class MetaTaskKine6d(MetaTask6d):
def createTask(self):
self.task = Task('task' + self.name)
def createGain(self):
self.gain = GainAdaptive('gain' + self.name)
self.gain.set(0.1, 0.1, 125e3)
def plugEverything(self):
self.feature.setReference(self.featureDes.name)
plug(self.dyn.signal(self.opPoint), self.feature.signal('position'))
plug(self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
self.task.add(self.feature.name)
plug(self.task.error, self.gain.error)
plug(self.gain.gain, self.task.controlGain)
def keep(self):
self.feature.position.recompute(self.dyn.position.time)
self.feature.keep()
def createTask(self):
self.task = Task('task' + self.name)
class MetaTask6d(object):
name = ''
opPoint = ''
dyn = 0
task = 0
feature = 0
featureDes = 0
def opPointExist(self, opPoint):
sigsP = [x for x in self.dyn.signals() if x.getName().split(':')[-1] == opPoint]
sigsJ = [x for x in self.dyn.signals() if x.getName().split(':')[-1] == 'J' + opPoint]
return len(sigsP) == 1 & len(sigsJ) == 1
def defineDynEntities(self, dyn):
self.dyn = dyn
def createOpPoint(self, opPoint, opPointRef='right-wrist'):
self.opPoint = opPoint
if self.opPointExist(opPoint):
return
self.dyn.createOpPoint(opPoint, opPointRef)
def createOpPointModif(self):
self.opPointModif = OpPointModifier('opmodif' + self.name)
plug(self.dyn.signal(self.opPoint), self.opPointModif.signal('positionIN'))
plug(self.dyn.signal('J' + self.opPoint), self.opPointModif.signal('jacobianIN'))
self.opPointModif.activ = False
def createFeatures(self):
self.feature = FeaturePoint6d('feature' + self.name)
self.featureDes = FeaturePoint6d('feature' + self.name + '_ref')
self.feature.selec.value = Flags('111111')
self.feature.frame('current')
def createTask(self):
self.task = Task('task' + self.name)
def createGain(self):
self.gain = GainAdaptive('gain' + self.name)
self.gain.set(0.1, 0.1, 125e3)
def plugEverything(self):
self.feature.setReference(self.featureDes.name)
plug(self.dyn.signal(self.opPoint), self.feature.signal('position'))
plug(self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
self.task.add(self.feature.name)
plug(self.task.error, self.gain.error)
plug(self.gain.gain, self.task.controlGain)
def keep(self):
self.feature.position.recompute(self.dyn.position.time)
self.feature.keep()
def __init__(self, name, dyn, opPoint, opPointRef='right-wrist'):
self.name = name
self.defineDynEntities(dyn)
self.createOpPoint(opPoint, opPointRef)
self.createOpPointModif()
self.createFeatures()
self.createTask()
self.createGain()
self.plugEverything()
@property
def ref(self):
return self.featureDes.position.value
@ref.setter
def ref(self, m):
self.featureDes.position.value = m
@property
def opmodif(self):
if not self.opPointModif.activ:
return False
else:
return self.opPointModif.getTransformation()
@opmodif.setter
def opmodif(self, m):
if isinstance(m, bool) and not m:
plug(self.dyn.signal(self.opPoint), self.feature.signal('position'))
plug(self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
self.opPointModif.activ = False
else:
if not self.opPointModif.activ:
plug(self.opPointModif.signal('position'), self.feature.position)
plug(self.opPointModif.signal('jacobian'), self.feature.Jq)
self.opPointModif.setTransformation(m)
self.opPointModif.activ = True
def init_online_walking(robot):
# 09.04.20 est a 100 dans dcmZmpControl_file, used to be 10
cm_conf.CTRL_MAX = 1000.0 # temporary hack
dt = robot.device.getTimeStep()
robot.timeStep = dt
# --- Pendulum parameters
robot_name = 'robot'
robot.dynamic.com.recompute(0)
robotDim = robot.dynamic.getDimension()
mass = robot.dynamic.data.mass[0]
h = robot.dynamic.com.value[2]
g = 9.81
omega = sqrt(g / h)
# --- Parameter server
robot.param_server = create_parameter_server(param_server_conf, dt)
# --- Initial feet and waist
robot.dynamic.createOpPoint('LF', robot.OperationalPointsMap['left-ankle'])
robot.dynamic.createOpPoint('RF',
robot.OperationalPointsMap['right-ankle'])
robot.dynamic.createOpPoint('WT', robot.OperationalPointsMap['waist'])
robot.dynamic.LF.recompute(0)
robot.dynamic.RF.recompute(0)
robot.dynamic.WT.recompute(0)
# -------------------------- DESIRED TRAJECTORY --------------------------
rospack = RosPack()
# -------------------------- PATTERN GENERATOR --------------------------
robot.pg = PatternGenerator('pg')
# MODIFIED WITH MY PATHS
talos_data_folder = rospack.get_path('talos_data')
robot.pg.setURDFpath(talos_data_folder + '/urdf/talos_reduced_wpg.urdf')
robot.pg.setSRDFpath(talos_data_folder + '/srdf/talos_wpg.srdf')
## END MODIFIED
robot.pg.buildModel()
robot.pg.parseCmd(":samplingperiod 0.005")
robot.pg.parseCmd(":previewcontroltime 1.6")
robot.pg.parseCmd(":omega 0.0")
robot.pg.parseCmd(':stepheight 0.05')
robot.pg.parseCmd(':doublesupporttime 0.2')
robot.pg.parseCmd(':singlesupporttime 1.0')
robot.pg.parseCmd(":armparameters 0.5")
robot.pg.parseCmd(":LimitsFeasibility 0.0")
robot.pg.parseCmd(":ZMPShiftParameters 0.015 0.015 0.015 0.015")
robot.pg.parseCmd(":TimeDistributeParameters 2.0 3.5 1.7 3.0")
robot.pg.parseCmd(":UpperBodyMotionParameters -0.1 -1.0 0.0")
robot.pg.parseCmd(":comheight 0.876681")
robot.pg.parseCmd(":setVelReference 0.1 0.0 0.0")
robot.pg.parseCmd(":SetAlgoForZmpTrajectory Naveau")
plug(robot.dynamic.position, robot.pg.position)
plug(robot.dynamic.com, robot.pg.com)
#plug(robot.dynamic.com, robot.pg.comStateSIN)
plug(robot.dynamic.LF, robot.pg.leftfootcurrentpos)
plug(robot.dynamic.RF, robot.pg.rightfootcurrentpos)
robotDim = len(robot.dynamic.velocity.value)
robot.pg.motorcontrol.value = robotDim * (0, )
robot.pg.zmppreviouscontroller.value = (0, 0, 0)
robot.pg.initState()
robot.pg.parseCmd(':setDSFeetDistance 0.162')
robot.pg.parseCmd(':NaveauOnline')
robot.pg.parseCmd(':numberstepsbeforestop 2')
robot.pg.parseCmd(':setfeetconstraint XY 0.091 0.0489')
robot.pg.parseCmd(':deleteallobstacles')
robot.pg.parseCmd(':feedBackControl false')
robot.pg.parseCmd(':useDynamicFilter true')
robot.pg.velocitydes.value = (0.1, 0.0, 0.0) # DEFAULT VALUE (0.1,0.0,0.0)
# -------------------------- TRIGGER --------------------------
robot.triggerPG = BooleanIdentity('triggerPG')
robot.triggerPG.sin.value = 0
plug(robot.triggerPG.sout, robot.pg.trigger)
# --------- Interface with controller entities -------------
wp = DummyWalkingPatternGenerator('dummy_wp')
wp.init()
# #wp.displaySignals()
wp.omega.value = omega
# 22.04 after modifying pg.cpp, new way to try and connect the waist
plug(robot.pg.waistattitudematrixabsolute, wp.waist)
plug(robot.pg.leftfootref, wp.footLeft)
plug(robot.pg.rightfootref, wp.footRight)
plug(robot.pg.comref, wp.com)
plug(robot.pg.dcomref, wp.vcom)
plug(robot.pg.ddcomref, wp.acom)
robot.wp = wp
# --- Compute the values to use them in initialization
robot.wp.comDes.recompute(0)
robot.wp.dcmDes.recompute(0)
robot.wp.zmpDes.recompute(0)
## END ADDED
# -------------------------- ESTIMATION --------------------------
# --- Base Estimation
robot.device_filters = create_device_filters(robot, dt)
robot.imu_filters = create_imu_filters(robot, dt)
robot.base_estimator = create_base_estimator(robot, dt,
base_estimator_conf)
robot.m2qLF = MatrixHomoToPoseQuaternion('m2qLF')
plug(robot.dynamic.LF, robot.m2qLF.sin)
plug(robot.m2qLF.sout, robot.base_estimator.lf_ref_xyzquat)
robot.m2qRF = MatrixHomoToPoseQuaternion('m2qRF')
plug(robot.dynamic.RF, robot.m2qRF.sin)
plug(robot.m2qRF.sout, robot.base_estimator.rf_ref_xyzquat)
# --- Conversion
e2q = EulerToQuat('e2q')
plug(robot.base_estimator.q, e2q.euler)
robot.e2q = e2q
# --- Kinematic computations
robot.rdynamic = DynamicPinocchio("real_dynamics")
robot.rdynamic.setModel(robot.dynamic.model)
robot.rdynamic.setData(robot.rdynamic.model.createData())
plug(robot.base_estimator.q, robot.rdynamic.position)
robot.rdynamic.velocity.value = [0.0] * robotDim
robot.rdynamic.acceleration.value = [0.0] * robotDim
# --- CoM Estimation
cdc_estimator = DcmEstimator('cdc_estimator')
cdc_estimator.init(dt, robot_name)
plug(robot.e2q.quaternion, cdc_estimator.q)
plug(robot.base_estimator.v, cdc_estimator.v)
robot.cdc_estimator = cdc_estimator
# --- DCM Estimation
estimator = DummyDcmEstimator("dummy")
estimator.omega.value = omega
estimator.mass.value = 1.0
plug(robot.cdc_estimator.c, estimator.com)
plug(robot.cdc_estimator.dc, estimator.momenta)
estimator.init()
robot.estimator = estimator
# --- Force calibration
robot.ftc = create_ft_calibrator(robot, ft_conf)
# --- ZMP estimation
zmp_estimator = SimpleZmpEstimator("zmpEst")
robot.rdynamic.createOpPoint('sole_LF', 'left_sole_link')
robot.rdynamic.createOpPoint('sole_RF', 'right_sole_link')
plug(robot.rdynamic.sole_LF, zmp_estimator.poseLeft)
plug(robot.rdynamic.sole_RF, zmp_estimator.poseRight)
plug(robot.ftc.left_foot_force_out, zmp_estimator.wrenchLeft)
plug(robot.ftc.right_foot_force_out, zmp_estimator.wrenchRight)
zmp_estimator.init()
robot.zmp_estimator = zmp_estimator
# -------------------------- ADMITTANCE CONTROL --------------------------
# --- DCM controller
Kp_dcm = [8.0] * 3
Ki_dcm = [0.0, 0.0, 0.0] # zero (to be set later)
gamma_dcm = 0.2
dcm_controller = DcmController("dcmCtrl")
dcm_controller.Kp.value = Kp_dcm
dcm_controller.Ki.value = Ki_dcm
dcm_controller.decayFactor.value = gamma_dcm
dcm_controller.mass.value = mass
dcm_controller.omega.value = omega
plug(robot.cdc_estimator.c, dcm_controller.com)
plug(robot.estimator.dcm, dcm_controller.dcm)
plug(robot.wp.zmpDes, dcm_controller.zmpDes)
plug(robot.wp.dcmDes, dcm_controller.dcmDes)
dcm_controller.init(dt)
robot.dcm_control = dcm_controller
Ki_dcm = [1.0, 1.0, 1.0] # this value is employed later
# --- CoM admittance controller
Kp_adm = [0.0, 0.0, 0.0] # zero (to be set later)
com_admittance_control = ComAdmittanceController("comAdmCtrl")
com_admittance_control.Kp.value = Kp_adm
plug(robot.zmp_estimator.zmp, com_admittance_control.zmp)
com_admittance_control.zmpDes.value = robot.wp.zmpDes.value
# should be plugged to robot.dcm_control.zmpRef
plug(robot.wp.acomDes, com_admittance_control.ddcomDes)
com_admittance_control.init(dt)
com_admittance_control.setState(robot.wp.comDes.value, [0.0, 0.0, 0.0])
robot.com_admittance_control = com_admittance_control
Kp_adm = [15.0, 15.0, 0.0] # this value is employed later
# --- Control Manager
robot.cm = create_ctrl_manager(cm_conf, dt, robot_name='robot')
robot.cm.addCtrlMode('sot_input')
robot.cm.setCtrlMode('all', 'sot_input')
robot.cm.addEmergencyStopSIN('zmp')
# -------------------------- SOT CONTROL --------------------------
# --- Upper body
robot.taskUpperBody = Task('task_upper_body')
robot.taskUpperBody.feature = FeaturePosture('feature_upper_body')
q = list(robot.dynamic.position.value)
robot.taskUpperBody.feature.state.value = q
robot.taskUpperBody.feature.posture.value = q
robot.taskUpperBody.feature.selectDof(18, True)
robot.taskUpperBody.feature.selectDof(19, True)
robot.taskUpperBody.feature.selectDof(20, True)
robot.taskUpperBody.feature.selectDof(21, True)
robot.taskUpperBody.feature.selectDof(22, True)
robot.taskUpperBody.feature.selectDof(23, True)
robot.taskUpperBody.feature.selectDof(24, True)
robot.taskUpperBody.feature.selectDof(25, True)
robot.taskUpperBody.feature.selectDof(26, True)
robot.taskUpperBody.feature.selectDof(27, True)
robot.taskUpperBody.feature.selectDof(28, True)
robot.taskUpperBody.feature.selectDof(29, True)
robot.taskUpperBody.feature.selectDof(30, True)
robot.taskUpperBody.feature.selectDof(31, True)
robot.taskUpperBody.feature.selectDof(32, True)
robot.taskUpperBody.feature.selectDof(33, True)
robot.taskUpperBody.feature.selectDof(34, True)
robot.taskUpperBody.feature.selectDof(35, True)
robot.taskUpperBody.feature.selectDof(36, True)
robot.taskUpperBody.feature.selectDof(37, True)
robot.taskUpperBody.controlGain.value = 100.0
robot.taskUpperBody.add(robot.taskUpperBody.feature.name)
plug(robot.dynamic.position, robot.taskUpperBody.feature.state)
# --- CONTACTS
robot.contactLF = MetaTaskKine6d('contactLF', robot.dynamic, 'LF',
robot.OperationalPointsMap['left-ankle'])
robot.contactLF.feature.frame('desired')
robot.contactLF.gain.setConstant(300)
plug(robot.wp.footLeftDes, robot.contactLF.featureDes.position) #.errorIN?
locals()['contactLF'] = robot.contactLF
robot.contactRF = MetaTaskKine6d('contactRF', robot.dynamic, 'RF',
robot.OperationalPointsMap['right-ankle'])
robot.contactRF.feature.frame('desired')
robot.contactRF.gain.setConstant(300)
plug(robot.wp.footRightDes,
robot.contactRF.featureDes.position) #.errorIN?
locals()['contactRF'] = robot.contactRF
# --- COM height
robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH')
plug(robot.wp.comDes, robot.taskComH.featureDes.errorIN)
robot.taskComH.task.controlGain.value = 100.
robot.taskComH.feature.selec.value = '100'
# --- COM
robot.taskCom = MetaTaskKineCom(robot.dynamic)
plug(robot.com_admittance_control.comRef, robot.taskCom.featureDes.errorIN)
plug(robot.com_admittance_control.dcomRef,
robot.taskCom.featureDes.errordotIN)
robot.taskCom.task.controlGain.value = 0
robot.taskCom.task.setWithDerivative(True)
robot.taskCom.feature.selec.value = '011'
# --- Waist
robot.keepWaist = MetaTaskKine6d('keepWaist', robot.dynamic, 'WT',
robot.OperationalPointsMap['waist'])
robot.keepWaist.feature.frame('desired')
robot.keepWaist.gain.setConstant(300)
plug(robot.wp.waistDes, robot.keepWaist.featureDes.position) #de base
robot.keepWaist.feature.selec.value = '111000'
locals()['keepWaist'] = robot.keepWaist
# --- SOT solver
robot.sot = SOT('sot')
robot.sot.setSize(robot.dynamic.getDimension())
# --- Plug SOT control to device through control manager
plug(robot.sot.control, robot.cm.ctrl_sot_input)
plug(robot.cm.u_safe, robot.device.control)
robot.sot.push(robot.taskUpperBody.name)
robot.sot.push(robot.contactRF.task.name)
robot.sot.push(robot.contactLF.task.name)
robot.sot.push(robot.taskComH.task.name)
robot.sot.push(robot.taskCom.task.name)
robot.sot.push(robot.keepWaist.task.name)
# --- Fix robot.dynamic inputs
plug(robot.device.velocity, robot.dynamic.velocity)
robot.dvdt = Derivator_of_Vector("dv_dt")
robot.dvdt.dt.value = dt
plug(robot.device.velocity, robot.dvdt.sin)
plug(robot.dvdt.sout, robot.dynamic.acceleration)
# -------------------------- PLOTS --------------------------
# --- ROS PUBLISHER
## THIS PARAGRAPH QUITE DIFFERENT, TO CHECK
robot.publisher = create_rospublish(robot, 'robot_publisher')
## ADDED
create_topic(robot.publisher,
robot.pg,
'comref',
robot=robot,
data_type='vector') # desired CoM
create_topic(robot.publisher,
robot.pg,
'dcomref',
robot=robot,
data_type='vector')
create_topic(robot.publisher,
robot.wp,
'waist',
robot=robot,
data_type='matrixHomo')
create_topic(robot.publisher,
robot.keepWaist.featureDes,
'position',
robot=robot,
data_type='matrixHomo')
create_topic(robot.publisher,
robot.dynamic,
'WT',
robot=robot,
data_type='matrixHomo')
create_topic(robot.publisher,
robot.pg,
'waistattitudematrixabsolute',
robot=robot,
data_type='matrixHomo') ## que font ces lignes exactement ??
create_topic(robot.publisher,
robot.pg,
'leftfootref',
robot=robot,
data_type='matrixHomo')
create_topic(robot.publisher,
robot.wp,
'footLeft',
robot=robot,
data_type='matrixHomo')
create_topic(robot.publisher,
robot.pg,
'rightfootref',
robot=robot,
data_type='matrixHomo')
create_topic(robot.publisher,
robot.wp,
'footRight',
robot=robot,
data_type='matrixHomo')
## --- TRACER
robot.tracer = TracerRealTime("com_tracer")
robot.tracer.setBufferSize(80 * (2**20))
robot.tracer.open('/tmp', 'dg_', '.dat')
robot.device.after.addSignal('{0}.triger'.format(robot.tracer.name))
addTrace(robot.tracer, robot.pg, 'waistattitudeabsolute')
# fin
addTrace(robot.tracer, robot.wp, 'comDes') # desired CoM
addTrace(robot.tracer, robot.cdc_estimator, 'c') # estimated CoM
addTrace(robot.tracer, robot.cdc_estimator, 'dc') # estimated CoM velocity
addTrace(robot.tracer, robot.pg, 'comref')
addTrace(robot.tracer, robot.pg, 'dcomref')
addTrace(robot.tracer, robot.pg, 'ddcomref')
addTrace(robot.tracer, robot.pg, 'rightfootref')
addTrace(robot.tracer, robot.pg, 'leftfootref')
addTrace(robot.tracer, robot.pg, 'rightfootcontact')
addTrace(robot.tracer, robot.pg, 'leftfootcontact')
addTrace(robot.tracer, robot.pg, 'SupportFoot')
addTrace(robot.tracer, robot.dynamic, 'com') # resulting SOT CoM
addTrace(robot.tracer, robot.dynamic, 'LF') # left foot
addTrace(robot.tracer, robot.dynamic, 'RF') # right foot
robot.tracer.start()
def __init__(self, dyn, name="com"):
MetaTaskCom.__init__(self, dyn, name)
self.task = Task('task' + name)
self.plugTask()
def init_sot_talos_balance(robot, test_folder):
cm_conf.CTRL_MAX = 1000.0 # temporary hack
dt = robot.device.getTimeStep()
robot.timeStep = dt
# --- Pendulum parameters
robot_name = 'robot'
robot.dynamic.com.recompute(0)
robotDim = robot.dynamic.getDimension()
mass = robot.dynamic.data.mass[0]
h = robot.dynamic.com.value[2]
g = 9.81
omega = sqrt(g / h)
# --- Parameter server
robot.param_server = create_parameter_server(param_server_conf, dt)
# --- Initial feet and waist
robot.dynamic.createOpPoint('LF', robot.OperationalPointsMap['left-ankle'])
robot.dynamic.createOpPoint('RF',
robot.OperationalPointsMap['right-ankle'])
robot.dynamic.createOpPoint('WT', robot.OperationalPointsMap['waist'])
robot.dynamic.LF.recompute(0)
robot.dynamic.RF.recompute(0)
robot.dynamic.WT.recompute(0)
# -------------------------- DESIRED TRAJECTORY --------------------------
rospack = RosPack()
data_folder = rospack.get_path('sot-talos-balance') + "/data/"
folder = data_folder + test_folder + '/'
# --- Trajectory generators
# --- General trigger
robot.triggerTrajGen = BooleanIdentity('triggerTrajGen')
robot.triggerTrajGen.sin.value = 0
# --- CoM
robot.comTrajGen = create_com_trajectory_generator(dt, robot)
robot.comTrajGen.x.recompute(0) # trigger computation of initial value
robot.comTrajGen.playTrajectoryFile(folder + 'CoM.dat')
plug(robot.triggerTrajGen.sout, robot.comTrajGen.trigger)
# --- Left foot
robot.lfTrajGen = create_pose_rpy_trajectory_generator(dt, robot, 'LF')
robot.lfTrajGen.x.recompute(0) # trigger computation of initial value
robot.lfToMatrix = PoseRollPitchYawToMatrixHomo('lf2m')
plug(robot.lfTrajGen.x, robot.lfToMatrix.sin)
robot.lfTrajGen.playTrajectoryFile(folder + 'LeftFoot.dat')
plug(robot.triggerTrajGen.sout, robot.lfTrajGen.trigger)
# --- Right foot
robot.rfTrajGen = create_pose_rpy_trajectory_generator(dt, robot, 'RF')
robot.rfTrajGen.x.recompute(0) # trigger computation of initial value
robot.rfToMatrix = PoseRollPitchYawToMatrixHomo('rf2m')
plug(robot.rfTrajGen.x, robot.rfToMatrix.sin)
robot.rfTrajGen.playTrajectoryFile(folder + 'RightFoot.dat')
plug(robot.triggerTrajGen.sout, robot.rfTrajGen.trigger)
# --- ZMP
robot.zmpTrajGen = create_zmp_trajectory_generator(dt, robot)
robot.zmpTrajGen.x.recompute(0) # trigger computation of initial value
# robot.zmpTrajGen.playTrajectoryFile(folder + 'ZMP.dat')
plug(robot.triggerTrajGen.sout, robot.zmpTrajGen.trigger)
# --- Waist
robot.waistTrajGen = create_orientation_rpy_trajectory_generator(
dt, robot, 'WT')
robot.waistTrajGen.x.recompute(0) # trigger computation of initial value
robot.waistMix = Mix_of_vector("waistMix")
robot.waistMix.setSignalNumber(3)
robot.waistMix.addSelec(1, 0, 3)
robot.waistMix.addSelec(2, 3, 3)
robot.waistMix.default.value = [0.0] * 6
robot.waistMix.signal("sin1").value = [0.0] * 3
plug(robot.waistTrajGen.x, robot.waistMix.signal("sin2"))
robot.waistToMatrix = PoseRollPitchYawToMatrixHomo('w2m')
plug(robot.waistMix.sout, robot.waistToMatrix.sin)
robot.waistTrajGen.playTrajectoryFile(folder + 'WaistOrientation.dat')
plug(robot.triggerTrajGen.sout, robot.waistTrajGen.trigger)
# --- Interface with controller entities
wp = DummyWalkingPatternGenerator('dummy_wp')
wp.init()
wp.omega.value = omega
#wp.waist.value = robot.dynamic.WT.value # wait receives a full homogeneous matrix, but only the rotational part is controlled
#wp.footLeft.value = robot.dynamic.LF.value
#wp.footRight.value = robot.dynamic.RF.value
#wp.com.value = robot.dynamic.com.value
#wp.vcom.value = [0.]*3
#wp.acom.value = [0.]*3
plug(robot.waistToMatrix.sout, wp.waist)
plug(robot.lfToMatrix.sout, wp.footLeft)
plug(robot.rfToMatrix.sout, wp.footRight)
plug(robot.comTrajGen.x, wp.com)
plug(robot.comTrajGen.dx, wp.vcom)
plug(robot.comTrajGen.ddx, wp.acom)
#plug(robot.zmpTrajGen.x, wp.zmp)
robot.wp = wp
# --- Compute the values to use them in initialization
robot.wp.comDes.recompute(0)
robot.wp.dcmDes.recompute(0)
robot.wp.zmpDes.recompute(0)
# -------------------------- ESTIMATION --------------------------
# --- Base Estimation
robot.device_filters = create_device_filters(robot, dt)
robot.imu_filters = create_imu_filters(robot, dt)
robot.base_estimator = create_base_estimator(robot, dt,
base_estimator_conf)
robot.m2qLF = MatrixHomoToPoseQuaternion('m2qLF')
plug(robot.dynamic.LF, robot.m2qLF.sin)
plug(robot.m2qLF.sout, robot.base_estimator.lf_ref_xyzquat)
robot.m2qRF = MatrixHomoToPoseQuaternion('m2qRF')
plug(robot.dynamic.RF, robot.m2qRF.sin)
plug(robot.m2qRF.sout, robot.base_estimator.rf_ref_xyzquat)
# --- Conversion
e2q = EulerToQuat('e2q')
plug(robot.base_estimator.q, e2q.euler)
robot.e2q = e2q
# --- Kinematic computations
robot.rdynamic = DynamicPinocchio("real_dynamics")
robot.rdynamic.setModel(robot.dynamic.model)
robot.rdynamic.setData(robot.rdynamic.model.createData())
plug(robot.base_estimator.q, robot.rdynamic.position)
robot.rdynamic.velocity.value = [0.0] * robotDim
robot.rdynamic.acceleration.value = [0.0] * robotDim
# --- CoM Estimation
cdc_estimator = DcmEstimator('cdc_estimator')
cdc_estimator.init(dt, robot_name)
plug(robot.e2q.quaternion, cdc_estimator.q)
plug(robot.base_estimator.v, cdc_estimator.v)
robot.cdc_estimator = cdc_estimator
# --- DCM Estimation
estimator = DummyDcmEstimator("dummy")
estimator.omega.value = omega
estimator.mass.value = 1.0
plug(robot.cdc_estimator.c, estimator.com)
plug(robot.cdc_estimator.dc, estimator.momenta)
estimator.init()
robot.estimator = estimator
# --- Force calibration
robot.ftc = create_ft_calibrator(robot, ft_conf)
# --- ZMP estimation
zmp_estimator = SimpleZmpEstimator("zmpEst")
robot.rdynamic.createOpPoint('sole_LF', 'left_sole_link')
robot.rdynamic.createOpPoint('sole_RF', 'right_sole_link')
plug(robot.rdynamic.sole_LF, zmp_estimator.poseLeft)
plug(robot.rdynamic.sole_RF, zmp_estimator.poseRight)
plug(robot.ftc.left_foot_force_out, zmp_estimator.wrenchLeft)
plug(robot.ftc.right_foot_force_out, zmp_estimator.wrenchRight)
zmp_estimator.init()
robot.zmp_estimator = zmp_estimator
# -------------------------- ADMITTANCE CONTROL --------------------------
# --- DCM controller
Kp_dcm = [8.0] * 3
Ki_dcm = [0.0, 0.0, 0.0] # zero (to be set later)
gamma_dcm = 0.2
dcm_controller = DcmController("dcmCtrl")
dcm_controller.Kp.value = Kp_dcm
dcm_controller.Ki.value = Ki_dcm
dcm_controller.decayFactor.value = gamma_dcm
dcm_controller.mass.value = mass
dcm_controller.omega.value = omega
plug(robot.cdc_estimator.c, dcm_controller.com)
plug(robot.estimator.dcm, dcm_controller.dcm)
plug(robot.wp.zmpDes, dcm_controller.zmpDes)
plug(robot.wp.dcmDes, dcm_controller.dcmDes)
dcm_controller.init(dt)
robot.dcm_control = dcm_controller
Ki_dcm = [1.0, 1.0, 1.0] # this value is employed later
# --- CoM admittance controller
Kp_adm = [0.0, 0.0, 0.0] # zero (to be set later)
com_admittance_control = ComAdmittanceController("comAdmCtrl")
com_admittance_control.Kp.value = Kp_adm
plug(robot.zmp_estimator.zmp, com_admittance_control.zmp)
com_admittance_control.zmpDes.value = robot.wp.zmpDes.value # should be plugged to robot.dcm_control.zmpRef
plug(robot.wp.acomDes, com_admittance_control.ddcomDes)
com_admittance_control.init(dt)
com_admittance_control.setState(robot.wp.comDes.value, [0.0, 0.0, 0.0])
robot.com_admittance_control = com_admittance_control
# --- Control Manager
robot.cm = create_ctrl_manager(cm_conf, dt, robot_name='robot')
robot.cm.addCtrlMode('sot_input')
robot.cm.setCtrlMode('all', 'sot_input')
robot.cm.addEmergencyStopSIN('zmp')
# -------------------------- SOT CONTROL --------------------------
# --- Upper body
robot.taskUpperBody = Task('task_upper_body')
robot.taskUpperBody.feature = FeaturePosture('feature_upper_body')
q = list(robot.dynamic.position.value)
robot.taskUpperBody.feature.state.value = q
robot.taskUpperBody.feature.posture.value = q
# robotDim = robot.dynamic.getDimension() # 38
robot.taskUpperBody.feature.selectDof(18, True)
robot.taskUpperBody.feature.selectDof(19, True)
robot.taskUpperBody.feature.selectDof(20, True)
robot.taskUpperBody.feature.selectDof(21, True)
robot.taskUpperBody.feature.selectDof(22, True)
robot.taskUpperBody.feature.selectDof(23, True)
robot.taskUpperBody.feature.selectDof(24, True)
robot.taskUpperBody.feature.selectDof(25, True)
robot.taskUpperBody.feature.selectDof(26, True)
robot.taskUpperBody.feature.selectDof(27, True)
robot.taskUpperBody.feature.selectDof(28, True)
robot.taskUpperBody.feature.selectDof(29, True)
robot.taskUpperBody.feature.selectDof(30, True)
robot.taskUpperBody.feature.selectDof(31, True)
robot.taskUpperBody.feature.selectDof(32, True)
robot.taskUpperBody.feature.selectDof(33, True)
robot.taskUpperBody.feature.selectDof(34, True)
robot.taskUpperBody.feature.selectDof(35, True)
robot.taskUpperBody.feature.selectDof(36, True)
robot.taskUpperBody.feature.selectDof(37, True)
robot.taskUpperBody.controlGain.value = 100.0
robot.taskUpperBody.add(robot.taskUpperBody.feature.name)
plug(robot.dynamic.position, robot.taskUpperBody.feature.state)
# --- CONTACTS
#define contactLF and contactRF
robot.contactLF = MetaTaskKine6d('contactLF', robot.dynamic, 'LF',
robot.OperationalPointsMap['left-ankle'])
robot.contactLF.feature.frame('desired')
robot.contactLF.gain.setConstant(300)
plug(robot.wp.footLeftDes, robot.contactLF.featureDes.position) #.errorIN?
locals()['contactLF'] = robot.contactLF
robot.contactRF = MetaTaskKine6d('contactRF', robot.dynamic, 'RF',
robot.OperationalPointsMap['right-ankle'])
robot.contactRF.feature.frame('desired')
robot.contactRF.gain.setConstant(300)
plug(robot.wp.footRightDes,
robot.contactRF.featureDes.position) #.errorIN?
locals()['contactRF'] = robot.contactRF
# --- COM height
robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH')
plug(robot.wp.comDes, robot.taskComH.featureDes.errorIN)
robot.taskComH.task.controlGain.value = 100.
robot.taskComH.feature.selec.value = '100'
# --- COM
robot.taskCom = MetaTaskKineCom(robot.dynamic)
plug(robot.com_admittance_control.comRef, robot.taskCom.featureDes.errorIN)
plug(robot.com_admittance_control.dcomRef,
robot.taskCom.featureDes.errordotIN)
robot.taskCom.task.controlGain.value = 0
robot.taskCom.task.setWithDerivative(True)
robot.taskCom.feature.selec.value = '011'
# --- Waist
robot.keepWaist = MetaTaskKine6d('keepWaist', robot.dynamic, 'WT',
robot.OperationalPointsMap['waist'])
robot.keepWaist.feature.frame('desired')
robot.keepWaist.gain.setConstant(300)
plug(robot.wp.waistDes, robot.keepWaist.featureDes.position)
robot.keepWaist.feature.selec.value = '111000'
locals()['keepWaist'] = robot.keepWaist
# --- SOT solver
robot.sot = SOT('sot')
robot.sot.setSize(robot.dynamic.getDimension())
# --- Plug SOT control to device through control manager
plug(robot.sot.control, robot.cm.ctrl_sot_input)
plug(robot.cm.u_safe, robot.device.control)
robot.sot.push(robot.taskUpperBody.name)
robot.sot.push(robot.contactRF.task.name)
robot.sot.push(robot.contactLF.task.name)
robot.sot.push(robot.taskComH.task.name)
robot.sot.push(robot.taskCom.task.name)
robot.sot.push(robot.keepWaist.task.name)
# --- Fix robot.dynamic inputs
plug(robot.device.velocity, robot.dynamic.velocity)
robot.dvdt = Derivator_of_Vector("dv_dt")
robot.dvdt.dt.value = dt
plug(robot.device.velocity, robot.dvdt.sin)
plug(robot.dvdt.sout, robot.dynamic.acceleration)
# -------------------------- PLOTS --------------------------
# --- ROS PUBLISHER
robot.publisher = create_rospublish(robot, 'robot_publisher')
create_topic(robot.publisher,
robot.device,
'state',
robot=robot,
data_type='vector')
create_topic(robot.publisher,
robot.base_estimator,
'q',
robot=robot,
data_type='vector')
#create_topic(robot.publisher, robot.stf, 'q', robot = robot, data_type='vector')
create_topic(robot.publisher,
robot.comTrajGen,
'x',
robot=robot,
data_type='vector') # generated CoM
create_topic(robot.publisher,
robot.comTrajGen,
'dx',
robot=robot,
data_type='vector') # generated CoM velocity
create_topic(robot.publisher,
robot.comTrajGen,
'ddx',
robot=robot,
data_type='vector') # generated CoM acceleration
create_topic(robot.publisher,
robot.wp,
'comDes',
robot=robot,
data_type='vector') # desired CoM
create_topic(robot.publisher,
robot.cdc_estimator,
'c',
robot=robot,
data_type='vector') # estimated CoM
create_topic(robot.publisher,
robot.cdc_estimator,
'dc',
robot=robot,
data_type='vector') # estimated CoM velocity
create_topic(robot.publisher,
robot.com_admittance_control,
'comRef',
robot=robot,
data_type='vector') # reference CoM
create_topic(robot.publisher,
robot.dynamic,
'com',
robot=robot,
data_type='vector') # resulting SOT CoM
create_topic(robot.publisher,
robot.dcm_control,
'dcmDes',
robot=robot,
data_type='vector') # desired DCM
create_topic(robot.publisher,
robot.estimator,
'dcm',
robot=robot,
data_type='vector') # estimated DCM
create_topic(robot.publisher,
robot.zmpTrajGen,
'x',
robot=robot,
data_type='vector') # generated ZMP
create_topic(robot.publisher,
robot.wp,
'zmpDes',
robot=robot,
data_type='vector') # desired ZMP
create_topic(robot.publisher,
robot.dynamic,
'zmp',
robot=robot,
data_type='vector') # SOT ZMP
create_topic(robot.publisher,
robot.zmp_estimator,
'zmp',
robot=robot,
data_type='vector') # estimated ZMP
create_topic(robot.publisher,
robot.dcm_control,
'zmpRef',
robot=robot,
data_type='vector') # reference ZMP
create_topic(robot.publisher,
robot.waistTrajGen,
'x',
robot=robot,
data_type='vector') # desired waist orientation
create_topic(robot.publisher,
robot.lfTrajGen,
'x',
robot=robot,
data_type='vector') # desired left foot pose
create_topic(robot.publisher,
robot.rfTrajGen,
'x',
robot=robot,
data_type='vector') # desired right foot pose
create_topic(robot.publisher,
robot.ftc,
'left_foot_force_out',
robot=robot,
data_type='vector') # calibrated left wrench
create_topic(robot.publisher,
robot.ftc,
'right_foot_force_out',
robot=robot,
data_type='vector') # calibrated right wrench
create_topic(robot.publisher,
robot.dynamic,
'LF',
robot=robot,
data_type='matrixHomo') # left foot
create_topic(robot.publisher,
robot.dynamic,
'RF',
robot=robot,
data_type='matrixHomo') # right foot
# --- TRACER
robot.tracer = TracerRealTime("com_tracer")
robot.tracer.setBufferSize(80 * (2**20))
robot.tracer.open('/tmp', 'dg_', '.dat')
robot.device.after.addSignal('{0}.triger'.format(robot.tracer.name))
addTrace(robot.tracer, robot.wp, 'comDes') # desired CoM
addTrace(robot.tracer, robot.cdc_estimator, 'c') # estimated CoM
addTrace(robot.tracer, robot.cdc_estimator, 'dc') # estimated CoM velocity
addTrace(robot.tracer, robot.com_admittance_control,
'comRef') # reference CoM
addTrace(robot.tracer, robot.dynamic, 'com') # resulting SOT CoM
addTrace(robot.tracer, robot.dcm_control, 'dcmDes') # desired DCM
addTrace(robot.tracer, robot.estimator, 'dcm') # estimated DCM
addTrace(robot.tracer, robot.dcm_control, 'zmpDes') # desired ZMP
addTrace(robot.tracer, robot.dynamic, 'zmp') # SOT ZMP
addTrace(robot.tracer, robot.zmp_estimator, 'zmp') # estimated ZMP
addTrace(robot.tracer, robot.dcm_control, 'zmpRef') # reference ZMP
addTrace(robot.tracer, robot.ftc,
'left_foot_force_out') # calibrated left wrench
addTrace(robot.tracer, robot.ftc,
'right_foot_force_out') # calibrated right wrench
addTrace(robot.tracer, robot.dynamic, 'LF') # left foot
addTrace(robot.tracer, robot.dynamic, 'RF') # right foot
robot.tracer.start()
plug(eye3.signal('out'), comp.signal('sin1'))
t = VectorConstant('t')
# WAIST
t.set((0., 0.095, 0.563816))
# HAND
t.set((0.25, -0.5, .85))
plug(t.signal('out'), comp.signal('sin2'))
plug(comp.signal('sout'), p6d.signal('position'))
plug(dyn.signal('J0'), p6.signal('Jq'))
plug(dyn.signal('0'), p6.signal('position'))
p6.signal('sdes').value = p6d
task = Task('task')
task.add('p6')
gain = GainAdaptive('gain')
gain.setConstant(.2)
plug(task.signal('error'), gain.signal('error'))
plug(gain.signal('gain'), task.signal('controlGain'))
R3 = ((0., 0., -1.),
(0., 1., 0.),
(1., 0., 0.))
eye3.set(R3)
p6.signal('selec').value = '000111'
p6.frame('current')
# --- COM
class MetaTaskVisualPoint(object):
name = ''
opPoint = ''
dyn = 0
task = 0
feature = 0
featureDes = 0
proj = 0
def opPointExist(self, opPoint):
sigsP = filter(lambda x: x.getName().split(':')[-1] == opPoint,
self.dyn.signals())
sigsJ = filter(lambda x: x.getName().split(':')[-1] == 'J' + opPoint,
self.dyn.signals())
return len(sigsP) == 1 & len(sigsJ) == 1
def defineDynEntities(self, dyn):
self.dyn = dyn
def createOpPoint(self, opPoint, opPointRef='right-wrist'):
self.opPoint = opPoint
if self.opPointExist(opPoint):
return
self.dyn.createOpPoint(opPoint, opPointRef)
def createOpPointModif(self):
self.opPointModif = OpPointModifier('opmodif' + self.name)
plug(self.dyn.signal(self.opPoint),
self.opPointModif.signal('positionIN'))
plug(self.dyn.signal('J' + self.opPoint),
self.opPointModif.signal('jacobianIN'))
self.opPointModif.activ = False
def createFeatures(self):
self.feature = FeatureVisualPoint('feature' + self.name)
self.featureDes = FeatureVisualPoint('feature' + self.name + '_ref')
self.feature.selec.value = '11'
def createTask(self):
self.task = Task('task' + self.name)
def createGain(self):
self.gain = GainAdaptive('gain' + self.name)
self.gain.set(0.1, 0.1, 125e3)
def createProj(self):
self.proj = VisualPointProjecter('proj' + self.name)
def plugEverything(self):
self.feature.setReference(self.featureDes.name)
plug(self.dyn.signal(self.opPoint), self.proj.signal('transfo'))
plug(self.proj.signal('point2D'), self.feature.signal('xy'))
plug(self.proj.signal('depth'), self.feature.signal('Z'))
plug(self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
self.task.add(self.feature.name)
plug(self.task.error, self.gain.error)
plug(self.gain.gain, self.task.controlGain)
def __init__(self, name, dyn, opPoint, opPointRef='right-wrist'):
self.name = name
self.defineDynEntities(dyn)
self.createOpPoint(opPoint, opPointRef)
self.createOpPointModif()
self.createFeatures()
self.createTask()
self.createGain()
self.createProj()
self.plugEverything()
@property
def ref(self):
return self.featureDes.xy.value
@ref.setter
def ref(self, m):
self.featureDes.xy.value = m
@property
def target(self):
return self.proj.point3D
@target.setter
def target(self, m):
self.proj.point3D.value = m
@property
def opmodif(self):
if not self.opPointModif.activ:
return False
else:
return self.opPointModif.getTransformation()
@opmodif.setter
def opmodif(self, m):
if isinstance(m, bool) and not m:
plug(self.dyn.signal(self.opPoint), self.proj.signal('transfo'))
plug(self.dyn.signal('J' + self.opPoint),
self.feature.signal('Jq'))
self.opPointModif.activ = False
else:
if not self.opPointModif.activ:
plug(self.opPointModif.signal('position'),
self.proj.signal('transfo'))
plug(self.opPointModif.signal('jacobian'),
self.feature.signal('Jq'))
self.opPointModif.setTransformation(m)
self.opPointModif.activ = True
def goto3D(self, point3D, gain=None, ref2D=None, selec=None):
self.target = point3D
if ref2D is not None:
self.ref = ref2D
if selec is not None:
self.feature.selec.value = selec
setGain(self.gain, gain)
def __init__(self, dyn, name="posture"):
MetaTaskPosture.__init__(self, dyn, name)
self.task = Task('task' + name)
self.plugTask()
plug(eye3.signal('out'), comp.signal('in1'))
t = VectorConstant('t')
# WAIST
t.set((0., 0.095, 0.563816))
# HAND
t.set((0.25, -0.5, .85))
plug(t.signal('out'), comp.signal('in2'))
plug(comp.signal('out'), p6d.signal('position'))
plug(dyn.signal('J0'), p6.signal('Jq'))
plug(dyn.signal('0'), p6.signal('position'))
p6.signal('sdes').value = p6d
task = Task('task')
task.add('p6')
gain = GainAdaptive('gain')
gain.setConstant(.2)
plug(task.signal('error'), gain.signal('error'))
plug(gain.signal('gain'), task.signal('controlGain'))
R3 = ((0., 0., -1.), (0., 1., 0.), (1., 0., 0.))
eye3.set(R3)
p6.signal('selec').value = '000111'
p6.frame('current')
# --- COM
dyn.setProperty('ComputeCoM', 'true')
# dyn.setProperty ComputeVelocity true