def __init__(self, skel, h):
self.h = h
self.skel = skel
ndofs = self.skel.ndofs
self.qhat = self.skel.q
self.Kp = np.diagflat([0.0] * 6 + [600.0] * (ndofs - 6))
self.Kd = np.diagflat([0.0] * 6 + [40.0] * (ndofs - 6))
# Init target poses
self.init_target_poses()
# Jacobian transpose
self.jt = JTController(self.skel)
class Controller:
""" Add damping force to the skeleton """
def __init__(self, skel, h):
self.h = h
self.skel = skel
ndofs = self.skel.ndofs
self.qhat = self.skel.q
self.Kp = np.diagflat([0.0] * 6 + [600.0] * (ndofs - 6))
self.Kd = np.diagflat([0.0] * 6 + [40.0] * (ndofs - 6))
# Init target poses
self.init_target_poses()
# Jacobian transpose
self.jt = JTController(self.skel)
def init_target_poses(self):
skel = self.skel
I_thigh = skel.dof_indices(["j_thigh_left_z", "j_thigh_right_z"])
I_shin = skel.dof_indices(["j_shin_left", "j_shin_right"])
I_heel = skel.dof_indices(["j_heel_left_1", "j_heel_right_1"])
pose0 = self.skel.q
pose0[I_thigh] = 1.2
pose0[I_shin] = -2.0
pose0[I_heel] = 0.8
pose0[28], pose0[31] = 0.5, -0.5 # Shoulder
pose1 = self.skel.q
pose1[28], pose1[31] = -2.0, 2.0 # Shoulder
pose1[29], pose1[32] = 0.5, -0.5 # Shoulder
pose2 = self.skel.q
pose2[I_thigh] = 0.3 # Thighs
self.target_poses = [pose0, pose1, pose2]
self.target_times = [0.0, 0.4, 0.8]
def update_target_pose(self):
if len(self.target_times) == 0:
return
t = self.skel.world.t
if t > self.target_times[0]:
self.qhat = self.target_poses[0]
print('update pose! at %.4lf' % t)
self.target_poses.pop(0)
self.target_times.pop(0)
def compute(self):
self.update_target_pose()
skel = self.skel
invM = inv(skel.M + self.Kd * self.h)
p = -self.Kp.dot(skel.q + skel.qdot * self.h - self.qhat)
d = -self.Kd.dot(skel.qdot)
qddot = invM.dot(-skel.c + p + d + skel.constraint_forces())
tau = p + d - self.Kd.dot(qddot) * self.h
t = self.skel.world.t
if 0.3 < t and t < 0.5:
heels = ['h_heel_left', 'h_heel_right']
vf = self.jt.apply(heels, [0, -700, 0])
tau += vf
# Make sure the first six are zero
tau[:6] = 0
return tau