def step(self, _action): """Run one timestep of the environment's dynamics. Accepts an action and returns a tuple (observation, reward, done, info). # Arguments action (object): An action provided by the environment. # Returns observation (object): Agent's observation of the current environment. reward (float) : Amount of reward returned after previous action. done (boolean): Whether the episode has ended, in which case further step() calls will return undefined results. info (dict): Contains auxiliary diagnostic information (helpful for debugging, and sometimes learning). """ action = np.hstack((np.zeros(6), _action[:self.skel.ndofs - 6] / 10.)) Kp_joint = np.asarray([0.0] + [self.Kp] * self.skel.getJointNum()) Kd_joint = np.asarray([0.0] + [self.Kd] * self.skel.getJointNum()) for joint_idx in range(len(self.foot_joint)): Kp_joint[1 + joint_idx] = self.Kd * exp( log(self.Kp) * _action[self.skel.ndofs - 6 + joint_idx] / 10.) Kd_joint[1 + joint_idx] = self.Kp * exp( log(self.Kd) * _action[self.skel.ndofs - 6 + joint_idx] / 20.) DOFs = self.skel.getDOFs() action_nested = ype.makeNestedList(DOFs) th_r = self.ref_skel.getDOFPositions() ype.nested(action, action_nested) for i in range(1, len(th_r)): th_r[i] = np.dot(th_r[i], mm.exp(action_nested[i])) th = self.skel.getDOFPositions() dth = self.skel.getDOFVelocities() ddth_des = yct.getDesiredDOFAccelerations(th_r, th, None, dth, None, Kp_joint, Kd_joint) for i in range(self.step_per_frame): bodyIDs, contactPositions, contactPositionLocals, contactForces = \ self.world.calcPenaltyForce(self.bodyIDsToCheck, self.mus, self.Ks, self.Ds) self.world.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) self.skel.setDOFAccelerations(ddth_des) self.world.step() self.update_ref_skel(False) return tuple([self.state(), self.reward(), self.is_done(), dict()])
def set_action(self, _action): action = np.hstack((np.zeros(6), _action/10.)) th_action = ype.makeNestedList(self.skel.getDOFs()) ype.nested(action, th_action) th_r = self.ref_motion.getDOFPositions(self.phase_frame) th_des = [th_r[0]] for i in range(1, len(th_r)): th_des.append(np.dot(th_r[i], mm.exp(th_action[i]))) th = self.skel.getDOFPositions() dth_r = self.ref_motion.getDOFVelocities(self.phase_frame) dth = self.skel.getDOFVelocities() ddth_r = self.ref_motion.getDOFAccelerations(self.phase_frame) ddth_des = yct.getDesiredDOFAccelerations(th_des, th, dth_r, dth, ddth_r, self.Kp, self.Kd) bodyIDsToCheck = list(range(self.world.getBodyNum())) mus = [.5]*len(bodyIDsToCheck) return ddth_des, bodyIDsToCheck, mus
def simulateCallback(frame): th_r = motion_ori.getDOFPositions(frame) th = controlModel.getDOFPositions() dth_r = motion_ori.getDOFVelocities(frame) dth = controlModel.getDOFVelocities() ddth_r = motion_ori.getDOFAccelerations(frame) ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt) for i in range(stepsPerFrame): bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) controlModel.setDOFAccelerations(ddth_des) controlModel.solveHybridDynamics() vpWorld.step() motionModel.update(motion_ori[frame])
def step(self, _action): """Run one timestep of the environment's dynamics. Accepts an action and returns a tuple (observation, reward, done, info). # Arguments action (object): An action provided by the environment. # Returns observation (object): Agent's observation of the current environment. reward (float) : Amount of reward returned after previous action. done (boolean): Whether the episode has ended, in which case further step() calls will return undefined results. info (dict): Contains auxiliary diagnostic information (helpful for debugging, and sometimes learning). """ action = np.hstack((np.zeros(6), _action/10.)) th_action = ype.makeNestedList(self.skel.getDOFs()) ype.nested(action, th_action) th_r = self.ref_motion.getDOFPositions(self.phase_frame) th_des = [th_r[0]] for i in range(1, len(th_r)): th_des.append(np.dot(th_r[i], mm.exp(th_action[i]))) th = self.skel.getDOFPositions() dth_r = self.ref_motion.getDOFVelocities(self.phase_frame) dth = self.skel.getDOFVelocities() ddth_r = self.ref_motion.getDOFAccelerations(self.phase_frame) ddth_des = yct.getDesiredDOFAccelerations(th_des, th, dth_r, dth, ddth_r, self.Kp, self.Kd) bodyIDsToCheck = list(range(self.world.getBodyNum())) mus = [.5]*len(bodyIDsToCheck) for i in range(self.step_per_frame): bodyIDs, contactPositions, contactPositionLocals, contactForces = self.world.calcPenaltyForce(bodyIDsToCheck, mus, self.Ks, self.Ds) self.world.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) self.skel.setDOFAccelerations(ddth_des) self.skel.solveHybridDynamics() self.world.step() self.update_ref_skel(False) return tuple([self.state(), self.reward(), self.is_done(), dict()])
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]
def simulateCallback(frame): # print(frame) # print(motion[frame].getJointOrientationLocal(footIdDic['RightFoot_foot_0_1_0'])) # hfi.footAdjust(motion[frame], idDic, SEGMENT_FOOT_MAG=.03, SEGMENT_FOOT_RAD=.015, baseHeight=0.02) if abs(getParamVal('tiptoe angle')) > 0.001: tiptoe_angle = getParamVal('tiptoe angle') motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_0_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_0_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) # motion[frame].mulJointOrientationLocal(idDic['LeftFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95)) # motion[frame].mulJointOrientationLocal(idDic['RightFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95)) # motion[frame].mulJointOrientationLocal(idDic['LeftFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle)) # motion[frame].mulJointOrientationLocal(idDic['RightFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle)) if getParamVal('left tilt angle') > 0.001: left_tilt_angle = getParamVal('left tilt angle') if motion[0].skeleton.getJointIndex( 'LeftFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) else: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) elif getParamVal('left tilt angle') < -0.001: left_tilt_angle = getParamVal('left tilt angle') motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_0'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) if motion[0].skeleton.getJointIndex( 'LeftFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) else: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) if getParamVal('right tilt angle') > 0.001: right_tilt_angle = getParamVal('right tilt angle') if motion[0].skeleton.getJointIndex( 'RightFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) else: motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) elif getParamVal('right tilt angle') < -0.001: right_tilt_angle = getParamVal('right tilt angle') motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_0'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) if motion[0].skeleton.getJointIndex( 'RightFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) # else: # motion[frame].mulJointOrientationLocal(idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) motionModel.update(motion[frame]) motionModel.translateByOffset( np.array([ getParamVal('com X offset'), getParamVal('com Y offset'), getParamVal('com Z offset') ])) controlModel_ik.set_q(controlModel.get_q()) global g_initFlag global forceShowTime global JsysPre global JsupPreL global JsupPreR global JconstPre global preFootCenter global maxContactChangeCount global contactChangeCount global contact global contactChangeType Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals( ['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt']) Dt = 2 * (Kt**.5) Dl = 2 * (Kl**.5) Dh = 2 * (Kh**.5) dt_sup = 2 * (kt_sup**.5) # 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) # ype.flatten(fix_dofs(DOFs, ddth_des, mcfg, joint_names), ddth_des_flat) # ype.flatten(fix_dofs(DOFs, dth, mcfg, joint_names), dth_flat) ype.flatten(ddth_des, ddth_des_flat) ype.flatten(dth, dth_flat) ################################################# # jacobian ################################################# contact_des_ids = list() # desired contact segments if foot_viewer.check_om_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0')) if foot_viewer.check_op_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0_0')) if foot_viewer.check_im_l is not None and foot_viewer.check_im_l.value( ): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1')) if foot_viewer.check_ip_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1_0')) if foot_viewer.check_h_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_1_0')) if foot_viewer.check_om_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_0')) if foot_viewer.check_op_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_0_0')) if foot_viewer.check_im_r is not None and foot_viewer.check_im_r.value( ): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_1')) if foot_viewer.check_ip_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_1_0')) if foot_viewer.check_h_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_1_0')) contact_ids = list() # temp idx for balancing contact_ids.extend(contact_des_ids) contact_joint_ori = list( map(controlModel.getJointOrientationGlobal, contact_ids)) contact_joint_pos = list( map(controlModel.getJointPositionGlobal, contact_ids)) contact_body_ori = list( map(controlModel.getBodyOrientationGlobal, contact_ids)) contact_body_pos = list( map(controlModel.getBodyPositionGlobal, contact_ids)) contact_body_vel = list( map(controlModel.getBodyVelocityGlobal, contact_ids)) contact_body_angvel = list( map(controlModel.getBodyAngVelocityGlobal, contact_ids)) ref_joint_ori = list( map(motion[frame].getJointOrientationGlobal, contact_ids)) ref_joint_pos = list( map(motion[frame].getJointPositionGlobal, contact_ids)) ref_joint_vel = [ motion.getJointVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_joint_angvel = [ motion.getJointAngVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_body_ori = list( map(motionModel.getBodyOrientationGlobal, contact_ids)) ref_body_pos = list(map(motionModel.getBodyPositionGlobal, contact_ids)) # ref_body_vel = list(map(controlModel.getBodyVelocityGlobal, contact_ids)) ref_body_angvel = [ motion.getJointAngVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_body_vel = [ ref_joint_vel[i] + np.cross(ref_joint_angvel[i], ref_body_pos[i] - ref_joint_pos[i]) for i in range(len(ref_joint_vel)) ] is_contact = [1] * len(contact_ids) contact_right = len(set(contact_des_ids).intersection(rIDlist)) > 0 contact_left = len(set(contact_des_ids).intersection(lIDlist)) > 0 contMotionOffset = th[0][0] - th_r[0][0] linkPositions = controlModel.getBodyPositionsGlobal() linkVelocities = controlModel.getBodyVelocitiesGlobal() linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal() linkInertias = controlModel.getBodyInertiasGlobal() 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) # calculate jacobian Jsys, dJsys = controlModel.computeCom_J_dJdq() J_contacts = [] # type: list[np.ndarray] dJ_contacts = [] # type: list[np.ndarray] for contact_id in contact_ids: J_contacts.append(Jsys[6 * contact_id:6 * contact_id + 6, :]) dJ_contacts.append(dJsys[6 * contact_id:6 * contact_id + 6]) # calculate footCenter footCenter = sum(contact_body_pos) / len(contact_body_pos) if len(contact_body_pos) > 0 \ else .5 * (controlModel.getBodyPositionGlobal(supL) + controlModel.getBodyPositionGlobal(supR)) footCenter[1] = 0. # if len(contact_body_pos) > 2: # hull = ConvexHull(contact_body_pos) footCenter_ref = sum(ref_body_pos) / len(ref_body_pos) if len(ref_body_pos) > 0 \ else .5 * (motionModel.getBodyPositionGlobal(supL) + motionModel.getBodyPositionGlobal(supR)) footCenter_ref = footCenter_ref + contMotionOffset # if len(ref_body_pos) > 2: # hull = ConvexHull(ref_body_pos) footCenter_ref[1] = 0. # footCenter[0] = footCenter[0] + getParamVal('com X offset') # footCenter[1] = footCenter[0] + getParamVal('com Y offset') # footCenter[2] = footCenter[2] + getParamVal('com Z offset') # initialization if g_initFlag == 0: preFootCenter[0] = footCenter.copy() g_initFlag = 1 # if contactChangeCount == 0 and np.linalg.norm(footCenter - preFootCenter[0]) > 0.01: # contactChangeCount += 30 if contactChangeCount > 0: # change footcenter gradually footCenter = preFootCenter[0] + ( maxContactChangeCount - contactChangeCount) * ( footCenter - preFootCenter[0]) / maxContactChangeCount else: preFootCenter[0] = footCenter.copy() # linear momentum # TODO: # We should consider dCM_ref, shouldn't we? # add getBodyPositionGlobal and getBodyPositionsGlobal in csVpModel! # to do that, set joint velocities to vpModel CM_ref_plane = footCenter # CM_ref_plane = footCenter_ref CM_ref = footCenter + np.array([ getParamVal('com X offset'), motionModel.getCOM()[1] + getParamVal('com Y offset'), getParamVal('com Z offset') ]) dL_des_plane = Kl * totalMass * (CM_ref - CM) - Dl * totalMass * dCM # dL_des_plane = Kl * totalMass * (CM_ref_plane - CM_plane) - Dl * totalMass * dCM_plane # dL_des_plane[1] = 0. # print('dCM_plane : ', np.linalg.norm(dCM_plane)) # angular momentum CP_ref = footCenter # CP_ref = footCenter_ref bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) CP = yrp.getCP(contactPositions, contactForces) if CP_old[0] is None or CP is None: dCP = None else: dCP = (CP - CP_old[0]) / (1 / 30.) CP_old[0] = CP if CP is not None and dCP is not None: ddCP_des = Kh * (CP_ref - CP) - Dh * dCP dCP_des = dCP + ddCP_des * (1 / 30.) CP_des = CP + dCP_des * (1 / 30.) # CP_des = footCenter 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))) if contactChangeCount > 0: # and contactChangeType == 'DtoS': dH_des *= (maxContactChangeCount - contactChangeCount) / maxContactChangeCount else: dH_des = None # convex hull contact_pos_2d = np.asarray([ np.array([contactPosition[0], contactPosition[2]]) for contactPosition in contactPositions ]) p = np.array([CM_plane[0], CM_plane[2]]) # hull = None # type: Delaunay # if contact_pos_2d.shape[0] > 0: # hull = Delaunay(contact_pos_2d) # print(hull.find_simplex(p) >= 0) # set up equality constraint # TODO: # logSO3 is just q'', not acceleration. # To make a_oris acceleration, q'' -> a will be needed # body_ddqs = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori])) # body_ddqs = list(map(mm.logSO3, [np.dot(contact_body_ori[i].T, np.dot(ref_body_ori[i], mm.getSO3FromVectors(np.dot(ref_body_ori[i], mm.unitY()), mm.unitY()))) for i in range(len(contact_body_ori))])) # body_ddqs = list(map(mm.logSO3, [np.dot(contact_body_ori[i].T, np.dot(ref_body_ori[i], mm.getSO3FromVectors(np.dot(ref_body_ori[i], up_vec_in_each_link[contact_ids[i]]), mm.unitY()))) for i in range(len(contact_body_ori))])) a_oris = list( map(mm.logSO3, [ np.dot( contact_body_ori[i].T, np.dot( ref_body_ori[i], mm.getSO3FromVectors( np.dot(ref_body_ori[i], up_vec_in_each_link[contact_ids[i]]), mm.unitY()))) for i in range(len(contact_body_ori)) ])) a_oris = list( map(mm.logSO3, [ np.dot( np.dot( ref_body_ori[i], mm.getSO3FromVectors( np.dot(ref_body_ori[i], up_vec_in_each_link[contact_ids[i]]), mm.unitY())), contact_body_ori[i].T) for i in range(len(contact_body_ori)) ])) body_qs = list(map(mm.logSO3, contact_body_ori)) body_angs = [ np.dot(contact_body_ori[i], contact_body_angvel[i]) for i in range(len(contact_body_ori)) ] body_dqs = [ mm.vel2qd(body_angs[i], body_qs[i]) for i in range(len(body_angs)) ] # a_oris = [np.dot(contact_body_ori[i], mm.qdd2accel(body_ddqs[i], body_dqs[i], body_qs[i])) for i in range(len(contact_body_ori))] # body_ddq = body_ddqs[0] # body_ori = contact_body_ori[0] # body_ang = np.dot(body_ori.T, contact_body_angvel[0]) # # body_q = mm.logSO3(body_ori) # body_dq = mm.vel2qd(body_ang, body_q) # a_ori = np.dot(body_ori, mm.qdd2accel(body_ddq, body_dq, body_q)) KT_SUP = np.diag([kt_sup / 10., kt_sup, kt_sup / 10.]) # KT_SUP = np.diag([kt_sup, kt_sup, kt_sup]) # a_oris = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori])) # a_oris = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(contact_body_ori[i], up_vec_in_each_link[contact_ids[i]]), mm.unitY()) for i in range(len(contact_body_ori))])) # a_sups = [np.append(kt_sup*(ref_body_pos[i] - contact_body_pos[i] + contMotionOffset) + dt_sup*(ref_body_vel[i] - contact_body_vel[i]), # kt_sup*a_oris[i]+dt_sup*(ref_body_angvel[i]-contact_body_angvel[i])) for i in range(len(a_oris))] # a_sups = [np.append(kt_sup*(ref_body_pos[i] - contact_body_pos[i] + contMotionOffset) - dt_sup * contact_body_vel[i], # kt_sup*a_oris[i] - dt_sup * contact_body_angvel[i]) for i in range(len(a_oris))] a_sups = [ np.append( np.dot(KT_SUP, (ref_body_pos[i] - contact_body_pos[i] + contMotionOffset)) - dt_sup * contact_body_vel[i], kt_sup * a_oris[i] - dt_sup * contact_body_angvel[i]) for i in range(len(a_oris)) ] # for i in range(len(a_sups)): # a_sups[i][1] = -kt_sup * contact_body_pos[i][1] - dt_sup * contact_body_vel[i][1] # 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) rs = np.dot(dP, np.dot(Jsys, dth_flat)) + np.dot(P, dJsys) r_bias, s_bias = np.hsplit(rs, 2) ####################################################### # optimization ####################################################### # if contact == 2 and footCenterR[1] > doubleTosingleOffset/2: if contact_left and not contact_right: config['weightMap']['RightUpLeg'] = .8 config['weightMap']['RightLeg'] = .8 config['weightMap']['RightFoot'] = .8 else: config['weightMap']['RightUpLeg'] = .1 config['weightMap']['RightLeg'] = .25 config['weightMap']['RightFoot'] = .2 # if contact == 1 and footCenterL[1] > doubleTosingleOffset/2: if contact_right and not contact_left: config['weightMap']['LeftUpLeg'] = .8 config['weightMap']['LeftLeg'] = .8 config['weightMap']['LeftFoot'] = .8 else: config['weightMap']['LeftUpLeg'] = .1 config['weightMap']['LeftLeg'] = .25 config['weightMap']['LeftFoot'] = .2 w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap']) mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat) if dH_des is not None: mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias) mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias) if True: for c_idx in range(len(contact_ids)): mot.addConstraint2(problem, totalDOF, J_contacts[c_idx], dJ_contacts[c_idx], dth_flat, a_sups[c_idx]) if contactChangeCount > 0: contactChangeCount = contactChangeCount - 1 if contactChangeCount == 0: maxContactChangeCount = 30 contactChangeType = 0 r = problem.solve() problem.clear() ddth_sol_flat = np.asarray(r['x']) # ddth_sol_flat[foot_seg_dofs] = np.array(ddth_des_flat)[foot_seg_dofs] ype.nested(ddth_sol_flat, 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) # bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds) vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) controlModel.setDOFAccelerations(ddth_sol) # controlModel.setDOFAccelerations(ddth_des) # controlModel.set_ddq(ddth_sol_flat) # controlModel.set_ddq(ddth_des_flat) controlModel.solveHybridDynamics() if forceShowTime > viewer.objectInfoWnd.labelForceDur.value(): forceShowTime = 0 viewer_ResetForceState() forceforce = np.array([ viewer.objectInfoWnd.labelForceX.value(), viewer.objectInfoWnd.labelForceY.value(), viewer.objectInfoWnd.labelForceZ.value() ]) extraForce[0] = getParamVal('Fm') * mm.normalize2(forceforce) if viewer_GetForceState(): forceShowTime += wcfg.timeStep vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce) vpWorld.step() controlModel_ik.set_q(controlModel.get_q()) if foot_viewer is not None: foot_viewer.foot_pressure_gl_window.refresh_foot_contact_info( frame, vpWorld, bodyIDsToCheck, mus, Ks, Ds) foot_viewer.foot_pressure_gl_window.goToFrame(frame) # rendering for foot_seg_id in footIdlist: control_model_renderer.body_colors[foot_seg_id] = (255, 240, 255) for contact_id in contact_ids: control_model_renderer.body_colors[contact_id] = (255, 0, 0) rd_footCenter[0] = footCenter rd_footCenter_ref[0] = footCenter_ref rd_CM[0] = CM rd_CM_plane[0] = CM.copy() 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[0] / 100, dL_des_plane[1] / 100, dL_des_plane[2] / 100 ] rd_dH_des[0] = dH_des rd_grf_des[0] = dL_des_plane - totalMass * mm.s2v(wcfg.gravity) del rd_foot_ori[:] del rd_foot_pos[:] # for seg_foot_id in footIdlist: # rd_foot_ori.append(controlModel.getJointOrientationGlobal(seg_foot_id)) # rd_foot_pos.append(controlModel.getJointPositionGlobal(seg_foot_id)) rd_foot_ori.append(controlModel.getJointOrientationGlobal(supL)) rd_foot_ori.append(controlModel.getJointOrientationGlobal(supR)) rd_foot_pos.append(controlModel.getJointPositionGlobal(supL)) rd_foot_pos.append(controlModel.getJointPositionGlobal(supR)) rd_root_des[0] = rootPos[0] rd_root_ori[0] = controlModel.getBodyOrientationGlobal(0) rd_root_pos[0] = controlModel.getBodyPositionGlobal(0) del rd_CF[:] del rd_CF_pos[:] for i in range(len(contactPositions)): rd_CF.append(contactForces[i] / 400) rd_CF_pos.append(contactPositions[i].copy()) if viewer_GetForceState(): rd_exfen_des[0] = [ extraForce[0][0] / 100, extraForce[0][1] / 100, extraForce[0][2] / 100 ] rd_exf_des[0] = [0, 0, 0] else: rd_exf_des[0] = [ extraForce[0][0] / 100, extraForce[0][1] / 100, extraForce[0][2] / 100 ] rd_exfen_des[0] = [0, 0, 0] # extraForcePos[0] = controlModel.getBodyPositionGlobal(selectedBody) extraForcePos[0] = controlModel.getBodyPositionGlobal( selectedBody) - 0.1 * np.array([ viewer.objectInfoWnd.labelForceX.value(), 0., viewer.objectInfoWnd.labelForceZ.value() ]) # render contact_ids # render skeleton if SKELETON_ON: Ts = dict() Ts['pelvis'] = controlModel.getJointTransform(idDic['Hips']) Ts['thigh_R'] = controlModel.getJointTransform(idDic['RightUpLeg']) Ts['shin_R'] = controlModel.getJointTransform(idDic['RightLeg']) Ts['foot_R'] = controlModel.getJointTransform(idDic['RightFoot']) Ts['foot_heel_R'] = controlModel.getJointTransform( idDic['RightFoot']) Ts['heel_R'] = np.eye(4) Ts['outside_metatarsal_R'] = controlModel.getJointTransform( idDic['RightFoot_foot_0_0']) Ts['outside_phalanges_R'] = controlModel.getJointTransform( idDic['RightFoot_foot_0_0_0']) # Ts['inside_metatarsal_R'] = controlModel.getJointTransform(idDic['RightFoot_foot_0_1']) Ts['inside_metatarsal_R'] = np.eye(4) Ts['inside_phalanges_R'] = controlModel.getJointTransform( idDic['RightFoot_foot_0_1_0']) Ts['spine_ribs'] = controlModel.getJointTransform(idDic['Spine']) Ts['head'] = controlModel.getJointTransform(idDic['Spine1']) Ts['upper_limb_R'] = controlModel.getJointTransform( idDic['RightArm']) Ts['lower_limb_R'] = controlModel.getJointTransform( idDic['RightForeArm']) Ts['thigh_L'] = controlModel.getJointTransform(idDic['LeftUpLeg']) Ts['shin_L'] = controlModel.getJointTransform(idDic['LeftLeg']) Ts['foot_L'] = controlModel.getJointTransform(idDic['LeftFoot']) Ts['foot_heel_L'] = controlModel.getJointTransform( idDic['LeftFoot']) Ts['heel_L'] = np.eye(4) Ts['outside_metatarsal_L'] = controlModel.getJointTransform( idDic['LeftFoot_foot_0_0']) Ts['outside_phalanges_L'] = controlModel.getJointTransform( idDic['LeftFoot_foot_0_0_0']) # Ts['inside_metatarsal_L'] = controlModel.getJointTransform(idDic['LeftFoot_foot_0_1']) Ts['inside_metatarsal_L'] = np.eye(4) Ts['inside_phalanges_L'] = controlModel.getJointTransform( idDic['LeftFoot_foot_0_1_0']) Ts['upper_limb_L'] = controlModel.getJointTransform( idDic['LeftArm']) Ts['lower_limb_L'] = controlModel.getJointTransform( idDic['LeftForeArm']) skeleton_renderer.appendFrameState(Ts)
def simulateCallback(frame): motionModel.update(motion[frame]) global g_initFlag global forceShowTime global JsysPre global JsupPreL global JsupPreR global JsupPre global JconstPre global preFootCenter global maxContactChangeCount global contactChangeCount global contact global contactChangeType # Kt, Kl, Kh, Bl, Bh, kt_sup = viewer.GetParam() Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals( ['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt']) Dt = 2 * (Kt**.5) Dl = 2 * (Kl**.5) Dh = 2 * (Kh**.5) dt_sup = 2 * (kt_sup**.5) doubleTosingleOffset = 0.15 singleTodoubleOffset = 0.30 # doubleTosingleOffset = 0.09 doubleTosingleVelOffset = 0.0 # 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) ype.flatten(ddth_des, ddth_des_flat) ype.flatten(dth, dth_flat) ################################################# # jacobian ################################################# # caution!! body orientation and joint orientation of foot are totally different!! footOriL = controlModel.getJointOrientationGlobal(supL) footOriR = controlModel.getJointOrientationGlobal(supR) # desire footCenter[1] = 0.041135 # desire footCenter[1] = 0.0197 footCenterL = controlModel.getBodyPositionGlobal(supL) footCenterR = controlModel.getBodyPositionGlobal(supR) footBodyOriL = controlModel.getBodyOrientationGlobal(supL) footBodyOriR = controlModel.getBodyOrientationGlobal(supR) footBodyVelL = controlModel.getBodyVelocityGlobal(supL) footBodyVelR = controlModel.getBodyVelocityGlobal(supR) footBodyAngVelL = controlModel.getBodyAngVelocityGlobal(supL) footBodyAngVelR = controlModel.getBodyAngVelocityGlobal(supR) refFootL = motionModel.getBodyPositionGlobal(supL) refFootR = motionModel.getBodyPositionGlobal(supR) refFootVelL = motionModel.getBodyVelocityGlobal(supL) refFootVelR = motionModel.getBodyVelocityGlobal(supR) refFootAngVelL = motionModel.getBodyAngVelocityGlobal(supL) refFootAngVelR = motionModel.getBodyAngVelocityGlobal(supR) refFootJointVelR = motion.getJointVelocityGlobal(supR, frame) refFootJointAngVelR = motion.getJointAngVelocityGlobal(supR, frame) refFootJointR = motion.getJointPositionGlobal(supR, frame) refFootVelR = refFootJointVelR + np.cross(refFootJointAngVelR, (refFootR - refFootJointR)) refFootJointVelL = motion.getJointVelocityGlobal(supL, frame) refFootJointAngVelL = motion.getJointAngVelocityGlobal(supL, frame) refFootJointL = motion.getJointPositionGlobal(supL, frame) refFootVelL = refFootJointVelL + np.cross(refFootJointAngVelL, (refFootL - refFootJointL)) contactR = 1 contactL = 1 if refFootVelR[1] < 0 and refFootVelR[1] / 30. + refFootR[ 1] > singleTodoubleOffset: contactR = 0 if refFootVelL[1] < 0 and refFootVelL[1] / 30. + refFootL[ 1] > singleTodoubleOffset: contactL = 0 if refFootVelR[1] > 0 and refFootVelR[1] / 30. + refFootR[ 1] > doubleTosingleOffset: contactR = 0 if refFootVelL[1] > 0 and refFootVelL[1] / 30. + refFootL[ 1] > doubleTosingleOffset: contactL = 0 # if 32 < frame < 147: # contactR = 0 contMotionOffset = th[0][0] - th_r[0][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. P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM, linkInertias) dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses, linkVelocities, dCM, linkAngVelocities, linkInertias) # calculate jacobian Jsys, dJsys = controlModel.computeCom_J_dJdq() JsupL = Jsys[6 * supL:6 * supL + 6, :] dJsupL = dJsys[6 * supL:6 * supL + 6] JsupR = Jsys[6 * supR:6 * supR + 6, :] dJsupR = dJsys[6 * supR:6 * supR + 6] # calculate contact state # if g_initFlag == 1 and contact == 1 and refFootR[1] < doubleTosingleOffset and footCenterR[1] < 0.08: if g_initFlag == 1: # contact state # 0: flying 1: right only 2: left only 3: double # if contact == 2 and refFootR[1] < doubleTosingleOffset: if contact == 2 and contactR == 1: contact = 3 maxContactChangeCount += 30 contactChangeCount += maxContactChangeCount contactChangeType = 'StoD' # elif contact == 3 and refFootL[1] < doubleTosingleOffset: elif contact == 1 and contactL == 1: contact = 3 maxContactChangeCount += 30 contactChangeCount += maxContactChangeCount contactChangeType = 'StoD' # elif contact == 3 and refFootR[1] > doubleTosingleOffset: elif contact == 3 and contactR == 0: contact = 2 contactChangeCount += maxContactChangeCount contactChangeType = 'DtoS' # elif contact == 3 and refFootL[1] > doubleTosingleOffset: elif contact == 3 and contactL == 0: contact = 1 contactChangeCount += maxContactChangeCount contactChangeType = 'DtoS' else: contact = 0 # if refFootR[1] < doubleTosingleOffset: if contactR == 1: contact += 1 # if refFootL[1] < doubleTosingleOffset: if contactL == 1: contact += 2 # initialization if g_initFlag == 0: JsysPre = Jsys.copy() JsupPreL = JsupL.copy() JsupPreR = JsupR.copy() JconstPre = Jconst.copy() softConstPoint = footCenterR.copy() # yjc.computeJacobian2(JsysPre, DOFs, jointPositions, jointAxeses, linkPositions, allLinkJointMasks) # yjc.computeJacobian2(JsupPreL, DOFs, jointPositions, jointAxeses, [footCenterL], supLJointMasks) # yjc.computeJacobian2(JsupPreR, DOFs, jointPositions, jointAxeses, [footCenterR], supRJointMasks) # yjc.computeJacobian2(JconstPre, DOFs, jointPositions, jointAxeses, [softConstPoint], constJointMasks) footCenter = footCenterL + (footCenterR - footCenterL) / 2.0 footCenter[1] = 0. preFootCenter = footCenter.copy() # footToBodyFootRotL = np.dot(np.transpose(footOriL), footBodyOriL) # footToBodyFootRotR = np.dot(np.transpose(footOriR), footBodyOriR) if refFootR[1] < doubleTosingleOffset: contact += 1 if refFootL[1] < doubleTosingleOffset: contact += 2 g_initFlag = 1 # calculate footCenter footCenter = footCenterL + (footCenterR - footCenterL) / 2.0 # if refFootR[1] >doubleTosingleOffset: # if refFootR[1] > doubleTosingleOffset or footCenterR[1] > 0.08: # if contact == 1 or footCenterR[1] > 0.08: # if contact == 2 or footCenterR[1] > doubleTosingleOffset/2: if contact == 2: footCenter = footCenterL.copy() # elif contact == 1 or footCenterL[1] > doubleTosingleOffset/2: if contact == 1: footCenter = footCenterR.copy() footCenter[1] = 0. if contactChangeCount > 0 and contactChangeType == 'StoD': # change footcenter gradually footCenter = preFootCenter + ( maxContactChangeCount - contactChangeCount) * ( footCenter - preFootCenter) / maxContactChangeCount preFootCenter = footCenter.copy() # linear momentum # TODO: # We should consider dCM_ref, shouldn't we? # add getBodyPositionGlobal and getBodyPositionsGlobal in csVpModel! # todo that, set joint velocities to vpModel CM_ref_plane = footCenter dL_des_plane = Kl * totalMass * (CM_ref_plane - CM_plane) - Dl * totalMass * dCM_plane # dL_des_plane[1] = 0. # angular momentum CP_ref = footCenter bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) # bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds) CP = yrp.getCP(contactPositions, contactForces) if CP_old[0] is None or CP is None: dCP = None else: dCP = (CP - CP_old[0]) / (1 / 30.) 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 / 30.) + .5 * ddCP_des * ((1 / 30.)**2) dH_des = np.cross( (CP_des - CM), (dL_des_plane + totalMass * mm.s2v(wcfg.gravity))) if contactChangeCount > 0: # and contactChangeType == 'DtoS': # dH_des *= (maxContactChangeCount - contactChangeCount)/(maxContactChangeCount*10) dH_des *= (maxContactChangeCount - contactChangeCount) / (maxContactChangeCount) # dH_des *= (contactChangeCount)/(maxContactChangeCount)*.9+.1 else: dH_des = None # H = np.dot(P, np.dot(Jsys, dth_flat)) # dH_des = -Kh* H[3:] # soft point constraint #softConstPoint = refFootR.copy() ##softConstPoint[0] += 0.2 #Ksc = 50 #Dsc = 2*(Ksc**.5) #Bsc = 1. #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_des - dP_cur) #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) #dJconst = (Jconst - Jconst)/(1/30.) #JconstPre = Jconst.copy() ##yjc.computeJacobianDerivative2(dJconst, DOFs, jointPositions, jointAxeses, linkAngVelocities, [softConstPoint], constJointMasks, False) #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)) #q_bias1 = np.dot(np.dot(Z, dJconst), dth_flat) + q2 #set up equality constraint a_oriL = mm.logSO3( mm.getSO3FromVectors(np.dot(footBodyOriL, np.array([0, 1, 0])), np.array([0, 1, 0]))) a_oriR = mm.logSO3( mm.getSO3FromVectors(np.dot(footBodyOriR, np.array([0, 1, 0])), np.array([0, 1, 0]))) #if contact == 3 and contactChangeCount < maxContactChangeCount/4 and contactChangeCount >=1: #kt_sup = 30 #viewer.objectInfoWnd.labelSupKt.value(kt_sup) #viewer.objectInfoWnd.sliderSupKt.value(initSupKt*10) # a_supL = np.append(kt_sup*(refFootL - footCenterL + contMotionOffset) + dt_sup*(refFootVelL - footBodyVelL), kt_sup*a_oriL+dt_sup*(refFootAngVelL-footBodyAngVelL)) # a_supR = np.append(kt_sup*(refFootR - footCenterR + contMotionOffset) + dt_sup*(refFootVelR - footBodyVelR), kt_sup*a_oriR+dt_sup*(refFootAngVelR-footBodyAngVelR)) a_supL = np.append( kt_sup * (refFootL - footCenterL + contMotionOffset) - dt_sup * footBodyVelL, kt_sup * a_oriL - dt_sup * footBodyAngVelL) a_supR = np.append( kt_sup * (refFootR - footCenterR + contMotionOffset) - dt_sup * footBodyVelR, kt_sup * a_oriR - dt_sup * footBodyAngVelR) if contactChangeCount > 0 and contactChangeType == 'DtoS': #refFootR += (footCenter-CM_plane)/2. #refFootR[1] = 0 #pre contact value are needed #if contact == 2: ##refFootR[0] += 0.2 ##refFootR[2] -= 0.05 #offsetDropR = (footCenter-CM_plane)/2. #refFootR += offsetDropR #refFootR[1] = 0. ##refFootR[2] = footCenterR[2] - contMotionOffset[2] ##refFootR[0] = footCenterR[0] - contMotionOffset[0] #refFootL[0] += 0.05 #refFootL[2] -= 0.05 #elif contact == 1: #offsetDropL = (footCenter-CM_plane)/2. #refFootL += offsetDropL #refFootL[1] = 0. #a_supL = np.append(kt_sup*(refFootL - footCenterL + contMotionOffset) + dt_sup*(refFootVelL - footBodyVelL), kt_sup*a_oriL+dt_sup*(refFootAngVelL-footBodyAngVelL)) #a_supR = np.append(kt_sup*(refFootR - footCenterR + contMotionOffset) + dt_sup*(refFootVelR - footBodyVelR), kt_sup*a_oriR+dt_sup*(refFootAngVelR-footBodyAngVelR)) #a_supL = np.append(kt_sup*(refFootL - footCenterL + contMotionOffset) + dt_sup*(refFootVelL - footBodyVelL), 16*kt_sup*a_oriL+4*dt_sup*(refFootAngVelL-footBodyAngVelL)) #a_supR = np.append(kt_sup*(refFootR - footCenterR + contMotionOffset) + dt_sup*(refFootVelR - footBodyVelR), 16*kt_sup*a_oriR+4*dt_sup*(refFootAngVelR-footBodyAngVelR)) a_supL = np.append( kt_sup * (refFootL - footCenterL + contMotionOffset) + dt_sup * (refFootVelL - footBodyVelL), 4 * kt_sup * a_oriL + 2 * dt_sup * (refFootAngVelL - footBodyAngVelL)) a_supR = np.append( kt_sup * (refFootR - footCenterR + contMotionOffset) + dt_sup * (refFootVelR - footBodyVelR), 4 * kt_sup * a_oriR + 2 * dt_sup * (refFootAngVelR - footBodyAngVelR)) elif contactChangeCount > 0 and contactChangeType == 'StoD': #refFootR[0] +=0.05 #refFootR[2] +=0.05 linkt = (13. * contactChangeCount) / (maxContactChangeCount) + 1. lindt = 2 * (linkt**.5) angkt = (13. * contactChangeCount) / (maxContactChangeCount) + 1. angdt = 2 * (angkt**.5) #a_supL = np.append(4*kt_sup*(refFootL - footCenterL + contMotionOffset) + 2*dt_sup*(refFootVelL - footBodyVelL), 16*kt_sup*a_oriL+4*dt_sup*(refFootAngVelL-footBodyAngVelL)) #a_supR = np.append(4*kt_sup*(refFootR - footCenterR + contMotionOffset) + 2*dt_sup*(refFootVelR - footBodyVelR), 16*kt_sup*a_oriR+4*dt_sup*(refFootAngVelR-footBodyAngVelR)) a_supL = np.append( linkt * kt_sup * (refFootL - footCenterL + contMotionOffset) + lindt * dt_sup * (refFootVelL - footBodyVelL), angkt * kt_sup * a_oriL + angdt * dt_sup * (refFootAngVelL - footBodyAngVelL)) a_supR = np.append( linkt * kt_sup * (refFootR - footCenterR + contMotionOffset) + lindt * dt_sup * (refFootVelR - footBodyVelR), angkt * kt_sup * a_oriR + angdt * dt_sup * (refFootAngVelR - footBodyAngVelR)) #a_supL = np.append(16*kt_sup*(refFootL - footCenterL + contMotionOffset) + 4*dt_sup*(refFootVelL - footBodyVelL), 16*kt_sup*a_oriL+4*dt_sup*(refFootAngVelL-footBodyAngVelL)) #a_supR = np.append(16*kt_sup*(refFootR - footCenterR + contMotionOffset) + 4*dt_sup*(refFootVelR - footBodyVelR), 16*kt_sup*a_oriR+4*dt_sup*(refFootAngVelR-footBodyAngVelR)) #a_supL = np.append(4*kt_sup*(refFootL - footCenterL + contMotionOffset) + 2*dt_sup*(refFootVelL - footBodyVelL), 32*kt_sup*a_oriL+5.6*dt_sup*(refFootAngVelL-footBodyAngVelL)) #a_supR = np.append(4*kt_sup*(refFootR - footCenterR + contMotionOffset) + 2*dt_sup*(refFootVelR - footBodyVelR), 32*kt_sup*a_oriR+5.6*dt_sup*(refFootAngVelR-footBodyAngVelR)) #a_supL[1] = kt_sup*(refFootL[1] - footCenterL[1] + contMotionOffset[1]) + dt_sup*(refFootVelL[1] - footBodyVelL[1]) #a_supR[1] = kt_sup*(refFootR[1] - footCenterR[1] + contMotionOffset[1]) + dt_sup*(refFootVelR[1] - footBodyVelR[1]) ##if contact == 2: #if refFootR[1] <doubleTosingleOffset : #Jsup = np.vstack((JsupL, JsupR)) #dJsup = np.vstack((dJsupL, dJsupR)) #a_sup = np.append(a_supL, a_supR) #else: #Jsup = JsupL.copy() #dJsup = dJsupL.copy() #a_sup = a_supL.copy() # 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) rs = np.dot(dP, np.dot(Jsys, dth_flat)) + np.dot(P, dJsys) r_bias, s_bias = np.hsplit(rs, 2) ####################################################### # optimization ####################################################### #if contact == 2 and footCenterR[1] > doubleTosingleOffset/2: if contact == 2: config['weightMap']['RightUpLeg'] = .8 config['weightMap']['RightLeg'] = .8 config['weightMap']['RightFoot'] = .8 else: config['weightMap']['RightUpLeg'] = .1 config['weightMap']['RightLeg'] = .25 config['weightMap']['RightFoot'] = .2 #if contact == 1 and footCenterL[1] > doubleTosingleOffset/2: if contact == 1: config['weightMap']['LeftUpLeg'] = .8 config['weightMap']['LeftLeg'] = .8 config['weightMap']['LeftFoot'] = .8 else: config['weightMap']['LeftUpLeg'] = .1 config['weightMap']['LeftLeg'] = .25 config['weightMap']['LeftFoot'] = .2 w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap']) #if contact == 2: #mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1, q_bias1) mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat) if dH_des is not None: mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias) mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias) #if contact & 1 and contactChangeCount == 0: if contact & 1: #if refFootR[1] < doubleTosingleOffset: mot.addConstraint2(problem, totalDOF, JsupR, dJsupR, dth_flat, a_supR) if contact & 2: #if refFootL[1] < doubleTosingleOffset: mot.addConstraint2(problem, totalDOF, JsupL, dJsupL, dth_flat, a_supL) if contactChangeCount > 0: contactChangeCount -= 1 if contactChangeCount == 0: maxContactChangeCount = 30 contactChangeType = 0 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) # print(contactForces) #bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds) vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) controlModel.setDOFAccelerations(ddth_sol) controlModel.solveHybridDynamics() if forceShowTime > viewer.objectInfoWnd.labelForceDur.value(): forceShowTime = 0 viewer_ResetForceState() forceforce = np.array([ viewer.objectInfoWnd.labelForceX.value(), viewer.objectInfoWnd.labelForceY.value(), viewer.objectInfoWnd.labelForceZ.value() ]) extraForce[0] = getParamVal('Fm') * mm.normalize2(forceforce) # extraForce[0] = viewer.objectInfoWnd.labelFm.value() * mm.normalize2(forceforce) if viewer_GetForceState(): forceShowTime += wcfg.timeStep vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce) vpWorld.step() # rendering rightFootVectorX[0] = np.dot(footOriL, np.array([.1, 0, 0])) rightFootVectorY[0] = np.dot(footOriL, np.array([0, .1, 0])) rightFootVectorZ[0] = np.dot(footOriL, np.array([0, 0, .1])) rightFootPos[0] = footCenterL rightVectorX[0] = np.dot(footBodyOriL, np.array([.1, 0, 0])) rightVectorY[0] = np.dot(footBodyOriL, np.array([0, .1, 0])) rightVectorZ[0] = np.dot(footBodyOriL, np.array([0, 0, .1])) rightPos[0] = footCenterL + np.array([.1, 0, 0]) rd_footCenter[0] = footCenter rd_footCenterL[0] = footCenterL rd_footCenterR[0] = footCenterR rd_CM[0] = CM rd_CM_plane[0] = CM.copy() 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[0] / 100, dL_des_plane[1] / 100, dL_des_plane[2] / 100 ] rd_dH_des[0] = dH_des rd_grf_des[0] = dL_des_plane - totalMass * mm.s2v(wcfg.gravity) rd_root_des[0] = rootPos[0] del rd_CF[:] del rd_CF_pos[:] for i in range(len(contactPositions)): rd_CF.append(contactForces[i] / 400) rd_CF_pos.append(contactPositions[i].copy()) if viewer_GetForceState(): rd_exfen_des[0] = [ extraForce[0][0] / 100, extraForce[0][1] / 100, extraForce[0][2] / 100 ] rd_exf_des[0] = [0, 0, 0] else: rd_exf_des[0] = [ extraForce[0][0] / 100, extraForce[0][1] / 100, extraForce[0][2] / 100 ] rd_exfen_des[0] = [0, 0, 0] extraForcePos[0] = controlModel.getBodyPositionGlobal(selectedBody)
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) # 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() bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) CP = yrp.getCP(contactPositions, contactForces) if CP != None: CP[1] = 0. for i in range(len(bodyIDsToCheck)): 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] == None or CP == None: dCP = None else: dCP = (CP - CP_old[0]) * 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) #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 == 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 != None: # mot.addConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat, a_sup_2) timeReport[4] += time.time() - curTime curTime = time.time() #print np.NAN 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() ''' if (frame > 5): tau = controlModel.getJointTorqueLocal(indexFootL[3]) tau2 = controlModel.getJointTorqueLocal(indexFootL[4]) tau3 = controlModel.getJointTorqueLocal(indexFootR[3]) tau4 = controlModel.getJointTorqueLocal(indexFootR[4]) torques = controlModel.getInternalJointTorquesLocal() if (frame > 100 and frame < 110) or (frame > 165 and frame < 190): Wcal1 = 0.05 Wcal2 = 0.05 dC = fCom[2]*Wcal1-dCM[2]*Wcal2 print("dC", dC) torques[indexFootL[5]-1]+= (dC, 0.0, 0.0) torques[indexFootR[5]-1]+= (dC, 0.0, 0.0) if (frame > 50 and frame < 75) or (frame > 110 and frame <140) or (frame > 185 and frame < 220): metatarR = [controlModel.getBodyOrientationGlobal(indexFootL[1])] phalangeR = [controlModel.getBodyOrientationGlobal(indexFootL[3])] metatarR2 = np.dot(metatarR, np.array([0,0,1])) phalangeR2 = np.dot(phalangeR, np.array([0,0,1])) metatarRZ = mm.normalize(metatarR2[0]) phalangeRZ = mm.normalize(phalangeR2[0]) lean = np.dot(metatarRZ, phalangeRZ) Wlean = 2 dt = -0.02*(lean)*Wlean torques[indexFootL[3]-1]+= (dt, 0.0, 0.0) torques[indexFootL[4]-1]+= (dt, 0.0, 0.0) torques[indexFootR[3]-1]+= (dt, 0.0, 0.0) torques[indexFootR[4]-1]+= (dt, 0.0, 0.0) i = 0 t = 6 while t < len(TauJT) : torques[i] += (TauJT[t]+TauAM[t], TauJT[t+1]+TauAM[t+1], TauJT[t+2]+TauAM[t+2]) i+=1 t+=3 #totalTorques = [a + b for a, b in zip(torques, TauJT)] #print("torques2", torques) #print("TauJT", TauJT[16], TauJT[17], TauJT[18]) #print("torques", torques[16]) #print("totalTorques", totalTorques[16]) controlModel.setInternalJointTorquesLocal(torques) ''' ''' 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() 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
def simulateCallback(frame): global COLOR_ON # print(frame) # print(motion[frame].getJointOrientationLocal(footIdDic['RightFoot_foot_0_1_0'])) if False: if frame == 200: if motionFile == 'wd2_tiptoe.bvh': setParamVal('tiptoe angle', 0.3) if motionFile == 'wd2_tiptoe_zygote.bvh': setParamVal('tiptoe angle', 0.3) # elif 210 < frame < 240: # if motionFile == 'wd2_tiptoe_zygote.bvh': # setParamVal('com Y offset', 0.01/30. * (frame-110)) elif frame == 400: setParamVal('com Y offset', 0.) setParamVal('tiptoe angle', 0.) elif frame == 430: foot_viewer.check_all_seg() # setParamVal('SupKt', 30.) # elif frame == 400: # setParamVal('SupKt', 17.) # hfi.footAdjust(motion[frame], idDic, SEGMENT_FOOT_MAG=.03, SEGMENT_FOOT_RAD=.015, baseHeight=0.02) if abs(getParamVal('tiptoe angle')) > 0.001: tiptoe_angle = getParamVal('tiptoe angle') motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_0_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_0_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitX(), -math.pi * tiptoe_angle)) # motion[frame].mulJointOrientationLocal(idDic['LeftFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95)) # motion[frame].mulJointOrientationLocal(idDic['RightFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle)) if getParamVal('left tilt angle') > 0.001: left_tilt_angle = getParamVal('left tilt angle') if motion[0].skeleton.getJointIndex( 'LeftFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) else: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_1_0'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) elif getParamVal('left tilt angle') < -0.001: left_tilt_angle = getParamVal('left tilt angle') motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_0'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) if motion[0].skeleton.getJointIndex( 'LeftFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_0_1'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) # else: # motion[frame].mulJointOrientationLocal(idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot_foot_1_0'], mm.exp(mm.unitZ(), -math.pi * left_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['LeftFoot'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle)) if getParamVal('right tilt angle') > 0.001: right_tilt_angle = getParamVal('right tilt angle') if motion[0].skeleton.getJointIndex( 'RightFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) else: motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_1_0'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) elif getParamVal('right tilt angle') < -0.001: right_tilt_angle = getParamVal('right tilt angle') motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_0'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) if motion[0].skeleton.getJointIndex( 'RightFoot_foot_0_1') is not None: motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_0_1'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) # else: # motion[frame].mulJointOrientationLocal(idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot_foot_1_0'], mm.exp(mm.unitZ(), math.pi * right_tilt_angle)) motion[frame].mulJointOrientationLocal( idDic['RightFoot'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle)) motionModel.update(motion[frame]) motionModel.translateByOffset( np.array([ getParamVal('com X offset'), getParamVal('com Y offset'), getParamVal('com Z offset') ])) controlModel.update(motion[frame]) # controlModel_ik.set_q(controlModel.get_q()) # controlModel_ik.set_q(controlModel.get_q()) controlModel_ik.update(motion[frame]) controlModel_ik.translateByOffset( np.array([ -getParamVal('com X offset') * 2., getParamVal('com Y offset'), getParamVal('com Z offset') ])) global g_initFlag global forceShowTime global JsysPre global JsupPreL global JsupPreR global JconstPre global preFootCenter global maxContactChangeCount global contactChangeCount global contact global contactChangeType Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals( ['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt']) Dt = 2 * (Kt**.5) Dl = 2 * (Kl**.5) Dh = 2 * (Kh**.5) dt_sup = 2 * (kt_sup**.5) # 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) # ype.flatten(fix_dofs(DOFs, ddth_des, mcfg, joint_names), ddth_des_flat) # ype.flatten(fix_dofs(DOFs, dth, mcfg, joint_names), dth_flat) ype.flatten(ddth_des, ddth_des_flat) ype.flatten(dth, dth_flat) ################################################# # jacobian ################################################# contact_des_ids = list() # desired contact segments if foot_viewer.check_om_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0')) if foot_viewer.check_op_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0_0')) if foot_viewer.check_im_l is not None and foot_viewer.check_im_l.value( ): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1')) if foot_viewer.check_ip_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1_0')) if foot_viewer.check_h_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_1_0')) if foot_viewer.check_om_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_0')) if foot_viewer.check_op_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_0_0')) if foot_viewer.check_im_r is not None and foot_viewer.check_im_r.value( ): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_1')) if foot_viewer.check_ip_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_1_0')) if foot_viewer.check_h_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_1_0')) contact_ids = list() # temp idx for balancing contact_ids.extend(contact_des_ids) contact_joint_ori = list( map(controlModel.getJointOrientationGlobal, contact_ids)) contact_joint_pos = list( map(controlModel.getJointPositionGlobal, contact_ids)) contact_body_ori = list( map(controlModel.getBodyOrientationGlobal, contact_ids)) contact_body_pos = list( map(controlModel.getBodyPositionGlobal, contact_ids)) contact_body_vel = list( map(controlModel.getBodyVelocityGlobal, contact_ids)) contact_body_angvel = list( map(controlModel.getBodyAngVelocityGlobal, contact_ids)) ref_joint_ori = list( map(motion[frame].getJointOrientationGlobal, contact_ids)) ref_joint_pos = list( map(motion[frame].getJointPositionGlobal, contact_ids)) ref_joint_vel = [ motion.getJointVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_joint_angvel = [ motion.getJointAngVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_body_ori = list( map(motionModel.getBodyOrientationGlobal, contact_ids)) ref_body_pos = list(map(motionModel.getBodyPositionGlobal, contact_ids)) # ref_body_vel = list(map(controlModel.getBodyVelocityGlobal, contact_ids)) ref_body_angvel = [ motion.getJointAngVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_body_vel = [ ref_joint_vel[i] + np.cross(ref_joint_angvel[i], ref_body_pos[i] - ref_joint_pos[i]) for i in range(len(ref_joint_vel)) ] is_contact = [1] * len(contact_ids) contact_right = len(set(contact_des_ids).intersection(rIDlist)) > 0 contact_left = len(set(contact_des_ids).intersection(lIDlist)) > 0 contMotionOffset = th[0][0] - th_r[0][0] linkPositions = controlModel.getBodyPositionsGlobal() linkVelocities = controlModel.getBodyVelocitiesGlobal() linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal() linkInertias = controlModel.getBodyInertiasGlobal() 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) if foot_viewer is not None: foot_viewer.foot_pressure_gl_window.refresh_foot_contact_info( frame, vpWorld, bodyIDsToCheck, mus, Ks, Ds) foot_viewer.foot_pressure_gl_window.goToFrame(frame) # rendering for foot_seg_id in footIdlist: motion_model_renderer.body_colors[foot_seg_id] = (255, 240, 255) for contact_id in contact_ids: motion_model_renderer.body_colors[contact_id] = (255, 0, 0) pallete2 = list() pallete2.append((244, 198, 61)) pallete2.append((4, 105, 113)) pallete2.append((234, 219, 196)) pallete2.append((216, 1, 6)) pallete2.append((230, 230, 230)) pallete = pallete2 color = dict() color['RightFoot'] = pallete[0] color['RightFoot_foot_1_0'] = pallete[4] color['RightFoot_foot_0_0'] = pallete[1] color['RightFoot_foot_0_0_0'] = pallete[2] color['RightFoot_foot_0_1_0'] = pallete[3] color['LeftFoot'] = pallete[0] color['LeftFoot_foot_1_0'] = pallete[4] color['LeftFoot_foot_0_0'] = pallete[1] color['LeftFoot_foot_0_0_0'] = pallete[2] color['LeftFoot_foot_0_1_0'] = pallete[3] if COLOR_ON: for color_key in color.keys(): motion_model_renderer.body_colors[ idDic[color_key]] = color[color_key] rd_CM[0] = CM rd_CM_plane[0] = CM.copy() rd_CM_plane[0][1] = 0. del rd_foot_ori[:] del rd_foot_pos[:] # for seg_foot_id in footIdlist: # rd_foot_ori.append(controlModel.getJointOrientationGlobal(seg_foot_id)) # rd_foot_pos.append(controlModel.getJointPositionGlobal(seg_foot_id)) rd_foot_ori.append(controlModel.getJointOrientationGlobal(supL)) rd_foot_ori.append(controlModel.getJointOrientationGlobal(supR)) rd_foot_pos.append(controlModel.getJointPositionGlobal(supL)) rd_foot_pos.append(controlModel.getJointPositionGlobal(supR)) rd_root_des[0] = rootPos[0] rd_root_ori[0] = controlModel.getBodyOrientationGlobal(0) rd_root_pos[0] = controlModel.getBodyPositionGlobal(0) del rd_CF[:] del rd_CF_pos[:] # render contact_ids # render skeleton if SKELETON_ON: Ts = dict() Ts['pelvis'] = controlModel_ik.getJointTransform(idDic['Hips']) Ts['thigh_R'] = controlModel_ik.getJointTransform( idDic['RightUpLeg']) Ts['shin_R'] = controlModel_ik.getJointTransform(idDic['RightLeg']) Ts['foot_R'] = controlModel_ik.getJointTransform( idDic['RightFoot']) Ts['foot_heel_R'] = controlModel_ik.getJointTransform( idDic['RightFoot']) Ts['heel_R'] = np.eye(4) Ts['outside_metatarsal_R'] = controlModel_ik.getJointTransform( idDic['RightFoot_foot_0_0']) Ts['outside_phalanges_R'] = controlModel_ik.getJointTransform( idDic['RightFoot_foot_0_0_0']) # Ts['inside_metatarsal_R'] = controlModel.getJointTransform(idDic['RightFoot_foot_0_1']) Ts['inside_metatarsal_R'] = np.eye(4) Ts['inside_phalanges_R'] = controlModel_ik.getJointTransform( idDic['RightFoot_foot_0_1_0']) Ts['spine_ribs'] = controlModel_ik.getJointTransform( idDic['Spine']) Ts['head'] = controlModel_ik.getJointTransform(idDic['Spine1']) Ts['upper_limb_R'] = controlModel_ik.getJointTransform( idDic['RightArm']) Ts['lower_limb_R'] = controlModel_ik.getJointTransform( idDic['RightForeArm']) Ts['thigh_L'] = controlModel_ik.getJointTransform( idDic['LeftUpLeg']) Ts['shin_L'] = controlModel_ik.getJointTransform(idDic['LeftLeg']) Ts['foot_L'] = controlModel_ik.getJointTransform(idDic['LeftFoot']) Ts['foot_heel_L'] = controlModel_ik.getJointTransform( idDic['LeftFoot']) Ts['heel_L'] = np.eye(4) Ts['outside_metatarsal_L'] = controlModel_ik.getJointTransform( idDic['LeftFoot_foot_0_0']) Ts['outside_phalanges_L'] = controlModel_ik.getJointTransform( idDic['LeftFoot_foot_0_0_0']) # Ts['inside_metatarsal_L'] = controlModel.getJointTransform(idDic['LeftFoot_foot_0_1']) Ts['inside_metatarsal_L'] = np.eye(4) Ts['inside_phalanges_L'] = controlModel_ik.getJointTransform( idDic['LeftFoot_foot_0_1_0']) Ts['upper_limb_L'] = controlModel_ik.getJointTransform( idDic['LeftArm']) Ts['lower_limb_L'] = controlModel_ik.getJointTransform( idDic['LeftForeArm']) color = dict() color['foot_R'] = pallete[0] color['heel_R'] = pallete[4] color['outside_metatarsal_R'] = pallete[1] color['outside_phalanges_R'] = pallete[2] color['inside_phalanges_R'] = pallete[3] color['foot_L'] = pallete[0] color['heel_L'] = pallete[4] color['outside_metatarsal_L'] = pallete[1] color['outside_phalanges_L'] = pallete[2] color['inside_phalanges_L'] = pallete[3] if COLOR_ON: skeleton_renderer.appendFrameState(Ts, color) else: skeleton_renderer.appendFrameState(Ts)
def simulateCallback(self, frame): global ddth_des_flat global stepsPerFrame global wcfg global vpWorld # reload(tf) motionModel.update(motion[0]) self.frame = frame print("main:frame : ", frame) # motionModel.update(motion[0]) self.timeIndex = 0 self.setTimeStamp() # skel = dartWorld.skels[1] # print(skel.q) # print(skel.dof('j_foot_1_0_x')) # skel.tau = skel.q # print(skel.body('root').J) # print(skel.body('root').world_com_angular_velocity()) # print(skel.M) # print(skel.body('root').world_jacobian()) # print(skel.body('Hips').world_jacobian()) # print(skel.body('Hips').world_linear_jacobian()) # print(skel.body('Hips').world_angular_jacobian()) # for c in dartWorld.contacts(): # print(c.p) # print(skel.q) # IK solver ''' solver.clear() solver.setInitPose(motion[0]) cVpBodyIds, cPositions, cPositionsLocal, cVelocities = vpWorld.getContactPoints(bodyIDsToCheck) if len(cVpBodyIds) > 1: solver.addConstraints(cVpBodyIds[1], cPositionsLocal[1], np.array((0., 0., 0.)), None, (False, True, False, False)) solver.addConstraints(cVpBodyIds[3], cPositionsLocal[3], np.array((0., 0., 0.)), None, (False, True, False, False)) solver.addConstraints(cVpBodyIds[5], cPositionsLocal[5], np.array((0., 0., 0.)), None, (False, True, False, False)) # solver.solve(controlModel, np.array((0., .15 + .05*math.sin(frame/10.), 0.))) ''' # constant setting # (Kt, damp, stepsPerFrame, simulSpeedInv) = viewer.objectInfoWnd.getVals() getVal = viewer.objectInfoWnd.getVal Kt = getVal('PD gain') damp = getVal('Joint Damping') stepsPerFrame = getVal('steps per frame') simulSpeedInv = getVal('1/simul speed') wcfg.timeStep = 1 / (30. * simulSpeedInv * stepsPerFrame) vpWorld.SetTimeStep(wcfg.timeStep) Dt = 2. * (Kt**.5) # Dt = 2. * (Kt**.5)/20. # Dt = 0. # controlModel.SetJointsDamping(2*math.sqrt(damp)) # controlModel.SetJointsElasticity(damp) # controlModel.SetJointsDamping(1.) wLCP = math.pow(2., getVal('LCP weight')) wForce = math.pow(2., getVal('force weight')) wTorque = math.pow(2., getVal('tau weight')) # tracking th_r = motion.getDOFPositions(frame) th = controlModel.getDOFPositions() dth_r = motion.getDOFVelocities(frame) dth = controlModel.getDOFVelocities() ddth_r = motion.getDOFAccelerations(frame) weightMapTuple = config['weightMapTuple'] # weightMapTuple = None ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt, weightMapTuple) ype.flatten(ddth_des, ddth_des_flat) pdController.setTartgetPose(motion.getDOFPositions(0)) desForceFrameBegin = getVal('des force begin') desForceDuration = getVal('des force dur') * simulSpeedInv desForceFrame = [ desForceFrameBegin, desForceFrameBegin + desForceDuration] desForceRelFrame = float(frame - desForceFrame[0]) / desForceDuration desNormalForceMin = getVal('normal des force min') desNormalForceMax = getVal('normal des force max') desNormalForce = desNormalForceMin if desForceFrame[0] <= frame <= desForceFrame[1]: desNormalForce = desNormalForceMin * \ (1 - desForceRelFrame) + desNormalForceMax * desForceRelFrame totalForce = np.array([0., desNormalForce, 0., 0., 0., 0.]) # totalForce = np.array([-desNormalForce, 34.3, 0., 0., 0., 0.]) # totalForce = np.array([0., 34.3, desNormalForce, 0., 0., 0.]) # totalForce = np.array([50., 150.]) torques = None ddth_des_flat[0:6] = [0.] * 6 self.setTimeStamp() simulContactForces = np.zeros(3) cBodyIDs = None cPositions = None cPositionLocals = None cForces = None cBodyIDsControl = None cPositionsControl = None cPositionLocalsControl = None cForcesControl = None if desForceFrame[0] <= frame <= desForceFrame[1]: # if False: # totalForceImpulse = stepsPerFrame * totalForce cBodyIDsControl, cPositionsControl, cPositionLocalsControl, cForcesControl, torques \ = hls.calcLCPbasicControl( motion, dartModel.world, dartModel, bodyIDsToCheck, 1., totalForce, [wLCP, wTorque, wForce], ddth_des_flat) # if cForces is not None: # print "control: ", sum(cForces) sumControlForce = np.array([0.]*6) if cForcesControl is not None: sumControlForce = np.hstack((sum(cForcesControl), np.array([0., 0., 0.]))) timeStamp = None torque_None = False print("torques: ", torques) if not (desForceFrame[0] <= frame <= desForceFrame[1]) or (torques is None): torque_None = True torques = ddth_des_flat elif np.linalg.norm(sumControlForce - totalForce) > np.linalg.norm(totalForce): print("control failed!") torque_None = True torques = ddth_des_flat else: torques *= 1. # for i in range(int(stepsPerFrame)): # if i % 5 == 0: # cBodyIDs, cPositions, cPositionLocals, cForces, timeStamp \ # = hls.calcLCPForces(motion, vpWorld, controlModel, bodyIDsToCheck, 1., torques, solver='qp') # # if i % 5 == 0 and len(cBodyIDs) > 0: # # apply contact forces # if False and not torque_None: # vpWorld.applyPenaltyForce(cBodyIDs, cPositionLocals, cForcesControl) # simulContactForces += sum(cForcesControl) # else: # vpWorld.applyPenaltyForce(cBodyIDs, cPositionLocals, cForces) # simulContactForces += sum(cForces) # # simulContactForces += sum(cForces) # # ype.nested(torques, torques_nested) # controlModel.setDOFTorques(torques_nested[1:]) # # vpWorld.step() for i in range(int(stepsPerFrame)): if i%5 ==0: cBodyIDs, cPositions, cPositionLocals, velocities = dartModel.getContactPoints(bodyIDsToCheck) if False and i % 5 == 0 and len(cBodyIDs): # apply contact forces if False and not torque_None: vpWorld.applyPenaltyForce(cBodyIDs, cPositionLocals, cForcesControl) simulContactForces += sum(cForcesControl) else: vpWorld.applyPenaltyForce(cBodyIDs, cPositionLocals, cForces) simulContactForces += sum(cForces) # simulContactForces += sum(cForces) # ype.nested(torques, torques_nested) # dartModel.setDOFTorques(torques_nested[1:]) if torque_None: dartModel.skeleton.set_forces(pdController.compute()) # elif i%5 == 0: else: dartModel.skeleton.set_forces(torques) dartModel.step() sumForce = sum([(-contact.force if contact.bodynode1.name == 'ground' else contact.force) for contact in dartModel.world.collision_result.contacts]) simulContactForces += sumForce if False: # debug contact force for contact in dartModel.world.collision_result.contacts: if contact.bodynode2.name == 'ground': print('contact info: ', contact.bodynode1.name, contact) print('contact info: ', contact.bodynode2.name, contact) else: print('contact info: ', contact.bodynode1.name, contact) print('contact info: ', contact.bodynode2.name, contact) contactPoints = [contact.point for contact in dartModel.world.collision_result.contacts] contactForces = [(-contact.force if contact.bodynode1.name == 'ground' else contact.force) for contact in dartModel.world.collision_result.contacts] sumForce = sum(contactForces) self.setTimeStamp() # rendering expected force del rd_cForcesControl[:] del rd_cPositionsControl[:] if cBodyIDsControl is not None: # print cBodyIDsControl for i in range(len(cBodyIDsControl)): # print expected force rd_cForcesControl.append(cForcesControl[i].copy() /20.) rd_cPositionsControl.append(cPositionsControl[i].copy()) # rendering sum of expected force del rd_ForceControl[:] del rd_Position[:] if cForcesControl is not None: # print expected force rd_ForceControl.append(sum(cForcesControl) /20.) rd_Position.append(np.array([0., 0., 0.1])) # graph expected force if cForcesControl is not None: sumForce = sum(cForcesControl) if sumForce[1] > 10000: sumForce[1] = 10000 viewer.cForceWnd.insertData('expForce', frame, sumForce[1]) else: viewer.cForceWnd.insertData('expForce', frame, 0.) # rendering calculated forces del rd_cForces[:] del rd_cPositions[:] for i in range(len(contactPoints)): # print calculated force # rd_cForces.append(cForces[i].copy() / 50.) rd_cForces.append(contactForces[i].copy() / 20.) # rd_cPositions.append(cPositions[i].copy()) rd_cPositions.append(contactPoints[i].copy()) # rendering joint position del rd_jointPos[:] for i in range(motion[0].skeleton.getJointNum()): rd_jointPos.append(motion[frame].getJointPositionGlobal(i)) # rendering desired force del rd_ForceDes[:] del rd_PositionDes[:] # rd_ForceDes.append(totalForce/50.) rd_ForceDes.append(totalForce[1] * np.array([0., 1., 0.]) / 50.) rd_PositionDes.append(np.array([0., 0., 0.])) # if self.cForces is not None: # rd_ForceDes.append(sum(self.cForces)[1]/50. * [0., 1., 0.]) # rd_PositionDes.append(np.array([0., 0., -0.1])) # graph calculated force viewer.cForceWnd.insertData('realForce', frame, simulContactForces[1]/stepsPerFrame) # graph desired force if desForceFrame[0] <= frame <= desForceFrame[1]: viewer.cForceWnd.insertData('desForceMin', frame, totalForce[1]) # viewer.cForceWnd.insertData('desForceMin', frame, totalForce[1] * 1.0) # viewer.cForceWnd.insertData('desForceMax', frame, totalForce[1] * 1.1) else: viewer.cForceWnd.insertData('desForceMin', frame, 0.) viewer.cForceWnd.insertData('desForceMax', frame, 0.) viewer.cForceWnd.redraw() self.setTimeStamp()
def simulateCallback(self, frame): global ddth_des_flat global stepsPerFrame global wcfg global vpWorld # reload(tf) self.frame = frame print "main:frame : ", frame # motionModel.update(motion[0]) self.timeIndex = 0 self.setTimeStamp() # constant setting # (Kt, damp, stepsPerFrame, simulSpeedInv) = viewer.objectInfoWnd.getVals() getVal = viewer.objectInfoWnd.getVal Kt = getVal('PD gain') damp = getVal('Joint Damping') stepsPerFrame = getVal('steps per frame') simulSpeedInv = getVal('1/simul speed') wcfg.timeStep = 1 / (30. * simulSpeedInv * stepsPerFrame) vpWorld.SetTimeStep(wcfg.timeStep) # Dt = 2. * (Kt**.5) Dt = 0. # controlModel.SetJointsDamping(damp) controlModel.SetJointsDamping(.2) wForce = math.pow(2., getVal('force weight')) wTorque = math.pow(2., getVal('tau weight')) # tracking th_r = motion.getDOFPositions(0) th = controlModel.getDOFPositions() dth_r = motion.getDOFVelocities(0) dth = controlModel.getDOFVelocities() ddth_r = motion.getDOFAccelerations(0) weightMapTuple = config['weightMapTuple'] ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt, weightMapTuple) ddth_c = controlModel.getDOFAccelerations() ype.flatten(ddth_des, ddth_des_flat) desForceFrameBegin = getVal('des force begin') desForceDuration = getVal('des force dur') * simulSpeedInv desForceFrame = [ desForceFrameBegin, desForceFrameBegin + desForceDuration ] desForceRelFrame = float(frame - desForceFrame[0]) / desForceDuration desNormalForceMin = getVal('normal des force min') desNormalForceMax = getVal('normal des force max') desNormalForce = desNormalForceMin if desForceFrame[0] <= frame <= desForceFrame[1]: desNormalForce = desNormalForceMin * \ (1 - desForceRelFrame) + desNormalForceMax * desForceRelFrame totalForce = np.array([0., desNormalForce, 0., 0., 0., 0.]) # totalForce = np.array([50., 150.]) torques = None ddth_des_flat[0:6] = [0.] * 6 self.setTimeStamp() simulContactForces = np.zeros(3) torque_None = True # print ddth_des_flat cBodyIDsControl = [] cPositionsControl = [] cPositionLocalsControl = [] cForcesControl = [] torques_control = None if desForceFrame[0] <= frame <= desForceFrame[1]: if True: cBodyIDs, cPositions, cPositionLocals, cForcesControl, torques_control \ = hls.calcLCPbasicControl( motion, vpWorld, controlModel, bodyIDsToCheck, .1, totalForce, wForce, wTorque, ddth_des_flat) print "torques_control: ", torques_control for i in range(int(stepsPerFrame)): torques = None torque_None = True cBodyIDs = [] cPositions = [] cPositionLocals = [] cForces = [] ''' if desForceFrame[0] <= frame <= desForceFrame[1]: if True: # totalForceImpulse = stepsPerFrame * totalForce cBodyIDs, cPositions, cPositionLocals, cForcesControl, torques \ = hls.calcLCPbasicControl( motion, vpWorld, controlModel, bodyIDsToCheck, 1., totalForce, wForce, wTorque, ddth_des_flat) # if cForces is not None: # print "control: ", sum(cForces) ''' if torques_control is not None: # print torques[:6] torques = torques_control.copy() torque_None = False # cForcesControl = cForces.copy() # cBodyIDsControl = cBodyIDs.copy() # cPositionsControl = cPositions.copy() # cPositionLocalsControl = cPositionLocals.copy() else: torques = ddth_des_flat # torques = np.zeros_like(torques) cBodyIDs, cPositions, cPositionLocals, cForces, timeStamp \ = hls.calcLCPForces(motion, vpWorld, controlModel, bodyIDsToCheck, .05, torques, solver='qp') # if (not torque_None) and cForces is not None: # print "calcul: ", sum(cForces) if len(cBodyIDs) > 0: # apply contact forces if False and not torque_None: vpWorld.applyPenaltyForce(cBodyIDs, cPositionLocals, cForcesControl) simulContactForces += sum(cForcesControl) else: vpWorld.applyPenaltyForce(cBodyIDs, cPositionLocals, cForces) simulContactForces += sum(cForces) # simulContactForces += sum(cForces) ype.nested(torques, torques_nested) # print torques_nested controlModel.setDOFTorques(torques_nested[1:]) vpWorld.step() self.setTimeStamp() # print ddth_des_flat # print torques self.cBodyIDs, self.cPositions, self.cPositionLocals, self.cForces, torques \ = hls.calcLCPbasicControl(motion, vpWorld, controlModel, bodyIDsToCheck, 1., totalForce, wForce, wTorque, ddth_des_flat, 8) del rd_cForcesControl[:] del rd_cPositionsControl[:] for i in range(len(self.cBodyIDs)): # print expected force rd_cForcesControl.append(self.cForces[i].copy() / 50.) rd_cPositionsControl.append(self.cPositions[i].copy()) del rd_ForceControl[:] del rd_Position[:] if self.cForces is not None: # print expected force rd_ForceControl.append(sum(self.cForces) / 50.) rd_Position.append(np.array([0., 0., 0.1])) # graph if self.cForces is not None: sumForce = sum(self.cForces) viewer.cForceWnd.insertData('expForce', frame, sumForce[1]) else: viewer.cForceWnd.insertData('expForce', frame, 0.) self.cBodyIDs, self.cPositions, self.cPositionLocals, self.cForces, tmptmp \ = hls.calcLCPForces(motion, vpWorld, controlModel, bodyIDsToCheck, 1., torques, solver='qp') del rd_cForces[:] del rd_cPositions[:] for i in range(len(self.cBodyIDs)): # print calculated force rd_cForces.append(self.cForces[i].copy() / 50.) rd_cPositions.append(self.cPositions[i].copy()) del rd_jointPos[:] for i in range(motion[0].skeleton.getJointNum()): rd_jointPos.append(motion[frame].getJointPositionGlobal(i)) del rd_ForceDes[:] del rd_PositionDes[:] # rd_ForceDes.append(totalForce/50.) rd_ForceDes.append(totalForce[1] * np.array([0., 1., 0.]) / 50.) rd_PositionDes.append(np.array([0., 0., 0.])) # if self.cForces is not None: # rd_ForceDes.append(sum(self.cForces)[1]/50. * [0., 1., 0.]) # rd_PositionDes.append(np.array([0., 0., -0.1])) # graph if self.cForces is not None: sumForce = sum(self.cForces) # viewer.cForceWnd.insertData('realForce', frame, sumForce[1]) viewer.cForceWnd.insertData('realForce', frame, simulContactForces[1] / stepsPerFrame) else: viewer.cForceWnd.insertData('realForce', frame, 0.) viewer.cForceWnd.insertData('realForce', frame, simulContactForces[1] / stepsPerFrame) if desForceFrame[0] <= frame <= desForceFrame[1]: viewer.cForceWnd.insertData('desForceMin', frame, totalForce[1]) # viewer.cForceWnd.insertData('desForceMin', frame, totalForce[1] * 1.0) # viewer.cForceWnd.insertData('desForceMax', frame, totalForce[1] * 1.1) else: viewer.cForceWnd.insertData('desForceMin', frame, 0.) viewer.cForceWnd.insertData('desForceMax', frame, 0.) self.setTimeStamp()
def simulateCallback(frame): # print() # print(dartModel.getJointVelocityGlobal(0)) # print(dartModel.getDOFVelocities()[0]) # print(dartModel.get_dq()[:6]) dartMotionModel.update(motion[frame]) global g_initFlag global forceShowTime global preFootCenter global maxContactChangeCount global contactChangeCount global contact global contactChangeType # print('contactstate:', contact, contactChangeCount) Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals( ['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt']) Dt = 2. * (Kt**.5) Dl = (Kl**.5) Dh = (Kh**.5) dt_sup = 2. * (kt_sup**.5) # Dt = .2*(Kt**.5) # Dl = .2*(Kl**.5) # Dh = .2*(Kh**.5) # dt_sup = .2*(kt_sup**.5) pdcontroller.setKpKd(Kt, Dt) footHeight = dartModel.getBody(supL).shapenodes[0].shape.size()[1] / 2. doubleTosingleOffset = 0.15 singleTodoubleOffset = 0.30 #doubleTosingleOffset = 0.09 doubleTosingleVelOffset = 0.0 com_offset_x, com_offset_y, com_offset_z = getParamVals( ['com X offset', 'com Y offset', 'com Z offset']) footOffset = np.array((com_offset_x, com_offset_y, com_offset_z)) des_com = dartMotionModel.getCOM() + footOffset footCenterL = dartMotionModel.getBodyPositionGlobal(supL) footCenterR = dartMotionModel.getBodyPositionGlobal(supR) footBodyOriL = dartMotionModel.getBodyOrientationGlobal(supL) footBodyOriR = dartMotionModel.getBodyOrientationGlobal(supR) torso_pos = dartMotionModel.getBodyPositionGlobal(4) torso_ori = dartMotionModel.getBodyOrientationGlobal(4) # tracking # th_r = motion.getDOFPositions(frame) th_r = dartMotionModel.getDOFPositions() th = dartModel.getDOFPositions() # th_r_flat = dartMotionModel.get_q() dth_r = motion.getDOFVelocities(frame) dth = dartModel.getDOFVelocities() ddth_r = motion.getDOFAccelerations(frame) # dth_flat = dartModel.get_dq() dth_flat = np.concatenate(dth) # ddth_des_flat = pdcontroller.compute(dartMotionModel.get_q()) # ddth_des_flat = pdcontroller.compute(th_r) # ddth_des_flat = pdcontroller.compute_flat(th_r_flat) th = get_th_dart(dartModel.skeleton) dth = get_dth_dart(dartModel.skeleton) dth_flat = np.concatenate(dth) ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt) ype.flatten(ddth_des, ddth_des_flat) ype.flatten(dth, dth_flat) ################################################# # jacobian ################################################# footOriL = dartModel.getJointOrientationGlobal(supL) footOriR = dartModel.getJointOrientationGlobal(supR) footCenterL = dartModel.getBodyPositionGlobal(supL) footCenterR = dartModel.getBodyPositionGlobal(supR) footBodyOriL = dartModel.getBodyOrientationGlobal(supL) footBodyOriR = dartModel.getBodyOrientationGlobal(supR) footBodyVelL = dartModel.getBodyVelocityGlobal(supL) footBodyVelR = dartModel.getBodyVelocityGlobal(supR) footBodyAngVelL = dartModel.getBodyAngVelocityGlobal(supL) footBodyAngVelR = dartModel.getBodyAngVelocityGlobal(supR) refFootL = dartMotionModel.getBodyPositionGlobal(supL) refFootR = dartMotionModel.getBodyPositionGlobal(supR) # refFootAngVelL = motion.getJointAngVelocityGlobal(supL, frame) # refFootAngVelR = motion.getJointAngVelocityGlobal(supR, frame) refFootAngVelL = np.zeros(3) refFootAngVelR = np.zeros(3) refFootJointVelR = motion.getJointVelocityGlobal(supR, frame) refFootJointAngVelR = motion.getJointAngVelocityGlobal(supR, frame) refFootJointR = motion.getJointPositionGlobal(supR, frame) # refFootVelR = refFootJointVelR + np.cross(refFootJointAngVelR, (refFootR-refFootJointR)) refFootVelR = np.zeros(3) refFootJointVelL = motion.getJointVelocityGlobal(supL, frame) refFootJointAngVelL = motion.getJointAngVelocityGlobal(supL, frame) refFootJointL = motion.getJointPositionGlobal(supL, frame) # refFootVelL = refFootJointVelL + np.cross(refFootJointAngVelL, (refFootL-refFootJointL)) refFootVelL = np.zeros(3) contactR = 1 contactL = 1 if refFootVelR[1] < 0 and refFootVelR[1] * frame_step_size + refFootR[ 1] > singleTodoubleOffset: contactR = 0 if refFootVelL[1] < 0 and refFootVelL[1] * frame_step_size + refFootL[ 1] > singleTodoubleOffset: contactL = 0 if refFootVelR[1] > 0 and refFootVelR[1] * frame_step_size + refFootR[ 1] > doubleTosingleOffset: contactR = 0 if refFootVelL[1] > 0 and refFootVelL[1] * frame_step_size + refFootL[ 1] > doubleTosingleOffset: contactL = 0 # contactR = 0 # contMotionOffset = th[0][0] - th_r[0][0] contMotionOffset = dartModel.getBodyPositionGlobal( 0) - dartMotionModel.getBodyPositionGlobal(0) linkPositions = dartModel.getBodyPositionsGlobal() linkVelocities = dartModel.getBodyVelocitiesGlobal() linkAngVelocities = dartModel.getBodyAngVelocitiesGlobal() linkInertias = dartModel.getBodyInertiasGlobal() CM = dartModel.skeleton.com() dCM = dartModel.skeleton.com_velocity() 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) #calculate contact state #if g_initFlag == 1 and contact == 1 and refFootR[1] < doubleTosingleOffset and footCenterR[1] < 0.08: if g_initFlag == 1: #contact state # 0: flying 1: right only 2: left only 3: double #if contact == 2 and refFootR[1] < doubleTosingleOffset: if contact == 2 and contactR == 1: contact = 3 maxContactChangeCount += 30 contactChangeCount += maxContactChangeCount contactChangeType = 'StoD' #elif contact == 3 and refFootL[1] < doubleTosingleOffset: elif contact == 1 and contactL == 1: contact = 3 maxContactChangeCount += 30 contactChangeCount += maxContactChangeCount contactChangeType = 'StoD' #elif contact == 3 and refFootR[1] > doubleTosingleOffset: elif contact == 3 and contactR == 0: contact = 2 contactChangeCount += maxContactChangeCount contactChangeType = 'DtoS' #elif contact == 3 and refFootL[1] > doubleTosingleOffset: elif contact == 3 and contactL == 0: contact = 1 contactChangeCount += maxContactChangeCount contactChangeType = 'DtoS' else: contact = 0 #if refFootR[1] < doubleTosingleOffset: if contactR == 1: contact += 1 #if refFootL[1] < doubleTosingleOffset: if contactL == 1: contact += 2 #initialization if g_initFlag == 0: softConstPoint = footCenterR.copy() footCenter = footCenterL + (footCenterR - footCenterL) / 2.0 footCenter[1] = 0. preFootCenter = footCenter.copy() #footToBodyFootRotL = np.dot(np.transpose(footOriL), footBodyOriL) #footToBodyFootRotR = np.dot(np.transpose(footOriR), footBodyOriR) # if refFootR[1] < doubleTosingleOffset: # contact +=1 # if refFootL[1] < doubleTosingleOffset: # contact +=2 if refFootR[1] < footHeight: contact += 1 if refFootL[1] < footHeight: contact += 2 g_initFlag = 1 # calculate jacobian body_num = dartModel.getBodyNum() Jsys, dJsysdq = compute_J_dJdq(dartModel.skeleton) JsupL = Jsys[6 * supL:6 * supL + 6, :] dJsupLdq = dJsysdq[6 * supL:6 * supL + 6] JsupR = Jsys[6 * supR:6 * supR + 6, :] dJsupRdq = dJsysdq[6 * supR:6 * supR + 6] # calculate footCenter footCenter = .5 * (footCenterL + footCenterR) + footOffset if contact == 2: footCenter = footCenterL.copy() + footOffset if contact == 1: footCenter = footCenterR.copy() + footOffset footCenter[1] = 0. if contactChangeCount > 0 and contactChangeType == 'StoD': #change footcenter gradually footCenter = preFootCenter + ( maxContactChangeCount - contactChangeCount) * ( footCenter - preFootCenter) / maxContactChangeCount preFootCenter = footCenter.copy() # linear momentum #TODO: # We should consider dCM_ref, shouldn't we? # add getBodyPositionGlobal and getBodyPositionsGlobal in csVpModel! # todo that, set joint velocities to vpModel CM_ref_plane = footCenter dL_des_plane = Kl * totalMass * (CM_ref_plane - CM_plane) - Dl * totalMass * dCM_plane dL_des_plane[1] = 0. CM_ref = footCenter.copy() CM_ref[1] = dartMotionModel.getCOM()[1] # CM_ref += np.array((0., com_offset_y, 0.)) dL_des_plane = Kl * totalMass * (CM_ref - CM) - Dl * totalMass * dCM # angular momentum CP_ref = footCenter bodyIDs, contactPositions, contactPositionLocals, contactForces = [], [], [], [] if DART_CONTACT_ON: bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.get_dart_contact_info( ) else: bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) #bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds) CP = yrp.getCP(contactPositions, contactForces) if CP_old[0] is None or CP is None: dCP = None else: dCP = (CP - CP_old[0]) / frame_step_size CP_old[0] = CP CP_des[0] = None # if CP_des[0] is None: # CP_des[0] = footCenter if CP is not None and dCP is not None: ddCP_des = Kh * (CP_ref - CP) - Dh * (dCP) CP_des[0] = CP + dCP * frame_step_size + .5 * ddCP_des * ( frame_step_size**2) # dCP_des[0] += ddCP_des * frame_step_size # CP_des[0] += dCP_des[0] * frame_step_size + .5 * ddCP_des*(frame_step_size ** 2) dH_des = np.cross(CP_des[0] - CM, dL_des_plane + totalMass * mm.s2v(wcfg.gravity)) if contactChangeCount > 0: # and contactChangeType == 'DtoS': #dH_des *= (maxContactChangeCount - contactChangeCount)/(maxContactChangeCount*10) dH_des *= (maxContactChangeCount - contactChangeCount) / (maxContactChangeCount) #dH_des *= (contactChangeCount)/(maxContactChangeCount)*.9+.1 else: dH_des = None # H = np.dot(P, np.dot(Jsys, dth_flat)) # dH_des = -Kh* H[3:] # soft point constraint #softConstPoint = refFootR.copy() ##softConstPoint[0] += 0.2 #Ksc = 50 #Dsc = 2*(Ksc**.5) #Bsc = 1. #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_des - dP_cur) #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) #dJconst = (Jconst - Jconst)/(1/30.) #JconstPre = Jconst.copy() ##yjc.computeJacobianDerivative2(dJconst, DOFs, jointPositions, jointAxeses, linkAngVelocities, [softConstPoint], constJointMasks, False) #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)) #q_bias1 = np.dot(np.dot(Z, dJconst), dth_flat) + q2 #set up equality constraint a_oriL = mm.logSO3( mm.getSO3FromVectors(np.dot(footBodyOriL, np.array([0, 1, 0])), np.array([0, 1, 0]))) a_oriR = mm.logSO3( mm.getSO3FromVectors(np.dot(footBodyOriR, np.array([0, 1, 0])), np.array([0, 1, 0]))) footErrorL = refFootL.copy() footErrorL[1] = dartModel.getBody( supL).shapenodes[0].shape.size()[1] / 2. footErrorL += -footCenterL + contMotionOffset footErrorR = refFootR.copy() footErrorR[1] = dartModel.getBody( supR).shapenodes[0].shape.size()[1] / 2. footErrorR += -footCenterR + contMotionOffset a_supL = np.append( kt_sup * footErrorL + dt_sup * (refFootVelL - footBodyVelL), kt_sup * a_oriL + dt_sup * (refFootAngVelL - footBodyAngVelL)) a_supR = np.append( kt_sup * footErrorR + dt_sup * (refFootVelR - footBodyVelR), kt_sup * a_oriR + dt_sup * (refFootAngVelR - footBodyAngVelR)) if contactChangeCount > 0 and contactChangeType == 'DtoS': a_supL = np.append( kt_sup * (refFootL - footCenterL + contMotionOffset) + dt_sup * (refFootVelL - footBodyVelL), 4 * kt_sup * a_oriL + 2 * dt_sup * (refFootAngVelL - footBodyAngVelL)) a_supR = np.append( kt_sup * (refFootR - footCenterR + contMotionOffset) + dt_sup * (refFootVelR - footBodyVelR), 4 * kt_sup * a_oriR + 2 * dt_sup * (refFootAngVelR - footBodyAngVelR)) elif contactChangeCount > 0 and contactChangeType == 'StoD': linkt = (13. * contactChangeCount) / (maxContactChangeCount) + 1. lindt = 2 * (linkt**.5) angkt = (13. * contactChangeCount) / (maxContactChangeCount) + 1. angdt = 2 * (angkt**.5) a_supL = np.append( linkt * kt_sup * (refFootL - footCenterL + contMotionOffset) + lindt * dt_sup * (refFootVelL - footBodyVelL), angkt * kt_sup * a_oriL + angdt * dt_sup * (refFootAngVelL - footBodyAngVelL)) a_supR = np.append( linkt * kt_sup * (refFootR - footCenterR + contMotionOffset) + lindt * dt_sup * (refFootVelR - footBodyVelR), angkt * kt_sup * a_oriR + angdt * dt_sup * (refFootAngVelR - footBodyAngVelR)) # 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) rs = np.dot(dP, np.dot(Jsys, dth_flat)) + np.dot(P, dJsysdq) r_bias, s_bias = np.hsplit(rs, 2) ####################################################### # optimization ####################################################### #if contact == 2 and footCenterR[1] > doubleTosingleOffset/2: if contact == 2: config['weightMap']['RightUpLeg'] = .8 config['weightMap']['RightLeg'] = .8 config['weightMap']['RightFoot'] = .8 else: config['weightMap']['RightUpLeg'] = .1 config['weightMap']['RightLeg'] = .25 config['weightMap']['RightFoot'] = .2 #if contact == 1 and footCenterL[1] > doubleTosingleOffset/2: if contact == 1: config['weightMap']['LeftUpLeg'] = .8 config['weightMap']['LeftLeg'] = .8 config['weightMap']['LeftFoot'] = .8 else: config['weightMap']['LeftUpLeg'] = .1 config['weightMap']['LeftLeg'] = .25 config['weightMap']['LeftFoot'] = .2 w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap']) #if contact == 2: #mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1, q_bias1) mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat) mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias) if dH_des is not None: mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias) #mot.setConstraint(problem, totalDOF, Jsup, dJsup, dth_flat, a_sup) #mot.addConstraint(problem, totalDOF, Jsup, dJsup, dth_flat, a_sup) #if contact & 1 and contactChangeCount == 0: if contact & 1: #if refFootR[1] < doubleTosingleOffset: mot.addConstraint2(problem, totalDOF, JsupR, dJsupRdq, a_supR) if contact & 2: #if refFootL[1] < doubleTosingleOffset: mot.addConstraint2(problem, totalDOF, JsupL, dJsupLdq, a_supL) if contactChangeCount > 0: contactChangeCount -= 1 if contactChangeCount == 0: maxContactChangeCount = 30 contactChangeType = 0 r = problem.solve() problem.clear() # ype.nested(r['x'], ddth_sol) ddth_sol = np.asarray(r['x']) # ddth_sol[:6] = np.zeros(6) rootPos[0] = dartModel.getBodyPositionGlobal(selectedBody) localPos = [[0, 0, 0]] for i in range(stepsPerFrame): # apply penalty force if not DART_CONTACT_ON: bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) dartModel.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) dartModel.skeleton.set_accelerations( ddth_vp_to_dart(dartModel.skeleton, ddth_sol)) # dartModel.skeleton.set_accelerations(ddth_des_flat) # dartModel.skeleton.set_forces(np.zeros(totalDOF)) if forceShowTime > viewer.objectInfoWnd.labelForceDur.value(): forceShowTime = 0 viewer_ResetForceState() forceforce = np.array([ viewer.objectInfoWnd.labelForceX.value(), viewer.objectInfoWnd.labelForceY.value(), viewer.objectInfoWnd.labelForceZ.value() ]) extraForce[0] = getParamVal('Fm') * mm.normalize2(forceforce) if viewer_GetForceState(): forceShowTime += wcfg.timeStep dartModel.applyPenaltyForce(selectedBodyId, localPos, extraForce) dartModel.step() if DART_CONTACT_ON: bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.get_dart_contact_info( ) else: bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) # rendering rightFootVectorX[0] = np.dot(footOriL, np.array([.1, 0, 0])) rightFootVectorY[0] = np.dot(footOriL, np.array([0, .1, 0])) rightFootVectorZ[0] = np.dot(footOriL, np.array([0, 0, .1])) rightFootPos[0] = footCenterL rightVectorX[0] = np.dot(footBodyOriL, np.array([.1, 0, 0])) rightVectorY[0] = np.dot(footBodyOriL, np.array([0, .1, 0])) rightVectorZ[0] = np.dot(footBodyOriL, np.array([0, 0, .1])) rightPos[0] = footCenterL + np.array([.1, 0, 0]) rd_footCenter[0] = footCenter rd_footCenterL[0] = footCenterL rd_footCenterR[0] = footCenterR rd_CM[0] = CM rd_CM_plane[0] = CM.copy() 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[0] rd_dL_des_plane[0] = [ dL_des_plane[0] / 100, dL_des_plane[1] / 100, dL_des_plane[2] / 100 ] rd_dH_des[0] = dH_des rd_grf_des[0] = dL_des_plane - totalMass * mm.s2v(wcfg.gravity) rd_root_des[0] = rootPos[0] del rd_CF[:] del rd_CF_pos[:] for i in range(len(contactPositions)): rd_CF.append(contactForces[i] / 100) rd_CF_pos.append(contactPositions[i].copy()) if viewer_GetForceState(): rd_exfen_des[0] = [ extraForce[0][0] / 100, extraForce[0][1] / 100, extraForce[0][2] / 100 ] rd_exf_des[0] = [0, 0, 0] else: rd_exf_des[0] = [ extraForce[0][0] / 100, extraForce[0][1] / 100, extraForce[0][2] / 100 ] rd_exfen_des[0] = [0, 0, 0] extraForcePos[0] = dartModel.getBodyPositionGlobal(selectedBody)
def simulateCallback(self, frame): global ddth_des_flat global stepsPerFrame global wcfg global vpWorld # reload(tf) # motionModel.update(motion[frame]) self.frame = frame print("main:frame : ", frame) motionModel.update(motion[0]) self.timeIndex = 0 self.setTimeStamp() # IK solver ''' solver.clear() solver.setInitPose(motion[0]) cVpBodyIds, cPositions, cPositionsLocal, cVelocities = vpWorld.getContactPoints(bodyIDsToCheck) if len(cVpBodyIds) > 1: solver.addConstraints(cVpBodyIds[1], cPositionsLocal[1], np.array((0., 0., 0.)), None, (False, True, False, False)) solver.addConstraints(cVpBodyIds[3], cPositionsLocal[3], np.array((0., 0., 0.)), None, (False, True, False, False)) solver.addConstraints(cVpBodyIds[5], cPositionsLocal[5], np.array((0., 0., 0.)), None, (False, True, False, False)) # solver.solve(controlModel, np.array((0., .15 + .05*math.sin(frame/10.), 0.))) ''' # constant setting # (Kt, damp, stepsPerFrame, simulSpeedInv) = viewer.objectInfoWnd.getVals() getVal = viewer.objectInfoWnd.getVal Kt = getVal('PD gain') damp = getVal('Joint Damping') stepsPerFrame = getVal('steps per frame') simulSpeedInv = getVal('1/simul speed') wcfg.timeStep = 1 / (30. * simulSpeedInv * stepsPerFrame) vpWorld.SetTimeStep(wcfg.timeStep) # Dt = 2. * (Kt**.5) # Dt = 2. * (Kt**.5)/20. Dt = 0. # controlModel.SetJointsDamping(damp) controlModel.SetJointsDamping(1.) wLCP = math.pow(2., getVal('LCP weight')) wForce = math.pow(2., getVal('force weight')) wTorque = math.pow(2., getVal('tau weight')) # tracking th_r = motion.getDOFPositions(0) th = controlModel.getDOFPositions() dth_r = motion.getDOFVelocities(0) dth = controlModel.getDOFVelocities() ddth_r = motion.getDOFAccelerations(0) weightMapTuple = config['weightMapTuple'] weightMapTuple = None ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt, weightMapTuple) ddth_c = controlModel.getDOFAccelerations() ype.flatten(ddth_des, ddth_des_flat) ddth_des_flat = np.zeros(len(ddth_des_flat)) ddth_des_flat[10] += getVal('normal des force min')/50. desForceFrameBegin = getVal('des force begin') desForceDuration = getVal('des force dur') * simulSpeedInv desForceFrame = [ desForceFrameBegin, desForceFrameBegin + desForceDuration] desForceRelFrame = float(frame - desForceFrame[0]) / desForceDuration desNormalForceMin = getVal('normal des force min') desNormalForceMax = getVal('normal des force max') desNormalForce = desNormalForceMin if desForceFrame[0] <= frame <= desForceFrame[1]: desNormalForce = desNormalForceMin * \ (1 - desForceRelFrame) + desNormalForceMax * desForceRelFrame totalForce = np.array([0., desNormalForce, 0., 0., 0., 0.]) # totalForce = np.array([-desNormalForce, 34.3, 0., 0., 0., 0.]) # totalForce = np.array([0., 34.3, desNormalForce, 0., 0., 0.]) # totalForce = np.array([50., 150.]) torques = None ddth_des_flat[0:6] = [0.] * 6 self.setTimeStamp() simulContactForces = np.zeros(3) cBodyIDs = None cPositions = None cPositionLocals = None cForces = None cBodyIDsControl = None cPositionsControl = None cPositionLocalsControl = None cForcesControl = None # if desForceFrame[0] <= frame <= desForceFrame[1]: if False: # totalForceImpulse = stepsPerFrame * totalForce cBodyIDsControl, cPositionsControl, cPositionLocalsControl, cForcesControl, torques \ = hls.calcLCPbasicControl( motion, vpWorld, controlModel, bodyIDsToCheck, 1., totalForce, [wLCP, wTorque, wForce], ddth_des_flat) # if cForces is not None: # print "control: ", sum(cForces) sumControlForce = np.array([0.]*6) if cForcesControl is not None: sumControlForce = np.hstack((sum(cForcesControl), np.array([0., 0., 0.]))) timeStamp = None torque_None = False if not (desForceFrame[0] <= frame <= desForceFrame[1]) or (torques is None): torque_None = True torques = ddth_des_flat elif np.linalg.norm(sumControlForce - totalForce) > np.linalg.norm(totalForce): print("control failed!") torque_None = True torques = ddth_des_flat else: torques *= 1. contactStep = 0 cPositions = None for i in range(int(stepsPerFrame)): if i % 5 == 4: cBodyIDs, cPositions, cPositionLocals, cForces, timeStamp \ = hls.calcLCPForces(motion, vpWorld, controlModel, bodyIDsToCheck, 10., torques, solver='qp') if i % 5 == 4 and len(cBodyIDs) > 0: contactStep += 1 # apply contact forces if False and not torque_None: vpWorld.applyPenaltyForce(cBodyIDs, cPositionLocals, cForcesControl) simulContactForces += sum(cForcesControl) else: vpWorld.applyPenaltyForce(cBodyIDs, cPositionLocals, cForces) simulContactForces += sum(cForces) # simulContactForces += sum(cForces) print "angVel:", controlModel.getBodyAngVelocityGlobal(2) print cBodyIDs[-1], cPositions[-1], cForces[-1] ype.nested(torques, torques_nested) controlModel.setDOFTorques(torques_nested[1:]) vpWorld.step() print('totalContactStep:', contactStep) self.setTimeStamp() del rd_point2[:] if cPositions is not None: rd_point2.extend(cPositions) # rendering expected force del rd_cForcesControl[:] del rd_cPositionsControl[:] if cBodyIDsControl is not None: # print cBodyIDsControl for i in range(len(cBodyIDsControl)): # print expected force rd_cForcesControl.append(cForcesControl[i].copy() /50.) rd_cPositionsControl.append(cPositionsControl[i].copy()) # rendering sum of expected force del rd_ForceControl[:] del rd_Position[:] if cForcesControl is not None: # print expected force rd_ForceControl.append(sum(cForcesControl) /50.) rd_Position.append(np.array([0., 0., 0.1])) # graph expected force if cForcesControl is not None: sumForce = sum(cForcesControl) if sumForce[1] > 10000: sumForce[1] = 10000 viewer.cForceWnd.insertData('expForce', frame, sumForce[1]) else: viewer.cForceWnd.insertData('expForce', frame, 0.) # rendering calculated forces del rd_cForces[:] del rd_cPositions[:] for i in range(len(cBodyIDs)): # print calculated force rd_cForces.append(cForces[i].copy() / 50.) rd_cPositions.append(cPositions[i].copy()) # rendering joint position del rd_jointPos[:] for i in range(motion[0].skeleton.getJointNum()): rd_jointPos.append(motion[frame].getJointPositionGlobal(i)) # rendering desired force del rd_ForceDes[:] del rd_PositionDes[:] # rd_ForceDes.append(totalForce/50.) rd_ForceDes.append(totalForce[1] * np.array([0., 1., 0.]) / 50.) rd_PositionDes.append(np.array([0., 0., 0.])) # if self.cForces is not None: # rd_ForceDes.append(sum(self.cForces)[1]/50. * [0., 1., 0.]) # rd_PositionDes.append(np.array([0., 0., -0.1])) # graph calculated force if cForces is not None: sumForce = sum(cForces) # viewer.cForceWnd.insertData('realForce', frame, sumForce[1]) viewer.cForceWnd.insertData('realForce', frame, simulContactForces[1]/stepsPerFrame) else: viewer.cForceWnd.insertData('realForce', frame, 0.) # viewer.cForceWnd.insertData('realForce', frame, simulContactForces[1]/stepsPerFrame) # graph desired force if desForceFrame[0] <= frame <= desForceFrame[1]: viewer.cForceWnd.insertData('desForceMin', frame, totalForce[1]) # viewer.cForceWnd.insertData('desForceMin', frame, totalForce[1] * 1.0) # viewer.cForceWnd.insertData('desForceMax', frame, totalForce[1] * 1.1) else: viewer.cForceWnd.insertData('desForceMin', frame, 0.) viewer.cForceWnd.insertData('desForceMax', frame, 0.) self.setTimeStamp()
def simulateCallback(frame): # print(frame) # print(motion[frame].getJointOrientationLocal(footIdDic['RightFoot_foot_0_1_0'])) if False and viewer_GetForceState(): # print('force on, frame: ', frame) motion[frame].mulJointOrientationLocal( footIdDic['LeftFoot_foot_0_0_0'], mm.exp(mm.unitX(), -math.pi * mm.SCALAR_1_6)) motion[frame].mulJointOrientationLocal( footIdDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitX(), -math.pi * mm.SCALAR_1_6)) motion[frame].mulJointOrientationLocal( footIdDic['RightFoot_foot_0_0_0'], mm.exp(mm.unitX(), -math.pi * mm.SCALAR_1_6)) motion[frame].mulJointOrientationLocal( footIdDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitX(), -math.pi * mm.SCALAR_1_6)) # print(motion[frame].getJointOrientationLocal(footIdDic['RightFoot_foot_0_1_0'])) motionModel.update(motion[frame]) controlModel_ik.set_q(controlModel.get_q()) global g_initFlag global forceShowTime global JsysPre global JsupPreL global JsupPreR global JconstPre global preFootCenter global maxContactChangeCount global contactChangeCount global contact global contactChangeType # Kt, Kl, Kh, Bl, Bh, kt_sup = viewer.GetParam() Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals( ['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt']) Dt = 2 * (Kt**.5) Dl = 2 * (Kl**.5) Dh = 2 * (Kh**.5) dt_sup = 2 * (kt_sup**.5) doubleTosingleOffset = 0.15 singleTodoubleOffset = 0.30 # doubleTosingleOffset = 0.09 doubleTosingleVelOffset = 0.0 # 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) ype.flatten(ddth_des, ddth_des_flat) # ddth_des_flat = Kt * (motion.get_q(frame) - np.array(controlModel.get_q())) - Dt * np.array(controlModel.get_dq()) ype.flatten(dth, dth_flat) # dth_flat = np.array(controlModel.get_dq()) ################################################# # jacobian ################################################# contact_des_ids = list() # desired contact segments if foot_viewer.check_om_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0')) if foot_viewer.check_op_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0_0')) if foot_viewer.check_im_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1')) if foot_viewer.check_ip_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1_0')) if foot_viewer.check_h_l.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('LeftFoot_foot_1_0')) if foot_viewer.check_om_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_0')) if foot_viewer.check_op_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_0_0')) if foot_viewer.check_im_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_1')) if foot_viewer.check_ip_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_0_1_0')) if foot_viewer.check_h_r.value(): contact_des_ids.append( motion[0].skeleton.getJointIndex('RightFoot_foot_1_0')) contact_ids = list() # temp idx for balancing contact_ids.extend(contact_des_ids) contact_joint_ori = list( map(controlModel.getJointOrientationGlobal, contact_ids)) contact_joint_pos = list( map(controlModel.getJointPositionGlobal, contact_ids)) contact_body_ori = list( map(controlModel.getBodyOrientationGlobal, contact_ids)) contact_body_pos = list( map(controlModel.getBodyPositionGlobal, contact_ids)) contact_body_vel = list( map(controlModel.getBodyVelocityGlobal, contact_ids)) contact_body_angvel = list( map(controlModel.getBodyAngVelocityGlobal, contact_ids)) ref_joint_ori = list( map(motion[frame].getJointOrientationGlobal, contact_ids)) ref_joint_pos = list( map(motion[frame].getJointPositionGlobal, contact_ids)) ref_joint_vel = [ motion.getJointVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_joint_angvel = [ motion.getJointAngVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_body_ori = list( map(motionModel.getBodyOrientationGlobal, contact_ids)) ref_body_pos = list(map(motionModel.getBodyPositionGlobal, contact_ids)) # ref_body_vel = list(map(controlModel.getBodyVelocityGlobal, contact_ids)) ref_body_angvel = [ motion.getJointAngVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids ] ref_body_vel = [ ref_joint_vel[i] + np.cross(ref_joint_angvel[i], ref_body_pos[i] - ref_joint_pos[i]) for i in range(len(ref_joint_vel)) ] J_contacts = [ yjc.makeEmptyJacobian(DOFs, 1) for i in range(len(contact_ids)) ] dJ_contacts = [ yjc.makeEmptyJacobian(DOFs, 1) for i in range(len(contact_ids)) ] joint_masks = [ yjc.getLinkJointMask(motion[0].skeleton, joint_idx) for joint_idx in contact_ids ] # caution!! body orientation and joint orientation of foot are totally different!! footOriL = controlModel.getJointOrientationGlobal(supL) footOriR = controlModel.getJointOrientationGlobal(supR) # desire footCenter[1] = 0.041135 # desire footCenter[1] = 0.0197 footCenterL = controlModel.getBodyPositionGlobal(supL) footCenterR = controlModel.getBodyPositionGlobal(supR) footBodyOriL = controlModel.getBodyOrientationGlobal(supL) footBodyOriR = controlModel.getBodyOrientationGlobal(supR) footBodyVelL = controlModel.getBodyVelocityGlobal(supL) footBodyVelR = controlModel.getBodyVelocityGlobal(supR) footBodyAngVelL = controlModel.getBodyAngVelocityGlobal(supL) footBodyAngVelR = controlModel.getBodyAngVelocityGlobal(supR) refFootL = motionModel.getBodyPositionGlobal(supL) refFootR = motionModel.getBodyPositionGlobal(supR) refFootVelL = motionModel.getBodyVelocityGlobal(supL) refFootVelR = motionModel.getBodyVelocityGlobal(supR) refFootAngVelL = motionModel.getBodyAngVelocityGlobal(supL) refFootAngVelR = motionModel.getBodyAngVelocityGlobal(supR) refFootJointVelR = motion.getJointVelocityGlobal(supR, frame) refFootJointAngVelR = motion.getJointAngVelocityGlobal(supR, frame) refFootJointR = motion.getJointPositionGlobal(supR, frame) refFootVelR = refFootJointVelR + np.cross(refFootJointAngVelR, (refFootR - refFootJointR)) refFootJointVelL = motion.getJointVelocityGlobal(supL, frame) refFootJointAngVelL = motion.getJointAngVelocityGlobal(supL, frame) refFootJointL = motion.getJointPositionGlobal(supL, frame) refFootVelL = refFootJointVelL + np.cross(refFootJointAngVelL, (refFootL - refFootJointL)) is_contact = [1] * len(contact_ids) contactR = 1 contactL = 1 if refFootVelR[1] < 0 and refFootVelR[1] / 30. + refFootR[ 1] > singleTodoubleOffset: contactR = 0 if refFootVelL[1] < 0 and refFootVelL[1] / 30. + refFootL[ 1] > singleTodoubleOffset: contactL = 0 if refFootVelR[1] > 0 and refFootVelR[1] / 30. + refFootR[ 1] > doubleTosingleOffset: contactR = 0 if refFootVelL[1] > 0 and refFootVelL[1] / 30. + refFootL[ 1] > doubleTosingleOffset: contactL = 0 # contactR = 1 contMotionOffset = th[0][0] - th_r[0][0] linkPositions = controlModel.getBodyPositionsGlobal() linkVelocities = controlModel.getBodyVelocitiesGlobal() linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal() linkInertias = controlModel.getBodyInertiasGlobal() 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) # calculate contact state # if g_initFlag == 1 and contact == 1 and refFootR[1] < doubleTosingleOffset and footCenterR[1] < 0.08: if g_initFlag == 1: # contact state # 0: flying 1: right only 2: left only 3: double # if contact == 2 and refFootR[1] < doubleTosingleOffset: if contact == 2 and contactR == 1: contact = 3 maxContactChangeCount += 30 contactChangeCount += maxContactChangeCount contactChangeType = 'StoD' # elif contact == 3 and refFootL[1] < doubleTosingleOffset: elif contact == 1 and contactL == 1: contact = 3 maxContactChangeCount += 30 contactChangeCount += maxContactChangeCount contactChangeType = 'StoD' # elif contact == 3 and refFootR[1] > doubleTosingleOffset: elif contact == 3 and contactR == 0: contact = 2 contactChangeCount += maxContactChangeCount contactChangeType = 'DtoS' # elif contact == 3 and refFootL[1] > doubleTosingleOffset: elif contact == 3 and contactL == 0: contact = 1 contactChangeCount += maxContactChangeCount contactChangeType = 'DtoS' else: contact = 0 # if refFootR[1] < doubleTosingleOffset: if contactR == 1: contact += 1 # if refFootL[1] < doubleTosingleOffset: if contactL == 1: contact += 2 # initialization if g_initFlag == 0: # JsysPre = Jsys.copy() JconstPre = Jconst.copy() softConstPoint = footCenterR.copy() # yjc.computeJacobian2(JsysPre, DOFs, jointPositions, jointAxeses, linkPositions, allLinkJointMasks) # yjc.computeJacobian2(JconstPre, DOFs, jointPositions, jointAxeses, [softConstPoint], constJointMasks) footCenter = footCenterL + (footCenterR - footCenterL) / 2.0 footCenter[1] = 0. preFootCenter = footCenter.copy() # footToBodyFootRotL = np.dot(np.transpose(footOriL), footBodyOriL) # footToBodyFootRotR = np.dot(np.transpose(footOriR), footBodyOriR) if refFootR[1] < doubleTosingleOffset: contact += 1 if refFootL[1] < doubleTosingleOffset: contact += 2 g_initFlag = 1 # calculate jacobian Jsys, dJsys = controlModel.computeCom_J_dJdq() for i in range(len(J_contacts)): J_contacts[i] = Jsys[6 * contact_ids[i]:6 * contact_ids[i] + 6, :] dJ_contacts[i] = dJsys[6 * contact_ids[i]:6 * contact_ids[i] + 6] # calculate footCenter footCenter = sum(contact_body_pos) / len(contact_body_pos) if len(contact_body_pos) > 0 \ else .5 * (controlModel.getBodyPositionGlobal(supL) + controlModel.getBodyPositionGlobal(supR)) # if len(contact_body_pos) > 2: # hull = ConvexHull(contact_body_pos) footCenter_ref = sum(ref_body_pos) / len(ref_body_pos) if len(ref_body_pos) > 0 \ else .5 * (motionModel.getBodyPositionGlobal(supL) + motionModel.getBodyPositionGlobal(supR)) footCenter_ref = footCenter_ref + contMotionOffset # if len(ref_body_pos) > 2: # hull = ConvexHull(ref_body_pos) footCenter_ref[1] = 0. # footCenter = footCenterL + (footCenterR - footCenterL)/2.0 # if refFootR[1] >doubleTosingleOffset: # if refFootR[1] > doubleTosingleOffset or footCenterR[1] > 0.08: # if contact == 1 or footCenterR[1] > 0.08: # if contact == 2 or footCenterR[1] > doubleTosingleOffset/2: if contact == 2: footCenter = footCenterL.copy() # elif contact == 1 or footCenterL[1] > doubleTosingleOffset/2: if contact == 1: footCenter = footCenterR.copy() footCenter[1] = 0. footCenter[0] = footCenter[0] + getParamVal('com X offset') if contactChangeCount > 0 and contactChangeType == 'StoD': # change footcenter gradually footCenter = preFootCenter + ( maxContactChangeCount - contactChangeCount) * ( footCenter - preFootCenter) / maxContactChangeCount preFootCenter = footCenter.copy() # linear momentum # TODO: # We should consider dCM_ref, shouldn't we? # add getBodyPositionGlobal and getBodyPositionsGlobal in csVpModel! # to do that, set joint velocities to vpModel CM_ref_plane = footCenter # CM_ref_plane = footCenter_ref dL_des_plane = Kl * totalMass * (CM_ref_plane - CM_plane) - Dl * totalMass * dCM_plane # dL_des_plane[1] = 0. # print('dCM_plane : ', np.linalg.norm(dCM_plane)) # angular momentum CP_ref = footCenter # CP_ref = footCenter_ref bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) # bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds) CP = yrp.getCP(contactPositions, contactForces) if CP_old[0] is None or CP is None: dCP = None else: dCP = (CP - CP_old[0]) / (1 / 30.) CP_old[0] = CP if CP is not None and dCP is not None: ddCP_des = Kh * (CP_ref - CP) - Dh * dCP dCP_des = dCP + ddCP_des * (1 / 30.) CP_des = CP + dCP_des * (1 / 30.) # CP_des = footCenter 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))) if contactChangeCount > 0: # and contactChangeType == 'DtoS': dH_des *= (maxContactChangeCount - contactChangeCount) / maxContactChangeCount else: dH_des = None # convex hull contact_pos_2d = np.asarray([ np.array([contactPosition[0], contactPosition[2]]) for contactPosition in contactPositions ]) p = np.array([CM_plane[0], CM_plane[2]]) # hull = None # type: Delaunay # if contact_pos_2d.shape[0] > 0: # hull = Delaunay(contact_pos_2d) # print(hull.find_simplex(p) >= 0) # set up equality constraint # TODO: # logSO3 is just q'', not acceleration. # To make a_oris acceleration, q'' -> a will be needed # body_ddqs = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori])) body_ddqs = list( map(mm.logSO3, [ np.dot( contact_body_ori[i].T, np.dot( ref_body_ori[i], mm.getSO3FromVectors( np.dot(ref_body_ori[i], mm.unitY()), mm.unitY()))) for i in range(len(contact_body_ori)) ])) body_qs = list(map(mm.logSO3, contact_body_ori)) body_angs = [ np.dot(contact_body_ori[i], contact_body_angvel[i]) for i in range(len(contact_body_ori)) ] body_dqs = [ mm.vel2qd(body_angs[i], body_qs[i]) for i in range(len(body_angs)) ] a_oris = [ np.dot(contact_body_ori[i], mm.qdd2accel(body_ddqs[i], body_dqs[i], body_qs[i])) for i in range(len(contact_body_ori)) ] # body_ddq = body_ddqs[0] # body_ori = contact_body_ori[0] # body_ang = np.dot(body_ori.T, contact_body_angvel[0]) # # body_q = mm.logSO3(body_ori) # body_dq = mm.vel2qd(body_ang, body_q) # a_ori = np.dot(body_ori, mm.qdd2accel(body_ddq, body_dq, body_q)) # a_oris = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori])) a_sups = [ np.append( kt_sup * (ref_body_pos[i] - contact_body_pos[i] + contMotionOffset) + dt_sup * (ref_body_vel[i] - contact_body_vel[i]), kt_sup * a_oris[i] + dt_sup * (ref_body_angvel[i] - contact_body_angvel[i])) for i in range(len(a_oris)) ] # 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) rs = np.dot(dP, np.dot(Jsys, dth_flat)) + np.dot(P, dJsys) r_bias, s_bias = np.hsplit(rs, 2) ####################################################### # optimization ####################################################### # if contact == 2 and footCenterR[1] > doubleTosingleOffset/2: if contact == 2: config['weightMap']['RightUpLeg'] = .8 config['weightMap']['RightLeg'] = .8 config['weightMap']['RightFoot'] = .8 else: config['weightMap']['RightUpLeg'] = .1 config['weightMap']['RightLeg'] = .25 config['weightMap']['RightFoot'] = .2 # if contact == 1 and footCenterL[1] > doubleTosingleOffset/2: if contact == 1: config['weightMap']['LeftUpLeg'] = .8 config['weightMap']['LeftLeg'] = .8 config['weightMap']['LeftFoot'] = .8 else: config['weightMap']['LeftUpLeg'] = .1 config['weightMap']['LeftLeg'] = .25 config['weightMap']['LeftFoot'] = .2 w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap']) # if contact == 2: # mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1, q_bias1) mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat) if dH_des is not None: 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, dJsup, dth_flat, a_sup) # mot.addConstraint(problem, totalDOF, Jsup, dJsup, dth_flat, a_sup) # if contact & 1 and contactChangeCount == 0: if True: for c_idx in range(len(contact_ids)): # mot.addConstraint(problem, totalDOF, J_contacts[c_idx], dJ_contacts[c_idx], dth_flat, a_sups[c_idx]) mot.addConstraint2(problem, totalDOF, J_contacts[c_idx], dJ_contacts[c_idx], dth_flat, a_sups[c_idx]) if contactChangeCount > 0: contactChangeCount = contactChangeCount - 1 if contactChangeCount == 0: maxContactChangeCount = 30 contactChangeType = 0 r = problem.solve() problem.clear() ddth_sol_flat = np.asarray(r['x']) # ddth_sol_flat[foot_seg_dofs] = np.array(ddth_des_flat)[foot_seg_dofs] ype.nested(ddth_sol_flat, 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) # bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds) vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) controlModel.setDOFAccelerations(ddth_sol) # controlModel.setDOFAccelerations(ddth_des) # controlModel.set_ddq(ddth_sol_flat) # controlModel.set_ddq(ddth_des_flat) controlModel.solveHybridDynamics() if forceShowTime > viewer.objectInfoWnd.labelForceDur.value(): forceShowTime = 0 viewer_ResetForceState() forceforce = np.array([ viewer.objectInfoWnd.labelForceX.value(), viewer.objectInfoWnd.labelForceY.value(), viewer.objectInfoWnd.labelForceZ.value() ]) extraForce[0] = getParamVal('Fm') * mm.normalize2(forceforce) if viewer_GetForceState(): forceShowTime += wcfg.timeStep vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce) vpWorld.step() controlModel_ik.set_q(controlModel.get_q()) if foot_viewer is not None: foot_viewer.foot_pressure_gl_window.refresh_foot_contact_info( frame, vpWorld, bodyIDsToCheck, mus, Ks, Ds) foot_viewer.foot_pressure_gl_window.goToFrame(frame) # rendering for foot_seg_id in footIdlist: control_model_renderer.body_colors[foot_seg_id] = (255, 240, 255) for contact_id in contact_ids: control_model_renderer.body_colors[contact_id] = (255, 0, 0) rightFootVectorX[0] = np.dot(footOriL, np.array([.1, 0, 0])) rightFootVectorY[0] = np.dot(footOriL, np.array([0, .1, 0])) rightFootVectorZ[0] = np.dot(footOriL, np.array([0, 0, .1])) rightFootPos[0] = footCenterL rightVectorX[0] = np.dot(footBodyOriL, np.array([.1, 0, 0])) rightVectorY[0] = np.dot(footBodyOriL, np.array([0, .1, 0])) rightVectorZ[0] = np.dot(footBodyOriL, np.array([0, 0, .1])) rightPos[0] = footCenterL + np.array([.1, 0, 0]) rd_footCenter[0] = footCenter rd_footCenter_ref[0] = footCenter_ref rd_footCenterL[0] = footCenterL rd_footCenterR[0] = footCenterR rd_CM[0] = CM rd_CM_plane[0] = CM.copy() 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[0] / 100, dL_des_plane[1] / 100, dL_des_plane[2] / 100 ] rd_dH_des[0] = dH_des rd_grf_des[0] = dL_des_plane - totalMass * mm.s2v(wcfg.gravity) rd_root_des[0] = rootPos[0] rd_root_ori[0] = controlModel.getBodyOrientationGlobal(0) rd_root_pos[0] = controlModel.getBodyPositionGlobal(0) del rd_CF[:] del rd_CF_pos[:] for i in range(len(contactPositions)): rd_CF.append(contactForces[i] / 400) rd_CF_pos.append(contactPositions[i].copy()) if viewer_GetForceState(): rd_exfen_des[0] = [ extraForce[0][0] / 100, extraForce[0][1] / 100, extraForce[0][2] / 100 ] rd_exf_des[0] = [0, 0, 0] else: rd_exf_des[0] = [ extraForce[0][0] / 100, extraForce[0][1] / 100, extraForce[0][2] / 100 ] rd_exfen_des[0] = [0, 0, 0] extraForcePos[0] = controlModel.getBodyPositionGlobal(selectedBody) # render contact_ids # render skeleton if SKELETON_ON: Ts = dict() Ts['pelvis'] = controlModel.getJointTransform(0) Ts['thigh_R'] = controlModel.getJointTransform(1) Ts['shin_R'] = controlModel.getJointTransform(2) Ts['foot_R'] = controlModel.getJointTransform(3) Ts['spine_ribs'] = controlModel.getJointTransform(9) Ts['head'] = controlModel.getJointTransform(10) Ts['upper_limb_R'] = controlModel.getJointTransform(13) Ts['lower_limb_R'] = controlModel.getJointTransform(14) Ts['thigh_L'] = controlModel.getJointTransform(15) Ts['shin_L'] = controlModel.getJointTransform(16) Ts['foot_L'] = controlModel.getJointTransform(17) Ts['upper_limb_L'] = controlModel.getJointTransform(11) Ts['lower_limb_L'] = controlModel.getJointTransform(12) skeleton_renderer.appendFrameState(Ts)