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 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 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 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()
def setupQP(self, frame, motion, mcfg, model, world, config, timestep):
motionModel = cvm.VpMotionModel(world, motion[frame], mcfg)
# constants
invdt = 1./timestep
# dofs and flat data structure
totalDOF = model.getTotalDOF()
DOFs = model.getDOFs()
self.totalDOF = totalDOF
self.ddth_des_flat = ype.makeFlatList(totalDOF)
self.ddth_r_flat = ype.makeFlatList(totalDOF)
self.dth_flat = ype.makeFlatList(totalDOF)
self.dth_r_flat = ype.makeFlatList(totalDOF)
self.ddth_sol = ype.makeNestedList(DOFs)
# momentum matrix
linkMasses = model.getBodyMasses()
totalMass = model.getTotalMass()
TO = ymt.make_TO(linkMasses)
dTO = ymt.make_dTO(len(linkMasses))
# optimization
self.qp.clear()
Vc_tmp = self.Vc_tmp
# tracking
w = self.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap'])
th_r = motion.getDOFPositionsLocal(frame)
th = model.getDOFPositionsLocal()
dth_r = motion.getDOFVelocitiesLocal(frame)
dth = model.getDOFVelocitiesLocal()
ddth_r = motion.getDOFAccelerationsLocal(frame)
ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, self.Kt, self.Dt)
linkPositions = model.getBodyPositionsGlobal()
linkVelocities = model.getBodyVelocitiesGlobal()
linkAngVelocities = model.getBodyAngVelocitiesGlobal()
linkInertias = model.getBodyInertiasGlobal()
jointPositions = model.getJointPositionsGlobal()
jointAxeses = model.getDOFAxesesLocal()
#linkPositions_ref = motionModel.getBodyPositionsGlobal()
#linkVelocities_ref = motionModel.getBodyVelocitiesGlobal()
#linkAngVelocities_ref = motionModel.getBodyAngVelocitiesGlobal()
#linkInertias_ref = motionModel.getBodyInertiasGlobal()
#jointPositions_ref = motionModel.getJointPositionsGlobal()
#jointAxeses_ref = motionModel.getDOFAxesesLocal()
ype.flatten(ddth_des, self.ddth_des_flat)
ype.flatten(dth, self.dth_flat)
ype.flatten(dth_r, self.dth_r_flat)
ype.flatten(ddth_r, self.ddth_r_flat)
# get CoM
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.
P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM, linkInertias)
dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses, linkVelocities, dCM, linkAngVelocities, linkInertias)
# jacobian
Jsup = yjc.makeEmptyJacobian(DOFs, 1)
dJsup = Jsup.copy()
Jsys_old = None
if self.Jsys != None:
Jsys_old = self.Jsys.copy()
if self.Jsys == None:
self.Jsys = yjc.makeEmptyJacobian(DOFs, model.getBodyNum())
self.dJsys = self.Jsys.copy()
allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton)
yjc.computeJacobian2(self.Jsys, DOFs, jointPositions, jointAxeses, linkPositions, allLinkJointMasks)
if Jsys_old ==None:
self.dJsys = self.Jsys-self.Jsys
else:
self.dJsys = (self.Jsys - Jsys_old)*invdt
#yjc.computeJacobianDerivative2(self.dJsys, DOFs, jointPositions, jointAxeses, linkAngVelocities, linkPositions, allLinkJointMasks)
#CM_ref = yrp.getCM(linkPositions_ref, linkMasses, totalMass)
#dCM_ref = yrp.getCM(linkVelocities_ref, linkMasses, totalMass)
#CM_ref_plane = copy.copy(CM_ref); CM_ref_plane[1]=0.
#dCM_ref_plane = copy.copy(dCM_ref); dCM_ref_plane[1]=0.
#P_ref = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions_ref, CM_ref, linkInertias_ref)
#dP_ref = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses, linkVelocities_ref, dCM_ref, linkAngVelocities_ref, linkInertias_ref)
# get EoM
totalActuator = totalDOF
invM = np.zeros((totalActuator,totalDOF))
invMc = np.zeros(totalDOF)
model.getInverseEquationOfMotion(invM, invMc)
#print invMc
# contact detection
Ks = 1
Ds = 1
supsupR = motion[0].skeleton.getJointIndex('RightLeg')
supsupL = motion[0].skeleton.getJointIndex('LeftLeg')
supR = motion[0].skeleton.getJointIndex('RightFoot')
supL = motion[0].skeleton.getJointIndex('LeftFoot')
bodyIDsToCheck = range(world.getBodyNum())
#print bodyIDsToCheck
#bodyIDsToCheck = [supsupR, supsupL]
#bodyIDsToCheck = [supR, supL]
mus = [.5]*len(bodyIDsToCheck)
bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = world.calcPenaltyForce(bodyIDsToCheck, mus, Ks, Ds)
#bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = world.calcManyPenaltyForce(self.contactPerSide, bodyIDsToCheck, mus, Ks, Ds)
#bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = world.calcOnePenaltyForce(bodyIDsToCheck, mus, Ks, Ds)
#print bodyIDs, contactPositions
footCenterL = model.getBodyPositionGlobal(supL)
footCenterR = model.getBodyPositionGlobal(supR)
footCenter = footCenterL.copy()
footRefCenterL = motionModel.getBodyPositionGlobal(supL)
footRefCenterR = motionModel.getBodyPositionGlobal(supR)
#if supL in bodyIDs:
#if supR in bodyIDs:
#footCenter = footCenterL + (footCenterR-footCenterL)/2.
#else:
#footCenter = footCenterL.copy()
#else:
#if supR in bodyIDs:
#footCenter = footCenterR.copy()
#else:
#footCenter = np.array((0,0,0))
contactL = 1
contactR = 1
if footRefCenterL[1] < 0.2:
if footRefCenterR[1] < 0.2:
footCenter = footCenterL + (footCenterR-footCenterL)/2.
else:
footCenter = footCenterL.copy()
contactR = 0
else:
contactL = 0
if footRefCenterR[1] < 0.2:
footCenter = footCenterR.copy()
else:
footCenter = np.array((0,0,0))
contactR = 0
#print(contactR, contactL)
footCenter[1] = 0.
# linear momentum
CM_ref = footCenter
#CM_ref =
#dL_des_plane = self.Kl*totalMass*(CM_ref - CM) + self.Dl*totalMass*(dCM_ref - dCM)
dL_des_plane = self.Kl*totalMass*(CM_ref - CM) + self.Dl*totalMass*(-dCM)
dL_des_plane[1] = 0.
# angular momentum
CP_ref = footCenter
#bodyIDs, contactPositions, contactPositionLocals, contactForces = world.calcManyPenaltyForce(bodyIDsToCheck, mus, Ks, Ds)
#CP = yrp.getCP(contactPositions, contactForces)
CP = yrp.getSimpleCP(contactPositions)
if self.CP_old==None or CP==None:
dCP = None
else:
dCP = (CP - self.CP_old[0])/(1/30.)
self.CP_old = CP
if CP!=None and dCP!=None:
ddCP_des = self.Kh*(CP_ref - CP) - self.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*np.array((0,-9.8,0))))
#if contactChangeCount >0: # and contactChangeType == 'DtoS':
##dH_des *= (maxContactChangeCount - contactChangeCount)/(maxContactChangeCount*10)
#dH_des *= (self.maxContactChangeCount - self.contactChangeCount)/(self.maxContactChangeCount)
##dH_des *= (contactChangeCount)/(maxContactChangeCount)*.9+.1
else:
dH_des = None
H = np.dot(P, np.dot(self.Jsys, self.dth_flat))
dH_des = -self.Kh*H[3:]
# equality constraints
JcTVc_append = np.zeros((totalDOF, 0))
VcTJc_list = []
VcTdJc_list = []
dVcTJc_list = []
ac_offset_list = []
totalContact = 4*len(bodyIDs)
totalProblem = totalDOF+totalActuator+totalContact
preSup = -1
for i in range(len(contactPositions)):
sup = bodyIDs[i]
supJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, sup)]
if preSup != sup:
bodyPos = linkPositions[sup]
bodyVel = linkVelocities[sup]
#yjc.computeJacobian2(Jsup, DOFs, jointPositions, jointAxeses, [bodyPos], supJointMasks)
#yjc.computeJacobianDerivative2(dJsup, DOFs, jointPositions, jointAxeses, linkAngVelocities, [bodyPos], supJointMasks)
Jsup = getPartJacobian(self.Jsys, sup)
dJsup = getPartJacobian(self.dJsys, sup)
R_dAd = np.hstack( (np.vstack( (np.eye(3), mm.getCrossMatrixForm(-bodyPos)) ), np.vstack( (np.zeros((3,3)), np.eye(3)) ) ) )
dR_dAd = np.hstack( (np.vstack( (np.eye(3), mm.getCrossMatrixForm(-bodyVel)) ), np.vstack( (np.zeros((3,3)), np.eye(3)) ) ) )
#R_dAd = np.hstack( (np.vstack( (np.eye(3), mm.getCrossMatrixForm(-contactPositions[i])) ), np.vstack( (np.zeros((3,3)), np.eye(3)) ) ) )
#dR_dAd = np.hstack( (np.vstack( (np.eye(3), mm.getCrossMatrixForm(-contactVelocities[i])) ), np.vstack( (np.zeros((3,3)), np.eye(3)) ) ) )
p = contactPositions[i]
dotp = contactVelocities[i]
VcT_tmp = np.zeros((4,6))
dVcT_tmp = VcT_tmp.copy()
for ii in range(4):
n = Vc_tmp[ii]
pcn = np.cross(contactPositions[i], Vc_tmp[ii])
VcT_tmp[ii][:3] =n
VcT_tmp[ii][3:] =pcn
dotpcn = np.cross(contactVelocities[i], Vc_tmp[ii])
dVcT_tmp[ii][3:] = dotpcn
Vc = np.dot(R_dAd, VcT_tmp.T)
dVc = np.dot(R_dAd, dVcT_tmp.T) + np.dot(dR_dAd, VcT_tmp.T)
JcTVc = np.dot( Jsup.T, Vc)
JcTVc_append = np.hstack((JcTVc_append, JcTVc))
VcTJc_list.append( JcTVc.T )
VcTdJc_list.append( np.dot(Vc.T, dJsup) )
dVcTJc_list.append( np.dot(dVc.T, Jsup) )
#TODO:
# when friction cones and velocity cones differ?
#JcTVc = np.dot( Jsup.T, VcT.T)
#JcTVc_append = np.hstack((JcTVc_append, JcTVc))
#VcTJc_list.append( JcTVc.T )
#VcTdJc_list.append( np.dot(VcT, dJsup) )
#dVcTJc_list.append( np.dot(dVcT, Jsup) )
penDepth = -0.05-contactPositions[i][1]
if penDepth < 0.:
penDepth = 0.
#penDepth = 0.
ac_offset = 1000.*penDepth*np.ones(4)
ac_offset_list.append(ac_offset)
preSup = sup
extForce = np.zeros(totalActuator)
if self.extDuration > 0:
Jext = yjc.makeEmptyJacobian(DOFs, 1)
extForcePos = model.getBodyPositionGlobal(self.extForceBody)
extJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, self.extForceBody)]
yjc.computeJacobian2(Jext, DOFs, jointPositions, jointAxeses, [extForcePos], extJointMasks)
extForce = np.dot(Jext.T, self.extForce)
self.extDuration -= timestep
if self.extDuration < 0:
self.extDuration = 0
self.addQPEqualityInverseEomConstraint(totalProblem, totalDOF, totalActuator, totalContact, invM, invMc, JcTVc_append, extForce)
# inequality constraints
if totalContact> 0:
self.addQPInequalityContactForceConstraint(totalProblem, totalDOF, totalActuator, totalContact)
self.addQPInequalityVelocityConstraint(totalProblem, totalDOF, totalActuator, totalContact, VcTJc_list, VcTdJc_list,dVcTJc_list, self.dth_flat, ac_offset_list, invdt)
#self.addQPInequalityVelocityConstraint(totalProblem, totalDOF, totalActuator, totalContact, VcTJc_vel_list, VcTdJc_vel_list,dVcTJc_vel_list, self.dth_flat, ac_offset_list, 30.)
torqueMax = 1000.*np.ones(totalActuator-6)
torqueMin = -torqueMax
self.addQPInequalityTorqueConstraint(totalProblem, totalDOF, totalActuator, totalContact, torqueMax, torqueMin)
# objectives
self.addQPTrackingTerms(totalProblem, 0, totalDOF, self.Bt, w, self.ddth_des_flat)
self.addQPTorqueTerms(totalProblem, totalDOF, totalActuator, self.Btau, w)
if totalContact > 0:
self.addQPContactForceTerms(totalProblem, totalDOF+totalActuator, totalContact, self.Bcon)
#if dH_des !=None:
# allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton)
# yjc.computeJacobian2(Jsys, DOFs, jointPositions, jointAxeses, linkPositions, allLinkJointMasks)
# yjc.computeJacobianDerivative2(dJsys, DOFs, jointPositions, jointAxeses, linkAngVelocities, linkPositions, allLinkJointMasks)
# self.addLinearAndAngularBalancigTerms(totalProblem, 0, totalDOF, self.Bl, self.Bh, P, self.Jsys, self.dth_flat, dP, self.dJsys, dL_des_plane, dH_des)
# end effector
#TODO:
eeList = [supR, supL]
#eeList = []
#if totalContact > 0:
for ee in eeList:
eeCenter = model.getBodyPositionGlobal(ee)
eeJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, ee)]
yjc.computeJacobian2(Jsup, DOFs, jointPositions, jointAxeses, [eeCenter], eeJointMasks)
yjc.computeJacobianDerivative2(dJsup, DOFs, jointPositions, jointAxeses, linkAngVelocities, [eeCenter], eeJointMasks, False)
ee_genvel_ref = np.dot(Jsup, self.dth_r_flat)
ee_genacc_ref = np.dot(Jsup, self.ddth_r_flat) + np.dot(dJsup, self.dth_r_flat)
ee_pos_ref = motionModel.getBodyPositionGlobal(ee)
ee_pos = model.getBodyPositionGlobal(ee)
ee_vel_ref = ee_genvel_ref[:3]
ee_vel = model.getBodyVelocityGlobal(ee)
ee_acc_ref = ee_genacc_ref[:3]
ddp_des_pos = self.Ke*( (ee_pos_ref-th_r[0][0]) - (ee_pos-th[0][0]) )
ddp_des_pos += self.De*(ee_vel_ref - ee_vel)
ddp_des_pos += ee_acc_ref
eeOri = model.getBodyOrientationGlobal(ee)
eeAngVel = model.getBodyAngVelocityGlobal(ee)
ee_angvel_ref = ee_genvel_ref[3:]
ee_angacc_ref = ee_genacc_ref[3:]
a_ori_diff = mm.logSO3(mm.getSO3FromVectors(np.dot(eeOri, np.array([0,1,0])), np.array([0,1,0])))
ddp_des_ang = self.Ke*a_ori_diff + self.De*(-eeAngVel)
#ddp_des_ang = self.Ke*a_ori_diff + self.De*(ee_angvel_ref-eeAngVel)
#ddp_des_ang += ee_angacc_ref
ddp_des = np.hstack( (ddp_des_pos, ddp_des_ang) )
#self.addEndEffectorTerms(totalProblem, 0, totalDOF, Jsup, dJsup, self.dth_flat, ddp_des, self.Be)
self.addEqualityEndEffectorTerms(totalProblem, 0, totalDOF, Jsup, dJsup, self.dth_flat, ddp_des, self.Be)
return contactPositions, CP, CM, footCenter, dL_des_plane, CM_ref
def init():
global motion
global mcfg
global wcfg
global stepsPerFrame
global config
global mcfg_motion
global vpWorld
global controlModel
global totalDOF
global DOFs
global bodyIDsToCheck
global torques_nested
global ddth_des_flat
global dth_flat
global ddth_sol
global rd_cForces
global rd_cPositions
global rd_jointPos
global rd_cForcesControl
global rd_cPositionsControl
global rd_ForceControl
global rd_ForceDes
global rd_Position
global rd_PositionDes
global viewer
global motionModel
global solver
global IKModel
np.set_printoptions(precision=4, linewidth=200)
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_1()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_chiken_foot()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('fastswim.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot_2('simpleJump_2.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_capsule('simpleJump_onebody.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('simpleJump.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('simpleJump_long.bvh')
motion, mcfg, wcfg, stepsPerFrame, config = mit.create_legs('legs_robust.bvh')
mcfg_motion = mit.normal_mcfg()
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
IKModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
solver = hik.numIkSolver(wcfg, motion[0], mcfg)
# vpWorld.SetIntegrator("RK4")
# vpWorld.SetIntegrator("IMPLICIT_EULER_FAST")
vpWorld.SetIntegrator("EULER")
vpWorld.SetGlobalDamping(0.9999)
# controlModel.initializeHybridDynamics()
controlModel.initializeForwardDynamics()
ModelOffset = np.array([0., 2.5, 0.])
controlModel.translateByOffset(ModelOffset)
motionModel.translateByOffset(ModelOffset)
vpWorld.initialize()
totalDOF = controlModel.getTotalDOF()
DOFs = controlModel.getDOFs()
bodyIDsToCheck = range(vpWorld.getBodyNum())
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
torques_nested = ype.makeNestedList(DOFs)
rd_cForces = [None]
rd_cPositions = [None]
rd_cForcesControl = [None]
rd_cPositionsControl = [None]
rd_ForceControl = [None]
rd_ForceDes = [None]
rd_Position = [None]
rd_PositionDes = [None]
rd_jointPos = [None]
viewer = hsv.hpSimpleViewer(title='main_Test')
viewer.doc.addObject('motion', motion)
# viewer.doc.addRenderer('motionModel', cvr.VpModelRenderer(
# motionModel, MOTION_COLOR, yr.POLYGON_FILL))
# viewer.doc.addRenderer('IKModel', cvr.VpModelRenderer(
# solver.model, MOTION_COLOR, yr.POLYGON_FILL))
viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(
controlModel, CHARACTER_COLOR, yr.POLYGON_FILL))
viewer.doc.addRenderer('rd_contactForcesControl', yr.VectorsRenderer(
rd_cForcesControl, rd_cPositionsControl, (255, 0, 0), .1))
viewer.doc.addRenderer('rd_contactForces', yr.VectorsRenderer(
rd_cForces, rd_cPositions, (0, 255, 0), .1))
viewer.doc.addRenderer('rd_contactForceControl', yr.VectorsRenderer(
rd_ForceControl, rd_Position, (0, 0, 255), .1))
viewer.doc.addRenderer('rd_contactForceDes', yr.VectorsRenderer(
rd_ForceDes, rd_PositionDes, (255, 0, 255), .1))
# viewer.doc.addRenderer('rd_jointPos', yr.PointsRenderer(rd_jointPos))
viewer.objectInfoWnd.add1DSlider(
'PD gain', minVal=0., maxVal=500., initVal=10., valStep=.1)
viewer.objectInfoWnd.add1DSlider(
'Joint Damping', minVal=1., maxVal=2000., initVal=35., valStep=1.)
viewer.objectInfoWnd.add1DSlider(
'steps per frame', minVal=1., maxVal=200., initVal=config['stepsPerFrame'], valStep=1.)
viewer.objectInfoWnd.add1DSlider(
'1/simul speed', minVal=1., maxVal=100., initVal=config['simulSpeedInv'], valStep=1.)
viewer.objectInfoWnd.add1DSlider(
'normal des force min', minVal=0., maxVal=1000., initVal=80., valStep=1.)
viewer.objectInfoWnd.add1DSlider(
'normal des force max', minVal=0., maxVal=1000., initVal=80., valStep=1.)
viewer.objectInfoWnd.add1DSlider(
'des force begin', minVal=0., maxVal=len(motion) - 1, initVal=70., valStep=1.)
viewer.objectInfoWnd.add1DSlider(
'des force dur', minVal=1., maxVal=len(motion) - 1, initVal=5., valStep=1.)
viewer.objectInfoWnd.add1DSlider(
'force weight', minVal=-10., maxVal=10., initVal=0., valStep=.01)
viewer.objectInfoWnd.add1DSlider(
'LCP weight', minVal=-10., maxVal=10., initVal=0., valStep=.01)
viewer.objectInfoWnd.add1DSlider(
'tau weight', minVal=-10., maxVal=10., initVal=0., valStep=.01)
viewer.objectInfoWnd.addBtn('image', viewer.motionViewWnd.dump)
viewer.objectInfoWnd.addBtn('image seq dump', viewer.motionViewWnd.dumpMov)
viewer.cForceWnd.addDataSet('expForce', FL_BLACK)
viewer.cForceWnd.addDataSet('desForceMin', FL_RED)
viewer.cForceWnd.addDataSet('desForceMax', FL_RED)
viewer.cForceWnd.addDataSet('realForce', FL_GREEN)
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))
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 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 init():
global motion
global mcfg
global wcfg
global stepsPerFrame
global config
global mcfg_motion
global vpWorld
global controlModel
global totalDOF
global DOFs
global bodyIDsToCheck
global torques_nested
global ddth_des_flat
global dth_flat
global ddth_sol
global rd_cForces
global rd_cPositions
global rd_jointPos
global rd_cForcesControl
global rd_cPositionsControl
global rd_ForceControl
global rd_ForceDes
global rd_Position
global rd_PositionDes
global viewer
np.set_printoptions(precision=4, linewidth=200)
motion, mcfg, wcfg, stepsPerFrame, config = mit.create_legs()
mcfg_motion = mit.normal_mcfg()
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
# vpWorld.SetIntegrator("RK4")
# vpWorld.SetIntegrator("IMPLICIT_EULER_FAST")
vpWorld.SetIntegrator("EULER")
# vpWorld.SetGlobalDamping(0.001)
# controlModel.initializeHybridDynamics()
controlModel.initializeForwardDynamics()
ModelOffset = np.array([0., 5.5, 0.])
controlModel.translateByOffset(ModelOffset)
totalDOF = controlModel.getTotalDOF()
DOFs = controlModel.getDOFs()
bodyIDsToCheck = range(vpWorld.getBodyNum())
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
torques_nested = ype.makeNestedList(DOFs)
rd_cForces = [None]
rd_cPositions = [None]
rd_cForcesControl = [None]
rd_cPositionsControl = [None]
rd_ForceControl = [None]
rd_ForceDes = [None]
rd_Position = [None]
rd_PositionDes = [None]
rd_jointPos = [None]
viewer = hsv.hpSimpleViewer()
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer(
'controlModel',
cvr.VpModelRenderer(controlModel, CHARACTER_COLOR, yr.POLYGON_FILL))
viewer.doc.addRenderer(
'rd_contactForcesControl',
yr.VectorsRenderer(rd_cForcesControl, rd_cPositionsControl,
(255, 0, 0), .1))
viewer.doc.addRenderer(
'rd_contactForces',
yr.VectorsRenderer(rd_cForces, rd_cPositions, (0, 255, 0), .1))
viewer.doc.addRenderer(
'rd_contactForceControl',
yr.VectorsRenderer(rd_ForceControl, rd_Position, (0, 0, 255), .1))
viewer.doc.addRenderer(
'rd_contactForceDes',
yr.VectorsRenderer(rd_ForceDes, rd_PositionDes, (255, 0, 255), .1))
# viewer.doc.addRenderer('rd_jointPos', yr.PointsRenderer(rd_jointPos))
viewer.objectInfoWnd.add1DSlider('PD gain',
minVal=0.,
maxVal=1000.,
initVal=180.,
valStep=.1)
viewer.objectInfoWnd.add1DSlider('Joint Damping',
minVal=1.,
maxVal=2000.,
initVal=35.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('steps per frame',
minVal=1.,
maxVal=200.,
initVal=config['stepsPerFrame'],
valStep=1.)
viewer.objectInfoWnd.add1DSlider('1/simul speed',
minVal=1.,
maxVal=100.,
initVal=config['simulSpeedInv'],
valStep=1.)
viewer.objectInfoWnd.add1DSlider('normal des force min',
minVal=0.,
maxVal=3000.,
initVal=80.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('normal des force max',
minVal=0.,
maxVal=3000.,
initVal=80.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('des force begin',
minVal=0.,
maxVal=len(motion) - 1,
initVal=70.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('des force dur',
minVal=0.,
maxVal=len(motion) - 1,
initVal=20.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('force weight',
minVal=-10.,
maxVal=10.,
initVal=0.,
valStep=.01)
viewer.objectInfoWnd.add1DSlider('tracking weight',
minVal=-10.,
maxVal=10.,
initVal=0.,
valStep=.01)
viewer.objectInfoWnd.add1DSlider('tau weight',
minVal=-10.,
maxVal=10.,
initVal=0.,
valStep=.01)
viewer.cForceWnd.addDataSet('expForce', FL_BLACK)
viewer.cForceWnd.addDataSet('desForceMin', FL_RED)
viewer.cForceWnd.addDataSet('desForceMax', FL_RED)
viewer.cForceWnd.addDataSet('realForce', FL_GREEN)
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))
def test_momentum_matrix():
np.set_printoptions(precision=2, linewidth=200)
# bvhFilePath = '../samples/chain_1_long.bvh'
bvhFilePath = '../samples/chain_3_rotate.bvh'
motion1 = yf.readBvhFile(bvhFilePath)
mcfg1 = ypc.ModelConfig()
mcfg1.defaultDensity = 1000.
mcfg1.defaultBoneRatio = 1.
for i in range(motion1[0].skeleton.getElementNum()):
mcfg1.addNode(motion1[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)
m1 = cvm.VpControlModel(vpWorld, motion1[0], mcfg1)
vpWorld.initialize()
# momentum matrix information
masses = m1.getBodyMasses()
totalMass = m1.getTotalMass()
TO = make_TO(masses)
v_sol = ype.makeNestedList([6] * m1.getBodyNum())
# jacobian for internal joints
DOFs_internal = m1.getInternalJointDOFs()
totalDOF_internal = m1.getTotalInternalJointDOF()
J_internal = yjc.makeEmptyJacobian(DOFs_internal, m1.getBodyNum())
linkJointMasks_internal = yjc.getAllLinkInternalJointMasks(
motion1[0].skeleton)
dth_flat_internal = ype.makeFlatList(totalDOF_internal)
# momentum matrix for all joints
DOFs_all = m1.getDOFs()
totalDOF_all = m1.getTotalDOF()
J_all = yjc.makeEmptyJacobian(DOFs_all, m1.getBodyNum())
linkJointMasks_all = yjc.getAllLinkJointMasks(motion1[0].skeleton)
dth_flat_all = ype.makeFlatList(totalDOF_all)
p = []
v = []
rd_CM = []
rd_L_std = []
rd_L_jacob_internal = []
rd_L_jacob_all = []
rd_H_std = []
rd_H_jacob_internal = []
rd_H_jacob_all = []
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'model', cvr.VpModelRenderer(m1, (255, 240, 255), yr.POLYGON_LINE))
# viewer.doc.addRenderer('v', yr.VectorsRenderer(v, p, (0,255,0)))
viewer.doc.addRenderer(
'L_std', yr.VectorsRenderer(rd_L_std, rd_CM, (255, 0, 0)))
# viewer.doc.addRenderer('L_jacob_internal', yr.VectorsRenderer(rd_L_jacob_internal, rd_CM, (0,255,0)))
viewer.doc.addRenderer(
'L_jacob_all',
yr.VectorsRenderer(rd_L_jacob_all, rd_CM, (255, 255, 0)))
viewer.doc.addRenderer(
'H_std', yr.VectorsRenderer(rd_H_std, rd_CM, (255, 0, 0)))
# viewer.doc.addRenderer('H_jacob_internal', yr.VectorsRenderer(rd_H_jacob_internal, rd_CM, (0,255,0)))
viewer.doc.addRenderer(
'H_jacob_all',
yr.VectorsRenderer(rd_H_jacob_all, rd_CM, (255, 255, 0)))
viewer.setMaxFrame(100)
# force
m1.applyBodyTorqueGlobal(0, (0, 0, 1000))
m1.applyBodyForceGlobal(0, (1000, 0, 0))
m1.applyBodyTorqueGlobal(0, (0, 1000, 0))
def simulateCallback(frame):
for i in range(stepsPerFrame):
vpWorld.step()
#===============================================================================
# momentum calculation by standard method
#===============================================================================
velocities = m1.getBodyVelocitiesGlobal()
positions = m1.getBodyPositionsGlobal()
CM = yrp.getCM(positions, masses, totalMass)
inertias = m1.getBodyInertiasGlobal()
angVelocities = m1.getBodyAngVelocitiesGlobal()
L_std = getLinearMomentum(masses, velocities)
H_std = getAngularMomentum(CM, inertias, angVelocities, positions,
masses, velocities)
#===============================================================================
# momentum calculation by centroidal momentum matrix
#===============================================================================
P = getPureInertiaMatrix(TO, masses, positions, CM, inertias)
# momentum matrix for internal joints and addition of total momentum about CM
# jointPositions_internal = m1.getInternalJointPositionsGlobal()
#
# Rs = m1.getInternalJointOrientationsGlobal()
# jointAxeses_internal = [Rs[i].transpose() for i in range(0,len(Rs))]
#
# yjc.computeJacobian2(J_internal, DOFs_internal, jointPositions_internal, jointAxeses_internal, positions, linkJointMasks_internal)
#
# dth = m1.getInternalJointAngVelocitiesLocal()
# ype.flatten(dth, dth_flat_internal)
#
# PJ_internal = np.dot(P, J_internal)
# LH_internal = np.dot(PJ_internal, dth_flat_internal)
# L2_jacob_internal, H2_jacob_internal = np.hsplit(LH_internal, 2)
#
# p_root = m1.getBodyPositionGlobal(0)
# v_root = m1.getBodyVelocityGlobal(0)
# w_root = m1.getBodyAngVelocityGlobal(0)
#
# L_jacob_internal = mm.v3(0.,0.,0.)
# L_jacob_internal += (totalMass * v_root)
# L_jacob_internal += (-totalMass * np.cross( (CM - p_root), w_root))
#
L_jacob_internal = None
H_jacob_internal = None
# momentum matrix for all joints
jointPositions_all = m1.getJointPositionsGlobal()
jointAxeses_all = m1.getDOFAxeses()
yjc.computeJacobian2(J_all, DOFs_all, jointPositions_all,
jointAxeses_all, positions,
linkJointMasks_all)
dth = m1.getDOFVelocities()
ype.flatten(dth, dth_flat_all)
PJ_all = np.dot(P, J_all)
LH_all = np.dot(PJ_all, dth_flat_all)
L_jacob_all, H_jacob_all = np.hsplit(LH_all, 2)
#===============================================================================
# for rendering
#===============================================================================
p[:] = positions
v[:] = velocities
rd_CM[:] = [CM]
rd_L_std[:] = [L_std]
rd_L_jacob_internal[:] = [L_jacob_internal]
rd_L_jacob_all[:] = [L_jacob_all]
rd_H_std[:] = [H_std]
rd_H_jacob_internal[:] = [H_jacob_internal]
rd_H_jacob_all[:] = [H_jacob_all]
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()
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()
