def compute_wholebody_queue(self, cs_ref):
"""
Call the wholebody motion generation with the given cs_ref and the queue_qt
and store the last compute phase with self.set_last_phase
:param cs_ref:
:return:
"""
logger.warning("@@ Start compute_wholebody_queue")
cs_wb, _ = self.generate_wholebody(self.cfg, cs_ref, None, None, None, self.queue_qt)
last_phase = ContactPhase(cs_wb.contactPhases[-1])
tools.deletePhaseTrajectories(last_phase)
tools.deleteEffectorsTrajectories(last_phase)
last_phase.root_t = cs_ref.contactPhases[-1].root_t
self.set_last_phase(last_phase)
logger.warning("@@ End compute_wholebody_queue")
def compute_stopping_cs(self, move_to_support_polygon=True):
"""
Compute a Contact Sequence with centroidal trajectories to bring the current last_phase
to a stop without contact changes
:param move_to_support_polygon: if True, add a trajectory to put the CoM above the center of the support polygon
:return:
"""
phase_stop = ContactPhase(self.get_last_phase())
tools.setInitialFromFinalValues(phase_stop, phase_stop)
phase_stop.timeInitial = phase_stop.timeFinal
phase_stop.duration = DURATION_0_STEP # FIXME !!
# try 0-step:
success, phase = zeroStepCapturability(phase_stop, self.cfg)
if success:
cs_ref = ContactSequence(0)
cs_ref.append(phase)
# TEST : add another phase to go back in the center of the support polygon
if move_to_support_polygon:
phase_projected = ContactPhase()
phase_projected.timeInitial = phase.timeFinal
phase_projected.duration = DURATION_0_STEP
tools.copyContactPlacement(phase, phase_projected)
tools.setInitialFromFinalValues(phase, phase_projected)
phase_projected.c_final = tools.computeCenterOfSupportPolygonFromPhase(
phase_stop, self.fullBody.DEFAULT_COM_HEIGHT)
#FIXME 'default height'
tools.connectPhaseTrajToFinalState(phase_projected)
cs_ref.append(phase_projected)
else:
# TODO try 1 step :
raise RuntimeError("One step capturability not implemented yet !")
tools.computeRootTrajFromContacts(self.fullBody, cs_ref)
self.last_phase = cs_ref.contactPhases[-1].copy()
# define the final root position, translation from the CoM position and rotation from the feet rotation
q_final = np.zeros(7)
q_final[:3] = self.last_phase.c_final[::]
placement_rot_root, _ = tools.rootOrientationFromFeetPlacement(self.cfg.Robot, None, self.last_phase, None)
quat_root = Quaternion(placement_rot_root.rotation)
q_final[3:7] = [quat_root.x, quat_root.y, quat_root.z, quat_root.w]
self.last_phase.q_final = q_final
self.last_phase_flag.value = False
self.last_phase_pickled = Array(c_ubyte, MAX_PICKLE_SIZE) # reset currently stored whole body last phase
return cs_ref
def createPhaseFromConfig(fb, q, limbsInContact, t_init = -1):
"""
Build a contact phase from a wholebody configuration and a list of active contacts.
Set the q_init, c_init and c_final from the joint positions,
and add ContactPatch for each limb in contact, with the current placement corresponding to the wholebody configuration
:param fb: an rbprm.Fullbody object
:param q: a list of joint position
:param limbsInContact: a list of limbs currently in contact
:param t_init: if provided, the new COntactPhase will begin at this time
:return: a new ContactPhase
"""
phase = ContactPhase()
phase.q_init = np.array(q)
fb.setCurrentConfig(q)
com = np.array(fb.getCenterOfMass())
if t_init >= 0:
phase.timeInitial = t_init
phase.c_init = com.copy()
phase.c_final = com.copy()
if fb.client.robot.getDimensionExtraConfigSpace() >= 6 and len(q) == fb.getConfigSize():
# add dc and ddc values from extraDOF
phase.dc_init = np.array(q[-6:-3])
phase.dc_final = np.array(q[-6:-3])
phase.ddc_init = np.array(q[-3:])
phase.ddc_final = np.array(q[-3:])
for limb in limbsInContact:
eeName = fb.dict_limb_joint[limb]
q_j = fb.getJointPosition(eeName)
placement = SE3FromConfig(q_j)
if fb.cType == '_3_DOF':
placement.rotation = np.identity(3) # FIXME: use contact normal instead of identity, but it's unknown here
patch = ContactPatch(placement) # TODO set friction / other parameters here
phase.addContact(eeName, patch)
return phase
def createPhaseFromConfig(fb, q, limbsInContact, t_init=-1):
phase = ContactPhase()
phase.q_init = np.array(q)
fb.setCurrentConfig(q)
com = np.array(fb.getCenterOfMass())
if t_init > 0:
phase.timeInitial = 0.
phase.c_init = com.copy()
phase.c_final = com.copy()
if fb.client.robot.getDimensionExtraConfigSpace() >= 6 and len(
q) == fb.getConfigSize():
# add dc and ddc values from extraDOF
phase.dc_init = np.array(q[-6:-3])
phase.dc_final = np.array(q[-6:-3])
phase.ddc_init = np.array(q[-3:])
phase.ddc_final = np.array(q[-3:])
for limb in limbsInContact:
eeName = fb.dict_limb_joint[limb]
q_j = fb.getJointPosition(eeName)
placement = SE3FromConfig(q_j)
patch = ContactPatch(
placement) # TODO set friction / other parameters here
phase.addContact(eeName, patch)
return phase
def generate_wholebody_tsid(cfg, cs_ref, fullBody=None, viewer=None, robot=None, queue_qt = None):
"""
Generate the whole body motion corresponding to the given contactSequence
:param cs: Contact sequence containing the references,
it will only be modified if the end effector trajectories are not valid.
New references will be generated and added to the cs
:param fullBody: Required to compute collision free end effector trajectories
:param viewer: If provided, and the settings are enabled, display the end effector trajectories and the last step computed
:param robot: a tsid.RobotWrapper instance. If None, a new one is created from the urdf files defined in cfg
:param queue_qt: If not None, the joint trajectories are send to this multiprocessing.Queue during computation
The queue take a tuple: [q_t (a Curve object), ContactPhase (may be None), Bool (True mean that this is the
last trajectory of the motion)]
:return: a new ContactSequence object, containing the wholebody trajectories,
and the other trajectories computed from the wholebody motion request with cfg.IK_STORE_* and a robotWrapper instance
"""
# define nested functions used in control loop #
def appendJointsValues(first_iter_for_phase = False):
"""
Append the current q value to the current phase.q_t trajectory
:param first_iter_for_phase: if True, set the current phase.q_init value
and initialize a new Curve for phase.q_t
"""
if first_iter_for_phase:
phase.q_init = q
phase.q_t = piecewise(polynomial(q.reshape(-1,1), t, t))
#phase.root_t = piecewise_SE3(constantSE3curve(SE3FromConfig(q) ,t))
else:
phase.q_t.append(q, t)
#phase.root_t.append(SE3FromConfig(q), t)
if queue_qt:
queue_qt.put([phase.q_t.curve_at_index(phase.q_t.num_curves()-1),
phase.dq_t.curve_at_index(phase.dq_t.num_curves()-1),
None,
False])
def appendJointsDerivatives(first_iter_for_phase=False):
"""
Append the current v and dv value to the current phase.dq_t and phase.ddq_t trajectory
:param first_iter_for_phase: if True, initialize a new Curve for phase.dq_t and phase.ddq_t
"""
if first_iter_for_phase:
phase.dq_t = piecewise(polynomial(v.reshape(-1, 1), t, t))
phase.ddq_t = piecewise(polynomial(dv.reshape(-1, 1), t, t))
else:
phase.dq_t.append(v, t)
phase.ddq_t.append(dv, t)
def appendTorques(first_iter_for_phase = False):
"""
Append the current tau value to the current phase.tau_t trajectory
:param first_iter_for_phase: if True, initialize a new Curve for phase.tau_t
"""
tau = invdyn.getActuatorForces(sol)
if first_iter_for_phase:
phase.tau_t = piecewise(polynomial(tau.reshape(-1,1), t, t))
else:
phase.tau_t.append(tau, t)
def appendCentroidal(first_iter_for_phase = False):
"""
Compute the values of the CoM position, velocity, acceleration, the anuglar momentum and it's derivative
from the wholebody data and append them to the current phase trajectories
:param first_iter_for_phase: if True, set the initial values for the current phase
and initialize the centroidal trajectories
"""
pcom, vcom, acom = pinRobot.com(q, v, dv)
L = pinRobot.centroidalMomentum(q, v).angular
dL = pin.computeCentroidalMomentumTimeVariation(pinRobot.model, pinRobot.data, q, v, dv).angular
if first_iter_for_phase:
phase.c_init = pcom
phase.dc_init = vcom
phase.ddc_init = acom
phase.L_init = L
phase.dL_init = dL
phase.c_t = piecewise(polynomial(pcom.reshape(-1,1), t , t))
phase.dc_t = piecewise(polynomial(vcom.reshape(-1,1), t, t))
phase.ddc_t = piecewise(polynomial(acom.reshape(-1,1), t, t))
phase.L_t = piecewise(polynomial(L.reshape(-1,1), t, t))
phase.dL_t = piecewise(polynomial(dL.reshape(-1,1), t, t))
else:
phase.c_t.append(pcom, t)
phase.dc_t.append(vcom, t)
phase.ddc_t.append(acom, t)
phase.L_t.append(L, t)
phase.dL_t.append(dL, t)
def appendZMP(first_iter_for_phase = False):
"""
Compute the zmp from the current wholebody data and append it to the current phase
:param first_iter_for_phase: if True, initialize a new Curve for phase.zmp_t
"""
tau = pin.rnea(pinRobot.model, pinRobot.data, q, v, dv)
# tau without external forces, only used for the 6 first
# res.tau_t[:6,k_t] = tau[:6]
phi0 = pinRobot.data.oMi[1].act(Force(tau[:6]))
wrench = phi0.vector
zmp = shiftZMPtoFloorAltitude(cs, t, phi0, cfg.Robot)
if first_iter_for_phase:
phase.zmp_t = piecewise(polynomial(zmp.reshape(-1,1), t, t))
phase.wrench_t = piecewise(polynomial(wrench.reshape(-1,1), t, t))
else:
phase.zmp_t.append(zmp, t)
phase.wrench_t.append(wrench, t)
def appendEffectorsTraj(first_iter_for_phase = False):
"""
Append the current position of the effectors not in contact to the current phase trajectories
:param first_iter_for_phase: if True, initialize a new Curve for the phase effector trajectories
"""
if first_iter_for_phase and phase_prev:
for eeName in phase_prev.effectorsWithTrajectory():
if t > phase_prev.effectorTrajectory(eeName).max():
placement = getCurrentEffectorPosition(robot, invdyn.data(), eeName)
phase_prev.effectorTrajectory(eeName).append(placement, t)
for eeName in phase.effectorsWithTrajectory():
placement = getCurrentEffectorPosition(robot, invdyn.data(), eeName)
if first_iter_for_phase:
phase.addEffectorTrajectory(eeName, piecewise_SE3(constantSE3curve(placement, t)))
else:
phase.effectorTrajectory(eeName).append(placement, t)
def appendContactForcesTrajs(first_iter_for_phase = False):
"""
Append the current contact force value to the current phase, for all the effectors in contact
:param first_iter_for_phase: if True, initialize a new Curve for the phase contact trajectories
"""
for eeName in phase.effectorsInContact():
contact = dic_contacts[eeName]
if invdyn.checkContact(contact.name, sol):
contact_forces = invdyn.getContactForce(contact.name, sol)
contact_normal_force = np.array(contact.getNormalForce(contact_forces))
else:
logger.warning("invdyn check contact returned false while the reference contact is active !")
contact_normal_force = np.zeros(1)
if cfg.Robot.cType == "_3_DOF":
contact_forces = np.zeros(3)
else:
contact_forces = np.zeros(12)
if first_iter_for_phase:
phase.addContactForceTrajectory(eeName, piecewise(polynomial(contact_forces.reshape(-1,1), t, t)))
phase.addContactNormalForceTrajectory(eeName, piecewise(polynomial(contact_normal_force.reshape(1,1), t, t)))
else:
phase.contactForce(eeName).append(contact_forces, t)
phase.contactNormalForce(eeName).append(contact_normal_force.reshape(1), t)
def storeData(first_iter_for_phase = False):
"""
Append all the required data (selected in the configuration file) to the current ContactPhase
:param first_iter_for_phase: if True, set the initial values for the current phase
and correctly initiliaze empty trajectories for this phase
"""
if cfg.IK_store_joints_derivatives:
appendJointsDerivatives(first_iter_for_phase)
appendJointsValues(first_iter_for_phase)
if cfg.IK_store_joints_torque:
appendTorques(first_iter_for_phase)
if cfg.IK_store_centroidal:
appendCentroidal(first_iter_for_phase)
if cfg.IK_store_zmp:
appendZMP(first_iter_for_phase)
if cfg.IK_store_effector:
appendEffectorsTraj(first_iter_for_phase)
if cfg.IK_store_contact_forces:
appendContactForcesTrajs(first_iter_for_phase)
def printIntermediate():
"""
Print the current state: active contacts, tracking errors, computed joint acceleration and velocity
:return:
"""
if logger.isEnabledFor(logging.INFO):
print("Time %.3f" % (t))
for eeName, contact in dic_contacts.items():
if invdyn.checkContact(contact.name, sol):
f = invdyn.getContactForce(contact.name, sol)
print("\tnormal force %s: %.1f" % (contact.name.ljust(20, '.'), contact.getNormalForce(f)))
print("\ttracking err %s: %.3f" % (comTask.name.ljust(20, '.'), norm(comTask.position_error, 2)))
for eeName in phase.effectorsWithTrajectory():
task = dic_effectors_tasks[eeName]
error = task.position_error
if cfg.Robot.cType == "_3_DOF":
error = error[0:3]
print("\ttracking err %s: %.3f" % (task.name.ljust(20, '.'), norm(error, 2)))
print("\t||v||: %.3f\t ||dv||: %.3f" % (norm(v, 2), norm(dv)))
def checkDiverge():
"""
Check if either the joint velocity or acceleration is over a treshold or is NaN, and raise an error
"""
if norm(dv) > 1e6 or norm(v) > 1e6:
logger.error("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
logger.error("/!\ ABORT : controler unstable at t = %f /!\ ", t)
logger.error("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
raise ValueError("ABORT : controler unstable at t = " + str(t))
if math.isnan(norm(dv)) or math.isnan(norm(v)):
logger.error("!!!!!! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
logger.error("/!\ ABORT : nan at t = %f /!\ ", t)
logger.error("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
raise ValueError("ABORT : controler unstable at t = " + str(t))
def stopHere():
"""
Set the current data as final values for the current phase, resize the contact sequence if needed and return
:return: [The current ContactSequence, the RobotWrapper]
"""
setPreviousFinalValues(phase_prev, phase, cfg)
if cfg.WB_ABORT_WHEN_INVALID:
# cut the sequence up to the last phase
cs.resize(pid)
return cs, robot
elif cfg.WB_RETURN_INVALID:
# cut the sequence up to the current phase
cs.resize(pid+1)
return cs, robot
### End of nested functions definitions ###
if not viewer:
logger.warning("No viewer linked, cannot display end_effector trajectories.")
logger.warning("Start TSID ... ")
# copy the given contact sequence to keep it as reference :
cs = ContactSequence(cs_ref)
# delete all the 'reference' trajectories from result (to leave room for the real trajectories stored)
deleteAllTrajectories(cs)
# Create a robot wrapper
if robot is None or cfg.IK_store_centroidal or cfg.IK_store_zmp:
rp = RosPack()
package_name = cfg.Robot.packageName.split("/")[0]
package_path = rp.get_path(package_name)
urdf = package_path + cfg.Robot.packageName.lstrip(
package_name) + '/urdf/' + cfg.Robot.urdfName + cfg.Robot.urdfSuffix + '.urdf'
logger.info("load robot : %s", urdf)
if robot is None:
logger.info("load robot : %s", urdf)
robot = tsid.RobotWrapper(urdf, pin.StdVec_StdString(), pin.JointModelFreeFlyer(), False)
else:
logger.info("Use given robot in tsid.")
logger.info("robot loaded in tsid.")
if cfg.IK_store_centroidal or cfg.IK_store_zmp:
logger.info("load pinocchio robot ...")
# FIXME : tsid robotWrapper don't have all the required methods, only pinocchio have them
pinRobot = pin.RobotWrapper.BuildFromURDF(urdf, package_path, pin.JointModelFreeFlyer())
logger.info("pinocchio robot loaded.")
# get the selected end effector trajectory generation method
effectorMethod, effectorCanRetry = cfg.get_effector_method()
# get the selected simulator method
Simulator = cfg.get_simulator_class()
simulator = Simulator(cfg.IK_dt, robot.model())
### Define initial state of the robot ###
phase0 = cs.contactPhases[0]
q = phase0.q_init[:robot.nq].copy()
if not q.any():
raise RuntimeError("The contact sequence doesn't contain an initial whole body configuration")
t = phase0.timeInitial
if cs_ref.contactPhases[0].dq_t and cs_ref.contactPhases[0].dq_t.min() <= t <= cs_ref.contactPhases[0].dq_t.max():
v = cs_ref.contactPhases[0].dq_t(t)
else:
v = np.zeros(robot.nv)
logger.debug("V_init used in tsid : %s", v)
invdyn = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False)
invdyn.computeProblemData(t, q, v)
simulator.init(q, v)
# add initial contacts :
dic_contacts = {}
for eeName in cs.contactPhases[0].effectorsInContact():
# replace the initial contact patch placements if needed to match exactly the current position in the problem:
updateContactPlacement(cs, 0, eeName,
getCurrentEffectorPosition(robot, invdyn.data(), eeName),
cfg.Robot.cType == "_6_DOF")
# create the contacts :
contact = createContactForEffector(cfg, invdyn, robot, eeName, phase0.contactPatch(eeName), False)
dic_contacts.update({eeName: contact})
if cfg.EFF_CHECK_COLLISION: # initialise object needed to check the motion
from mlp.utils import check_path
validator = check_path.PathChecker(fullBody, cfg.CHECK_DT, logger.isEnabledFor(logging.INFO))
### Initialize all task used ###
logger.info("initialize tasks : ")
if cfg.w_com > 0. :
comTask = tsid.TaskComEquality("task-com", robot)
comTask.setKp(cfg.kp_com * np.ones(3))
comTask.setKd(2.0 * np.sqrt(cfg.kp_com) * np.ones(3))
invdyn.addMotionTask(comTask, cfg.w_com, cfg.level_com, 0.0)
else:
comTask = None
if cfg.w_am > 0.:
amTask = tsid.TaskAMEquality("task-am", robot)
amTask.setKp(cfg.kp_am * np.array([1., 1., 0.]))
amTask.setKd(2.0 * np.sqrt(cfg.kp_am * np.array([1., 1., 0.])))
invdyn.addMotionTask(amTask, cfg.w_am, cfg.level_am, 0.)
else:
amTask = None
if cfg.w_posture > 0.:
postureTask = tsid.TaskJointPosture("task-joint-posture", robot)
postureTask.setKp(cfg.kp_posture * cfg.gain_vector)
postureTask.setKd(2.0 * np.sqrt(cfg.kp_posture * cfg.gain_vector))
postureTask.setMask(cfg.masks_posture)
invdyn.addMotionTask(postureTask, cfg.w_posture, cfg.level_posture, 0.0)
q_ref = cfg.IK_REFERENCE_CONFIG
samplePosture = tsid.TrajectorySample(q_ref.shape[0] - 7)
samplePosture.pos(q_ref[7:]) # -7 because we remove the freeflyer part
else :
postureTask = None
if cfg.w_rootOrientation > 0. :
orientationRootTask = tsid.TaskSE3Equality("task-orientation-root", robot, 'root_joint')
mask = np.ones(6)
mask[0:3] = 0
mask[5] = cfg.YAW_ROT_GAIN
orientationRootTask.setMask(mask)
orientationRootTask.setKp(cfg.kp_rootOrientation * mask)
orientationRootTask.setKd(2.0 * np.sqrt(cfg.kp_rootOrientation * mask))
invdyn.addMotionTask(orientationRootTask, cfg.w_rootOrientation, cfg.level_rootOrientation, 0.0)
else:
orientationRootTask = None
# init effector task objects :
usedEffectors = cs.getAllEffectorsInContact()
dic_effectors_tasks = createEffectorTasksDic(cfg, usedEffectors, robot)
# Add bounds tasks if required:
if cfg.w_torque_bounds > 0.:
tau_max = cfg.scaling_torque_bounds*robot.model().effortLimit[-robot.na:]
tau_min = -tau_max
actuationBoundsTask = tsid.TaskActuationBounds("task-actuation-bounds", robot)
actuationBoundsTask.setBounds(tau_min, tau_max)
invdyn.addActuationTask(actuationBoundsTask, cfg.w_torque_bounds, 0, 0.0)
if cfg.w_joint_bounds > 0.:
jointBoundsTask = tsid.TaskJointBounds("task-joint-bounds", robot, cfg.IK_dt)
v_max = cfg.scaling_vel_bounds * robot.model().velocityLimit[-robot.na:]
v_min = -v_max
print("v_max : ", v_max)
jointBoundsTask.setVelocityBounds(v_min, v_max)
invdyn.addMotionTask(jointBoundsTask, cfg.w_joint_bounds, 0, 0.0)
solver = tsid.SolverHQuadProg("qp solver")
solver.resize(invdyn.nVar, invdyn.nEq, invdyn.nIn)
# time check
dt = cfg.IK_dt
logger.info("dt : %f", dt)
logger.info("tsid initialized, start control loop")
#raw_input("Enter to start the motion (motion displayed as it's computed, may be slower than real-time)")
time_start = time.time()
# For each phases, create the necessary task and references trajectories :
for pid in range(cs.size()):
logger.info("## for phase : %d", pid)
logger.info("t = %f", t)
# phase_ref contains the reference trajectories and should not be modified exept for new effector trajectories
# when the first ones was not collision free
phase_ref = cs_ref.contactPhases[pid]
# phase de not contains trajectories (exept for the end effectors) and should be modified with the new values computed
phase = cs.contactPhases[pid]
if pid > 0:
phase_prev = cs.contactPhases[pid - 1]
else:
phase_prev = None
if pid < cs.size() - 1:
phase_next = cs.contactPhases[pid + 1]
else:
phase_next = None
time_interval = [phase_ref.timeInitial, phase_ref.timeFinal]
logger.info("time_interval %s", time_interval)
# take CoM and AM trajectory from the phase, with their derivatives
com_traj = [phase_ref.c_t, phase_ref.dc_t, phase_ref.ddc_t]
am_traj = [phase_ref.L_t, phase_ref.L_t, phase_ref.dL_t]
# add root's orientation ref from reference config :
root_traj = phase_ref.root_t
# add se3 tasks for end effector when required
for eeName in phase.effectorsWithTrajectory():
logger.info("add se3 task for %s", eeName)
task = dic_effectors_tasks[eeName]
invdyn.addMotionTask(task, cfg.w_eff, cfg.level_eff, 0.)
adjustEndEffectorTrajectoryIfNeeded(cfg, phase_ref, robot, invdyn.data(), eeName, effectorMethod)
logger.info("t interval : %s", time_interval)
# add newly created contacts :
new_contacts_names = [] # will store the names of the contact tasks created at this phase
for eeName in usedEffectors:
if phase_prev and phase_ref.isEffectorInContact(eeName) and not phase_prev.isEffectorInContact(eeName):
invdyn.removeTask(dic_effectors_tasks[eeName].name, 0.0) # remove pin task for this contact
logger.info("remove se3 effector task : %s", dic_effectors_tasks[eeName].name)
if logger.isEnabledFor(logging.DEBUG):
current_placement = getCurrentEffectorPosition(robot, invdyn.data(), eeName)
logger.debug("Current effector placement : %s", current_placement)
logger.debug("Reference effector placement : %s", cs.contactPhases[pid].contactPatch(eeName).placement)
updateContactPlacement(cs, pid, eeName,
getCurrentEffectorPosition(robot, invdyn.data(), eeName),
cfg.Robot.cType == "_6_DOF")
contact = createContactForEffector(cfg, invdyn, robot, eeName, phase.contactPatch(eeName))
new_contacts_names += [contact.name]
dic_contacts.update({eeName: contact})
logger.info("Create contact for : %s", eeName)
# start removing the contact that will be broken in the next phase :
# (This tell the solver that it should start minimizing the contact force on this contact, and ideally get to 0 at the given time)
for eeName, contact in dic_contacts.items():
if phase_next and phase.isEffectorInContact(eeName) and not phase_next.isEffectorInContact(eeName):
transition_time = phase.duration + dt/2.
logger.info("\nTime %.3f Start breaking contact %s. transition time : %.3f\n",
t, contact.name, transition_time)
exist = invdyn.removeRigidContact(contact.name, transition_time)
assert exist, "Try to remove a non existing contact !"
# Remove all effectors not in contact at this phase,
# This is required as the block above may not remove the contact exactly at the desired time
# FIXME: why is it required ? Numerical approximation in the transition_time ?
for eeName, contact in dic_contacts.items():
if not phase.isEffectorInContact(eeName):
exist = invdyn.removeRigidContact(contact.name, 0.)
if exist:
logger.warning("Contact "+eeName+" was not remove after the given transition time.")
if cfg.WB_STOP_AT_EACH_PHASE:
input('start simulation')
# save values at the beginning of the current phase
q_begin = q.copy()
v_begin = v.copy()
phase.q_init = q_begin
if phase_prev:
phase_prev.q_final = q_begin
phaseValid = False
iter_for_phase = -1
# iterate until a valid motion for this phase is found (ie. collision free and which respect joint-limits)
while not phaseValid:
deletePhaseWBtrajectories(phase) # clean previous invalid trajectories
t = phase.timeInitial
k_t = 0
if iter_for_phase >= 0:
# reset values to their value at the beginning of the current phase
q = q_begin.copy()
v = v_begin.copy()
simulator.q = q
simulator.v = v
iter_for_phase += 1
logger.info("Start computation for phase %d , t = %f, try number : %d", pid, t, iter_for_phase)
# loop to generate states (q,v,a) for the current contact phase :
while t < phase.timeFinal - (dt / 2.):
# set traj reference for current time :
# com
if comTask:
sampleCom = curvesToTSID(com_traj,t)
comTask.setReference(sampleCom)
# am
if amTask:
if cfg.IK_trackAM:
sampleAM = curvesToTSID(am_traj,t)
else:
sampleAM = tsid.TrajectorySample(3)
amTask.setReference(sampleAM)
# posture
#print "postural task ref : ",samplePosture.pos()
if postureTask:
postureTask.setReference(samplePosture)
# root orientation :
if orientationRootTask:
sampleRoot = curveSE3toTSID(root_traj,t)
orientationRootTask.setReference(sampleRoot)
# update weight of regularization tasks for the new contacts:
if len(new_contacts_names) > 0 :
# linearly decrease the weight of the tasks for the newly created contacts
u_w_force = (t - phase.timeInitial) / (phase.duration * cfg.w_forceRef_time_ratio)
if u_w_force <= 1.:
current_w_force = cfg.w_forceRef_init * (1. - u_w_force) + cfg.w_forceRef_end * u_w_force
for contact_name in new_contacts_names:
success = invdyn.updateRigidContactWeights(contact_name, current_w_force)
assert success, "Unable to change the weight of the force regularization task for contact "+contact_name
logger.debug("### references given : ###")
logger.debug("com pos : %s", sampleCom.pos())
logger.debug("com vel : %s", sampleCom.vel())
logger.debug("com acc : %s", sampleCom.acc())
if amTask:
logger.debug("AM pos : %s", sampleAM.pos())
logger.debug("AM vel : %s", sampleAM.vel())
logger.debug("root pos : %s", sampleRoot.pos())
logger.debug("root vel : %s", sampleRoot.vel())
# end effector (if they exists)
for eeName, traj in phase_ref.effectorTrajectories().items():
sampleEff = curveSE3toTSID(traj,t,True)
dic_effectors_tasks[eeName].setReference(sampleEff)
logger.debug("effector %s, pos = %s", eeName, sampleEff.pos())
logger.debug("effector %s, vel = %s", eeName, sampleEff.vel())
logger.debug("previous q = %s", q)
logger.debug("previous v = %s", v)
# solve HQP for the current time
HQPData = invdyn.computeProblemData(t, q, v)
if t < phase.timeInitial + dt:
logger.info("final data for phase %d", pid)
if logger.isEnabledFor(logging.INFO):
HQPData.print_all()
sol = solver.solve(HQPData)
dv = invdyn.getAccelerations(sol)
storeData(k_t == 0)
q, v = simulator.simulate(dv)
t += dt
k_t += 1
if t >= phase.timeFinal - (dt / 2.):
t = phase.timeFinal # avoid numerical imprecisions
logger.debug("v = %s", v)
logger.debug("dv = %s", dv)
if int(t / dt) % cfg.IK_PRINT_N == 0:
printIntermediate()
try:
checkDiverge()
except ValueError:
return stopHere()
# end while t \in phase_t (loop for the current contact phase)
if len(phase.effectorsWithTrajectory()) > 0 and cfg.EFF_CHECK_COLLISION:
phaseValid, t_invalid = validator.check_motion(phase.q_t)
#if iter_for_phase < 3 :# debug only, force limb-rrt
# phaseValid = False
# t_invalid = (phase.timeInitial + phase.timeFinal) / 2.
if not phaseValid:
if iter_for_phase == 0:
# save the first q_t trajectory computed, for limb-rrt
first_q_t = phase.q_t
logger.warning("Phase %d not valid at t = %f", pid, t_invalid)
logger.info("First invalid q : %s", phase.q_t(t_invalid))
if t_invalid <= (phase.timeInitial + cfg.EFF_T_PREDEF) \
or t_invalid >= (phase.timeFinal - cfg.EFF_T_PREDEF):
logger.error("Motion is invalid during predefined phases, cannot change this.")
return stopHere()
if effectorCanRetry():
logger.warning("Try new end effector trajectory.")
try:
for eeName, ref_traj in phase_ref.effectorTrajectories().items():
placement_init = ref_traj.evaluateAsSE3(phase.timeInitial)
placement_end = ref_traj.evaluateAsSE3(phase.timeFinal)
traj = effectorMethod(cfg, time_interval, placement_init, placement_end,
iter_for_phase + 1, first_q_t, phase_prev,
phase_ref, phase_next, fullBody, eeName, viewer)
# save the new trajectory in the phase with the references
phase_ref.addEffectorTrajectory(eeName,traj)
if cfg.DISPLAY_ALL_FEET_TRAJ and logger.isEnabledFor(logging.INFO):
color = fullBody.dict_limb_color_traj[eeName]
color[-1] = 0.6 # set small transparency
display_tools.displaySE3Traj(phase_ref.effectorTrajectory(eeName),
viewer.client.gui,
viewer.sceneName,
eeName + "_traj_" + str(pid) + "_" + str(iter_for_phase),
color,
[phase.timeInitial, phase.timeFinal],
fullBody.dict_offset[eeName])
except ValueError as e:
logging.error("ERROR in generateEndEffectorTraj :", exc_info=e)
return stopHere()
else:
logging.error("End effector method choosen do not allow retries, abort here.")
return stopHere()
else: # no effector motions, phase always valid (or bypass the check)
phaseValid = True
logging.info("Phase %d valid.", pid)
if phaseValid:
setPreviousFinalValues(phase_prev, phase, cfg)
# display the progress by moving the robot at the last configuration computed
if viewer and cfg.IK_SHOW_PROGRESS:
display_tools.displayWBconfig(viewer,q)
#end while not phaseValid
# end for all phases
# store the data of the last point
phase_prev = phase
phase = ContactPhase(phase_prev)
storeData(True)
setPreviousFinalValues(phase_prev, phase, cfg)
time_end = time.time() - time_start
logger.warning("Whole body motion generated in : %f s.", time_end)
logger.info("\nFinal COM Position %s", robot.com(invdyn.data()))
logger.info("Desired COM Position %s", cs.contactPhases[-1].c_final)
if queue_qt:
queue_qt.put([phase.q_t.curve_at_index(phase.q_t.num_curves() - 1), None, True])
return cs, robot
def compute_cs_from_guide(self):
"""
Call SL1M to produce a contact sequence following the root path stored in self.current_guide_id
Store the result in self.cs
:param guide_id: Id of the path stored in self.guide_planner.ps
:return:
"""
initial_contacts = None
last_phase = self.get_last_phase()
if self.cfg.SL1M_MAX_STEP > 0:
# compute the pathlength corresponding to this number of steps:
max_path_length = self.cfg.SL1M_MAX_STEP * self.cfg.GUIDE_STEP_SIZE
total_path_length = self.guide_planner.ps.pathLength(self.current_guide_id)
if total_path_length > max_path_length:
# split the guide path in several segment of max_path_length length
guide_ids = []
t = 0.
while t < total_path_length:
t_next = t + max_path_length
if t_next > total_path_length:
t_next = total_path_length
self.guide_planner.ps.extractPath(self.current_guide_id, t, t_next)
guide_ids += [self.guide_planner.ps.numberPaths() - 1]
t = t_next
else:
guide_ids = [self.current_guide_id]
else:
guide_ids = [self.current_guide_id]
print("##### compute sl1m from guide id(s) : ", guide_ids)
self.cs = ContactSequence()
for guide_id in guide_ids:
self.guide_planner.pathId = guide_id
self.guide_planner.q_goal = self.guide_planner.ps.configAtParam(
guide_id, self.guide_planner.ps.pathLength(guide_id))
print("### FORLOOP, guide id = ", guide_id)
# compute initial contacts position, either from last_phase or from the wholebody configuration
if last_phase:
q_init = None
initial_contacts = [last_phase.contactPatch(ee_name).placement.translation
+ self.fullBody.dict_offset[ee_name].translation
for ee_name in
[self.fullBody.dict_limb_joint[limb] for limb in self.fullBody.limbs_names]]
first_phase = ContactPhase()
tools.copyContactPlacement(last_phase, first_phase)
tools.setInitialFromFinalValues(last_phase, first_phase)
else:
first_phase = None
q_init = self.fullBody.getCurrentConfig()
initial_contacts = sl1m.initial_foot_pose_from_fullbody(self.fullBody, q_init)
pathId, pb, coms, footpos, allfeetpos, res = sl1m.solve(self.guide_planner,
self.cfg,
False,
initial_contacts)
root_end = self.guide_planner.ps.configAtParam(pathId, self.guide_planner.ps.pathLength(pathId) - 0.001)[0:7]
logger.info("SL1M, root_end = %s", root_end)
current_cs = sl1m.build_cs_from_sl1m(self.cfg.SL1M_USE_MIP,
self.fullBody,
self.cfg.IK_REFERENCE_CONFIG,
root_end,
pb,
sl1m.sl1m.RF,
allfeetpos,
cfg.SL1M_USE_ORIENTATION,
cfg.SL1M_USE_INTERPOLATED_ORIENTATION,
q_init,
first_phase)
last_phase = current_cs.contactPhases[-1]
# Merge current_cs in cs
if self.cs.size() == 0:
[self.cs.append(phase) for phase in current_cs.contactPhases]
else:
# first new phase is the same as last previous phase
[self.cs.append(phase) for phase in current_cs.contactPhases[1:]]
logger.warning("## Compute cs from guide done.")
process_stones = Process(target=self.display_stones_lock)
process_stones.start()
atexit.register(process_stones.terminate)
def store_mcapi_traj(self, traj_name):
if not mcapi_import:
print(
'multicontact_api package import has failed, check your install'
)
return
self.set_data_lst_as_arrays()
# trajectory with only one ContactPhase (simpler to read/write)
# when feet not in contact, the force is exactly zero, that's the only diff
cs = ContactSequence()
cp = ContactPhase()
# assign trajectories :
t_arr = self.data_log['t']
cp.timeInitial = t_arr[0]
cp.timeFinal = t_arr[-1]
cp.duration = t_arr[-1] - t_arr[0]
# col number of trajectories should be the time traj size hence the transpose
cp.q_t = piecewise.FromPointsList(self.data_log['q'].T, t_arr)
cp.dq_t = piecewise.FromPointsList(self.data_log['v'].T, t_arr)
cp.ddq_t = piecewise.FromPointsList(self.data_log['dv'].T, t_arr)
cp.tau_t = piecewise.FromPointsList(self.data_log['tau'].T, t_arr)
cp.c_t = piecewise.FromPointsList(self.data_log['c'].T, t_arr)
cp.dc_t = piecewise.FromPointsList(self.data_log['dc'].T, t_arr)
cp.L_t = piecewise.FromPointsList(self.data_log['Lc'].T, t_arr)
# contact force trajectories
for i_foot, frame_name in enumerate(self.contact_names):
cp.addContact(frame_name, ContactPatch(
pin.SE3(), 0.5)) # dummy placement and friction coeff
cp.addContactForceTrajectory(
frame_name,
piecewise.FromPointsList(self.data_log['f{}'.format(i_foot)].T,
t_arr))
cs.append(cp) # only one contact phase
savepath = os.path.join(self.directory, traj_name + '.cs')
cs.saveAsBinary(savepath)
print('Saved ' + savepath)