def __init__(self,dt):
self.dt=dt
#~ self.robot = RomeoWrapper("/local/tflayols/softwares/pinocchio/models/romeo.urdf")
self.robot = ReemcWrapper("/home/tflayols/devel-src/reemc_wrapper/reemc/reemc.urdf")
self.robot.initDisplay()
self.robot.loadDisplayModel("world/pinocchio","pinocchio")
self.robot.display(self.robot.q0)
self.robot.viewer.gui.refresh()
self.q =np.copy(self.robot.q0)
self.v =np.copy(self.robot.v0)
self.a =np.copy(self.robot.v0)
self.dq=np.matrix(np.zeros([self.robot.nv,1]))
self.lastJcom = self.robot.Jcom(self.q) #to be del.
class PinocchioControllerAcceleration(object):
def __init__(self,dt):
self.dt=dt
#~ self.robot = RomeoWrapper("/local/tflayols/softwares/pinocchio/models/romeo.urdf")
self.robot = ReemcWrapper("/home/tflayols/devel-src/reemc_wrapper/reemc/reemc.urdf")
self.robot.initDisplay()
self.robot.loadDisplayModel("world/pinocchio","pinocchio")
self.robot.display(self.robot.q0)
self.robot.viewer.gui.refresh()
self.q =np.copy(self.robot.q0)
self.v =np.copy(self.robot.v0)
self.a =np.copy(self.robot.v0)
self.dq=np.matrix(np.zeros([self.robot.nv,1]))
self.lastJcom = self.robot.Jcom(self.q) #to be del.
def controlLfRfCom(self,Lf=[.0,.0,.0],dLf=[.0,.0,.0],Rf=[.0,.0,.0],dRf=[.0,.0,.0],Com=[0,0,0.63],dCom=[.0,.0,.0],ddCom=[.1,.0,.0]):
def robotint(q,dq):
M = se3.SE3(se3.Quaternion(q[6,0],q[3,0],q[4,0],q[5,0]).matrix(),q[:3])
dM = se3.exp(dq[:6])
M = M*dM
q[:3] = M.translation
q[3:7] = se3.Quaternion(M.rotation).coeffs()
q[7:] += dq[6:]
def robotdoubleint(q,dq,ddq,dt):
dq += dt*ddq
robotint(q,dq)
def errorInSE3( M,Mdes):
'''
Compute a 6-dim error vector (6x1 np.maptrix) caracterizing the difference
between M and Mdes, both element of SE3.
'''
error = se3.log(Mdes.inverse()*M)
return error.vector()
def errorInSE3dyn(M,Mdes,v_frame,v_des):
gMl = se3.SE3.Identity()
gMl.rotation = M.rotation
# Compute error
error = errorInSE3(M, Mdes);
v_error = v_frame - gMl.actInv(v_des)
#~ a_corriolis = self.robot.acceleration(q,v,0*v,self._link_id, update_geometry)
#~ a_corriolis.linear += np.cross(v_frame.angular.T, v_frame.linear.T).T
#~ a_tot = a_ref - gMl.actInv(a_corriolis)
return error,v_error.vector()
def errorLinkInSE3dyn(linkId,Mdes,v_des,q,v):
# Get the current configuration of the link
M = self.robot.position(q, linkId)
gMl = se3.SE3.Identity()
gMl.rotation = M.rotation
v_frame = self.robot.velocity(q,v,linkId)
# Compute error
error = errorInSE3(M, Mdes);
v_error = v_frame - gMl.actInv(v_des)
a_corriolis = self.robot.acceleration(q,v,0*v,linkId)
#~ a_corriolis.linear += np.cross(v_frame.angular.T, v_frame.linear.T).T
#~ a_tot = gMl.actInv(a_corriolis) #a_ref - gMl.actInv(a_corriolis)
a_tot = a_corriolis
#~ dJdq = a_tot.vector() *self.dt
dJdq = a_corriolis.vector()
return error,v_error.vector() ,dJdq
def null(A, eps=1e-6):#-12
'''Compute a base of the null space of A.'''
u, s, vh = np.linalg.svd(A)
padding = max(0,np.shape(A)[1]-np.shape(s)[0])
null_mask = np.concatenate(((s <= eps), np.ones((padding,),dtype=bool)),axis=0)
null_space = scipy.compress(null_mask, vh, axis=0)
return scipy.transpose(null_space)
zFeetOffset=self.robot.Mlf(self.robot.q0).translation[2]
XYZ_LF=np.array(Lf)+np.array([.0,.0,zFeetOffset])
RPY_LF=np.matrix([[.0],[.0],[.0]])
#~ SE3_LF=se3.SE3(se3.utils.rpyToMatrix(RPY_LF),XYZ_LF)
SE3_LF=se3.SE3(self.robot.Mlf(self.robot.q0).rotation,XYZ_LF) #in case of reemc, foot orientation is not identity
XYZ_RF=np.array(Rf)+np.array([.0,.0,zFeetOffset])#np.array([.0,.0,0.07])
RPY_RF=np.matrix([[.0],[.0],[.0]])
#~ SE3_RF=se3.SE3(se3.utils.rpyToMatrix(RPY_RF),XYZ_RF)
SE3_RF=se3.SE3(self.robot.Mrf(self.robot.q0).rotation,XYZ_RF)#in case of reemc, foot orientation is not identity
#_RF________________________________________________________________
Jrf=self.robot.Jrf(self.q).copy()
#~ Jrf[:3] = self.robot.Mrf(self.q).rotation * Jrf[:3,:]#Orient in the world base
v_ref= se3.se3.Motion(np.matrix([dRf[0],dRf[1],dRf[2],.0,.0,.0]).T)
errRf,v_errRf,dJdqRf = errorLinkInSE3dyn(self.robot.rf,SE3_RF,v_ref,self.q,self.v)
#_LF________________________________________________________________
Jlf=self.robot.Jlf(self.q).copy()
#~ Jlf[:3] = self.robot.Mlf(self.q).rotation * Jlf[:3,:]#Orient in the world base
v_ref= se3.se3.Motion(np.matrix([dLf[0],dLf[1],dLf[2],.0,.0,.0]).T)
errLf,v_errLf,dJdqLf = errorLinkInSE3dyn(self.robot.lf,SE3_LF,v_ref,self.q,self.v)
#_COM_______________________________________________________________
Jcom=self.robot.Jcom(self.q)
#testing finite difference dJcom
#~ dJcom=(Jcom-self.lastJcom)/self.dt
#~ self.lastJcom = Jcom
#~ print dJcom*self.v
#~ print dJdqCOM
#~ print dJcom*self.v-dJdqCOM
#embed()
p_com, v_com, a_com = self.robot.com(self.q,self.v,self.v*0.0)
errCOM = (np.matrix(Com).T)-self.robot.com(self.q)
v_errCOM= v_com - (np.matrix(dCom).T)
errComZ= errCOM[2,0]
v_errComZ= v_errCOM[2,0]
#~ v_com = Jcom*self.v
dJdqCOM=-a_com
#_Trunk_____________________________________________________________
idx_Trunk = self.robot.index('root')
MTrunk0=self.robot.position(self.robot.q0,idx_Trunk)
MTrunk=self.robot.position(self.q,idx_Trunk)
#errTrunk=errorInSE3(MTrunk0,MTrunk)[3:6]
JTrunk=self.robot.jacobian(self.q,idx_Trunk)[3:6]
#v_frame = self.robot.velocity(self.q,self.v,idx_Trunk)
#v_ref= se3.se3.Motion(np.matrix([.0,.0,.0,.0,.0,.0]).T)
#errTrunk,v_errTrunk = errorInSE3dyn(MTrunk,MTrunk0,v_frame,v_ref)
errTrunk,v_errTrunk,dJdqTrunk = errorLinkInSE3dyn(idx_Trunk,MTrunk0,v_ref,self.q,self.v)
errTrunk=errTrunk[3:6]
v_errTrunk=v_errTrunk[3:6]
dJdqTrunk=dJdqTrunk[3:6]
#_TASK1 STACK_______________________________________________________
K=1000.0
Kp_foot=K
Kp_com=K
Kp_Trunk=K
Kp_post=K
Kd_foot= 2*np.sqrt(Kp_foot)
Kd_com= 2*np.sqrt(Kp_com )
Kd_Trunk=2*np.sqrt(Kp_Trunk)
Kd_post= 2*np.sqrt(Kp_post )
#~ err1 = np.vstack([Kp_foot* errLf, Kp_foot* errRf, Kp_com* errCOM, Kp_Trunk* errTrunk])
#~ v_err1 = np.vstack([Kd_foot*v_errLf, Kd_foot*v_errRf, Kd_com*v_errCOM, Kd_Trunk*v_errTrunk])
#~ dJdq1= np.vstack([ dJdqLf, dJdqRf, dJdqCOM, dJdqTrunk])
#~ J1 = np.vstack([Jlf,Jrf,Jcom,JTrunk])
J1 = np.vstack([Jcom[:2],Jcom[2],Jlf,Jrf,JTrunk])
Ac1= np.vstack([np.matrix(ddCom).T[:2] - dJdqCOM[:2]
, Kp_com*errComZ - Kd_com *v_errComZ - dJdqCOM[2]
,-Kp_foot*errLf - Kd_foot *v_errLf - dJdqLf
,-Kp_foot*errRf - Kd_foot *v_errRf - dJdqRf
,-Kp_Trunk*errTrunk - Kd_Trunk*v_errTrunk - dJdqTrunk])
#~ J1 = np.vstack([Jcom[:2],Jcom[2]])
#~ Ac1= np.vstack([np.matrix(ddCom).T[:2] - dJdqCOM[:2]
#~ ,Kp_com*errComZ - 0.0 - 0.0])
#_TASK2 STACK_______________________________________________________
#_Posture___________________________________________________________
Jpost = np.hstack( [ zero([self.robot.nv-6,6]), eye(self.robot.nv-6) ] )
errPost = Kp_post*(self.q-self.robot.q0)[7:]
v_errPost = Kd_post*(self.v-self.robot.v0)[6:]
errpost = -1 * (self.q-self.robot.q0)[7:]
err2 = errPost
v_err2 = v_errPost
J2 = Jpost
#Hierarchical solve_________________________________________________
#~ qddot = npl.pinv(J1)*(-1.0 * err1 -1.0 * v_err1 - 1.0*dJdq1)
#~ qddot = npl.pinv(Jcom)*(np.matrix(ddCom).T - dJdqCOM)
qddot = npl.pinv(J1)*(Ac1)
#~ qddot = npl.pinv(Jcom[:2])*(np.matrix(ddCom).T[:2] - dJdqCOM[:2])
#~ qddot = npl.pinv(J1)*(Ac1)
dt2=self.dt**2
dt=self.dt
#~ qddot = npl.pinv(Jcom)*(-1)*(np.matrix(ddCom).T - dJdqCOM)
#~ qddot = npl.pinv(Jcom)*(-1)*(np.matrix(ddCom).T -errCOM/dt2 - dJdqCOM)
#~ embed()
Z = null(J1)
#~ Z = null(Jcom)
qddot += Z*npl.pinv(J2*Z)*(-(1.0 * err2 + 1.0 * v_err2) - J2*qddot)
self.a = qddot
self.v += np.matrix(self.a*self.dt)
self.robot.increment(self.q, np.matrix(self.v*self.dt))
#~ robotdoubleint(self.q,self.dq,qddot,self.dt)
#~ self.v=self.dq/self.dt
self.robot.display(self.q)
self.robot.viewer.gui.refresh()
return self.robot.com(self.q),Jcom*self.v ,errCOM,v_errCOM
# RF ************************
err_rf = errorInSE3(robot.Mrf(q), Rf_des)
J_rf = robot.Jrf(q)
# POSTURE *******************
err_post = (q - robot.q0)[7:]
J_post = np.hstack([zero([robot.nv - 6, 6]), eye(robot.nv - 6)])
J = np.vstack([J_com, J_lf, J_rf, J_post * eps])
err = np.vstack([err_com, err_lf, err_rf, err_post * eps])
dq = np.linalg.pinv(J) * (-a * err)
robotint(q, dq)
# print err
return q
if TESTING:
# robot = RomeoWrapper("/local/tflayols/softwares/pinocchio/models/romeo.urdf")
robot = ReemcWrapper("/home/tflayols/devel-src/reemc_wrapper/reemc/reemc.urdf")
robot.initDisplay()
robot.loadDisplayModel("world/pinocchio", "pinocchio")
robot.display(robot.q0)
robot.viewer.gui.refresh()
q = compute_initial_pose(robot)
robot.display(q)
robot.viewer.gui.refresh()
embed()