def compute_from_cs(self): """ Split the complete ContactSequence stored in self.cs and send each subsequence in the pipe_cs """ pid_centroidal = 0 last_iter_centroidal = False logger.info("## Compute from cs, size = %d", self.cs.size()) last_phase = self.get_last_phase() if last_phase: tools.setFinalFromInitialValues(last_phase, self.cs.contactPhases[0]) while pid_centroidal + 5 < self.cs.size(): logger.debug("## Current pid = %d", pid_centroidal) if pid_centroidal + 7 >= self.cs.size(): logger.debug("## Last centroidal iter") # last iter, take all the remaining phases num_phase = self.cs.size() - pid_centroidal last_iter_centroidal = True else: num_phase = 5 logger.debug("## Num phase = %d", num_phase) # Extract the phases [pid_centroidal; pid_centroidal +num_phases] from cs_full cs_iter = ContactSequence(0) for i in range(pid_centroidal, pid_centroidal + num_phase): logger.debug("-- Add phase : %d", i) cs_iter.append(self.cs.contactPhases[i]) self.pipe_cs_in.send([cs_iter, last_iter_centroidal]) # This call may be blocking if the pipe is full pid_centroidal += 2 self.pipe_cs_in.close()
def compute_wholebody(self, robot, cs_com, last_q=None, last_v=None, last_iter=False): """ Compute the wholebody motion for the given ContactSequence :param robot: a TSID RobotWrapper instance :param cs_com: a ContactSequence with centroidal trajectories :param last_q: the last wholebody configuration (used as Initial configuration for this iteration) :param last_v: the last joint velocities vector (used as initial joint velocities for this iteration) :param last_iter: if True, the complete ContactSequence is used, if False only the first 2 phases are used :return: a ContactSequence with wholebody data, the last wholebody configuration, the last joint velocity, the last phase, the TSID RobotWrapper used """ if not self.EffectorInputs.checkAndFillRequirements(cs_com, self.cfg, self.fullBody): raise RuntimeError( "The current contact sequence cannot be given as input to the end effector method selected.") # Generate end effector trajectories for the contactSequence cs_ref_full = self.generate_effector_trajectories(self.cfg, cs_com, self.fullBody) # EffectorOutputs.assertRequirements(cs_ref_full) # Split contactSequence if it is not the last iteration if last_iter: cs_ref = cs_ref_full last_phase = cs_com.contactPhases[-1] else: cs_cut = ContactSequence() for i in range(2): cs_cut.append(cs_ref_full.contactPhases[i]) cs_ref = cs_cut # last_phase should be a double support phase, it should contains all the contact data: last_phase = cs_com.contactPhases[2] tools.setFinalFromInitialValues(last_phase, last_phase) if last_q is not None: cs_ref.contactPhases[0].q_init = last_q if last_v is not None: t_init = cs_ref.contactPhases[0].timeInitial cs_ref.contactPhases[0].dq_t = polynomial(last_v.reshape(-1, 1), t_init, t_init) ### Generate the wholebody trajectory: update_root_traj_timings(cs_ref) if not self.WholebodyInputs.checkAndFillRequirements(cs_ref, self.cfg, self.fullBody): raise RuntimeError( "The current contact sequence cannot be given as input to the wholeBody method selected.") cs_wb, robot = self.generate_wholebody(self.cfg, cs_ref, robot=robot) logger.info("-- compute whole body END") # WholebodyOutputs.assertRequirements(cs_wb) # Retrieve the last phase, q, and v from this outputs: last_phase_wb = cs_wb.contactPhases[-1] last_q = last_phase_wb.q_t(last_phase_wb.timeFinal) last_v = last_phase_wb.dq_t(last_phase_wb.timeFinal) tools.deletePhaseCentroidalTrajectories(last_phase) # Remove unnecessary data to reduce serialized size last_phase.q_final = last_q last_phase.dq_t = polynomial(last_v.reshape(-1, 1), last_phase.timeFinal, last_phase.timeFinal) #last_phase.c_final = last_phase_wb.c_final #last_phase.dc_final = last_phase_wb.dc_final #last_phase.L_final = last_phase_wb.L_final return cs_wb, last_q, last_v, last_phase, robot
def contactSequenceFromRBPRMConfigs(fb, beginId, endId): """ Build a multicontact_api ContactSequence from rbprm states list :param fb: an instance of rbprm.FullBody :param beginId: the first state Id :param endId: the last state Id :return: a multicontact_api ContactSequence """ logger.warning("generate contact sequence from planning : ") n_states = endId - beginId + 1 # There could be either contact break, creation or repositionning between each adjacent states. # But there should be only contacts break or creation between each adjacent contactPhases cs = ContactSequence(0) prev_phase = None phaseId = 0 # create initial ContactPhase cs.append(createPhaseFromRBPRMState(fb, beginId)) for stateId in range(beginId + 1, endId + 1): # from the second state to the last one logger.info("current state id = %d", stateId) previous_phase = cs.contactPhases[-1] eeName, variationType = getContactVariationBetweenStates( fb, stateId - 1, stateId) if eeName is not None: if variationType == VariationType.REPOSITIONNED: # in case of repositionning, the centroidal motion will happend in the next intermediate phase, # and thus the previous_phase will not move : copyPhaseInitToFinal(previous_phase) else: # set the final values of the previous phase to be the current one : setPhaseFinalValues(fb, stateId, previous_phase) if variationType == VariationType.BROKEN: # remove the given contact : cs.breakContact(eeName) else: # get placement of the new contact from the planning : contact_placement = contactPlacementFromRBPRMState( fb, stateId, eeName) if variationType == VariationType.CREATED: # create a new contact : cs.createContact(eeName, ContactPatch(contact_placement)) elif variationType == VariationType.REPOSITIONNED: # move existing contact to new placement : cs.moveEffectorToPlacement(eeName, contact_placement) # set the initial values for the current phase from planning : setPhaseInitialValues(fb, stateId, cs.contactPhases[-1]) # set the same values as the final ones for the intermediate state created : setPhaseFinalValues(fb, stateId, cs.contactPhases[-2]) # else : no contact changes, ignore this state setPhaseFinalValues(fb, endId, cs.contactPhases[-1]) return cs
def store_mcapi_traj(self, traj_name): if not mcapi_import: print( 'multicontact_api package import has failed, check your install' ) return self.set_data_lst_as_arrays() # trajectory with only one ContactPhase (simpler to read/write) # when feet not in contact, the force is exactly zero, that's the only diff cs = ContactSequence() cp = ContactPhase() # assign trajectories : t_arr = self.data_log['t'] cp.timeInitial = t_arr[0] cp.timeFinal = t_arr[-1] cp.duration = t_arr[-1] - t_arr[0] # col number of trajectories should be the time traj size hence the transpose cp.q_t = piecewise.FromPointsList(self.data_log['q'].T, t_arr) cp.dq_t = piecewise.FromPointsList(self.data_log['v'].T, t_arr) cp.ddq_t = piecewise.FromPointsList(self.data_log['dv'].T, t_arr) cp.tau_t = piecewise.FromPointsList(self.data_log['tau'].T, t_arr) cp.c_t = piecewise.FromPointsList(self.data_log['c'].T, t_arr) cp.dc_t = piecewise.FromPointsList(self.data_log['dc'].T, t_arr) cp.L_t = piecewise.FromPointsList(self.data_log['Lc'].T, t_arr) # contact force trajectories for i_foot, frame_name in enumerate(self.contact_names): cp.addContact(frame_name, ContactPatch( pin.SE3(), 0.5)) # dummy placement and friction coeff cp.addContactForceTrajectory( frame_name, piecewise.FromPointsList(self.data_log['f{}'.format(i_foot)].T, t_arr)) cs.append(cp) #Â only one contact phase savepath = os.path.join(self.directory, traj_name + '.cs') cs.saveAsBinary(savepath) print('Saved ' + savepath)
def compute_stopping_cs(self, move_to_support_polygon=True): """ Compute a Contact Sequence with centroidal trajectories to bring the current last_phase to a stop without contact changes :param move_to_support_polygon: if True, add a trajectory to put the CoM above the center of the support polygon :return: """ phase_stop = ContactPhase(self.get_last_phase()) tools.setInitialFromFinalValues(phase_stop, phase_stop) phase_stop.timeInitial = phase_stop.timeFinal phase_stop.duration = DURATION_0_STEP # FIXME !! # try 0-step: success, phase = zeroStepCapturability(phase_stop, self.cfg) if success: cs_ref = ContactSequence(0) cs_ref.append(phase) # TEST : add another phase to go back in the center of the support polygon if move_to_support_polygon: phase_projected = ContactPhase() phase_projected.timeInitial = phase.timeFinal phase_projected.duration = DURATION_0_STEP tools.copyContactPlacement(phase, phase_projected) tools.setInitialFromFinalValues(phase, phase_projected) phase_projected.c_final = tools.computeCenterOfSupportPolygonFromPhase( phase_stop, self.fullBody.DEFAULT_COM_HEIGHT) #FIXME 'default height' tools.connectPhaseTrajToFinalState(phase_projected) cs_ref.append(phase_projected) else: # TODO try 1 step : raise RuntimeError("One step capturability not implemented yet !") tools.computeRootTrajFromContacts(self.fullBody, cs_ref) self.last_phase = cs_ref.contactPhases[-1].copy() # define the final root position, translation from the CoM position and rotation from the feet rotation q_final = np.zeros(7) q_final[:3] = self.last_phase.c_final[::] placement_rot_root, _ = tools.rootOrientationFromFeetPlacement(self.cfg.Robot, None, self.last_phase, None) quat_root = Quaternion(placement_rot_root.rotation) q_final[3:7] = [quat_root.x, quat_root.y, quat_root.z, quat_root.w] self.last_phase.q_final = q_final self.last_phase_flag.value = False self.last_phase_pickled = Array(c_ubyte, MAX_PICKLE_SIZE) # reset currently stored whole body last phase return cs_ref
def compute_centroidal(self, cs, previous_phase, last_iter=False): """ Solve the centroidal problem for the given ContactSequence :param cs: the ContactSequence used :param previous_phase: If provided, copy the final data of this phase as initial data for the given ContactSequence :param last_iter: If True, return a ContactSequence corresponding to the complete contactSequence given as input If False, the result is splitted and only the first 3 phases are returned :return: The ContactSequence with centroidal trajectories, and the last phase """ # update the initial state with the data from the previous intermediate state: if previous_phase: tools.setInitialFromFinalValues(previous_phase, cs.contactPhases[0]) self.cfg.COM_SHIFT_Z = 0. self.cfg.TIME_SHIFT_COM = 0. #else: # self.cfg.COM_SHIFT_Z = self.previous_com_shift_z # self.cfg.TIME_SHIFT_COM = self.previous_time_shift_com if last_iter: # Set settings specific to the last iteration that need to connect exactly to the final goal position self.cfg.DURATION_CONNECT_GOAL = self.previous_connect_goal self.cfg.TIMEOPT_CONFIG_FILE = self.TIMEOPT_CONFIG_FILE else: # Set settings for the middle of the sequence: do not need to connect exactly to the goal self.cfg.DURATION_CONNECT_GOAL = 0. self.cfg.TIMEOPT_CONFIG_FILE = self.TIMEOPT_CONFIG_FILE.rstrip(".yaml") + "_lowgoal.yaml" if not self.CentroidalInputs.checkAndFillRequirements(cs, self.cfg, None): raise RuntimeError( "The current contact sequence cannot be given as input to the centroidal method selected.") cs_full = self.generate_centroidal(self.cfg, cs, None, None) # CentroidalOutputs.assertRequirements(cs_full) if last_iter: return cs_full, None else: cs_cut = ContactSequence(0) for i in range(3): cs_cut.append(cs_full.contactPhases[i]) return cs_cut, cs_cut.contactPhases[1]
def build_cs_from_sl1m_mip(fb, q_ref, root_end, pb, allfeetpos, use_orientation, use_interpolated_orientation, q_init = None, first_phase = None): """ Build a multicontact_api.ContactSequence from the SL1M outputs when using the MIP formulation :param fb: an instance of rbprm.Fullbody :param q_ref: the reference wholebody configuration of the robot :param root_end: the final base position :param pb: the SL1M problem dictionary, containing all the contact surfaces and data :param allfeetpos: the list of all foot position for each phase, computed by SL1M :param use_orientation: if True, change the contact yaw rotation to match the orientation of the base in the guide :param use_interpolated_orientation: if True, the feet yaw orientation will 'anticipate' the base orientation of the next phase :param q_init: the initial wholebody configuration (either this or first_phase should be provided) :param first_phase: the first multicontact_api.ContactPhase object (either this or q_init should be provided) :return: the multicontact_api.ContactSequence, with all ContactPhase created at the correct placement """ # init contact sequence with first phase : q_ref move at the right root pose and with both feet in contact # FIXME : allow to customize that first phase num_steps = len(pb["phaseData"]) - 1 # number of contact repositionning limbs_names = fb.limbs_names num_effectors = len(limbs_names) logger.info(" limbs names : %s", limbs_names) cs = ContactSequence(0) if first_phase: cs.append(first_phase) elif q_init: # if only the configuration is provided, assume all effectors are in contact addPhaseFromConfig(fb, cs, q_init, limbs_names) else: raise ValueError("build_cs_from_sl1m should have either q_init or first_phase argument defined") logger.info("Initial phase added, contacts : %s ", cs.contactPhases[0].effectorsInContact()) # loop for all effector placements, and create the required contact phases previous_eff_placements = allfeetpos[0] if len(previous_eff_placements) != num_effectors: raise NotImplementedError("A phase in the output of SL1M do not have all the effectors in contact.") for pid, eff_placements in enumerate(allfeetpos[1:]): logger.info("Loop allfeetpos, id = %d", pid) if len(eff_placements) != num_effectors: raise NotImplementedError("A phase in the output of SL1M do not have all the effectors in contact.") switch = False # True if a repostionning have been detected for k, pos in enumerate(eff_placements): if norm(pos - previous_eff_placements[k]) > 1e-3: if switch: raise NotImplementedError("Several contact changes between two adjacent phases in SL1M output") switch = True ee_name = fb.dict_limb_joint[limbs_names[k]] #pos[2] += EPS_Z # FIXME: apply epsz along the normal pos = fb.dict_offset[ee_name].actInv(pos) logger.info("Move effector %s ", ee_name) logger.info("To position %s ", pos) placement = SE3.Identity() placement.translation = pos # compute orientation of the contact from the surface normal: phase_data = pb["phaseData"][pid+1] # +1 because the for loop start at id = 1 n = normal_from_ineq(phase_data["S"][phase_data["id_surface"]]) placement.rotation = rotationFromNormal(n) logger.debug("new contact placement : %s", placement) # TODO add yaw rotation from guide here ! cs.moveEffectorToPlacement(ee_name, placement) #if not switch: # raise RuntimeError("No contact changes between two adjacent phases in SL1M output") # assign com position to the last two phases : # swinging phase, same init and final position """ cs.contactPhases[-2].c_init = coms[pid * 2] cs.contactPhases[-2].c_final = coms[pid * 2 + 1] # phase with all the contacts: cs.contactPhases[-1].c_init = coms[pid * 2 + 1] if pid * 2 + 2 < len(coms): cs.contactPhases[-1].c_final = coms[pid * 2 + 2] else: cs.contactPhases[-1].c_final = cs.contactPhases[-1].c_init """ previous_eff_placements = eff_placements # final phase : # fixme : assume root is in the middle of the last 2 feet pos ... """ q_end = q_ref.tolist() + [0] * 6 # p_end = (allfeetpos[-1] + allfeetpos[-2]) / 2. # for i in range(3): # q_end[i] += p_end[i] q_end[0:7] = root_end feet_height_end = allfeetpos[-1][0][2] logger.info("feet height final = %s", feet_height_end) q_end[2] = feet_height_end + q_ref[2] #q_end[2] += EPS_Z fb.setCurrentConfig(q_end) com = fb.getCenterOfMass() setFinalState(cs, com, q=q_end) """ p_final = cs.contactPhases[-1] p_final.c_final = computeCenterOfSupportPolygonFromPhase(p_final, fb.DEFAULT_COM_HEIGHT) p_final.c_init = p_final.c_final return cs
def build_cs_from_sl1m_l1(fb, q_ref, root_end, pb, RF, allfeetpos, use_orientation, use_interpolated_orientation, q_init = None, first_phase = None): """ Build a multicontact_api.ContactSequence from the SL1M outputs, when not using the MIP formulation :param fb: an instance of rbprm.Fullbody :param q_ref: the reference wholebody configuration of the robot :param root_end: the final base position :param pb: the SL1M problem dictionary, containing all the contact surfaces and data :param RF: the Id of the right feet in the SL1M formulation :param allfeetpos: the list of all foot position for each phase, computed by SL1M :param use_orientation: if True, change the contact yaw rotation to match the orientation of the base in the guide :param use_interpolated_orientation: if True, the feet yaw orientation will 'anticipate' the base orientation of the next phase :param q_init: the initial wholebody configuration (either this or first_phase should be provided) :param first_phase: the first multicontact_api.ContactPhase object (either this or q_init should be provided) :return: the multicontact_api.ContactSequence, with all ContactPhase created at the correct placement """ # init contact sequence with first phase : q_ref move at the right root pose and with both feet in contact # FIXME : allow to customize that first phase cs = ContactSequence(0) if q_init: addPhaseFromConfig(fb, cs, q_init, [fb.rLegId, fb.lLegId]) elif first_phase: cs.append(first_phase) else: raise ValueError("build_cs_from_sl1m should have either q_init or first_phase argument defined") # loop over all phases of pb and add them to the cs : for pId in range(2, len(pb["phaseData"])): # start at 2 because the first two ones are already done in the q_init prev_contactPhase = cs.contactPhases[-1] #n = normal(pb["phaseData"][pId]) phase = pb["phaseData"][pId] moving = phase["moving"] movingID = fb.lfoot if moving == RF: movingID = fb.rfoot pos = allfeetpos[pId] # array, desired position for the feet movingID pos[2] += EPS_Z # FIXME it shouldn't be required !! # compute desired foot rotation : if use_orientation: rot = compute_orientation_for_feet_placement(fb, pb, pId, moving, RF, prev_contactPhase, use_interpolated_orientation) else: rot = Quaternion.Identity() placement = SE3() placement.translation = np.array(pos).T placement.rotation = rot.matrix() cs.moveEffectorToPlacement(movingID, placement) # final phase : # fixme : assume root is in the middle of the last 2 feet pos ... q_end = q_ref.tolist() + [0] * 6 #p_end = (allfeetpos[-1] + allfeetpos[-2]) / 2. #for i in range(3): # q_end[i] += p_end[i] q_end[0:7] = root_end feet_height_end = allfeetpos[-1][2] logger.info("feet height final = %s", feet_height_end) q_end[2] = feet_height_end + q_ref[2] q_end[2] += EPS_Z fb.setCurrentConfig(q_end) com = fb.getCenterOfMass() setFinalState(cs, com, q=q_end) return cs
class LocoPlannerReactive(LocoPlanner): def __init__(self, cfg): # Disable most of the automatic display that could not be updated automatically when motion is replanned cfg.DISPLAY_CS = False cfg.DISPLAY_CS_STONES = True cfg.DISPLAY_SL1M_SURFACES = False cfg.DISPLAY_INIT_GUESS_TRAJ = False cfg.DISPLAY_WP_COST = False cfg.DISPLAY_COM_TRAJ = False cfg.DISPLAY_FEET_TRAJ = False cfg.DISPLAY_ALL_FEET_TRAJ = False cfg.DISPLAY_WB_MOTION = False cfg.IK_SHOW_PROGRESS = False cfg.centroidal_initGuess_method = "none" # not supported by this class yet cfg.ITER_DYNAMIC_FILTER = 0 # not supported by this class yet cfg.CHECK_FINAL_MOTION = False # Disable computation of additionnal data to speed up the wholebody computation time cfg.IK_store_centroidal = False # c,dc,ddc,L,dL (of the computed wholebody motion) cfg.IK_store_zmp = False cfg.IK_store_effector = False cfg.IK_store_contact_forces = False cfg.IK_store_joints_derivatives = True cfg.IK_store_joints_torque = False cfg.EFF_CHECK_COLLISION = False # WIP: disable limb-rrt cfg.contact_generation_method = "sl1m" # Reactive planning class is specific to SL1M for now # Store the specific settings for connecting the initial/goal points as they may be changed cfg.Robot.DEFAULT_COM_HEIGHT += cfg.COM_SHIFT_Z self.previous_com_shift_z = cfg.COM_SHIFT_Z self.previous_time_shift_com = cfg.TIME_SHIFT_COM cfg.COM_SHIFT_Z = 0. cfg.TIME_SHIFT_COM = 0. self.previous_connect_goal = cfg.DURATION_CONNECT_GOAL cfg.DURATION_CONNECT_GOAL = 0. self.TIMEOPT_CONFIG_FILE = cfg.TIMEOPT_CONFIG_FILE super().__init__(cfg) # Get the centroidal and wholebody methods selected in the configuraton file self.generate_centroidal, self.CentroidalInputs, self.CentroidalOutputs = self.cfg.get_centroidal_method() self.generate_effector_trajectories, self.EffectorInputs, self.EffectorOutputs = \ self.cfg.get_effector_initguess_method() self.generate_wholebody, self.WholebodyInputs, self.WholebodyOutputs = self.cfg.get_wholebody_method() # define members that will stores processes and queues self.process_compute_cs = None self.process_centroidal = None self.process_wholebody = None self.process_viewer = None self.process_gepetto_gui = None self.pipe_cs_in = None self.pipe_cs_out = None self.pipe_cs_com_in = None self.pipe_cs_com_out = None self.queue_qt = None self.viewer_lock = Lock() # lock to access gepetto-gui API self.loop_viewer_lock = Lock() # lock to guarantee that only one loop_viewer is executed at any given time self.last_phase_lock = Lock() # lock to read/write last_phase data self.last_phase_pickled = Array(c_ubyte, MAX_PICKLE_SIZE) # will contain the last contact phase send to the viewer self.last_phase = None self.stop_motion_flag = Value(c_bool) # true if a stop is requested self.last_phase_flag = Value(c_bool) # true if the last phase have changed self.cfg.Robot.minDist = 0.7 # See bezier-com-traj doc, # minimal distance between the CoM and the contact points along the Z axis # initialize the guide planner class: self.client_hpp = None self.robot = None self.gui = None self.pyb_sim = None self.guide_planner = self.init_guide_planner() # initialize a fullBody rbprm object self.fullBody, _ = initScene(cfg.Robot, cfg.ENV_NAME, context="fullbody") self.fullBody.setCurrentConfig(cfg.IK_REFERENCE_CONFIG.tolist() + [0] * 6) self.current_root_goal = [] self.current_guide_id = 0 # Set up gepetto gui and a pinocchio robotWrapper with display self.init_viewer() # Set up a pybullet environment: if USE_PYB: self.init_pybullet() def init_guide_planner(self): """ Initialize an rbprm.AbstractPathPlanner class :return: an instance of rbprm.AbstractPathPlanner initialized with the current settings """ # the following script must produce a if hasattr(self.cfg, 'SCRIPT_ABSOLUTE_PATH'): scriptName = self.cfg.SCRIPT_ABSOLUTE_PATH else: scriptName = self.cfg.RBPRM_SCRIPT_PATH + "." + self.cfg.SCRIPT_PATH + '.' + self.cfg.DEMO_NAME scriptName += "_path" logger.warning("Run Guide script : %s", scriptName) module = importlib.import_module(scriptName) planner = module.PathPlanner("guide_planning") planner.init_problem() # greatly increase the number of loops of the random shortcut planner.ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops", 50) # force the base orientation to follow the direction of motion along the Z axis planner.ps.setParameter("Kinodynamic/forceYawOrientation", True) planner.q_init[:2] = [0, 0] # FIXME : defined somewhere ?? planner.init_viewer(cfg.ENV_NAME) planner.init_planner() return planner def init_viewer(self): """ Build a pinocchio wrapper and a gepetto-gui instance and assign them as class members: self.robot and self.gui Also start (or restart) a gepetto-gui process """ subprocess.run(["killall", "gepetto-gui"]) self.process_gepetto_gui = subprocess.Popen("gepetto-gui", stdout=subprocess.PIPE, stderr=subprocess.DEVNULL, preexec_fn=os.setpgrp) atexit.register(self.process_gepetto_gui.kill) time.sleep(3) self.robot, self.gui = initScenePinocchio(cfg.Robot.urdfName + cfg.Robot.urdfSuffix, cfg.Robot.packageName, cfg.ENV_NAME) self.robot.display(self.cfg.IK_REFERENCE_CONFIG) def init_pybullet(self): self.pyb_sim = pybullet_simulator(dt=self.cfg.IK_dt, q_init=self.cfg.IK_REFERENCE_CONFIG[7:].reshape(-1, 1), root_init=[0, 0, 0.1], env_name=cfg.ENV_NAME + ".urdf", env_package="hpp_environments", use_gui=False) def execute_motion(self, q_t, dq_t): if USE_PYB: self.viewer_lock.acquire() SimulatorLoop(self.pyb_sim, self.cfg.IK_dt, q_t, dq_t, self.robot.display) self.viewer_lock.release() else: self.viewer_lock.acquire() disp_wb_pinocchio(self.robot, q_t, self.cfg.DT_DISPLAY) self.viewer_lock.release() def plan_guide(self, root_goal): """ Plan a guide from the current last_phase root position to the given root position :param root_goal: list of size 3 or 7: translation and quaternion for the desired root position If the quaternion part is not specified, the final orientation is not constrained Store the Id of the new path in self.current_guide_id """ self.guide_planner.q_goal = self.guide_planner.q_init[::] self.guide_planner.q_goal[:3] = root_goal[:3] self.guide_planner.q_goal[3:7] = [0, 0, 0, 1] self.guide_planner.q_goal[-6:] = [0] * 6 last_phase = self.get_last_phase() if last_phase: logger.warning("Last phase not None") logger.warning("Last phase q_final : %s", last_phase.q_final[:7]) self.guide_planner.q_init[:7] = last_phase.q_final[:7] self.guide_planner.q_init[2] = self.guide_planner.rbprmBuilder.ref_height # FIXME #add small velocity in order to have smooth change of orientation at the beginning/end quat_init = Quaternion(self.guide_planner.q_init[6], self.guide_planner.q_init[3], self.guide_planner.q_init[4], self.guide_planner.q_init[5]) dir_init = quat_init * np.array([1, 0, 0]) self.guide_planner.q_init[-6] = dir_init[0] * V_INIT self.guide_planner.q_init[-5] = dir_init[1] * V_INIT if len(root_goal) >= 7: self.guide_planner.q_goal[3:7] = root_goal[3:7] quat_goal = Quaternion(self.guide_planner.q_goal[6], self.guide_planner.q_goal[3], self.guide_planner.q_goal[4], self.guide_planner.q_goal[5]) dir_goal = quat_goal * np.array([1, 0, 0]) self.guide_planner.q_goal[-6] = dir_goal[0] * V_GOAL self.guide_planner.q_goal[-5] = dir_goal[1] * V_GOAL logger.warning("Guide init = %s", self.guide_planner.q_init) logger.warning("Guide goal = %s", self.guide_planner.q_goal) self.guide_planner.ps.resetGoalConfigs() self.guide_planner.ps.clearRoadmap() self.current_root_goal = root_goal self.guide_planner.solve(True) self.current_guide_id = self.guide_planner.ps.numberPaths() - 1 def compute_cs_from_guide(self): """ Call SL1M to produce a contact sequence following the root path stored in self.current_guide_id Store the result in self.cs :param guide_id: Id of the path stored in self.guide_planner.ps :return: """ initial_contacts = None last_phase = self.get_last_phase() if self.cfg.SL1M_MAX_STEP > 0: # compute the pathlength corresponding to this number of steps: max_path_length = self.cfg.SL1M_MAX_STEP * self.cfg.GUIDE_STEP_SIZE total_path_length = self.guide_planner.ps.pathLength(self.current_guide_id) if total_path_length > max_path_length: # split the guide path in several segment of max_path_length length guide_ids = [] t = 0. while t < total_path_length: t_next = t + max_path_length if t_next > total_path_length: t_next = total_path_length self.guide_planner.ps.extractPath(self.current_guide_id, t, t_next) guide_ids += [self.guide_planner.ps.numberPaths() - 1] t = t_next else: guide_ids = [self.current_guide_id] else: guide_ids = [self.current_guide_id] print("##### compute sl1m from guide id(s) : ", guide_ids) self.cs = ContactSequence() for guide_id in guide_ids: self.guide_planner.pathId = guide_id self.guide_planner.q_goal = self.guide_planner.ps.configAtParam( guide_id, self.guide_planner.ps.pathLength(guide_id)) print("### FORLOOP, guide id = ", guide_id) # compute initial contacts position, either from last_phase or from the wholebody configuration if last_phase: q_init = None initial_contacts = [last_phase.contactPatch(ee_name).placement.translation + self.fullBody.dict_offset[ee_name].translation for ee_name in [self.fullBody.dict_limb_joint[limb] for limb in self.fullBody.limbs_names]] first_phase = ContactPhase() tools.copyContactPlacement(last_phase, first_phase) tools.setInitialFromFinalValues(last_phase, first_phase) else: first_phase = None q_init = self.fullBody.getCurrentConfig() initial_contacts = sl1m.initial_foot_pose_from_fullbody(self.fullBody, q_init) pathId, pb, coms, footpos, allfeetpos, res = sl1m.solve(self.guide_planner, self.cfg, False, initial_contacts) root_end = self.guide_planner.ps.configAtParam(pathId, self.guide_planner.ps.pathLength(pathId) - 0.001)[0:7] logger.info("SL1M, root_end = %s", root_end) current_cs = sl1m.build_cs_from_sl1m(self.cfg.SL1M_USE_MIP, self.fullBody, self.cfg.IK_REFERENCE_CONFIG, root_end, pb, sl1m.sl1m.RF, allfeetpos, cfg.SL1M_USE_ORIENTATION, cfg.SL1M_USE_INTERPOLATED_ORIENTATION, q_init, first_phase) last_phase = current_cs.contactPhases[-1] # Merge current_cs in cs if self.cs.size() == 0: [self.cs.append(phase) for phase in current_cs.contactPhases] else: # first new phase is the same as last previous phase [self.cs.append(phase) for phase in current_cs.contactPhases[1:]] logger.warning("## Compute cs from guide done.") process_stones = Process(target=self.display_stones_lock) process_stones.start() atexit.register(process_stones.terminate) def display_stones_lock(self): """ Wait for the lock to access to gepetto-gui and then display the stepping stones for the current contact_sequence """ logger.info("Waiting lock to display stepping stones ...") self.viewer_lock.acquire() logger.info("Display stepping stones ...") displaySteppingStones(self.cs, self.gui, "world", self.cfg.Robot) # FIXME: change world if changed in pinocchio ... logger.info("Display done.") self.viewer_lock.release() def hide_stones_lock(self): """ Wait for the lock to access to gepetto-gui and then remove all the stepping stones from the scene """ logger.info("Waiting lock to hide stepping stones ...") self.viewer_lock.acquire() logger.info("Hide stepping stones ...") hideSteppingStone(self.gui) logger.info("Hiding done.") self.viewer_lock.release() def get_last_phase(self): """ Retrieve the last phase stored in the shared memory If self.last_phase exist and the flag last_phase_flag is False, return the phase stored in self.last_phase Otherwise, retrieve the data in the shared memory and deserialize it :return: the last phase """ if self.last_phase is None or self.last_phase_flag.value: self.last_phase_lock.acquire() try: pic = bytes(self.last_phase_pickled) self.last_phase = pickle.loads(pic) self.last_phase_flag.value = False except: #logger.error("Cannot de serialize the last_phase") self.last_phase = None self.last_phase_lock.release() return self.last_phase def set_last_phase(self, last_phase): """ set pickled last_phase data to last_phase_pickled shared memory :param last_phase: """ logger.info("set_last_phase: pickle serialization ...") arr = pickle.dumps(last_phase) logger.info("set_last_phase: waiting for lock ...") self.last_phase_lock.acquire() if len(arr) >= MAX_PICKLE_SIZE: raise ValueError("In copy array: given array is too big, size = " + str(len(arr))) logger.info("set_last_phase: writing data ... ") for i, el in enumerate(arr): self.last_phase_pickled[i] = el self.last_phase_flag.value = True logger.info("Add a last_phase, q_final = %s", last_phase.q_final) self.last_phase_lock.release() def is_at_stop(self): """ Return True if the last phase have a null CoM and joint velocities :return: """ p = self.get_last_phase() if p: if not np.isclose(p.dc_final, np.zeros(3), atol=1e-2).all(): return False dq = p.dq_t(p.timeFinal) if not np.isclose(dq, np.zeros(dq.shape), atol=1e-1).all(): return False return True def compute_centroidal(self, cs, previous_phase, last_iter=False): """ Solve the centroidal problem for the given ContactSequence :param cs: the ContactSequence used :param previous_phase: If provided, copy the final data of this phase as initial data for the given ContactSequence :param last_iter: If True, return a ContactSequence corresponding to the complete contactSequence given as input If False, the result is splitted and only the first 3 phases are returned :return: The ContactSequence with centroidal trajectories, and the last phase """ # update the initial state with the data from the previous intermediate state: if previous_phase: tools.setInitialFromFinalValues(previous_phase, cs.contactPhases[0]) self.cfg.COM_SHIFT_Z = 0. self.cfg.TIME_SHIFT_COM = 0. #else: # self.cfg.COM_SHIFT_Z = self.previous_com_shift_z # self.cfg.TIME_SHIFT_COM = self.previous_time_shift_com if last_iter: # Set settings specific to the last iteration that need to connect exactly to the final goal position self.cfg.DURATION_CONNECT_GOAL = self.previous_connect_goal self.cfg.TIMEOPT_CONFIG_FILE = self.TIMEOPT_CONFIG_FILE else: # Set settings for the middle of the sequence: do not need to connect exactly to the goal self.cfg.DURATION_CONNECT_GOAL = 0. self.cfg.TIMEOPT_CONFIG_FILE = self.TIMEOPT_CONFIG_FILE.rstrip(".yaml") + "_lowgoal.yaml" if not self.CentroidalInputs.checkAndFillRequirements(cs, self.cfg, None): raise RuntimeError( "The current contact sequence cannot be given as input to the centroidal method selected.") cs_full = self.generate_centroidal(self.cfg, cs, None, None) # CentroidalOutputs.assertRequirements(cs_full) if last_iter: return cs_full, None else: cs_cut = ContactSequence(0) for i in range(3): cs_cut.append(cs_full.contactPhases[i]) return cs_cut, cs_cut.contactPhases[1] def compute_wholebody(self, robot, cs_com, last_q=None, last_v=None, last_iter=False): """ Compute the wholebody motion for the given ContactSequence :param robot: a TSID RobotWrapper instance :param cs_com: a ContactSequence with centroidal trajectories :param last_q: the last wholebody configuration (used as Initial configuration for this iteration) :param last_v: the last joint velocities vector (used as initial joint velocities for this iteration) :param last_iter: if True, the complete ContactSequence is used, if False only the first 2 phases are used :return: a ContactSequence with wholebody data, the last wholebody configuration, the last joint velocity, the last phase, the TSID RobotWrapper used """ if not self.EffectorInputs.checkAndFillRequirements(cs_com, self.cfg, self.fullBody): raise RuntimeError( "The current contact sequence cannot be given as input to the end effector method selected.") # Generate end effector trajectories for the contactSequence cs_ref_full = self.generate_effector_trajectories(self.cfg, cs_com, self.fullBody) # EffectorOutputs.assertRequirements(cs_ref_full) # Split contactSequence if it is not the last iteration if last_iter: cs_ref = cs_ref_full last_phase = cs_com.contactPhases[-1] else: cs_cut = ContactSequence() for i in range(2): cs_cut.append(cs_ref_full.contactPhases[i]) cs_ref = cs_cut # last_phase should be a double support phase, it should contains all the contact data: last_phase = cs_com.contactPhases[2] tools.setFinalFromInitialValues(last_phase, last_phase) if last_q is not None: cs_ref.contactPhases[0].q_init = last_q if last_v is not None: t_init = cs_ref.contactPhases[0].timeInitial cs_ref.contactPhases[0].dq_t = polynomial(last_v.reshape(-1, 1), t_init, t_init) ### Generate the wholebody trajectory: update_root_traj_timings(cs_ref) if not self.WholebodyInputs.checkAndFillRequirements(cs_ref, self.cfg, self.fullBody): raise RuntimeError( "The current contact sequence cannot be given as input to the wholeBody method selected.") cs_wb, robot = self.generate_wholebody(self.cfg, cs_ref, robot=robot) logger.info("-- compute whole body END") # WholebodyOutputs.assertRequirements(cs_wb) # Retrieve the last phase, q, and v from this outputs: last_phase_wb = cs_wb.contactPhases[-1] last_q = last_phase_wb.q_t(last_phase_wb.timeFinal) last_v = last_phase_wb.dq_t(last_phase_wb.timeFinal) tools.deletePhaseCentroidalTrajectories(last_phase) # Remove unnecessary data to reduce serialized size last_phase.q_final = last_q last_phase.dq_t = polynomial(last_v.reshape(-1, 1), last_phase.timeFinal, last_phase.timeFinal) #last_phase.c_final = last_phase_wb.c_final #last_phase.dc_final = last_phase_wb.dc_final #last_phase.L_final = last_phase_wb.L_final return cs_wb, last_q, last_v, last_phase, robot def compute_wholebody_queue(self, cs_ref): """ Call the wholebody motion generation with the given cs_ref and the queue_qt and store the last compute phase with self.set_last_phase :param cs_ref: :return: """ logger.warning("@@ Start compute_wholebody_queue") cs_wb, _ = self.generate_wholebody(self.cfg, cs_ref, None, None, None, self.queue_qt) last_phase = ContactPhase(cs_wb.contactPhases[-1]) tools.deletePhaseTrajectories(last_phase) tools.deleteEffectorsTrajectories(last_phase) last_phase.root_t = cs_ref.contactPhases[-1].root_t self.set_last_phase(last_phase) logger.warning("@@ End compute_wholebody_queue") def loop_centroidal(self): """ Loop waiting for data in pipe_cs, solving the centroidal problem for each new data and send the results in pipe_cs_com """ last_centroidal_phase = None last_iter = False timeout = False try: while not last_iter and not timeout: if self.pipe_cs_out.poll(TIMEOUT_CONNECTIONS): cs, last_iter = self.pipe_cs_out.recv() logger.info("## Run centroidal") cs_com, last_centroidal_phase = self.compute_centroidal(cs, last_centroidal_phase, last_iter) logger.info("-- Add a cs_com to the queue") self.pipe_cs_com_in.send([cs_com, last_iter]) else: timeout = True logger.warning("Loop centroidal closed because pipe is empty since 10 seconds") if last_iter: logger.info("Centroidal last iter received, close the pipe and terminate process.") except: logger.error("FATAL ERROR in loop centroidal: ") traceback.print_exc() sys.exit(0) self.pipe_cs_com_in.close() def loop_wholebody(self): """ Loop waiting for data in pipe_cs_com, computing the wholebody motion for each new data and sending the results in queue_qt """ last_v = None robot = None last_iter = False timeout = False # Set the current config, either from the planned ContactSequence or from the data stored in last_phase last_q = self.cs.contactPhases[0].q_init if last_q is None or last_q.shape[0] < self.robot.nq: logger.info("initial config not defined in CS, set it from last phase.") # get current last_phase config: last_phase = self.get_last_phase() if logger.isEnabledFor(logging.INFO) and last_phase: logger.info("last_phase.q_final shape: %d", last_phase.q_final.shape[0]) while last_phase is None or last_phase.q_final.shape[0] < self.robot.nq: # Wait for the data to be updated by another process last_phase = self.get_last_phase() last_q = last_phase.q_final logger.info("Got last_q from last_phase, start wholebody loop ...") logger.info("last_q in loop_wholebody = %s", last_q) try: while not last_iter and not timeout: if self.pipe_cs_com_out.poll(TIMEOUT_CONNECTIONS): cs_com, last_iter = self.pipe_cs_com_out.recv() logger.info("## Run wholebody") cs_wb, last_q, last_v, last_phase, robot = self.compute_wholebody( robot, cs_com, last_q, last_v, last_iter) logger.info("-- Add a cs_wb to the queue") self.queue_qt.put([cs_wb.concatenateQtrajectories(), cs_wb.concatenateDQtrajectories(), last_phase, last_iter]) else: timeout = True logger.warning("Loop wholebody closed because pipe is empty since 10 seconds") if last_iter: logger.info("Wholebody last iter received, close the pipe and terminate process.") except: logger.error("FATAL ERROR in loop wholebody: ") traceback.print_exc() sys.exit(0) def loop_viewer(self): """ Loop waiting for data in queue_qt and displaying each new trajectories. Before displaying each new data, it store the new last_phase in shared memory, this phase correspond to the last configuration and contacts that will be displayed for the current iteration. It watch for the "stop_motion" flag, if received the loop stop at the end of the current iteration """ self.loop_viewer_lock.acquire() logger.warning("## Start a loop_viewer") self.stop_motion_flag.value = False last_iter = False timeout = TIMEOUT_CONNECTIONS try: while not last_iter: q_t, dq_t, last_phase, last_iter = self.queue_qt.get(timeout=timeout) timeout = 0.1 if last_phase: self.set_last_phase(last_phase) self.execute_motion(q_t, dq_t) if self.stop_motion_flag.value: logger.info("STOP MOTION in viewer") last_iter = True except queue_empty: logger.warning("Loop viewer closed because queue is empty since 10 seconds") except: logger.error("FATAL ERROR in loop viewer: ") traceback.print_exc() sys.exit(0) self.queue_qt.close() self.loop_viewer_lock.release() logger.warning("## End of loop_viewer") def stop_process(self): """ Terminate the compute_cs, centroidal and wholebody process, close all the pipes and send the "stop motion" flag to the viewer """ self.stop_motion_flag.value = True logger.warning("STOP MOTION flag sent") if self.process_compute_cs: self.process_compute_cs.terminate() if self.pipe_cs_in: self.pipe_cs_in.close() if self.pipe_cs_out: self.pipe_cs_out.close() if self.pipe_cs_com_in: self.pipe_cs_com_in.close() if self.pipe_cs_com_out: self.pipe_cs_com_out.close() #if self.queue_qt: # self.queue_qt.close() if self.process_centroidal: self.process_centroidal.terminate() if self.process_wholebody: self.process_wholebody.terminate() def start_viewer_process(self): """ Create a new queue_qt object and start the loop_viewer method in a new process """ self.queue_qt = Queue() self.process_viewer = Process(target=self.loop_viewer) self.process_viewer.start() atexit.register(self.process_viewer.terminate) def start_process(self): """ Create new pipes and queue objects and start the centroidal, wholebody and viewer loops in new processes Also delete the last_phase stored """ self.pipe_cs_out, self.pipe_cs_in = Pipe(False) self.pipe_cs_com_out, self.pipe_cs_com_in = Pipe(False) #self.last_phase_pickled = Array(c_ubyte, MAX_PICKLE_SIZE) self.last_phase = None self.start_viewer_process() if self.process_centroidal: self.process_centroidal.terminate() self.process_centroidal = Process(target=self.loop_centroidal) self.process_centroidal.start() atexit.register(self.process_centroidal.terminate) if self.process_wholebody: self.process_wholebody.terminate() self.process_wholebody = Process(target=self.loop_wholebody) self.process_wholebody.start() atexit.register(self.process_wholebody.terminate) def compute_from_cs(self): """ Split the complete ContactSequence stored in self.cs and send each subsequence in the pipe_cs """ pid_centroidal = 0 last_iter_centroidal = False logger.info("## Compute from cs, size = %d", self.cs.size()) last_phase = self.get_last_phase() if last_phase: tools.setFinalFromInitialValues(last_phase, self.cs.contactPhases[0]) while pid_centroidal + 5 < self.cs.size(): logger.debug("## Current pid = %d", pid_centroidal) if pid_centroidal + 7 >= self.cs.size(): logger.debug("## Last centroidal iter") # last iter, take all the remaining phases num_phase = self.cs.size() - pid_centroidal last_iter_centroidal = True else: num_phase = 5 logger.debug("## Num phase = %d", num_phase) # Extract the phases [pid_centroidal; pid_centroidal +num_phases] from cs_full cs_iter = ContactSequence(0) for i in range(pid_centroidal, pid_centroidal + num_phase): logger.debug("-- Add phase : %d", i) cs_iter.append(self.cs.contactPhases[i]) self.pipe_cs_in.send([cs_iter, last_iter_centroidal]) # This call may be blocking if the pipe is full pid_centroidal += 2 self.pipe_cs_in.close() def compute_cs_requirements(self): """ Compute all the required data to use the ContactSequence stored in self.cs as input for the centroidal method or the wholebody method """ tools.computePhasesTimings(self.cs, self.cfg) tools.computePhasesCOMValues(self.cs, self.cfg.Robot.DEFAULT_COM_HEIGHT) tools.setAllUninitializedContactModel(self.cs, cfg.Robot) tools.computeRootTrajFromContacts(self.fullBody, self.cs) tools.setAllUninitializedFrictionCoef(self.cs, self.cfg.MU) def compute_stopping_cs(self, move_to_support_polygon=True): """ Compute a Contact Sequence with centroidal trajectories to bring the current last_phase to a stop without contact changes :param move_to_support_polygon: if True, add a trajectory to put the CoM above the center of the support polygon :return: """ phase_stop = ContactPhase(self.get_last_phase()) tools.setInitialFromFinalValues(phase_stop, phase_stop) phase_stop.timeInitial = phase_stop.timeFinal phase_stop.duration = DURATION_0_STEP # FIXME !! # try 0-step: success, phase = zeroStepCapturability(phase_stop, self.cfg) if success: cs_ref = ContactSequence(0) cs_ref.append(phase) # TEST : add another phase to go back in the center of the support polygon if move_to_support_polygon: phase_projected = ContactPhase() phase_projected.timeInitial = phase.timeFinal phase_projected.duration = DURATION_0_STEP tools.copyContactPlacement(phase, phase_projected) tools.setInitialFromFinalValues(phase, phase_projected) phase_projected.c_final = tools.computeCenterOfSupportPolygonFromPhase( phase_stop, self.fullBody.DEFAULT_COM_HEIGHT) #FIXME 'default height' tools.connectPhaseTrajToFinalState(phase_projected) cs_ref.append(phase_projected) else: # TODO try 1 step : raise RuntimeError("One step capturability not implemented yet !") tools.computeRootTrajFromContacts(self.fullBody, cs_ref) self.last_phase = cs_ref.contactPhases[-1].copy() # define the final root position, translation from the CoM position and rotation from the feet rotation q_final = np.zeros(7) q_final[:3] = self.last_phase.c_final[::] placement_rot_root, _ = tools.rootOrientationFromFeetPlacement(self.cfg.Robot, None, self.last_phase, None) quat_root = Quaternion(placement_rot_root.rotation) q_final[3:7] = [quat_root.x, quat_root.y, quat_root.z, quat_root.w] self.last_phase.q_final = q_final self.last_phase_flag.value = False self.last_phase_pickled = Array(c_ubyte, MAX_PICKLE_SIZE) # reset currently stored whole body last phase return cs_ref def run_zero_step_capturability(self, move_to_support_polygon=True): """ Compute the centroidal trajectory to bring the current last_phaseto a stop without contact changes. Then start a viewer and a wholebody processes to generate and display the motion corresponding to this centroidal trajectory. :param move_to_support_polygon: if True, add a trajectory to put the CoM above the center of the support polygon """ cs_ref = self.compute_stopping_cs(move_to_support_polygon) self.start_viewer_process() self.cfg.IK_dt = 0.02 p = Process(target=self.compute_wholebody_queue, args=(cs_ref, )) p.start() def stop_motion(self, move_to_support_polygon=True): """ Terminate all the running contact, centroidal and wholebody processes and remove the stepping stones from the display. If the robot is not at a stop, compute and display a motion bringing it at a steady state :param move_to_support_polygon: if True, add a trajectory to put the CoM above the center of the support polygon """ self.stop_process() process_stones = Process(target=self.hide_stones_lock) process_stones.start() atexit.register(process_stones.terminate) if not self.is_at_stop(): logger.warning("!!!!!! REQUIRE STOP MOTION: compute 0-step capturability") self.run_zero_step_capturability(move_to_support_polygon) def move_to_goal(self, root_goal): """ Plan and execute a motion connecting the current configuration to one with the given root position If the robot is in motion, start by computing a safe stop motion. :param root_goal: list of size 3 or 7: translation and quaternion for the desired root position If the quaternion part is not specified, the final orientation is not constrained :return: """ self.stop_motion(False) self.plan_guide(root_goal) logger.info("Guide planning solved, path id = %d", self.current_guide_id) self.compute_cs_from_guide() self.compute_cs_requirements() logger.info("Start process") self.start_process() time.sleep(0.1) logger.info("@@@ Start compute_from_cs @@@") self.process_compute_cs = Process(target=self.compute_from_cs) self.process_compute_cs.start() atexit.register(self.process_compute_cs.terminate) logger.info("@@@ END compute_from_cs @@@") def find_closest_guide_time(self, path_id): """ Look for the index in the guide path that give the closest distance between the root position at this index and the wholebody root position in the last_phase configuration :param path_id: :return: """ last_phase = self.get_last_phase() if last_phase is None: return 0. root_wb = np.array(last_phase.q_final[0:2]) DT = 0.01 current_t = 0. min_t = 0. min_dist = math.inf ps = self.guide_planner.ps t_max = ps.pathLength(path_id) while current_t <= t_max: root_guide = np.array(ps.configAtParam(path_id, current_t)[0:2]) dist = np.linalg.norm(root_wb - root_guide) if dist < min_dist: min_dist = dist min_t = current_t current_t += DT return min_t def is_path_valid(self, path_id): """ Check if the given path id stored in self.guide_planner.ps is valid or not :param path_id: the id of the path :return: True if the path is completely valid, False otherwise """ DT = 0.01 # FIXME: timestep of the discretization for the collision checking of the path ps = self.guide_planner.ps robot_rom = self.guide_planner.rbprmBuilder t = self.find_closest_guide_time(path_id) - 0.1 if t < 0: t = 0. t_max = ps.pathLength(path_id) while t <= t_max: report = robot_rom.isConfigValid(ps.configAtParam(path_id, t)) if not report[0]: return False t += DT report = robot_rom.isConfigValid(ps.configAtParam(path_id, t_max)) if not report[0]: return False else: return True def add_obstacle_to_viewer(self, name, size, position, color=[0, 0, 1, 1]): """ Add an obstacle (a box) to the viewer. This call is blocking as it wait for a lock to access to the gepetto-gui API :param name: the node name of the new obstacle :param size: the size of the box [x, y, z] :param position: the placement (translation + quaternion) of the obstacle in the world frame :param color: the color (rgba) of the obstacle """ node_name = "world/environments/" + name #FIXME: change the prefix if there is changes in pinocchio ... logger.info("Waiting lock to add obstacles ...") self.viewer_lock.acquire() # add the obstacle to the viewer: self.gui.addBox(node_name, size[0], size[1], size[2], color) # move the obstacle to the given placement: self.gui.applyConfiguration(node_name, position) self.gui.refresh() self.viewer_lock.release() logger.info("Obstacles added in the viewer") def add_obstacle_to_problem_solvers(self, name, size, position, obstacle_client): """ Add an obstacle to the environment of the planner :param name: the name of the obstacle :param size: the size of the box (x, y, z) :param position: the placement (translation + quaternion) of the obstacle :param obstacle_client: a corba-server Obstacle client instance """ # add the obstacle to the problem solver: obstacle_client.createBox(name, size[0] + SCALE_OBSTACLE_COLLISION, size[1] + SCALE_OBSTACLE_COLLISION, size[2] + SCALE_OBSTACLE_COLLISION) obstacle_client.addObstacle(name, True, False) # move the obstacle to the given placement: obstacle_client.moveObstacle(name, position) def add_obstacle(self, size, position, color=[0, 0, 1, 1]): """ Add a cube to the environment, and recompute a motion if the current computed motion become invalid :param size: The size of the cube [x, y, z] :param position: The placement of the cube: either a list of length 3 for the translation or a list of size 7 for translation + quaternion :param color: color of the obstacle in the viewer, blue by default :return: """ logger.warning("!!!! ADD OBSTACLE REQUESTED") name = "obstacle_0" #FIXME: change the prefix if there is changes in pinocchio ... # Add an id until it is an unused name: i = 1 obs_names = self.guide_planner.ps.client.obstacle.getObstacleNames(True, False) while name in obs_names: name = "obstacle_" + str(i) i += 1 if len(position) == 3: position += [0, 0, 0, 1] logger.info("!!!! Addobstacle name : %s", name) self.add_obstacle_to_problem_solvers(name, size, position, self.guide_planner.ps.client.obstacle) self.add_obstacle_to_problem_solvers(name, size, position, self.fullBody.client.obstacle) logger.info("!!!! obstacle added to the problem") # add obstacle to the viewer, do it in a process as this call is blocking: process_obstacle = Process(target=self.add_obstacle_to_viewer, args=(name, size, position, color)) process_obstacle.start() atexit.register(process_obstacle.terminate) logger.info("!!!! start thread to display obstacle") # Check if the motion must be re-planned : if not self.is_at_stop(): logger.info("!!!!!! Add obstacle during motion, check path ...") valid = self.is_path_valid(self.current_guide_id) if valid: logger.warning("!!!!!! Current path is still valid, continue ...") else: logger.warning("!!!!!! Current path is now invalid ! Compute a new one ...") # Re plan the motion self.move_to_goal(self.current_root_goal) else: logger.warning("!!!!!! Add obstacle: The robot is not in motion")
q[:2] = [-0.15, 0.25] addPhaseFromConfig(fb, cs, q, [fb.rLegId, fb.lLegId]) q[:3] = [0.11, 0.25, 1.18127] p_up = createPhaseFromConfig(fb, q, [fb.rLegId, fb.lLegId]) #make the first step to the platform cs.moveEffectorToPlacement(fb.rfoot,p_up.contactPatch(fb.rfoot).placement) cs.moveEffectorToPlacement(fb.lfoot,p_up.contactPatch(fb.lfoot).placement) # Make the second step to connect the cs_plateform cs.moveEffectorToPlacement(fb.rfoot,p0_platform.contactPatch(fb.rfoot).placement) cs.moveEffectorToPlacement(fb.lfoot,p0_platform.contactPatch(fb.lfoot).placement) # copy the cs_plateform for phase in cs_platforms.contactPhases[1:]: cs.append(phase) ## Add final step : q[0] = 1.14 p_end = createPhaseFromConfig(fb, q, [fb.rLegId, fb.lLegId]) q[:3] = [1.37, 0.25, 1.02127] p_floor = createPhaseFromConfig(fb, q, [fb.rLegId, fb.lLegId]) #make a step to got to the edge of the platform cs.moveEffectorToPlacement(fb.rfoot,p_end.contactPatch(fb.rfoot).placement) cs.moveEffectorToPlacement(fb.lfoot,p_end.contactPatch(fb.lfoot).placement) #make the last step on the floor cs.moveEffectorToPlacement(fb.rfoot,p_floor.contactPatch(fb.rfoot).placement) cs.moveEffectorToPlacement(fb.lfoot,p_floor.contactPatch(fb.lfoot).placement)