def __init__(self, robot, name='flextimator', useMocap=True, dt=0.005):
DGIMUModelBaseFlexEstimation.__init__(self,name)
self.setSamplingPeriod(dt)
self.robot = robot
initDevice(self.robot)
computeDynamic(self.robot,0)
# Covariances
self.setProcessNoiseCovariance(matrixToTuple(np.diag((1e-8,)*12+(1e-4,)*3+(1e-4,)*3+(1e-4,)*3+(1e-4,)*3+(1.e-2,)*6+(1e-15,)*2+(1.e-8,)*3)))
self.setMeasurementNoiseCovariance(matrixToTuple(np.diag((1e-3,)*3+(1e-6,)*3)))
self.setUnmodeledForceVariance(1e-13)
self.setForceVariance(1e-4)
self.setAbsolutePosVariance(1e-4)
# Contact model definition
# self.setKfe(matrixToTuple(np.diag((40000,40000,40000))))
self.setKfe(matrixToTuple(np.diag((150000,150000,150000))))
self.setKfv(matrixToTuple(np.diag((600,600,600))))
self.setKte(matrixToTuple(np.diag((600,600,600))))
self.setKtv(matrixToTuple(np.diag((10,10,10))))
self.setKfeCordes(matrixToTuple(np.diag((10000,10000,10000))))
self.setKfvCordes(matrixToTuple(np.diag((300,300,800))))
self.setKteCordes(matrixToTuple(np.diag((600,600,600))))
self.setKtvCordes(matrixToTuple(np.diag((60,60,60))))
# Estimator interface
self.interface=EstimatorInterface(name+"EstimatorInterface")
self.interface.setSamplingPeriod(dt)
self.interface.setLeftHandSensorTransformation((0.,0.,1.57))
self.interface.setRightHandSensorTransformation((0.,0.,1.57))
# State and measurement definition
self.interface.setWithUnmodeledMeasurements(False)
self.interface.setWithModeledForces(True)
self.interface.setWithAbsolutePose(False)
self.setWithComBias(False)
# Contacts velocities
self.leftFootVelocity = Multiply_matrix_vector ('leftFootVelocity')
plug(self.robot.frames['leftFootForceSensor'].jacobian,self.leftFootVelocity.sin1)
plug(self.robot.device.velocity,self.leftFootVelocity.sin2)
self.rightFootVelocity = Multiply_matrix_vector ('rightFootVelocity')
plug(self.robot.frames['rightFootForceSensor'].jacobian,self.rightFootVelocity.sin1)
plug(self.robot.device.velocity,self.rightFootVelocity.sin2)
self.interface.setFDInertiaDot(True)
# Contacts forces, positions and velocities
# Feet
plug (self.robot.device.forceLLEG,self.interface.force_lf)
plug (self.robot.device.forceRLEG,self.interface.force_rf)
plug (self.robot.frames['leftFootForceSensor'].position,self.interface.position_lf)
plug (self.robot.frames['rightFootForceSensor'].position,self.interface.position_rf)
plug (self.leftFootVelocity.sout,self.interface.velocity_lf)
plug (self.rightFootVelocity.sout,self.interface.velocity_rf)
# Hands
plug (self.robot.device.forceLARM,self.interface.force_lh)
plug (self.robot.device.forceRARM,self.interface.force_rh)
plug (self.robot.dynamic.signal('right-wrist'),self.interface.position_lh)
plug (self.robot.dynamic.signal('left-wrist'),self.interface.position_rh)
# Strings
self.Peg = (0,0,4.60) # Position of the anchorage in the global frame
self.setPe(self.Peg)
self.Prl1 = np.matrix([[1,0,0,0-3.19997004e-02],[0,1,0,0.15-0],[0,0,1,1.28-1],[0,0,0,1]]) # Positions of the contacts on the robot (in the local frame) with respect to the chest
self.Prl2 = np.matrix([[1,0,0,0-3.19997004e-02],[0,1,0,-0.15-0],[0,0,1,1.28-1],[0,0,0,1]])
(self.contact1OpPoint,self.contact1Pos,self.contact1)=self.createContact('contact1', self.Prl1)
(self.contact2OpPoint,self.contact2Pos,self.contact2)=self.createContact('contact2', self.Prl2)
plug(self.contact1.sout,self.interface.position_ls)
plug(self.contact2.sout,self.interface.position_rs)
# Contacts model and config
plug(self.interface.contactsModel,self.contactsModel)
self.setWithConfigSignal(True)
plug(self.interface.config,self.config)
if(useMocap):
# Mocap signal
self.ros = RosExport('rosExportMocap')
self.ros.add('matrixHomoStamped', "chest", "/evart/hrp2_14_head/hrp2_14_head")
# Filtering
from dynamic_graph.sot.tools import MocapDataFilter
self.mocapFilter = MocapDataFilter('MocapDataFilter')
plug(self.ros.signal('chest'),self.mocapFilter.sin)
self.mocapSignal = self.mocapFilter.sout
# Drift
self.drift = DriftFromMocap(name+'Drift')
plug(self.mocapSignal,self.drift.limbGlobal)
plug(self.robot.dynamic.chest,self.drift.limbLocal)
self.drift.init()
plug(self.drift.driftInvVector,self.interface.drift)
# Measurement reconstruction
plug(self.robot.device.accelerometer,self.interface.accelerometer)
plug(self.robot.device.gyrometer,self.interface.gyrometer)
plug(self.interface.measurement,self.measurement)
# Input reconstruction
# IMU Vector
self.inputPos = MatrixHomoToPoseUTheta(name+'InputPosition')
plug(robot.frames['accelerometer'].position,self.inputPos.sin)
self.robot.dynamic.createJacobian(name+'ChestJ_OpPoint','chest')
self.imuOpPoint = OpPointModifier(name+'IMU_oppoint')
self.imuOpPoint.setEndEffector(False)
self.imuOpPoint.setTransformation(matrixToTuple(np.linalg.inv(np.matrix(self.robot.dynamic.chest.value))*np.matrix(self.robot.frames['accelerometer'].position.value)))
plug (self.robot.dynamic.chest,self.imuOpPoint.positionIN)
plug (self.robot.dynamic.signal(name+'ChestJ_OpPoint'),self.imuOpPoint.jacobianIN)
self.inputVel = Multiply_matrix_vector(name+'InputVelocity')
plug(self.imuOpPoint.jacobian,self.inputVel.sin1)
plug(self.robot.device.velocity,self.inputVel.sin2)
self.inputPosVel = Stack_of_vector (name+'InputPosVel')
plug(self.inputPos.sout,self.inputPosVel.sin1)
plug(self.inputVel.sout,self.inputPosVel.sin2)
self.inputPosVel.selec1 (0, 6)
self.inputPosVel.selec2 (0, 6)
self.IMUVector = PositionStateReconstructor (name+'EstimatorInput')
self.IMUVector.setSamplingPeriod(dt)
plug(self.inputPosVel.sout,self.IMUVector.sin)
self.IMUVector.inputFormat.value = '001111'
self.IMUVector.outputFormat.value = '011111'
self.IMUVector.setFiniteDifferencesInterval(1)
self.inputPosVel.sout.recompute(0)
self.IMUVector.setLastVector(self.inputPosVel.sout.value+(0.,)*6)
# CoM and derivatives
self.com=self.robot.dynamic.com
self.DCom = Multiply_matrix_vector(name+'DCom')
plug(self.robot.dynamic.Jcom,self.DCom.sin1)
plug(self.robot.device.velocity,self.DCom.sin2)
self.comVectorIn = Stack_of_vector (name+'ComVectorIn')
plug(self.com,self.comVectorIn.sin1)
plug(self.DCom.sout,self.comVectorIn.sin2)
self.comVectorIn.selec1 (0, 3)
self.comVectorIn.selec2 (0, 3)
self.comVector = PositionStateReconstructor (name+'ComVector')
self.comVector.setSamplingPeriod(dt)
plug(self.comVectorIn.sout,self.comVector.sin)
self.comVector.inputFormat.value = '000101'
self.comVector.outputFormat.value = '010101'
self.comVector.setFiniteDifferencesInterval(1)
self.DCom.sout.recompute(0)
self.comVector.setLastVector(self.com.value+(0.,)*15)#(0.,)*3+self.DCom.sout.value+(0.,)*9)
# Compute derivative of Angular Momentum
self.angMomDerivator = Derivator_of_Vector(name+'angMomDerivator')
plug(self.robot.dynamic.angularmomentum,self.angMomDerivator.sin)
self.angMomDerivator.dt.value = dt
# self.angMomDerivator = PositionStateReconstructor (name+'angMomDerivator')
# self.angMomDerivator.setSamplingPeriod(dt)
# plug(self.robot.dynamic.angularmomentum,self.angMomDerivator.sin)
# self.angMomDerivator.inputFormat.value = '000001'
# self.angMomDerivator.outputFormat.value = '000100'
# self.angMomDerivator.setFiniteDifferencesInterval(2)
# self.robot.dynamic.angularmomentum.recompute(0)
# self.angMomDerivator.setLastVector(self.robot.dynamic.angularmomentum.value+(0.,)*15)
# Concatenate with interface estimator
plug(self.comVector.sout,self.interface.comVector)
plug(self.robot.dynamic.inertia,self.interface.inertia)
self.interface.dinertia.value=(0,0,0,0,0,0)
plug(self.robot.dynamic.angularmomentum,self.interface.angMomentum)
plug(self.angMomDerivator.sout,self.interface.dangMomentum)
plug(self.robot.dynamic.waist,self.interface.positionWaist)
plug(self.IMUVector.sout,self.interface.imuVector)
plug(self.interface.input,self.input)
plug (self.interface.modeledContactsNbr,self.contactNbr)
self.robot.flextimator = self
def __init__(self, robot, name='flextimator2'):
DGIMUModelBaseFlexEstimation.__init__(self,name)
self.setSamplingPeriod(0.005)
self.robot = robot
# Definition of IMU vector
self.sensorStack = Stack_of_vector (name+'Sensors')
plug(self.robot.device.accelerometer,self.sensorStack.sin1)
plug(self.robot.device.gyrometer,self.sensorStack.sin2)
self.sensorStack.selec1 (0, 3)
self.sensorStack.selec2 (0, 3)
# Calibration
self.calibration= Calibrate('calibration')
plug(self.sensorStack.sout,self.calibration.imuIn)
plug(self.robot.dynamic.com,self.calibration.comIn)
plug(self.calibration.imuOut,self.measurement)
self.inputPos = MatrixHomoToPoseUTheta(name+'InputPosition')
plug(robot.frames['accelerometer'].position,self.inputPos.sin)
self.robot.dynamic.createJacobian('ChestJ_OpPoint','chest')
self.imuOpPoint = OpPointModifier('IMU_oppoint')
self.imuOpPoint.setEndEffector(False)
self.imuOpPoint.setTransformation(matrixToTuple(np.linalg.inv(np.matrix(self.robot.dynamic.chest.value))*np.matrix(self.robot.frames['accelerometer'].position.value)))
plug (self.robot.dynamic.chest,self.imuOpPoint.positionIN)
plug (self.robot.dynamic.signal('ChestJ_OpPoint'),self.imuOpPoint.jacobianIN)
self.inputVel = Multiply_matrix_vector(name+'InputVelocity')
plug(self.imuOpPoint.jacobian,self.inputVel.sin1)
plug(self.robot.device.velocity,self.inputVel.sin2)
self.inputPosVel = Stack_of_vector (name+'InputPosVel')
plug(self.inputPos.sout,self.inputPosVel.sin1)
plug(self.inputVel.sout,self.inputPosVel.sin2)
self.inputPosVel.selec1 (0, 6)
self.inputPosVel.selec2 (0, 6)
self.IMUVector = PositionStateReconstructor (name+'EstimatorInput')
plug(self.inputPosVel.sout,self.IMUVector.sin)
self.IMUVector.inputFormat.value = '001111'
self.IMUVector.outputFormat.value = '011111'
self.IMUVector.setFiniteDifferencesInterval(2)
# Definition of inertia, angular momentum and derivatives
self.robot.dynamic.inertia.recompute(0)
self.inertia=self.robot.dynamic.inertia #(48.2378,48.2378,2.87339,0,0,0) #
self.dotInertia=(0,0,0,0,0,0)
self.zeroMomentum=(0,0,0,0,0,0)
# Waist position
self.robot.dynamic.waist.recompute(0)
#self.robot.dynamic.chest.recompute(1)
#self.robot.dynamic.com.recompute(1)
self.positionWaist=self.robot.dynamic.waist
# Definition of com and derivatives
self.com=self.calibration.comOut #self.robot.dynamic.com
self.DCom = Multiply_matrix_vector(name+'DCom')
self.robot.dynamic.Jcom.recompute(0)
plug(self.robot.dynamic.Jcom,self.DCom.sin1)
plug(self.robot.device.velocity,self.DCom.sin2)
self.comVectorIn = Stack_of_vector (name+'ComVectorIn')
plug(self.calibration.comOut,self.comVectorIn.sin1)
plug(self.DCom.sout,self.comVectorIn.sin2)
self.comVectorIn.selec1 (0, 3)
self.comVectorIn.selec2 (0, 3)
self.comVector = PositionStateReconstructor (name+'ComVector')
plug(self.comVectorIn.sout,self.comVector.sin)
self.comVector.inputFormat.value = '000101'
self.comVector.outputFormat.value = '010101'
# Concatenate with InputReconstructor entity
self.inputVector=InputReconstructor(name+'inputVector')
plug(self.comVector.sout,self.inputVector.comVector)
plug(self.inertia,self.inputVector.inertia)
self.inputVector.dinertia.value=self.dotInertia
plug(self.positionWaist,self.inputVector.positionWaist)
self.inputVector.setSamplingPeriod(robot.timeStep)
self.inputVector.setFDInertiaDot(True)
plug(self.robot.dynamic.angularmomentum,self.inputVector.angMomentum)
self.angMomDerivator = Derivator_of_Vector('angMomDerivator')
plug(self.robot.dynamic.angularmomentum,self.angMomDerivator.sin)
self.angMomDerivator.dt.value = self.robot.timeStep
plug(self.angMomDerivator.sout,self.inputVector.dangMomentum)
#self.inputVector.dangMomentum.value = self.zeroMomentum
plug(self.IMUVector.sout,self.inputVector.imuVector)
plug(self.contactNbr,self.inputVector.nbContacts)
# plug(self.contacts,self.inputVector.contactsPosition)
plug(self.inputVector.input,self.input)
self.robot.flextimator = self
kfe=40000
kfv=600
kte=600
ktv=60
self.setKfe(matrixToTuple(np.diag((kfe,kfe,kfe))))
self.setKfv(matrixToTuple(np.diag((kfv,kfv,kfv))))
self.setKte(matrixToTuple(np.diag((kte,kte,kte))))
self.setKtv(matrixToTuple(np.diag((ktv,ktv,ktv))))
def __init__(self, robot, name='flextimatorEncoders'):
DGIMUModelBaseFlexEstimation.__init__(self,name)
self.setSamplingPeriod(0.005)
self.robot = robot
# Covariances
self.setProcessNoiseCovariance(matrixToTuple(np.diag((1e-8,)*12+(1e-4,)*3+(1e-4,)*3+(1e-4,)*3+(1e-4,)*3+(1.e-2,)*6+(1e-15,)*2+(1.e-8,)*3)))
self.setMeasurementNoiseCovariance(matrixToTuple(np.diag((1e-3,)*3+(1e-6,)*3)))
self.setUnmodeledForceVariance(1e-13)
self.setForceVariance(1e-4)
self.setAbsolutePosVariance(1e-4)
# Contact model definition
self.setContactModel(1)
self.setKfe(matrixToTuple(np.diag((40000,40000,40000))))
self.setKfv(matrixToTuple(np.diag((600,600,600))))
self.setKte(matrixToTuple(np.diag((600,600,600))))
self.setKtv(matrixToTuple(np.diag((60,60,60))))
#Estimator interface
self.interface=EstimatorInterface(name+"EstimatorInterface")
self.interface.setLeftHandSensorTransformation((0.,0.,1.57))
self.interface.setRightHandSensorTransformation((0.,0.,1.57))
self.interface.setFDInertiaDot(True)
# State and measurement definition
self.interface.setWithUnmodeledMeasurements(False)
self.interface.setWithModeledForces(True)
self.interface.setWithAbsolutePose(False)
self.setWithComBias(False)
# Contacts forces
plug (self.robot.device.forceLLEG,self.interface.force_lf)
plug (self.robot.device.forceRLEG,self.interface.force_rf)
plug (self.robot.device.forceLARM,self.interface.force_lh)
plug (self.robot.device.forceRARM,self.interface.force_rh)
# Selecting robotState
self.robot.device.robotState.value=46*(0.,)
self.robotState = Selec_of_vector('robotState')
plug(self.robot.device.robotState,self.robotState.sin)
self.robotState.selec(0,36)
# Reconstruction of the position of the free flyer from encoders
# Create dynamic with the free flyer at the origin of the control frame
self.robot.dynamicOdo=self.createDynamic(self.robotState.sout,'_dynamicOdo')
self.robot.dynamicOdo.inertia.recompute(1)
self.robot.dynamicOdo.waist.recompute(1)
# Reconstruction of the position of the contacts in dynamicOdo
self.leftFootPosOdo=Multiply_of_matrixHomo(name+"leftFootPosOdo")
plug(self.robot.dynamicOdo.signal('left-ankle'),self.leftFootPosOdo.sin1)
self.leftFootPosOdo.sin2.value=self.robot.forceSensorInLeftAnkle
self.rightFootPosOdo=Multiply_of_matrixHomo(name+"rightFootPosOdo")
plug(self.robot.dynamicOdo.signal('right-ankle'),self.rightFootPosOdo.sin1)
self.rightFootPosOdo.sin2.value=self.robot.forceSensorInRightAnkle
# Odometry
self.odometry=Odometry (name+'odometry')
plug (self.robot.frames['leftFootForceSensor'].position,self.odometry.leftFootPositionRef)
plug (self.robot.frames['rightFootForceSensor'].position,self.odometry.rightFootPositionRef)
plug (self.rightFootPosOdo.sout,self.odometry.rightFootPositionIn)
plug (self.leftFootPosOdo.sout,self.odometry.leftFootPositionIn)
plug (self.robot.device.forceLLEG,self.odometry.force_lf)
plug (self.robot.device.forceRLEG,self.odometry.force_rf)
self.odometry.setLeftFootPosition(self.robot.frames['leftFootForceSensor'].position.value)
self.odometry.setRightFootPosition(self.robot.frames['rightFootForceSensor'].position.value)
plug(self.interface.stackOfSupportContacts,self.odometry.stackOfSupportContacts)
# Create dynamicEncoders
self.robotStateWoFF = Selec_of_vector('robotStateWoFF')
plug(self.robot.device.robotState,self.robotStateWoFF.sin)
self.robotStateWoFF.selec(6,36)
self.stateEncoders = Stack_of_vector (name+'stateEncoders')
plug(self.odometry.freeFlyer,self.stateEncoders.sin1)
plug(self.robotStateWoFF.sout,self.stateEncoders.sin2)
self.stateEncoders.selec1 (0, 6)
self.stateEncoders.selec2 (0, 30)
self.robot.dynamicEncoders=self.createDynamic(self.stateEncoders.sout,'_dynamicEncoders')
# self.robot.dynamicEncoders=self.createDynamic(self.robotState.sout,'_dynamicEncoders')
# plug(self.odometry.freeFlyer,self.robot.dynamicEncoders.ffposition)
# self.robot.dynamicEncoders=self.createDynamic(self.robot.device.state,'_dynamicEncoders')
# Reconstruction of the position of the contacts in dynamicEncoders
self.leftFootPos=Multiply_of_matrixHomo("leftFootPos")
plug(self.robot.dynamicEncoders.signal('left-ankle'),self.leftFootPos.sin1)
self.leftFootPos.sin2.value=self.robot.forceSensorInLeftAnkle
self.rightFootPos=Multiply_of_matrixHomo("rightFootPos")
plug(self.robot.dynamicEncoders.signal('right-ankle'),self.rightFootPos.sin1)
self.rightFootPos.sin2.value=self.robot.forceSensorInRightAnkle
# Contacts velocities
self.leftFootVelocity = Multiply_matrix_vector ('leftFootVelocity')
plug(self.robot.frames['leftFootForceSensor'].jacobian,self.leftFootVelocity.sin1)
plug(self.robot.dynamicEncoders.velocity,self.leftFootVelocity.sin2)
self.rightFootVelocity = Multiply_matrix_vector ('rightFootVelocity')
plug(self.robot.frames['rightFootForceSensor'].jacobian,self.rightFootVelocity.sin1)
plug(self.robot.dynamicEncoders.velocity,self.rightFootVelocity.sin2)
# Contacts positions and velocities
plug (self.leftFootPos.sout,self.interface.position_lf)
plug (self.rightFootPos.sout,self.interface.position_rf)
plug (self.leftFootVelocity.sout,self.interface.velocity_lf)
plug (self.rightFootVelocity.sout,self.interface.velocity_rf)
plug (self.robot.dynamicEncoders.signal('right-wrist'),self.interface.position_lh)
plug (self.robot.dynamicEncoders.signal('left-wrist'),self.interface.position_rh)
# Compute contacts number
plug (self.interface.supportContactsNbr,self.contactNbr)
# Contacts model and config
plug(self.interface.contactsModel,self.contactsModel)
self.setWithConfigSignal(True)
plug(self.interface.config,self.config)
# Drift
self.drift = DriftFromMocap(name+'Drift')
# Compute measurement vector
plug(self.robot.device.accelerometer,self.interface.accelerometer)
plug(self.robot.device.gyrometer,self.interface.gyrometer)
plug(self.drift.driftVector,self.interface.drift)
plug(self.interface.measurement,self.measurement)
# Input reconstruction
# IMU Vector
# Creating an operational point for the IMU
self.robot.dynamicEncoders.createJacobian(name+'ChestJ_OpPoint','chest')
self.imuOpPoint = OpPointModifier(name+'IMU_oppoint')
self.imuOpPoint.setTransformation(matrixToTuple(np.linalg.inv(np.matrix(self.robot.dynamicEncoders.chest.value))*np.matrix(self.robot.frames['accelerometer'].position.value)))
self.imuOpPoint.setEndEffector(False)
plug (self.robot.dynamicEncoders.chest,self.imuOpPoint.positionIN)
plug (self.robot.dynamicEncoders.signal(name+'ChestJ_OpPoint'),self.imuOpPoint.jacobianIN)
# IMU position
self.PosAccelerometer=Multiply_of_matrixHomo(name+"PosAccelerometer")
plug(self.robot.dynamicEncoders.chest,self.PosAccelerometer.sin1)
self.PosAccelerometer.sin2.value=matrixToTuple(self.robot.accelerometerPosition)
self.inputPos = MatrixHomoToPoseUTheta(name+'InputPosition')
plug(self.PosAccelerometer.sout,self.inputPos.sin)
# IMU velocity
self.inputVel = Multiply_matrix_vector(name+'InputVelocity')
plug(self.imuOpPoint.jacobian,self.inputVel.sin1)
plug(self.robot.dynamicEncoders.velocity,self.inputVel.sin2)
# Concatenate
self.inputPosVel = Stack_of_vector (name+'InputPosVel')
plug(self.inputPos.sout,self.inputPosVel.sin1)
plug(self.inputVel.sout,self.inputPosVel.sin2)
self.inputPosVel.selec1 (0, 6)
self.inputPosVel.selec2 (0, 6)
# IMU Vector
self.IMUVector = PositionStateReconstructor (name+'EstimatorInput')
plug(self.inputPosVel.sout,self.IMUVector.sin)
self.IMUVector.inputFormat.value = '001111'
self.IMUVector.outputFormat.value = '011111'
self.IMUVector.setFiniteDifferencesInterval(2)
# CoM and derivatives
self.comIn=self.robot.dynamicEncoders.com
self.comVector = PositionStateReconstructor (name+'ComVector')
plug(self.comIn,self.comVector.sin)
self.comVector.inputFormat.value = '000001'
self.comVector.outputFormat.value = '010101'
self.comVector.setFiniteDifferencesInterval(20)
# Compute derivative of Angular Momentum
self.angMomDerivator = Derivator_of_Vector(name+'angMomDerivator')
plug(self.robot.dynamicEncoders.angularmomentum,self.angMomDerivator.sin)
self.angMomDerivator.dt.value = self.robot.timeStep
# Concatenate with interace estimator
plug(self.comVector.sout,self.interface.comVector)
plug(self.robot.dynamicEncoders.inertia,self.interface.inertia)
plug(self.robot.dynamicEncoders.angularmomentum,self.interface.angMomentum)
plug(self.angMomDerivator.sout,self.interface.dangMomentum)
self.interface.dinertia.value=(0,0,0,0,0,0)
plug(self.robot.dynamicEncoders.waist,self.interface.positionWaist)
plug(self.IMUVector.sout,self.interface.imuVector)
plug(self.interface.input,self.input)
self.robot.flextimator = self
def __init__(self, robot, name='flextimatorEncoders'):
DGIMUModelBaseFlexEstimation.__init__(self, name)
self.setSamplingPeriod(0.005)
self.robot = robot
# Covariances
self.setProcessNoiseCovariance(
matrixToTuple(
np.diag((1e-8, ) * 12 + (1e-4, ) * 3 + (1e-4, ) * 3 +
(1e-4, ) * 3 + (1e-4, ) * 3 + (1.e-2, ) * 6 +
(1e-15, ) * 2 + (1.e-8, ) * 3)))
self.setMeasurementNoiseCovariance(
matrixToTuple(np.diag((1e-3, ) * 3 + (1e-6, ) * 3)))
self.setUnmodeledForceVariance(1e-13)
self.setForceVariance(1e-4)
self.setAbsolutePosVariance(1e-4)
# Contact model definition
self.setContactModel(1)
self.setKfe(matrixToTuple(np.diag((40000, 40000, 40000))))
self.setKfv(matrixToTuple(np.diag((600, 600, 600))))
self.setKte(matrixToTuple(np.diag((600, 600, 600))))
self.setKtv(matrixToTuple(np.diag((60, 60, 60))))
#Estimator interface
self.interface = EstimatorInterface(name + "EstimatorInterface")
self.interface.setLeftHandSensorTransformation((0., 0., 1.57))
self.interface.setRightHandSensorTransformation((0., 0., 1.57))
self.interface.setFDInertiaDot(True)
# State and measurement definition
self.interface.setWithUnmodeledMeasurements(False)
self.interface.setWithModeledForces(True)
self.interface.setWithAbsolutePose(False)
self.setWithComBias(False)
# Contacts forces
plug(self.robot.device.forceLLEG, self.interface.force_lf)
plug(self.robot.device.forceRLEG, self.interface.force_rf)
plug(self.robot.device.forceLARM, self.interface.force_lh)
plug(self.robot.device.forceRARM, self.interface.force_rh)
# Selecting robotState
self.robot.device.robotState.value = 46 * (0., )
self.robotState = Selec_of_vector('robotState')
plug(self.robot.device.robotState, self.robotState.sin)
self.robotState.selec(0, 36)
# Reconstruction of the position of the free flyer from encoders
# Create dynamic with the free flyer at the origin of the control frame
self.robot.dynamicOdo = self.createDynamic(self.robotState.sout,
'_dynamicOdo')
self.robot.dynamicOdo.inertia.recompute(1)
self.robot.dynamicOdo.waist.recompute(1)
# Reconstruction of the position of the contacts in dynamicOdo
self.leftFootPosOdo = Multiply_of_matrixHomo(name + "leftFootPosOdo")
plug(self.robot.dynamicOdo.signal('left-ankle'),
self.leftFootPosOdo.sin1)
self.leftFootPosOdo.sin2.value = self.robot.forceSensorInLeftAnkle
self.rightFootPosOdo = Multiply_of_matrixHomo(name + "rightFootPosOdo")
plug(self.robot.dynamicOdo.signal('right-ankle'),
self.rightFootPosOdo.sin1)
self.rightFootPosOdo.sin2.value = self.robot.forceSensorInRightAnkle
# Odometry
self.odometry = Odometry(name + 'odometry')
plug(self.robot.frames['leftFootForceSensor'].position,
self.odometry.leftFootPositionRef)
plug(self.robot.frames['rightFootForceSensor'].position,
self.odometry.rightFootPositionRef)
plug(self.rightFootPosOdo.sout, self.odometry.rightFootPositionIn)
plug(self.leftFootPosOdo.sout, self.odometry.leftFootPositionIn)
plug(self.robot.device.forceLLEG, self.odometry.force_lf)
plug(self.robot.device.forceRLEG, self.odometry.force_rf)
self.odometry.setLeftFootPosition(
self.robot.frames['leftFootForceSensor'].position.value)
self.odometry.setRightFootPosition(
self.robot.frames['rightFootForceSensor'].position.value)
plug(self.interface.stackOfSupportContacts,
self.odometry.stackOfSupportContacts)
# Create dynamicEncoders
self.robotStateWoFF = Selec_of_vector('robotStateWoFF')
plug(self.robot.device.robotState, self.robotStateWoFF.sin)
self.robotStateWoFF.selec(6, 36)
self.stateEncoders = Stack_of_vector(name + 'stateEncoders')
plug(self.odometry.freeFlyer, self.stateEncoders.sin1)
plug(self.robotStateWoFF.sout, self.stateEncoders.sin2)
self.stateEncoders.selec1(0, 6)
self.stateEncoders.selec2(0, 30)
self.robot.dynamicEncoders = self.createDynamic(
self.stateEncoders.sout, '_dynamicEncoders')
# self.robot.dynamicEncoders=self.createDynamic(self.robotState.sout,'_dynamicEncoders')
# plug(self.odometry.freeFlyer,self.robot.dynamicEncoders.ffposition)
# self.robot.dynamicEncoders=self.createDynamic(self.robot.device.state,'_dynamicEncoders')
# Reconstruction of the position of the contacts in dynamicEncoders
self.leftFootPos = Multiply_of_matrixHomo("leftFootPos")
plug(self.robot.dynamicEncoders.signal('left-ankle'),
self.leftFootPos.sin1)
self.leftFootPos.sin2.value = self.robot.forceSensorInLeftAnkle
self.rightFootPos = Multiply_of_matrixHomo("rightFootPos")
plug(self.robot.dynamicEncoders.signal('right-ankle'),
self.rightFootPos.sin1)
self.rightFootPos.sin2.value = self.robot.forceSensorInRightAnkle
# Contacts velocities
self.leftFootVelocity = Multiply_matrix_vector('leftFootVelocity')
plug(self.robot.frames['leftFootForceSensor'].jacobian,
self.leftFootVelocity.sin1)
plug(self.robot.dynamicEncoders.velocity, self.leftFootVelocity.sin2)
self.rightFootVelocity = Multiply_matrix_vector('rightFootVelocity')
plug(self.robot.frames['rightFootForceSensor'].jacobian,
self.rightFootVelocity.sin1)
plug(self.robot.dynamicEncoders.velocity, self.rightFootVelocity.sin2)
# Contacts positions and velocities
plug(self.leftFootPos.sout, self.interface.position_lf)
plug(self.rightFootPos.sout, self.interface.position_rf)
plug(self.leftFootVelocity.sout, self.interface.velocity_lf)
plug(self.rightFootVelocity.sout, self.interface.velocity_rf)
plug(self.robot.dynamicEncoders.signal('right-wrist'),
self.interface.position_lh)
plug(self.robot.dynamicEncoders.signal('left-wrist'),
self.interface.position_rh)
# Compute contacts number
plug(self.interface.supportContactsNbr, self.contactNbr)
# Contacts model and config
plug(self.interface.contactsModel, self.contactsModel)
self.setWithConfigSignal(True)
plug(self.interface.config, self.config)
# Drift
self.drift = DriftFromMocap(name + 'Drift')
# Compute measurement vector
plug(self.robot.device.accelerometer, self.interface.accelerometer)
plug(self.robot.device.gyrometer, self.interface.gyrometer)
plug(self.drift.driftVector, self.interface.drift)
plug(self.interface.measurement, self.measurement)
# Input reconstruction
# IMU Vector
# Creating an operational point for the IMU
self.robot.dynamicEncoders.createJacobian(name + 'ChestJ_OpPoint',
'chest')
self.imuOpPoint = OpPointModifier(name + 'IMU_oppoint')
self.imuOpPoint.setTransformation(
matrixToTuple(
np.linalg.inv(np.matrix(
self.robot.dynamicEncoders.chest.value)) *
np.matrix(self.robot.frames['accelerometer'].position.value)))
self.imuOpPoint.setEndEffector(False)
plug(self.robot.dynamicEncoders.chest, self.imuOpPoint.positionIN)
plug(self.robot.dynamicEncoders.signal(name + 'ChestJ_OpPoint'),
self.imuOpPoint.jacobianIN)
# IMU position
self.PosAccelerometer = Multiply_of_matrixHomo(name +
"PosAccelerometer")
plug(self.robot.dynamicEncoders.chest, self.PosAccelerometer.sin1)
self.PosAccelerometer.sin2.value = matrixToTuple(
self.robot.accelerometerPosition)
self.inputPos = MatrixHomoToPoseUTheta(name + 'InputPosition')
plug(self.PosAccelerometer.sout, self.inputPos.sin)
# IMU velocity
self.inputVel = Multiply_matrix_vector(name + 'InputVelocity')
plug(self.imuOpPoint.jacobian, self.inputVel.sin1)
plug(self.robot.dynamicEncoders.velocity, self.inputVel.sin2)
# Concatenate
self.inputPosVel = Stack_of_vector(name + 'InputPosVel')
plug(self.inputPos.sout, self.inputPosVel.sin1)
plug(self.inputVel.sout, self.inputPosVel.sin2)
self.inputPosVel.selec1(0, 6)
self.inputPosVel.selec2(0, 6)
# IMU Vector
self.IMUVector = PositionStateReconstructor(name + 'EstimatorInput')
plug(self.inputPosVel.sout, self.IMUVector.sin)
self.IMUVector.inputFormat.value = '001111'
self.IMUVector.outputFormat.value = '011111'
self.IMUVector.setFiniteDifferencesInterval(2)
# CoM and derivatives
self.comIn = self.robot.dynamicEncoders.com
self.comVector = PositionStateReconstructor(name + 'ComVector')
plug(self.comIn, self.comVector.sin)
self.comVector.inputFormat.value = '000001'
self.comVector.outputFormat.value = '010101'
self.comVector.setFiniteDifferencesInterval(20)
# Compute derivative of Angular Momentum
self.angMomDerivator = Derivator_of_Vector(name + 'angMomDerivator')
plug(self.robot.dynamicEncoders.angularmomentum,
self.angMomDerivator.sin)
self.angMomDerivator.dt.value = self.robot.timeStep
# Concatenate with interace estimator
plug(self.comVector.sout, self.interface.comVector)
plug(self.robot.dynamicEncoders.inertia, self.interface.inertia)
plug(self.robot.dynamicEncoders.angularmomentum,
self.interface.angMomentum)
plug(self.angMomDerivator.sout, self.interface.dangMomentum)
self.interface.dinertia.value = (0, 0, 0, 0, 0, 0)
plug(self.robot.dynamicEncoders.waist, self.interface.positionWaist)
plug(self.IMUVector.sout, self.interface.imuVector)
plug(self.interface.input, self.input)
self.robot.flextimator = self
def __init__(self, robot, name='flextimator', useMocap=True, dt=0.005):
DGIMUModelBaseFlexEstimation.__init__(self,name)
self.setSamplingPeriod(dt)
self.robot = robot
initDevice(self.robot)
computeDynamic(self.robot,0)
# Covariances
self.setProcessNoiseCovariance(matrixToTuple(np.diag((1e-8,)*12+(1e-4,)*3+(1e-4,)*3+(1e-4,)*3+(1e-4,)*3+(1.e-2,)*6+(1e-15,)*2+(1.e-8,)*3)))
self.setMeasurementNoiseCovariance(matrixToTuple(np.diag((1e-3,)*3+(1e-6,)*3)))
self.setUnmodeledForceVariance(1e-13)
self.setForceVariance(1e-4)
self.setAbsolutePosVariance(1e-4)
# Contact model definition
# self.setKfe(matrixToTuple(np.diag((40000,40000,40000))))
self.setKfe(matrixToTuple(np.diag((150000,150000,150000))))
self.setKfv(matrixToTuple(np.diag((600,600,600))))
self.setKte(matrixToTuple(np.diag((600,600,600))))
self.setKtv(matrixToTuple(np.diag((10,10,10))))
self.setKfeRopes(matrixToTuple(np.diag((10000,10000,10000))))
self.setKfvRopes(matrixToTuple(np.diag((300,300,800))))
self.setKteRopes(matrixToTuple(np.diag((600,600,600))))
self.setKtvRopes(matrixToTuple(np.diag((60,60,60))))
# Estimator interface
self.interface=EstimatorInterface(name+"EstimatorInterface")
self.interface.setSamplingPeriod(dt)
self.interface.setLeftHandSensorTransformation((0.,0.,1.57))
self.interface.setRightHandSensorTransformation((0.,0.,1.57))
# State and measurement definition
self.interface.setWithUnmodeledMeasurements(False)
self.interface.setWithModeledForces(True)
self.interface.setWithAbsolutePose(False)
self.setWithComBias(False)
# Contacts velocities
self.leftFootVelocity = Multiply_matrix_vector ('leftFootVelocity')
plug(self.robot.frames['leftFootForceSensor'].jacobian,self.leftFootVelocity.sin1)
plug(self.robot.device.velocity,self.leftFootVelocity.sin2)
self.rightFootVelocity = Multiply_matrix_vector ('rightFootVelocity')
plug(self.robot.frames['rightFootForceSensor'].jacobian,self.rightFootVelocity.sin1)
plug(self.robot.device.velocity,self.rightFootVelocity.sin2)
self.interface.setFDInertiaDot(True)
# Contacts forces, positions and velocities
# Feet
plug (self.robot.device.forceLLEG,self.interface.force_lf)
plug (self.robot.device.forceRLEG,self.interface.force_rf)
plug (self.robot.frames['leftFootForceSensor'].position,self.interface.position_lf)
plug (self.robot.frames['rightFootForceSensor'].position,self.interface.position_rf)
plug (self.leftFootVelocity.sout,self.interface.velocity_lf)
plug (self.rightFootVelocity.sout,self.interface.velocity_rf)
# Hands
plug (self.robot.device.forceLARM,self.interface.force_lh)
plug (self.robot.device.forceRARM,self.interface.force_rh)
plug (self.robot.dynamic.signal('right-wrist'),self.interface.position_lh)
plug (self.robot.dynamic.signal('left-wrist'),self.interface.position_rh)
# Strings
self.Peg = (0,0,4.60) # Position of the anchorage in the global frame
self.setPe(self.Peg)
self.Prl1 = np.matrix([[1,0,0,0-3.19997004e-02],[0,1,0,0.15-0],[0,0,1,1.28-1],[0,0,0,1]]) # Positions of the contacts on the robot (in the local frame) with respect to the chest
self.Prl2 = np.matrix([[1,0,0,0-3.19997004e-02],[0,1,0,-0.15-0],[0,0,1,1.28-1],[0,0,0,1]])
(self.contact1OpPoint,self.contact1Pos,self.contact1)=self.createContact('contact1', self.Prl1)
(self.contact2OpPoint,self.contact2Pos,self.contact2)=self.createContact('contact2', self.Prl2)
plug(self.contact1.sout,self.interface.position_ls)
plug(self.contact2.sout,self.interface.position_rs)
# Contacts model and config
plug(self.interface.contactsModel,self.contactsModel)
self.setWithConfigSignal(True)
plug(self.interface.config,self.config)
if(useMocap):
# Mocap signal
self.ros = RosExport('rosExportMocap')
self.ros.add('matrixHomoStamped', "chest", "/evart/hrp2_14_head/hrp2_14_head")
# Filtering
from dynamic_graph.sot.tools import MocapDataFilter
self.mocapFilter = MocapDataFilter('MocapDataFilter')
plug(self.ros.signal('chest'),self.mocapFilter.sin)
self.mocapSignal = self.mocapFilter.sout
# Drift
self.drift = DriftFromMocap(name+'Drift')
plug(self.mocapSignal,self.drift.limbGlobal)
plug(self.robot.dynamic.chest,self.drift.limbLocal)
self.drift.init()
plug(self.drift.driftInvVector,self.interface.drift)
# Measurement reconstruction
plug(self.robot.device.accelerometer,self.interface.accelerometer)
plug(self.robot.device.gyrometer,self.interface.gyrometer)
plug(self.interface.measurement,self.measurement)
# Input reconstruction
# IMU Vector
self.inputPos = MatrixHomoToPoseUTheta(name+'InputPosition')
plug(robot.frames['accelerometer'].position,self.inputPos.sin)
self.robot.dynamic.createJacobian(name+'ChestJ_OpPoint','chest')
self.imuOpPoint = OpPointModifier(name+'IMU_oppoint')
self.imuOpPoint.setEndEffector(False)
self.imuOpPoint.setTransformation(matrixToTuple(np.linalg.inv(np.matrix(self.robot.dynamic.chest.value))*np.matrix(self.robot.frames['accelerometer'].position.value)))
plug (self.robot.dynamic.chest,self.imuOpPoint.positionIN)
plug (self.robot.dynamic.signal(name+'ChestJ_OpPoint'),self.imuOpPoint.jacobianIN)
self.inputVel = Multiply_matrix_vector(name+'InputVelocity')
plug(self.imuOpPoint.jacobian,self.inputVel.sin1)
plug(self.robot.device.velocity,self.inputVel.sin2)
self.inputPosVel = Stack_of_vector (name+'InputPosVel')
plug(self.inputPos.sout,self.inputPosVel.sin1)
plug(self.inputVel.sout,self.inputPosVel.sin2)
self.inputPosVel.selec1 (0, 6)
self.inputPosVel.selec2 (0, 6)
self.IMUVector = PositionStateReconstructor (name+'EstimatorInput')
self.IMUVector.setSamplingPeriod(dt)
plug(self.inputPosVel.sout,self.IMUVector.sin)
self.IMUVector.inputFormat.value = '001111'
self.IMUVector.outputFormat.value = '011111'
self.IMUVector.setFiniteDifferencesInterval(1)
self.inputPosVel.sout.recompute(0)
self.IMUVector.setLastVector(self.inputPosVel.sout.value+(0.,)*6)
# CoM and derivatives
self.com=self.robot.dynamic.com
self.DCom = Multiply_matrix_vector(name+'DCom')
plug(self.robot.dynamic.Jcom,self.DCom.sin1)
plug(self.robot.device.velocity,self.DCom.sin2)
self.comVectorIn = Stack_of_vector (name+'ComVectorIn')
plug(self.com,self.comVectorIn.sin1)
plug(self.DCom.sout,self.comVectorIn.sin2)
self.comVectorIn.selec1 (0, 3)
self.comVectorIn.selec2 (0, 3)
self.comVector = PositionStateReconstructor (name+'ComVector')
self.comVector.setSamplingPeriod(dt)
plug(self.comVectorIn.sout,self.comVector.sin)
self.comVector.inputFormat.value = '000101'
self.comVector.outputFormat.value = '010101'
self.comVector.setFiniteDifferencesInterval(1)
self.DCom.sout.recompute(0)
self.comVector.setLastVector(self.com.value+(0.,)*15)#(0.,)*3+self.DCom.sout.value+(0.,)*9)
# Compute derivative of Angular Momentum
self.angMomDerivator = Derivator_of_Vector(name+'angMomDerivator')
plug(self.robot.dynamic.angularmomentum,self.angMomDerivator.sin)
self.angMomDerivator.dt.value = dt
# self.angMomDerivator = PositionStateReconstructor (name+'angMomDerivator')
# self.angMomDerivator.setSamplingPeriod(dt)
# plug(self.robot.dynamic.angularmomentum,self.angMomDerivator.sin)
# self.angMomDerivator.inputFormat.value = '000001'
# self.angMomDerivator.outputFormat.value = '000100'
# self.angMomDerivator.setFiniteDifferencesInterval(2)
# self.robot.dynamic.angularmomentum.recompute(0)
# self.angMomDerivator.setLastVector(self.robot.dynamic.angularmomentum.value+(0.,)*15)
# Concatenate with interface estimator
plug(self.comVector.sout,self.interface.comVector)
plug(self.robot.dynamic.inertia,self.interface.inertia)
self.interface.dinertia.value=(0,0,0,0,0,0)
plug(self.robot.dynamic.angularmomentum,self.interface.angMomentum)
plug(self.angMomDerivator.sout,self.interface.dangMomentum)
plug(self.robot.dynamic.waist,self.interface.positionWaist)
plug(self.IMUVector.sout,self.interface.imuVector)
plug(self.interface.input,self.input)
plug (self.interface.modeledContactsNbr,self.contactNbr)
self.robot.flextimator = self
