def getBlendedNextMotion2(nextMotionA, nextMotionB, prevEndPosture, t=None, attachPosition=True, attachOrientation=True):
dA = prevEndPosture - nextMotionA[0]
dB = prevEndPosture - nextMotionB[0]
newNextMotionA = nextMotionA.copy()
newNextMotionB = nextMotionB.copy()
if attachPosition:
p_offset_A = dA.rootPos
p_offset_B = dB.rootPos
# d.disableTranslation()
newNextMotionA.translateByOffset(p_offset_A)
newNextMotionB.translateByOffset(p_offset_B)
if attachOrientation:
R_offset_A = dA.getJointOrientationLocal(0)
R_offset_A = mm.exp(mm.projectionOnVector(mm.logSO3(R_offset_A), mm.v3(0,1,0))) # # project on y axis
R_offset_B = dA.getJointOrientationLocal(0)
R_offset_B = mm.exp(mm.projectionOnVector(mm.logSO3(R_offset_B), mm.v3(0,1,0))) # # project on y axis
# d.disableRotations([0])
newNextMotionA.rotateTrajectory(R_offset_A)
newNextMotionB.rotateTrajectory(R_offset_B)
if t==None:
blendedNextMotion = blendSegmentSmooth(newNextMotionA, newNextMotionB)
else:
blendedNextMotion = blendSegmentFixed(newNextMotionA, newNextMotionB, t)
# del blendedNextMotion[0]
return blendedNextMotion
def test_calcPointCloudMetric():
pointsA = [(1,0,0), (0,0,0), (0,0,1)]
R = mmMath.exp(mmMath.v3(0,1,0), math.pi/4)
pointsB = []
for p in pointsA:
pointsB.append(np.dot(R, p)+(0,1,0))
T = mmMath.I_SE3()
distance = cmt.calcPointCloudMetric(pointsA, pointsB, T)
print distance
print T
pointsC = []
for p in pointsB:
pointsC.append(mmMath.T2p(np.dot(T, mmMath.p2T(p))))
viewer = ysv.SimpleViewer()
def extraDrawCallback():
for p in pointsA:
ygh.drawPoint(p, (255,0,0))
for p in pointsB:
ygh.drawPoint(p, (0,255,0))
for p in pointsC:
ygh.drawPoint(p, (0,255,255))
viewer.setExtraDrawCallback(extraDrawCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def blendSegmentFixed(motionSegment0, motionSegment1, t, attachPosition=True, attachOrientation=True):
motionSegment1 = motionSegment1.copy()
if attachPosition:
p_offset = motionSegment0[0].rootPos - motionSegment1[0].rootPos
motionSegment1.translateByOffset(p_offset)
if attachOrientation:
R_offset = np.dot(motionSegment0[0].localRs[0], motionSegment1[0].localRs[0].T)
R_offset = mm.exp(mm.projectionOnVector(mm.logSO3(R_offset), mm.v3(0,1,0))) # # project on y axis
motionSegment1.rotateTrajectory(R_offset)
# newMotion = ym.JointMotion( [None]*(int( (len(motionSegment 0)+len(motionSegment1))/2.) ) )
newMotion = ym.JointMotion( [None]*(int( (1-t)*len(motionSegment0) + t*len(motionSegment1)) ) )
# df0 = float(len(newMotion)) / len(motionSegment0)
# df1 = float(len(newMotion)) / len(motionSegment1)
for frame in range(len(newMotion)):
normalizedFrame = float(frame)/(len(newMotion)-1)
# normalizedFrame2 = yfg.H1(normalizedFrame)
# normalizedFrame2 += df0*yfg.H2(normalizedFrame)
# normalizedFrame2 += df1*yfg.H3(normalizedFrame)
# posture0_at_normalizedFrame = motionSegment0.getPostureAt(normalizedFrame2*(len(motionSegment0)-1))
# posture1_at_normalizedFrame = motionSegment1.getPostureAt(normalizedFrame2*(len(motionSegment1)-1))
# newMotion[frame] = posture0_at_normalizedFrame.blendPosture(posture1_at_normalizedFrame, normalizedFrame2)
# print normalizedFrame*(len(motionSegment0)-1)
posture0_at_normalizedFrame = motionSegment0.getPostureAt(normalizedFrame*(len(motionSegment0)-1))
posture1_at_normalizedFrame = motionSegment1.getPostureAt(normalizedFrame*(len(motionSegment1)-1))
# newMotion[frame] = posture0_at_normalizedFrame.blendPosture(posture1_at_normalizedFrame, normalizedFrame)
newMotion[frame] = posture0_at_normalizedFrame.blendPosture(posture1_at_normalizedFrame, t)
return newMotion
def test_setPositionTarget():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
print motion[0].skeleton
lFoot = motion[0].skeleton.getJointIndex('LeftFoot')
oripos = motion[0].getJointPositionGlobal(lFoot)
newpos = oripos + mm.v3(0,1,0)
motion_edit1 = copy.deepcopy(motion)
setPositionTarget(motion_edit1, lFoot, newpos)
motion_edit2 = copy.deepcopy(motion)
setPositionTarget(motion_edit2, lFoot, newpos, [10,20], 5, yfg.identity)
print len(motion), len(motion_edit2)
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_LINE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('motion_edit1', yr.JointMotionRenderer(motion_edit1, (0,255,0), yr.LINK_LINE))
viewer.doc.addObject('motion_edit1', motion_edit1)
viewer.doc.addRenderer('motion_edit2', yr.JointMotionRenderer(motion_edit2, (255,255,0), yr.LINK_LINE))
viewer.doc.addObject('motion_edit2', motion_edit2)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def _readOgreSkeletonAnimations(dom, jointSkeleton, initialRs, scale=1.0):
jointMotions = []
animationEles = dom.getElementsByTagName('animation')
for animationEle in animationEles:
jointMotion = ym.Motion()
# jointMotion.resourceName = animationEle.getAttribute('name').encode()
trackEles = animationEle.getElementsByTagName('track')
first_keyframes = trackEles[0].getElementsByTagName('keyframe')
len_keyframes = len(first_keyframes)
time2frameMap = {}
for i in range(len_keyframes):
jointPosture = ym.JointPosture(jointSkeleton)
# jointPosture.initLocalRMap(initialRMap)
jointPosture.initLocalRs(initialRs)
jointMotion.append(jointPosture)
# because each bone may not have same number of keyframes
time2frameMap[first_keyframes[i].getAttribute('time')] = i
for trackEle in trackEles:
# print i, trackEle.getAttribute('bone'), len(trackEle.getElementsByTagName('keyframe'))
keyframeEles = trackEle.getElementsByTagName('keyframe')
for keyframeEle in keyframeEles:
keyframeTime = keyframeEle.getAttribute('time')
# because each bone may not have same number of keyframes
frame = time2frameMap[keyframeTime]
jointPosture = jointMotion[frame]
boneName = trackEle.getAttribute('bone').encode()
if boneName == jointSkeleton.root.name:
transEle = keyframeEle.getElementsByTagName('translate')[0]
jointPosture.rootPos[0] = float(
transEle.getAttribute('x')) * scale
jointPosture.rootPos[1] = float(
transEle.getAttribute('y')) * scale
jointPosture.rootPos[2] = float(
transEle.getAttribute('z')) * scale
rotEle = keyframeEle.getElementsByTagName('rotate')[0]
angle = float(rotEle.getAttribute('angle'))
axisEle = rotEle.getElementsByTagName('axis')[0]
axis = mmMath.v3(float(axisEle.getAttribute('x')),
float(axisEle.getAttribute('y')),
float(axisEle.getAttribute('z')))
R = mmMath.exp(axis, angle)
# jointPosture.mulLocalR(boneName, R)
jointPosture.mulLocalR(jointSkeleton.getElementIndex(boneName),
R)
jointPosture.updateGlobalT()
jointMotions.append(jointMotion)
return jointMotions
def test_inertia_matrix():
bvhFilePath = '../samples/chain_1.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 100.
mcfg.defaultBoneRatio = 1.
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
wcfg.gravity = (0,0,0)
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
controlModel2 = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel2.translateByOffset((0,0,1))
controlModel2.rotate(mm.exp(mm.v3(0,1,0), math.pi/2))
print 'model local'
print controlModel.getBodyInertiasLocal()
print
print 'model global'
print controlModel.getBodyInertiasGlobal()
print
print 'model2 global'
print controlModel2.getBodyInertiasGlobal()
viewer = ysv.SimpleViewer()
# viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_WIREBOX))
# viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
viewer.doc.addRenderer('model2', cvr.VpModelRenderer(controlModel2, (255,240,255), yr.POLYGON_LINE))
viewer.setMaxFrame(100)
viewer.show()
Fl.run()
def test_FramesRenderer_OrientationsRenderer():
frame0 = mm.I_SE3()
frame1 = mm.Rp2T(mm.exp(mm.v3(0, 1, 0), math.pi / 8.), (1, 0, 0))
viewer = ysv.SimpleViewer()
viewer.doc.addRenderer('frame0', FramesRenderer([frame0], (255, 0, 0)))
viewer.doc.addRenderer('frame1', FramesRenderer([frame1], (255, 0, 0)))
viewer.doc.addRenderer(
'orientation0',
OrientationsRenderer([mm.T2R(frame0)], [mm.T2p(frame0)],
(0, 255, 0)))
viewer.doc.addRenderer(
'orientation1',
OrientationsRenderer([mm.T2R(frame1)], [mm.T2p(frame1)],
(0, 255, 0)))
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)
elasticity = 20000
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.RIGHT_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)
v1 = (-node.width*0.5,0.0,-node.length*0.4)
v2 = (node.width*0.5,0.02,-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)
elasticity2 = 10000
damping2 = 2*(elasticity**.5)
springBody3 = 5
springBody4 = 6
springBody3Pos = motionModel.getBodyPositionGlobal(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody3]))
springBody4Pos = motionModel.getBodyPositionGlobal(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody4]))
initialDist2 = mm.length(springBody3Pos - springBody4Pos)*1.
node2 = mcfg.getNode(mit.RIGHT_CALCANEUS_1)
initialDist2 -= node2.width
v3 = (-node2.width*0.5,0.0,-node2.length*0.4)
v4 = (node2.width*0.5,0.0,-node2.length*0.4)
controlModel.setSpring(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody3]), motion[0].skeleton.getJointIndex(config['FootLPart'][springBody4]), elasticity2, damping2, v4, v3, initialDist2)
controlModel.setSpring(motion[0].skeleton.getJointIndex(config['FootRPart'][springBody3]), motion[0].skeleton.getJointIndex(config['FootRPart'][springBody4]), elasticity2, damping2, v3, v4, initialDist2)
vpWorld.initialize()
controlModel.initializeHybridDynamics()
#ModelOffset = (1.5, -0.01, 0)
ModelOffset = (1.5, 0.1, 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[1], indexFootR[1]])]
#constJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [indexFootL[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_Joint = [None]
rd_Joint2 = [None]
rd_Joint3 = [None]
rd_Joint4 = [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_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_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))
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[3])
p4 = controlModel.getBodyPositionGlobal(indexFootR[3])
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 = .4
desFCL = (controlModel.getBodyPositionGlobal(indexFootL[1])*r + controlModel.getBodyPositionGlobal(indexFootL[3])*(1.0-r))#controlModel.getBodyPositionGlobal(indexFootL[1])
desFCR = (controlModel.getBodyPositionGlobal(indexFootR[1])*r + controlModel.getBodyPositionGlobal(indexFootR[3])*(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
#if stage == MOTION_TRACKING:
# 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)*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])
print("totalNormalForce=", totalNormalForce[1])
print("F_Diff=", (totalMass*mm.s2v(wcfg.gravity))[1]+totalNormalForce[1])
# linear momentum
CM_ref_plane = footCenter
dL_des_plane = Kl*totalMass*(CM_ref_plane - CM_plane) - Dl*totalMass*dCM_plane
print("CM_Diff=",mm.length(CM_ref_plane - CM_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)))
print("CP_Diff=",mm.length(CP_des - CP))
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]
elif mit.MOTION == mit.WALK:
frame_index = [10000, 60]
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 checkAll(contactFlagFootR, 0) != 1 :
if 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)
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
if stage != MOTION_TRACKING:
desLinearAccL, desPosL = getDesFootLinearAcc(motionModel, controlModel, indexFootL[idx], ModelOffset, CM_ref, CM, Kk2, Dk2, 0.14)#0.076)
desLinearAccR, desPosR = getDesFootLinearAcc(motionModel, controlModel, indexFootR[idx], ModelOffset, CM_ref, CM, Kk2, Dk2, 0.14)
desAngularAccL = getDesFootAngularAcc(motionModel, controlModel, indexFootL[idx], Kk2, Dk2, [0,0,-1], [0,1,1.5])
desAngularAccR = getDesFootAngularAcc(motionModel, controlModel, indexFootR[idx], Kk2, Dk2, [0,0,-1], [0,1,1.5])
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]))
else:
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)
a_sup_2 = np.hstack((desLinearAccL, desAngularAccL))
Jsup_2 = jFootL[idx]
dJsup_2 = dJFootL[idx]
rd_DesPosL[0] = desPosL.copy()
rd_DesPosR[0] = desPosR.copy()
else:
if footPartNum != 5:
idx = 0
desLinearAccL, desPosL = getDesFootLinearAcc(motionModel, controlModel, indexFootL[idx], ModelOffset, CM_ref, CM, Kk2, Dk2, 0.045)
desAngularAccL = getDesFootAngularAcc(motionModel, controlModel, indexFootL[idx], Kk2, Dk2)
a_sup_2 = np.hstack(( desLinearAccL, desAngularAccL))
Jsup_2 = (jFootL[idx])
dJsup_2 = (dJFootL[idx])
'''
idx = 4
desAngularAccL = getDesFootAngularAcc(motionModel, controlModel, indexFootL[idx], Kk2, Dk2)
a_sup_2 = np.hstack(( a_sup_2, desAngularAccL))
Jsup_2 = np.vstack(( Jsup_2, jAngFootL[idx]))
dJsup_2 = np.vstack(( dJsup_2, dJAngFootL[idx]))
'''
'''
idx = 1
desAngularAccL = getDesFootAngularAcc(motionModel, controlModel, indexFootL[idx], Kk2, Dk2)
a_sup_2 = np.hstack(( a_sup_2, desAngularAccL))
Jsup_2 = np.vstack(( Jsup_2, jAngFootL[idx]))
dJsup_2 = np.vstack(( dJsup_2, dJAngFootL[idx]))
'''
else:
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]))
##############################
##############################
# Additional constraint
if stage != MOTION_TRACKING+10:
#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 stage != MOTION_TRACKING:
axis = [0,1,0]
desAng = [0,1,0]
desY = 0.04
if i == 1 or i == 2:
desAng = [0,1,1.2]
desY = 0.076
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(( 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, desY)
desAngularAccR = getDesFootAngularAcc(motionModel, controlModel, indexFootR[i], Kk2, Dk2, axis, desAng)
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]]
rd_Joint[0] = controlModel.getJointPositionGlobal(motion[0].skeleton.getJointIndex('LeftMetatarsal_1'))
rd_Joint2[0] = controlModel.getJointPositionGlobal(motion[0].skeleton.getJointIndex('LeftMetatarsal_3'))
rd_Joint3[0] = controlModel.getJointPositionGlobal(motion[0].skeleton.getJointIndex('LeftPhalange_1'))
rd_Joint4[0] = controlModel.getJointPositionGlobal(motion[0].skeleton.getJointIndex('LeftPhalange_3'))
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
#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(1/60.)
viewer.show()
Fl.run()
def create_biped():
# motion
#motionName = 'wd2_n_kick.bvh'
if MOTION == STAND:
motionName = 'wd2_stand.bvh'
elif MOTION == FORWARD_JUMP:
motionName = 'woddy2_jump0.bvh'
elif MOTION == TAEKWONDO:
motionName = './MotionFile/wd2_098_V001.bvh'
#motionName = 'ww13_41_V001.bvh'
motion = yf.readBvhFile(motionName, .01)
yme.removeJoint(motion, HEAD, False)
yme.removeJoint(motion, RIGHT_SHOULDER, False)
yme.removeJoint(motion, LEFT_SHOULDER, False)
if FOOT_PART_NUM == 1:
yme.removeJoint(motion, RIGHT_TOES_END, False)
yme.removeJoint(motion, LEFT_TOES_END, False)
yme.removeJoint(motion, RIGHT_HAND_END, False)
yme.removeJoint(motion, LEFT_HAND_END, False)
yme.offsetJointLocal(motion, RIGHT_ARM, (.03, -.05, 0), False)
yme.offsetJointLocal(motion, LEFT_ARM, (-.03, -.05, 0), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(1, 0, 0), .01), False)
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(2.5, -0.0, .3), -.5),
False)
yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(2.5, 0.0, -.3), -.5),
False)
if MOTION == FORWARD_JUMP:
yme.rotateJointLocal(motion, LEFT_UP_LEG,
mm.exp(mm.v3(0.0, .0, 1.), .08), False)
yme.rotateJointLocal(motion, LEFT_LEG, mm.exp(mm.v3(0.0, 1.0, 0.),
-.2), False)
if FOOT_PART_NUM > 1:
yme.addJoint(motion, RIGHT_FOOT, RIGHT_TARSUS)
yme.addJoint(motion, RIGHT_TARSUS, 'RIGHT_Dummy1')
yme.addJoint(motion, LEFT_FOOT, LEFT_TARSUS)
yme.addJoint(motion, LEFT_TARSUS, 'LEFT_Dummy1')
yme.rotateJointLocal(motion, LEFT_TOES, mm.exp(mm.v3(1., 0.0, 0.0),
.45), False)
yme.rotateJointLocal(motion, RIGHT_TOES,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_TARSUS,
mm.exp(mm.v3(1., 0.0, 0.0), .52), False)
yme.rotateJointLocal(motion, RIGHT_TARSUS,
mm.exp(mm.v3(1., 0.0, 0.0), .52), False)
if FOOT_PART_NUM == 5:
yme.addJoint(motion, LEFT_FOOT, LEFT_FOOT_SIDE_L)
yme.addJoint(motion, LEFT_FOOT_SIDE_L, 'LEFT_Dummy2')
yme.addJoint(motion, LEFT_FOOT, LEFT_FOOT_SIDE_R)
yme.addJoint(motion, LEFT_FOOT_SIDE_R, 'LEFT_Dummy2')
yme.addJoint(motion, RIGHT_FOOT, RIGHT_FOOT_SIDE_L)
yme.addJoint(motion, RIGHT_FOOT_SIDE_L, 'RIGHT_Dummy2')
yme.addJoint(motion, RIGHT_FOOT, RIGHT_FOOT_SIDE_R)
yme.addJoint(motion, RIGHT_FOOT_SIDE_R, 'RIGHT_Dummy2')
yme.rotateJointLocal(motion, LEFT_FOOT_SIDE_L,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_FOOT_SIDE_R,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, RIGHT_FOOT_SIDE_L,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, RIGHT_FOOT_SIDE_R,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.updateGlobalT(motion)
################
if MOTION == FORWARD_JUMP:
motion = motion[515:555]
elif MOTION == TAEKWONDO:
## Taekwondo base-step
motion = motion[0:31]
#motion = motion[564:600]
## Taekwondo turning-kick
#motion = motion[108:-1]
#motion = motion[108:109]
motion[0:0] = [motion[0]] * 100
motion.extend([motion[-1]] * 5000)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
node = mcfg.getNode(HIP)
node.length = .2
node.width = .25
node = mcfg.getNode(SPINE1)
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode(SPINE)
node.width = .22
#node.length = .2 ####
if FOOT_PART_NUM == 1:
length1 = .25
width1 = .2
mass1 = 4.
elif FOOT_PART_NUM == 3:
length1 = .1
width1 = .2
mass1 = 1.5
length2 = .1
width2 = .2
mass2 = 1.5
elif FOOT_PART_NUM == 5:
length1 = .1
width1 = .065
mass1 = .5
length2 = .1
width2 = .2
mass2 = 1.5
node = mcfg.getNode(RIGHT_FOOT)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_FOOT)
node.length = length1
node.width = width1
node.mass = mass1
if FOOT_PART_NUM == 5:
node = mcfg.getNode(LEFT_FOOT_SIDE_L)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (0.07, 0.0, 0.015)
node = mcfg.getNode(LEFT_FOOT_SIDE_R)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (-0.07, 0.0, 0.015)
node = mcfg.getNode(RIGHT_FOOT_SIDE_L)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (0.07, 0.0, 0.015)
node = mcfg.getNode(RIGHT_FOOT_SIDE_R)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (-0.07, 0.0, 0.015)
if FOOT_PART_NUM > 1:
node = mcfg.getNode(LEFT_TOES)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0, 0.0, -0.02)
node = mcfg.getNode(RIGHT_TOES)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0, 0.0, -0.02)
node = mcfg.getNode(LEFT_TARSUS)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0, 0.0, -0.08)
node = mcfg.getNode(RIGHT_TARSUS)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0, 0.0, -0.08)
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / (stepsPerFrame)
#stepsPerFrame = 10
#wcfg.timeStep = (1/120.)/(stepsPerFrame)
#wcfg.timeStep = (1/1800.)
# parameter
config = {}
config['Kt'] = 200
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = .10
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 0.1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 20000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1. #0.5
config['Bh'] = 1.
if FOOT_PART_NUM == 1:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 1.,
LEFT_FOOT: 1.,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.
}
elif FOOT_PART_NUM == 3:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .3,
RIGHT_LEG: .3,
LEFT_UP_LEG: .3,
LEFT_LEG: .3,
LEFT_TOES: .3,
RIGHT_TOES: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 2.5,
LEFT_FOOT: 2.5,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.,
LEFT_TOES: .3,
RIGHT_TOES: .3
}
elif FOOT_PART_NUM == 5:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3,
LEFT_TOES: .3,
RIGHT_TOES: .3,
LEFT_TARSUS: .3,
RIGHT_TARSUS: .3,
LEFT_FOOT_SIDE_L: .3,
LEFT_FOOT_SIDE_R: .3,
RIGHT_FOOT_SIDE_L: .3,
RIGHT_FOOT_SIDE_R: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 2.5,
LEFT_FOOT: 2.5,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.,
LEFT_TOES: .3,
RIGHT_TOES: .3,
LEFT_TARSUS: .3,
RIGHT_TARSUS: .3,
LEFT_FOOT_SIDE_L: .3,
LEFT_FOOT_SIDE_R: .3,
RIGHT_FOOT_SIDE_L: .3,
RIGHT_FOOT_SIDE_R: .3
}
config['supLink'] = LEFT_FOOT
config['supLink2'] = RIGHT_FOOT
#config['end'] = 'HIP'
config['end'] = SPINE1
config['const'] = HIP
config['root'] = HIP
config['FootPartNum'] = FOOT_PART_NUM
config['FootLPart'] = [
LEFT_FOOT, LEFT_TOES, LEFT_TARSUS, LEFT_FOOT_SIDE_L, LEFT_FOOT_SIDE_R
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_TOES, RIGHT_TARSUS, RIGHT_FOOT_SIDE_L,
RIGHT_FOOT_SIDE_R
]
return motion, mcfg, wcfg, stepsPerFrame, config
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()
node = mcfg.getNode('Spine')
node.width = .22
node = mcfg.getNode('RightFoot')
node.length = .25
node = mcfg.getNode('LeftFoot')
node.length = .25
return mcfg
g_motionDirConfigMap = {}
g_motionDirConfigMap['../../../Data/woody2/Motion/Physics2/'] = \
{'footRot': mm.exp(mm.v3(1,0,0), -.4), 'yOffset': .0, 'scale':1.,'rootRot': mm.I_SO3()}
g_motionDirConfigMap['../../../Data/woody2/Motion/Balancing/'] = \
{'footRot': mm.exp(mm.v3(1,-.5,0), -.6), 'yOffset': .0, 'scale':1.,'rootRot': mm.exp(mm.v3(1,0,0), .01)}
g_motionDirConfigMap['../../../Data/woody2/Motion/Picking/'] = \
{'footRot': mm.exp(mm.v3(1,0,0), -.5), 'yOffset': .0, 'scale':1.,'rootRot': mm.I_SO3()}
g_motionDirConfigMap['../../../Data/woody2/Motion/Samsung/'] = \
{'footRot': mm.rotX(-.5), 'yOffset': .0, 'scale':2.53999905501,'rootRot': mm.I_SO3()}
g_motionDirConfigMap['../../../Data/woody2/Motion/VideoMotion/'] = \
{'footRot': mm.exp(mm.v3(1,0,0), -.05), 'yOffset': .01, 'scale':2.53999905501,'rootRot': mm.exp(mm.v3(1,0,0), .0)}
if __name__=='__main__':
#===============================================================================
# initialize motion
#===============================================================================
motionFiles = []
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_TOES, RIGHT_TARSUS, RIGHT_FOOT_SIDE_L,
RIGHT_FOOT_SIDE_R
]
return motion, mcfg, wcfg, stepsPerFrame, config
#===============================================================================
# biped config
#===============================================================================
# motion, mesh config
g_motionDirConfigMap = {}
g_motionDirConfigMap['../Data/woody2/Motion/Physics2/'] = \
{'footRot': mm.exp(mm.v3(1,0,0), .05), 'yOffset': .0, 'scale':1.,\
'rootRot': mm.I_SO3()}
g_motionDirConfigMap['../Data/woody2/Motion/Balancing/'] = \
{'footRot': mm.exp(mm.v3(1,-.5,0), -.6), 'yOffset': .0, 'scale':1.,\
'rootRot': mm.exp(mm.v3(1,0,0), .01)}
g_motionDirConfigMap['../Data/woody2/Motion/VideoMotion/'] = \
{'footRot': mm.exp(mm.v3(1,0,0), -.05), 'yOffset': .01, 'scale':2.53999905501,\
'rootRot': mm.exp(mm.v3(1,0,0), .0)}
g_motionDirConfigMap['../Data/woody2/Motion/Samsung/'] = \
{'footRot': mm.exp(mm.v3(1,0,0), -.03), 'yOffset': .0, 'scale':2.53999905501,\
'rootRot': mm.exp(mm.v3(1,0,0), .03)}
#===============================================================================
# # reloadable config
#===============================================================================
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)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
#controlModel2 = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.initializeHybridDynamics()
controlModel.translateByOffset((1.5, 0, 0))
#controlModel2.initializeHybridDynamics()
#controlModel2.translateByOffset((2.5,0,0))
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'])
sup = motion[0].skeleton.getJointIndex(config['supLink'])
sup2 = motion[0].skeleton.getJointIndex(config['supLink2'])
# jacobian
Jsup = yjc.makeEmptyJacobian(DOFs, 1)
dJsup = Jsup.copy()
Jsys = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum())
dJsys = Jsys.copy()
supJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, sup)]
allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton)
Jsup2 = yjc.makeEmptyJacobian(DOFs, 1)
dJsup2 = Jsup2.copy()
supJointMasks2 = [yjc.getLinkJointMask(motion[0].skeleton, sup2)]
CMJointMask = supJointMasks
for iMask in range(len(CMJointMask[0])):
if supJointMasks2[0][iMask] == 1:
CMJointMask[0][iMask] = 1
Jt = yjc.makeEmptyJacobian(DOFs, 1)
# 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)
CP_old = [mm.v3(0., 0., 0.)]
# penalty method
bodyIDsToCheck = range(vpWorld.getBodyNum())
mus = [1.] * len(bodyIDsToCheck)
##### Parameter
'''
(0, 'Hips')
(1, 'LeftUpLeg')
(2, 'LeftLeg')
(3, 'LeftFoot')
(4, 'RightUpLeg')
(5, 'RightLeg')
(6, 'RightFoot')
(7, 'Spine')
(8, 'Spine1')
(9, 'LeftArm')
(10, 'LeftForeArm')
(11, 'RightArm')
(12, 'RightForeArm')
'''
Kp = [None] * len(bodyIDsToCheck)
Kd = [None] * len(bodyIDsToCheck)
#Kp = [0, 400, 450, 400, 400, 450, 400, 300, 250, 60, 25, 60, 25]
#Kp = [0, 450, 450, 400, 450, 450, 400, 450, 300, 100, 25, 100, 25]
UpLeg = 310
Leg = 400
Foot = 310
Spine = 350
Neck = 200
Arm = 10
Hand = 10
Kp = [
0, UpLeg, Leg, Foot, UpLeg, Leg, Foot, Spine, Neck, Arm, Hand, Arm,
Hand
]
'''
for i in range(0, len(Kp)) :
Kp[i] = Kp[i]*0.8
'''
#Kd = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
#Kd = [0, 2.0, 1.5, 1.2, 2.0, 1.5, 1.2, 2.0, 0.1, 0.1, 0.1, 0.1, 0.1]
#Kd = [0, 1.5, 2.0, 1.2, 1.5, 2.0, 1.2, 1.5, 0.4, 0.5, 0.2, 0.5, 0.2]
'''
dUpLeg = 1.7
dLeg = 1.7
dFoot = 1.2
dSpine = 1.4
dNeck = 0.9
dArm = 0.8
dHand = 0.2
'''
dUpLeg = 2 * (UpLeg**.5)
dLeg = 2 * (Leg**.5)
dFoot = 2 * (Foot**.5)
dSpine = 2 * (Spine**.5)
dNeck = 2 * (Neck**.5)
dArm = 2 * (Arm**.5)
dHand = 2 * (Hand**.5)
Kd = [
0, dUpLeg, dLeg, dFoot, dUpLeg, dLeg, dFoot, dSpine, dNeck, dArm,
dHand, dArm, dHand
]
for i in range(0, len(Kd)):
Kd[i] = Kd[i] * 0.022
'''
for ii in bodyIDsToCheck :
print(ii, controlModel.index2name(ii))
'''
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
# viewer
rd_footCenter = [None]
rd_footCenter1 = [None]
rd_footCenter2 = [None]
rd_CM_plane = [None]
rd_CM = [None]
rd_CP = [None]
rd_CP_des = [None]
rd_dL_des_plane = [None]
rd_dH_des = [None]
rd_grf_des = [None]
rd_vf = [None]
rd_contactPoint1 = [None]
rd_contactPoint2 = [None]
viewer = ysv.SimpleViewer()
# viewer.record(False)
# viewer.doc.addRenderer('control', 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('controlModel2', cvr.VpModelRenderer(controlModel2, (155,100,100), yr.POLYGON_FILL))
#viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter))
#viewer.doc.addRenderer('rd_footCenter1', yr.PointsRenderer(rd_footCenter1, (255, 0, 255)))
#viewer.doc.addRenderer('rd_footCenter2', yr.PointsRenderer(rd_footCenter2, (0, 255, 255)))
#viewer.doc.addRenderer('rd_CM_plane', yr.PointsRenderer(rd_CM_plane, (255,255,0)))
#viewer.doc.addRenderer('rd_CM', yr.PointsRenderer(rd_CM, (255,255,0)))
#viewer.doc.addRenderer('rd_contactPoint', yr.PointsRenderer(rd_contactPoint1, (0,0,255)))
#viewer.doc.addRenderer('rd_contactPoint2', yr.PointsRenderer(rd_contactPoint2, (0,255,255)))
#viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (255,0,255)))
# 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_des, (0,255,0), .001))
viewer.doc.addRenderer('rd_vf',
yr.ForcesRenderer(rd_vf, rd_CM, (0, 0, 255), .005))
global stage
stage = 0
def simulateCallback(frame):
motionModel.update(motion[frame])
# 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)
'''
th2 = controlModel2.getDOFPositions()
dth2 = controlModel2.getDOFVelocities()
ddth_des2 = yct.getDesiredDOFAccelerations(th_r, th2, dth_r, dth2, ddth_r, Kt, Dt)
'''
#ype.flatten(ddth_des, ddth_des_flat)
#ype.flatten(dth, dth_flat)
#Control
#tracking control
#print(Kt, Dt)
#Tpd = yct.getDesiredDOFTorques(th_r, th, dth_r, dth, 100.0, 0.1)#0.65, 0.031)
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)
footCenter1 = controlModel.getBodyPositionGlobal(sup)
footCenter2 = controlModel.getBodyPositionGlobal(sup2)
footCenter = (footCenter1 + footCenter2) / 2
'''
yjc.computeJacobian2(Jt, DOFs, jointPositions, jointAxeses, [CM], CMJointMask)
pHatCom = CM - footCenter
vCom = dCM
'''
CM_plane = copy.copy(CM)
CM_plane[1] = 0.
dCM_plane = copy.copy(dCM)
dCM_plane[1] = 0.
CM_ref_plane = footCenter
dL_des_plane = Kl * totalMass * (CM_ref_plane -
CM_plane) - Dl * totalMass * dCM_plane
dL_des_plane[1] = 0.
CP_ref = footCenter
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
CP = yrp.getCP(contactPositions, contactForces)
if CP_old[0] == None or CP == None:
dCP = None
else:
dCP = (CP - CP_old[0]) / (1 / 30.)
CP_old[0] = CP
if CP != None and dCP != None:
ddCP_des = Kh * (CP_ref - CP) - Dh * (dCP)
CP_des = CP + dCP * (1 / 30.) + .5 * ddCP_des * ((1 / 30.)**2)
dH_des = np.cross(
(CP_des - CM),
(dL_des_plane - totalMass * mm.s2v(wcfg.gravity)))
else:
dH_des = None
################
'''
linkPositions = motionModel.getBodyPositionsGlobal()
linkVelocities = motionModel.getBodyVelocitiesGlobal()
linkAngVelocities = motionModel.getBodyAngVelocitiesGlobal()
linkInertias = motionModel.getBodyInertiasGlobal()
CM2 = yrp.getCM(linkPositions, linkMasses, totalMass)
dCM2 = yrp.getCM(linkVelocities, linkMasses, totalMass)
footCenter1 = motionModel.getBodyPositionGlobal(sup)
footCenter2 = motionModel.getBodyPositionGlobal(sup2)
footCenter = (footCenter1+footCenter2)/2
pHatComDes = CM2 - footCenter
vComDes = dCM2
Wcp = -750
Wcv = -10
fCom = Wcp*(pHatComDes - pHatCom) + Wcv*(vComDes - vCom)
'''
#print("VirtualForce", fCom)
#fCom[0] = 0.
#fCom[1] = 0.
#fCom[2] = -20.
#fCom = [0., 0., 100.]
#print("VirtualForce", fCom)
for i in range(stepsPerFrame):
# apply penalty force
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals,
contactForces)
controlModel.setDOFAccelerations(ddth_des)
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)
footCenter1 = controlModel.getBodyPositionGlobal(sup)
footCenter2 = controlModel.getBodyPositionGlobal(sup2)
footCenter = (footCenter1 + footCenter2) / 2
CM_plane = copy.copy(CM)
CM_plane[1] = 0.
footCenter_plane = copy.copy(footCenter)
footCenter_plane[1] = 0.
yjc.computeJacobian2(Jt, DOFs, jointPositions, jointAxeses, [CM],
CMJointMask)
pHatCom = CM - footCenter
vCom = dCM
linkPositions2 = motionModel.getBodyPositionsGlobal()
linkVelocities2 = motionModel.getBodyVelocitiesGlobal()
linkAngVelocities2 = motionModel.getBodyAngVelocitiesGlobal()
linkInertias2 = motionModel.getBodyInertiasGlobal()
CM2 = yrp.getCM(linkPositions2, linkMasses, totalMass)
dCM2 = yrp.getCM(linkVelocities2, linkMasses, totalMass)
footCenter1 = motionModel.getBodyPositionGlobal(sup)
footCenter2 = motionModel.getBodyPositionGlobal(sup2)
footCenter = (footCenter1 + footCenter2) / 2
pHatComDes = CM2 - footCenter
vComDes = dCM2
Wcp = 0
Wcv = 0
Wcm = 0
'''
0 : initial
1 : contact
2 : fly
3 : landing
'''
global stage
if len(contactForces) == 0:
if stage == 1:
stage = 2
print("fly")
else:
if stage == 0:
stage = 1
print("contact")
elif stage == 2:
stage = 3
print("landing")
Wcp = -550
Wcv = -100
Wcm = 0
if stage == 1:
Wcp = -550
Wcv = -100
Wcm = 0
#Wcp = -550
#Wcv = -100
elif stage == 3:
#Wcp = -950
#Wcv = -300
Wcp = -950
Wcv = -300
Wcm = 0
# COM Position control
fCom = Wcp * (pHatComDes - pHatCom) + Wcv * (
vComDes - vCom) + Wcm * (footCenter_plane - CM_plane)
if len(contactForces) == 0:
fCom[0] = 0.
fCom[1] = -10. #-10
fCom[2] = 0.
'''
fCom[0] = 10.
fCom[1] = 0.
fCom[2] = 250.
'''
# Angular Momentum control
L_ref = 0
L_con = 0
#R,i
for i in range(1, controlModel.getBodyNum()):
L_ref += (
linkMasses[i] *
np.cross(linkPositions2[i] - [CM], linkVelocities2[i]) +
linkInertias2[i] * linkAngVelocities2[i])
L_con += (
linkMasses[i] *
np.cross(linkPositions[i] - [CM], linkVelocities[i]) +
linkInertias[i] * linkAngVelocities[i])
for iJoint in range(1, 7): # from 'LeftUpLeg'(1) to 'RightFoot'(6)
JpT1 = (Jt[0][6 + 3 * (iJoint - 1)],
Jt[1][6 + 3 * (iJoint - 1)],
Jt[2][6 + 3 * (iJoint - 1)])
JpT2 = (Jt[0][6 + 3 * (iJoint - 1) + 1],
Jt[1][6 + 3 * (iJoint - 1) + 1],
Jt[2][6 + 3 * (iJoint - 1) + 1])
JpT3 = (Jt[0][6 + 3 * (iJoint - 1) + 2],
Jt[1][6 + 3 * (iJoint - 1) + 2],
Jt[2][6 + 3 * (iJoint - 1) + 2])
Tfi = (np.dot(JpT1, fCom), np.dot(JpT2,
fCom), np.dot(JpT3, fCom))
currentT = controlModel.getJointAngAccelerationLocal(iJoint)
controlModel.setJointAngAccelerationLocal(
iJoint, currentT + Tfi)
currentT = controlModel.getJointAngAccelerationLocal(0)
#print(currentT)
#JpT = ( Jt[0][0], Jt[1][0], Jt[2][0])
#Tfi = JpT*fCom
#controlModel.setJointAngAccelerationLocal(0, currentT+Tfi)
'''
if (len(contactForces) != 0) :
for iJoint in range(1, 7): # from 'LeftUpLeg'(1) to 'RightFoot'(6)
JpT = ( Jt[0][6+3*(iJoint-1)], Jt[1][6+3*(iJoint-1)], Jt[2][6+3*(iJoint-1)])
Tfi = JpT*fCom
currentT = controlModel.getJointAngAccelerationLocal(iJoint)
controlModel.setJointAngAccelerationLocal(iJoint, currentT+Tfi)
else:
print("No Contact force!!")
'''
controlModel.solveHybridDynamics()
vpWorld.step()
# rendering
rd_CM[0] = CM
rd_CM_plane[0] = CM.copy()
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] = dL_des_plane - totalMass * mm.s2v(wcfg.gravity)
rd_vf[0] = fCom
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def create_biped():
# motion
#motionName = 'wd2_n_kick.bvh'
if MOTION == STAND:
motionName = 'wd2_stand.bvh'
elif MOTION == FORWARD_JUMP:
motionName = 'woddy2_jump0.bvh'
elif MOTION == TAEKWONDO:
motionName = './MotionFile/wd2_098_V001.bvh'
#motionName = 'ww13_41_V001.bvh'
motion = yf.readBvhFile(motionName, .01)
yme.removeJoint(motion, HEAD, False)
yme.removeJoint(motion, RIGHT_SHOULDER, False)
yme.removeJoint(motion, LEFT_SHOULDER, False)
#yme.removeJoint(motion, RIGHT_TOES_END, False)
#yme.removeJoint(motion, LEFT_TOES_END, False)
yme.removeJoint(motion, RIGHT_HAND_END, False)
yme.removeJoint(motion, LEFT_HAND_END, False)
yme.offsetJointLocal(motion, RIGHT_ARM, (.03, -.05, 0), False)
yme.offsetJointLocal(motion, LEFT_ARM, (-.03, -.05, 0), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(1, 0, 0), .01), False)
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(2.5, -0.0, .3), -.5),
False)
yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(2.5, 0.0, -.3), -.5),
False)
if MOTION == FORWARD_JUMP:
yme.rotateJointLocal(motion, LEFT_UP_LEG,
mm.exp(mm.v3(0.0, .0, 1.), .08), False)
yme.rotateJointLocal(motion, LEFT_LEG, mm.exp(mm.v3(0.0, 1.0, 0.),
-.2), False)
#yme.offsetJointLocal(motion, LEFT_TOES, (.03,-.05,0), False)
yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCA)
yme.addJoint(motion, RIGHT_CALCA, 'RIGHT_Dummy')
yme.addJoint(motion, LEFT_FOOT, LEFT_CALCA)
yme.addJoint(motion, LEFT_CALCA, 'LEFT_Dummy')
if 0:
yme.rotateJointLocal(motion, LEFT_TOES, mm.exp(mm.v3(1., 0.0, 0.0),
.2), False)
yme.rotateJointLocal(motion, RIGHT_TOES,
mm.exp(mm.v3(1., 0.0, 0.0), .2), False)
yme.rotateJointLocal(motion, LEFT_CALCA,
mm.exp(mm.v3(1., 0.0, 0.0), .7), False)
yme.rotateJointLocal(motion, RIGHT_CALCA,
mm.exp(mm.v3(1., 0.0, 0.0), .7), False)
else:
yme.rotateJointLocal(motion, LEFT_TOES, mm.exp(mm.v3(1., 0.0, 0.0),
.45), False)
yme.rotateJointLocal(motion, RIGHT_TOES,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_CALCA,
mm.exp(mm.v3(1., 0.0, 0.0), .52), False)
yme.rotateJointLocal(motion, RIGHT_CALCA,
mm.exp(mm.v3(1., 0.0, 0.0), .52), False)
yme.updateGlobalT(motion)
################
if MOTION == FORWARD_JUMP:
motion = motion[515:555]
elif MOTION == TAEKWONDO:
## Taekwondo base-step
motion = motion[0:31]
#motion = motion[564:600]
## Taekwondo turning-kick
#motion = motion[100:-1]
motion[0:0] = [motion[0]] * 100
motion.extend([motion[-1]] * 5000)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
node = mcfg.getNode(HIP)
node.length = .2
node.width = .25
node = mcfg.getNode(SPINE1)
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode(SPINE)
node.width = .22
#node.length = .2 ####
node = mcfg.getNode(RIGHT_FOOT)
node.length = .1
node.width = .2
node.mass = 1.5
node = mcfg.getNode(LEFT_FOOT)
node.length = .1
node.width = .2
node.mass = 1.5
node = mcfg.getNode(LEFT_TOES)
node.length = .1
node.width = .2
node.mass = 1.5
node.offset = (0, 0.0, -0.02)
node = mcfg.getNode(RIGHT_TOES)
node.length = .1
node.width = .2
node.mass = 1.5
node.offset = (0, 0.0, -0.02)
node = mcfg.getNode(LEFT_CALCA)
node.length = .1
node.width = .2
node.mass = 1.5
node.offset = (0, 0.0, -0.08)
node = mcfg.getNode(RIGHT_CALCA)
node.length = .1
node.width = .2
node.mass = 1.5
node.offset = (0, 0.0, -0.08)
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / (stepsPerFrame)
#stepsPerFrame = 10
#wcfg.timeStep = (1/120.)/(stepsPerFrame)
#wcfg.timeStep = (1/1800.)
# parameter
config = {}
'''
config['Kt'] = 200; config['Dt'] = 2*(config['Kt']**.5) # tracking gain
config['Kl'] = 2.5; config['Dl'] = 2*(config['Kl']**.5) # linear balance gain
config['Kh'] = 1; config['Dh'] = 2*(config['Kh']**.5) # angular balance gain
config['Ks'] = 20000; config['Ds'] = 2*(config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 2.5
config['Bh'] = 1.
'''
config['Kt'] = 200
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = .10
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 0.1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 20000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1. #0.5
config['Bh'] = 1.
config['weightMap']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2,\
SPINE:.3, SPINE1:.3, RIGHT_FOOT:.3, LEFT_FOOT:.3, HIP:.5,\
RIGHT_UP_LEG:.1, RIGHT_LEG:.3, LEFT_UP_LEG:.1, LEFT_LEG:.3, LEFT_TOES:.1, RIGHT_TOES:.1, LEFT_CALCA:.3, RIGHT_CALCA:.3}
config['IKweightMap']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2,\
SPINE:.3, SPINE1:.3, RIGHT_FOOT:.3, LEFT_FOOT:.3, HIP:.5,\
RIGHT_UP_LEG:.1, RIGHT_LEG:.3, LEFT_UP_LEG:.1, LEFT_LEG:.3}
'''
config['IKweightMap']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2,\
SPINE:0.5, SPINE1:0.5, RIGHT_FOOT:1.2, LEFT_FOOT:1.2, HIP:1.2,\
RIGHT_UP_LEG:.9, RIGHT_LEG:.9, LEFT_UP_LEG:.9, LEFT_LEG:.9}
'''
config['weightMap2']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2,\
SPINE:1.5, LEFT_FOOT:1., HIP:1.5,\
RIGHT_UP_LEG:1., RIGHT_LEG:1., LEFT_UP_LEG:1., LEFT_LEG:1., LEFT_TOES:.1, RIGHT_TOES:.1, LEFT_CALCA:.1, RIGHT_CALCA:.1}
config['supLink'] = LEFT_FOOT
config['supLink2'] = RIGHT_FOOT
#config['end'] = 'HIP'
config['end'] = SPINE1
config['const'] = HIP
config['root'] = HIP
config['leftForeFoot'] = LEFT_TOES
config['rightForeFoot'] = RIGHT_TOES
config['leftRearFoot'] = LEFT_CALCA
config['rightRearFoot'] = RIGHT_CALCA
return motion, mcfg, wcfg, stepsPerFrame, config
def create_biped():
# motion
#motionName = 'wd2_n_kick.bvh'
if MOTION == STAND:
motionName = 'wd2_stand.bvh'
elif MOTION == STAND2:
motionName = 'ww13_41_V001.bvh'
elif MOTION == FORWARD_JUMP:
motionName = 'woddy2_jump0.bvh'
elif MOTION == TAEKWONDO:
motionName = './MotionFile/wd2_098_V001.bvh'
elif MOTION == TAEKWONDO2:
motionName = './MotionFile/wd2_098_V002.bvh'
#motionName = 'ww13_41_V001.bvh'
motion = yf.readBvhFile(motionName, .01)
yme.removeJoint(motion, HEAD, False)
yme.removeJoint(motion, RIGHT_SHOULDER, False)
yme.removeJoint(motion, LEFT_SHOULDER, False)
if FOOT_PART_NUM == 1 or FOOT_PART_NUM == 5 or FOOT_PART_NUM == 7:
yme.removeJoint(motion, RIGHT_TOES, False)
yme.removeJoint(motion, RIGHT_TOES_END, False)
yme.removeJoint(motion, LEFT_TOES_END, False)
yme.removeJoint(motion, RIGHT_HAND_END, False)
yme.removeJoint(motion, LEFT_HAND_END, False)
yme.offsetJointLocal(motion, RIGHT_ARM, (.03, -.05, 0), False)
yme.offsetJointLocal(motion, LEFT_ARM, (-.03, -.05, 0), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(1, 0, 0), .01), False)
#yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(2.5,-0.0,.3), -.5), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(2.5,0.0,-.3), -.5), False)
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(2.5, -0.0, .3), -.5),
False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(2.5,0.0,-.3), -.5), False)
if MOTION == FORWARD_JUMP:
yme.rotateJointLocal(motion, LEFT_UP_LEG,
mm.exp(mm.v3(0.0, .0, 1.), .08), False)
yme.rotateJointLocal(motion, LEFT_LEG, mm.exp(mm.v3(0.0, 1.0, 0.),
-.2), False)
if FOOT_PART_NUM > 1 and FOOT_PART_NUM < 5:
yme.addJoint(motion, RIGHT_FOOT, RIGHT_TARSUS)
yme.addJoint(motion, RIGHT_TARSUS, 'RIGHT_Dummy1')
yme.addJoint(motion, LEFT_FOOT, LEFT_TARSUS)
yme.addJoint(motion, LEFT_TARSUS, 'LEFT_Dummy1')
yme.rotateJointLocal(motion, LEFT_TOES, mm.exp(mm.v3(1., 0.0, 0.0),
.45), False)
yme.rotateJointLocal(motion, RIGHT_TOES,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_TARSUS,
mm.exp(mm.v3(1., 0.0, 0.0), .52), False)
yme.rotateJointLocal(motion, RIGHT_TARSUS,
mm.exp(mm.v3(1., 0.0, 0.0), .52), False)
if FOOT_PART_NUM == 4:
yme.addJoint(motion, LEFT_FOOT, LEFT_TOES_SIDE_R)
yme.addJoint(motion, LEFT_TOES_SIDE_R, 'LEFT_Dummy2')
yme.addJoint(motion, RIGHT_FOOT, RIGHT_TOES_SIDE_R)
yme.addJoint(motion, RIGHT_TOES_SIDE_R, 'RIGHT_Dummy2')
yme.rotateJointLocal(motion, LEFT_TOES_SIDE_R,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, RIGHT_TOES_SIDE_R,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
elif FOOT_PART_NUM == 5:
sibIndex = motion[0].skeleton.getElementIndex(RIGHT_FOOT)
skeleton = motion[0].skeleton
sibJoint = skeleton.getElement(sibIndex)
newOffset = sibJoint.offset.copy()
yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCANEUS, (0.0, 0., -.1))
yme.addJoint(motion, RIGHT_CALCANEUS, 'RIGHT_Dummy3')
yme.addJoint(motion, RIGHT_FOOT, RIGHT_METATARSAL_3, (-0.1, 0., 0.0))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_PHALANGE_1, (0.1, 0., .2))
yme.addJoint(motion, RIGHT_PHALANGE_1, 'RIGHT_Dummy4', (0., 0., .1))
yme.addJoint(motion, RIGHT_METATARSAL_3, RIGHT_PHALANGE_3)
#yme.addJoint(motion, RIGHT_PHALANGE_3, 'RIGHT_Dummy6')
sibIndex = motion[0].skeleton.getElementIndex(LEFT_FOOT)
skeleton = motion[0].skeleton
sibJoint = skeleton.getElement(sibIndex)
newOffset = sibJoint.offset.copy()
yme.addJoint(motion, LEFT_FOOT, LEFT_CALCANEUS)
yme.addJoint(motion, LEFT_CALCANEUS, 'LEFT_Dummy3')
yme.addJoint(motion, LEFT_FOOT, LEFT_METATARSAL_3)
yme.addJoint(motion, LEFT_FOOT, LEFT_PHALANGE_1)
yme.addJoint(motion, LEFT_PHALANGE_1, 'LEFT_Dummy4')
yme.addJoint(motion, LEFT_METATARSAL_3, LEFT_PHALANGE_3)
yme.addJoint(motion, LEFT_PHALANGE_3, 'LEFT_Dummy6')
'''
yme.addJoint(motion, RIGHT_LEG, RIGHT_CALCANEUS, (0.0025, -0.4209, -0.0146))
yme.addJoint(motion, RIGHT_CALCANEUS, 'RIGHT_Dummy3')
yme.addJoint(motion, RIGHT_LEG, RIGHT_METATARSAL_3, (0.0025, -0.4209, -0.0146))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_PHALANGE_1)
yme.addJoint(motion, RIGHT_PHALANGE_1, 'RIGHT_Dummy4')
yme.addJoint(motion, RIGHT_METATARSAL_3, RIGHT_PHALANGE_3)
yme.addJoint(motion, RIGHT_PHALANGE_3, 'RIGHT_Dummy6')
sibIndex = motion[0].skeleton.getElementIndex(LEFT_FOOT)
skeleton = motion[0].skeleton
sibJoint = skeleton.getElement(sibIndex)
newOffset = sibJoint.offset.copy()
yme.addJoint(motion, LEFT_LEG, LEFT_CALCANEUS, (-0.0025, -0.4209, -0.0146))
yme.addJoint(motion, LEFT_CALCANEUS, 'LEFT_Dummy3')
yme.addJoint(motion, LEFT_LEG, LEFT_METATARSAL_3, (-0.0025, -0.4209, -0.0146))
yme.addJoint(motion, LEFT_FOOT, LEFT_PHALANGE_1)
yme.addJoint(motion, LEFT_PHALANGE_1, 'LEFT_Dummy4')
yme.addJoint(motion, LEFT_METATARSAL_3, LEFT_PHALANGE_3)
yme.addJoint(motion, LEFT_PHALANGE_3, 'LEFT_Dummy6')
'''
'''
yme.rotateJointLocal(motion, RIGHT_METATARSAL_3, mm.exp(mm.v3(1.,0.0,0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_METATARSAL_3, mm.exp(mm.v3(1.,0.0,0.0), .45), False)
yme.rotateJointLocal(motion, RIGHT_PHALANGE_1, mm.exp(mm.v3(1.,0.0,0.0), .0), False)
yme.rotateJointLocal(motion, LEFT_PHALANGE_1, mm.exp(mm.v3(1.,0.0,0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS, mm.exp(mm.v3(1.,0.0,0.0), .45), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS, mm.exp(mm.v3(1.,0.0,0.0), .45), False)
'''
elif FOOT_PART_NUM == 7:
sibIndex = motion[0].skeleton.getElementIndex(RIGHT_FOOT)
skeleton = motion[0].skeleton
sibJoint = skeleton.getElement(sibIndex)
newOffset = sibJoint.offset.copy()
print(newOffset)
yme.addJoint(motion, RIGHT_LEG, RIGHT_CALCANEUS,
(0.0025, -0.4209, -0.0146))
yme.addJoint(motion, RIGHT_CALCANEUS, 'RIGHT_Dummy3')
yme.addJoint(motion, RIGHT_LEG, RIGHT_METATARSAL_2,
(0.0025, -0.4209, -0.0146))
yme.addJoint(motion, RIGHT_LEG, RIGHT_METATARSAL_3,
(0.0025, -0.4209, -0.0146))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_PHALANGE_1)
yme.addJoint(motion, RIGHT_PHALANGE_1, 'RIGHT_Dummy4')
yme.addJoint(motion, RIGHT_METATARSAL_2, RIGHT_PHALANGE_2)
yme.addJoint(motion, RIGHT_PHALANGE_2, 'RIGHT_Dummy5')
yme.addJoint(motion, RIGHT_METATARSAL_3, RIGHT_PHALANGE_3)
yme.addJoint(motion, RIGHT_PHALANGE_3, 'RIGHT_Dummy6')
sibIndex = motion[0].skeleton.getElementIndex(LEFT_FOOT)
skeleton = motion[0].skeleton
sibJoint = skeleton.getElement(sibIndex)
newOffset = sibJoint.offset.copy()
yme.addJoint(motion, LEFT_LEG, LEFT_CALCANEUS,
(-0.0025, -0.4209, -0.0146))
yme.addJoint(motion, LEFT_CALCANEUS, 'LEFT_Dummy3')
yme.addJoint(motion, LEFT_LEG, LEFT_METATARSAL_2,
(-0.0025, -0.4209, -0.0146))
yme.addJoint(motion, LEFT_LEG, LEFT_METATARSAL_3,
(-0.0025, -0.4209, -0.0146))
yme.addJoint(motion, LEFT_FOOT, LEFT_PHALANGE_1)
yme.addJoint(motion, LEFT_PHALANGE_1, 'LEFT_Dummy4')
yme.addJoint(motion, LEFT_METATARSAL_2, LEFT_PHALANGE_2)
yme.addJoint(motion, LEFT_PHALANGE_2, 'LEFT_Dummy5')
yme.addJoint(motion, LEFT_METATARSAL_3, LEFT_PHALANGE_3)
yme.addJoint(motion, LEFT_PHALANGE_3, 'LEFT_Dummy6')
#yme.offsetJointLocal(motion, RIGHT_CALCANEUS, (0.0,-1.55,0), False)
#yme.offsetJointLocal(motion, RIGHT_METATARSAL_2, (.0,-1.55,0), False)
#yme.offsetJointLocal(motion, RIGHT_METATARSAL_3, (.0,-1.55,0), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_2,
mm.exp(mm.v3(-1., 0.0, 0.0), .3), False)
yme.rotateJointLocal(motion, LEFT_METATARSAL_2,
mm.exp(mm.v3(-1., 0.0, 0.0), .3), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_3,
mm.exp(mm.v3(-1., 0.0, 0.0), .3), False)
yme.rotateJointLocal(motion, LEFT_METATARSAL_3,
mm.exp(mm.v3(-1., 0.0, 0.0), .3), False)
yme.rotateJointLocal(motion, RIGHT_PHALANGE_1,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_PHALANGE_1,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS,
mm.exp(mm.v3(-1., 0.0, 0.0), .20), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS,
mm.exp(mm.v3(-1., 0.0, 0.0), .20), False)
yme.updateGlobalT(motion)
################
if MOTION == FORWARD_JUMP:
motion = motion[515:555]
elif MOTION == TAEKWONDO:
## Taekwondo base-step
motion = motion[0:31]
#motion = motion[564:600]
elif MOTION == TAEKWONDO2:
## Taekwondo base-step
motion = motion[0:31 + 40]
## Taekwondo turning-kick
#motion = motion[108:-1]
#motion = motion[108:109]
motion[0:0] = [motion[0]] * 100
motion.extend([motion[-1]] * 5000)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
node = mcfg.getNode(HIP)
node.length = .2
node.width = .25
node = mcfg.getNode(SPINE1)
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode(SPINE)
node.width = .22
#node.length = .2 ####
if FOOT_PART_NUM == 1:
length1 = .25
width1 = .2
mass1 = 4.
elif FOOT_PART_NUM == 3:
length1 = .1
width1 = .2
mass1 = 1.5
length2 = .1
width2 = .2
mass2 = 1.5
elif FOOT_PART_NUM == 4:
length1 = .1
width1 = .2
mass1 = 1.5
length2 = .1
width2 = .095
mass2 = .75
elif FOOT_PART_NUM == 5:
mass0 = .4
width0 = 0.028
#Metatarsal1
length1 = .18
width1 = width0 * 3
mass1 = mass0 * 2.8
#Metatarsal3
length3 = .17
width3 = width0 * 3
mass3 = mass0 * 2.7
#Calcaneus
length4 = .08
width4 = 0.15
mass4 = mass0 * 2.3
#Phalange1
length5 = .06
width5 = width1
mass5 = mass0 * 0.9
#Phalange3
length7 = .05
width7 = width3
mass7 = mass0 * 0.7
elif FOOT_PART_NUM == 7:
mass0 = .4
width0 = 0.028
#Metatarsal1
length1 = .2
width1 = width0 * 2
mass1 = mass0 * 2
#Metatarsal2
length2 = .2
width2 = width0
mass2 = mass0
#Metatarsal3
length3 = .19
width3 = width0 * 3
mass3 = mass0 * 2.8
#Calcaneus
length4 = .08
width4 = 0.15
mass4 = mass0 * 2
#Phalange1
length5 = .06
width5 = width1
mass5 = mass0 / 2.
#Phalange2
length6 = .06
width6 = width2
mass6 = mass0 / 4.
#Phalange3
length7 = .05
width7 = width3
mass7 = mass6 * 2.8
if FOOT_PART_NUM == 7:
node = mcfg.getNode(RIGHT_FOOT)
node.offset = (0.055, -0.03, 0.04)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(RIGHT_METATARSAL_2)
node.offset = (0.01, -0.03, 0.065)
node.length = length2
node.width = width2
node.mass = mass2
node = mcfg.getNode(RIGHT_METATARSAL_3)
node.offset = (-.05, -0.03, 0.055)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(RIGHT_CALCANEUS)
node.offset = (.0, -0.03, -0.07)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(RIGHT_PHALANGE_1)
node.offset = (0.055, -0.03, 0.19)
node.length = length5
node.width = width5
node.mass = mass5
node = mcfg.getNode(RIGHT_PHALANGE_2)
node.offset = (0.01, -0.03, 0.19)
node.length = length6
node.width = width6
node.mass = mass6
node = mcfg.getNode(RIGHT_PHALANGE_3)
node.offset = (-.05, -0.03, 0.18)
node.length = length7
node.width = width7
node.mass = mass7
node = mcfg.getNode(LEFT_FOOT)
node.offset = (-0.055, -0.03, 0.04)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_METATARSAL_2)
node.offset = (-0.01, -0.03, 0.065)
node.length = length2
node.width = width2
node.mass = mass2
node = mcfg.getNode(LEFT_METATARSAL_3)
node.offset = (.05, -0.03, 0.055)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(LEFT_CALCANEUS)
node.offset = (.0, -0.03, -0.07)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(LEFT_PHALANGE_1)
node.offset = (-0.055, -0.03, 0.19)
node.length = length5
node.width = width5
node.mass = mass5
node = mcfg.getNode(LEFT_PHALANGE_2)
node.offset = (-0.01, -0.03, 0.19)
node.length = length6
node.width = width6
node.mass = mass6
node = mcfg.getNode(LEFT_PHALANGE_3)
node.offset = (.05, -0.03, 0.18)
node.length = length7
node.width = width7
node.mass = mass7
elif FOOT_PART_NUM == 5:
'''
node = mcfg.getNode(RIGHT_FOOT)
node.offset = (0.05,-0.03,0.06)
node.length = length1
node.width = width1
node.mass = mass1
'''
node = mcfg.getNode(RIGHT_METATARSAL_3)
node.offset = (-.04, -0.03, 0.075)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(RIGHT_CALCANEUS)
node.offset = (.0, -0.03, -0.05)
node.length = length4
node.width = width4
node.mass = mass4
#node = mcfg.getNode(RIGHT_PHALANGE_1)
#node.offset = (0.05,-0.03,0.19)
#node.length = length5
#node.width = width5
#node.mass = mass5
node = mcfg.getNode(RIGHT_PHALANGE_3)
node.offset = (-.04, -0.03, 0.18)
node.length = length7
node.width = width7
node.mass = mass7
node = mcfg.getNode(LEFT_FOOT)
node.offset = (-0.05, -0.03, 0.06)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_METATARSAL_3)
node.offset = (.04, -0.03, 0.075)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(LEFT_CALCANEUS)
node.offset = (.0, -0.03, -0.05)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(LEFT_PHALANGE_1)
node.offset = (-0.05, -0.03, 0.19)
node.length = length5
node.width = width5
node.mass = mass5
node = mcfg.getNode(LEFT_PHALANGE_3)
node.offset = (.04, -0.03, 0.18)
node.length = length7
node.width = width7
node.mass = mass7
elif FOOT_PART_NUM == 4:
node = mcfg.getNode(LEFT_TOES)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (-0.05, 0.0, -0.03)
node = mcfg.getNode(LEFT_TOES_SIDE_R)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0.08, 0.0, 0.1)
node = mcfg.getNode(RIGHT_TOES)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0.05, 0.0, -0.03)
node = mcfg.getNode(RIGHT_TOES_SIDE_R)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (-0.05, 0.0, 0.12)
elif FOOT_PART_NUM == 3:
node = mcfg.getNode(LEFT_TOES)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0, 0.0, -0.02)
node = mcfg.getNode(RIGHT_TOES)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0, 0.0, -0.02)
'''
elif FOOT_PART_NUM == 5:
node = mcfg.getNode(LEFT_FOOT_SIDE_L)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (0.07,0.0,0.015)
node = mcfg.getNode(LEFT_FOOT_SIDE_R)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (-0.07,0.0,0.015)
node = mcfg.getNode(RIGHT_FOOT_SIDE_L)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (0.07,0.0,0.015)
node = mcfg.getNode(RIGHT_FOOT_SIDE_R)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (-0.07,0.0,0.015)
'''
if FOOT_PART_NUM > 1 and FOOT_PART_NUM < 5:
node = mcfg.getNode(LEFT_TARSUS)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (0, 0.0, -0.08)
node = mcfg.getNode(RIGHT_TARSUS)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (0, 0.0, -0.08)
if FOOT_PART_NUM < 5:
node = mcfg.getNode(RIGHT_FOOT)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_FOOT)
node.length = length1
node.width = width1
node.mass = mass1
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / (stepsPerFrame)
#stepsPerFrame = 10
#wcfg.timeStep = (1/120.)/(stepsPerFrame)
#wcfg.timeStep = (1/1800.)
# parameter
config = {}
config['Kt'] = 200
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = .10
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 0.1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 20000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1. #0.5
config['Bh'] = 1.
if FOOT_PART_NUM == 1:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 1.,
LEFT_FOOT: 1.,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.
}
elif FOOT_PART_NUM == 3:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3,
LEFT_TOES: .3,
RIGHT_TOES: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 2.5,
LEFT_FOOT: 2.5,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.,
LEFT_TOES: .3,
RIGHT_TOES: .3
}
elif FOOT_PART_NUM == 4:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3,
LEFT_TOES: .3,
RIGHT_TOES: .3,
LEFT_TOES_SIDE_R: .3,
RIGHT_TOES_SIDE_R: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 2.5,
LEFT_FOOT: 2.5,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.,
LEFT_TOES: .3,
RIGHT_TOES: .3,
LEFT_TOES_SIDE_R: .3,
RIGHT_TOES_SIDE_R: .3
}
elif FOOT_PART_NUM == 5:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3,
LEFT_METATARSAL_3: .2,
RIGHT_METATARSAL_3: .2,
LEFT_PHALANGE_1: .2,
LEFT_PHALANGE_3: .1,
RIGHT_PHALANGE_1: .2,
RIGHT_PHALANGE_3: .2
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 2.5,
LEFT_FOOT: 2.5,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.,
LEFT_METATARSAL_3: .3,
RIGHT_METATARSAL_3: .3,
LEFT_PHALANGE_1: .3,
LEFT_PHALANGE_3: .3,
RIGHT_PHALANGE_1: .3,
RIGHT_PHALANGE_3: .3
}
elif FOOT_PART_NUM == 7:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3,
LEFT_METATARSAL_2: .2,
LEFT_METATARSAL_3: .2,
RIGHT_METATARSAL_2: .2,
RIGHT_METATARSAL_3: .2,
LEFT_PHALANGE_1: .2,
LEFT_PHALANGE_2: .2,
LEFT_PHALANGE_3: .3,
RIGHT_PHALANGE_1: .2,
RIGHT_PHALANGE_2: .2,
RIGHT_PHALANGE_3: .2
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 2.,
LEFT_FOOT: 2.,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.,
LEFT_METATARSAL_2: .3,
LEFT_METATARSAL_3: .3,
RIGHT_METATARSAL_2: .3,
RIGHT_METATARSAL_3: .3,
LEFT_PHALANGE_1: .3,
LEFT_PHALANGE_2: .3,
LEFT_PHALANGE_3: .3,
RIGHT_PHALANGE_1: .3,
RIGHT_PHALANGE_2: .3,
RIGHT_PHALANGE_3: .3
}
'''
elif FOOT_PART_NUM == 5:
config['weightMap']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2, SPINE:.3, SPINE1:.3, RIGHT_FOOT:.3, LEFT_FOOT:.3, HIP:.5,
RIGHT_UP_LEG:.1, RIGHT_LEG:.3, LEFT_UP_LEG:.1, LEFT_LEG:.3, LEFT_TOES:.3, RIGHT_TOES:.3, LEFT_TARSUS:.3, RIGHT_TARSUS:.3,
LEFT_FOOT_SIDE_L:.3, LEFT_FOOT_SIDE_R:.3, RIGHT_FOOT_SIDE_L:.3, RIGHT_FOOT_SIDE_R:.3}
config['weightMap2']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2, SPINE:1., SPINE1:.3, RIGHT_FOOT:2.5, LEFT_FOOT:2.5, HIP:1.,
RIGHT_UP_LEG:1., RIGHT_LEG:1., LEFT_UP_LEG:1., LEFT_LEG:1., LEFT_TOES:.3, RIGHT_TOES:.3, LEFT_TARSUS:.3, RIGHT_TARSUS:.3,
LEFT_FOOT_SIDE_L:.3, LEFT_FOOT_SIDE_R:.3, RIGHT_FOOT_SIDE_L:.3, RIGHT_FOOT_SIDE_R:.3}
'''
config['supLink'] = LEFT_FOOT
config['supLink2'] = RIGHT_FOOT
#config['end'] = 'HIP'
config['end'] = SPINE1
config['const'] = HIP
config['root'] = HIP
config['FootPartNum'] = FOOT_PART_NUM
if FOOT_PART_NUM == 7:
config['FootLPart'] = [
LEFT_FOOT, LEFT_METATARSAL_2, LEFT_METATARSAL_3, LEFT_PHALANGE_1,
LEFT_PHALANGE_2, LEFT_PHALANGE_3, LEFT_CALCANEUS
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_METATARSAL_2, RIGHT_METATARSAL_3,
RIGHT_PHALANGE_1, RIGHT_PHALANGE_2, RIGHT_PHALANGE_3,
RIGHT_CALCANEUS
]
elif FOOT_PART_NUM == 5:
config['FootLPart'] = [
LEFT_FOOT, LEFT_METATARSAL_3, LEFT_PHALANGE_1, LEFT_PHALANGE_3,
LEFT_CALCANEUS
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_METATARSAL_3, RIGHT_PHALANGE_1, RIGHT_PHALANGE_3,
RIGHT_CALCANEUS
]
else:
config['FootLPart'] = [
LEFT_FOOT, LEFT_TOES, LEFT_TARSUS, LEFT_TOES_SIDE_R,
LEFT_FOOT_SIDE_L, LEFT_FOOT_SIDE_R
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_TOES, RIGHT_TARSUS, RIGHT_TOES_SIDE_R,
RIGHT_FOOT_SIDE_L, RIGHT_FOOT_SIDE_R
]
return motion, mcfg, wcfg, stepsPerFrame, config
def simulateCallback(frame):
# seginfo
segIndex = seg_index[0]
curState = seginfo[segIndex]['state']
curInterval = yma.offsetInterval(acc_offset[0], seginfo[segIndex]['interval'])
stanceLegs = seginfo[segIndex]['stanceHips']
swingLegs = seginfo[segIndex]['swingHips']
stanceFoots = seginfo[segIndex]['stanceFoots']
swingFoots = seginfo[segIndex]['swingFoots']
swingKnees = seginfo[segIndex]['swingKnees']
groundHeight = seginfo[segIndex]['ground_height']
# maxStfPushFrame = seginfo[segIndex]['max_stf_push_frame']
prev_frame = frame-1 if frame>0 else 0
# prev_frame = frame
# information
# dCM_tar = yrp.getCM(motion_seg.getJointVelocitiesGlobal(frame), bodyMasses, upperMass, uppers)
# CM_tar = yrp.getCM(motion_seg.getJointPositionsGlobal(frame), bodyMasses, upperMass, uppers)
## dCM_tar = yrp.getCM(motion_seg.getJointVelocitiesGlobal(frame), bodyMasses, totalMass)
## CM_tar = yrp.getCM(motion_seg.getJointPositionsGlobal(frame), bodyMasses, totalMass)
# stf_tar = motion_seg.getJointPositionGlobal(stanceFoots[0], frame)
# CMr_tar = CM_tar - stf_tar
dCM_tar = motion_seg.getJointVelocityGlobal(0, prev_frame)
CM_tar = motion_seg.getJointPositionGlobal(0, prev_frame)
# dCM_tar = yrp.getCM(motion_seg.getJointVelocitiesGlobal(prev_frame), bodyMasses, upperMass, uppers)
# CM_tar = yrp.getCM(motion_seg.getJointPositionsGlobal(prev_frame), bodyMasses, upperMass, uppers)
# dCM_tar = yrp.getCM(motion_seg.getJointVelocitiesGlobal(prev_frame), bodyMasses, totalMass)
# CM_tar = yrp.getCM(motion_seg.getJointPositionsGlobal(prev_frame), bodyMasses, totalMass)
stf_tar = motion_seg.getJointPositionGlobal(stanceFoots[0], prev_frame)
CMr_tar = CM_tar - stf_tar
dCM = avg_dCM[0]
CM = controlModel.getJointPositionGlobal(0)
# CM = yrp.getCM(controlModel.getJointPositionsGlobal(), bodyMasses, upperMass, uppers)
# CM = yrp.getCM(controlModel.getJointPositionsGlobal(), bodyMasses, totalMass)
CMreal = yrp.getCM(controlModel.getJointPositionsGlobal(), bodyMasses, totalMass)
stf = controlModel.getJointPositionGlobal(stanceFoots[0])
CMr = CM - stf
diff_dCM = mm.projectionOnPlane(dCM-dCM_tar, (1,0,0), (0,0,1))
diff_dCM_axis = np.cross((0,1,0), diff_dCM)
rd_vec1[0] = diff_dCM; rd_vecori1[0] = CM_tar
diff_CMr = mm.projectionOnPlane(CMr-CMr_tar, (1,0,0), (0,0,1))
# rd_vec1[0] = diff_CMr; rd_vecori1[0] = stf_tar
diff_CMr_axis = np.cross((0,1,0), diff_CMr)
direction = mm.normalize2(mm.projectionOnPlane(dCM_tar, (1,0,0), (0,0,1)))
# direction = mm.normalize2(mm.projectionOnPlane(dCM, (1,0,0), (0,0,1)))
directionAxis = np.cross((0,1,0), direction)
diff_dCM_sag, diff_dCM_cor = mm.projectionOnVector2(diff_dCM, direction)
# rd_vec1[0] = diff_dCM_sag; rd_vecori1[0] = CM_tar
diff_dCM_sag_axis = np.cross((0,1,0), diff_dCM_sag)
diff_dCM_cor_axis = np.cross((0,1,0), diff_dCM_cor)
diff_CMr_sag, diff_CMr_cor = mm.projectionOnVector2(diff_CMr, direction)
diff_CMr_sag_axis = np.cross((0,1,0), diff_CMr_sag)
diff_CMr_cor_axis = np.cross((0,1,0), diff_CMr_cor)
t = (frame-curInterval[0])/float(curInterval[1]-curInterval[0])
t_raw = t
if t>1.: t=1.
p_root = motion_stitch[frame].getJointPositionGlobal(0)
R_root = motion_stitch[frame].getJointOrientationGlobal(0)
motion_seg_orig.goToFrame(frame)
motion_seg.goToFrame(frame)
motion_stitch.goToFrame(frame)
motion_debug1.append(motion_stitch[frame].copy())
motion_debug1.goToFrame(frame)
motion_debug2.append(motion_stitch[frame].copy())
motion_debug2.goToFrame(frame)
motion_debug3.append(motion_stitch[frame].copy())
motion_debug3.goToFrame(frame)
# paper implementation
M_tc.append(motion_stitch[prev_frame])
M_tc.goToFrame(frame)
P_hat.append(M_tc[frame].copy())
P_hat.goToFrame(frame)
p_temp = ym.JointPosture(skeleton)
p_temp.rootPos = controlModel.getJointPositionGlobal(0)
p_temp.setJointOrientationsLocal(controlModel.getJointOrientationsLocal())
P.append(p_temp)
P.goToFrame(frame)
# stance foot stabilize
motion_stf_stabilize.append(motion_stitch[frame].copy())
motion_stf_stabilize.goToFrame(frame)
if STANCE_FOOT_STABILIZE:
for stanceFoot in stanceFoots:
R_target_foot = motion_seg[frame].getJointOrientationGlobal(stanceFoot)
R_current_foot = motion_stf_stabilize[frame].getJointOrientationGlobal(stanceFoot)
motion_stf_stabilize[frame].setJointOrientationGlobal(stanceFoot, cm.slerp(R_current_foot, R_target_foot , stf_stabilize_func(t)))
# R_target_foot = motion_seg[frame].getJointOrientationLocal(stanceFoot)
# R_current_foot = motion_stf_stabilize[frame].getJointOrientationLocal(stanceFoot)
# motion_stf_stabilize[frame].setJointOrientationLocal(stanceFoot, cm.slerp(R_current_foot, R_target_foot , stf_stabilize_func(t)))
# match stance leg
motion_match_stl.append(motion_stf_stabilize[frame].copy())
motion_match_stl.goToFrame(frame)
if MATCH_STANCE_LEG:
if curState!=yba.GaitState.STOP:
for i in range(len(stanceLegs)):
stanceLeg = stanceLegs[i]
stanceFoot = stanceFoots[i]
# # motion stance leg -> character stance leg as time goes
R_motion = motion_match_stl[frame].getJointOrientationGlobal(stanceLeg)
R_character = controlModel.getJointOrientationGlobal(stanceLeg)
motion_match_stl[frame].setJointOrientationGlobal(stanceLeg, cm.slerp(R_motion, R_character, match_stl_func(t)))
# t_y = match_stl_func_y(t)
# t_xz = match_stl_func(t)
#
# R_motion = motion_match_stl[frame].getJointOrientationGlobal(stanceLeg)
# R_character = controlModel.getJointOrientationGlobal(stanceLeg)
# R = np.dot(R_character, R_motion.T)
# R_y, R_xz = mm.projectRotation((0,1,0), R)
# motion_match_stl[frame].mulJointOrientationGlobal(stanceLeg, mm.scaleSO3(R_xz, t_xz))
# motion_match_stl[frame].mulJointOrientationGlobal(stanceLeg, mm.scaleSO3(R_y, t_y))
# swing foot placement
motion_swf_placement.append(motion_match_stl[frame].copy())
motion_swf_placement.goToFrame(frame)
if SWING_FOOT_PLACEMENT:
t_swing_foot_placement = swf_placement_func(t);
if extended[0]:
R_swp_sag = prev_R_swp[0][0]
R_swp_cor = prev_R_swp[0][1]
else:
R_swp_sag = mm.I_SO3(); R_swp_cor = mm.I_SO3()
R_swp_cor = np.dot(R_swp_cor, mm.exp(diff_dCM_cor_axis * K_swp_vel_cor * -t_swing_foot_placement))
if np.dot(direction, diff_CMr_sag) < 0:
R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_dCM_sag_axis * K_swp_vel_sag * -t_swing_foot_placement))
R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_CMr_sag_axis * K_swp_pos_sag * -t_swing_foot_placement))
else:
R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_dCM_sag_axis * K_swp_vel_sag_faster * -t_swing_foot_placement))
R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_CMr_sag_axis * K_swp_pos_sag_faster * -t_swing_foot_placement))
R_swp_cor = np.dot(R_swp_cor, mm.exp(diff_CMr_cor_axis * K_swp_pos_cor * -t_swing_foot_placement))
for i in range(len(swingLegs)):
swingLeg = swingLegs[i]
swingFoot = swingFoots[i]
# save swing foot global orientation
# R_swf = motion_swf_placement[frame].getJointOrientationGlobal(swingFoot)
# rotate swing leg
motion_swf_placement[frame].mulJointOrientationGlobal(swingLeg, R_swp_sag)
motion_swf_placement[frame].mulJointOrientationGlobal(swingLeg, R_swp_cor)
# restore swing foot global orientation
# motion_swf_placement[frame].setJointOrientationGlobal(swingFoot, R_swf)
prev_R_swp[0] = (R_swp_sag, R_swp_cor)
# swing foot height
motion_swf_height.append(motion_swf_placement[frame].copy())
motion_swf_height.goToFrame(frame)
if SWING_FOOT_HEIGHT:
for swingFoot in swingFoots:
stanceFoot = stanceFoots[0]
# save foot global orientation
R_foot = motion_swf_height[frame].getJointOrientationGlobal(swingFoot)
R_stance_foot = motion_swf_height[frame].getJointOrientationGlobal(stanceFoot)
if OLD_SWING_HEIGHT:
height_tar = motion_swf_height[frame].getJointPositionGlobal(swingFoot)[1] - motion_swf_height[frame].getJointPositionGlobal(stanceFoot)[1]
else:
height_tar = motion_swf_height[prev_frame].getJointPositionGlobal(swingFoot)[1] - groundHeight
d_height_tar = motion_swf_height.getJointVelocityGlobal(swingFoot, prev_frame)[1]
# height_tar += c_swf_mid_offset * swf_height_sine_func(t)
# motion_debug1[frame] = motion_swf_height[frame].copy()
# rotate
motion_swf_height[frame].rotateByTarget(controlModel.getJointOrientationGlobal(0))
# motion_debug2[frame] = motion_swf_height[frame].copy()
# motion_debug2[frame].translateByTarget(controlModel.getJointPositionGlobal(0))
if OLD_SWING_HEIGHT:
height_cur = motion_swf_height[frame].getJointPositionGlobal(swingFoot)[1] - motion_swf_height[frame].getJointPositionGlobal(stanceFoot)[1]
else:
height_cur = controlModel.getJointPositionGlobal(swingFoot)[1] - halfFootHeight - c_swf_offset
d_height_cur = controlModel.getJointVelocityGlobal(swingFoot)[1]
if OLD_SWING_HEIGHT:
offset_height = (height_tar - height_cur) * swf_height_func(t) * c5
else:
offset_height = ((height_tar - height_cur) * c5
+ (d_height_tar - d_height_cur) * c6) * swf_height_func(t)
offset_sine = c_swf_mid_offset * swf_height_sine_func(t)
# offset_sine = 0.
offset = 0.
offset += offset_height
offset += offset_sine
if offset > 0.:
newPosition = motion_swf_height[frame].getJointPositionGlobal(swingFoot)
newPosition[1] += offset
aik.ik_analytic(motion_swf_height[frame], swingFoot, newPosition)
else:
if HIGHER_OFFSET:
newPosition = motion_swf_height[frame].getJointPositionGlobal(stanceFoot)
newPosition[1] -= offset
aik.ik_analytic(motion_swf_height[frame], stanceFoot, newPosition)
# return
# motion_debug3[frame] = motion_swf_height[frame].copy()
# motion_debug3[frame].translateByTarget(controlModel.getJointPositionGlobal(0))
motion_swf_height[frame].rotateByTarget(R_root)
# restore foot global orientation
motion_swf_height[frame].setJointOrientationGlobal(swingFoot, R_foot)
motion_swf_height[frame].setJointOrientationGlobal(stanceFoot, R_stance_foot)
if plot!=None:
plot.addDataPoint('debug1', frame, offset_height)
plot.addDataPoint('debug2', frame, height_tar - height_cur)
# plot.addDataPoint('diff', frame, diff)
# swing foot orientation
motion_swf_orientation.append(motion_swf_height[frame].copy())
motion_swf_orientation.goToFrame(frame)
if SWING_FOOT_ORIENTATION:
swf_orientation_func = yfg.concatenate([yfg.zero, yfg.hermite2nd, yfg.one], [.25, .75])
for swingFoot in swingFoots:
R_target_foot = motion_seg[curInterval[1]].getJointOrientationGlobal(swingFoot)
R_current_foot = motion_swf_orientation[frame].getJointOrientationGlobal(swingFoot)
motion_swf_orientation[frame].setJointOrientationGlobal(swingFoot, cm.slerp(R_current_foot, R_target_foot, swf_orientation_func(t)))
# swf_stabilize_func = yfg.concatenate([yfg.hermite2nd, yfg.one], [c_taking_duration])
# push orientation
# for swingFoot in swingFoots:
# R_target_foot = motion_seg[frame].getJointOrientationGlobal(swingFoot)
# R_current_foot = motion_swf_orientation[frame].getJointOrientationGlobal(swingFoot)
# motion_swf_orientation[frame].setJointOrientationGlobal(swingFoot, cm.slerp(R_current_foot, R_target_foot , swf_stabilize_func(t)))
# stance foot push
motion_stf_push.append(motion_swf_orientation[frame].copy())
motion_stf_push.goToFrame(frame)
if STANCE_FOOT_PUSH:
for swingFoot in swingFoots:
# max_t = (maxStfPushFrame)/float(curInterval[1]-curInterval[0])
# stf_push_func = yfg.concatenate([yfg.sine, yfg.zero], [max_t*2])
stf_push_func = yfg.concatenate([yfg.sine, yfg.zero], [c_taking_duration*2])
R_swp_sag = mm.I_SO3()
# R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_dCM_sag_axis * K_stp_vel * -stf_push_func(t)))
# if step_length_cur[0] < step_length_tar[0]:
# ratio = step_length_cur[0] / step_length_tar[0]
# R_max = maxmaxStfPushFrame
# R_zero =
R_swp_sag = np.dot(R_swp_sag, mm.exp((step_length_tar[0] - step_length_cur[0])*step_axis[0] * K_stp_pos * -stf_push_func(t)))
motion_stf_push[frame].mulJointOrientationGlobal(swingFoot, R_swp_sag)
# stance foot balancing
motion_stf_balancing.append(motion_stf_push[frame].copy())
motion_stf_balancing.goToFrame(frame)
if STANCE_FOOT_BALANCING:
R_stb = mm.exp(diff_dCM_axis * K_stb_vel * stf_balancing_func(t))
R_stb = np.dot(R_stb, mm.exp(diff_CMr_axis * K_stb_pos * stf_balancing_func(t)))
for stanceFoot in stanceFoots:
if frame < 5: continue
motion_stf_balancing[frame].mulJointOrientationGlobal(stanceFoot, R_stb)
# control trajectory
motion_control.append(motion_stf_balancing[frame].copy())
motion_control.goToFrame(frame)
#=======================================================================
# tracking with inverse dynamics
#=======================================================================
th_r = motion_control.getDOFPositions(frame)
th = controlModel.getDOFPositions()
dth_r = motion_control.getDOFVelocities(frame)
dth = controlModel.getDOFVelocities()
ddth_r = motion_control.getDOFAccelerations(frame)
ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt)
#=======================================================================
# simulation
#=======================================================================
CP = mm.v3(0.,0.,0.)
F = mm.v3(0.,0.,0.)
avg_dCM[0] = mm.v3(0.,0.,0.)
# external force rendering info
del rd_forces[:]; del rd_force_points[:]
for fi in forceInfos:
if fi.startFrame <= frame and frame < fi.startFrame + fi.duration*(1/frameTime):
rd_forces.append(fi.force)
rd_force_points.append(controlModel.getBodyPositionGlobal(fi.targetBody) + -mm.normalize2(fi.force)*.2)
for i in range(stepsPerFrame):
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(bodyIDsToCheck, mus, Ks, Ds)
vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces)
# apply external force
for fi in forceInfos:
if fi.startFrame <= frame and frame < fi.startFrame + fi.duration*(1/frameTime):
controlModel.applyBodyForceGlobal(fi.targetBody, fi.force)
controlModel.setDOFAccelerations(ddth_des)
controlModel.solveHybridDynamics()
# # apply external force
# for fi in forceInfos:
# if fi.startFrame <= frame and frame < fi.startFrame + fi.duration*(1/frameTime):
# controlModel.applyBodyForceGlobal(fi.targetBody, fi.force)
vpWorld.step()
# yvu.align2D(controlModel)
if len(contactForces) > 0:
CP += yrp.getCP(contactPositions, contactForces)
F += sum(contactForces)
avg_dCM[0] += controlModel.getJointVelocityGlobal(0)
# avg_dCM[0] += yrp.getCM(controlModel.getJointVelocitiesGlobal(), bodyMasses, upperMass, uppers)
# avg_dCM[0] += yrp.getCM(controlModel.getJointVelocitiesGlobal(), bodyMasses, totalMass)
# if len(stanceFoots)>0:
# avg_stf_v[0] += controlModel.getJointVelocityGlobal(stanceFoots[0])
# avg_stf_av[0] += controlModel.getJointAngVelocityGlobal(stanceFoots[0])
CP /= stepsPerFrame
F /= stepsPerFrame
avg_dCM[0] /= stepsPerFrame
# if len(stanceFoots)>0:
# avg_stf_v[0] /= stepsPerFrame
# avg_stf_av[0] /= stepsPerFrame
# rd_vec1[0] = avg_stf_av[0]; rd_vec1[0][0] = 0.; rd_vec1[0][2] = 0.
# rd_vecori1[0]= controlModel.getJointPositionGlobal(stanceFoots[0])
#=======================================================================
# segment editing
#=======================================================================
lastFrame = False
if SEGMENT_EDITING:
if curState==yba.GaitState.STOP:
if frame == len(motion_seg)-1:
lastFrame = True
elif (curState==yba.GaitState.LSWING or curState==yba.GaitState.RSWING) and t>c_min_contact_time:
swingID = lID if curState==yba.GaitState.LSWING else rID
contact = False
if swingID in bodyIDs:
minContactVel = 1000.
for i in range(len(bodyIDs)):
if bodyIDs[i]==swingID:
vel = controlModel.getBodyVelocityGlobal(swingID, contactPositionLocals[i])
vel[1] = 0
contactVel = mm.length(vel)
if contactVel < minContactVel: minContactVel = contactVel
if minContactVel < c_min_contact_vel: contact = True
extended[0] = False
if contact:
# print frame, 'foot touch'
lastFrame = True
acc_offset[0] += frame - curInterval[1]
elif frame == len(motion_seg)-1:
print frame, 'extend frame', frame+1
preserveJoints = []
# preserveJoints = [lFoot, rFoot]
# preserveJoints = [lFoot, rFoot, lKnee, rKnee]
# preserveJoints = [lFoot, rFoot, lKnee, rKnee, lUpLeg, rUpLeg]
stanceKnees = [rKnee] if curState==yba.GaitState.LSWING else [lKnee]
preserveJoints = [stanceFoots[0], stanceKnees[0], stanceLegs[0]]
diff = 3
motion_seg_orig.extend([motion_seg_orig[-1]])
motion_seg.extend(ymt.extendByIntegration_root(motion_seg, 1, diff))
motion_stitch.extend(ymt.extendByIntegration_constant(motion_stitch, 1, preserveJoints, diff))
# # extend for swing foot ground speed matching & swing foot height lower
## extendedPostures = ymt.extendByIntegration(motion_stitch, 1, preserveJoints, diff)
## extendedPostures = [motion_stitch[-1]]
##
# extendFrameNum = frame - curInterval[1] + 1
# k = 1.-extendFrameNum/5.
# if k<0.: k=0.
# extendedPostures = ymt.extendByIntegrationAttenuation(motion_stitch, 1, preserveJoints, diff, k)
#
## if len(swingFoots)>0 and np.inner(dCM_tar, dCM)>0.:
## print frame, 'speed matching'
## R_swf = motion_stitch[-1].getJointOrientationGlobal(swingFoots[0])
##
## p_swf = motion_stitch[-1].getJointPositionGlobal(swingFoots[0])
## v_swf = motion_stitch.getJointVelocityGlobal(swingFoots[0], frame-diff, frame)
## a_swf = motion_stitch.getJointAccelerationGlobal(swingFoots[0], frame-diff, frame)
## p_swf += v_swf * (frameTime) + a_swf * (frameTime)*(frameTime)
## aik.ik_analytic(extendedPostures[0], swingFoots[0], p_swf)
##
## extendedPostures[0].setJointOrientationGlobal(swingFoots[0], R_swf)
#
# motion_stitch.extend(extendedPostures)
extended[0] = True
else:
if frame == len(motion_seg)-1: lastFrame = True
if lastFrame:
if segIndex < len(segments)-1:
print '%d (%d): end of %dth seg (%s, %s)'%(frame, frame-curInterval[1],segIndex, yba.GaitState.text[curState], curInterval)
if plot!=None: plot.addDataPoint('diff', frame, (frame-curInterval[1])*.01)
if len(stanceFoots)>0 and len(swingFoots)>0:
# step_cur = controlModel.getJointPositionGlobal(swingFoots[0]) - controlModel.getJointPositionGlobal(stanceFoots[0])
# step_tar = motion_seg[curInterval[1]].getJointPositionGlobal(swingFoots[0]) - motion_seg[curInterval[1]].getJointPositionGlobal(stanceFoots[0])
step_cur = controlModel.getJointPositionGlobal(0) - controlModel.getJointPositionGlobal(stanceFoots[0])
step_tar = motion_seg[curInterval[1]].getJointPositionGlobal(0) - motion_seg[curInterval[1]].getJointPositionGlobal(stanceFoots[0])
step_cur = mm.projectionOnPlane(step_cur, (1,0,0), (0,0,1))
step_tar = mm.projectionOnPlane(step_tar, (1,0,0), (0,0,1))
step_cur_sag, step_cur_cor = mm.projectionOnVector2(step_cur, direction)
step_tar_sag, step_tar_cor = mm.projectionOnVector2(step_tar, direction)
step_length_tar[0] = mm.length(step_tar_sag)
if np.inner(step_tar_sag, step_cur_sag) > 0:
step_length_cur[0] = mm.length(step_cur_sag)
else:
step_length_cur[0] = -mm.length(step_cur_sag)
step_axis[0] = directionAxis
# rd_vec1[0] = step_tar_sag
# rd_vecori1[0] = motion_seg[curInterval[1]].getJointPositionGlobal(stanceFoots[0])
# rd_vec2[0] = step_cur_sag
# rd_vecori2[0] = controlModel.getJointPositionGlobal(stanceFoots[0])
seg_index[0] += 1
curSeg = segments[seg_index[0]]
stl_y_limit_num[0] = 0
stl_xz_limit_num[0] = 0
del motion_seg_orig[frame+1:]
motion_seg_orig.extend(ymb.getAttachedNextMotion(curSeg, motion_seg_orig[-1], False, False))
del motion_seg[frame+1:]
del motion_stitch[frame+1:]
transitionLength = len(curSeg)-1
# motion_seg.extend(ymb.getAttachedNextMotion(curSeg, motion_seg[-1], False, False))
# motion_stitch.extend(ymb.getStitchedNextMotion(curSeg, motion_control[-1], transitionLength, stitch_func, True, False))
d = motion_seg[-1] - curSeg[0]
d.rootPos[1] = 0.
motion_seg.extend(ymb.getAttachedNextMotion(curSeg, d, True, False))
d = motion_control[-1] - curSeg[0]
d.rootPos[1] = 0.
motion_stitch.extend(ymb.getStitchedNextMotion(curSeg, d, transitionLength, stitch_func, True, False))
# motion_seg.extend(ymb.getAttachedNextMotion(curSeg, motion_seg[-1], False, True))
# motion_stitch.extend(ymb.getStitchedNextMotion(curSeg, motion_control[-1], transitionLength, stitch_func, True, True))
else:
motion_seg_orig.append(motion_seg_orig[-1])
motion_seg.append(motion_seg[-1])
motion_stitch.append(motion_control[-1])
# rendering
motionModel.update(motion_ori[frame])
# motionModel.update(motion_seg[frame])
rd_CP[0] = CP
rd_CMP[0] = (CMreal[0] - (F[0]/F[1])*CMreal[1], 0, CMreal[2] - (F[2]/F[1])*CMreal[1])
if plot!=None:
plot.addDataPoint('zero', frame, 0)
plot.updatePoints()
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 create_biped():
# motion
#motionName = 'wd2_n_kick.bvh'
#motionName = 'wd2_jump_ori.bvh'
if 1:
#motionName = 'wd2_stand.bvh'
motionName = 'woddy2_jump0.bvh'
motion = yf.readBvhFile(motionName, .01)
yme.removeJoint(motion, 'HEad', False)
yme.removeJoint(motion, 'RightShoulder', False)
yme.removeJoint(motion, 'LeftShoulder1', False)
yme.removeJoint(motion, 'RightToes_Effector', False)
yme.removeJoint(motion, 'LeftToes_Effector', False)
yme.removeJoint(motion, 'RightHand_Effector', False)
yme.removeJoint(motion, 'LeftHand_Effector', False)
yme.offsetJointLocal(motion, 'RightArm', (.03, -.05, 0), False)
yme.offsetJointLocal(motion, 'LeftArm', (-.03, -.05, 0), False)
yme.rotateJointLocal(motion, 'Hips', mm.exp(mm.v3(1, 0, 0), .01),
False)
yme.rotateJointLocal(motion, 'LeftFoot',
mm.exp(mm.v3(2.5, -0.0, .3), -.5), False)
yme.rotateJointLocal(motion, 'RightFoot',
mm.exp(mm.v3(2.5, 0.0, -.3), -.5), False)
#yme.rotateJointLocal(motion, 'LeftFoot', mm.exp(mm.v3(1,-0.0,.2), -.5), False)
#yme.rotateJointLocal(motion, 'RightFoot', mm.exp(mm.v3(1,0.0,-.2), -.5), False)
yme.rotateJointLocal(motion, 'LeftUpLeg',
mm.exp(mm.v3(0.0, .0, 1.), .08), False)
yme.rotateJointLocal(motion, 'LeftLeg', mm.exp(mm.v3(0.0, 1.0, 0.),
-.2), False)
#yme.rotateJointLocal(motion, 'RightLeg', mm.exp(mm.v3(1.0,0.0,0.), -.1), False)
yme.updateGlobalT(motion)
else:
motionName = 'ww13_41.bvh'
motion = yf.readBvhFile(motionName, 0.056444)
yme.removeJoint(motion, 'LHipJoint', False)
yme.removeJoint(motion, 'RHipJoint', False)
yme.removeJoint(motion, 'Neck', False)
yme.removeJoint(motion, 'Neck1', False)
yme.removeJoint(motion, 'Head', False)
yme.removeJoint(motion, 'RightShoulder', False)
yme.removeJoint(motion, 'LeftShoulder', False)
yme.removeJoint(motion, 'RightToeBase_Effector', False)
yme.removeJoint(motion, 'LeftToeBase_Effector', False)
yme.removeJoint(motion, 'LeftHand', False)
yme.removeJoint(motion, 'LeftFingerBase', False)
yme.removeJoint(motion, 'LeftHandIndex1_Effector', False)
yme.removeJoint(motion, 'LThumb', False)
yme.removeJoint(motion, 'RightHand', False)
yme.removeJoint(motion, 'RightFingerBase', False)
yme.removeJoint(motion, 'RightHandIndex1_Effector', False)
yme.removeJoint(motion, 'RThumb', False)
yme.removeJoint(motion, 'LowerBack', False)
yme.offsetJointLocal(motion, 'RightArm', (-.03, -.05, 0), False)
yme.offsetJointLocal(motion, 'LeftArm', (.03, -.05, 0), False)
#yme.rotateJointLocal(motion, 'Hips', mm.exp(mm.v3(1,0,0), .01), False)
yme.rotateJointLocal(motion, 'LeftFoot', mm.exp(mm.v3(-1.5, 0, 1), .4),
False)
yme.rotateJointLocal(motion, 'RightFoot',
mm.exp(mm.v3(1.5, 0, 1), -.4), False)
yme.updateGlobalT(motion)
#motion = motion[50:-1]
motion = motion[240:-1]
#motion = motion[40:-58]
#motion = motion[56:-248]
#motion = motion[-249:-248]
#motion = motion[62:65]
#motion = motion[216:217]
#motion = motion[515:555]
################
motion = motion[515:555]
#motion = motion[96:97]
motion[0:0] = [motion[0]] * 100
motion.extend([motion[-1]] * 5000)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
node = mcfg.getNode('Hips')
node.length = .2
node.width = .25
node = mcfg.getNode('Spine1')
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode('Spine')
node.width = .22
#node.length = .2 ####
node = mcfg.getNode('RightFoot')
node.length = .25
node.width = .2
node.mass = 4.
node = mcfg.getNode('LeftFoot')
node.length = .25
node.width = .2
node.mass = 4.
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / (stepsPerFrame)
#stepsPerFrame = 10
#wcfg.timeStep = (1/120.)/(stepsPerFrame)
#wcfg.timeStep = (1/1800.)
# parameter
config = {}
'''
config['Kt'] = 200; config['Dt'] = 2*(config['Kt']**.5) # tracking gain
config['Kl'] = 2.5; config['Dl'] = 2*(config['Kl']**.5) # linear balance gain
config['Kh'] = 1; config['Dh'] = 2*(config['Kh']**.5) # angular balance gain
config['Ks'] = 20000; config['Ds'] = 2*(config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 2.5
config['Bh'] = 1.
'''
config['Kt'] = 200
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = .10
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 0.1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 20000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1. #0.5
config['Bh'] = 1.
config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\
'Spine':.3, 'Spine1':.3, 'RightFoot':.3, 'LeftFoot':.3, 'Hips':.5,\
'RightUpLeg':.1, 'RightLeg':.3, 'LeftUpLeg':.1, 'LeftLeg':.3}
config['IKweightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\
'Spine':.3, 'Spine1':.3, 'RightFoot':.3, 'LeftFoot':.3, 'Hips':.5,\
'RightUpLeg':.1, 'RightLeg':.3, 'LeftUpLeg':.1, 'LeftLeg':.3}
'''
config['IKweightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\
'Spine':0.5, 'Spine1':0.5, 'RightFoot':1.2, 'LeftFoot':1.2, 'Hips':1.2,\
'RightUpLeg':.9, 'RightLeg':.9, 'LeftUpLeg':.9, 'LeftLeg':.9}
'''
config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\
'Spine':1.5, 'LeftFoot':1., 'Hips':1.5,\
'RightUpLeg':1., 'RightLeg':1., 'LeftUpLeg':1.5, 'LeftLeg':1.5}
config['supLink'] = 'LeftFoot'
config['supLink2'] = 'RightFoot'
#config['end'] = 'Hips'
config['end'] = 'Spine1'
return motion, mcfg, wcfg, stepsPerFrame, config
def create_biped():
# motion
#motionName = 'wd2_n_kick.bvh'
if MOTION == STAND:
#motionName = 'wd2_stand.bvh'
motionName = 'wd2_stand2.bvh'
elif MOTION == STAND2:
motionName = 'ww13_41_V001.bvh'
elif MOTION == FORWARD_JUMP:
motionName = 'woddy2_jump0.bvh'
elif MOTION == TAEKWONDO:
motionName = './MotionFile/wd2_098_V001.bvh'
elif MOTION == TAEKWONDO2:
motionName = './MotionFile/wd2_098_V001.bvh'
elif MOTION == KICK:
motionName = 'wd2_n_kick.bvh'
elif MOTION == WALK:
motionName = 'wd2_WalkForwardNormal00.bvh'
elif MOTION == TIPTOE:
motionName = './MotionFile/cmu/15_07_15_07.bvh'
#motionName = 'ww13_41_V001.bvh'
scale = 0.01
if MOTION == WALK:
scale = 1.0
elif MOTION == TIPTOE:
scale = 0.01
motion = yf.readBvhFile(motionName, scale)
yme.removeJoint(motion, HEAD, False)
yme.removeJoint(motion, RIGHT_SHOULDER, False)
yme.removeJoint(motion, LEFT_SHOULDER, False)
yme.removeJoint(motion, RIGHT_TOES, False)
yme.removeJoint(motion, RIGHT_TOES_END, False)
yme.removeJoint(motion, LEFT_TOES, False)
yme.removeJoint(motion, LEFT_TOES_END, False)
yme.removeJoint(motion, RIGHT_HAND_END, False)
yme.removeJoint(motion, LEFT_HAND_END, False)
yme.offsetJointLocal(motion, RIGHT_ARM, (.03, -.05, 0), False)
yme.offsetJointLocal(motion, LEFT_ARM, (-.03, -.05, 0), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(1, 0, 0), .01), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(0, 0, 1), -.01), False)
#addFootSegment
yme.addJoint(motion, LEFT_FOOT, LEFT_TALUS_1, (-0.045, -0.06, -0.05))
yme.addJoint(motion, LEFT_FOOT, LEFT_TALUS_2, (0.0, -0.06, -0.05))
yme.addJoint(motion, LEFT_FOOT, LEFT_TALUS_3,
(0.045, -0.06, -0.05)) #-0.0037
yme.addJoint(motion, LEFT_TALUS_1, LEFT_METATARSAL_1, (0.0, 0.0, 0.1))
yme.addJoint(motion, LEFT_TALUS_3, LEFT_METATARSAL_3,
(0.0, 0.0, 0.1)) #-0.0037
yme.addJoint(motion, LEFT_TALUS_2, LEFT_METATARSAL_2, (0.0, 0.0, 0.1))
yme.addJoint(motion, LEFT_METATARSAL_1, LEFT_PHALANGE_1, (0.0, 0.0, 0.07))
yme.addJoint(motion, LEFT_METATARSAL_3, LEFT_PHALANGE_3, (0.0, 0.0, 0.07))
yme.addJoint(motion, LEFT_METATARSAL_2, LEFT_PHALANGE_2, (0.0, 0.0, 0.07))
yme.addJoint(motion, LEFT_PHALANGE_1, 'LEFT_PHALANGE_Effector1',
(0.0, 0.0, 0.06))
yme.addJoint(motion, LEFT_PHALANGE_3, 'LEFT_PHALANGE_Effector3',
(0.0, 0.0, 0.06))
yme.addJoint(motion, LEFT_PHALANGE_2, 'LEFT_PHALANGE_Effector2',
(0.0, 0.0, 0.06))
#yme.addJoint(motion, LEFT_FOOT, LEFT_CALCANEUS_1, (-0.045, -0.06, -0.04))
#yme.addJoint(motion, LEFT_FOOT, LEFT_CALCANEUS_2, (0.0, -0.06, -0.04))
#yme.addJoint(motion, LEFT_FOOT, LEFT_CALCANEUS_3, (0.045, -0.06, -0.04))
yme.addJoint(motion, LEFT_FOOT, LEFT_CALCANEUS_1, (-0.045, -0.06, -0.05))
yme.addJoint(motion, LEFT_FOOT, LEFT_CALCANEUS_2, (0.0, -0.06, -0.05))
yme.addJoint(motion, LEFT_FOOT, LEFT_CALCANEUS_3, (0.045, -0.06, -0.05))
yme.addJoint(motion, LEFT_CALCANEUS_1, 'LEFT_CALCANEUS_Effector1',
(0., 0.0, -0.07))
yme.addJoint(motion, LEFT_CALCANEUS_2, 'LEFT_CALCANEUS_Effector2',
(0., 0.0, -0.07))
yme.addJoint(motion, LEFT_CALCANEUS_3, 'LEFT_CALCANEUS_Effector3',
(0., 0.0, -0.07))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_TALUS_1, (0.045, -0.06, -0.05))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_TALUS_2, (0.0, -0.06, -0.05))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_TALUS_3, (-0.045, -0.06, -0.05))
yme.addJoint(motion, RIGHT_TALUS_1, RIGHT_METATARSAL_1, (0.0, 0.0, 0.1))
yme.addJoint(motion, RIGHT_TALUS_2, RIGHT_METATARSAL_2, (0.0, 0.0, 0.1))
yme.addJoint(motion, RIGHT_TALUS_3, RIGHT_METATARSAL_3, (0.0, 0.0, 0.1))
yme.addJoint(motion, RIGHT_METATARSAL_1, RIGHT_PHALANGE_1,
(0.0, 0.0, 0.07))
yme.addJoint(motion, RIGHT_METATARSAL_2, RIGHT_PHALANGE_2,
(0.0, 0.0, 0.07))
yme.addJoint(motion, RIGHT_METATARSAL_3, RIGHT_PHALANGE_3,
(0.0, 0.0, 0.07))
yme.addJoint(motion, RIGHT_PHALANGE_1, 'RIGHT_PHALANGE_Effector1',
(0.0, 0.0, 0.06))
yme.addJoint(motion, RIGHT_PHALANGE_2, 'RIGHT_PHALANGE_Effector2',
(0.0, 0.0, 0.06))
yme.addJoint(motion, RIGHT_PHALANGE_3, 'RIGHT_PHALANGE_Effector3',
(0.0, 0.0, 0.06))
#yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCANEUS_1, (0.045, -0.06, -0.04))
#yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCANEUS_2, (0.0, -0.06, -0.04))
#yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCANEUS_3, (-0.045, -0.06, -0.04))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCANEUS_1, (0.045, -0.06, -0.05))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCANEUS_2, (0.0, -0.06, -0.05))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCANEUS_3, (-0.045, -0.06, -0.05))
yme.addJoint(motion, RIGHT_CALCANEUS_1, 'RIGHT_CALCANEUS_Effector1',
(0.0, 0.0, -0.07))
yme.addJoint(motion, RIGHT_CALCANEUS_2, 'RIGHT_CALCANEUS_Effector2',
(0.0, 0.0, -0.07))
yme.addJoint(motion, RIGHT_CALCANEUS_3, 'RIGHT_CALCANEUS_Effector3',
(0.0, 0.0, -0.07))
yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0, 0.0, 0.0), -.5),
False)
yme.rotateJointLocal(motion, RIGHT_TALUS_1, mm.exp(mm.v3(1.0, 0.0, 0.0),
.5), False)
yme.rotateJointLocal(motion, RIGHT_TALUS_2, mm.exp(mm.v3(1.0, 0.0, 0.0),
.5), False)
yme.rotateJointLocal(motion, RIGHT_TALUS_3, mm.exp(mm.v3(1.0, 0.0, 0.0),
.5), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_1,
mm.exp(mm.v3(0.0, 0.0, 1.0), 3.14), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_2,
mm.exp(mm.v3(0.0, 0.0, 1.0), 3.14), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_3,
mm.exp(mm.v3(0.0, 0.0, 1.0), 3.14), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_1,
mm.exp(mm.v3(1.0, 0.0, 0.0), -.5), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_2,
mm.exp(mm.v3(1.0, 0.0, 0.0), -.5), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_3,
mm.exp(mm.v3(1.0, 0.0, 0.0), -.5), False)
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(1.0, 0.0, 0.0), -.5),
False)
yme.rotateJointLocal(motion, LEFT_TALUS_1, mm.exp(mm.v3(1.0, 0.0, 0.0),
.5), False)
yme.rotateJointLocal(motion, LEFT_TALUS_3, mm.exp(mm.v3(1.0, 0.0, 0.0),
.5), False)
yme.rotateJointLocal(motion, LEFT_TALUS_2, mm.exp(mm.v3(1.0, 0.0, 0.0),
.5), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_1,
mm.exp(mm.v3(0.0, 0.0, 1.0), 3.14), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_2,
mm.exp(mm.v3(0.0, 0.0, 1.0), 3.14), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_3,
mm.exp(mm.v3(0.0, 0.0, 1.0), 3.14), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_1,
mm.exp(mm.v3(1.0, 0.0, 0.0), -.5), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_2,
mm.exp(mm.v3(1.0, 0.0, 0.0), -.5), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_3,
mm.exp(mm.v3(1.0, 0.0, 0.0), -.5), False)
#yme.rotateJointLocal(motion, LEFT_CALCANEUS_1, mm.exp(mm.v3(0.0,-1.0,0.0), 1.57), False)
yme.updateGlobalT(motion)
################
if MOTION == FORWARD_JUMP:
motion = motion[515:555]
elif MOTION == TAEKWONDO:
## Taekwondo base-step
motion = motion[0:31]
#motion = motion[564:600]
elif MOTION == TAEKWONDO2:
## Taekwondo base-step
#motion = motion[0:31+40]
## Taekwondo turning-kick
motion = motion[108:-1]
#motion = motion[108:109]
elif MOTION == KICK:
#motion = motion[141:-1]
#motion = motion[100:-1]
#motion = motion[58:-1]
motion = motion[82:-1]
#motion = motion[0:-1]
elif MOTION == STAND2:
motion = motion[1:-1]
elif MOTION == TIPTOE:
#motion = motion[183:440]
#motion = motion[350:410]
motion = motion[350:550]
motion[0:0] = [motion[0]] * 40
motion.extend([motion[-1]] * 5000)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
node = mcfg.getNode(HIP)
node.length = .2
node.width = .25
node = mcfg.getNode(SPINE1)
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode(SPINE)
node.width = .22
#node.length = .2 ####
node = mcfg.getNode('RightFoot')
node.length = .1
node.width = .1
node = mcfg.getNode('LeftFoot')
node.length = .1
node.width = .1
#return mcfg
#
#mass0 = .4
#width0 = 0.028
#length0 = 0.1
#
##Metatarsal1
#length1 = .12
#width1 = 0.03
#mass1 = 0.4
#
#length2 = .1
#width2 = 0.026
#mass2 = 0.4
#
##Metatarsal3
#length3 = .08
#width3 = 0.024
#mass3 = 0.4
#
##Calcaneus1
#length4 = .1
#width4 = 0.032
#mass4 = 0.4
#
##Phalange1
#length5 = .08
#width5 = 0.01
#mass5 = 0.4
##Phalange3
#length7 = length5
#width7 = width5
#mass7 = mass5
#
##Talus
##length8 = .13
##width8 = width0*3
##mass8 = mass0*2.
#
#length8 = .1
#width8 = width0*3
#mass8 = mass0*1.5
width0 = 0.028
length0 = 0.1
mass0 = .4
#Metatarsal1
length1 = .1
width1 = 0.03
mass1 = 0.4
length2 = length1
width2 = width1
mass2 = 0.4
#Metatarsal3
length3 = length1
width3 = width1
mass3 = 0.4
#Calcaneus1
length4 = length1
width4 = width1
mass4 = 0.4
#Phalange1
length5 = length1
width5 = width1
mass5 = 0.4
#Phalange3
length7 = length1
width7 = width1
mass7 = 0.4
#Talus
#length8 = .13
#width8 = width0*3
#mass8 = mass0*2.
length8 = .1
width8 = width0 * 3
mass8 = mass0 * 1.5
node = mcfg.getNode(RIGHT_FOOT)
node.length = length8
node.width = width8
node.mass = mass8
node = mcfg.getNode(RIGHT_TALUS_1)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(RIGHT_TALUS_3)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(RIGHT_TALUS_2)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(RIGHT_METATARSAL_1)
node.length = length2
node.width = width2
node.mass = mass2
node = mcfg.getNode(RIGHT_METATARSAL_3)
node.length = length2
node.width = width2
node.mass = mass2
node = mcfg.getNode(RIGHT_METATARSAL_2)
node.length = length2
node.width = width2
node.mass = mass2
node = mcfg.getNode(RIGHT_PHALANGE_1)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(RIGHT_PHALANGE_2)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(RIGHT_PHALANGE_3)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(RIGHT_CALCANEUS_1)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(RIGHT_CALCANEUS_2)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(RIGHT_CALCANEUS_3)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(LEFT_FOOT)
node.length = length8
node.width = width8
node.mass = mass8
node = mcfg.getNode(LEFT_TALUS_1)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_TALUS_3)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_TALUS_2)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_METATARSAL_1)
node.length = length2
node.width = width2
node.mass = mass2
node = mcfg.getNode(LEFT_METATARSAL_3)
node.length = length2
node.width = width2
node.mass = mass2
node = mcfg.getNode(LEFT_METATARSAL_2)
node.length = length2
node.width = width2
node.mass = mass2
node = mcfg.getNode(LEFT_PHALANGE_1)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(LEFT_PHALANGE_2)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(LEFT_PHALANGE_3)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(LEFT_CALCANEUS_1)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(LEFT_CALCANEUS_2)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(LEFT_CALCANEUS_3)
node.length = length4
node.width = width4
node.mass = mass4
#node.offset = (0.0, -0.025, 0.0)
node = mcfg.getNode('LeftFoot')
node = mcfg.getNode(RIGHT_TALUS_1)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_TALUS_3)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_TALUS_2)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_TALUS_1)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_TALUS_3)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_TALUS_2)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_METATARSAL_1)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_METATARSAL_2)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_METATARSAL_3)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_METATARSAL_1)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_METATARSAL_3)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_METATARSAL_2)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_PHALANGE_1)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_PHALANGE_2)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_PHALANGE_3)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_PHALANGE_1)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_PHALANGE_2)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_PHALANGE_3)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_CALCANEUS_1)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_CALCANEUS_2)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_CALCANEUS_3)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_CALCANEUS_1)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_CALCANEUS_2)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_CALCANEUS_3)
node.geom = 'MyFoot3'
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 60
wcfg.timeStep = (1 / 30.) / (stepsPerFrame)
#stepsPerFrame = 10
#wcfg.timeStep = (1/120.)/(stepsPerFrame)
#wcfg.timeStep = (1/1800.)
# parameter
config = {}
config['Kt'] = 200
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = .10
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 0.1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 20000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1. #0.5
config['Bh'] = 1.
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .5,
SPINE1: .3,
RIGHT_FOOT: .7,
LEFT_FOOT: .7,
HIP: .5,
RIGHT_UP_LEG: .7,
RIGHT_LEG: .7,
LEFT_UP_LEG: .7,
LEFT_LEG: .7,
LEFT_TALUS_1: .7,
RIGHT_TALUS_1: .7,
LEFT_TALUS_2: .7,
RIGHT_TALUS_2: .7,
LEFT_TALUS_3: .7,
RIGHT_TALUS_3: .7,
LEFT_METATARSAL_1: .7,
RIGHT_METATARSAL_1: .7,
LEFT_METATARSAL_2: .7,
RIGHT_METATARSAL_2: .7,
LEFT_METATARSAL_3: .7,
RIGHT_METATARSAL_3: .7,
RIGHT_CALCANEUS_1: .7,
LEFT_CALCANEUS_1: .7,
RIGHT_CALCANEUS_2: .7,
LEFT_CALCANEUS_2: .7,
RIGHT_CALCANEUS_3: .7,
LEFT_CALCANEUS_3: .7,
LEFT_PHALANGE_1: .4,
LEFT_PHALANGE_2: .4,
LEFT_PHALANGE_3: .4,
RIGHT_PHALANGE_1: .4,
RIGHT_PHALANGE_2: .4,
RIGHT_PHALANGE_3: .4
}
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .2,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .3,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .2,
LEFT_UP_LEG: .1,
LEFT_LEG: .2,
LEFT_TALUS_1: .1,
RIGHT_TALUS_1: .1,
LEFT_TALUS_2: .1,
RIGHT_TALUS_2: .1,
LEFT_TALUS_3: .1,
RIGHT_TALUS_3: .1,
LEFT_METATARSAL_1: .1,
RIGHT_METATARSAL_1: .1,
LEFT_METATARSAL_2: .1,
RIGHT_METATARSAL_2: .1,
LEFT_METATARSAL_3: .1,
RIGHT_METATARSAL_3: .1,
RIGHT_CALCANEUS_1: .2,
LEFT_CALCANEUS_1: .2,
RIGHT_CALCANEUS_2: .2,
LEFT_CALCANEUS_2: .2,
RIGHT_CALCANEUS_3: .2,
LEFT_CALCANEUS_3: .2,
LEFT_PHALANGE_1: .1,
LEFT_PHALANGE_2: .1,
LEFT_PHALANGE_3: .1,
RIGHT_PHALANGE_1: .1,
RIGHT_PHALANGE_2: .1,
RIGHT_PHALANGE_3: .1
}
'''
config['weightMap']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2, SPINE:.3, SPINE1:.2, RIGHT_FOOT:.3, LEFT_FOOT:.3, HIP:.3,
RIGHT_UP_LEG:.1, RIGHT_LEG:.2, LEFT_UP_LEG:.1, LEFT_LEG:.2,
LEFT_TALUS_1:.01, RIGHT_TALUS_1:.01, LEFT_TALUS_2:.01, RIGHT_TALUS_2:.01, LEFT_TALUS_3:.01, RIGHT_TALUS_3:.01,
LEFT_METATARSAL_1:.01, RIGHT_METATARSAL_1:.01, LEFT_METATARSAL_2:.01, RIGHT_METATARSAL_2:.01, LEFT_METATARSAL_3:.01, RIGHT_METATARSAL_3:.01,
RIGHT_CALCANEUS_1:.01, LEFT_CALCANEUS_1:.01, RIGHT_CALCANEUS_2:.01, LEFT_CALCANEUS_2:.01, RIGHT_CALCANEUS_3:.01, LEFT_CALCANEUS_3:.01,
LEFT_PHALANGE_1:.01, LEFT_PHALANGE_2:.01, LEFT_PHALANGE_3:.01, RIGHT_PHALANGE_1:.01, RIGHT_PHALANGE_2:.01, RIGHT_PHALANGE_3:.01}
'''
#config['weightMap']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2, SPINE:.3, SPINE1:.2, RIGHT_FOOT:.3, LEFT_FOOT:.3, HIP:.3,
# RIGHT_UP_LEG:.1, RIGHT_LEG:.2, LEFT_UP_LEG:.1, LEFT_LEG:.2,
# LEFT_TALUS_1:.1, RIGHT_TALUS_1:.1, LEFT_TALUS_3:.1, RIGHT_TALUS_3:.1,
# LEFT_METATARSAL_1:.1, RIGHT_METATARSAL_1:.1, LEFT_METATARSAL_3:.1, RIGHT_METATARSAL_3:.1,
# RIGHT_CALCANEUS_1:.2, LEFT_CALCANEUS_1:.2, RIGHT_CALCANEUS_3:.2, LEFT_CALCANEUS_3:.2,
# LEFT_PHALANGE_1:.1, LEFT_PHALANGE_3:.1, RIGHT_PHALANGE_1:.1, RIGHT_PHALANGE_3:.1}
#
#config['weightMap2']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2, SPINE:.5, SPINE1:.3, RIGHT_FOOT:.7, LEFT_FOOT:.7, HIP:.5,
# RIGHT_UP_LEG:.7, RIGHT_LEG:.7, LEFT_UP_LEG:.7, LEFT_LEG:.7,
# LEFT_TALUS_1:.7, RIGHT_TALUS_1:.7, LEFT_TALUS_3:.7, RIGHT_TALUS_3:.7,
# LEFT_METATARSAL_1:.7, RIGHT_METATARSAL_1:.7, LEFT_METATARSAL_3:.7, RIGHT_METATARSAL_3:.7,
# RIGHT_CALCANEUS_1:.7, LEFT_CALCANEUS_1:.7, RIGHT_CALCANEUS_3:.7, LEFT_CALCANEUS_3:.7,
# LEFT_PHALANGE_1:.4, LEFT_PHALANGE_3:.4, RIGHT_PHALANGE_1:.4, RIGHT_PHALANGE_3:.4}
config['supLink'] = LEFT_FOOT
config['supLink2'] = RIGHT_FOOT
#config['end'] = HIP
config['end'] = SPINE1
config['const'] = HIP
config['root'] = HIP
config['FootPartNum'] = FOOT_PART_NUM
config['FootLPart'] = [
LEFT_FOOT, LEFT_CALCANEUS_1, LEFT_CALCANEUS_2, LEFT_CALCANEUS_3,
LEFT_TALUS_1, LEFT_TALUS_2, LEFT_TALUS_3, LEFT_METATARSAL_1,
LEFT_METATARSAL_2, LEFT_METATARSAL_3, LEFT_PHALANGE_1, LEFT_PHALANGE_2,
LEFT_PHALANGE_3
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_CALCANEUS_1, RIGHT_CALCANEUS_2, RIGHT_CALCANEUS_3,
RIGHT_TALUS_1, RIGHT_TALUS_2, RIGHT_TALUS_3, RIGHT_METATARSAL_1,
RIGHT_METATARSAL_2, RIGHT_METATARSAL_3, RIGHT_PHALANGE_1,
RIGHT_PHALANGE_2, RIGHT_PHALANGE_3
]
#config['FootLPart'] = [LEFT_FOOT, LEFT_CALCANEUS_1, LEFT_METATARSAL_1, LEFT_METATARSAL_3, LEFT_PHALANGE_1, LEFT_PHALANGE_3]
#config['FootRPart'] = [RIGHT_FOOT, RIGHT_CALCANEUS_1, RIGHT_METATARSAL_1, RIGHT_METATARSAL_3, RIGHT_PHALANGE_1, RIGHT_PHALANGE_3]
return motion, mcfg, wcfg, stepsPerFrame, config
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)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.initializeHybridDynamics()
ModelOffset = (1.5, -0.02, 0)
#ModelOffset = (1.5, 1.02, 0)
#ModelOffset = (1.5, 0.02, 0)
controlModel.translateByOffset(ModelOffset)
#controlModel.translateByOffset((1.5,-0.0328,0))#(1.5,-0.02,0))
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'])
w_IK = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['IKweightMap'])
supL = motion[0].skeleton.getJointIndex(config['supLink'])
supR = motion[0].skeleton.getJointIndex(config['supLink2'])
#controlModel.SetGround(supL, True)
#controlModel.SetGround(supR, True)
selectedBody = motion[0].skeleton.getJointIndex(config['end'])
#constBody = motion[0].skeleton.getJointIndex('LeftForeArm')
constBody = motion[0].skeleton.getJointIndex('Hips')
# jacobian
JsupL = yjc.makeEmptyJacobian(DOFs, 1)
dJsupL = JsupL.copy()
JsupPreL = JsupL.copy()
JsupR = yjc.makeEmptyJacobian(DOFs, 1)
dJsupR = JsupR.copy()
JsupPreR = JsupR.copy()
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()
supLJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, supL)]
supRJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, supR)]
constJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, constBody)]
allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton)
# 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 = [None]
rd_CP = [None]
rd_CP_des = [None]
rd_dL_des_plane = [None]
rd_dH_des = [None]
rd_grf_des = [None]
rd_exf_des = [None]
rd_root_des = [None]
rd_soft_const_vec = [None]
rd_CMP = [None]
rd_DesPosL = [None]
rd_DesPosR = [None]
rootPos = [None]
selectedBodyId = [selectedBody]
extraForce = [None]
applyedExtraForce = [None]
applyedExtraForce[0] = [0,0,0]
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_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_CP', yr.PointsRenderer(rd_CP, (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_des, (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('softConstraint', yr.VectorsRenderer(rd_soft_const_vec, rd_CMP, (255,0,0), 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)))
stage = 0
def simulateCallback(frame):
global g_initFlag
global preFootCenterL, preFootCenterR
global preFootOrientationL, preFootOrientationR
global forceShowFrame
global forceApplyFrame
global JsysPre
global JsupPreL
global JsupPreR
global JsupPre
global softConstPoint
global stage
motionModel.update(motion[frame])
Kt, Kk, Kl, Kh, Ksc, Bt, Bl, Bh, Bsc = viewer.GetParam()
if stage == 3:
Bsc = 0
#Kl *= 1.5
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
footCenterL = controlModel.getBodyPositionGlobal(supL)
footCenterR = controlModel.getBodyPositionGlobal(supR)
refFootL = motionModel.getBodyPositionGlobal(supL)
refFootR = motionModel.getBodyPositionGlobal(supR)
footCenter = footCenterL + (footCenterR - footCenterL)/2.0
footCenter[1] = 0.
footCenter_ref = refFootL + (refFootR - refFootL)/2.0
footCenter_ref[1] = 0.
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_plane_ref = yrp.getCM(linkPositions_ref, linkMasses, totalMass)
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)
dJsys = (Jsys - JsysPre)/(1/30.)
JsysPre = Jsys
#yjc.computeJacobianDerivative2(dJsys, DOFs, jointPositions, jointAxeses, linkAngVelocities, linkPositions, allLinkJointMasks)
if g_initFlag == 0:
preFootCenterL = footCenterL
preFootCenterR = footCenterR
preFootCenterL[1] -= 0.02
preFootCenterR[1] -= 0.02
preFootOrientationL = controlModel.getBodyOrientationGlobal(supL)
preFootOrientationR = controlModel.getBodyOrientationGlobal(supR)
softConstPoint = controlModel.getBodyPositionGlobal(constBody)
#softConstPoint[2] += 0.3
#softConstPoint[1] -= 1.1
#softConstPoint[0] += 0.1
softConstPoint[1] -= .3
#softConstPoint[0] -= .1
#softConstPoint[1] -= 1.
#softConstPoint[0] -= .5
g_initFlag = 1
yjc.computeJacobian2(JsupL, DOFs, jointPositions, jointAxeses, [footCenterL], supLJointMasks)
dJsupL = (JsupL - JsupPreL)/(1/30.)
JsupPreL = JsupL
#yjc.computeJacobianDerivative2(dJsupL, DOFs, jointPositions, jointAxeses, linkAngVelocities, [footCenterL], supLJointMasks, False)
yjc.computeJacobian2(JsupR, DOFs, jointPositions, jointAxeses, [footCenterR], supRJointMasks)
dJsupR = (JsupR - JsupPreR)/(1/30.)
JsupPreR = JsupR
#yjc.computeJacobianDerivative2(dJsupR, DOFs, jointPositions, jointAxeses, linkAngVelocities, [footCenterR], supRJointMasks, False)
preFootCenter = preFootCenterL + (preFootCenterR - preFootCenterL)/2.0
preFootCenter[1] = 0
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(bodyIDsToCheck, mus, Ks, Ds)
CP = yrp.getCP(contactPositions, contactForces)
# linear momentum
CM_ref_plane = footCenter
#CM_ref_plane = preFootCenter
dL_des_plane = Kl*totalMass*(CM_ref_plane - CM_plane) - Dl*totalMass*dCM_plane
#print("dL_des_plane ", dL_des_plane )
#dL_des_plane[1] = 0.
# 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)))
#dH_des = [0, 0, 0]
else:
dH_des = None
CMP = yrp.getCMP(contactForces, CM)
r = [0,0,0]
if CP!= None and np.any(np.isnan(CMP))!=True :
r = CP - CMP
#print("r.l", mm.length(r))
#Bba = Bh*(mm.length(r))
Bba = Bh
# 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
'''
cmDiff = footCenter - CM_plane
print("cmDiff", cmDiff)
if stage == 3:
softConstPoint +=
'''
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, [softConstPoint], 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, [softConstPoint], constJointMasks, False)
q_bias1 = np.dot(np.dot(Z, dJconst), dth_flat) + q2
'''
P_des = preFootCenterR
P_cur = controlModel.getBodyPositionGlobal(supR)
P_cur[1] = 0
dP_des = [0, 0, 0]
dP_cur = controlModel.getBodyVelocityGlobal(supR)
ddP_des2 = Kp*(P_des - P_cur) - Dp*(dP_cur - dP_des)
r = P_des - P_cur
#print("r2", r)
I = np.vstack(([1,0,0],[0,1,0],[0,0,1]))
Z = np.hstack((I, mm.getCrossMatrixForm(-r)))
JL, JA = np.vsplit(JsupR, 2)
Q2 = np.dot(Z, JsupR)
q1 = np.dot(JA, dth_flat)
q2 = np.dot(mm.getCrossMatrixForm(q1), np.dot(mm.getCrossMatrixForm(q1), r))
q_bias2 = np.dot(np.dot(Z, dJsupR), dth_flat) + q2
'''
#print("Q1", Q1)
'''
print("ddP_des1", ddP_des1)
q_ddth1 = np.dot(Q1, ddth_c_flat)
print("q_ddth1", q_ddth1)
print("q_bias1", q_bias1)
ddp1 = q_ddth1+q_bias1
print("ddp1", ddp1)
print("diff1", ddP_des1-ddp1)
'''
'''
print("ddP_des2", ddP_des2)
q_ddth2 = np.dot(Q2, ddth_c_flat)
print("q_ddth2", q_ddth2)
print("q_bias2", q_bias2)
ddp2 = q_ddth2+q_bias2
print("ddp2", ddp2)
print("diff2", ddP_des2-ddp2)
'''
##############################
############################
# IK
'''
P_des = preFootCenterL
P_cur = controlModel.getJointPositionGlobal(supL)
r = P_des - P_cur
Q_des = preFootOrientationL
Q_cur = controlModel.getJointOrientationGlobal(supL)
rv = mm.logSO3(np.dot(Q_cur.transpose(), Q_des))
#print("rv", rv)
des_v_sup = (r[0],r[1],r[2], rv[0], rv[1], rv[2])
A_large = np.dot(JsupL.T, JsupL)
b_large = np.dot(JsupL.T, des_v_sup)
des_d_th = npl.lstsq(A_large, b_large)
ype.nested(des_d_th[0], d_th_IK_L)
P_des2 = preFootCenterR
P_cur2 = controlModel.getJointPositionGlobal(supR)
r2 = P_des2 - P_cur2
Q_des2 = preFootOrientationR
Q_cur2 = controlModel.getJointOrientationGlobal(supR)
rv2 = mm.logSO3(np.dot(Q_cur2.transpose(), Q_des2))
#print("Q_des2", Q_des2)
#print("Q_cur2", Q_cur2)
#print("rv2", rv2)
des_v_sup2 = (r2[0],r2[1],r2[2], rv2[0], rv2[1], rv[2])
A_large = np.dot(JsupR.T, JsupR)
b_large = np.dot(JsupR.T, des_v_sup2)
des_d_th = npl.lstsq(A_large, b_large)
ype.nested(des_d_th[0], d_th_IK_R)
for i in range(len(d_th_IK_L)):
for j in range(len(d_th_IK_L[i])):
d_th_IK[i][j] = d_th_IK_L[i][j] + d_th_IK_R[i][j]
th_IK = yct.getIntegralDOF(th, d_th_IK, 1/timeStep)
dd_th_IK = yct.getDesiredDOFAccelerations(th_IK, th, d_th_IK, dth, ddth_r, Kk, Dk)
ype.flatten(d_th_IK, d_th_IK_flat)
ype.flatten(dd_th_IK, dd_th_IK_flat)
'''
############################
flagContact = True
if dH_des==None or np.any(np.isnan(dH_des)) == True:
flagContact = False
'''
0 : initial
1 : contact
2 : fly
3 : landing
'''
if flagContact == False :
if stage == 1:
stage = 2
print("fly")
else:
if stage == 0:
stage = 1
print("contact")
elif stage == 2:
stage = 3
print("landing")
if stage == 3:
Bt = Bt*0.8
Bl = Bl*1
# optimization
mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat)
#mot.addTrackingTerms(problem, totalDOF, Bk, w_IK, dd_th_IK_flat)
mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1, q_bias1)
#mot.addSoftPointConstraintTerms(problem, totalDOF, Bp, ddP_des2, Q2, q_bias2)
#mot.addConstraint(problem, totalDOF, JsupL, dJsupL, dth_flat, a_sup)
#mot.addConstraint(problem, totalDOF, JsupR, dJsupR, dth_flat, a_sup2)
desLinearAccL = [0,0,0]
desAngularAccL = [0,0,0]
desLinearAccR = [0,0,0]
desAngularAccR = [0,0,0]
refPos = motionModel.getBodyPositionGlobal(supL)
refPos[0] += ModelOffset[0]
refPos[1] = 0
refVel = motionModel.getBodyVelocityGlobal(supL)
curPos = controlModel.getBodyPositionGlobal(supL)
#curPos[1] = 0
curVel = controlModel.getBodyVelocityGlobal(supL)
refAcc = (0,0,0)
if stage == 3:
refPos = curPos
refPos[1] = 0
if curPos[1] < 0.0:
curPos[1] = 0
else :
curPos[1] = 0
rd_DesPosL[0] = refPos
#(p_r, p, v_r, v, a_r, Kt, Dt)
desLinearAccL = yct.getDesiredAcceleration(refPos, curPos, refVel, curVel, refAcc, Kk, Dk)
#desLinearAccL[1] = 0
refPos = motionModel.getBodyPositionGlobal(supR)
refPos[0] += ModelOffset[0]
refPos[1] = 0
refVel = motionModel.getBodyVelocityGlobal(supR)
curPos = controlModel.getBodyPositionGlobal(supR)
#curPos[1] = 0
curVel = controlModel.getBodyVelocityGlobal(supR)
if stage == 3:
refPos = curPos
refPos[1] = 0
if curPos[1] < 0.0:
curPos[1] = 0
else :
curPos[1] = 0
rd_DesPosR[0] = refPos
desLinearAccR = yct.getDesiredAcceleration(refPos, curPos, refVel, curVel, refAcc, Kk, Dk)
#desLinearAccR[1] = 0
#(th_r, th, dth_r, dth, ddth_r, Kt, Dt)
refAng = [preFootOrientationL]
curAng = [controlModel.getBodyOrientationGlobal(supL)]
refAngVel = motionModel.getBodyAngVelocityGlobal(supL)
curAngVel = controlModel.getBodyAngVelocityGlobal(supL)
refAngAcc = (0,0,0)
#desAngularAccL = yct.getDesiredAngAccelerations(refAng, curAng, refAngVel, curAngVel, refAngAcc, Kk, Dk)
curAngY = np.dot(curAng, np.array([0,1,0]))
aL = mm.logSO3(mm.getSO3FromVectors(curAngY[0], np.array([0,1,0])))
print("curAngYL=",curAngY, "aL=", aL)
desAngularAccL = [Kk*aL + Dk*(refAngVel-curAngVel)]
refAng = [preFootOrientationR]
curAng = [controlModel.getBodyOrientationGlobal(supR)]
refAngVel = motionModel.getBodyAngVelocityGlobal(supR)
curAngVel = controlModel.getBodyAngVelocityGlobal(supR)
refAngAcc = (0,0,0)
#desAngularAccR = yct.getDesiredAngAccelerations(refAng, curAng, refAngVel, curAngVel, refAngAcc, Kk, Dk)
curAngY = np.dot(curAng, np.array([0,1,0]))
aL = mm.logSO3(mm.getSO3FromVectors(curAngY[0], np.array([0,1,0])))
desAngularAccR = [Kk*aL + Dk*(refAngVel-curAngVel)]
print("curAngYR=",curAngY, "aL=", aL)
a_sup_2 = [desLinearAccL[0], desLinearAccL[1], desLinearAccL[2], desAngularAccL[0][0], desAngularAccL[0][1], desAngularAccL[0][2],
desLinearAccR[0], desLinearAccR[1], desLinearAccR[2], desAngularAccR[0][0], desAngularAccR[0][1], desAngularAccR[0][2]]
if stage == 2 :#or stage == 3:
refAccL = motionModel.getBodyAccelerationGlobal(supL)
refAndAccL = motionModel.getBodyAngAccelerationGlobal(supL)
refAccR = motionModel.getBodyAccelerationGlobal(supR)
refAndAccR = motionModel.getBodyAngAccelerationGlobal(supR)
a_sup_2 = [refAccL[0], refAccL[1], refAccL[2], refAndAccL[0], refAndAccL[1], refAndAccL[2],
refAccR[0], refAccR[1], refAccR[2], refAndAccR[0], refAndAccR[1], refAndAccR[2]]
'''
a_sup_2 = [0,0,0, desAngularAccL[0][0], desAngularAccL[0][1], desAngularAccL[0][2],
0,0,0, desAngularAccR[0][0], desAngularAccR[0][1], desAngularAccR[0][2]]
'''
Jsup_2 = np.vstack((JsupL, JsupR))
dJsup_2 = np.vstack((dJsupL, dJsupR))
if flagContact == True:
mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias)
mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias)
mot.setConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat, a_sup_2)
#mot.setConstraint(problem, totalDOF, JsupR, dJsupR, dth_flat, a_sup2)
#mot.setConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat, a_sup_2)
#mot.addConstraint(problem, totalDOF, Jsup_2, dJsup_2, d_th_IK_flat, a_sup_2)
'''
jZ = np.dot(dJsup_2.T, dJsup_2)
lamda = 0.001
for i in range(len(jZ)):
for j in range(len(jZ[0])):
if i == j :
jZ[i][j] += lamda
jZInv = npl.pinv(jZ)
jA = np.dot(Jsup_2, np.dot(jZInv, np.dot(dJsup_2.T, -Jsup_2)))
mot.addConstraint2(problem, totalDOF, jA, 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)
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_footCenterL[0] = preFootCenterL
rd_footCenterR[0] = preFootCenterR
rd_CM[0] = CM
rd_CM_plane[0] = CM_plane.copy()
rd_footCenter_ref[0] = footCenter_ref
rd_CM_plane_ref[0] = CM_plane_ref.copy()
#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] = dL_des_plane - totalMass*mm.s2v(wcfg.gravity)
rd_exf_des[0] = applyedExtraForce[0]
#print("rd_exf_des", rd_exf_des[0])
rd_root_des[0] = rootPos[0]
rd_CMP[0] = softConstPoint
rd_soft_const_vec[0] = controlModel.getBodyPositionGlobal(constBody)-softConstPoint
#if (applyedExtraForce[0][0] != 0 or applyedExtraForce[0][1] != 0 or applyedExtraForce[0][2] != 0) :
if (forceApplyFrame == 0) :
applyedExtraForce[0] = [0, 0, 0]
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/60.)
viewer.show()
Fl.run()
def create_biped():
# motion
#motionName = 'wd2_n_kick.bvh'
if MOTION == STAND:
motionName = 'wd2_stand.bvh'
elif MOTION == STAND2:
motionName = 'ww13_41_V001.bvh'
elif MOTION == FORWARD_JUMP:
motionName = 'woddy2_jump0.bvh'
elif MOTION == TAEKWONDO:
motionName = './MotionFile/wd2_098_V001.bvh'
elif MOTION == TAEKWONDO2:
motionName = './MotionFile/wd2_098_V001.bvh'
elif MOTION == KICK:
motionName = 'wd2_n_kick.bvh'
elif MOTION == WALK:
motionName = 'wd2_WalkForwardNormal00.bvh'
elif MOTION == TIPTOE:
motionName = './MotionFile/cmu/15_07_15_07.bvh'
#motionName = 'ww13_41_V001.bvh'
scale = 0.01
if MOTION == WALK:
scale = 1.0
elif MOTION == TIPTOE:
scale = 0.01
motion = yf.readBvhFile(motionName, scale)
if MOTION != WALK:
yme.removeJoint(motion, HEAD, False)
yme.removeJoint(motion, RIGHT_SHOULDER, False)
yme.removeJoint(motion, LEFT_SHOULDER, False)
if FOOT_PART_NUM == 1 and MOTION != WALK:
yme.removeJoint(motion, RIGHT_TOES_END, False)
yme.removeJoint(motion, LEFT_TOES_END, False)
elif (FOOT_PART_NUM == 5 or FOOT_PART_NUM == 6) and MOTION != WALK:
yme.removeJoint(motion, RIGHT_TOES, False)
yme.removeJoint(motion, RIGHT_TOES_END, False)
yme.removeJoint(motion, LEFT_TOES, False)
yme.removeJoint(motion, LEFT_TOES_END, False)
if MOTION != WALK:
yme.removeJoint(motion, RIGHT_HAND_END, False)
yme.removeJoint(motion, LEFT_HAND_END, False)
yme.offsetJointLocal(motion, RIGHT_ARM, (.03, -.05, 0), False)
yme.offsetJointLocal(motion, LEFT_ARM, (-.03, -.05, 0), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(1, 0, 0), .01), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(0, 0, 1), -.01), False)
if FOOT_PART_NUM == 1:
yme.rotateJointLocal(motion, LEFT_FOOT,
mm.exp(mm.v3(2.5, -0.0, .3), -.5), False)
yme.rotateJointLocal(motion, RIGHT_FOOT,
mm.exp(mm.v3(2.5, 0.0, -.3), -.5), False)
if MOTION == WALK:
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(1., -0.0, .0),
.4), False)
yme.rotateJointLocal(motion, RIGHT_FOOT,
mm.exp(mm.v3(1., 0.0, -.0), .4), False)
#yme.rotateJointLocal(motion, SPINE1, mm.exp(mm.v3(1.,0.0,0.0), -.8), False)
if MOTION == FORWARD_JUMP:
yme.rotateJointLocal(motion, LEFT_UP_LEG,
mm.exp(mm.v3(0.0, .0, 1.), .08), False)
yme.rotateJointLocal(motion, LEFT_LEG, mm.exp(mm.v3(0.0, 1.0, 0.),
-.2), False)
if FOOT_PART_NUM == 6:
yme.addJoint(motion, LEFT_FOOT, LEFT_METATARSAL_1,
(-0.045, -0.06, 0.03))
yme.addJoint(motion, LEFT_FOOT, LEFT_METATARSAL_3,
(0.045, -0.06, 0.03)) #-0.0037
yme.addJoint(motion, LEFT_METATARSAL_1, LEFT_PHALANGE_1,
(0.0, 0.0, 0.0715))
yme.addJoint(motion, LEFT_METATARSAL_3, LEFT_PHALANGE_3,
(0.0, 0.0, 0.0715))
yme.addJoint(motion, LEFT_PHALANGE_1, 'LEFT_PHALANGE_Dummy1',
(0.0, 0.0, 0.1))
yme.addJoint(motion, LEFT_PHALANGE_3, 'LEFT_PHALANGE_Dummy2',
(0.0, 0.0, 0.1))
yme.addJoint(motion, LEFT_FOOT, LEFT_CALCANEUS_1, (0.0, -0.06, -0.02))
yme.addJoint(motion, LEFT_CALCANEUS_1, 'LEFT_CALCANEUS_Dummy1',
(0.0, 0.0, -0.1))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_METATARSAL_1,
(0.045, -0.06, 0.03))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_METATARSAL_3,
(-0.045, -0.06 - 0.0062, 0.03 + 0.0035))
yme.addJoint(motion, RIGHT_METATARSAL_1, RIGHT_PHALANGE_1,
(0.0, 0.0, 0.0715))
yme.addJoint(motion, RIGHT_METATARSAL_3, RIGHT_PHALANGE_3,
(0.0, 0.0, 0.0715))
yme.addJoint(motion, RIGHT_PHALANGE_1, 'RIGHT_PHALANGE_Dummy1',
(0.0, 0.0, 0.1))
yme.addJoint(motion, RIGHT_PHALANGE_3, 'RIGHT_PHALANGE_Dummy2',
(0.0, 0.0, 0.1))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCANEUS_1,
(0.0, -0.06, -0.02))
yme.addJoint(motion, RIGHT_CALCANEUS_1, 'RIGHT_CALCANEUS_Dummy1',
(0.0, 0.0, -0.1))
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_1,
mm.exp(mm.v3(.0, 0.0, 1.0), 3.14), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_1,
mm.exp(mm.v3(.0, 0.0, 1.0), 3.14), False)
'''
yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0,0.0,0.0), 3.14*0.3), False)
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(1.0,0.0, 0.0), 3.14*0.3), False)
yme.rotateJointLocal(motion, RIGHT_PHALANGE_1, mm.exp(mm.v3(1.0,0.0,0.0), -3.14*0.3), False)
yme.rotateJointLocal(motion, RIGHT_PHALANGE_3, mm.exp(mm.v3(1.0,0.0, 0.0), -3.14*0.3), False)
yme.rotateJointLocal(motion, LEFT_PHALANGE_1, mm.exp(mm.v3(1.0,0.0,0.0), -3.14*0.3), False)
yme.rotateJointLocal(motion, LEFT_PHALANGE_3, mm.exp(mm.v3(1.0,0.0, 0.0), -3.14*0.3), False)
'''
yme.rotateJointLocal(motion, LEFT_FOOT,
mm.exp(mm.v3(1.0, 0.0, 0.0), 0.2012), False)
yme.rotateJointLocal(motion, LEFT_METATARSAL_1,
mm.exp(mm.v3(1.0, 0.0, 0.0), -0.2172), False)
yme.rotateJointLocal(motion, LEFT_METATARSAL_3,
mm.exp(mm.v3(1.0, 0.0, 0.0), -0.2172), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_1,
mm.exp(mm.v3(1.0, 0.0, 0.0), 0.2172), False)
yme.rotateJointLocal(motion, RIGHT_FOOT,
mm.exp(mm.v3(1.0, 0.0, 0.0), 0.2283), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_1,
mm.exp(mm.v3(1.0, 0.0, 0.0), -0.2171), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_3,
mm.exp(mm.v3(1.0, 0.0, 0.0), -0.2171), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_1,
mm.exp(mm.v3(1.0, 0.0, 0.0), 0.2171), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_1,
mm.exp(mm.v3(0.0, 0.0, 1.0), 0.0747), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_3,
mm.exp(mm.v3(0.0, 0.0, 1.0), 0.0747), False)
'''
yme.rotateJointLocal(motion, RIGHT_METATARSAL_1, mm.exp(mm.v3(1.0,0.0,0.0), -0.1), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_3, mm.exp(mm.v3(1.0,0.0,0.0), -0.1), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_1, mm.exp(mm.v3(0.0,0.0,1.0), 0.06), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_3, mm.exp(mm.v3(0.0,0.0,1.0), 0.06), False)
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(1.0,0.0,0.0), -0.05), False)
'''
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(0.0,0.0,1.0), 0.0656), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0,0.0,0.0), 0.0871), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(0.0,0.0,1.0), 0.0087), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0,0.0,0.0), 0.0933), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(0.0,0.0,1.0), 0.0746), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0,0.0,0.0), -6.3773e-03), False)
#yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(1.0,0.0, 0.0), math.pi*0.25), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0,0.0, 0.0), math.pi*0.25), False)
#yme.rotateJointLocal(motion, LEFT_PHALANGE_1, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.25), False)
#yme.rotateJointLocal(motion, RIGHT_PHALANGE_1, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.25), False)
#yme.rotateJointLocal(motion, LEFT_PHALANGE_3, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.25), False)
#yme.rotateJointLocal(motion, RIGHT_PHALANGE_3, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.25), False)
#yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(1.0,0.0, 0.0), -math.pi*0.16), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0,0.0, 0.0), -math.pi*0.16), False)
#yme.rotateJointLocal(motion, LEFT_CALCANEUS_1, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.16), False)
#yme.rotateJointLocal(motion, RIGHT_CALCANEUS_1, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.16), False)
#yme.rotateJointLocal(motion, LEFT_METATARSAL_3, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.5), False)
yme.updateGlobalT(motion)
################
if MOTION == FORWARD_JUMP:
motion = motion[515:555]
elif MOTION == TAEKWONDO:
## Taekwondo base-step
motion = motion[0:31]
#motion = motion[564:600]
elif MOTION == TAEKWONDO2:
## Taekwondo base-step
#motion = motion[0:31+40]
## Taekwondo turning-kick
motion = motion[108:-1]
#motion = motion[108:109]
elif MOTION == KICK:
#motion = motion[141:-1]
#motion = motion[100:-1]
#motion = motion[58:-1]
motion = motion[82:-1]
#motion = motion[0:-1]
elif MOTION == STAND2:
motion = motion[1:-1]
elif MOTION == TIPTOE:
#motion = motion[183:440]
#motion = motion[350:410]
motion = motion[350:550]
motion[0:0] = [motion[0]] * 40
motion.extend([motion[-1]] * 5000)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
node = mcfg.getNode(HIP)
node.length = .2
node.width = .25
node = mcfg.getNode(SPINE1)
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode(SPINE)
node.width = .22
#node.length = .2 ####
if FOOT_PART_NUM == 1:
length1 = .35
width1 = .2
mass1 = 4.3
elif FOOT_PART_NUM == 6:
mass0 = .4
width0 = 0.028
length0 = 0.1
#Metatarsal1
length1 = .15
width1 = width0 * 3
mass1 = mass0 * 1.8
#Metatarsal3
length3 = .11
width3 = width0 * 3
mass3 = mass0 * 1.86
#Calcaneus1
length4 = .08
width4 = 0.15 * 1
mass4 = mass0 * 1.2 * 2.
#Phalange1
length5 = .08
width5 = width1
mass5 = mass0 * 1.355
#Phalange3
length7 = length5
width7 = width5
mass7 = mass5
#Talus
length8 = .13
width8 = width0 * 3
mass8 = mass0 * 2.
if FOOT_PART_NUM == 6:
node = mcfg.getNode(RIGHT_FOOT)
node.length = length8
node.width = width8
node.mass = mass8
node = mcfg.getNode(RIGHT_METATARSAL_1)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(RIGHT_METATARSAL_3)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(RIGHT_PHALANGE_1)
node.length = length5
node.width = width5
node.mass = mass5
node.offset = (0.0, 0.0, 0.03)
node = mcfg.getNode(RIGHT_PHALANGE_3)
node.length = length7
node.width = width7
node.mass = mass7
node.offset = (0.0, 0.0, 0.01)
node = mcfg.getNode(RIGHT_CALCANEUS_1)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(LEFT_FOOT)
node.length = length8
node.width = width8
node.mass = mass8
node = mcfg.getNode(LEFT_METATARSAL_1)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_METATARSAL_3)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(LEFT_PHALANGE_1)
node.length = length5
node.width = width5
node.mass = mass5
node.offset = (0.0, 0.0, 0.03)
node = mcfg.getNode(LEFT_PHALANGE_3)
node.length = length7
node.width = width7
node.mass = mass7
node.offset = (0.0, 0.0, 0.01)
node = mcfg.getNode(LEFT_CALCANEUS_1)
node.length = length4
node.width = width4
node.mass = mass4
if FOOT_PART_NUM < 5:
node = mcfg.getNode(RIGHT_FOOT)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_FOOT)
node.length = length1
node.width = width1
node.mass = mass1
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / (stepsPerFrame)
#stepsPerFrame = 10
#wcfg.timeStep = (1/120.)/(stepsPerFrame)
#wcfg.timeStep = (1/1800.)
# parameter
config = {}
config['Kt'] = 200
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = .10
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 0.1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 20000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1. #0.5
config['Bh'] = 1.
if FOOT_PART_NUM == 1:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 1.,
LEFT_FOOT: 1.,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.
}
elif FOOT_PART_NUM == 6:
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .5,
SPINE1: .3,
RIGHT_FOOT: .7,
LEFT_FOOT: .7,
HIP: .5,
RIGHT_UP_LEG: .7,
RIGHT_LEG: .7,
LEFT_UP_LEG: .7,
LEFT_LEG: .7,
LEFT_METATARSAL_1: .7,
RIGHT_METATARSAL_1: .7,
LEFT_METATARSAL_3: .7,
RIGHT_METATARSAL_3: .7,
RIGHT_CALCANEUS_1: .7,
LEFT_CALCANEUS_1: .7,
LEFT_PHALANGE_1: .4,
LEFT_PHALANGE_3: .4,
RIGHT_PHALANGE_1: .4,
RIGHT_PHALANGE_3: .4
}
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .2,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .3,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .2,
LEFT_UP_LEG: .1,
LEFT_LEG: .2,
LEFT_METATARSAL_1: .1,
RIGHT_METATARSAL_1: .1,
LEFT_METATARSAL_3: .1,
RIGHT_METATARSAL_3: .1,
RIGHT_CALCANEUS_1: .2,
LEFT_CALCANEUS_1: .2,
LEFT_PHALANGE_1: .1,
LEFT_PHALANGE_3: .1,
RIGHT_PHALANGE_1: .1,
RIGHT_PHALANGE_3: .1
}
'''
config['weightMap2']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2, SPINE:.3, SPINE1:.3, RIGHT_FOOT:.3, LEFT_FOOT:.3, HIP:.5,
RIGHT_UP_LEG:.1, RIGHT_LEG:.3, LEFT_UP_LEG:.1, LEFT_LEG:.3,
LEFT_METATARSAL_3:.2, RIGHT_METATARSAL_3:.2, RIGHT_CALCANEUS:1.2, LEFT_CALCANEUS:1.2,
LEFT_PHALANGE_1:.2, LEFT_PHALANGE_3:.1, RIGHT_PHALANGE_1:.2, RIGHT_PHALANGE_3:.2}
config['weightMap2']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2, SPINE:.8, SPINE1:.3, RIGHT_FOOT:1., LEFT_FOOT:1., HIP:1.,
RIGHT_UP_LEG:1., RIGHT_LEG:1., LEFT_UP_LEG:1., LEFT_LEG:1.,
LEFT_METATARSAL_3:1., RIGHT_METATARSAL_3:1., RIGHT_CALCANEUS:.3, LEFT_CALCANEUS:.3,
LEFT_PHALANGE_1:.3, LEFT_PHALANGE_3:.3, RIGHT_PHALANGE_1:.3, RIGHT_PHALANGE_3:.3}
'''
config['supLink'] = LEFT_FOOT
config['supLink2'] = RIGHT_FOOT
#config['end'] = HIP
config['end'] = SPINE1
config['const'] = HIP
config['root'] = HIP
config['FootPartNum'] = FOOT_PART_NUM
if FOOT_PART_NUM == 6:
config['FootLPart'] = [
LEFT_FOOT, LEFT_METATARSAL_1, LEFT_METATARSAL_3, LEFT_PHALANGE_1,
LEFT_PHALANGE_3, LEFT_CALCANEUS_1
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_METATARSAL_1, RIGHT_METATARSAL_3,
RIGHT_PHALANGE_1, RIGHT_PHALANGE_3, RIGHT_CALCANEUS_1
]
else:
config['FootLPart'] = [
LEFT_FOOT, LEFT_TOES, LEFT_TARSUS, LEFT_TOES_SIDE_R,
LEFT_FOOT_SIDE_L, LEFT_FOOT_SIDE_R
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_TOES, RIGHT_TARSUS, RIGHT_TOES_SIDE_R,
RIGHT_FOOT_SIDE_L, RIGHT_FOOT_SIDE_R
]
return motion, mcfg, wcfg, stepsPerFrame, config
hRef = .1
vRef = .5
clHeel = yma.getElementContactStates(motion, LFOOT, hRef, vRef)
crHeel = yma.getElementContactStates(motion, RFOOT, hRef, vRef)
clToe = yma.getElementContactStates(motion, LTOE, hRef, vRef)
crToe = yma.getElementContactStates(motion, RTOE, hRef, vRef)
clFoot = map(op.or_, clHeel, clToe)
crFoot = map(op.or_, crHeel, crToe)
lFootStates = yma.getFootStates(clHeel, clToe)
rFootStates = yma.getFootStates(crHeel, crToe)
lIntervals, lStates = yma.states2intervals(lFootStates)
rIntervals, rStates = yma.states2intervals(rFootStates)
footNames = [LFOOT, RFOOT]
horizontalDirection = mm.v3(-1, 0, 0)
horizontalRight = np.cross(horizontalDirection, (0, 1, 0))
horizontalLeft = -horizontalRight
sagittalAxis = horizontalRight
lateralAxisMap = {LFOOT: horizontalDirection, RFOOT: -horizontalDirection}
size_sagittals_map = {
LFOOT: [None] * len(motion),
RFOOT: [None] * len(motion)
}
size_laterals_map = {
LFOOT: [None] * len(motion),
RFOOT: [None] * len(motion)
}
for i in range(len(motion)):
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()
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, 0.0, 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.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_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]
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_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, 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, (255,0,0), 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))
stage = STATIC_BALANCING
def simulateCallback(frame):
global g_initFlag
global forceShowFrame
global forceApplyFrame
global JsysPre
global JsupPreL
global JsupPreR
global JsupPre
global softConstPoint
global stage
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
'''
if stage == POWERFUL_BALANCING:
#if stage != MOTION_TRACKING:
footCenterL = controlModel.getBodyPositionGlobal(supL)
footCenterR = controlModel.getBodyPositionGlobal(supR)
else:
footCenterL = controlModel.getBodyPositionGlobal(indexFootL[1])
footCenterR = controlModel.getBodyPositionGlobal(indexFootR[1])
'''
if footPartNum == 1:
footCenterL = controlModel.getBodyPositionGlobal(supL)
footCenterR = controlModel.getBodyPositionGlobal(supR)
else:
if stage == POWERFUL_BALANCING:
footCenterL = controlModel.getBodyPositionGlobal(supL)
footCenterR = controlModel.getBodyPositionGlobal(supR)
else:
footCenterL = (
controlModel.getBodyPositionGlobal(supL) +
controlModel.getBodyPositionGlobal(indexFootL[1])) / 2.0
footCenterR = (
controlModel.getBodyPositionGlobal(supR) +
controlModel.getBodyPositionGlobal(indexFootR[1])) / 2.0
refFootL = motionModel.getBodyPositionGlobal(supL)
refFootR = motionModel.getBodyPositionGlobal(supR)
footCenter = footCenterL + (footCenterR - footCenterL) / 2.0
footCenter[1] = 0.
footCenter_ref = refFootL + (refFootR - refFootL) / 2.0
#footCenter_ref[1] = 0.
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)
if g_initFlag == 0:
softConstPoint = controlModel.getBodyPositionGlobal(constBody)
softConstPoint[1] -= .3
g_initFlag = 1
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)
contactFlagFootL = [0] * footPartNum
contactFlagFootR = [0] * footPartNum
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.computeJacobian2(jFootL[j], DOFs, jointPositions,
jointAxeses, [positionFootL[j]],
jointMasksFootL[j])
yjc.computeJacobianDerivative2(
dJFootL[j], DOFs, jointPositions, jointAxeses,
linkAngVelocities, [positionFootL[j]],
jointMasksFootL[j], False)
break
for j in range(len(indexFootR)):
if index == indexFootR[j]:
contactFlagFootR[j] = 1
if j != 0:
yjc.computeJacobian2(jFootR[j], DOFs, jointPositions,
jointAxeses, [positionFootR[j]],
jointMasksFootR[j])
yjc.computeJacobianDerivative2(
dJFootR[j], DOFs, jointPositions, jointAxeses,
linkAngVelocities, [positionFootR[j]],
jointMasksFootR[j], False)
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 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
footCenter[1] = 0.
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_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,
[softConstPoint], 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,
[softConstPoint], 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]
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 + 10:
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)
desLinearAccR, desPosR = getDesFootLinearAcc(
motionModel, controlModel, indexFootR[idx], ModelOffset,
CM_ref, CM, Kk2, Dk2)
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]))
rd_DesPosL[0] = desPosL.copy()
rd_DesPosR[0] = desPosR.copy()
else:
if footPartNum != 1:
idx = 1
else:
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]))
##############################
##############################
# Additional constraint
if stage != MOTION_TRACKING:
Kk2 = Kk * 1.5
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 contactFlagFootL[i] == 1:
desLinearAccL, desForePosL = getDesFootLinearAcc(
motionModel, controlModel, indexFootL[i], ModelOffset,
CM_ref, CM, Kk2, Dk2)
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)
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 test_joint_pos_vel_acc_funcs_and_tracking():
def getDesiredAngAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt):
ddth_des = [None]*len(th_r)
for i in range(len(th_r)):
ddth_des[i] = Kt*(mm.logSO3(np.dot(th[i].transpose(), th_r[i]))) + Dt*(dth_r[i] - dth[i]) + ddth_r[i]
return ddth_des
def getDesiredAcceleration(p_r, p, v_r, v, a_r, Kt, Dt):
return Kt*(p_r - p) + Dt*(v_r - v) + a_r
# bvhFilePath = '../samples/chain_1.bvh'
# bvhFilePath = '../samples/block_tree_rotate.bvh'
bvhFilePath = '../samples/chain_3_rotate_freely_move.bvh'
# bvhFilePath = '../samples/chain_3_rotate_freely.bvh'
# bvhFilePath = '../samples/chain_3_rotate_freely_expt_root.bvh'
# bvhFilePath = '../samples/chain_3_rotate.bvh'
# bvhFilePath = '../samples/chain_3_rotate_expt_root.bvh'
# bvhFilePath = '../samples/chain_6_rotate_expt_root.bvh'
# bvhFilePath = '../samples/chain_2_rotate_2axes.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
wcfg = ypc.WorldConfig()
wcfg.planeHeight = -1.
wcfg.gravity = (0,0,0)
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.initializeHybridDynamics(False)
# controlModel.fixBody(0)
controlModel.rotate(mm.exp(mm.v3(0,1,0)))
print controlModel
motion_p = []; motion_v = []; motion_a = []
motion_ap = []; motion_av = []; motion_aa = []
motion_ap_local = []; motion_av_local = []; motion_aa_local = []
model_p = []; model_v = []; model_a = []
model_ap = []; model_av = []; model_aa = []
model_ap_local = []; model_av_local = []; model_aa_local = []
model_body_p = []; model_body_a = []
prev_model_v = [(0.,0.,0.)]*controlModel.getJointNum()
prev_model_av = [(0.,0.,0.)]*controlModel.getJointNum()
prev_model_av_local = [(0.,0.,0.)]*controlModel.getJointNum()
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_WIREBOX))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
# viewer.doc.addRenderer('motion_p', yr.PointsRenderer(motion_p, (255,0,0)))
# viewer.doc.addRenderer('model_p', yr.PointsRenderer(model_p, (0,255,0)))
#
# viewer.doc.addRenderer('motion_v', yr.VectorsRenderer(motion_v, motion_p, (255,0,0)))
# viewer.doc.addRenderer('model_v', yr.VectorsRenderer(model_v, model_p, (0,255,0)))
viewer.doc.addRenderer('motion_a', yr.VectorsRenderer(motion_a, motion_p, (255,0,0)))
viewer.doc.addRenderer('model_a', yr.VectorsRenderer(model_a, model_p, (0,255,0)))
# viewer.doc.addRenderer('model_body_a', yr.VectorsRenderer(model_body_a, model_body_p, (255,255,0)))
# viewer.doc.addRenderer('motion_ap', yr.OrientationsRenderer(motion_ap, motion_p, (255,0,0)))
# viewer.doc.addRenderer('model_ap', yr.OrientationsRenderer(model_ap, model_p, (0,255,0)))
# viewer.doc.addRenderer('motion_ap_local', yr.OrientationsRenderer(motion_ap_local, motion_p, (255,100,100)))
# viewer.doc.addRenderer('model_ap_local', yr.OrientationsRenderer(model_ap_local, model_p, (100,255,100)))
# viewer.doc.addRenderer('motion_av', yr.VectorsRenderer(motion_av, motion_p, (255,0,0)))
# viewer.doc.addRenderer('model_av', yr.VectorsRenderer(model_av, model_p, (0,255,0)))
# viewer.doc.addRenderer('motion_av_local', yr.VectorsRenderer(motion_av_local, motion_p, (255,100,100)))
# viewer.doc.addRenderer('model_av_local', yr.VectorsRenderer(model_av_local, model_p, (100,255,100)))
# viewer.doc.addRenderer('motion_aa', yr.VectorsRenderer(motion_aa, motion_p, (255,0,0)))
# viewer.doc.addRenderer('model_aa', yr.VectorsRenderer(model_aa, model_p, (0,255,0)))
# viewer.doc.addRenderer('motion_aa_local', yr.VectorsRenderer(motion_aa_local, motion_p, (255,100,100)))
# viewer.doc.addRenderer('model_aa_local', yr.VectorsRenderer(model_aa_local, model_p, (100,255,100)))
Kt = 200; Dt = 2*(Kt**.5)
def simulateCallback(frame):
th_r = motion.getJointOrientationsLocal(frame)
th = controlModel.getJointOrientationsLocal()
dth_r = motion.getJointAngVelocitiesLocal(frame)
dth = controlModel.getJointAngVelocitiesLocal()
ddth_r = motion.getJointAngAccelerationsLocal(frame)
ddth_des = getDesiredAngAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt)
p_r = motion.getJointPositionGlobal(0, frame)
p = controlModel.getJointPositionGlobal(0)
v_r = motion.getJointVelocityGlobal(0, frame)
v = controlModel.getJointVelocityGlobal(0)
a_r = motion.getJointAccelerationGlobal(0, frame)
a_des = getDesiredAcceleration(p_r, p, v_r, v, a_r, Kt, Dt)
th_r0 = motion.getJointOrientationGlobal(0, frame)
th0 = controlModel.getJointOrientationGlobal(0)
dth_r0 = motion.getJointAngVelocityGlobal(0, frame)
dth0 = controlModel.getJointAngVelocityGlobal(0)
ddth_r0 = motion.getJointAngAccelerationGlobal(0, frame)
ddth_des0 = getDesiredAngAccelerations([th_r0], [th0], [dth_r0], [dth0], [ddth_r0], Kt, Dt)[0]
for i in range(stepsPerFrame):
# controlModel.setBodyAccelerationGlobal(0, a_des)
# controlModel.setJointAngAccelerationsLocal(ddth_des)
controlModel.setJointAccelerationGlobal(0, a_des)
controlModel.setJointAngAccelerationGlobal(0, ddth_des0)
controlModel.setInternalJointAngAccelerationsLocal(ddth_des[1:])
controlModel.solveHybridDynamics()
vpWorld.step()
motion_p[:] = motion.getJointPositionsGlobal(frame)
motion_v[:] = motion.getJointVelocitiesGlobal(frame)
motion_a[:] = motion.getJointAccelerationsGlobal(frame)
motion_ap[:] = motion.getJointOrientationsGlobal(frame)
motion_av[:] = motion.getJointAngVelocitiesGlobal(frame)
motion_aa[:] = motion.getJointAngAccelerationsGlobal(frame)
motion_ap_local[:] = motion.getJointOrientationsLocal(frame)
motion_av_local[:] = motion.getJointAngVelocitiesLocal(frame)
motion_aa_local[:] = motion.getJointAngAccelerationsLocal(frame)
model_p[:] = controlModel.getJointPositionsGlobal()
model_v[:] = controlModel.getJointVelocitiesGlobal()
# model_a[:] = controlModel.getJointAccelerationsGlobal()
model_a[:] = map(lambda v1,v0: (v1-v0)/(1/30.), model_v, prev_model_v)
prev_model_v[:] = model_v
model_ap[:] = controlModel.getJointOrientationsGlobal()
model_av[:] = controlModel.getJointAngVelocitiesGlobal()
# model_aa[:] = controlModel.getJointAngAccelerationsGlobal()
model_aa[:] = map(lambda v1,v0: (v1-v0)/(1/30.), model_av, prev_model_av)
prev_model_av[:] = model_av
model_ap_local[:] = controlModel.getJointOrientationsLocal()
model_av_local[:] = controlModel.getJointAngVelocitiesLocal()
# model_aa_local[:] = controlModel.getJointAngAccelerationsLocal()
model_aa_local[:] = map(lambda v1,v0: (v1-v0)/(1/30.), model_av_local, prev_model_av_local)
prev_model_av_local[:] = model_av_local
model_body_p[:] = controlModel.getBodyPositionsGlobal()
model_body_a[:] = controlModel.getBodyAccelerationsGlobal()
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def simulateCallback(frame):
# seginfo
segIndex = seg_index[0]
curState = seginfo[segIndex]['state']
curInterval = yma.offsetInterval(acc_offset[0], seginfo[segIndex]['interval'])
stanceLegs = seginfo[segIndex]['stanceHips']
swingLegs = seginfo[segIndex]['swingHips']
stanceFoots = seginfo[segIndex]['stanceFoots']
swingFoots = seginfo[segIndex]['swingFoots']
swingKnees = seginfo[segIndex]['swingKnees']
groundHeight = seginfo[segIndex]['ground_height']
maxStfPushFrame = seginfo[segIndex]['max_stf_push_frame']
prev_frame = frame-1 if frame>0 else 0
# prev_frame = frame
# information
# dCM_tar = yrp.getCM(motion_seg.getJointVelocitiesGlobal(frame), bodyMasses, upperMass, uppers)
# CM_tar = yrp.getCM(motion_seg.getJointPositionsGlobal(frame), bodyMasses, upperMass, uppers)
## dCM_tar = yrp.getCM(motion_seg.getJointVelocitiesGlobal(frame), bodyMasses, totalMass)
## CM_tar = yrp.getCM(motion_seg.getJointPositionsGlobal(frame), bodyMasses, totalMass)
# stf_tar = motion_seg.getJointPositionGlobal(stanceFoots[0], frame)
# CMr_tar = CM_tar - stf_tar
dCM_tar = motion_seg.getJointVelocityGlobal(0, prev_frame)
CM_tar = motion_seg.getJointPositionGlobal(0, prev_frame)
# dCM_tar = yrp.getCM(motion_seg.getJointVelocitiesGlobal(prev_frame), bodyMasses, upperMass, uppers)
# CM_tar = yrp.getCM(motion_seg.getJointPositionsGlobal(prev_frame), bodyMasses, upperMass, uppers)
# dCM_tar = yrp.getCM(motion_seg.getJointVelocitiesGlobal(prev_frame), bodyMasses, totalMass)
# CM_tar = yrp.getCM(motion_seg.getJointPositionsGlobal(prev_frame), bodyMasses, totalMass)
stf_tar = motion_seg.getJointPositionGlobal(stanceFoots[0], prev_frame)
CMr_tar = CM_tar - stf_tar
dCM = avg_dCM[0]
CM = controlModel.getJointPositionGlobal(0)
# CM = yrp.getCM(controlModel.getJointPositionsGlobal(), bodyMasses, upperMass, uppers)
# CM = yrp.getCM(controlModel.getJointPositionsGlobal(), bodyMasses, totalMass)
CMreal = yrp.getCM(controlModel.getJointPositionsGlobal(), bodyMasses, totalMass)
stf = controlModel.getJointPositionGlobal(stanceFoots[0])
CMr = CM - stf
diff_dCM = mm.projectionOnPlane(dCM-dCM_tar, (1,0,0), (0,0,1))
diff_dCM_axis = np.cross((0,1,0), diff_dCM)
rd_vec1[0] = diff_dCM; rd_vecori1[0] = CM_tar
diff_CMr = mm.projectionOnPlane(CMr-CMr_tar, (1,0,0), (0,0,1))
# rd_vec1[0] = diff_CMr; rd_vecori1[0] = stf_tar
diff_CMr_axis = np.cross((0,1,0), diff_CMr)
direction = mm.normalize2(mm.projectionOnPlane(dCM_tar, (1,0,0), (0,0,1)))
# direction = mm.normalize2(mm.projectionOnPlane(dCM, (1,0,0), (0,0,1)))
directionAxis = np.cross((0,1,0), direction)
diff_dCM_sag, diff_dCM_cor = mm.projectionOnVector2(diff_dCM, direction)
# rd_vec1[0] = diff_dCM_sag; rd_vecori1[0] = CM_tar
diff_dCM_sag_axis = np.cross((0,1,0), diff_dCM_sag)
diff_dCM_cor_axis = np.cross((0,1,0), diff_dCM_cor)
diff_CMr_sag, diff_CMr_cor = mm.projectionOnVector2(diff_CMr, direction)
diff_CMr_sag_axis = np.cross((0,1,0), diff_CMr_sag)
diff_CMr_cor_axis = np.cross((0,1,0), diff_CMr_cor)
t = (frame-curInterval[0])/float(curInterval[1]-curInterval[0])
t_raw = t
if t>1.: t=1.
p_root = motion_stitch[frame].getJointPositionGlobal(0)
R_root = motion_stitch[frame].getJointOrientationGlobal(0)
motion_seg_orig.goToFrame(frame)
motion_seg.goToFrame(frame)
motion_stitch.goToFrame(frame)
motion_debug1.append(motion_stitch[frame].copy())
motion_debug1.goToFrame(frame)
motion_debug2.append(motion_stitch[frame].copy())
motion_debug2.goToFrame(frame)
motion_debug3.append(motion_stitch[frame].copy())
motion_debug3.goToFrame(frame)
# paper implementation
M_tc.append(motion_stitch[prev_frame])
M_tc.goToFrame(frame)
P_hat.append(M_tc[frame].copy())
P_hat.goToFrame(frame)
p_temp = ym.JointPosture(skeleton)
p_temp.rootPos = controlModel.getJointPositionGlobal(0)
p_temp.setJointOrientationsLocal(controlModel.getJointOrientationsLocal())
P.append(p_temp)
P.goToFrame(frame)
# stance foot stabilize
motion_stf_stabilize.append(motion_stitch[frame].copy())
motion_stf_stabilize.goToFrame(frame)
if STANCE_FOOT_STABILIZE:
for stanceFoot in stanceFoots:
R_target_foot = motion_seg[frame].getJointOrientationGlobal(stanceFoot)
R_current_foot = motion_stf_stabilize[frame].getJointOrientationGlobal(stanceFoot)
motion_stf_stabilize[frame].setJointOrientationGlobal(stanceFoot, cm.slerp(R_current_foot, R_target_foot , stf_stabilize_func(t)))
# R_target_foot = motion_seg[frame].getJointOrientationLocal(stanceFoot)
# R_current_foot = motion_stf_stabilize[frame].getJointOrientationLocal(stanceFoot)
# motion_stf_stabilize[frame].setJointOrientationLocal(stanceFoot, cm.slerp(R_current_foot, R_target_foot , stf_stabilize_func(t)))
# match stance leg
motion_match_stl.append(motion_stf_stabilize[frame].copy())
motion_match_stl.goToFrame(frame)
if MATCH_STANCE_LEG:
if curState!=yba.GaitState.STOP:
for i in range(len(stanceLegs)):
stanceLeg = stanceLegs[i]
stanceFoot = stanceFoots[i]
# # motion stance leg -> character stance leg as time goes
R_motion = motion_match_stl[frame].getJointOrientationGlobal(stanceLeg)
R_character = controlModel.getJointOrientationGlobal(stanceLeg)
motion_match_stl[frame].setJointOrientationGlobal(stanceLeg, cm.slerp(R_motion, R_character, match_stl_func(t)))
# t_y = match_stl_func_y(t)
# t_xz = match_stl_func(t)
#
# R_motion = motion_match_stl[frame].getJointOrientationGlobal(stanceLeg)
# R_character = controlModel.getJointOrientationGlobal(stanceLeg)
# R = np.dot(R_character, R_motion.T)
# R_y, R_xz = mm.projectRotation((0,1,0), R)
# motion_match_stl[frame].mulJointOrientationGlobal(stanceLeg, mm.scaleSO3(R_xz, t_xz))
# motion_match_stl[frame].mulJointOrientationGlobal(stanceLeg, mm.scaleSO3(R_y, t_y))
# swing foot placement
motion_swf_placement.append(motion_match_stl[frame].copy())
motion_swf_placement.goToFrame(frame)
if SWING_FOOT_PLACEMENT:
t_swing_foot_placement = swf_placement_func(t);
if extended[0]:
R_swp_sag = prev_R_swp[0][0]
R_swp_cor = prev_R_swp[0][1]
else:
R_swp_sag = mm.I_SO3(); R_swp_cor = mm.I_SO3()
R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_dCM_sag_axis * K_swp_vel_sag * -t_swing_foot_placement))
R_swp_cor = np.dot(R_swp_cor, mm.exp(diff_dCM_cor_axis * K_swp_vel_cor * -t_swing_foot_placement))
if np.dot(direction, diff_CMr_sag) < 0:
R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_CMr_sag_axis * K_swp_pos_sag * -t_swing_foot_placement))
R_swp_cor = np.dot(R_swp_cor, mm.exp(diff_CMr_cor_axis * K_swp_pos_cor * -t_swing_foot_placement))
for i in range(len(swingLegs)):
swingLeg = swingLegs[i]
swingFoot = swingFoots[i]
# save swing foot global orientation
# R_swf = motion_swf_placement[frame].getJointOrientationGlobal(swingFoot)
# rotate swing leg
motion_swf_placement[frame].mulJointOrientationGlobal(swingLeg, R_swp_sag)
motion_swf_placement[frame].mulJointOrientationGlobal(swingLeg, R_swp_cor)
# restore swing foot global orientation
# motion_swf_placement[frame].setJointOrientationGlobal(swingFoot, R_swf)
prev_R_swp[0] = (R_swp_sag, R_swp_cor)
# swing foot height
motion_swf_height.append(motion_swf_placement[frame].copy())
motion_swf_height.goToFrame(frame)
if SWING_FOOT_HEIGHT:
for swingFoot in swingFoots:
stanceFoot = stanceFoots[0]
# save foot global orientation
R_foot = motion_swf_height[frame].getJointOrientationGlobal(swingFoot)
R_stance_foot = motion_swf_height[frame].getJointOrientationGlobal(stanceFoot)
height_tar = motion_swf_height[frame].getJointPositionGlobal(swingFoot)[1] - motion_swf_height[frame].getJointPositionGlobal(stanceFoot)[1]
# motion_debug1[frame] = motion_swf_height[frame].copy()
# rotate
motion_swf_height[frame].rotateByTarget(controlModel.getJointOrientationGlobal(0))
# motion_debug2[frame] = motion_swf_height[frame].copy()
# motion_debug2[frame].translateByTarget(controlModel.getJointPositionGlobal(0))
height_cur = motion_swf_height[frame].getJointPositionGlobal(swingFoot)[1] - motion_swf_height[frame].getJointPositionGlobal(stanceFoot)[1]
offset_height = (height_tar - height_cur) * swf_height_func(t) * c_swf_stability
offset_sine = c_swf_mid_offset * swf_height_sine_func(t)
offset = 0.
offset += offset_height
offset += offset_sine
if offset > 0.:
newPosition = motion_swf_height[frame].getJointPositionGlobal(swingFoot)
newPosition[1] += offset
aik.ik_analytic(motion_swf_height[frame], swingFoot, newPosition)
else:
newPosition = motion_swf_height[frame].getJointPositionGlobal(stanceFoot)
newPosition[1] -= offset
aik.ik_analytic(motion_swf_height[frame], stanceFoot, newPosition)
# return
# motion_debug3[frame] = motion_swf_height[frame].copy()
# motion_debug3[frame].translateByTarget(controlModel.getJointPositionGlobal(0))
motion_swf_height[frame].rotateByTarget(R_root)
# restore foot global orientation
motion_swf_height[frame].setJointOrientationGlobal(swingFoot, R_foot)
motion_swf_height[frame].setJointOrientationGlobal(stanceFoot, R_stance_foot)
if plot!=None:
plot.addDataPoint('debug1', frame, height_tar)
plot.addDataPoint('debug2', frame, height_cur)
# plot.addDataPoint('diff', frame, diff)
# swing foot orientation
motion_swf_orientation.append(motion_swf_height[frame].copy())
motion_swf_orientation.goToFrame(frame)
if SWING_FOOT_ORIENTATION:
# swf_orientation_func = yfg.concatenate([yfg.zero, yfg.hermite2nd, yfg.one], [.25, .75])
for swingFoot in swingFoots:
R_target_foot = motion_seg[curInterval[1]].getJointOrientationGlobal(swingFoot)
R_current_foot = motion_swf_orientation[frame].getJointOrientationGlobal(swingFoot)
motion_swf_orientation[frame].setJointOrientationGlobal(swingFoot, cm.slerp(R_current_foot, R_target_foot, swf_orientation_func(t)))
# swf_stabilize_func = yfg.concatenate([yfg.hermite2nd, yfg.one], [c_taking_duration])
# push orientation
# for swingFoot in swingFoots:
# R_target_foot = motion_seg[frame].getJointOrientationGlobal(swingFoot)
# R_current_foot = motion_swf_orientation[frame].getJointOrientationGlobal(swingFoot)
# motion_swf_orientation[frame].setJointOrientationGlobal(swingFoot, cm.slerp(R_current_foot, R_target_foot , swf_stabilize_func(t)))
# stance foot push
motion_stf_push.append(motion_swf_orientation[frame].copy())
motion_stf_push.goToFrame(frame)
if STANCE_FOOT_PUSH:
for swingFoot in swingFoots:
# max_t = (maxStfPushFrame)/float(curInterval[1]-curInterval[0])
# stf_push_func = yfg.concatenate([yfg.sine, yfg.zero], [max_t*2])
stf_push_func = yfg.concatenate([yfg.sine, yfg.zero], [c_taking_duration*2])
R_swp_sag = mm.I_SO3()
# R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_dCM_sag_axis * K_stp_vel * -stf_push_func(t)))
# if step_length_cur[0] < step_length_tar[0]:
# ratio = step_length_cur[0] / step_length_tar[0]
# R_max = maxmaxStfPushFrame
# R_zero =
R_swp_sag = np.dot(R_swp_sag, mm.exp((step_length_tar[0] - step_length_cur[0])*step_axis[0] * K_stp_pos * -stf_push_func(t)))
motion_stf_push[frame].mulJointOrientationGlobal(swingFoot, R_swp_sag)
# stance foot balancing
motion_stf_balancing.append(motion_stf_push[frame].copy())
motion_stf_balancing.goToFrame(frame)
if STANCE_FOOT_BALANCING:
R_stb = mm.exp(diff_dCM_axis * K_stb_vel * stf_balancing_func(t))
for stanceFoot in stanceFoots:
if frame < 5: continue
motion_stf_balancing[frame].mulJointOrientationGlobal(stanceFoot, R_stb)
# control trajectory
motion_control.append(motion_stf_balancing[frame].copy())
motion_control.goToFrame(frame)
#=======================================================================
# tracking with inverse dynamics
#=======================================================================
th_r = motion_control.getDOFPositions(frame)
th = controlModel.getDOFPositions()
dth_r = motion_control.getDOFVelocities(frame)
dth = controlModel.getDOFVelocities()
ddth_r = motion_control.getDOFAccelerations(frame)
ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt)
#=======================================================================
# simulation
#=======================================================================
CP = mm.v3(0.,0.,0.)
F = mm.v3(0.,0.,0.)
avg_dCM[0] = mm.v3(0.,0.,0.)
# external force rendering info
del rd_forces[:]; del rd_force_points[:]
for fi in forceInfos:
if fi.startFrame <= frame and frame < fi.startFrame + fi.duration*(1/frameTime):
rd_forces.append(fi.force)
rd_force_points.append(controlModel.getBodyPositionGlobal(fi.targetBody))
for i in range(stepsPerFrame):
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(bodyIDsToCheck, mus, Ks, Ds)
vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces)
# apply external force
for fi in forceInfos:
if fi.startFrame <= frame and frame < fi.startFrame + fi.duration*(1/frameTime):
controlModel.applyBodyForceGlobal(fi.targetBody, fi.force)
controlModel.setDOFAccelerations(ddth_des)
controlModel.solveHybridDynamics()
if TORQUE_PLOT:
rhip_torques[frame] += mm.length(controlModel.getJointTorqueLocal(rUpLeg))
rknee_torques[frame] += mm.length(controlModel.getJointTorqueLocal(rKnee))
rankle_torques[frame] += mm.length(controlModel.getJointTorqueLocal(rFoot))
rd_torques[:] = [controlModel.getJointTorqueLocal(i)/100. for i in range(skeleton.getJointNum())]
rd_joint_positions[:] = controlModel.getJointPositionsGlobal()
vpWorld.step()
# yvu.align2D(controlModel)
if len(contactForces) > 0:
CP += yrp.getCP(contactPositions, contactForces)
F += sum(contactForces)
avg_dCM[0] += controlModel.getJointVelocityGlobal(0)
# avg_dCM[0] += yrp.getCM(controlModel.getJointVelocitiesGlobal(), bodyMasses, upperMass, uppers)
# avg_dCM[0] += yrp.getCM(controlModel.getJointVelocitiesGlobal(), bodyMasses, totalMass)
# if len(stanceFoots)>0:
# avg_stf_v[0] += controlModel.getJointVelocityGlobal(stanceFoots[0])
# avg_stf_av[0] += controlModel.getJointAngVelocityGlobal(stanceFoots[0])
CP /= stepsPerFrame
F /= stepsPerFrame
avg_dCM[0] /= stepsPerFrame
# if len(stanceFoots)>0:
# avg_stf_v[0] /= stepsPerFrame
# avg_stf_av[0] /= stepsPerFrame
# rd_vec1[0] = avg_stf_av[0]; rd_vec1[0][0] = 0.; rd_vec1[0][2] = 0.
# rd_vecori1[0]= controlModel.getJointPositionGlobal(stanceFoots[0])
#=======================================================================
# segment editing
#=======================================================================
lastFrame = False
if SEGMENT_EDITING:
if curState==yba.GaitState.STOP:
if frame == len(motion_seg)-1:
lastFrame = True
elif (curState==yba.GaitState.LSWING or curState==yba.GaitState.RSWING) and t>c_min_contact_time:
swingID = lID if curState==yba.GaitState.LSWING else rID
contact = False
if swingID in bodyIDs:
minContactVel = 1000.
for i in range(len(bodyIDs)):
if bodyIDs[i]==swingID:
vel = controlModel.getBodyVelocityGlobal(swingID, contactPositionLocals[i])
vel[1] = 0
contactVel = mm.length(vel)
if contactVel < minContactVel: minContactVel = contactVel
if minContactVel < c_min_contact_vel: contact = True
extended[0] = False
if contact:
# print frame, 'foot touch'
lastFrame = True
acc_offset[0] += frame - curInterval[1]
elif frame == len(motion_seg)-1:
print frame, 'extend frame', frame+1
preserveJoints = []
# preserveJoints = [lFoot, rFoot]
# preserveJoints = [lFoot, rFoot, lKnee, rKnee]
# preserveJoints = [lFoot, rFoot, lKnee, rKnee, lUpLeg, rUpLeg]
stanceKnees = [rKnee] if curState==yba.GaitState.LSWING else [lKnee]
preserveJoints = [stanceFoots[0], stanceKnees[0], stanceLegs[0]]
diff = 3
motion_seg_orig.extend([motion_seg_orig[-1]])
motion_seg.extend(ymt.extendByIntegration_root(motion_seg, 1, diff))
motion_stitch.extend(ymt.extendByIntegration_constant(motion_stitch, 1, preserveJoints, diff))
# # extend for swing foot ground speed matching & swing foot height lower
## extendedPostures = ymt.extendByIntegration(motion_stitch, 1, preserveJoints, diff)
## extendedPostures = [motion_stitch[-1]]
##
# extendFrameNum = frame - curInterval[1] + 1
# k = 1.-extendFrameNum/5.
# if k<0.: k=0.
# extendedPostures = ymt.extendByIntegrationAttenuation(motion_stitch, 1, preserveJoints, diff, k)
#
## if len(swingFoots)>0 and np.inner(dCM_tar, dCM)>0.:
## print frame, 'speed matching'
## R_swf = motion_stitch[-1].getJointOrientationGlobal(swingFoots[0])
##
## p_swf = motion_stitch[-1].getJointPositionGlobal(swingFoots[0])
## v_swf = motion_stitch.getJointVelocityGlobal(swingFoots[0], frame-diff, frame)
## a_swf = motion_stitch.getJointAccelerationGlobal(swingFoots[0], frame-diff, frame)
## p_swf += v_swf * (frameTime) + a_swf * (frameTime)*(frameTime)
## aik.ik_analytic(extendedPostures[0], swingFoots[0], p_swf)
##
## extendedPostures[0].setJointOrientationGlobal(swingFoots[0], R_swf)
#
# motion_stitch.extend(extendedPostures)
extended[0] = True
else:
if frame == len(motion_seg)-1: lastFrame = True
if lastFrame:
if segIndex < len(segments)-1:
print '%d (%d): end of %dth seg (%s, %s)'%(frame, frame-curInterval[1],segIndex, yba.GaitState.text[curState], curInterval)
if plot!=None: plot.addDataPoint('diff', frame, (frame-curInterval[1])*.01)
if len(stanceFoots)>0 and len(swingFoots)>0:
# step_cur = controlModel.getJointPositionGlobal(swingFoots[0]) - controlModel.getJointPositionGlobal(stanceFoots[0])
# step_tar = motion_seg[curInterval[1]].getJointPositionGlobal(swingFoots[0]) - motion_seg[curInterval[1]].getJointPositionGlobal(stanceFoots[0])
step_cur = controlModel.getJointPositionGlobal(0) - controlModel.getJointPositionGlobal(stanceFoots[0])
step_tar = motion_seg[curInterval[1]].getJointPositionGlobal(0) - motion_seg[curInterval[1]].getJointPositionGlobal(stanceFoots[0])
step_cur = mm.projectionOnPlane(step_cur, (1,0,0), (0,0,1))
step_tar = mm.projectionOnPlane(step_tar, (1,0,0), (0,0,1))
step_cur_sag, step_cur_cor = mm.projectionOnVector2(step_cur, direction)
step_tar_sag, step_tar_cor = mm.projectionOnVector2(step_tar, direction)
step_length_tar[0] = mm.length(step_tar_sag)
if np.inner(step_tar_sag, step_cur_sag) > 0:
step_length_cur[0] = mm.length(step_cur_sag)
else:
step_length_cur[0] = -mm.length(step_cur_sag)
step_axis[0] = directionAxis
# rd_vec1[0] = step_tar_sag
# rd_vecori1[0] = motion_seg[curInterval[1]].getJointPositionGlobal(stanceFoots[0])
# rd_vec2[0] = step_cur_sag
# rd_vecori2[0] = controlModel.getJointPositionGlobal(stanceFoots[0])
seg_index[0] += 1
curSeg = segments[seg_index[0]]
stl_y_limit_num[0] = 0
stl_xz_limit_num[0] = 0
del motion_seg_orig[frame+1:]
motion_seg_orig.extend(ymb.getAttachedNextMotion(curSeg, motion_seg_orig[-1], False, False))
del motion_seg[frame+1:]
del motion_stitch[frame+1:]
transitionLength = len(curSeg)-1
# motion_seg.extend(ymb.getAttachedNextMotion(curSeg, motion_seg[-1], False, False))
# motion_stitch.extend(ymb.getStitchedNextMotion(curSeg, motion_control[-1], transitionLength, stitch_func, True, False))
d = motion_seg[-1] - curSeg[0]
d.rootPos[1] = 0.
motion_seg.extend(ymb.getAttachedNextMotion(curSeg, d, True, False))
if NO_FOOT_SLIDING:
if segIndex == len(segments)-2:
Rl = motion_control[-1].getJointOrientationLocal(lUpLeg)
Rr = motion_control[-1].getJointOrientationLocal(rUpLeg)
Rlk = motion_control[-1].getJointOrientationLocal(lKnee)
Rrk = motion_control[-1].getJointOrientationLocal(rKnee)
Rlf = motion_control[-1].getJointOrientationLocal(lFoot)
Rrf = motion_control[-1].getJointOrientationLocal(rFoot)
for p in curSeg:
p.setJointOrientationLocal(lUpLeg, Rl, False)
p.setJointOrientationLocal(rUpLeg, Rr, False)
p.setJointOrientationLocal(lKnee, Rlk, False)
p.setJointOrientationLocal(rKnee, Rrk, False)
p.setJointOrientationLocal(lFoot, Rlf, False)
p.setJointOrientationLocal(rFoot, Rrf, False)
p.updateGlobalT()
d = motion_control[-1] - curSeg[0]
d.rootPos[1] = 0.
motion_stitch.extend(ymb.getStitchedNextMotion(curSeg, d, transitionLength, stitch_func, True, False))
# motion_seg.extend(ymb.getAttachedNextMotion(curSeg, motion_seg[-1], False, True))
# motion_stitch.extend(ymb.getStitchedNextMotion(curSeg, motion_control[-1], transitionLength, stitch_func, True, True))
else:
motion_seg_orig.append(motion_seg_orig[-1])
motion_seg.append(motion_seg[-1])
motion_stitch.append(motion_control[-1])
# rendering
motionModel.update(motion_ori[frame])
# motionModel.update(motion_seg[frame])
if SAVE_SIMULATION:
p_temp = ym.JointPosture(skeleton)
p_temp.initLocalRs()
p_temp.rootPos = controlModel.getJointPositionGlobal(0)
p_temp.setJointOrientationsLocal(controlModel.getJointOrientationsLocal())
motion_simulation.append(p_temp)
if frame == viewer.getMaxFrame():
saveFilePath = SAVE_DIR+'simulated_'+filename
yf.writeBvhFile(saveFilePath, motion_simulation)
print saveFilePath, 'saved'
def create_biped():
# motion
# motionName = 'wd2_n_kick.bvh'
if MOTION == STAND:
# motionName = 'wd2_stand.bvh'
motionName = 'wd2_stand2.bvh'
# motionName = 'woddy2_jump0_short.bvh'
elif MOTION == STAND2:
motionName = 'ww13_41_V001.bvh'
elif MOTION == FORWARD_JUMP:
motionName = 'woddy2_jump0.bvh'
elif MOTION == TAEKWONDO:
motionName = './MotionFile/wd2_098_V001.bvh'
elif MOTION == TAEKWONDO2:
motionName = './MotionFile/wd2_098_V001.bvh'
elif MOTION == KICK:
motionName = 'wd2_n_kick.bvh'
elif MOTION == WALK:
motionName = 'wd2_WalkForwardNormal00.bvh'
elif MOTION == TIPTOE:
motionName = './MotionFile/cmu/15_07_15_07.bvh'
# motionName = 'ww13_41_V001.bvh'
scale = 0.01
if MOTION == WALK:
scale = 1.0
elif MOTION == TIPTOE:
scale = 0.01
motion = yf.readBvhFile(motionName, scale)
yme.removeJoint(motion, HEAD, False)
yme.removeJoint(motion, RIGHT_SHOULDER, False)
yme.removeJoint(motion, LEFT_SHOULDER, False)
yme.removeJoint(motion, RIGHT_TOES, False)
yme.removeJoint(motion, RIGHT_TOES_END, False)
yme.removeJoint(motion, LEFT_TOES, False)
yme.removeJoint(motion, LEFT_TOES_END, False)
yme.removeJoint(motion, RIGHT_HAND_END, False)
yme.removeJoint(motion, LEFT_HAND_END, False)
yme.offsetJointLocal(motion, RIGHT_ARM, (.03, -.05, 0.), False)
yme.offsetJointLocal(motion, LEFT_ARM, (-.03, -.05, 0.), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(1., 0., 0.), .01), False)
# yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(0,0,1), -.01), False)
# addFootSegment
# Talus
length1 = .15
width1 = .03
mass1 = .4
# Phalange
length3 = length1 * 0.75
width3 = width1
mass3 = 0.4
length3_2 = length1 * 0.6
width3_2 = width1
mass3_2 = 0.4
#Calcaneus
length4 = 0.05
width4 = width1
mass4 = 0.4
width1 = 0.03
yme.addJoint(motion, LEFT_FOOT, LEFT_TALUS_1, (-0.025, -0.06, -0.05))
yme.addJoint(motion, LEFT_FOOT, LEFT_TALUS_2, (0.025, -0.06, -0.05))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_TALUS_1, (0.025, -0.06, -0.05))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_TALUS_2, (-0.025, -0.06, -0.05))
yme.addJoint(motion, LEFT_TALUS_1, LEFT_PHALANGE_1,
(0.0, 0.0, length1 - width1 - width3))
yme.addJoint(motion, LEFT_TALUS_2, LEFT_PHALANGE_2,
(0.0, 0.0, length1 - width1 - width3_2))
yme.addJoint(motion, RIGHT_TALUS_1, RIGHT_PHALANGE_1,
(0.0, 0.0, length1 - width1 - width3))
yme.addJoint(motion, RIGHT_TALUS_2, RIGHT_PHALANGE_2,
(0.0, 0.0, length1 - width1 - width3_2))
yme.addJoint(motion, LEFT_PHALANGE_1, 'LEFT_PHALANGE_Effector1',
(0.0, 0.0, length3 - width3))
yme.addJoint(motion, LEFT_PHALANGE_2, 'LEFT_PHALANGE_Effector2',
(0.0, 0.0, length3_2 - width3_2))
yme.addJoint(motion, RIGHT_PHALANGE_1, 'RIGHT_PHALANGE_Effector1',
(0.0, 0.0, length3 - width3))
yme.addJoint(motion, RIGHT_PHALANGE_2, 'RIGHT_PHALANGE_Effector2',
(0.0, 0.0, length3_2 - width3_2))
yme.addJoint(motion, LEFT_FOOT, LEFT_CALCANEUS_1, (-0.025, -0.06, -0.05))
yme.addJoint(motion, LEFT_FOOT, LEFT_CALCANEUS_2, (0.025, -0.06, -0.05))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCANEUS_1, (0.025, -0.06, -0.05))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCANEUS_2, (-0.025, -0.06, -0.05))
yme.addJoint(motion, LEFT_CALCANEUS_1, 'LEFT_CALCANEUS_Effector1',
(0.0, 0.0, -length4))
yme.addJoint(motion, LEFT_CALCANEUS_2, 'LEFT_CALCANEUS_Effector2',
(0.0, 0.0, -length4))
yme.addJoint(motion, RIGHT_CALCANEUS_1, 'RIGHT_CALCANEUS_Effector1',
(0.0, 0.0, -length4))
yme.addJoint(motion, RIGHT_CALCANEUS_2, 'RIGHT_CALCANEUS_Effector2',
(0.0, 0.0, -length4))
yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0, 0.0, 0.0), -.5),
False)
yme.rotateJointLocal(motion, RIGHT_TALUS_1, mm.exp(mm.v3(1.0, 0.0, 0.0),
.5), False)
yme.rotateJointLocal(motion, RIGHT_TALUS_2, mm.exp(mm.v3(1.0, 0.0, 0.0),
.5), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_1,
mm.exp(mm.v3(0.0, 0.0, 1.0), 3.14), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_2,
mm.exp(mm.v3(0.0, 0.0, 1.0), 3.14), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_1,
mm.exp(mm.v3(1.0, 0.0, 0.0), -.5), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_2,
mm.exp(mm.v3(1.0, 0.0, 0.0), -.5), False)
#yme.rotateJointLocal(motion, LEFT_PHALANGE_1, mm.exp(mm.v3(0., 1., 0.), 1.57), False)
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(1.0, 0.0, 0.0), -.5),
False)
yme.rotateJointLocal(motion, LEFT_TALUS_1, mm.exp(mm.v3(1.0, 0.0, 0.0),
.5), False)
yme.rotateJointLocal(motion, LEFT_TALUS_2, mm.exp(mm.v3(1.0, 0.0, 0.0),
.5), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_1,
mm.exp(mm.v3(0.0, 0.0, 1.0), 3.14), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_2,
mm.exp(mm.v3(0.0, 0.0, 1.0), 3.14), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_1,
mm.exp(mm.v3(1.0, 0.0, 0.0), -.5), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_2,
mm.exp(mm.v3(1.0, 0.0, 0.0), -.5), False)
#yme.rotateJointLocal(motion, LEFT_CALCANEUS_1, mm.exp(mm.v3(0.0,-1.0,0.0), 1.57), False)
yme.updateGlobalT(motion)
################
if MOTION == FORWARD_JUMP:
motion = motion[515:555]
elif MOTION == TAEKWONDO:
## Taekwondo base-step
motion = motion[0:31]
#motion = motion[564:600]
elif MOTION == TAEKWONDO2:
## Taekwondo base-step
#motion = motion[0:31+40]
## Taekwondo turning-kick
motion = motion[108:-1]
#motion = motion[108:109]
elif MOTION == KICK:
#motion = motion[141:-1]
#motion = motion[100:-1]
#motion = motion[58:-1]
motion = motion[82:-1]
#motion = motion[0:-1]
elif MOTION == STAND2:
motion = motion[1:-1]
elif MOTION == TIPTOE:
#motion = motion[183:440]
#motion = motion[350:410]
motion = motion[350:550]
motion[0:0] = [motion[0]] * 40
motion.extend([motion[-1]] * 2000)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = 1.
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
node = mcfg.getNode(HIP)
node.length = .2
node.width = .25
node = mcfg.getNode(SPINE1)
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode(SPINE)
node.width = .22
# node.length = .2 ####
node = mcfg.getNode('RightFoot')
node.length = .1
node.width = .1
node = mcfg.getNode('LeftFoot')
node.length = .1
node.width = .1
#Talus
#length1 = .12
#width1 = 0.03
#mass1 = 0.4
#Phalange
#length3 = length1
#width3 = width1
#mass3 = 0.4
#length3_2 = length1*0.8
#width3_2 = width1
#mass3_2 = 0.4
#Calcaneus1
#length4 = 0.1
#width4 = width1
#mass4 = 0.4
#Foot
length8 = .1
width8 = 0.028 * 3
mass8 = .4 * 1.5
node = mcfg.getNode(RIGHT_FOOT)
node.length = length8
node.width = width8
node.mass = mass8
node = mcfg.getNode(RIGHT_TALUS_1)
node.length = length1 - width1
node.width = width1
node.mass = mass1
node = mcfg.getNode(RIGHT_TALUS_2)
node.length = length1 - width1
node.width = width1
node.mass = mass1
node = mcfg.getNode(RIGHT_PHALANGE_1)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(RIGHT_PHALANGE_2)
node.length = length3_2
node.width = width3_2
node.mass = mass3_2
node = mcfg.getNode(RIGHT_CALCANEUS_1)
node.length = length4 - width4
node.width = width4
node.mass = mass4
node = mcfg.getNode(RIGHT_CALCANEUS_2)
node.length = length4 - width4
node.width = width4
node.mass = mass4
node = mcfg.getNode(LEFT_FOOT)
node.length = length8
node.width = width8
node.mass = mass8
node = mcfg.getNode(LEFT_TALUS_1)
node.length = length1 - width1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_TALUS_2)
node.length = length1 - width1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_PHALANGE_1)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(LEFT_PHALANGE_2)
node.length = length3_2
node.width = width3_2
node.mass = mass3_2
node = mcfg.getNode(LEFT_CALCANEUS_1)
node.length = length4 # - width4
node.width = width4
node.mass = mass4
node = mcfg.getNode(LEFT_CALCANEUS_2)
node.length = length4 # - width4
node.width = width4
node.mass = mass4
#node.offset = (0.0, -0.025, 0.0)
node = mcfg.getNode('LeftFoot')
node = mcfg.getNode(RIGHT_TALUS_1)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_TALUS_2)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_TALUS_1)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_TALUS_2)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_METATARSAL_1)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_METATARSAL_2)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_METATARSAL_1)
node.geom = 'MyFoot3'
node = mcfg.getNode(LEFT_METATARSAL_2)
node.geom = 'MyFoot3'
node = mcfg.getNode(RIGHT_PHALANGE_1)
node.geom = 'MyFoot4'
node = mcfg.getNode(RIGHT_PHALANGE_2)
node.geom = 'MyFoot4'
node = mcfg.getNode(LEFT_PHALANGE_1)
node.geom = 'MyFoot4'
node = mcfg.getNode(LEFT_PHALANGE_2)
node.geom = 'MyFoot4'
node = mcfg.getNode(RIGHT_CALCANEUS_1)
node.geom = 'MyFoot4'
node = mcfg.getNode(RIGHT_CALCANEUS_2)
node.geom = 'MyFoot4'
node = mcfg.getNode(LEFT_CALCANEUS_1)
node.geom = 'MyFoot4'
node = mcfg.getNode(LEFT_CALCANEUS_2)
node.geom = 'MyFoot4'
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 120
wcfg.timeStep = (1 / 30.) / (stepsPerFrame)
#stepsPerFrame = 10
#wcfg.timeStep = (1/120.)/(stepsPerFrame)
#wcfg.timeStep = (1/1800.)
# parameter
config = {}
config['Kt'] = 200
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = .10
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 0.1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 20000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1. #0.5
config['Bh'] = 1.
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .2,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .3,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .2,
LEFT_UP_LEG: .1,
LEFT_LEG: .2,
LEFT_TALUS_1: .1,
RIGHT_TALUS_1: .1,
LEFT_TALUS_2: .1,
RIGHT_TALUS_2: .1,
RIGHT_CALCANEUS_1: .2,
LEFT_CALCANEUS_1: .2,
RIGHT_CALCANEUS_2: .2,
LEFT_CALCANEUS_2: .2,
LEFT_PHALANGE_1: .1,
LEFT_PHALANGE_2: .1,
RIGHT_PHALANGE_1: .1,
RIGHT_PHALANGE_2: .1
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .5,
SPINE1: .3,
RIGHT_FOOT: .7,
LEFT_FOOT: .7,
HIP: .5,
RIGHT_UP_LEG: .7,
RIGHT_LEG: .7,
LEFT_UP_LEG: .7,
LEFT_LEG: .7,
LEFT_TALUS_1: .7,
RIGHT_TALUS_1: .7,
LEFT_TALUS_2: .7,
RIGHT_TALUS_2: .7,
RIGHT_CALCANEUS_1: .7,
LEFT_CALCANEUS_1: .7,
RIGHT_CALCANEUS_2: .7,
LEFT_CALCANEUS_2: .7,
LEFT_PHALANGE_1: .4,
LEFT_PHALANGE_2: .4,
RIGHT_PHALANGE_1: .4,
RIGHT_PHALANGE_2: .4
}
'''
(1, 'RightUpLeg')
(2, 'RightLeg')
(3, 'RightFoot')
(4, 'Spine')
(5, 'Spine1')
(6, 'LeftArm')
(7, 'LeftForeArm')
(8, 'RightArm')
(9, 'RightForeArm')
(10, 'LeftUpLeg')
(11, 'LeftLeg')
(12, 'LeftFoot')
(13, 'LeftTalus_1')
(14, 'LeftTalus_2')
(15, 'RightTalus_1')
(16, 'RightTalus_2')
(17, 'LeftPhalange_1')
(18, 'LeftPhalange_2')
(19, 'RightPhalange_1')
(20, 'RightPhalange_2')
(21, 'LeftCalcaneus_1')
(22, 'LeftCalcaneus_2')
(23, 'RightCalcaneus_1')
(24, 'RightCalcaneus_2')
'''
config['trackWMap'] = {
10, 5, .1, 20, 10, 5, 2, 10, 5, .1, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01,
0.01, 0.01, 0.01, 0.01, 0.10, 0.01
}
config['supLink'] = LEFT_FOOT
config['supLink2'] = RIGHT_FOOT
# config['end'] = HIP
config['end'] = SPINE1
config['trunk'] = SPINE
config['const'] = HIP
config['root'] = HIP
config['FootPartNum'] = FOOT_PART_NUM
config['FootLPart'] = [
LEFT_FOOT, LEFT_CALCANEUS_1, LEFT_CALCANEUS_2, LEFT_TALUS_1,
LEFT_TALUS_2, LEFT_PHALANGE_1, LEFT_PHALANGE_2
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_CALCANEUS_1, RIGHT_CALCANEUS_2, RIGHT_TALUS_1,
RIGHT_TALUS_2, RIGHT_PHALANGE_1, RIGHT_PHALANGE_2
]
return motion, mcfg, wcfg, stepsPerFrame, config