.addRenderer(str(i), yr.PointsRenderer([contactPositions[i]], (0,255,0)))
viewer.doc.addRenderer(str(i), yr.ForcesRenderer([contactForces[i]], [contactPositions[i]], (0,255,0), .009, 0.009))
viewer.motionViewWnd.update(1, viewer.doc)
'''
##########################################
contactFlagFootL = [0] * footPartNum
contactFlagFootR = [0] * footPartNum
partialDOFIndex = [22, 22]
for i in range(len(bodyIDs)):
controlModel.SetBodyColor(bodyIDs[i], 255, 105, 105)
index = controlModel.id2index(bodyIDs[i])
for j in range(len(indexFootL)):
if index == indexFootL[j]:
contactFlagFootL[j] = 1
if j != 0:
yjc.computePartialJacobian2(jFootL[j], DOFs,
jointPositions,
jointAxeses,
[positionFootL[j]],
jointMasksFootL[j],
partialDOFIndex)
yjc.computePartialJacobianDerivative2(
dJFootL[j], DOFs, jointPositions, jointAxeses,
linkAngVelocities, [positionFootL[j]],
jointMasksFootL[j], False, partialDOFIndex)
break
for j in range(len(indexFootR)):
if index == indexFootR[j]:
contactFlagFootR[j] = 1
if j != 0:
yjc.computePartialJacobian2(jFootR[j], DOFs,
jointPositions,
jointAxeses,
[positionFootR[j]],
jointMasksFootR[j],
partialDOFIndex)
yjc.computePartialJacobianDerivative2(
dJFootR[j], DOFs, jointPositions, jointAxeses,
linkAngVelocities, [positionFootR[j]],
jointMasksFootR[j], False, partialDOFIndex)
break
for j in range(len(indexFootL)):
yjc.computeAngJacobian2(jAngFootL[j], DOFs, jointPositions,
jointAxeses, [positionFootL[j]],
jointMasksFootL[j])
yjc.computeAngJacobianDerivative2(dJAngFootL[j], DOFs,
jointPositions, jointAxeses,
linkAngVelocities,
[positionFootL[j]],
jointMasksFootL[j], False)
yjc.computeAngJacobian2(jAngFootR[j], DOFs, jointPositions,
jointAxeses, [positionFootR[j]],
jointMasksFootR[j])
yjc.computeAngJacobianDerivative2(dJAngFootR[j], DOFs,
jointPositions, jointAxeses,
linkAngVelocities,
[positionFootR[j]],
jointMasksFootR[j], False)
'''
if footPartNum == 1:
footCenterL = controlModel.getBodyPositionGlobal(supL)
footCenterR = controlModel.getBodyPositionGlobal(supR)
else:
if ((contactFlagFootL[3] == 1 or contactFlagFootL[4] == 1) and contactFlagFootL[0] == 0) or ((contactFlagFootR[3] == 1 or contactFlagFootR[4] == 1) and contactFlagFootR[0] == 0):
r = 0.8
footCenterL = (controlModel.getBodyPositionGlobal(supL)*r + controlModel.getBodyPositionGlobal(indexFootL[1])*(1.0-r))
footCenterR = (controlModel.getBodyPositionGlobal(supR)*r + controlModel.getBodyPositionGlobal(indexFootR[1])*(1.0-r))
#footCenterL = controlModel.getBodyPositionGlobal(indexFootL[1])
#footCenterR = controlModel.getBodyPositionGlobal(indexFootR[1])
else :
#footCenterL = (controlModel.getBodyPositionGlobal(supL) + controlModel.getBodyPositionGlobal(indexFootL[1]))/2.0
#footCenterR = (controlModel.getBodyPositionGlobal(supR) + controlModel.getBodyPositionGlobal(indexFootR[1]))/2.0
#footCenterL = controlModel.getBodyPositionGlobal(indexFootL[1])
#footCenterR = controlModel.getBodyPositionGlobal(indexFootR[1])
r = 0.8
footCenterL = (controlModel.getBodyPositionGlobal(indexFootL[1])*r + controlModel.getBodyPositionGlobal(indexFootL[3])*(1.0-r))
footCenterR = (controlModel.getBodyPositionGlobal(indexFootR[1])*r + controlModel.getBodyPositionGlobal(indexFootR[3])*(1.0-r))
'''
'''
if stage == POWERFUL_BALANCING:
footCenterL = controlModel.getBodyPositionGlobal(indexFootL[1])
footCenterR = controlModel.getBodyPositionGlobal(indexFootR[1])
else:
footCenterL = (controlModel.getBodyPositionGlobal(indexFootL[1]) + controlModel.getBodyPositionGlobal(indexFootL[3]) )/2.0
footCenterR = (controlModel.getBodyPositionGlobal(indexFootR[1]) + controlModel.getBodyPositionGlobal(indexFootR[3]))/2.0
'''
'''
p1 = controlModel.getBodyPositionGlobal(indexFootL[0])
p2 = controlModel.getBodyPositionGlobal(indexFootR[0])
p3 = controlModel.getBodyPositionGlobal(indexFootL[4])
p4 = controlModel.getBodyPositionGlobal(indexFootR[4])
print(frame, "supL", p1[1])
print(frame, "supR", p2[1])
print(frame, "calcL", p3[1])
print(frame, "calcR", p4[1])
'''
#footCenter = footCenterL + (footCenterR - footCenterL)/2.0
#footCenter[1] = 0.
#
'''
if checkAll(contactFlagFootL, 0) == 1 and checkAll(contactFlagFootR, 0) == 1:
footCenter = footCenter
elif checkAll(contactFlagFootL, 0) == 1 :
footCenter = footCenterR
elif checkAll(contactFlagFootR, 0) == 1 :
footCenter = footCenterL
'''
if footPartNum == 1:
desFCL = (controlModel.getBodyPositionGlobal(supL))
desFCR = (controlModel.getBodyPositionGlobal(supR))
else:
r = 1.
desFCL = (controlModel.getBodyPositionGlobal(supL) * r +
controlModel.getBodyPositionGlobal(indexFootL[2]) *
(1.0 - r)
) #controlModel.getBodyPositionGlobal(indexFootL[1])
desFCR = (controlModel.getBodyPositionGlobal(supR) * r +
controlModel.getBodyPositionGlobal(indexFootR[2]) *
(1.0 - r)
) #controlModel.getBodyPositionGlobal(indexFootR[1])
desFC = desFCL + (desFCR - desFCL) / 2.0
if checkAll(contactFlagFootL, 0) == 1 and checkAll(
contactFlagFootR, 0) == 1:
desFC = desFC
elif checkAll(contactFlagFootL, 0) == 1:
desFC = desFCR
elif checkAll(contactFlagFootR, 0) == 1:
desFC = desFCL
desFC[1] = 0
rd_footCenter_des[0] = desFC.copy()
curRelCMVec = CM_plane - desFC
vecRatio = mm.length(curRelCMVec) * 0.
#print(frame, vecRatio)
footCenter = desFC - curRelCMVec * (vecRatio) #/10.0
footCenter_ref = refFootL + (refFootR - refFootL) / 2.0
#footCenter_ref[1] = 0.
footCenter[1] = 0.
vecRatio = mm.length(curRelCMVec) * 10.
softConstPointOffset = -curRelCMVec * (vecRatio) #/10.0
#print(frame, vecRatio, softConstPointOffset)
desForeSupLAcc = [0, 0, 0]
desForeSupRAcc = [0, 0, 0]
totalNormalForce = [0, 0, 0]
for i in range(len(contactForces)):
totalNormalForce[0] += contactForces[i][0]
totalNormalForce[1] += contactForces[i][1]
totalNormalForce[2] += contactForces[i][2]
# linear momentum
CM_ref_plane = footCenter
dL_des_plane = Kl * totalMass * (CM_ref_plane -
CM_plane) - Dl * totalMass * dCM_plane
# angular momentum
CP_ref = footCenter
timeStep = 30.
if CP_old[0] == None or CP == None:
dCP = None
else:
dCP = (CP - CP_old[0]) / (1 / timeStep)
CP_old[0] = CP
if CP != None and dCP != None:
ddCP_des = Kh * (CP_ref - CP) - Dh * (dCP)
CP_des = CP + dCP * (1 / timeStep) + .5 * ddCP_des * (
(1 / timeStep)**2)
dH_des = np.cross(
(CP_des - CM),
(dL_des_plane + totalMass * mm.s2v(wcfg.gravity)))
#dH_des = np.cross((CP_des - CM_plane), (dL_des_plane + totalMass*mm.s2v(wcfg.gravity)))
else:
dH_des = None
# momentum matrix
RS = np.dot(P, Jsys)
R, S = np.vsplit(RS, 2)
rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat)
r_bias, s_bias = np.hsplit(rs, 2)
##############################
# soft point constraint
#####################################################
P_cur = controlModel.getBodyPositionGlobal(constBody)
constBodyVec = P_cur - footCenter
softConstPoint = [
footCenter[0] + softConstPointOffset[0],
mm.length(constBodyVec), footCenter[2] + softConstPointOffset[2]
]
#####################################################
P_des = softConstPoint
#P_cur = controlModel.getBodyPositionGlobal(constBody)
dP_des = [0, 0, 0]
dP_cur = controlModel.getBodyVelocityGlobal(constBody)
ddP_des1 = Ksc * (-(P_des - P_cur)) - Dsc * (-(dP_cur - dP_des))
r = -(P_des - P_cur)
I = np.vstack(([1, 0, 0], [0, 1, 0], [0, 0, 1]))
Z = np.hstack((I, mm.getCrossMatrixForm(-r)))
yjc.computeJacobian2(Jconst, DOFs, jointPositions, jointAxeses,
[P_cur], constJointMasks)
JL, JA = np.vsplit(Jconst, 2)
Q1 = np.dot(Z, Jconst)
q1 = np.dot(JA, dth_flat)
q2 = np.dot(mm.getCrossMatrixForm(q1),
np.dot(mm.getCrossMatrixForm(q1), r))
yjc.computeJacobianDerivative2(dJconst, DOFs, jointPositions,
jointAxeses, linkAngVelocities, [P_cur],
constJointMasks, False)
q_bias1 = np.dot(np.dot(Z, dJconst), dth_flat) + q2
##############################
flagContact = True
if dH_des == None or np.any(np.isnan(dH_des)) == True:
flagContact = False
viewer.doc.showRenderer('rd_grf_des', False)
viewer.motionViewWnd.update(1, viewer.doc)
else:
viewer.doc.showRenderer('rd_grf_des', True)
viewer.motionViewWnd.update(1, viewer.doc)
'''
0 : initial
1 : contact
2 : fly
3 : landing
'''
#MOTION = FORWARD_JUMP
if mit.MOTION == mit.FORWARD_JUMP:
frame_index = [136, 100]
#frame_index = [100000, 100000]
elif mit.MOTION == mit.TAEKWONDO:
frame_index = [130, 100]
#frame_index = [100000, 100000]
elif mit.MOTION == mit.TAEKWONDO2:
frame_index = [130 + 40, 100]
else:
frame_index = [1000000, 1000000]
#MOTION = TAEKWONDO
#frame_index = [135, 100]
'''
if frame > 300 :
if stage != DYNAMIC_BALANCING:
print("#", frame,"-DYNAMIC_BALANCING")
stage = DYNAMIC_BALANCING
Kk = Kk*1
Dk = 2*(Kk**.5)
'''
if frame > frame_index[0]:
if stage != POWERFUL_BALANCING:
print("#", frame, "-POWERFUL_BALANCING")
stage = POWERFUL_BALANCING
Kk = Kk * 2
Dk = 2 * (Kk**.5)
elif frame > frame_index[1]:
if stage != MOTION_TRACKING:
print("#", frame, "-MOTION_TRACKING")
stage = MOTION_TRACKING
trackingW = w
if stage == MOTION_TRACKING:
trackingW = w2
Bt = Bt * 2
# optimization
mot.addTrackingTerms(problem, totalDOF, Bt, trackingW, ddth_des_flat)
mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1,
q_bias1)
if flagContact == True:
if stage != MOTION_TRACKING:
mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R,
r_bias)
mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias)
a_sup_2 = [None]
Jsup_2 = [None]
dJsup_2 = [None]
##############################
# Hard constraint
if stage != MOTION_TRACKING:
Kk2 = Kk * 2.0
else:
Kk2 = Kk * 1.5
Dk2 = 2 * (Kk2**.5)
'''
desLinearAccL, desPosL = getDesFootLinearAcc(motionModel, controlModel, supL, ModelOffset, CM_ref, CM, Kk2, Dk2)
desLinearAccR, desPosR = getDesFootLinearAcc(motionModel, controlModel, supR, ModelOffset, CM_ref, CM, Kk2, Dk2)
desAngularAccL = getDesFootAngularAcc(motionModel, controlModel, supL, Kk2, Dk2)
desAngularAccR = getDesFootAngularAcc(motionModel, controlModel, supR, Kk2, Dk2)
'''
if stage != MOTION_TRACKING:
idx = 0 #LEFT/RIGHT_TOES
desLinearAccL, desPosL = getDesFootLinearAcc(
motionModel, controlModel, indexFootL[idx], ModelOffset,
CM_ref, CM, Kk2, Dk2, 0.040)
desLinearAccR, desPosR = getDesFootLinearAcc(
motionModel, controlModel, indexFootR[idx], ModelOffset,
CM_ref, CM, Kk2, Dk2, 0.040)
desAngularAccL = getDesFootAngularAcc(motionModel, controlModel,
indexFootL[idx], Kk2, Dk2)
desAngularAccR = getDesFootAngularAcc(motionModel, controlModel,
indexFootR[idx], Kk2, Dk2)
a_sup_2 = np.hstack((np.hstack((desLinearAccL, desAngularAccL)),
np.hstack((desLinearAccR, desAngularAccR))))
Jsup_2 = np.vstack((jFootL[idx], jFootR[idx]))
dJsup_2 = np.vstack((dJFootL[idx], dJFootR[idx]))
'''
idx = 0
desAngularAccL = getDesFootAngularAcc(motionModel, controlModel, indexFootL[idx], Kk2, Dk2)
desAngularAccR = getDesFootAngularAcc(motionModel, controlModel, indexFootR[idx], Kk2, Dk2)
a_sup_2 = np.hstack(( desAngularAccL, desAngularAccR))
Jsup_2 = np.vstack((jAngFootL[idx], jAngFootR[idx]))
dJsup_2 = np.vstack((dJAngFootL[idx], dJAngFootR[idx]))
'''
rd_DesPosL[0] = desPosL.copy()
rd_DesPosR[0] = desPosR.copy()
else:
if footPartNum == 5:
idx = 3
desAngularAccL = getDesFootAngularAcc(motionModel,
controlModel,
indexFootL[idx], Kk2,
Dk2)
desAngularAccR = getDesFootAngularAcc(motionModel,
controlModel,
indexFootR[idx], Kk2,
Dk2)
a_sup_2 = np.hstack((desAngularAccL, desAngularAccR))
Jsup_2 = np.vstack((jAngFootL[idx], jAngFootR[idx]))
dJsup_2 = np.vstack((dJAngFootL[idx], dJAngFootR[idx]))
idx = 4
desAngularAccL = getDesFootAngularAcc(motionModel,
controlModel,
indexFootL[idx], Kk2,
Dk2)
desAngularAccR = getDesFootAngularAcc(motionModel,
controlModel,
indexFootR[idx], Kk2,
Dk2)
a_sup_2 = np.hstack(
(a_sup_2, np.hstack((desAngularAccL, desAngularAccR))))
Jsup_2 = np.vstack(
(Jsup_2, np.vstack((jAngFootL[idx], jAngFootR[idx]))))
dJsup_2 = np.vstack(
(dJsup_2, np.vstack((dJAngFootL[idx], dJAngFootR[idx]))))
else:
idx = 1
desAngularAccL = getDesFootAngularAcc(motionModel,
controlModel,
indexFootL[idx], Kk2,
Dk2)
desAngularAccR = getDesFootAngularAcc(motionModel,
controlModel,
indexFootR[idx], Kk2,
Dk2)
a_sup_2 = np.hstack((desAngularAccL, desAngularAccR))
Jsup_2 = np.vstack((jAngFootL[idx], jAngFootR[idx]))
dJsup_2 = np.vstack((dJAngFootL[idx], dJAngFootR[idx]))
##############################
##############################
# Additional constraint
if stage != MOTION_TRACKING:
#Kk2 = Kk * 2.5
Kk2 = Kk * 2.5
Dk2 = 2 * (Kk2**.5)
desForePosL = [0, 0, 0]
desForePosR = [0, 0, 0]
desRearPosL = [0, 0, 0]
desRearPosR = [0, 0, 0]
for i in range(1, footPartNum):
if i == i:
if contactFlagFootL[i] == 1:
desLinearAccL, desForePosL = getDesFootLinearAcc(
motionModel, controlModel, indexFootL[i],
ModelOffset, CM_ref, CM, Kk2, Dk2, 0.04)
desAngularAccL = getDesFootAngularAcc(
motionModel, controlModel, indexFootL[i], Kk2, Dk2)
a_sup_2 = np.hstack(
(a_sup_2, np.hstack(
(desLinearAccL, desAngularAccL))))
Jsup_2 = np.vstack((Jsup_2, jFootL[i]))
dJsup_2 = np.vstack((dJsup_2, dJFootL[i]))
if contactFlagFootR[i] == 1:
desLinearAccR, desForePosR = getDesFootLinearAcc(
motionModel, controlModel, indexFootR[i],
ModelOffset, CM_ref, CM, Kk2, Dk2, 0.04)
desAngularAccR = getDesFootAngularAcc(
motionModel, controlModel, indexFootR[i], Kk2, Dk2)
a_sup_2 = np.hstack(
(a_sup_2, np.hstack(
(desLinearAccR, desAngularAccR))))
Jsup_2 = np.vstack((Jsup_2, jFootR[i]))
dJsup_2 = np.vstack((dJsup_2, dJFootR[i]))
else:
if contactFlagFootL[i] == 1:
desAngularAccL = getDesFootAngularAcc(
motionModel, controlModel, indexFootL[i], Kk2, Dk2)
a_sup_2 = np.hstack((a_sup_2, desAngularAccL))
Jsup_2 = np.vstack((Jsup_2, jAngFootL[i]))
dJsup_2 = np.vstack((dJsup_2, dJAngFootL[i]))
if contactFlagFootR[i] == 1:
desAngularAccR = getDesFootAngularAcc(
motionModel, controlModel, indexFootR[i], Kk2, Dk2)
a_sup_2 = np.hstack((a_sup_2, desAngularAccR))
Jsup_2 = np.vstack((Jsup_2, jAngFootR[i]))
dJsup_2 = np.vstack((dJsup_2, dJAngFootR[i]))
'''
for i in range(1, footPartNum) :
if contactFlagFootL[i] == 1:
desLinearAccL, desForePosL = getDesFootLinearAcc(motionModel, controlModel, indexFootL[i], ModelOffset, CM_ref, CM, Kk2, Dk2, 0.034)
desAngularAccL = getDesFootAngularAcc(motionModel, controlModel, indexFootL[i], Kk2, Dk2)
a_sup_2 = np.hstack(( a_sup_2, np.hstack((desLinearAccL, desAngularAccL)) ))
Jsup_2 = np.vstack(( Jsup_2, jFootL[i] ))
dJsup_2 = np.vstack(( dJsup_2, dJFootL[i] ))
if contactFlagFootR[i] == 1:
desLinearAccR, desForePosR = getDesFootLinearAcc(motionModel, controlModel, indexFootR[i], ModelOffset, CM_ref, CM, Kk2, Dk2, 0.034)
desAngularAccR = getDesFootAngularAcc(motionModel, controlModel, indexFootR[i], Kk2, Dk2)
a_sup_2 = np.hstack(( a_sup_2, np.hstack((desLinearAccR, desAngularAccR)) ))
Jsup_2 = np.vstack(( Jsup_2, jFootR[i] ))
dJsup_2 = np.vstack(( dJsup_2, dJFootR[i] ))
'''
rd_DesForePosL[0] = desForePosL
rd_DesForePosR[0] = desForePosR
rd_DesRearPosL[0] = desRearPosL
rd_DesRearPosR[0] = desRearPosR
##############################
mot.setConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat,
a_sup_2)
r = problem.solve()
problem.clear()
ype.nested(r['x'], ddth_sol)
rootPos[0] = controlModel.getBodyPositionGlobal(selectedBody)
localPos = [[0, 0, 0]]
for i in range(stepsPerFrame):
# apply penalty force
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals,
contactForces)
extraForce[0] = viewer.GetForce()
if (extraForce[0][0] != 0 or extraForce[0][1] != 0
or extraForce[0][2] != 0):
forceApplyFrame += 1
#vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce)
controlModel.applyBodyForceGlobal(selectedBody, extraForce[0])
applyedExtraForce[0] = extraForce[0]
if forceApplyFrame * wcfg.timeStep > 0.1:
viewer.ResetForce()
forceApplyFrame = 0
controlModel.setDOFAccelerations(ddth_sol)
controlModel.solveHybridDynamics()
'''
extraForce[0] = viewer.GetForce()
if (extraForce[0][0] != 0 or extraForce[0][1] != 0 or extraForce[0][2] != 0) :
forceApplyFrame += 1
vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce)
applyedExtraForce[0] = extraForce[0]
if forceApplyFrame*wcfg.timeStep > 0.1:
viewer.ResetForce()
forceApplyFrame = 0
'''
vpWorld.step()
# rendering
rd_footCenter[0] = footCenter
rd_CM[0] = CM.copy()
rd_CM_plane[0] = CM_plane.copy()
rd_footCenter_ref[0] = footCenter_ref
rd_CM_plane_ref[0] = CM_ref.copy()
rd_CM_ref[0] = CM_ref.copy()
rd_CM_ref_vec[0] = (CM_ref - footCenter_ref) * 3.
rd_CM_vec[0] = (CM - footCenter) * 3
#rd_CM_plane[0][1] = 0.
if CP != None and dCP != None:
rd_CP[0] = CP
rd_CP_des[0] = CP_des
rd_dL_des_plane[0] = dL_des_plane
rd_dH_des[0] = dH_des
rd_grf_des[
0] = totalNormalForce # - totalMass*mm.s2v(wcfg.gravity)#dL_des_plane - totalMass*mm.s2v(wcfg.gravity)
rd_exf_des[0] = applyedExtraForce[0]
rd_root_des[0] = rootPos[0]
rd_CMP[0] = softConstPoint
rd_soft_const_vec[0] = controlModel.getBodyPositionGlobal(
constBody) - softConstPoint
if (forceApplyFrame == 0):
applyedExtraForce[0] = [0, 0, 0]
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 60.)
viewer.show()
Fl.run()
def main():
np.set_printoptions(precision=4, linewidth=200)
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5()
motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped()
mcfg_motion = mit.normal_mcfg()
vpWorld = cvw.VpWorld(wcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
motionModel.recordVelByFiniteDiff()
motionOriModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
footPartNum = config['FootPartNum']
if footPartNum > 1:
elasticity = 2000
damping = 2 * (elasticity**.5)
springBody1 = 5
springBody2 = 6
springBody1Pos = motionModel.getBodyPositionGlobal(
motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]))
springBody2Pos = motionModel.getBodyPositionGlobal(
motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]))
initialDist = mm.length(springBody1Pos - springBody2Pos) * 1.
node = mcfg.getNode(mit.LEFT_PHALANGE_1)
initialDist -= node.width #0.084
v1 = (-node.width * 0.5, 0.0, node.length * 0.4)
v2 = (node.width * 0.5, 0.0, node.length * 0.4)
controlModel.setSpring(
motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]),
motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]),
elasticity, damping, v2, v1, initialDist)
controlModel.setSpring(
motion[0].skeleton.getJointIndex(config['FootRPart'][springBody1]),
motion[0].skeleton.getJointIndex(config['FootRPart'][springBody2]),
elasticity, damping, v1, v2, initialDist)
#elasticity = 10
#damping = 2*(elasticity**.5)
#springBody1 = 3
#springBody2 = 4
#node = mcfg.getNode(mit.LEFT_PHALANGE_1)
#springBody1Pos = motionModel.getBodyPositionGlobal(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]))
#springBody2Pos = motionModel.getBodyPositionGlobal(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]))
#initialDist = mm.length(springBody1Pos - springBody2Pos)*1.
#initialDist -= node.width#0.084
#v1 = (-node.width*0.5,0.0,-node.length*0.4)
#v2 = (node.width*0.5,0.0,-node.length*0.4)
##controlModel.setSpring(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]), motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]), elasticity, damping, v2, v1, initialDist)
##controlModel.setSpring(motion[0].skeleton.getJointIndex(config['FootRPart'][springBody1]), motion[0].skeleton.getJointIndex(config['FootRPart'][springBody2]), elasticity, damping, v1, v2, initialDist)
vpWorld.initialize()
controlModel.initializeHybridDynamics()
#ModelOffset = (1.5, -0.01, 0)
ModelOffset = (1.5, 0.04, 0)
controlModel.translateByOffset(ModelOffset)
totalDOF = controlModel.getTotalDOF()
DOFs = controlModel.getDOFs()
# parameter
Kt = config['Kt']
Dt = config['Dt'] # tracking gain
Kl = config['Kl']
Dl = config['Dl'] # linear balance gain
Kh = config['Kh']
Dh = config['Dh'] # angular balance gain
Ks = config['Ks']
Ds = config['Ds'] # penalty force spring gain
Bt = config['Bt']
Bl = config['Bl']
Bh = config['Bh']
w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap'])
w2 = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap2'])
#w_IK = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['IKweightMap'])
supL = motion[0].skeleton.getJointIndex(config['supLink'])
supR = motion[0].skeleton.getJointIndex(config['supLink2'])
rootB = motion[0].skeleton.getJointIndex(config['root'])
selectedBody = motion[0].skeleton.getJointIndex(config['end'])
#constBody = motion[0].skeleton.getJointIndex('LeftForeArm')
constBody = motion[0].skeleton.getJointIndex(config['const'])
# jacobian
Jsup = yjc.makeEmptyJacobian(DOFs, 1)
dJsup = Jsup.copy()
JsupPre = Jsup.copy()
Jsys_IK = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum())
Jsys = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum())
dJsys = Jsys.copy()
JsysPre = Jsys.copy()
Jconst = yjc.makeEmptyJacobian(DOFs, 1)
dJconst = Jconst.copy()
Jcom = yjc.makeEmptyJacobian(DOFs, 1, False)
dJcom = Jcom.copy()
JcomAng = yjc.makeEmptyJacobian(DOFs, 1, False)
dJcomAng = JcomAng.copy()
###############
jFootL_IK = [None] * footPartNum
jFootR_IK = [None] * footPartNum
indexFootL = [None] * footPartNum
indexFootR = [None] * footPartNum
jFootL = [None] * footPartNum
dJFootL = [None] * footPartNum
jFootR = [None] * footPartNum
dJFootR = [None] * footPartNum
jointMasksFootL = [None] * footPartNum
jointMasksFootR = [None] * footPartNum
for i in range(footPartNum):
jFootL[i] = yjc.makeEmptyJacobian(DOFs, 1)
dJFootL[i] = jFootL[i].copy()
jFootR[i] = yjc.makeEmptyJacobian(DOFs, 1)
dJFootR[i] = jFootR[i].copy()
indexFootL[i] = motion[0].skeleton.getJointIndex(
config['FootLPart'][i])
indexFootR[i] = motion[0].skeleton.getJointIndex(
config['FootRPart'][i])
jointMasksFootL[i] = [
yjc.getLinkJointMask(motion[0].skeleton, indexFootL[i])
]
jointMasksFootR[i] = [
yjc.getLinkJointMask(motion[0].skeleton, indexFootR[i])
]
constJointMasks = [
yjc.getLinksJointMask(motion[0].skeleton,
[indexFootL[0], indexFootR[0]])
]
#constJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [indexFootL[0]])]
#constJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, constBody)]
allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton)
#comLowerJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [motion[0].skeleton.getJointIndex('LeftLeg'), motion[0].skeleton.getJointIndex('RightLeg')])]
comUpperJointMasks = [
yjc.getLinkJointMask(motion[0].skeleton, selectedBody)
]
#comLowerJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [motion[0].skeleton.getJointIndex('LeftLeg'), motion[0].skeleton.getJointIndex('RightLeg')])]
comUpperJointMasks[0][0] = 0
#comUpperJointMasks[0][1] = 1
#comUpperJointMasks[0][10] = 1
comUpperJointMasks[0][2] = 1
comUpperJointMasks[0][11] = 1
#print(comUpperJointMasks)
comLowerJointMasks = [
yjc.getLinksJointMask(motion[0].skeleton, [
motion[0].skeleton.getJointIndex('LeftLeg'),
motion[0].skeleton.getJointIndex('RightLeg')
])
]
'''
maskArray = [foreSupLJointMasks, foreSupRJointMasks, rearSupLJointMasks, rearSupRJointMasks]
parentArray = [supL, supR, supL, supR]
effectorArray = [foreSupL, foreSupR, rearSupL, rearSupR]
for j in range(4) :
for i in range(len(foreSupLJointMasks)) :
if i == parentArray[j] or i == effectorArray[j] :
maskArray[j][0][i] = 1
else :
maskArray[j][0][i] = 0
'''
# momentum matrix
linkMasses = controlModel.getBodyMasses()
totalMass = controlModel.getTotalMass()
TO = ymt.make_TO(linkMasses)
dTO = ymt.make_dTO(len(linkMasses))
# optimization
qps = hqp.QPSimulator()
problem = yac.LSE(totalDOF, 6)
a_sup = (0, 0, 0, 0, 0, 0) #L
#a_sup2 = (0,0,0, 0,0,0)#R
a_sup2 = [0, 0, 0, 0, 0, 0] #R
a_sup_2 = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
CP_old = [mm.v3(0., 0., 0.)]
# penalty method
bodyIDsToCheck = range(vpWorld.getBodyNum())
mus = [1.] * len(bodyIDsToCheck)
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
dth_IK = ype.makeNestedList(DOFs)
d_th_IK = ype.makeNestedList(DOFs)
d_th_IK_L = ype.makeNestedList(DOFs)
d_th_IK_R = ype.makeNestedList(DOFs)
dd_th_IK = ype.makeNestedList(DOFs)
dd_th_IK_flat = ype.makeFlatList(totalDOF)
d_th_IK_flat = ype.makeFlatList(totalDOF)
ddth_c_flat = ype.makeFlatList(totalDOF)
# viewer
rd_footCenter = [None]
rd_footCenter_ref = [None]
rd_footCenterL = [None]
rd_footCenterR = [None]
rd_CM_plane = [None]
rd_CM_plane_ref = [None]
rd_CM_ref = [None]
rd_CM_des = [None]
rd_CM = [None]
rd_CM_vec = [None]
rd_CM_ref_vec = [None]
rd_CP = [None]
rd_CP_des = [None]
rd_dL_des_plane = [None]
rd_dH_des = [None]
rd_grf_des = [None]
rd_footCenter_des = [None]
rd_exf_des = [None]
rd_root_des = [None]
rd_soft_const_vec = [None]
rd_root = [None]
rd_footL_vec = [None]
rd_footR_vec = [None]
rd_CMP = [None]
rd_DesPosL = [None]
rd_DesPosR = [None]
rd_DesForePosL = [None]
rd_DesForePosR = [None]
rd_DesRearPosL = [None]
rd_DesRearPosR = [None]
rd_Joint = [None]
rd_Joint2 = [None]
rd_Joint3 = [None]
rd_Joint4 = [None]
rd_desPoints = [None]
#rd_contactForces = [None]*10000
#rd_contactPositions = [None]*10000
rd_virtualForce = [None]
rootPos = [None]
selectedBodyId = [selectedBody]
extraForce = [None]
applyedExtraForce = [None]
applyedExtraForce[0] = [0, 0, 0]
normalVector = [[0, 2, 0]]
if MULTI_VIEWER:
viewer = ymv.MultiViewer(800, 655)
#viewer = ymv.MultiViewer(1600, 1255)
viewer.setRenderers1([
cvr.VpModelRenderer(motionModel, CHARACTER_COLOR, yr.POLYGON_FILL)
])
viewer.setRenderers2([
cvr.VpModelRenderer(controlModel, CHARACTER_COLOR, yr.POLYGON_FILL)
])
else:
viewer = ysv.SimpleViewer()
# viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer(
'motionModel',
cvr.VpModelRenderer(motionModel, (100, 100, 100),
yr.POLYGON_FILL)) #(150,150,255)
viewer.doc.addRenderer(
'controlModel',
cvr.VpModelRenderer(controlModel, CHARACTER_COLOR,
yr.POLYGON_FILL))
#viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, CHARACTER_COLOR, yr.POLYGON_LINE))
#viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter))
#viewer.doc.addRenderer('rd_footCenter_des', yr.PointsRenderer(rd_footCenter_des, (150,0,150)) )
#viewer.doc.addRenderer('rd_footCenterL', yr.PointsRenderer(rd_footCenterL))
#viewer.doc.addRenderer('rd_footCenterR', yr.PointsRenderer(rd_footCenterR))
viewer.doc.addRenderer('rd_CM_plane',
yr.PointsRenderer(rd_CM_plane, (255, 255, 0)))
viewer.doc.addRenderer('rd_CM',
yr.PointsRenderer(rd_CM, (255, 0, 255)))
viewer.doc.addRenderer('rd_CM_des',
yr.PointsRenderer(rd_CM_des, (64, 64, 255)))
viewer.doc.addRenderer(
'rd_CM_vec',
yr.VectorsRenderer(rd_CM_vec, rd_CM_plane, (255, 0, 0), 3))
#viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (0,255,0)))
viewer.doc.addRenderer('rd_CP_des',
yr.PointsRenderer(rd_CP_des, (255, 0, 128)))
# viewer.doc.addRenderer('rd_dL_des_plane', yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255,255,0)))
# viewer.doc.addRenderer('rd_dH_des', yr.VectorsRenderer(rd_dH_des, rd_CM, (0,255,0)))
#viewer.doc.addRenderer('rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP, (0,255,255), .001))
viewer.doc.addRenderer(
'rd_exf_des',
yr.ForcesRenderer(rd_exf_des, rd_root_des, (0, 255, 0), .009,
0.04))
#viewer.doc.addRenderer('rd_CMP', yr.PointsRenderer(rd_CMP, (0,0,255)))
#viewer.doc.addRenderer('rd_DesPosL', yr.PointsRenderer(rd_DesPosL, (0,0,255)))
#viewer.doc.addRenderer('rd_DesPosR', yr.PointsRenderer(rd_DesPosR, (0,100,255)))
#viewer.doc.addRenderer('rd_DesForePosL', yr.PointsRenderer(rd_DesForePosL, (150,0,200)))
#viewer.doc.addRenderer('rd_DesForePosR', yr.PointsRenderer(rd_DesForePosR, (150,0,250)))
#viewer.doc.addRenderer('rd_DesRearPosL', yr.PointsRenderer(rd_DesRearPosL, (0,150,200)))
#viewer.doc.addRenderer('rd_DesRearPosR', yr.PointsRenderer(rd_DesRearPosR, (0,150,250)))
#viewer.doc.addRenderer('softConstraint', yr.VectorsRenderer(rd_soft_const_vec, rd_CMP, (150,100,100), 3))
#viewer.doc.addRenderer('rd_footLVec', yr.VectorsRenderer(rd_footL_vec, rd_footCenterL, (255,0,0), 3))
#viewer.doc.addRenderer('rd_footRVec', yr.VectorsRenderer(rd_footR_vec, rd_footCenterR, (255,255,0), 3))
#viewer.doc.addRenderer('rd_footCenter_ref', yr.PointsRenderer(rd_footCenter_ref))
#viewer.doc.addRenderer('rd_CM_plane_ref', yr.PointsRenderer(rd_CM_plane_ref, (255,255,0)))
#viewer.doc.addRenderer('rd_refNormalVec', yr.VectorsRenderer(normalVector, rd_footCenter_ref, (255,0,0), 3))
#viewer.doc.addRenderer('rd_refCMVec', yr.VectorsRenderer(rd_CM_ref_vec, rd_footCenter_ref, (255,0,255), 3))
#viewer.doc.addRenderer('rd_curNormalVec', yr.VectorsRenderer(normalVector, rd_footCenter, (255,0,0), 3))
#viewer.doc.addRenderer('rd_CMVec', yr.VectorsRenderer(rd_CM_vec, rd_footCenter, (255,0,255), 3))
#viewer.doc.addRenderer('rd_contactForces', yr.ForcesRenderer(rd_contactForces, rd_contactPositions, (0,255,0), .009, 0.009))
#viewer.doc.addRenderer('rd_virtualForce', yr.ForcesRenderer(rd_virtualForce, rd_CM, (50,255,0), 0.5, 0.02))
#viewer.doc.addRenderer('rd_Joint', yr.PointsRenderer(rd_Joint, (255,0,0)))
#viewer.doc.addRenderer('rd_Joint2', yr.PointsRenderer(rd_Joint2, (0,255,0)))
#viewer.doc.addRenderer('rd_Joint3', yr.PointsRenderer(rd_Joint3, (0,0,255)))
#viewer.doc.addRenderer('rd_Joint4', yr.PointsRenderer(rd_Joint4, (255,255,0)))
viewer.doc.addRenderer('rd_desPoints',
yr.PointsRenderer(rd_desPoints, (255, 0, 0)))
stage = STATIC_BALANCING
contactRendererName = []
for i in range(motion[0].skeleton.getJointNum()):
print(i, motion[0].skeleton.getJointName(i))
desCOMOffset = 0.0
pt = [0.]
timeReport = [0.] * 7
viewer.objectInfoWnd.comOffsetY.value(-0.05)
viewer.objectInfoWnd.comOffsetZ.value(0.00)
viewer.objectInfoWnd.begin()
viewer.objectInfoWnd.Bc = Fl_Value_Input(100, 450, 40, 10, 'Bc')
viewer.objectInfoWnd.Bc.value(0.1)
viewer.objectInfoWnd.ankleAngleX = Fl_Value_Input(50, 510, 40, 10,
'Ankle X')
viewer.objectInfoWnd.ankleAngleX.value(0)
viewer.objectInfoWnd.ankleAngleY = Fl_Value_Input(110, 510, 40, 10, 'Y')
viewer.objectInfoWnd.ankleAngleY.value(1)
viewer.objectInfoWnd.ankleAngleZ = Fl_Value_Input(170, 510, 40, 10, 'Z')
viewer.objectInfoWnd.ankleAngleZ.value(0)
viewer.objectInfoWnd.end()
viewer.objectInfoWnd.labelKt.value(50)
viewer.objectInfoWnd.labelKk.value(17)
config['Phalange'] = [ motion[0].skeleton.getJointIndex('LeftPhalange_1'),\
motion[0].skeleton.getJointIndex('LeftPhalange_2'),\
motion[0].skeleton.getJointIndex('RightPhalange_1'),\
motion[0].skeleton.getJointIndex('RightPhalange_2')]
config['Talus'] = [ motion[0].skeleton.getJointIndex('LeftTalus_1'),\
motion[0].skeleton.getJointIndex('LeftTalus_2'),\
motion[0].skeleton.getJointIndex('RightTalus_1'),\
motion[0].skeleton.getJointIndex('RightTalus_2')]
config['Calcaneus'] = [ motion[0].skeleton.getJointIndex('LeftCalcaneus_1'),\
motion[0].skeleton.getJointIndex('LeftCalcaneus_2'),\
motion[0].skeleton.getJointIndex('RightCalcaneus_1'),\
motion[0].skeleton.getJointIndex('RightCalcaneus_2')]
pose = motion[0].copy()
timeReport = [0.] * 2
def simulateCallback(frame):
curTime = time.time()
Ke = 0.0
Kt, Kk, Kl, Kh, Ksc, Bt, Bl, Bh, B_CM, B_CMSd, B_Toe = viewer.GetParam(
)
motionModel.update(motion[frame])
controlToMotionOffset = [-2.0, 0., 0.]
motionModel.translateByOffset(controlToMotionOffset)
stepsPerFrame = 10
for i in range(stepsPerFrame):
Kt, Kk, Kl, Kh, Ksc, Bt, Bl, Bh, B_CM, B_CMSd, B_Toe = viewer.GetParam(
)
#Kt, Kl, Kh, Bl, Bh, Ke = viewer.GetParam()
#qps.setupWeight(Kt, Kl, Kh, Ke, Bt, Btau, Bcon, Bl, Bh, Be)
qps.setupWeight(Kt, Kl, Kh, Ke, 10., .1, .1, Bl, Bh, 10.)
cPositions, CP, CM, footCenter, dL_des, CM_ref = qps.setupQP(
frame, motion, mcfg, controlModel, vpWorld, config,
1. / (30. * stepsPerFrame))
CM_ref[1] = 0.
timeReport[0] += time.time() - curTime
curTime = time.time()
#forceforce = np.array([viewer.objectInfoWnd.labelForceX.value(), viewer.objectInfoWnd.labelForceY.value(), viewer.objectInfoWnd.labelForceZ.value()])
#extraForce[0] = viewer.objectInfoWnd.labelFm.value() * mm.normalize2(forceforce)
#extraForcePos[0] = controlModel.getBodyPositionGlobal(selectedBody)
#if viewer.GetForceState() :
# qps.addExternalForces(extraForce[0], selectedBody, viewer.objectInfoWnd.labelForceDur.value());
# viewer.ResetForceState()
x, cForce = qps.stepQP(controlModel, 1. / (30. * stepsPerFrame))
timeReport[1] += time.time() - curTime
curTime = time.time()
print timeReport
if frame % 30 == 0:
print 'elapsed time for 30 frames:', time.time() - pt[0]
# rendering
#rd_footCenter[0] = footCenter
#
#rd_CM[0] = CM.copy()
#
#rd_CM_plane[0] = CM_plane.copy()
#
#rd_footCenter_ref[0] = footCenter_ref
#rd_CM_plane_ref[0] = CM_ref.copy()
#rd_CM_ref[0] = CM_ref.copy()
#rd_CM_ref_vec[0] = (CM_ref - footCenter_ref)*3.
#rd_CM_vec[0] = (CM - CM_plane)
#rd_CM_des[0] = CM_ref_plane.copy()
#rd_CM_des[0][1] = .01
#rd_CM_plane[0][1] = 0.
#if CP!=None and dCP!=None:
# # rd_CP[0] = CP
# # rd_CP_des[0] = CP_des
# #
# #rd_dL_des_plane[0] = dL_des_plane
# #rd_dH_des[0] = dH_des
# #
# #rd_grf_des[0] = totalNormalForce# - totalMass*mm.s2v(wcfg.gravity)#dL_des_plane - totalMass*mm.s2v(wcfg.gravity)
# #
# #rd_exf_des[0] = applyedExtraForce[0]
# #rd_root_des[0] = rootPos[0]
#
# #rd_CMP[0] = softConstPoint
#
# #rd_soft_const_vec[0] = controlModel.getBodyPositionGlobal(constBody)-softConstPoint
#
#
# ##indexL = motion[0].skeleton.getJointIndex('Hips')
# ##indexR = motion[0].skeleton.getJointIndex('Spine1')
# #indexL = indexFootL[0]
# #indexR = indexFootR[0]
#
# #curAng = [controlModel.getBodyOrientationGlobal(indexL)]
# #curAngY = np.dot(curAng, np.array([0,0,1]))
#
# #rd_footL_vec[0] = np.copy(curAngY[0])
# #rd_footCenterL[0] = controlModel.getBodyPositionGlobal(indexL)
# #
# #curAng = [controlModel.getBodyOrientationGlobal(indexR)]
# #curAngY = np.dot(curAng, np.array([0,0,1]))
#
#rd_footR_vec[0] = np.copy(curAngY[0])
#rd_footCenterR[0] = controlModel.getBodyPositionGlobal(indexR)
#
#if (forceApplyFrame == 0) :
# applyedExtraForce[0] = [0, 0, 0]
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def main():
np.set_printoptions(precision=4, linewidth=200)
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5()
motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped()
mcfg_motion = mit.normal_mcfg()
vpWorld = cvw.VpWorld(wcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
motionModel.recordVelByFiniteDiff()
IKModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
footPartNum = config['FootPartNum']
if footPartNum > 1:
elasticity = 2000
damping = 2 * (elasticity**.5)
springBody1 = 1
springBody2 = 2
springBody1Pos = motionModel.getBodyPositionGlobal(
motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]))
springBody2Pos = motionModel.getBodyPositionGlobal(
motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]))
initialDist = mm.length(springBody1Pos - springBody2Pos) * 1.
node = mcfg.getNode(mit.LEFT_METATARSAL_1)
initialDist -= node.width #0.084
v1 = (-node.width * 0.5, 0.0, node.length * 0.4)
v2 = (node.width * 0.5, 0.0, node.length * 0.4)
#controlModel.setSpring(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]), motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]), elasticity, damping, v2, v1, initialDist)
#controlModel.setSpring(motion[0].skeleton.getJointIndex(config['FootRPart'][springBody1]), motion[0].skeleton.getJointIndex(config['FootRPart'][springBody2]), elasticity, damping, v1, v2, initialDist)
elasticity = 10
damping = 2 * (elasticity**.5)
springBody1 = 3
springBody2 = 4
node = mcfg.getNode(mit.LEFT_PHALANGE_1)
springBody1Pos = motionModel.getBodyPositionGlobal(
motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]))
springBody2Pos = motionModel.getBodyPositionGlobal(
motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]))
initialDist = mm.length(springBody1Pos - springBody2Pos) * 1.
initialDist -= node.width #0.084
v1 = (-node.width * 0.5, 0.0, -node.length * 0.4)
v2 = (node.width * 0.5, 0.0, -node.length * 0.4)
#controlModel.setSpring(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]), motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]), elasticity, damping, v2, v1, initialDist)
#controlModel.setSpring(motion[0].skeleton.getJointIndex(config['FootRPart'][springBody1]), motion[0].skeleton.getJointIndex(config['FootRPart'][springBody2]), elasticity, damping, v1, v2, initialDist)
vpWorld.initialize()
controlModel.initializeHybridDynamics()
#ModelOffset = (1.5, -0.01, 0)
ModelOffset = (1.5, 0.04, 0)
controlModel.translateByOffset(ModelOffset)
totalDOF = controlModel.getTotalDOF()
DOFs = controlModel.getDOFs()
# parameter
Kt = config['Kt']
Dt = config['Dt'] # tracking gain
Kl = config['Kl']
Dl = config['Dl'] # linear balance gain
Kh = config['Kh']
Dh = config['Dh'] # angular balance gain
Ks = config['Ks']
Ds = config['Ds'] # penalty force spring gain
Bt = config['Bt']
Bl = config['Bl']
Bh = config['Bh']
w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap'])
w2 = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap2'])
#w_IK = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['IKweightMap'])
supL = motion[0].skeleton.getJointIndex(config['supLink'])
supR = motion[0].skeleton.getJointIndex(config['supLink2'])
rootB = motion[0].skeleton.getJointIndex(config['root'])
selectedBody = motion[0].skeleton.getJointIndex(config['end'])
#constBody = motion[0].skeleton.getJointIndex('LeftForeArm')
constBody = motion[0].skeleton.getJointIndex(config['const'])
# jacobian
Jsup = yjc.makeEmptyJacobian(DOFs, 1)
dJsup = Jsup.copy()
JsupPre = Jsup.copy()
Jsys_IK = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum())
Jsys = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum())
dJsys = Jsys.copy()
JsysPre = Jsys.copy()
Jconst = yjc.makeEmptyJacobian(DOFs, 1)
dJconst = Jconst.copy()
Jcom = yjc.makeEmptyJacobian(DOFs, 1, False)
dJcom = Jcom.copy()
JcomAng = yjc.makeEmptyJacobian(DOFs, 1, False)
dJcomAng = JcomAng.copy()
###############
jFootL_IK = [None] * footPartNum
jFootR_IK = [None] * footPartNum
indexFootL = [None] * footPartNum
indexFootR = [None] * footPartNum
jFootL = [None] * footPartNum
dJFootL = [None] * footPartNum
jFootR = [None] * footPartNum
dJFootR = [None] * footPartNum
jointMasksFootL = [None] * footPartNum
jointMasksFootR = [None] * footPartNum
jAngFootL = [None] * footPartNum
dJAngFootL = [None] * footPartNum
jAngFootR = [None] * footPartNum
dJAngFootR = [None] * footPartNum
for i in range(footPartNum):
jFootL_IK[i] = yjc.makeEmptyJacobian(DOFs, 1)
jFootR_IK[i] = yjc.makeEmptyJacobian(DOFs, 1)
jFootL[i] = yjc.makeEmptyJacobian(DOFs, 1)
dJFootL[i] = jFootL[i].copy()
jFootR[i] = yjc.makeEmptyJacobian(DOFs, 1)
dJFootR[i] = jFootR[i].copy()
jAngFootL[i] = yjc.makeEmptyJacobian(DOFs, 1, False)
dJAngFootL[i] = jAngFootL[i].copy()
jAngFootR[i] = yjc.makeEmptyJacobian(DOFs, 1, False)
dJAngFootR[i] = jAngFootR[i].copy()
indexFootL[i] = motion[0].skeleton.getJointIndex(
config['FootLPart'][i])
indexFootR[i] = motion[0].skeleton.getJointIndex(
config['FootRPart'][i])
jointMasksFootL[i] = [
yjc.getLinkJointMask(motion[0].skeleton, indexFootL[i])
]
jointMasksFootR[i] = [
yjc.getLinkJointMask(motion[0].skeleton, indexFootR[i])
]
constJointMasks = [
yjc.getLinksJointMask(motion[0].skeleton,
[indexFootL[0], indexFootR[0]])
]
#constJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [indexFootL[0]])]
#constJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, constBody)]
allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton)
#comLowerJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [motion[0].skeleton.getJointIndex('LeftLeg'), motion[0].skeleton.getJointIndex('RightLeg')])]
comUpperJointMasks = [
yjc.getLinkJointMask(motion[0].skeleton, selectedBody)
]
#comLowerJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [motion[0].skeleton.getJointIndex('LeftLeg'), motion[0].skeleton.getJointIndex('RightLeg')])]
comUpperJointMasks[0][0] = 0
#comUpperJointMasks[0][1] = 1
#comUpperJointMasks[0][10] = 1
comUpperJointMasks[0][2] = 1
comUpperJointMasks[0][11] = 1
#print(comUpperJointMasks)
comLowerJointMasks = [
yjc.getLinksJointMask(motion[0].skeleton, [
motion[0].skeleton.getJointIndex('LeftLeg'),
motion[0].skeleton.getJointIndex('RightLeg')
])
]
'''
maskArray = [foreSupLJointMasks, foreSupRJointMasks, rearSupLJointMasks, rearSupRJointMasks]
parentArray = [supL, supR, supL, supR]
effectorArray = [foreSupL, foreSupR, rearSupL, rearSupR]
for j in range(4) :
for i in range(len(foreSupLJointMasks)) :
if i == parentArray[j] or i == effectorArray[j] :
maskArray[j][0][i] = 1
else :
maskArray[j][0][i] = 0
'''
# momentum matrix
linkMasses = controlModel.getBodyMasses()
totalMass = controlModel.getTotalMass()
TO = ymt.make_TO(linkMasses)
dTO = ymt.make_dTO(len(linkMasses))
# optimization
problem = yac.LSE(totalDOF, 6)
a_sup = (0, 0, 0, 0, 0, 0) #L
#a_sup2 = (0,0,0, 0,0,0)#R
a_sup2 = [0, 0, 0, 0, 0, 0] #R
a_sup_2 = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
CP_old = [mm.v3(0., 0., 0.)]
# penalty method
bodyIDsToCheck = range(vpWorld.getBodyNum())
mus = [1.] * len(bodyIDsToCheck)
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
dth_IK = ype.makeNestedList(DOFs)
d_th_IK = ype.makeNestedList(DOFs)
d_th_IK_L = ype.makeNestedList(DOFs)
d_th_IK_R = ype.makeNestedList(DOFs)
dd_th_IK = ype.makeNestedList(DOFs)
dd_th_IK_flat = ype.makeFlatList(totalDOF)
d_th_IK_flat = ype.makeFlatList(totalDOF)
ddth_c_flat = ype.makeFlatList(totalDOF)
# viewer
rd_footCenter = [None]
rd_footCenter_ref = [None]
rd_footCenterL = [None]
rd_footCenterR = [None]
rd_CM_plane = [None]
rd_CM_plane_ref = [None]
rd_CM_ref = [None]
rd_CM_des = [None]
rd_CM = [None]
rd_CM_vec = [None]
rd_CM_ref_vec = [None]
rd_CP = [None]
rd_CP_des = [None]
rd_dL_des_plane = [None]
rd_dH_des = [None]
rd_grf_des = [None]
rd_footCenter_des = [None]
rd_exf_des = [None]
rd_root_des = [None]
rd_soft_const_vec = [None]
rd_root = [None]
rd_footL_vec = [None]
rd_footR_vec = [None]
rd_CMP = [None]
rd_DesPosL = [None]
rd_DesPosR = [None]
rd_DesForePosL = [None]
rd_DesForePosR = [None]
rd_DesRearPosL = [None]
rd_DesRearPosR = [None]
rd_Joint = [None]
rd_Joint2 = [None]
rd_Joint3 = [None]
rd_Joint4 = [None]
#rd_contactForces = [None]*10000
#rd_contactPositions = [None]*10000
rd_virtualForce = [None]
rootPos = [None]
selectedBodyId = [selectedBody]
extraForce = [None]
applyedExtraForce = [None]
applyedExtraForce[0] = [0, 0, 0]
normalVector = [[0, 2, 0]]
if MULTI_VIEWER:
viewer = ymv.MultiViewer(800, 655)
#viewer = ymv.MultiViewer(1600, 1255)
viewer.setRenderers1([
cvr.VpModelRenderer(motionModel, CHARACTER_COLOR, yr.POLYGON_FILL)
])
viewer.setRenderers2([
cvr.VpModelRenderer(controlModel, CHARACTER_COLOR, yr.POLYGON_FILL)
])
else:
viewer = ysv.SimpleViewer()
# viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer(
'motionModel',
cvr.VpModelRenderer(motionModel, (100, 100, 100),
yr.POLYGON_FILL)) #(150,150,255)
viewer.doc.addRenderer(
'IKModel',
cvr.VpModelRenderer(IKModel, (180, 180, 180), yr.POLYGON_FILL))
viewer.doc.addRenderer(
'controlModel',
cvr.VpModelRenderer(controlModel, CHARACTER_COLOR,
yr.POLYGON_FILL))
#viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter))
#viewer.doc.addRenderer('rd_footCenter_des', yr.PointsRenderer(rd_footCenter_des, (150,0,150)) )
#viewer.doc.addRenderer('rd_footCenterL', yr.PointsRenderer(rd_footCenterL))
#viewer.doc.addRenderer('rd_footCenterR', yr.PointsRenderer(rd_footCenterR))
viewer.doc.addRenderer('rd_CM_plane',
yr.PointsRenderer(rd_CM_plane, (255, 255, 0)))
viewer.doc.addRenderer('rd_CM',
yr.PointsRenderer(rd_CM, (255, 0, 255)))
viewer.doc.addRenderer('rd_CM_des',
yr.PointsRenderer(rd_CM_des, (64, 64, 255)))
viewer.doc.addRenderer(
'rd_CM_vec',
yr.VectorsRenderer(rd_CM_vec, rd_CM_plane, (255, 0, 0), 3))
#viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (0,255,0)))
#viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (255,0,255)))
# viewer.doc.addRenderer('rd_dL_des_plane', yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255,255,0)))
# viewer.doc.addRenderer('rd_dH_des', yr.VectorsRenderer(rd_dH_des, rd_CM, (0,255,0)))
#viewer.doc.addRenderer('rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP, (0,255,255), .001))
viewer.doc.addRenderer(
'rd_exf_des',
yr.ForcesRenderer(rd_exf_des, rd_root_des, (0, 255, 0), .009,
0.04))
viewer.doc.addRenderer('rd_Joint',
yr.PointsRenderer(rd_Joint, (255, 0, 0)))
viewer.doc.addRenderer('rd_Joint2',
yr.PointsRenderer(rd_Joint2, (0, 255, 0)))
viewer.doc.addRenderer('rd_Joint3',
yr.PointsRenderer(rd_Joint3, (0, 0, 255)))
viewer.doc.addRenderer('rd_Joint4',
yr.PointsRenderer(rd_Joint4, (255, 255, 0)))
stage = STATIC_BALANCING
contactRendererName = []
for i in range(motion[0].skeleton.getJointNum()):
print(i, motion[0].skeleton.getJointName(i))
desCOMOffset = 0.0
pt = [0.]
timeReport = [0.] * 7
viewer.objectInfoWnd.comOffsetY.value(-0.05)
viewer.objectInfoWnd.comOffsetZ.value(0.00)
viewer.objectInfoWnd.begin()
viewer.objectInfoWnd.Bc = Fl_Value_Input(100, 450, 40, 10, 'Bc')
viewer.objectInfoWnd.Bc.value(0.1)
viewer.objectInfoWnd.end()
viewer.objectInfoWnd.labelKt.value(50)
viewer.objectInfoWnd.labelKk.value(17)
config['Phalange'] = [ motion[0].skeleton.getJointIndex('LeftPhalange_1'),\
motion[0].skeleton.getJointIndex('LeftPhalange_2'),\
motion[0].skeleton.getJointIndex('LeftPhalange_3'),\
motion[0].skeleton.getJointIndex('RightPhalange_1'),\
motion[0].skeleton.getJointIndex('RightPhalange_2'),\
motion[0].skeleton.getJointIndex('RightPhalange_3')]
config['Metatarsal'] = [motion[0].skeleton.getJointIndex('LeftMetatarsal_1'),\
motion[0].skeleton.getJointIndex('LeftMetatarsal_2'),\
motion[0].skeleton.getJointIndex('LeftMetatarsal_3'),\
motion[0].skeleton.getJointIndex('RightMetatarsal_1'),\
motion[0].skeleton.getJointIndex('RightMetatarsal_2'),\
motion[0].skeleton.getJointIndex('RightMetatarsal_3')]
config['Talus'] = [ motion[0].skeleton.getJointIndex('LeftTalus_1'),\
motion[0].skeleton.getJointIndex('LeftTalus_2'),\
motion[0].skeleton.getJointIndex('LeftTalus_3'),\
motion[0].skeleton.getJointIndex('RightTalus_1'),\
motion[0].skeleton.getJointIndex('RightTalus_2'),\
motion[0].skeleton.getJointIndex('RightTalus_3')]
config['Calcaneus'] = [ motion[0].skeleton.getJointIndex('LeftCalcaneus_1'),\
motion[0].skeleton.getJointIndex('LeftCalcaneus_2'),\
motion[0].skeleton.getJointIndex('LeftCalcaneus_3'),\
motion[0].skeleton.getJointIndex('RightCalcaneus_1'),\
motion[0].skeleton.getJointIndex('RightCalcaneus_2'),\
motion[0].skeleton.getJointIndex('RightCalcaneus_3')]
def simulateCallback(frame):
curTime = time.time()
if frame % 30 == 1: pt[0] = time.time()
global g_initFlag
global forceShowFrame
global forceApplyFrame
global JsysPre
global JsupPreL
global JsupPreR
global JsupPre
global softConstPoint
global stage
global contactRendererName
global desCOMOffset
#motionModel.update(motion[0])
Kt, Kk, Kl, Kh, Ksc, Bt, Bl, Bh, B_CM, B_CMSd, B_Toe = viewer.GetParam(
)
Dt = 2 * (Kt**.5)
Dk = 2 * (Kk**.5)
Dl = 2 * (Kl**.5)
Dh = 2 * (Kh**.5)
Dsc = 2 * (Ksc**.5)
'''
if Bsc == 0.0 :
viewer.doc.showRenderer('softConstraint', False)
viewer.motionViewWnd.update(1, viewer.doc)
else:
viewer.doc.showRenderer('softConstraint', True)
renderer1 = viewer.doc.getRenderer('softConstraint')
renderer1.rc.setLineWidth(0.1+Bsc*3)
viewer.motionViewWnd.update(1, viewer.doc)
'''
pose = motion[0].copy()
def solveIK(desComPos,
desIdxs,
desPos,
desOri,
cmW=10.,
posW=1.,
oriW=1.):
numItr = 100
dt = .5
threshold = 0.1
for i in range(0, numItr):
jPart_IK = []
print '----iter num', i
IKModel.update(pose)
th_r_IK = pose.getDOFPositions()
jointPositions_IK = pose.getJointPositionsGlobal()
jointAxeses_IK = pose.getDOFAxeses()
linkPositions_IK = IKModel.getBodyPositionsGlobal()
linkInertias_IK = IKModel.getBodyInertiasGlobal()
CM_IK = yrp.getCM(linkPositions_IK, linkMasses, totalMass)
print CM_IK
P_IK = ymt.getPureInertiaMatrix(TO, linkMasses,
linkPositions_IK, CM_IK,
linkInertias_IK)
yjc.computeJacobian2(Jsys_IK, DOFs, jointPositions_IK,
jointAxeses_IK, linkPositions_IK,
allLinkJointMasks)
for j in range(0, len(desIdxs)):
jPart_IK.append(Jsys_IK[6 * desIdxs[j]:6 * desIdxs[j] + 6])
J_IK, JAngCom_IK = np.vsplit(np.dot(P_IK, Jsys_IK), 2)
dv_IK = cmW * (desComPos - CM_IK)
for j in range(0, len(desIdxs)):
J_IK = np.vstack((J_IK, jPart_IK[j]))
pos_IK = IKModel.getBodyPositionGlobal(desIdxs[j])
dv_IK = np.append(dv_IK, posW * (desPos[j] - pos_IK))
ori_IK = IKModel.getBodyOrientationGlobal(desIdxs[j])
dv_IK = np.append(dv_IK,
oriW * mm.logSO3(desOri[j] * ori_IK.T))
#print dv_IK[0:3]
dth_IK_solve = npl.lstsq(J_IK, dv_IK)
dth_IK_x = dth_IK_solve[0][:totalDOF]
ype.nested(dth_IK_x, dth_IK)
#print dth_IK[0][0:3]
th_IK = yct.getIntegralDOF(th_r_IK, dth_IK, dt)
pose.setDOFPositions(th_IK)
if np.dot(dv_IK, dv_IK) < threshold:
break
linkPositions_ref = motionModel.getBodyPositionsGlobal()
CM_ref = yrp.getCM(linkPositions_ref, linkMasses, totalMass)
footCenterOffset = np.array([
viewer.objectInfoWnd.comOffsetX.value(),
viewer.objectInfoWnd.comOffsetY.value(),
viewer.objectInfoWnd.comOffsetZ.value()
])
#CM_IK_ref = footCenter + footCenterOffset
CM_IK_ref = CM_ref + footCenterOffset
#CM_IK_ref[1] = CM_ref[1] + footCenterOffset[1]
motion[0].skeleton.getJointIndex(config['supLink'])
#IKidxs = [indexFootL[0], indexFootR[0]]
#IKdesPos = [motionModel.getBodyPositionGlobal(indexFootL[0]), motionModel.getBodyPositionGlobal(indexFootR[0])]
#for i in range(0, 2):
# #IKdesPos[i] += ModelOffset
# IKdesPos[i][1] = 0.069
#IKori = [motionModel.getBodyOrientationGlobal(indexFootL[0]), motionModel.getBodyOrientationGlobal(indexFootR[0])]
#IKdesOri = [None]*2
#for i in range(0, 2):
# IKdesOri[i] = mm.I_SO3()
IKidxs = config['Phalange'][0:1] + config['Phalange'][3:4]
print IKidxs
IKdesPos = [None] * len(IKidxs)
IKdesOri = [None] * len(IKidxs)
for i in range(0, len(IKidxs)):
#print i
IKdesPos[i] = motionModel.getBodyPositionGlobal(IKidxs[i])
IKdesPos[i][1] = 0.03
IKdesOri[i] = mm.I_SO3()
print IKdesPos
solveIK(CM_IK_ref, IKidxs, IKdesPos, IKdesOri)
# tracking
th_r_ori = motion.getDOFPositions(frame)
th_r = copy.copy(th_r_ori)
global leftHipTimer
if viewer.objectInfoWnd.onLeftHip:
leftHipTimer = 60
viewer.objectInfoWnd.onLeftHip = False
if leftHipTimer > 0:
viewer.objectInfoWnd.comOffsetX.value(
0.14 * np.sin(2 * 3.14 * leftHipTimer / 60.))
#viewer.objectInfoWnd.comOffsetZ.value(0.04*np.cos(2*3.14*leftHipTimer/90.))
#B_Hipd = viewer.objectInfoWnd.labelLeftHip.value()
#newR1 = mm.exp(mm.v3(0.0,1.0,0.0), 3.14*0.5*B_Hipd/100.)
#idx = motion[0].skeleton.getJointIndex('LeftUpLeg')
#th_r[idx] = np.dot(th_r[idx], newR1)
#idx = motion[0].skeleton.getJointIndex('RightUpLeg')
#th_r[idx] = np.dot(th_r[idx], newR1)
leftHipTimer -= 1
timeReport[0] += time.time() - curTime
curTime = time.time()
th = controlModel.getDOFPositions()
dth_r = motion.getDOFVelocities(frame)
dth = controlModel.getDOFVelocities()
ddth_r = motion.getDOFAccelerations(frame)
ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r,
Kt, Dt)
ddth_c = controlModel.getDOFAccelerations()
ype.flatten(ddth_des, ddth_des_flat)
ype.flatten(dth, dth_flat)
ype.flatten(ddth_c, ddth_c_flat)
# jacobian
refFootL = motionModel.getBodyPositionGlobal(supL)
refFootR = motionModel.getBodyPositionGlobal(supR)
positionFootL = [None] * footPartNum
positionFootR = [None] * footPartNum
for i in range(footPartNum):
positionFootL[i] = controlModel.getBodyPositionGlobal(
indexFootL[i])
positionFootR[i] = controlModel.getBodyPositionGlobal(
indexFootR[i])
linkPositions = controlModel.getBodyPositionsGlobal()
linkVelocities = controlModel.getBodyVelocitiesGlobal()
linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal()
linkInertias = controlModel.getBodyInertiasGlobal()
jointPositions = controlModel.getJointPositionsGlobal()
jointAxeses = controlModel.getDOFAxeses()
CM = yrp.getCM(linkPositions, linkMasses, totalMass)
dCM = yrp.getCM(linkVelocities, linkMasses, totalMass)
CM_plane = copy.copy(CM)
CM_plane[1] = 0.
dCM_plane = copy.copy(dCM)
dCM_plane[1] = 0.
linkPositions_ref = motionModel.getBodyPositionsGlobal()
linkVelocities_ref = motionModel.getBodyVelocitiesGlobal()
linkAngVelocities_ref = motionModel.getBodyAngVelocitiesGlobal()
linkInertias_ref = motionModel.getBodyInertiasGlobal()
CM_ref = yrp.getCM(linkPositions_ref, linkMasses, totalMass)
CM_plane_ref = copy.copy(CM_ref)
CM_plane_ref[1] = 0.
P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM,
linkInertias)
dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses,
linkVelocities, dCM,
linkAngVelocities,
linkInertias)
timeReport[1] += time.time() - curTime
curTime = time.time()
yjc.computeJacobian2(Jsys, DOFs, jointPositions, jointAxeses,
linkPositions, allLinkJointMasks)
timeReport[2] += time.time() - curTime
curTime = time.time()
# yjc.computeJacobianDerivative2(dJsys, DOFs, jointPositions, jointAxeses, linkAngVelocities, linkPositions, allLinkJointMasks)
if frame > 0:
dJsys = (Jsys - JsysPre) * 30.
else:
dJsys = (Jsys - Jsys)
JsysPre = Jsys.copy()
timeReport[3] += time.time() - curTime
curTime = time.time()
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
CP = yrp.getCP(contactPositions, contactForces)
for i in range(len(bodyIDsToCheck)):
controlModel.SetBodyColor(bodyIDsToCheck[i], 0, 0, 0, 255)
contactFlagFootL = [0] * footPartNum
contactFlagFootR = [0] * footPartNum
partialDOFIndex = [22, 22]
for i in range(len(bodyIDs)):
controlModel.SetBodyColor(bodyIDs[i], 255, 105, 105, 200)
index = controlModel.id2index(bodyIDs[i])
for j in range(len(indexFootL)):
if index == indexFootL[j]:
contactFlagFootL[j] = 1
for j in range(len(indexFootR)):
if index == indexFootR[j]:
contactFlagFootR[j] = 1
for j in range(0, footPartNum):
jAngFootR[j] = Jsys[6 * indexFootR[j]:6 * indexFootR[j] +
6][3:] #.copy()
jAngFootL[j] = Jsys[6 * indexFootL[j]:6 * indexFootL[j] +
6][3:] #.copy()
dJAngFootR[j] = dJsys[6 * indexFootR[j]:6 * indexFootR[j] +
6][3:] #.copy()
dJAngFootL[j] = dJsys[6 * indexFootL[j]:6 * indexFootL[j] +
6][3:] #.copy()
jFootR[j] = Jsys[6 * indexFootR[j]:6 * indexFootR[j] + 6] #.copy()
jFootL[j] = Jsys[6 * indexFootL[j]:6 * indexFootL[j] + 6] #.copy()
dJFootR[j] = dJsys[6 * indexFootR[j]:6 * indexFootR[j] +
6] #.copy()
dJFootL[j] = dJsys[6 * indexFootL[j]:6 * indexFootL[j] +
6] #.copy()
if footPartNum == 1:
desFCL = (controlModel.getBodyPositionGlobal(supL))
desFCR = (controlModel.getBodyPositionGlobal(supR))
else:
r = .5 + desCOMOffset
desFCL = (controlModel.getBodyPositionGlobal(indexFootL[0]) * r +
controlModel.getBodyPositionGlobal(indexFootL[1]) *
(1.0 - r)
) #controlModel.getBodyPositionGlobal(indexFootL[1])
desFCR = (controlModel.getBodyPositionGlobal(indexFootR[0]) * r +
controlModel.getBodyPositionGlobal(indexFootR[1]) *
(1.0 - r)
) #controlModel.getBodyPositionGlobal(indexFootR[1])
desFC = desFCL + (desFCR - desFCL) / 2.0
desFC[1] = 0
rd_footCenter_des[0] = desFC.copy()
curRelCMVec = CM_plane - desFC
vecRatio = mm.length(curRelCMVec) * 0.
#print(frame, vecRatio)
footCenter = desFC - curRelCMVec * (vecRatio) #/10.0
footCenter = (
getBodyGlobalPos(controlModel, motion, 'LeftCalcaneus_1') +
getBodyGlobalPos(controlModel, motion, 'LeftPhalange_1') +
getBodyGlobalPos(controlModel, motion, 'RightCalcaneus_1') +
getBodyGlobalPos(controlModel, motion, 'RightPhalange_1')) / 4.
#footCenter = (getBodyGlobalPos(controlModel, motion, 'LeftCalcaneus_1') + getBodyGlobalPos(controlModel, motion, 'LeftTalus_1') + getBodyGlobalPos(controlModel, motion, 'RightCalcaneus_1') + getBodyGlobalPos(controlModel, motion, 'RightTalus_1'))/4.
footCenter_ref = refFootL + (refFootR - refFootL) / 2.0
#footCenter_ref[1] = 0.
footCenter[1] = 0.
footCenterOffset = np.array([
viewer.objectInfoWnd.comOffsetX.value(), 0,
viewer.objectInfoWnd.comOffsetZ.value()
])
#footCenter += footCenterOffset
vecRatio = mm.length(curRelCMVec) * 0.
softConstPointOffset = -curRelCMVec * (vecRatio) #/10.0
#print(frame, vecRatio, softConstPointOffset)
desForeSupLAcc = [0, 0, 0]
desForeSupRAcc = [0, 0, 0]
totalNormalForce = [0, 0, 0]
for i in range(len(contactForces)):
totalNormalForce[0] += contactForces[i][0]
totalNormalForce[1] += contactForces[i][1]
totalNormalForce[2] += contactForces[i][2]
#print((totalMass*mm.s2v(wcfg.gravity))[1])
footCenterOffset = np.array([
viewer.objectInfoWnd.comOffsetX.value(),
viewer.objectInfoWnd.comOffsetY.value(),
viewer.objectInfoWnd.comOffsetZ.value()
])
######################
# optimization terms
######################
# linear momentum
CM_ref_plane = footCenter + footCenterOffset
dL_des_plane = Kl * totalMass * (CM_ref_plane -
CM_plane) - Dl * totalMass * dCM_plane
dL_des_plane[1] = Kl * totalMass * (CM_ref[1] + footCenterOffset[1] -
CM[1]) - Dl * totalMass * dCM[1]
# angular momentum
CP_ref = footCenter + footCenterOffset
timeStep = 30.
if CP_old[0] == None or CP == None:
dCP = None
else:
dCP = (CP - CP_old[0]) / (1 / timeStep)
CP_old[0] = CP
if CP != None and dCP != None:
ddCP_des = Kh * (CP_ref - CP) - Dh * (dCP)
CP_des = CP + dCP * (1 / timeStep) + .5 * ddCP_des * (
(1 / timeStep)**2)
#dH_des = np.cross((CP_des - CM), (dL_des_plane + totalMass*mm.s2v(wcfg.gravity)))
dH_des = np.cross(
(CP_des - CM_plane),
(dL_des_plane + totalMass * mm.s2v(wcfg.gravity)))
else:
dH_des = None
# momentum matrix
RS = np.dot(P, Jsys)
R, S = np.vsplit(RS, 2)
rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat)
r_bias, s_bias = np.hsplit(rs, 2)
flagContact = True
if dH_des == None or np.any(np.isnan(dH_des)) == True:
flagContact = False
#viewer.doc.showRenderer('rd_grf_des', False)
#viewer.motionViewWnd.update(1, viewer.doc)
#else:
#viewer.doc.showRenderer('rd_grf_des', True)
#viewer.motionViewWnd.update(1, viewer.doc)
'''
0 : initial
1 : contact
2 : fly
3 : landing
'''
trackingW = w
#if checkAll(contactFlagFootR, 0) != 1 :
if 0: #stage == MOTION_TRACKING:
trackingW = w2
#stage = POWERFUL_BALANCING
Bt = Bt * 2
#######################
# optimization
#######################
mot.addTrackingTerms(problem, totalDOF, Bt, trackingW, ddth_des_flat)
#if flagContact == True:
# mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias)
# mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias)
a_sup_2 = None
Jsup_2 = None
dJsup_2 = None
##############################
#if Jsup_2 != None:
# mot.addConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat, a_sup_2)
timeReport[4] += time.time() - curTime
curTime = time.time()
r = problem.solve()
problem.clear()
ype.nested(r['x'], ddth_sol)
rootPos[0] = controlModel.getBodyPositionGlobal(selectedBody)
localPos = [[0, 0, 0]]
timeReport[5] += time.time() - curTime
curTime = time.time()
for i in range(stepsPerFrame):
# apply penalty force
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals,
contactForces)
extraForce[0] = viewer.GetForce()
if (extraForce[0][0] != 0 or extraForce[0][1] != 0
or extraForce[0][2] != 0):
forceApplyFrame += 1
#vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce)
controlModel.applyBodyForceGlobal(selectedBody, extraForce[0])
applyedExtraForce[0] = extraForce[0]
if forceApplyFrame * wcfg.timeStep > 0.1:
viewer.ResetForce()
forceApplyFrame = 0
controlModel.setDOFAccelerations(ddth_sol)
controlModel.solveHybridDynamics()
vpWorld.step()
if frame % 30 == 0:
print 'elapsed time for 30 frames:', time.time() - pt[0]
# rendering
rd_footCenter[0] = footCenter
rd_CM[0] = CM.copy()
rd_CM_plane[0] = CM_plane.copy()
rd_footCenter_ref[0] = footCenter_ref
rd_CM_plane_ref[0] = CM_ref.copy()
rd_CM_ref[0] = CM_ref.copy()
rd_CM_ref_vec[0] = (CM_ref - footCenter_ref) * 3.
rd_CM_vec[0] = (CM - CM_plane)
rd_CM_des[0] = CM_ref_plane.copy()
rd_CM_des[0][1] = .01
#rd_CM_plane[0][1] = 0.
if CP != None and dCP != None:
rd_CP[0] = CP
rd_CP_des[0] = CP_des
rd_dL_des_plane[0] = dL_des_plane
rd_dH_des[0] = dH_des
rd_grf_des[
0] = totalNormalForce # - totalMass*mm.s2v(wcfg.gravity)#dL_des_plane - totalMass*mm.s2v(wcfg.gravity)
rd_exf_des[0] = applyedExtraForce[0]
rd_root_des[0] = rootPos[0]
rd_CMP[0] = softConstPoint
rd_soft_const_vec[0] = controlModel.getBodyPositionGlobal(
constBody) - softConstPoint
#indexL = motion[0].skeleton.getJointIndex('Hips')
#indexR = motion[0].skeleton.getJointIndex('Spine1')
indexL = indexFootL[0]
indexR = indexFootR[0]
curAng = [controlModel.getBodyOrientationGlobal(indexL)]
curAngY = np.dot(curAng, np.array([0, 0, 1]))
rd_footL_vec[0] = np.copy(curAngY[0])
rd_footCenterL[0] = controlModel.getBodyPositionGlobal(indexL)
curAng = [controlModel.getBodyOrientationGlobal(indexR)]
curAngY = np.dot(curAng, np.array([0, 0, 1]))
rd_footR_vec[0] = np.copy(curAngY[0])
rd_footCenterR[0] = controlModel.getBodyPositionGlobal(indexR)
if (forceApplyFrame == 0):
applyedExtraForce[0] = [0, 0, 0]
timeReport[6] += time.time() - curTime
# print timeReport
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()