def __init__(self,
name,
signalPosition=None,
signalJacobian=None,
referencePosition=None):
self._feature = FeaturePoint6d(name)
self.obj = self._feature.obj
self._reference = FeaturePoint6d(name + '_ref')
if referencePosition:
self._reference.signal('position').value = tuple(referencePosition)
if signalPosition:
plug(signalPosition, self._feature.signal('position'))
if signalJacobian:
plug(signalJacobian, self._feature.signal('Jq'))
self._feature.setReference(self._reference.name)
self._feature.signal('selec').value = Flags('111111')
self._feature.frame('current')
# Signals stored in members
self.position = self._feature.signal('position')
self.reference = self._reference.signal('position')
self.velocity = self._reference.signal('velocity')
self.Jq = self._feature.signal('Jq')
self.error = self._feature.signal('error')
self.errordot = self._feature.signal('errordot')
self.selec = self._feature.signal('selec')
self.signalMap = {
'position': self.position,
'reference': self.reference,
'Jq': self.Jq,
'error': self.error,
'selec': self.selec
}
def gotoq(self, gain=None, qdes=None, **kwargs):
act = list()
if qdes is not None:
if isinstance(qdes, tuple):
qdes = matrix(qdes).T
else:
if MetaTaskPosture.nbDof is None:
MetaTaskPosture.nbDof = len(self.feature.errorIN.value)
qdes = zeros((MetaTaskPosture.nbDof, 1))
act = [
False,
] * MetaTaskPosture.nbDof
for limbName, jointValues in kwargs.items():
limbRange = self.postureRange[limbName]
for i in limbRange:
act[i] = True
if jointValues != []:
if isinstance(jointValues, matrix):
qdes[limbRange, 0] = vectorToTuple(jointValues)
else:
qdes[limbRange, 0] = jointValues
self.ref = vectorToTuple(qdes)
if len(act) > 0:
self.feature.selec.value = Flags(act)
setGain(self.gain, gain)
def goto6d(task, position, gain=None, resetJacobian=True):
M = generic6dReference(position)
task.featureDes.position.value = array(M)
task.feature.selec.value = Flags("111111")
setGain(task.gain, gain)
if 'resetJacobianDerivative' in task.task.__class__.__dict__.keys() and resetJacobian:
task.task.resetJacobianDerivative()
def gotoNd(task, position, selec=None, gain=None, resetJacobian=True):
M = generic6dReference(position)
if selec is not None:
if not isinstance(selec, Flags):
selec = Flags(selec)
task.feature.selec.value = selec
task.featureDes.position.value = array(M)
setGain(task.gain, gain)
if 'resetJacobianDerivative' in task.task.__class__.__dict__.keys() and resetJacobian:
task.task.resetJacobianDerivative()
def createFeatures(self):
self.feature = FeaturePoint6dRelative('featureRel' + self.name)
self.featureDes = FeaturePoint6dRelative('featureRel' + self.name +
'_ref')
self.feature.selec.value = Flags('111111')
self.feature.frame('current')
def toFlags(arr):
from warnings import warn
warn("This function is deprecated. Please, use Flags directly.")
return Flags(arr)
def __init__(self,
name,
basePosition=None,
otherPosition=None,
baseReference=None,
otherReference=None,
JqBase=None,
JqOther=None):
self._feature = FeaturePoint6dRelative(name)
self.obj = self._feature.obj
self._reference = FeaturePoint6dRelative(name + '_ref')
# Set undefined input parameters as identity matrix
if basePosition is None:
basePosition = I4
if otherPosition is None:
otherPosition = I4
if baseReference is None:
baseReference = I4
if otherReference is None:
otherReference = I4
# If input positions are signals, plug them, otherwise set values
for (sout, sin) in \
((basePosition, self._feature.signal('positionRef')),
(otherPosition, self._feature.signal('position')),
(baseReference, self._reference.signal('positionRef')),
(otherReference, self._reference.signal('position'))):
if isinstance(sout, SignalBase):
plug(sout, sin)
else:
sin.value = sout
if JqBase:
plug(JqBase, self._feature.signal('JqRef'))
if JqOther:
plug(JqOther, self._feature.signal('Jq'))
self._feature.setReference(self._reference.name)
self._feature.signal('selec').value = Flags('111111')
self._feature.frame('current')
# Signals stored in members
self.basePosition = self._feature.signal('positionRef')
self.otherPosition = self._feature.signal('position')
self.baseReference = self._reference.signal('positionRef')
self.otherReference = self._reference.signal('position')
self.JqBase = self._feature.signal('JqRef')
self.JqOther = self._feature.signal('Jq')
self.error = self._feature.signal('error')
self.jacobian = self._feature.signal('jacobian')
self.selec = self._feature.signal('selec')
self.signalMap = {
'basePosition': self.basePosition,
'otherPosition': self.otherPosition,
'baseReference': self.baseReference,
'otherReference': self.otherReference,
'JqBase': self.JqBase,
'JqOther': self.JqOther,
'error': self.error,
'jacobian': self.jacobian,
'selec': self.selec
}
def init_sot_talos_balance(robot, test_folder):
cm_conf.CTRL_MAX = 1000.0 # temporary hack
dt = robot.device.getTimeStep()
robot.timeStep = dt
# --- Pendulum parameters
robot_name = 'robot'
robot.dynamic.com.recompute(0)
robotDim = robot.dynamic.getDimension()
mass = robot.dynamic.data.mass[0]
h = robot.dynamic.com.value[2]
g = 9.81
omega = sqrt(g / h)
# --- Parameter server
robot.param_server = utils.create_parameter_server(param_server_conf, dt)
# --- Initial feet and waist
robot.dynamic.createOpPoint('LF', robot.OperationalPointsMap['left-ankle'])
robot.dynamic.createOpPoint('RF',
robot.OperationalPointsMap['right-ankle'])
robot.dynamic.createOpPoint('WT', robot.OperationalPointsMap['waist'])
robot.dynamic.add_signals()
robot.dynamic.LF.recompute(0)
robot.dynamic.RF.recompute(0)
robot.dynamic.WT.recompute(0)
# -------------------------- DESIRED TRAJECTORY --------------------------
rospack = RosPack()
data_folder = rospack.get_path('sot-talos-balance') + "/data/"
folder = data_folder + test_folder + '/'
# --- Trajectory generators
# --- General trigger
robot.triggerTrajGen = BooleanIdentity('triggerTrajGen')
robot.triggerTrajGen.sin.value = 0
# --- CoM
robot.comTrajGen = utils.create_com_trajectory_generator(dt, robot)
robot.comTrajGen.x.recompute(0) # trigger computation of initial value
robot.comTrajGen.playTrajectoryFile(folder + 'CoM.dat')
plug(robot.triggerTrajGen.sout, robot.comTrajGen.trigger)
# --- Left foot
robot.lfTrajGen = utils.create_pose_rpy_trajectory_generator(
dt, robot, 'LF')
robot.lfTrajGen.x.recompute(0) # trigger computation of initial value
robot.lfToMatrix = PoseRollPitchYawToMatrixHomo('lf2m')
plug(robot.lfTrajGen.x, robot.lfToMatrix.sin)
robot.lfTrajGen.playTrajectoryFile(folder + 'LeftFoot.dat')
plug(robot.triggerTrajGen.sout, robot.lfTrajGen.trigger)
# --- Right foot
robot.rfTrajGen = utils.create_pose_rpy_trajectory_generator(
dt, robot, 'RF')
robot.rfTrajGen.x.recompute(0) # trigger computation of initial value
robot.rfToMatrix = PoseRollPitchYawToMatrixHomo('rf2m')
plug(robot.rfTrajGen.x, robot.rfToMatrix.sin)
robot.rfTrajGen.playTrajectoryFile(folder + 'RightFoot.dat')
plug(robot.triggerTrajGen.sout, robot.rfTrajGen.trigger)
# --- ZMP
robot.zmpTrajGen = utils.create_zmp_trajectory_generator(dt, robot)
robot.zmpTrajGen.x.recompute(0) # trigger computation of initial value
# robot.zmpTrajGen.playTrajectoryFile(folder + 'ZMP.dat')
plug(robot.triggerTrajGen.sout, robot.zmpTrajGen.trigger)
# --- Waist
robot.waistTrajGen = utils.create_orientation_rpy_trajectory_generator(
dt, robot, 'WT')
robot.waistTrajGen.x.recompute(0) # trigger computation of initial value
robot.waistMix = Mix_of_vector("waistMix")
robot.waistMix.setSignalNumber(3)
robot.waistMix.addSelec(1, 0, 3)
robot.waistMix.addSelec(2, 3, 3)
# robot.waistMix.add_signals()
robot.waistMix.signal('default').value = np.array([0.0] * 6)
robot.waistMix.signal("sin1").value = np.array([0.0] * 3)
plug(robot.waistTrajGen.x, robot.waistMix.signal("sin2"))
robot.waistToMatrix = PoseRollPitchYawToMatrixHomo('w2m')
plug(robot.waistMix.sout, robot.waistToMatrix.sin)
robot.waistTrajGen.playTrajectoryFile(folder + 'WaistOrientation.dat')
plug(robot.triggerTrajGen.sout, robot.waistTrajGen.trigger)
# --- Interface with controller entities
wp = DummyWalkingPatternGenerator('dummy_wp')
wp.init()
wp.omega.value = omega
#wp.waist.value = robot.dynamic.WT.value # wait receives a full homogeneous matrix, but only the rotational part is controlled
#wp.footLeft.value = robot.dynamic.LF.value
#wp.footRight.value = robot.dynamic.RF.value
#wp.com.value = robot.dynamic.com.value
#wp.vcom.value = [0.]*3
#wp.acom.value = [0.]*3
plug(robot.waistToMatrix.sout, wp.waist)
plug(robot.lfToMatrix.sout, wp.footLeft)
plug(robot.rfToMatrix.sout, wp.footRight)
plug(robot.comTrajGen.x, wp.com)
plug(robot.comTrajGen.dx, wp.vcom)
plug(robot.comTrajGen.ddx, wp.acom)
#plug(robot.zmpTrajGen.x, wp.zmp)
robot.wp = wp
# --- Compute the values to use them in initialization
robot.wp.comDes.recompute(0)
robot.wp.dcmDes.recompute(0)
robot.wp.zmpDes.recompute(0)
# -------------------------- ESTIMATION --------------------------
# --- Base Estimation
robot.device_filters = utils.create_device_filters(robot, dt)
robot.imu_filters = utils.create_imu_filters(robot, dt)
robot.base_estimator = utils.create_base_estimator(robot, dt,
base_estimator_conf)
robot.m2qLF = MatrixHomoToPoseQuaternion('m2qLF')
plug(robot.dynamic.LF, robot.m2qLF.sin)
plug(robot.m2qLF.sout, robot.base_estimator.lf_ref_xyzquat)
robot.m2qRF = MatrixHomoToPoseQuaternion('m2qRF')
plug(robot.dynamic.RF, robot.m2qRF.sin)
plug(robot.m2qRF.sout, robot.base_estimator.rf_ref_xyzquat)
# --- Conversion
e2q = EulerToQuat('e2q')
plug(robot.base_estimator.q, e2q.euler)
robot.e2q = e2q
# --- Kinematic computations
robot.rdynamic = DynamicPinocchio("real_dynamics")
robot.rdynamic.setModel(robot.dynamic.model)
robot.rdynamic.setData(robot.rdynamic.model.createData())
robot.rdynamic.add_signals()
plug(robot.base_estimator.q, robot.rdynamic.position)
robot.rdynamic.velocity.value = np.array([0.0] * robotDim)
robot.rdynamic.acceleration.value = np.array([0.0] * robotDim)
# --- CoM Estimation
cdc_estimator = DcmEstimator('cdc_estimator')
cdc_estimator.init(dt, robot_name)
plug(robot.e2q.quaternion, cdc_estimator.q)
plug(robot.base_estimator.v, cdc_estimator.v)
robot.cdc_estimator = cdc_estimator
# --- DCM Estimation
estimator = DummyDcmEstimator("dummy")
estimator.omega.value = omega
estimator.mass.value = 1.0
plug(robot.cdc_estimator.c, estimator.com)
plug(robot.cdc_estimator.dc, estimator.momenta)
estimator.init()
robot.estimator = estimator
# --- Force calibration
robot.ftc = utils.create_ft_calibrator(robot, ft_conf)
# --- ZMP estimation
zmp_estimator = SimpleZmpEstimator("zmpEst")
robot.rdynamic.createOpPoint('sole_LF', 'left_sole_link')
robot.rdynamic.createOpPoint('sole_RF', 'right_sole_link')
robot.rdynamic.add_signals()
plug(robot.rdynamic.sole_LF, zmp_estimator.poseLeft)
plug(robot.rdynamic.sole_RF, zmp_estimator.poseRight)
plug(robot.ftc.left_foot_force_out, zmp_estimator.wrenchLeft)
plug(robot.ftc.right_foot_force_out, zmp_estimator.wrenchRight)
zmp_estimator.init()
robot.zmp_estimator = zmp_estimator
# -------------------------- ADMITTANCE CONTROL --------------------------
# --- DCM controller
Kp_dcm = np.array([8.0] * 3)
Ki_dcm = np.array([0.0, 0.0, 0.0]) # zero (to be set later)
gamma_dcm = 0.2
dcm_controller = DcmController("dcmCtrl")
dcm_controller.Kp.value = Kp_dcm
dcm_controller.Ki.value = Ki_dcm
dcm_controller.decayFactor.value = gamma_dcm
dcm_controller.mass.value = mass
dcm_controller.omega.value = omega
plug(robot.cdc_estimator.c, dcm_controller.com)
plug(robot.estimator.dcm, dcm_controller.dcm)
plug(robot.wp.zmpDes, dcm_controller.zmpDes)
plug(robot.wp.dcmDes, dcm_controller.dcmDes)
dcm_controller.init(dt)
robot.dcm_control = dcm_controller
Ki_dcm = np.array([1.0, 1.0, 1.0]) # this value is employed later
# --- CoM admittance controller
Kp_adm = np.array([0.0, 0.0, 0.0]) # zero (to be set later)
com_admittance_control = ComAdmittanceController("comAdmCtrl")
com_admittance_control.Kp.value = Kp_adm
plug(robot.zmp_estimator.zmp, com_admittance_control.zmp)
com_admittance_control.zmpDes.value = robot.wp.zmpDes.value # should be plugged to robot.dcm_control.zmpRef
plug(robot.wp.acomDes, com_admittance_control.ddcomDes)
com_admittance_control.init(dt)
com_admittance_control.setState(robot.wp.comDes.value,
np.array([0.0, 0.0, 0.0]))
robot.com_admittance_control = com_admittance_control
# --- Control Manager
robot.cm = utils.create_ctrl_manager(cm_conf, dt, robot_name='robot')
robot.cm.addCtrlMode('sot_input')
robot.cm.setCtrlMode('all', 'sot_input')
robot.cm.addEmergencyStopSIN('zmp')
# -------------------------- SOT CONTROL --------------------------
# --- Upper body
robot.taskUpperBody = Task('task_upper_body')
robot.taskUpperBody.feature = FeaturePosture('feature_upper_body')
q = robot.dynamic.position.value
robot.taskUpperBody.feature.state.value = q
robot.taskUpperBody.feature.posture.value = q
# robotDim = robot.dynamic.getDimension() # 38
robot.taskUpperBody.feature.selectDof(18, True)
robot.taskUpperBody.feature.selectDof(19, True)
robot.taskUpperBody.feature.selectDof(20, True)
robot.taskUpperBody.feature.selectDof(21, True)
robot.taskUpperBody.feature.selectDof(22, True)
robot.taskUpperBody.feature.selectDof(23, True)
robot.taskUpperBody.feature.selectDof(24, True)
robot.taskUpperBody.feature.selectDof(25, True)
robot.taskUpperBody.feature.selectDof(26, True)
robot.taskUpperBody.feature.selectDof(27, True)
robot.taskUpperBody.feature.selectDof(28, True)
robot.taskUpperBody.feature.selectDof(29, True)
robot.taskUpperBody.feature.selectDof(30, True)
robot.taskUpperBody.feature.selectDof(31, True)
robot.taskUpperBody.feature.selectDof(32, True)
robot.taskUpperBody.feature.selectDof(33, True)
robot.taskUpperBody.feature.selectDof(34, True)
robot.taskUpperBody.feature.selectDof(35, True)
robot.taskUpperBody.feature.selectDof(36, True)
robot.taskUpperBody.feature.selectDof(37, True)
robot.taskUpperBody.controlGain.value = 100.0
robot.taskUpperBody.add(robot.taskUpperBody.feature.name)
plug(robot.dynamic.position, robot.taskUpperBody.feature.state)
# --- CONTACTS
#define contactLF and contactRF
robot.contactLF = MetaTaskKine6d('contactLF', robot.dynamic, 'LF',
robot.OperationalPointsMap['left-ankle'])
robot.contactLF.feature.frame('desired')
robot.contactLF.gain.setConstant(300)
plug(robot.wp.footLeftDes, robot.contactLF.featureDes.position) #.errorIN?
locals()['contactLF'] = robot.contactLF
robot.contactRF = MetaTaskKine6d('contactRF', robot.dynamic, 'RF',
robot.OperationalPointsMap['right-ankle'])
robot.contactRF.feature.frame('desired')
robot.contactRF.gain.setConstant(300)
plug(robot.wp.footRightDes,
robot.contactRF.featureDes.position) #.errorIN?
locals()['contactRF'] = robot.contactRF
# --- COM height
robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH')
plug(robot.wp.comDes, robot.taskComH.featureDes.errorIN)
robot.taskComH.task.controlGain.value = 100.
robot.taskComH.feature.selec.value = Flags('001')
# --- COM
robot.taskCom = MetaTaskKineCom(robot.dynamic)
plug(robot.com_admittance_control.comRef, robot.taskCom.featureDes.errorIN)
plug(robot.com_admittance_control.dcomRef,
robot.taskCom.featureDes.errordotIN)
robot.taskCom.task.controlGain.value = 0
robot.taskCom.task.setWithDerivative(True)
robot.taskCom.feature.selec.value = Flags('110')
# --- Waist
robot.keepWaist = MetaTaskKine6d('keepWaist', robot.dynamic, 'WT',
robot.OperationalPointsMap['waist'])
robot.keepWaist.feature.frame('desired')
robot.keepWaist.gain.setConstant(300)
plug(robot.wp.waistDes, robot.keepWaist.featureDes.position)
robot.keepWaist.feature.selec.value = Flags('000111')
locals()['keepWaist'] = robot.keepWaist
# --- SOT solver
robot.sot = SOT('sot')
robot.sot.setSize(robot.dynamic.getDimension())
# --- Plug SOT control to device through control manager
robot.cm.add_commands()
robot.cm.add_signals()
plug(robot.sot.control, robot.cm.ctrl_sot_input)
plug(robot.cm.u_safe, robot.device.control)
robot.sot.push(robot.taskUpperBody.name)
robot.sot.push(robot.contactRF.task.name)
robot.sot.push(robot.contactLF.task.name)
robot.sot.push(robot.taskComH.task.name)
robot.sot.push(robot.taskCom.task.name)
robot.sot.push(robot.keepWaist.task.name)
# --- Fix robot.dynamic inputs
plug(robot.device.velocity, robot.dynamic.velocity)
robot.dvdt = Derivator_of_Vector("dv_dt")
robot.dvdt.dt.value = dt
plug(robot.device.velocity, robot.dvdt.sin)
plug(robot.dvdt.sout, robot.dynamic.acceleration)
# -------------------------- PLOTS --------------------------
# --- ROS PUBLISHER
robot.publisher = utils.create_rospublish(robot, 'robot_publisher')
utils.create_topic(robot.publisher,
robot.device,
'state',
robot=robot,
data_type='vector')
utils.create_topic(robot.publisher,
robot.base_estimator,
'q',
robot=robot,
data_type='vector')
# utils.create_topic(robot.publisher, robot.stf, 'q', robot = robot, data_type='vector')
utils.create_topic(robot.publisher,
robot.comTrajGen,
'x',
robot=robot,
data_type='vector') # generated CoM
utils.create_topic(robot.publisher,
robot.comTrajGen,
'dx',
robot=robot,
data_type='vector') # generated CoM velocity
utils.create_topic(robot.publisher,
robot.comTrajGen,
'ddx',
robot=robot,
data_type='vector') # generated CoM acceleration
utils.create_topic(robot.publisher,
robot.wp,
'comDes',
robot=robot,
data_type='vector') # desired CoM
utils.create_topic(robot.publisher,
robot.cdc_estimator,
'c',
robot=robot,
data_type='vector') # estimated CoM
utils.create_topic(robot.publisher,
robot.cdc_estimator,
'dc',
robot=robot,
data_type='vector') # estimated CoM velocity
utils.create_topic(robot.publisher,
robot.com_admittance_control,
'comRef',
robot=robot,
data_type='vector') # reference CoM
utils.create_topic(robot.publisher,
robot.dynamic,
'com',
robot=robot,
data_type='vector') # resulting SOT CoM
utils.create_topic(robot.publisher,
robot.dcm_control,
'dcmDes',
robot=robot,
data_type='vector') # desired DCM
utils.create_topic(robot.publisher,
robot.estimator,
'dcm',
robot=robot,
data_type='vector') # estimated DCM
utils.create_topic(robot.publisher,
robot.zmpTrajGen,
'x',
robot=robot,
data_type='vector') # generated ZMP
utils.create_topic(robot.publisher,
robot.wp,
'zmpDes',
robot=robot,
data_type='vector') # desired ZMP
utils.create_topic(robot.publisher,
robot.dynamic,
'zmp',
robot=robot,
data_type='vector') # SOT ZMP
utils.create_topic(robot.publisher,
robot.zmp_estimator,
'zmp',
robot=robot,
data_type='vector') # estimated ZMP
utils.create_topic(robot.publisher,
robot.dcm_control,
'zmpRef',
robot=robot,
data_type='vector') # reference ZMP
utils.create_topic(robot.publisher,
robot.waistTrajGen,
'x',
robot=robot,
data_type='vector') # desired waist orientation
utils.create_topic(robot.publisher,
robot.lfTrajGen,
'x',
robot=robot,
data_type='vector') # desired left foot pose
utils.create_topic(robot.publisher,
robot.rfTrajGen,
'x',
robot=robot,
data_type='vector') # desired right foot pose
utils.create_topic(robot.publisher,
robot.ftc,
'left_foot_force_out',
robot=robot,
data_type='vector') # calibrated left wrench
utils.create_topic(robot.publisher,
robot.ftc,
'right_foot_force_out',
robot=robot,
data_type='vector') # calibrated right wrench
utils.create_topic(robot.publisher,
robot.dynamic,
'LF',
robot=robot,
data_type='matrixHomo') # left foot
utils.create_topic(robot.publisher,
robot.dynamic,
'RF',
robot=robot,
data_type='matrixHomo') # right foot
# --- TRACER
robot.tracer = TracerRealTime("com_tracer")
robot.tracer.setBufferSize(80 * (2**20))
robot.tracer.open('/tmp', 'dg_', '.dat')
robot.device.after.addSignal('{0}.triger'.format(robot.tracer.name))
utils.addTrace(robot.tracer, robot.wp, 'comDes') # desired CoM
utils.addTrace(robot.tracer, robot.cdc_estimator, 'c') # estimated CoM
utils.addTrace(robot.tracer, robot.cdc_estimator,
'dc') # estimated CoM velocity
utils.addTrace(robot.tracer, robot.com_admittance_control,
'comRef') # reference CoM
utils.addTrace(robot.tracer, robot.dynamic, 'com') # resulting SOT CoM
utils.addTrace(robot.tracer, robot.dcm_control, 'dcmDes') # desired DCM
utils.addTrace(robot.tracer, robot.estimator, 'dcm') # estimated DCM
utils.addTrace(robot.tracer, robot.dcm_control, 'zmpDes') # desired ZMP
utils.addTrace(robot.tracer, robot.dynamic, 'zmp') # SOT ZMP
utils.addTrace(robot.tracer, robot.zmp_estimator, 'zmp') # estimated ZMP
utils.addTrace(robot.tracer, robot.dcm_control, 'zmpRef') # reference ZMP
utils.addTrace(robot.tracer, robot.ftc,
'left_foot_force_out') # calibrated left wrench
utils.addTrace(robot.tracer, robot.ftc,
'right_foot_force_out') # calibrated right wrench
utils.addTrace(robot.tracer, robot.dynamic, 'LF') # left foot
utils.addTrace(robot.tracer, robot.dynamic, 'RF') # right foot
robot.tracer.start()
def init_online_walking(robot):
# 09.04.20 est a 100 dans dcmZmpControl_file, used to be 10
cm_conf.CTRL_MAX = 1000.0 # temporary hack
dt = robot.device.getTimeStep()
robot.timeStep = dt
# --- Pendulum parameters
robot_name = 'robot'
robot.dynamic.com.recompute(0)
robotDim = robot.dynamic.getDimension()
mass = robot.dynamic.data.mass[0]
h = robot.dynamic.com.value[2]
g = 9.81
omega = sqrt(g / h)
# --- Parameter server
robot.param_server = create_parameter_server(param_server_conf, dt)
# --- Initial feet and waist
robot.dynamic.createOpPoint('LF', robot.OperationalPointsMap['left-ankle'])
robot.dynamic.createOpPoint('RF',
robot.OperationalPointsMap['right-ankle'])
robot.dynamic.createOpPoint('WT', robot.OperationalPointsMap['waist'])
robot.dynamic.add_signals()
robot.dynamic.LF.recompute(0)
robot.dynamic.RF.recompute(0)
robot.dynamic.WT.recompute(0)
# -------------------------- DESIRED TRAJECTORY --------------------------
rospack = RosPack()
# -------------------------- PATTERN GENERATOR --------------------------
robot.pg = PatternGenerator('pg')
# MODIFIED WITH MY PATHS
talos_data_folder = rospack.get_path('jrl-walkgen')
robot.pg.setURDFpath(talos_data_folder + '/urdf/talos_reduced_wpg.urdf')
robot.pg.setSRDFpath(talos_data_folder + '/srdf/talos_wpg.srdf')
## END MODIFIED
robot.pg.buildModel()
robot.pg.parseCmd(":samplingperiod 0.005")
robot.pg.parseCmd(":previewcontroltime 1.6")
robot.pg.parseCmd(":omega 0.0")
robot.pg.parseCmd(':stepheight 0.05')
robot.pg.parseCmd(':doublesupporttime 0.2')
robot.pg.parseCmd(':singlesupporttime 1.0')
robot.pg.parseCmd(":armparameters 0.5")
robot.pg.parseCmd(":LimitsFeasibility 0.0")
robot.pg.parseCmd(":ZMPShiftParameters 0.015 0.015 0.015 0.015")
robot.pg.parseCmd(":TimeDistributeParameters 2.0 3.5 1.7 3.0")
robot.pg.parseCmd(":UpperBodyMotionParameters -0.1 -1.0 0.0")
robot.pg.parseCmd(":comheight 0.876681")
robot.pg.parseCmd(":setVelReference 0.1 0.0 0.0")
robot.pg.parseCmd(":SetAlgoForZmpTrajectory Naveau")
plug(robot.dynamic.position, robot.pg.position)
plug(robot.dynamic.com, robot.pg.com)
#plug(robot.dynamic.com, robot.pg.comStateSIN)
plug(robot.dynamic.LF, robot.pg.leftfootcurrentpos)
plug(robot.dynamic.RF, robot.pg.rightfootcurrentpos)
robotDim = len(robot.dynamic.velocity.value)
robot.pg.motorcontrol.value = np.zeros(robotDim)
robot.pg.zmppreviouscontroller.value = np.zeros(3)
robot.pg.initState()
robot.pg.parseCmd(':setDSFeetDistance 0.162')
robot.pg.parseCmd(':NaveauOnline')
robot.pg.parseCmd(':numberstepsbeforestop 2')
robot.pg.parseCmd(':setfeetconstraint XY 0.091 0.0489')
robot.pg.parseCmd(':deleteallobstacles')
robot.pg.parseCmd(':feedBackControl false')
robot.pg.parseCmd(':useDynamicFilter true')
robot.pg.velocitydes.value = np.array(
(0.1, 0.0, 0.0)) # DEFAULT VALUE (0.1,0.0,0.0)
# -------------------------- TRIGGER --------------------------
robot.triggerPG = BooleanIdentity('triggerPG')
robot.triggerPG.sin.value = 0
plug(robot.triggerPG.sout, robot.pg.trigger)
# --------- Interface with controller entities -------------
wp = DummyWalkingPatternGenerator('dummy_wp')
wp.init()
# #wp.displaySignals()
wp.omega.value = omega
# 22.04 after modifying pg.cpp, new way to try and connect the waist
plug(robot.pg.waistattitudematrixabsolute, wp.waist)
plug(robot.pg.leftfootref, wp.footLeft)
plug(robot.pg.rightfootref, wp.footRight)
plug(robot.pg.comref, wp.com)
plug(robot.pg.dcomref, wp.vcom)
plug(robot.pg.ddcomref, wp.acom)
robot.wp = wp
# --- Compute the values to use them in initialization
robot.wp.comDes.recompute(0)
robot.wp.dcmDes.recompute(0)
robot.wp.zmpDes.recompute(0)
## END ADDED
# -------------------------- ESTIMATION --------------------------
# --- Base Estimation
robot.device_filters = create_device_filters(robot, dt)
robot.imu_filters = create_imu_filters(robot, dt)
robot.base_estimator = create_base_estimator(robot, dt,
base_estimator_conf)
robot.m2qLF = MatrixHomoToPoseQuaternion('m2qLF')
plug(robot.dynamic.LF, robot.m2qLF.sin)
plug(robot.m2qLF.sout, robot.base_estimator.lf_ref_xyzquat)
robot.m2qRF = MatrixHomoToPoseQuaternion('m2qRF')
plug(robot.dynamic.RF, robot.m2qRF.sin)
plug(robot.m2qRF.sout, robot.base_estimator.rf_ref_xyzquat)
# --- Conversion
e2q = EulerToQuat('e2q')
plug(robot.base_estimator.q, e2q.euler)
robot.e2q = e2q
# --- Kinematic computations
robot.rdynamic = DynamicPinocchio("real_dynamics")
robot.rdynamic.setModel(robot.dynamic.model)
robot.rdynamic.setData(robot.rdynamic.model.createData())
robot.rdynamic.add_signals()
plug(robot.base_estimator.q, robot.rdynamic.position)
robot.rdynamic.velocity.value = np.zeros(robotDim)
robot.rdynamic.acceleration.value = np.zeros(robotDim)
# --- CoM Estimation
cdc_estimator = DcmEstimator('cdc_estimator')
cdc_estimator.init(dt, robot_name)
plug(robot.e2q.quaternion, cdc_estimator.q)
plug(robot.base_estimator.v, cdc_estimator.v)
robot.cdc_estimator = cdc_estimator
# --- DCM Estimation
estimator = DummyDcmEstimator("dummy")
estimator.omega.value = omega
estimator.mass.value = 1.0
plug(robot.cdc_estimator.c, estimator.com)
plug(robot.cdc_estimator.dc, estimator.momenta)
estimator.init()
robot.estimator = estimator
# --- Force calibration
robot.ftc = create_ft_calibrator(robot, ft_conf)
# --- ZMP estimation
zmp_estimator = SimpleZmpEstimator("zmpEst")
robot.rdynamic.createOpPoint('sole_LF', 'left_sole_link')
robot.rdynamic.createOpPoint('sole_RF', 'right_sole_link')
robot.rdynamic.add_signals()
plug(robot.rdynamic.sole_LF, zmp_estimator.poseLeft)
plug(robot.rdynamic.sole_RF, zmp_estimator.poseRight)
plug(robot.ftc.left_foot_force_out, zmp_estimator.wrenchLeft)
plug(robot.ftc.right_foot_force_out, zmp_estimator.wrenchRight)
zmp_estimator.init()
robot.zmp_estimator = zmp_estimator
# -------------------------- ADMITTANCE CONTROL --------------------------
# --- DCM controller
Kp_dcm = np.array([8.0] * 3)
Ki_dcm = np.array([0.0, 0.0, 0.0]) # zero (to be set later)
gamma_dcm = 0.2
dcm_controller = DcmController("dcmCtrl")
dcm_controller.Kp.value = Kp_dcm
dcm_controller.Ki.value = Ki_dcm
dcm_controller.decayFactor.value = gamma_dcm
dcm_controller.mass.value = mass
dcm_controller.omega.value = omega
plug(robot.cdc_estimator.c, dcm_controller.com)
plug(robot.estimator.dcm, dcm_controller.dcm)
plug(robot.wp.zmpDes, dcm_controller.zmpDes)
plug(robot.wp.dcmDes, dcm_controller.dcmDes)
dcm_controller.init(dt)
robot.dcm_control = dcm_controller
Ki_dcm = np.array([1.0, 1.0, 1.0]) # this value is employed later
# --- CoM admittance controller
Kp_adm = np.array([0.0, 0.0, 0.0]) # zero (to be set later)
com_admittance_control = ComAdmittanceController("comAdmCtrl")
com_admittance_control.Kp.value = Kp_adm
plug(robot.zmp_estimator.zmp, com_admittance_control.zmp)
com_admittance_control.zmpDes.value = robot.wp.zmpDes.value
# should be plugged to robot.dcm_control.zmpRef
plug(robot.wp.acomDes, com_admittance_control.ddcomDes)
com_admittance_control.init(dt)
com_admittance_control.setState(robot.wp.comDes.value,
np.array([0.0, 0.0, 0.0]))
robot.com_admittance_control = com_admittance_control
Kp_adm = np.array([15.0, 15.0, 0.0]) # this value is employed later
# --- Control Manager
robot.cm = create_ctrl_manager(cm_conf, dt, robot_name='robot')
robot.cm.addCtrlMode('sot_input')
robot.cm.setCtrlMode('all', 'sot_input')
robot.cm.addEmergencyStopSIN('zmp')
# -------------------------- SOT CONTROL --------------------------
# --- Upper body
robot.taskUpperBody = Task('task_upper_body')
robot.taskUpperBody.feature = FeaturePosture('feature_upper_body')
q = robot.dynamic.position.value
robot.taskUpperBody.feature.state.value = q
robot.taskUpperBody.feature.posture.value = q
robot.taskUpperBody.feature.selectDof(18, True)
robot.taskUpperBody.feature.selectDof(19, True)
robot.taskUpperBody.feature.selectDof(20, True)
robot.taskUpperBody.feature.selectDof(21, True)
robot.taskUpperBody.feature.selectDof(22, True)
robot.taskUpperBody.feature.selectDof(23, True)
robot.taskUpperBody.feature.selectDof(24, True)
robot.taskUpperBody.feature.selectDof(25, True)
robot.taskUpperBody.feature.selectDof(26, True)
robot.taskUpperBody.feature.selectDof(27, True)
robot.taskUpperBody.feature.selectDof(28, True)
robot.taskUpperBody.feature.selectDof(29, True)
robot.taskUpperBody.feature.selectDof(30, True)
robot.taskUpperBody.feature.selectDof(31, True)
robot.taskUpperBody.feature.selectDof(32, True)
robot.taskUpperBody.feature.selectDof(33, True)
robot.taskUpperBody.feature.selectDof(34, True)
robot.taskUpperBody.feature.selectDof(35, True)
robot.taskUpperBody.feature.selectDof(36, True)
robot.taskUpperBody.feature.selectDof(37, True)
robot.taskUpperBody.controlGain.value = 100.0
robot.taskUpperBody.add(robot.taskUpperBody.feature.name)
plug(robot.dynamic.position, robot.taskUpperBody.feature.state)
# --- CONTACTS
robot.contactLF = MetaTaskKine6d('contactLF', robot.dynamic, 'LF',
robot.OperationalPointsMap['left-ankle'])
robot.contactLF.feature.frame('desired')
robot.contactLF.gain.setConstant(300)
plug(robot.wp.footLeftDes, robot.contactLF.featureDes.position) #.errorIN?
locals()['contactLF'] = robot.contactLF
robot.contactRF = MetaTaskKine6d('contactRF', robot.dynamic, 'RF',
robot.OperationalPointsMap['right-ankle'])
robot.contactRF.feature.frame('desired')
robot.contactRF.gain.setConstant(300)
plug(robot.wp.footRightDes,
robot.contactRF.featureDes.position) #.errorIN?
locals()['contactRF'] = robot.contactRF
# --- COM height
robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH')
plug(robot.wp.comDes, robot.taskComH.featureDes.errorIN)
robot.taskComH.task.controlGain.value = 100.
robot.taskComH.feature.selec.value = Flags('001')
# --- COM
robot.taskCom = MetaTaskKineCom(robot.dynamic)
plug(robot.com_admittance_control.comRef, robot.taskCom.featureDes.errorIN)
plug(robot.com_admittance_control.dcomRef,
robot.taskCom.featureDes.errordotIN)
robot.taskCom.task.controlGain.value = 0
robot.taskCom.task.setWithDerivative(True)
robot.taskCom.feature.selec.value = Flags('110')
# --- Waist
robot.keepWaist = MetaTaskKine6d('keepWaist', robot.dynamic, 'WT',
robot.OperationalPointsMap['waist'])
robot.keepWaist.feature.frame('desired')
robot.keepWaist.gain.setConstant(300)
plug(robot.wp.waistDes, robot.keepWaist.featureDes.position) #de base
robot.keepWaist.feature.selec.value = Flags('000111')
locals()['keepWaist'] = robot.keepWaist
# --- SOT solver
robot.sot = SOT('sot')
robot.sot.setSize(robot.dynamic.getDimension())
# --- Plug SOT control to device through control manager
robot.cm.add_signals()
plug(robot.sot.control, robot.cm.ctrl_sot_input)
plug(robot.cm.u_safe, robot.device.control)
robot.sot.push(robot.taskUpperBody.name)
robot.sot.push(robot.contactRF.task.name)
robot.sot.push(robot.contactLF.task.name)
robot.sot.push(robot.taskComH.task.name)
robot.sot.push(robot.taskCom.task.name)
robot.sot.push(robot.keepWaist.task.name)
# --- Fix robot.dynamic inputs
plug(robot.device.velocity, robot.dynamic.velocity)
robot.dvdt = Derivator_of_Vector("dv_dt")
robot.dvdt.dt.value = dt
plug(robot.device.velocity, robot.dvdt.sin)
plug(robot.dvdt.sout, robot.dynamic.acceleration)
# -------------------------- PLOTS --------------------------
# --- ROS PUBLISHER
## THIS PARAGRAPH QUITE DIFFERENT, TO CHECK
robot.publisher = create_rospublish(robot, 'robot_publisher')
## ADDED
create_topic(robot.publisher,
robot.pg,
'comref',
robot=robot,
data_type='vector') # desired CoM
create_topic(robot.publisher,
robot.pg,
'dcomref',
robot=robot,
data_type='vector')
create_topic(robot.publisher,
robot.wp,
'waist',
robot=robot,
data_type='matrixHomo')
create_topic(robot.publisher,
robot.keepWaist.featureDes,
'position',
robot=robot,
data_type='matrixHomo')
create_topic(robot.publisher,
robot.dynamic,
'WT',
robot=robot,
data_type='matrixHomo')
create_topic(robot.publisher,
robot.pg,
'waistattitudematrixabsolute',
robot=robot,
data_type='matrixHomo') ## que font ces lignes exactement ??
create_topic(robot.publisher,
robot.pg,
'leftfootref',
robot=robot,
data_type='matrixHomo')
create_topic(robot.publisher,
robot.wp,
'footLeft',
robot=robot,
data_type='matrixHomo')
create_topic(robot.publisher,
robot.pg,
'rightfootref',
robot=robot,
data_type='matrixHomo')
create_topic(robot.publisher,
robot.wp,
'footRight',
robot=robot,
data_type='matrixHomo')
## --- TRACER
robot.tracer = TracerRealTime("com_tracer")
robot.tracer.setBufferSize(80 * (2**20))
robot.tracer.open('/tmp', 'dg_', '.dat')
robot.device.after.addSignal('{0}.triger'.format(robot.tracer.name))
addTrace(robot.tracer, robot.pg, 'waistattitudeabsolute')
# fin
addTrace(robot.tracer, robot.wp, 'comDes') # desired CoM
addTrace(robot.tracer, robot.cdc_estimator, 'c') # estimated CoM
addTrace(robot.tracer, robot.cdc_estimator, 'dc') # estimated CoM velocity
addTrace(robot.tracer, robot.pg, 'comref')
addTrace(robot.tracer, robot.pg, 'dcomref')
addTrace(robot.tracer, robot.pg, 'ddcomref')
addTrace(robot.tracer, robot.pg, 'rightfootref')
addTrace(robot.tracer, robot.pg, 'leftfootref')
addTrace(robot.tracer, robot.pg, 'rightfootcontact')
addTrace(robot.tracer, robot.pg, 'leftfootcontact')
addTrace(robot.tracer, robot.pg, 'SupportFoot')
addTrace(robot.tracer, robot.dynamic, 'com') # resulting SOT CoM
addTrace(robot.tracer, robot.dynamic, 'LF') # left foot
addTrace(robot.tracer, robot.dynamic, 'RF') # right foot
robot.tracer.start()