def get_deep_reward(self):
r_q = mm.square_sum(self.get_q() - self.reset_q)
# r_com = mm.square_sum(self.getCOM() - self.com_des)
com_plane = self.getCOM()
com_plane[1] = 0.
com_des_plane = self.body_foot_R.com() + self.body_foot_L.com()
com_des_plane[1] = 0.
r_com = mm.square_sum(com_plane - com_des_plane)
r_foot = mm.square_sum([
self.body_foot_L.to_world()[1],
self.body_foot_R.to_world()[1], 0.
])
# r_foot_ori = mm.square_sum([self.body_foot_L.world_transform(), self.body_foot_R.to_world()[1], 0.])
foot_L_cos_ang = np.dot(self.body_foot_L.world_transform()[:3, 1],
mm.unitY())
foot_R_cos_ang = np.dot(self.body_foot_L.world_transform()[:3, 1],
mm.unitY())
if foot_L_cos_ang > 1.:
foot_L_cos_ang = 0.999999
elif foot_L_cos_ang < -1.:
foot_L_cos_ang = -0.999999
if foot_R_cos_ang > 1.:
foot_R_cos_ang = 0.999999
elif foot_R_cos_ang < -1.:
foot_R_cos_ang = -0.999999
foot_L_ang = math.acos(foot_L_cos_ang)
foot_R_ang = math.acos(foot_R_cos_ang)
r_foot_ori = foot_L_ang * foot_L_ang + foot_R_ang * foot_R_ang
return self.w_alive + self.w_com * math.exp(-self.w_com_exp * r_com) \
+ self.w_q * math.exp(-self.w_q_exp * r_q) \
+ self.w_foot * math.exp(-self.w_foot_exp * r_foot) \
+ self.w_foot_ori * math.exp(-self.w_foot_ori_exp * r_foot_ori)
def update_goal_in_local_frame(self, reset=False):
if not reset:
self.prev_goal = self.goal.copy()
body_transform = self.skel.body(0).world_transform()
goal_vector_in_world_frame = self.goal_in_world_frame - body_transform[:
3,
3]
goal_vector_in_world_frame[1] = 0.
radius = mm.length(goal_vector_in_world_frame)
unit_goal_vector_in_world_frame = mm.normalize(
goal_vector_in_world_frame)
root_x_in_world_plane = body_transform[:3, 0]
root_x_in_world_plane[1] = 0.
unit_root_x_in_world_plane = mm.seq2Vec3(
mm.normalize(root_x_in_world_plane))
unit_root_z_in_world_plane = mm.cross(unit_root_x_in_world_plane,
mm.unitY())
# angle = atan2(np.dot(unit_root_x_in_world_plane, unit_goal_vector_in_world_frame), np.dot(unit_root_z_in_world_plane, unit_goal_vector_in_world_frame))
self.goal = radius * np.array([
np.dot(unit_root_x_in_world_plane,
unit_goal_vector_in_world_frame),
np.dot(unit_root_z_in_world_plane, unit_goal_vector_in_world_frame)
])
if reset:
self.prev_goal = self.goal.copy()
def fix_motion_data_by_foot(motion, skel, SEGMENT_FOOT_RAD):
"""
:param motion:
:type motion: ym.JointMotion
:param skel:
:type skel: pydart.Skeleton
:param SEGMENT_FOOT_RAD:
:type SEGMENT_FOOT_RAD: float
:return:
"""
for i in range(len(motion)):
skel.set_positions(motion.get_q(i))
min_joint_y = np.inf
for body in skel.bodynodes:
for shapenode in body.shapenodes:
if shapenode.has_collision_aspect():
joint_y = np.dot(body.world_transform(),
shapenode.relative_transform())[1, 3]
if min_joint_y > joint_y:
min_joint_y = joint_y
if min_joint_y < SEGMENT_FOOT_RAD:
motion[i].translateByOffset(
(SEGMENT_FOOT_RAD - min_joint_y) * mm.unitY())
def preFrameCallback_Always(frame):
# print(mm.rad2Deg(math.pi/6.*math.sin((frame-30)*math.pi/180.)))
if frame <= start_frame:
vpWorld.set_plane(0, mm.unitY(), np.zeros(3))
if frame > start_frame:
if math.sin((frame - start_frame) / 360. * math.pi) > 0.:
if frame < start_frame + 50:
setParamVal(
'com Z offset', 0.02 *
math.sin(2. * (frame - start_frame) / 360. * math.pi))
else:
setParamVal('com Z offset', 0.0)
if math.sin((frame - start_frame) / 360. * math.pi) > 0.:
foot_viewer.check_not_all_seg()
foot_viewer.check_tiptoe_all()
setParamVal(
'tiptoe angle',
mm.deg2Rad(10.) * math.sin(
(frame - start_frame) / 360. * math.pi))
# foot_viewer.check_h_l.value(False)
# foot_viewer.check_h_r.value(False)
else:
foot_viewer.check_all_seg()
# foot_viewer.check_tiptoe_all()
# foot_viewer.check_h_l.value(True)
# foot_viewer.check_h_r.value(True)
vpWorld.set_plane(
0,
np.dot(
mm.exp(
-mm.unitX(),
mm.deg2Rad(10.) * math.sin(
(frame - start_frame) / 360. * math.pi)),
mm.unitY()), np.zeros(3))
plane_list = vpWorld.get_plane_list()
plane_normal = plane_list[0][0]
plane_origin = plane_list[0][1]
viewer.motionViewWnd.glWindow.pOnPlaneshadow = plane_origin + plane_normal * 0.001
viewer.motionViewWnd.glWindow.normalshadow = plane_normal
def fix_dofs(_DOFs, nested_dof_values, _mcfg, _joint_names):
fixed_nested_dof_values = list()
fixed_nested_dof_values.append(nested_dof_values[0])
for i in range(1, len(_DOFs)):
dof = _DOFs[i]
if dof == 1:
node = _mcfg.getNode(_joint_names[i])
axis = mm.unitZ()
if node.jointAxes[0] == 'X':
axis = mm.unitX()
elif node.jointAxes[0] == 'Y':
axis = mm.unitY()
fixed_nested_dof_values.append(np.array([np.dot(nested_dof_values[i], axis)]))
else:
fixed_nested_dof_values.append(nested_dof_values[i])
return fixed_nested_dof_values
def fix_motion_data_by_foot(motion, control_model, world):
"""
:param motion:
:type motion: ym.JointMotion
:param control_model:
:type control_model: cvm.VpControlModel
:param world:
:type world: cvw.VpWorld
:return:
"""
for i in range(len(motion)):
control_model.set_q(motion.get_q(i))
bodyIDsToCheck = list(range(world.getBodyNum()))
mus = [.5]*len(bodyIDsToCheck)
bodyIDs, contactPositions, contactPositionLocals, contactForces = world.calcPenaltyForce(bodyIDsToCheck, mus, 0., 0.)
min_joint_y = min([contactPosition[1] for contactPosition in contactPositions]) if contactPositions else 0.
if min_joint_y < 0.:
motion[i].translateByOffset(-min_joint_y * mm.unitY())
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 main():
np.set_printoptions(precision=4, linewidth=200)
# np.set_printoptions(precision=4, linewidth=1000, threshold=np.inf)
pydart.init()
dartModel = cdm.DartModel(None, None, None, None, 'cart_pole_blade.skel')
dartMotionModel = cdm.DartModel(None, None, None, None,
'cart_pole_blade.skel')
footIdlist = list(
dartMotionModel.skeleton.body('h_' + name).index_in_skeleton()
for name in ['blade_left', 'blade_right'])
up_vec_in_each_link = dict()
for foot_id in footIdlist:
up_vec_in_each_link[
foot_id] = dartMotionModel.getBodyOrientationGlobal(foot_id)[1, :]
pelvis_pos = dartMotionModel.skeleton.dof_indices(
(["j_pelvis_pos_x", 'j_pelvis_pos_y', 'j_pelvis_pos_z']))
pelvis_x = dartMotionModel.skeleton.dof_indices((["j_pelvis_rot_x"]))
pelvis = dartMotionModel.skeleton.dof_indices(
(["j_pelvis_rot_y", "j_pelvis_rot_z"]))
upper_body = dartMotionModel.skeleton.dof_indices(
["j_abdomen_1", "j_abdomen_2"])
right_leg = dartMotionModel.skeleton.dof_indices([
"j_thigh_right_x", "j_thigh_right_y", "j_thigh_right_z", "j_shin_right"
])
left_leg = dartMotionModel.skeleton.dof_indices(
["j_thigh_left_x", "j_thigh_left_y", "j_thigh_left_z", "j_shin_left"])
arms = dartMotionModel.skeleton.dof_indices(
["j_bicep_left_x", "j_bicep_right_x"])
foot = dartMotionModel.skeleton.dof_indices(
["j_heel_left_1", "j_heel_left_2", "j_heel_right_1", "j_heel_right_2"])
leg_y = dartMotionModel.skeleton.dof_indices(
["j_thigh_right_y", "j_thigh_left_y"])
s0q = np.zeros(dartMotionModel.skeleton.ndofs)
s0q[pelvis_pos] = 0., .95, 0.
# s0q[pelvis] = 0., -0.
# s0q[upper_body] = 0.3, -0.
s0q[right_leg] = -0., -0., 0.9, -1.5
# s0q[left_leg] = 0., 0., 0.0, -0.1
# s0q[leg_y] = -0.785, 0.785
s0q[arms] = 1.5, -1.5
dartModel.set_q(s0q)
dartMotionModel.set_q(s0q)
frame_step_size = 1. / 40.
stepsPerFrame = 25
time_step = dartModel.world.time_step()
# wcfg.lockingVel = 0.01
# dartModel.initializeHybridDynamics()
#controlToMotionOffset = (1.5, -0.02, 0)
controlToMotionOffset = (0, 0, 2.0)
dartModel.translateByOffset(controlToMotionOffset)
totalDOF = dartModel.getTotalDOF()
DOFs = dartModel.getDOFs()
# parameter
Kt = 25.
Dt = 2. * (Kt**.5)
Kl = 100.
Dl = 2. * (Kt**.5)
Kh = 100.
Dh = 2. * (Kt**.5)
Ks = 20000.
Ds = 2. * (Kt**.5)
Bt = 1.
Bl = 0.1
Bh = 0.13
supL = dartModel.skeleton.body('h_blade_left').index_in_skeleton()
supR = dartModel.skeleton.body('h_blade_right').index_in_skeleton()
selectedBody = dartModel.skeleton.body('h_head').index_in_skeleton()
# momentum matrix
linkMasses = dartModel.getBodyMasses()
print([body.name for body in dartModel.skeleton.bodynodes])
print(linkMasses)
totalMass = dartModel.getTotalMass()
TO = ymt.make_TO(linkMasses)
dTO = ymt.make_dTO(len(linkMasses))
# optimization
problem = yac.LSE(totalDOF, 12)
#a_sup = (0,0,0, 0,0,0) #ori
#a_sup = (0,0,0, 0,0,0) #L
a_supL = (0, 0, 0, 0, 0, 0)
a_supR = (0, 0, 0, 0, 0, 0)
a_sup_2 = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
CP_old = [mm.v3(0., 0., 0.)]
CP_des = [None]
dCP_des = [np.zeros(3)]
# penalty method
# bodyIDsToCheck = range(dartModel.getBodyNum())
bodyIDsToCheck = [supL, supR]
#mus = [1.]*len(bodyIDsToCheck)
mus = [.5] * len(bodyIDsToCheck)
# flat data structure
# ddth_des_flat = ype.makeFlatList(totalDOF)
# dth_flat = ype.makeFlatList(totalDOF)
# ddth_sol = ype.makeNestedList(DOFs)
config = dict()
config['weightMap'] = {
'j_scapula_left': .2,
'j_bicep_left': .2,
'j_forearm_left': .2,
'j_hand_left': .2,
'j_scapula_right': .2,
'j_bicep_right': .2,
'j_forearm_right': .2,
'j_hand_right': .2,
'j_abdomen': .6,
'j_spine': .6,
'j_head': .6,
'j_heel_right': .2,
'j_heel_left': .2,
'j_pelvis': 0.5,
'j_thigh_left': .1,
'j_shin_left': .3,
'j_thigh_right': .1,
'j_shin_right': .3
}
# viewer
rd_footCenter = [None]
rd_footCenterL = [None]
rd_footCenterR = [None]
rd_CM_plane = [None]
rd_CM = [None]
rd_CP = [None]
rd_CP_des = [None]
rd_dL_des_plane = [None]
rd_dH_des = [None]
rd_grf_des = [None]
rd_exf_des = [None]
rd_exfen_des = [None]
rd_root_des = [None]
rd_CF = [None]
rd_CF_pos = [None]
rootPos = [None]
selectedBodyId = [selectedBody]
extraForce = [None]
extraForcePos = [None]
rightFootVectorX = [None]
rightFootVectorY = [None]
rightFootVectorZ = [None]
rightFootPos = [None]
rightVectorX = [None]
rightVectorY = [None]
rightVectorZ = [None]
rightPos = [None]
# viewer = ysv.SimpleViewer()
viewer = hsv.hpSimpleViewer(viewForceWnd=False)
viewer.setMaxFrame(1000)
#viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE))
# viewer.doc.addObject('motion', motion)
# viewer.doc.addRenderer('motionModel', cvr.VpModelRenderer(motionModel, (150,150,255), yr.POLYGON_FILL))
# viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
#viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_FILL))
viewer.doc.addRenderer(
'motionModel',
yr.DartRenderer(dartMotionModel.world, (255, 240, 255),
yr.POLYGON_FILL))
viewer.doc.addRenderer(
'controlModel',
yr.DartRenderer(dartModel.world, (150, 150, 255), yr.POLYGON_FILL))
viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter))
viewer.doc.addRenderer('rd_CM_plane',
yr.PointsRenderer(rd_CM_plane, (255, 255, 0)))
viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (0, 255, 0)))
viewer.doc.addRenderer('rd_CP_des',
yr.PointsRenderer(rd_CP_des, (255, 0, 255)))
viewer.doc.addRenderer(
'rd_dL_des_plane',
yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255, 255, 0)))
viewer.doc.addRenderer('rd_dH_des',
yr.VectorsRenderer(rd_dH_des, rd_CM, (0, 255, 0)))
#viewer.doc.addRenderer('rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP_des, (0,255,0), .001))
viewer.doc.addRenderer('rd_CF',
yr.VectorsRenderer(rd_CF, rd_CF_pos, (255, 0, 0)))
viewer.doc.addRenderer(
'extraForce', yr.VectorsRenderer(rd_exf_des, extraForcePos,
(0, 255, 0)))
viewer.doc.addRenderer(
'extraForceEnable',
yr.VectorsRenderer(rd_exfen_des, extraForcePos, (255, 0, 0)))
#viewer.doc.addRenderer('right_foot_oriX', yr.VectorsRenderer(rightFootVectorX, rightFootPos, (255,0,0)))
#viewer.doc.addRenderer('right_foot_oriY', yr.VectorsRenderer(rightFootVectorY, rightFootPos, (0,255,0)))
#viewer.doc.addRenderer('right_foot_oriZ', yr.VectorsRenderer(rightFootVectorZ, rightFootPos, (0,0,255)))
#viewer.doc.addRenderer('right_oriX', yr.VectorsRenderer(rightVectorX, rightPos, (255,0,0)))
#viewer.doc.addRenderer('right_oriY', yr.VectorsRenderer(rightVectorY, rightPos, (0,255,0)))
#viewer.doc.addRenderer('right_oriZ', yr.VectorsRenderer(rightVectorZ, rightPos, (0,0,255)))
#success!!
#initKt = 50
#initKl = 10.1
#initKh = 3.1
#initBl = .1
#initBh = .1
#initSupKt = 21.6
#initFm = 100.0
#success!! -- 2015.2.12. double stance
#initKt = 50
#initKl = 37.1
#initKh = 41.8
#initBl = .1
#initBh = .13
#initSupKt = 21.6
#initFm = 165.0
#single stance
#initKt = 25
#initKl = 80.1
#initKh = 10.8
#initBl = .1
#initBh = .13
#initSupKt = 21.6
#initFm = 50.0
#single stance -> double stance
#initKt = 25
#initKl = 60.
#initKh = 20.
#initBl = .1
#initBh = .13
#initSupKt = 21.6
#initFm = 50.0
initKt = 25.
# initKl = 11.
# initKh = 22.
initKl = 100.
initKh = 100.
initBl = .1
initBh = .13
initSupKt = 17.
# initSupKt = 2.5
initFm = 50.0
initComX = 0.
initComY = 0.
initComZ = 0.
viewer.objectInfoWnd.add1DSlider("Kt", 0., 300., 1., initKt)
viewer.objectInfoWnd.add1DSlider("Kl", 0., 300., 1., initKl)
viewer.objectInfoWnd.add1DSlider("Kh", 0., 300., 1., initKh)
viewer.objectInfoWnd.add1DSlider("Bl", 0., 1., .001, initBl)
viewer.objectInfoWnd.add1DSlider("Bh", 0., 1., .001, initBh)
viewer.objectInfoWnd.add1DSlider("SupKt", 0., 100., 0.1, initSupKt)
viewer.objectInfoWnd.add1DSlider("Fm", 0., 1000., 10., initFm)
viewer.objectInfoWnd.add1DSlider("com X offset", -1., 1., 0.01, initComX)
viewer.objectInfoWnd.add1DSlider("com Y offset", -1., 1., 0.01, initComY)
viewer.objectInfoWnd.add1DSlider("com Z offset", -1., 1., 0.01, initComZ)
viewer.force_on = False
def viewer_SetForceState(object):
viewer.force_on = True
def viewer_GetForceState():
return viewer.force_on
def viewer_ResetForceState():
viewer.force_on = False
viewer.objectInfoWnd.addBtn('Force on', viewer_SetForceState)
viewer_ResetForceState()
offset = 60
viewer.objectInfoWnd.begin()
viewer.objectInfoWnd.labelForceX = Fl_Value_Input(20, 30 + offset * 9, 40,
20, 'X')
viewer.objectInfoWnd.labelForceX.value(0)
viewer.objectInfoWnd.labelForceY = Fl_Value_Input(80, 30 + offset * 9, 40,
20, 'Y')
viewer.objectInfoWnd.labelForceY.value(0)
viewer.objectInfoWnd.labelForceZ = Fl_Value_Input(140, 30 + offset * 9, 40,
20, 'Z')
viewer.objectInfoWnd.labelForceZ.value(1)
viewer.objectInfoWnd.labelForceDur = Fl_Value_Input(
220, 30 + offset * 9, 40, 20, 'Dur')
viewer.objectInfoWnd.labelForceDur.value(0.1)
viewer.objectInfoWnd.end()
#self.sliderFm = Fl_Hor_Nice_Slider(10, 42+offset*6, 250, 10)
pdcontroller = PDController(dartModel, dartModel.skeleton,
dartModel.world.time_step(), Kt, Dt)
def getParamVal(paramname):
return viewer.objectInfoWnd.getVal(paramname)
def getParamVals(paramnames):
return (getParamVal(name) for name in paramnames)
ik_solver = hikd.numIkSolver(dartMotionModel)
body_num = dartModel.getBodyNum()
# dJsys = np.zeros((6*body_num, totalDOF))
# dJsupL = np.zeros((6, totalDOF))
# dJsupR = np.zeros((6, totalDOF))
# Jpre = [np.zeros((6*body_num, totalDOF)), np.zeros((6, totalDOF)), np.zeros((6, totalDOF))]
l_idx = [dartModel.skeleton.body("h_blade_left").index_in_skeleton()]
r_idx = [dartModel.skeleton.body("h_blade_right").index_in_skeleton()]
up_vec_in_each_link = {supL: mm.unitY(), supR: mm.unitY()}
mbc = DartMomentumBalanceController(dartModel.skeleton,
dartMotionModel.skeleton,
config['weightMap'],
up_vec_in_each_link)
###################################
#simulate
###################################
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'])
mbc.set_parameters(Kt, Kl, Kh, Bl, Bh, kt_sup)
pdcontroller.setKpKd(Kt, Dt)
footHeight = dartModel.getBody(supL).shapenodes[0].shape.size()[1] / 2.
doubleTosingleOffset = 0.15
singleTodoubleOffset = 0.30
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))
# tracking
th_r_flat = dartMotionModel.get_q()
dth_flat = dartModel.get_dq()
ddth_des_flat = pdcontroller.compute_flat(th_r_flat)
bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
CP = yrp.getCP(contactPositions, contactForces)
ddth_sol = mbc.solve(
ddth_des_flat,
# [dartModel.skeleton.body('h_blade_left').index_in_skeleton(), dartModel.skeleton.body('h_blade_right').index_in_skeleton()],
[dartModel.skeleton.body('h_blade_left').index_in_skeleton()],
footOffset + np.array([0.9]),
r_idx,
l_idx,
CP,
None)
localPos = np.zeros(3)
inv_h = 1. / time_step
for i in range(stepsPerFrame):
ddq, tau, bodyIDs, contactPositions, contactPositionLocals, contactForces = hqp.calc_QP(
dartModel.skeleton, ddth_sol, inv_h)
# ddq, tau, bodyIDs, contactPositions, contactPositionLocals, contactForces = hqp.calc_QP(dartModel.skeleton, ddth_des_flat, inv_h)
# print(frame, i, tau)
dartModel.applyPenaltyForce(bodyIDs, contactPositionLocals,
contactForces)
dartModel.skeleton.set_forces(tau)
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 += time_step
dartModel.applyPenaltyForce(selectedBodyId, localPos,
extraForce)
dartModel.step()
# rendering
rd_CM[0] = dartModel.skeleton.com()
rd_CM_plane[0] = dartModel.skeleton.com().copy()
rd_CM_plane[0][1] = 0.
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)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def main():
# np.set_printoptions(precision=4, linewidth=200)
np.set_printoptions(precision=5,
threshold=np.inf,
suppress=True,
linewidth=3000)
motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped_zygote()
vpWorld = cvw.VpWorld(wcfg)
vpWorld.SetGlobalDamping(0.999)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
# controlModel_shadow_for_ik = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.initializeHybridDynamics()
# controlToMotionOffset = (1.5, -0.02, 0)
controlToMotionOffset = (1.5, 0., 0)
controlModel.translateByOffset(controlToMotionOffset)
# controlModel_shadow_for_ik.set_q(controlModel.get_q())
# controlModel_shadow_for_ik.computeJacobian(0, np.array([0., 0., 0.]))
wcfg_ik = copy.deepcopy(wcfg)
vpWorld_ik = cvw.VpWorld(wcfg_ik)
controlModel_ik = cvm.VpControlModel(vpWorld_ik, motion[0], mcfg)
vpWorld_ik.initialize()
controlModel_ik.set_q(np.zeros_like(controlModel.get_q()))
totalDOF = controlModel.getTotalDOF()
DOFs = controlModel.getDOFs()
print(totalDOF)
print(controlModel.getTotalMass())
foot_dofs = []
left_foot_dofs = []
right_foot_dofs = []
foot_seg_dofs = []
left_foot_seg_dofs = []
right_foot_seg_dofs = []
# for joint_idx in range(motion[0].skeleton.getJointNum()):
for joint_idx in range(controlModel.getJointNum()):
joint_name = controlModel.index2name(joint_idx)
# joint_name = motion[0].skeleton.getJointName(joint_idx)
if 'Foot' in joint_name:
foot_dofs_temp = controlModel.getJointDOFIndexes(joint_idx)
foot_dofs.extend(foot_dofs_temp)
if 'Left' in joint_name:
left_foot_dofs.extend(foot_dofs_temp)
elif 'Right' in joint_name:
right_foot_dofs.extend(foot_dofs_temp)
if 'foot' in joint_name:
foot_dofs_temp = controlModel.getJointDOFIndexes(joint_idx)
foot_seg_dofs.extend(foot_dofs_temp)
if 'Left' in joint_name:
left_foot_seg_dofs.extend(foot_dofs_temp)
elif 'Right' in joint_name:
right_foot_seg_dofs.extend(foot_dofs_temp)
# parameter
Kt = config['Kt']
Dt = config['Dt'] # tracking gain
Kl = config['Kl']
Dl = config['Dl'] # linear balance gain
Kh = config['Kh']
Dh = config['Dh'] # angular balance gain
Ks = config['Ks']
Ds = config['Ds'] # penalty force spring gain
Bt = config['Bt']
Bl = config['Bl']
Bh = config['Bh']
# selectedBody = motion[0].skeleton.getJointIndex(config['end'])
selectedBody = motion[0].skeleton.getJointIndex('Spine')
constBody = motion[0].skeleton.getJointIndex('RightFoot')
supL = motion[0].skeleton.getJointIndex('LeftFoot')
supR = motion[0].skeleton.getJointIndex('RightFoot')
# momentum matrix
linkMasses = controlModel.getBodyMasses()
totalMass = controlModel.getTotalMass()
TO = ymt.make_TO(linkMasses)
dTO = ymt.make_dTO(len(linkMasses))
# optimization
problem = yac.LSE(totalDOF, 12)
# a_sup = (0,0,0, 0,0,0) #ori
# a_sup = (0,0,0, 0,0,0) #L
CP_old = [mm.v3(0., 0., 0.)]
# penalty method
bodyIDsToCheck = list(range(vpWorld.getBodyNum()))
# mus = [1.]*len(bodyIDsToCheck)
mus = [.5] * len(bodyIDsToCheck)
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
# viewer
rd_footCenter = [None]
rd_footCenter_ref = [None]
rd_footCenterL = [None]
rd_footCenterR = [None]
rd_CM_plane = [None]
rd_CM = [None]
rd_CP = [None]
rd_CP_des = [None]
rd_dL_des_plane = [None]
rd_dH_des = [None]
rd_grf_des = [None]
rd_exf_des = [None]
rd_exfen_des = [None]
rd_root_des = [None]
rd_foot_ori = [None]
rd_foot_pos = [None]
rd_root_ori = [None]
rd_root_pos = [None]
rd_CF = [None]
rd_CF_pos = [None]
rootPos = [None]
selectedBodyId = [controlModel.index2vpid(selectedBody)]
extraForce = [None]
extraForcePos = [None]
rightFootVectorX = [None]
rightFootVectorY = [None]
rightFootVectorZ = [None]
rightFootPos = [None]
rightVectorX = [None]
rightVectorY = [None]
rightVectorZ = [None]
rightPos = [None]
def makeEmptyBasicSkeletonTransformDict(init=None):
Ts = dict()
Ts['pelvis'] = init
Ts['spine_ribs'] = init
Ts['head'] = init
Ts['thigh_R'] = init
Ts['shin_R'] = init
Ts['foot_heel_R'] = init
Ts['foot_R'] = init
Ts['heel_R'] = init
Ts['outside_metatarsal_R'] = init
Ts['outside_phalanges_R'] = init
Ts['inside_metatarsal_R'] = init
Ts['inside_phalanges_R'] = init
Ts['upper_limb_R'] = init
Ts['lower_limb_R'] = init
Ts['thigh_L'] = init
Ts['shin_L'] = init
Ts['foot_heel_L'] = init
Ts['foot_L'] = init
Ts['heel_L'] = init
Ts['outside_metatarsal_L'] = init
Ts['outside_phalanges_L'] = init
Ts['inside_metatarsal_L'] = init
Ts['inside_phalanges_L'] = init
Ts['upper_limb_L'] = init
Ts['lower_limb_L'] = init
return Ts
# viewer = ysv.SimpleViewer()
# viewer = hsv.hpSimpleViewer(rect=[0, 0, 1024, 768], viewForceWnd=False)
viewer = hsv.hpSimpleViewer(rect=[0, 0, 960 + 300, 1 + 1080 + 55],
viewForceWnd=False)
# viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer(
'motionModel',
yr.VpModelRenderer(motionModel, (150, 150, 255), yr.POLYGON_FILL))
viewer.doc.setRendererVisible('motionModel', False)
viewer.doc.addRenderer(
'ikModel',
yr.VpModelRenderer(controlModel_ik, (150, 150, 255), yr.POLYGON_LINE))
viewer.doc.setRendererVisible('ikModel', False)
# viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
control_model_renderer = yr.VpModelRenderer(controlModel, (255, 240, 255),
yr.POLYGON_FILL)
viewer.doc.addRenderer('controlModel', control_model_renderer)
skeleton_renderer = None
if SKELETON_ON:
# skeleton_renderer = yr.BasicSkeletonRenderer(makeEmptyBasicSkeletonTransformDict(np.eye(4)), offset_Y=-0.08)
# skeleton_renderer = yr.BasicSkeletonRenderer(makeEmptyBasicSkeletonTransformDict(np.eye(4)), color=(230, 230, 230), offset_draw=(0.8, -0.02, 0.))
skeleton_renderer = yr.BasicSkeletonRenderer(
makeEmptyBasicSkeletonTransformDict(np.eye(4)),
color=(230, 230, 230),
offset_draw=(0., -0.0, 0.))
viewer.doc.addRenderer('skeleton', skeleton_renderer)
viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter))
viewer.doc.setRendererVisible('rd_footCenter', False)
viewer.doc.addRenderer('rd_footCenter_ref',
yr.PointsRenderer(rd_footCenter_ref))
viewer.doc.setRendererVisible('rd_footCenter_ref', False)
viewer.doc.addRenderer('rd_CM_plane',
yr.PointsRenderer(rd_CM_plane, (255, 255, 0)))
viewer.doc.setRendererVisible('rd_CM_plane', False)
viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (0, 255, 0)))
viewer.doc.setRendererVisible('rd_CP', False)
viewer.doc.addRenderer('rd_CP_des',
yr.PointsRenderer(rd_CP_des, (255, 0, 255)))
viewer.doc.setRendererVisible('rd_CP_des', False)
viewer.doc.addRenderer(
'rd_dL_des_plane',
yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255, 255, 0)))
viewer.doc.setRendererVisible('rd_dL_des_plane', False)
viewer.doc.addRenderer('rd_dH_des',
yr.VectorsRenderer(rd_dH_des, rd_CM, (0, 255, 0)))
viewer.doc.setRendererVisible('rd_dH_des', False)
# viewer.doc.addRenderer('rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP_des, (0,255,0), .001))
viewer.doc.addRenderer('rd_CF',
yr.VectorsRenderer(rd_CF, rd_CF_pos, (255, 255, 0)))
# viewer.doc.setRendererVisible('rd_CF', False)
viewer.doc.addRenderer(
'rd_foot_ori',
yr.OrientationsRenderer(rd_foot_ori, rd_foot_pos, (255, 255, 0)))
# viewer.doc.setRendererVisible('rd_foot_ori', False)
viewer.doc.addRenderer(
'rd_root_ori',
yr.OrientationsRenderer(rd_root_ori, rd_root_pos, (255, 255, 0)))
viewer.doc.setRendererVisible('rd_root_ori', False)
viewer.doc.addRenderer(
'extraForce', yr.VectorsRenderer(rd_exf_des, extraForcePos,
(0, 255, 0)))
viewer.doc.setRendererVisible('extraForce', False)
# viewer.doc.addRenderer('extraForceEnable', yr.VectorsRenderer(rd_exfen_des, extraForcePos, (255,0,0)))
viewer.doc.addRenderer(
'extraForceEnable',
yr.WideArrowRenderer(rd_exfen_des,
extraForcePos, (255, 0, 0),
lineWidth=.05,
fromPoint=False))
# viewer.doc.addRenderer('right_foot_oriX', yr.VectorsRenderer(rightFootVectorX, rightFootPos, (255,0,0)))
# viewer.doc.addRenderer('right_foot_oriY', yr.VectorsRenderer(rightFootVectorY, rightFootPos, (0,255,0)))
# viewer.doc.addRenderer('right_foot_oriZ', yr.VectorsRenderer(rightFootVectorZ, rightFootPos, (0,0,255)))
# viewer.doc.addRenderer('right_oriX', yr.VectorsRenderer(rightVectorX, rightPos, (255,0,0)))
# viewer.doc.addRenderer('right_oriY', yr.VectorsRenderer(rightVectorY, rightPos, (0,255,0)))
# viewer.doc.addRenderer('right_oriZ', yr.VectorsRenderer(rightVectorZ, rightPos, (0,0,255)))
# foot_viewer = FootWindow(viewer.x() + viewer.w() + 20, viewer.y(), 300, 400, 'foot contact modifier', controlModel)
foot_viewer = None # type: FootWindow
initKt = 25.
# initKt = 60.
initKl = 100.
initKh = 100.
initBl = .1
initBh = .13
# initSupKt = 17
# initSupKt = 32.
initSupKt = 28.
initFm = 45.0
initComX = 0.
initComY = 0.
initComZ = 0.
viewer.objectInfoWnd.add1DSlider("Kt", 0., 300., 1., initKt)
viewer.objectInfoWnd.add1DSlider("Kl", 0., 300., 1., initKl)
viewer.objectInfoWnd.add1DSlider("Kh", 0., 300., 1., initKh)
viewer.objectInfoWnd.add1DSlider("Bl", 0., 1., .001, initBl)
viewer.objectInfoWnd.add1DSlider("Bh", 0., 1., .001, initBh)
viewer.objectInfoWnd.add1DSlider("SupKt", 0., 300., 0.1, initSupKt)
viewer.objectInfoWnd.add1DSlider("Fm", 0., 1000., 1., initFm)
viewer.objectInfoWnd.add1DSlider("com X offset", -1., 1., 0.01, initComX)
viewer.objectInfoWnd.add1DSlider("com Y offset", -1., 1., 0.01, initComY)
viewer.objectInfoWnd.add1DSlider("com Z offset", -1., 1., 0.01, initComZ)
viewer.objectInfoWnd.add1DSlider("tiptoe angle", -0.5, .5, 0.001, 0.)
viewer.objectInfoWnd.add1DSlider("left tilt angle", -0.5, .5, 0.001, 0.)
viewer.objectInfoWnd.add1DSlider("right tilt angle", -0.5, .5, 0.001, 0.)
viewer.force_on = False
def viewer_SetForceState(object):
viewer.force_on = True
def viewer_GetForceState():
return viewer.force_on
def viewer_ResetForceState():
viewer.force_on = False
viewer.objectInfoWnd.addBtn('Force on', viewer_SetForceState)
viewer_ResetForceState()
offset = 60
viewer.objectInfoWnd.begin()
viewer.objectInfoWnd.labelForceX = Fl_Value_Input(20, 30 + offset * 9, 40,
20, 'X')
viewer.objectInfoWnd.labelForceX.value(0)
viewer.objectInfoWnd.labelForceY = Fl_Value_Input(80, 30 + offset * 9, 40,
20, 'Y')
viewer.objectInfoWnd.labelForceY.value(0)
viewer.objectInfoWnd.labelForceZ = Fl_Value_Input(140, 30 + offset * 9, 40,
20, 'Z')
viewer.objectInfoWnd.labelForceZ.value(-1)
viewer.objectInfoWnd.labelForceDur = Fl_Value_Input(
220, 30 + offset * 9, 40, 20, 'Dur')
viewer.objectInfoWnd.labelForceDur.value(0.4)
viewer.objectInfoWnd.end()
# self.sliderFm = Fl_Hor_Nice_Slider(10, 42+offset*6, 250, 10)
def getParamVal(paramname):
return viewer.objectInfoWnd.getVal(paramname)
def getParamVals(paramnames):
return (getParamVal(name) for name in paramnames)
def setParamVal(paramname, val):
viewer.objectInfoWnd.setVal(paramname, val)
idDic = dict()
for i in range(motion[0].skeleton.getJointNum()):
idDic[motion[0].skeleton.getJointName(i)] = i
# extendedFootName = ['Foot_foot_0_0', 'Foot_foot_0_1', 'Foot_foot_0_0_0', 'Foot_foot_0_1_0', 'Foot_foot_1_0']
extendedFootName = ['Foot']
lIDdic = {
'Left' + name: motion[0].skeleton.getJointIndex('Left' + name)
for name in extendedFootName
}
rIDdic = {
'Right' + name: motion[0].skeleton.getJointIndex('Right' + name)
for name in extendedFootName
}
footIdDic = lIDdic.copy()
footIdDic.update(rIDdic)
lIDlist = [
motion[0].skeleton.getJointIndex('Left' + name)
for name in extendedFootName
]
rIDlist = [
motion[0].skeleton.getJointIndex('Right' + name)
for name in extendedFootName
]
footIdlist = []
footIdlist.extend(lIDlist)
footIdlist.extend(rIDlist)
print(footIdlist)
joint_names = [
motion[0].skeleton.getJointName(i)
for i in range(motion[0].skeleton.getJointNum())
]
def fix_dofs(_DOFs, nested_dof_values, _mcfg, _joint_names):
fixed_nested_dof_values = list()
fixed_nested_dof_values.append(nested_dof_values[0])
for i in range(1, len(_DOFs)):
dof = _DOFs[i]
if dof == 1:
node = _mcfg.getNode(_joint_names[i])
axis = mm.unitZ()
if node.jointAxes[0] == 'X':
axis = mm.unitX()
elif node.jointAxes[0] == 'Y':
axis = mm.unitY()
fixed_nested_dof_values.append(
np.array([np.dot(nested_dof_values[i], axis)]))
else:
fixed_nested_dof_values.append(nested_dof_values[i])
return fixed_nested_dof_values
start_frame = 200
up_vec_in_each_link = dict()
for foot_id in footIdlist:
up_vec_in_each_link[
foot_id] = controlModel_ik.getBodyOrientationGlobal(foot_id)[1, :]
up_vec_in_each_link[foot_id] = mm.unitY()
controlModel_ik.set_q(controlModel.get_q())
###################################
# simulate
###################################
def simulateCallback(frame):
# print(frame)
# print(motion[frame].getJointOrientationLocal(footIdDic['RightFoot_foot_0_1_0']))
if frame == start_frame:
viewer.force_on = True
if False:
if frame == start_frame:
setParamVal('Fm', 35)
viewer.force_on = True
if frame == start_frame + 150:
setParamVal('Fm', 40)
viewer.force_on = True
if frame == start_frame + 300:
setParamVal('Fm', 45)
viewer.force_on = True
if frame == start_frame + 450:
setParamVal('Fm', 50)
viewer.force_on = True
if frame == start_frame + 600:
setParamVal('Fm', 55)
viewer.force_on = True
if frame == start_frame + 750:
setParamVal('Fm', 60)
viewer.force_on = True
# 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_h_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot'))
if foot_viewer.check_h_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot'))
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())
# rendering
bodyIDs, geomIDs, positionLocalsForGeom = vpWorld.getContactInfoForcePlate(
bodyIDsToCheck)
for foot_seg_id in footIdlist:
control_model_renderer.body_colors[foot_seg_id] = (255, 240, 255)
control_model_renderer.geom_colors[foot_seg_id] = [
(255, 240, 255)
] * controlModel.getBodyGeomNum(foot_seg_id)
for i in range(len(geomIDs)):
if controlModel.vpid2index(bodyIDs[i]) in footIdlist:
control_model_renderer.geom_colors[controlModel.vpid2index(
bodyIDs[i])][geomIDs[i]] = (255, 0, 0)
# 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 postFrameCallback_Always(frame):
pass
# 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)
viewer.setPostFrameCallback_Always(postFrameCallback_Always)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
# viewer.play()
viewer.show()
foot_viewer = FootWindow(viewer.x() + viewer.w() + 20, viewer.y(), 300,
500, 'foot contact modifier', controlModel)
foot_viewer.show()
foot_viewer.check_all_seg()
viewer.motionViewWnd.goToFrame(0)
Fl.run()
def footAdjust(posture_ori, touch_body_indices, SEGMENT_FOOT_MAG, SEGMENT_FOOT_RAD, baseHeight=0.):
"""
:param posture_ori:
:type posture_ori: ym.JointPosture
:param touch_body_indices:
:type touch_body_indices: list[str]
:param SEGMENT_FOOT_MAG:
:type SEGMENT_FOOT_MAG: float
:param SEGMENT_FOOT_RAD:
:type SEGMENT_FOOT_RAD: float
:param baseHeight:
:type baseHeight: float
:return:
"""
if len(touch_body_indices) == 0:
return
# idDic: name to idx
idDic = dict()
for i in range(posture_ori.skeleton.getJointNum()):
idDic[posture_ori.skeleton.getJointName(i)] = i
# nameDic: index to name
nameDic = dict()
for i in range(posture_ori.skeleton.getJointNum()):
nameDic[i] = posture_ori.skeleton.getJointName(i)
# specified
foot_name = "LeftFoot"
# side_touch_body_indices: left or right foot touch body indices
side_touch_body_indices = [touch_body_idx for touch_body_idx in touch_body_indices if foot_name in nameDic[touch_body_idx]]
# foot_joint_pos: ankle joint position
foot_joint_pos = posture_ori.getJointPositionGlobal(idDic[foot_name])
seg_joint_ori = [posture_ori.getJointOrientationGlobal(touch_body_idx) for touch_body_idx in side_touch_body_indices]
seg_joint_pos = []
for touch_body_idx in side_touch_body_indices:
if nameDic[touch_body_idx] == foot_name+'_foot_0_0':
seg_joint_pos.append(posture_ori.getJointPositionGlobal(touch_body_idx) + SEGMENT_FOOT_MAG*np.dot(seg_joint_ori, -1.936*mm.unitY()).flatten())
else:
seg_joint_pos.append(posture_ori.getJointPositionGlobal(touch_body_idx))
if len(side_touch_body_indices) == 0:
pass
elif len(side_touch_body_indices) == 1:
seg_idx = side_touch_body_indices[0]
# seg joint y pos to 0
ankle_to_joint_vec = seg_joint_pos[0] - foot_joint_pos
joint_vec_rot_axis, temp_angle = mm.getRotAxisAngleFromVectors(ankle_to_joint_vec, -mm.unitY())
joint_y_to_zero_angle = temp_angle - math.acos((foot_joint_pos[1] - SEGMENT_FOOT_RAD - baseHeight)/np.linalg.norm(ankle_to_joint_vec))
posture_ori.mulJointOrientationGlobal(idDic[foot_name], mm.exp(joint_vec_rot_axis, joint_y_to_zero_angle))
###############################################################
# TODO:
###############################################################
# rotate seg to parallel ground
seg_ori = posture_ori.getJointOrientationGlobal(seg_idx)
posture_ori.mulJointOrientationGlobal(seg_idx, seg_ori.T)
elif len(side_touch_body_indices) == 2:
seg_idx = [side_touch_body_indices[0], side_touch_body_indices[1]]
ankle_to_joint_vecs = [seg_joint_pos[i] - foot_joint_pos for i in range(len(seg_idx))]
ankle_to_joint_vec = .5*(ankle_to_joint_vecs[0] + ankle_to_joint_vecs[1])
joint_vec_rot_axis, temp_angle = mm.getRotAxisAngleFromVectors(ankle_to_joint_vec, -mm.unitY())
joint_y_to_zero_angle = temp_angle - math.acos((foot_joint_pos[1] - SEGMENT_FOOT_RAD - baseHeight)/np.linalg.norm(ankle_to_joint_vec))
posture_ori.mulJointOrientationGlobal(idDic[foot_name], mm.exp(joint_vec_rot_axis, joint_y_to_zero_angle))
seg_contact_pos = []
for touch_body_idx in side_touch_body_indices:
ith_seg_contact_pos = []
if nameDic[touch_body_idx] == foot_name+'_foot_0_0_0':
ith_seg_contact_pos.append(seg_joint_pos)
ith_seg_contact_pos.append(seg_joint_pos + np.dot(seg_joint_ori, mm.unitZ()))
ith_seg_contact_pos.append(seg_joint_pos + np.dot(seg_joint_ori, mm.unitX()))
if nameDic[touch_body_idx] == foot_name+'_foot_0_1_0':
ith_seg_contact_pos.append(seg_joint_pos + np.dot(seg_joint_ori, np.array([0., 0., 0.])))
pass
if nameDic[touch_body_idx] == foot_name+'_foot_0_0':
pass
if nameDic[touch_body_idx] == foot_name+'_foot_1_0':
pass
# unspecified
pass
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)
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)
# 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_r = motionModel.getDOFPositions()
# th = controlModel.getDOFPositions()
# # dth_r = motion.getDOFVelocities(frame)
# dth = controlModel.getDOFVelocities()
# # ddth_r = motion.getDOFAccelerations(frame)
# ddth_des = yct.getDesiredDOFAccelerations(th_r, th, None, dth, None, 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)
# # print(ddth_des)
# ype.flatten(ddth_des, ddth_des_flat)
# ype.flatten(dth, dth_flat)
th_r_flat = motionModel.get_q()
th_flat = controlModel.get_q()
dth_flat = controlModel.get_dq()
joint_dof_info = controlModel.getJointDOFInfo()
ddth_des_flat = yct.getDesiredDOFAccelerations_flat(
th_r_flat, th_flat, None, dth_flat, None, Kt, Dt, joint_dof_info)
# print(controlModel.getCoriAndGrav())
#################################################
# jacobian
#################################################
contact_des_ids = list() # desired contact segments
contact_des_ids.append(supL)
# if foot_viewer.check_h_l.value():
# contact_des_ids.append(motion[0].skeleton.getJointIndex('LeftFoot'))
#
# if foot_viewer.check_h_r.value():
# contact_des_ids.append(motion[0].skeleton.getJointIndex('RightFoot'))
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(motionModel.getJointOrientationGlobal, contact_ids))
ref_joint_pos = list(
map(motionModel.getJointPositionGlobal, contact_ids))
ref_joint_vel = [
motionModel.getJointVelocityGlobal(joint_idx)
for joint_idx in contact_ids
]
ref_joint_angvel = [
motionModel.getJointAngVelocityGlobal(joint_idx)
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 = [
motionModel.getJointAngVelocityGlobal(joint_idx)
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_flat[0:3] - th_r_flat[0:3]
contMotionOffset = np.array((1.5, 0., 0.))
linkPositions = [
controlModel.getBodyComPositionGlobal(i)
for i in range(controlModel.getBodyNum())
]
linkVelocities = [
controlModel.getBodyComVelocityGlobal(i)
for i in range(controlModel.getBodyNum())
]
linkAngVelocities = [
controlModel.getBodyAngVelocityGlobal(i)
for i in range(controlModel.getBodyNum())
]
linkInertias = [
controlModel.getBodyInertiaGlobal(i)
for i in range(controlModel.getBodyNum())
]
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.getBodyComPositionGlobal(supL) + controlModel.getBodyComPositionGlobal(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.getBodyComPositionGlobal(supL) + motionModel.getBodyComPositionGlobal(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 = controlModel.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 * controlModel.getGravity()))
if contactChangeCount > 0: # and contactChangeType == 'DtoS':
dH_des *= (maxContactChangeCount -
contactChangeCount) / maxContactChangeCount
else:
dH_des = None
# 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 LEG_FLEXIBLE:
if contact == 2:
config['weightMap']['h_thigh_right'] = .8
config['weightMap']['h_shin_right'] = .8
config['weightMap']['h_heel_right'] = .8
else:
config['weightMap']['h_thigh_right'] = .1
config['weightMap']['h_shin_right'] = .25
config['weightMap']['h_heel_right'] = .2
if contact == 1:
config['weightMap']['h_thigh_left'] = .8
config['weightMap']['h_shin_left'] = .8
config['weightMap']['h_heel_left'] = .8
else:
config['weightMap']['h_thigh_left'] = .1
config['weightMap']['h_shin_left'] = .25
config['weightMap']['h_heel_left'] = .2
w = mot.getTrackingWeight(DOFs, controlModel, 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 _ in range(stepsPerFrame):
bodyIDs, contactPositions, contactPositionLocals, contactForces = controlModel.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
controlModel.applyPenaltyForce(bodyIDs, contactPositionLocals,
contactForces)
# apply penalty force
# 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 += controlModel.getTimeStep()
controlModel.applyPenaltyForce(selectedBodyId, localPos,
extraForce)
controlModel.step()
# rendering
# bodyIDs, geomIDs, positionLocalsForGeom = vpWorld.getContactInfoForcePlate(bodyIDsToCheck)
# for foot_seg_id in footIdlist:
# control_model_renderer.body_colors[foot_seg_id] = (255, 240, 255)
# control_model_renderer.geom_colors[foot_seg_id] = [(255, 240, 255)] * controlModel.getBodyGeomNum(foot_seg_id)
# for i in range(len(geomIDs)):
# if controlModel.vpid2index(bodyIDs[i]) in footIdlist:
# control_model_renderer.geom_colors[controlModel.vpid2index(bodyIDs[i])][geomIDs[i]] = (255, 0, 0)
# 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 * controlModel.getGravity()
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))
del rd_body_ori[:]
del rd_body_pos[:]
# for body_idx in range(dartModel.getBodyNum()):
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()
])
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)
# ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt)
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)
# 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)
contMotionOffset = np.asarray(controlToMotionOffset)
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
contact = 2
#calculate jacobian
body_num = dartModel.getBodyNum()
Jsys = np.zeros((6*body_num, totalDOF))
dJsys = np.zeros((6*body_num, totalDOF))
for i in range(dartModel.getBodyNum()):
Jsys[6*i:6*i+6, :] = dartModel.getBody(i).world_jacobian()[range(-3, 3), :]
dJsys[6*i:6*i+6, :] = dartModel.getBody(i).world_jacobian_classic_deriv()[range(-3, 3), :]
# dJsys = (Jsys - Jpre[0])/frame_step_size
# Jpre[0] = Jsys.copy()
JsupL = dartModel.getBody(supL).world_jacobian()[range(-3, 3), :]
dJsupL = dartModel.getBody(supL).world_jacobian_classic_deriv()[range(-3, 3), :]
# dJsupL = np.zeros_like(JsupL)
# dJsupL = (JsupL - Jpre[1])/frame_step_size
# Jpre[1] = JsupL.copy()
JsupR = dartModel.getBody(supR).world_jacobian()[range(-3, 3), :]
dJsupR = dartModel.getBody(supR).world_jacobian_classic_deriv()[range(-3, 3), :]
# dJsupR = np.zeros_like(JsupR)
# dJsupR = (JsupR - Jpre[2])/frame_step_size
# Jpre[2] = JsupR.copy()
#calculate footCenter
footCenter = .5 * (footCenterL + footCenterR) + footOffset
#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() + footOffset
#elif contact == 1 or footCenterL[1] > doubleTosingleOffset/2:
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
# set up equality constraint
a_oriL = mm.logSO3(mm.getSO3FromVectors(np.dot(footBodyOriL, mm.unitY()), mm.unitY()))
a_oriR = mm.logSO3(mm.getSO3FromVectors(np.dot(footBodyOriR, mm.unitY()), mm.unitY()))
footErrorL = refFootL.copy()
footErrorL[1] = dartModel.getBody(supL).shapenodes[0].shape.size()[1]/2.
footErrorL += -footCenterL + contMotionOffset
print(footErrorL)
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)
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)
if contact == 1 or contact == 3:
mot.addConstraint(problem, totalDOF, JsupR, dJsupR, dth_flat, a_supR)
if contact == 2 or contact == 3:
mot.addConstraint(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)
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)
#bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds)
for joint_idx in range(dartModel.skeleton.num_joints()):
joint = dartModel.skeleton.joint(joint_idx) # type: pydart.Joint
if joint.num_dofs() == 3:
dof_start_idx = joint.dofs[0].index_in_skeleton()
joint.set_acceleration(ddth_sol[dof_start_idx:dof_start_idx+3])
# dartModel.skeleton.set_accelerations(ddth_sol)
# 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(frame):
if frame == 200:
viewer.force_on = True
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
#################################################
# 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)
refFootOriL = motionModel.getBodyOrientationGlobal(supL)
refFootOriR = motionModel.getBodyOrientationGlobal(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
# CM_ref_plane[1] += motionModel.getCOM()[1]
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_plane - CM_plane) - Dl*totalMass*dCM_plane
dL_des_plane = Kl * totalMass * (CM_ref - CM) - Dl * totalMass * dCM
# 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
L_ddq = mm.logSO3(
np.dot(
footBodyOriL.T,
np.dot(
refFootOriL,
mm.getSO3FromVectors(np.dot(refFootOriL, mm.unitY()),
mm.unitY()))))
R_ddq = mm.logSO3(
np.dot(
footBodyOriR.T,
np.dot(
refFootOriR,
mm.getSO3FromVectors(np.dot(refFootOriR, mm.unitY()),
mm.unitY()))))
L_q = mm.logSO3(footBodyOriL)
R_q = mm.logSO3(footBodyOriR)
L_ang = np.dot(footBodyOriL, footBodyAngVelL)
R_ang = np.dot(footBodyOriR, footBodyAngVelR)
L_dq = mm.vel2qd(L_ang, L_q)
R_dq = mm.vel2qd(R_ang, R_q)
a_oriL = np.dot(footBodyOriL, mm.qdd2accel(L_dq, L_dq, L_q))
a_oriR = np.dot(footBodyOriR, mm.qdd2accel(R_dq, R_dq, R_q))
# 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))]))
# 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))]
#
a_oriL = mm.logSO3(
mm.getSO3FromVectors(np.dot(footBodyOriL, mm.unitY()), mm.unitY()))
a_oriR = mm.logSO3(
mm.getSO3FromVectors(np.dot(footBodyOriR, mm.unitY()), mm.unitY()))
#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_supL[1] = kt_sup*(0.028-footCenterL[1]) -dt_sup*footBodyVelL[1]
a_supL[1] = kt_sup * (0.0 - footCenterL[1]) - dt_sup * footBodyVelL[1]
a_supR = np.append(
kt_sup * (refFootR - footCenterR + contMotionOffset) -
dt_sup * footBodyVelR, kt_sup * a_oriR - dt_sup * footBodyAngVelR)
# a_supR[1] = kt_sup*(0.028-footCenterR[1]) -dt_sup*footBodyVelR[1]
a_supR[1] = kt_sup * (0.0 - footCenterR[1]) - dt_sup * 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
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_foot_ori[:]
del rd_foot_pos[:]
rd_foot_ori.append(controlModel.getBodyOrientationGlobal(supL))
rd_foot_ori.append(controlModel.getBodyOrientationGlobal(supR))
rd_foot_pos.append(controlModel.getBodyPositionGlobal(supL))
rd_foot_pos.append(controlModel.getBodyPositionGlobal(supR))
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) - 0.1 * np.array([
viewer.objectInfoWnd.labelForceX.value(), 0.,
viewer.objectInfoWnd.labelForceZ.value()
])
def footAdjust(posture_ori,
footIdDic,
SEGMENT_FOOT_MAG,
SEGMENT_FOOT_RAD,
baseHeight=0.):
"""
:return:
"""
def getJointChildPositionGlobal(posture, jointNameOrIdx):
"""
:type posture: ym.JointPosture
:type jointNameOrIdx: str | int
:return: np.array
"""
idx = jointNameOrIdx
if type(jointNameOrIdx) == str:
idx = posture.skeleton.getJointIndex(jointNameOrIdx)
effectorOffset = posture.skeleton.getJoint(idx).children[0].offset
return posture.getJointPositionGlobal(idx) + np.dot(
posture.getJointOrientationGlobal(idx), effectorOffset)
def makeTwoContactPos(posture,
jointNameOrIdx,
isLeftFoot=True,
isOutside=True,
baseHeight=None):
"""
:type posture: ym.JointPosture
:type jointNameOrIdx: str | int
:return: np.array, np.array
"""
idx = jointNameOrIdx
if type(jointNameOrIdx) == str:
idx = posture.skeleton.getJointIndex(jointNameOrIdx)
insideOffset = SEGMENT_FOOT_MAG * np.array((0., 0., 2.5))
outsideOffset = SEGMENT_FOOT_MAG * np.array((1.2, 0., 2.5))
if isLeftFoot ^ isOutside:
# if not isOutside:
# if it is not outside phalange,
outsideOffset[0] = -1.2 * SEGMENT_FOOT_MAG
origin = posture.getJointPositionGlobal(idx)
inside = posture.getJointPositionGlobal(idx, insideOffset)
outside = posture.getJointPositionGlobal(idx, outsideOffset)
length = SEGMENT_FOOT_MAG * 2.5
RotVec1_tmp1 = inside - origin
RotVec1_tmp2 = inside - origin
RotVec1_tmp2[1] = 0.
RotVec1 = np.cross(RotVec1_tmp1, RotVec1_tmp2)
inner = (origin[1] - SEGMENT_FOOT_RAD) / length
angle1_1 = math.acos(inner if inner < 1.0 else 1.0)
if baseHeight is not None:
angle1_1 = math.acos(
(origin[1] - (baseHeight + SEGMENT_FOOT_RAD)) / length)
angle1_2 = math.acos((origin[1] - inside[1]) / length)
footRot1 = mm.exp(RotVec1, angle1_1 - angle1_2)
footOri1 = posture.getJointOrientationGlobal(idx)
posture.setJointOrientationGlobal(idx, np.dot(footRot1, footOri1))
inside_new = posture.getJointPositionGlobal(idx, insideOffset)
outside_new_tmp = posture.getJointPositionGlobal(idx, outsideOffset)
# RotVec2 = inside_new - origin
width = np.linalg.norm(outside - inside)
widthVec_tmp = np.cross(RotVec1_tmp1, np.array((0., 1., 0.))) if isLeftFoot ^ isOutside \
else np.cross(np.array((0., 1., 0.)), RotVec1_tmp1)
widthVec = width * widthVec_tmp / np.linalg.norm(widthVec_tmp)
outside_new = inside_new + widthVec
footRot2 = mm.getSO3FromVectors(outside_new_tmp - inside_new, widthVec)
footOri2 = posture.getJointOrientationGlobal(idx)
# print footRot2, footOri2
newFootOri = np.dot(footRot2, footOri2)
# posture.setJointOrientationGlobal(idx, np.dot(footRot2, footOri2))
return newFootOri, inside_new, outside_new
def makeFourContactPos(posture,
jointNameOrIdx,
isLeftFoot=True,
isOutside=True):
"""
:type posture: ym.JointPosture
:type jointNameOrIdx: str | int
:return: np.array, np.array, np.array
"""
idx = jointNameOrIdx
if type(jointNameOrIdx) == str:
idx = posture.skeleton.getJointIndex(jointNameOrIdx)
insideOffset = SEGMENT_FOOT_MAG * np.array((0., 0., 2.5))
outsideOffset = SEGMENT_FOOT_MAG * np.array((1.2, 0., 2.5))
if isLeftFoot ^ isOutside:
# if it is not outside phalange,
outsideOffset[0] = -1.2 * SEGMENT_FOOT_MAG
origin = posture.getJointPositionGlobal(idx)
inside = posture.getJointPositionGlobal(idx, insideOffset)
outside = posture.getJointPositionGlobal(idx, outsideOffset)
length = SEGMENT_FOOT_MAG * 2.5
RotVec1_tmp1 = inside - origin
RotVec1_tmp2 = inside - origin
RotVec1_tmp2[1] = 0.
RotVec1 = np.cross(RotVec1_tmp1, RotVec1_tmp2)
angle1_1 = math.acos((origin[1] - SEGMENT_FOOT_RAD) / length)
angle1_2 = math.acos((origin[1] - inside[1]) / length)
footRot1 = mm.exp(RotVec1, angle1_1 - angle1_2)
footOri1 = posture.getJointOrientationGlobal(idx)
posture.setJointOrientationGlobal(idx, np.dot(footRot1, footOri1))
inside_new = posture.getJointPositionGlobal(idx, insideOffset)
outside_new_tmp = posture.getJointPositionGlobal(idx, outsideOffset)
# RotVec2 = inside_new - origin
width = np.linalg.norm(outside - inside)
widthVec_tmp = np.cross(RotVec1_tmp1, np.array((0., 1., 0.))) if isLeftFoot ^ isOutside \
else np.cross(np.array((0., 1., 0.)), RotVec1_tmp1)
widthVec = width * widthVec_tmp / np.linalg.norm(widthVec_tmp)
outside_new = inside_new + widthVec
footRot2 = mm.getSO3FromVectors(outside_new_tmp - inside_new, widthVec)
footOri2 = posture.getJointOrientationGlobal(idx)
# print footRot2, footOri2
posture.setJointOrientationGlobal(idx, np.dot(footRot2, footOri2))
return
def getFootSegNormal(posture,
jointNameOrIdx,
isLeftFoot=True,
isOutside=True):
"""
:type posture: ym.JointPosture
:type jointNameOrIdx: str | int
:return: np.array, np.array, np.array
"""
idx = jointNameOrIdx
if type(jointNameOrIdx) == str:
idx = posture.skeleton.getJointIndex(jointNameOrIdx)
insideOffset = SEGMENT_FOOT_MAG * np.array((0., 0., 2.5))
outsideOffset = SEGMENT_FOOT_MAG * np.array((1.2, 0., 2.5))
if isLeftFoot ^ isOutside:
# if it is not outside phalange,
outsideOffset[0] = -1.2 * SEGMENT_FOOT_MAG
origin = posture.getJointPositionGlobal(idx)
inside = posture.getJointPositionGlobal(idx, insideOffset)
outside = posture.getJointPositionGlobal(idx, outsideOffset)
if isLeftFoot ^ isOutside:
return mm.normalize(-np.cross(inside - origin, outside - origin))
else:
return mm.normalize(np.cross(inside - origin, outside - origin))
# get collision info
collide = dict() # type: dict[str, bool]
for side in ['Left', 'Right']:
for sideInFoot in ['outside', 'inside']: # outside first!
isLeftFoot = True if side == 'Left' else False
isOutside = True if sideInFoot == 'outside' else False
footPrefix = 'Foot_foot_0_' + ('0' if isOutside else '1')
collide[side+footPrefix+'_0_Effector'] = \
getJointChildPositionGlobal(posture_ori, side+footPrefix+'_0')[1] < SEGMENT_FOOT_RAD + baseHeight
collide[side+footPrefix+'_0'] = \
posture_ori.getJointPositionGlobal(footIdDic[side+footPrefix+'_0'])[1] < SEGMENT_FOOT_RAD + baseHeight
collide[side+footPrefix+''] = \
posture_ori.getJointPositionGlobal(footIdDic[side+footPrefix])[1] < SEGMENT_FOOT_RAD + baseHeight
if collide[side + footPrefix + '_0_Effector'] and collide[
side + footPrefix + '_0'] and collide[side + footPrefix +
'']:
# all segment contact
footVec = getFootSegNormal(posture_ori,
side + footPrefix + '',
isLeftFoot=isLeftFoot,
isOutside=isOutside)
footRot = mm.getSO3FromVectors(footVec, np.array((0., 1., 0.)))
footIdx = posture_ori.skeleton.getJointIndex(side +
footPrefix + '')
footOri = posture_ori.getJointOrientationGlobal(footIdx)
posture_ori.setJointOrientationGlobal(footIdx,
np.dot(footRot, footOri))
elif collide[side + footPrefix +
'_0_Effector'] and collide[side + footPrefix + '_0']:
# toe fully, phalange partially
newFootOri, _inside, _outside = makeTwoContactPos(
posture_ori,
side + footPrefix + '',
isLeftFoot=isLeftFoot,
isOutside=isOutside,
baseHeight=baseHeight)
posture_ori.setJointOrientationGlobal(
footIdDic[side + footPrefix + ''], newFootOri)
footVec = getFootSegNormal(posture_ori,
side + footPrefix + '_0',
isLeftFoot=isLeftFoot,
isOutside=isOutside)
footRot = mm.getSO3FromVectors(footVec, np.array((0., 1., 0.)))
footIdx = posture_ori.skeleton.getJointIndex(side +
footPrefix + '_0')
footOri = posture_ori.getJointOrientationGlobal(footIdx)
posture_ori.setJointOrientationGlobal(footIdx,
np.dot(footRot, footOri))
outsideOffset = np.array(
(-1., 0., 0.)) if isLeftFoot ^ isOutside else np.array(
(1., 0., 0.))
inside_tmp = posture_ori.getJointPositionGlobal(
footIdDic[side + footPrefix + '_0'])
outside_tmp = posture_ori.getJointPositionGlobal(
footIdDic[side + footPrefix + '_0'], outsideOffset)
footRot2 = mm.getSO3FromVectors(outside_tmp - inside_tmp,
_outside - _inside)
posture_ori.setJointOrientationGlobal(
footIdx, np.dot(footRot2, np.dot(footRot, footOri)))
elif collide[side + footPrefix + '_0_Effector']:
# toe partially
footPoint = posture_ori.getJointPositionGlobal(
footIdDic[side + footPrefix + '_0'])
newFootOri, _inside, _outside = makeTwoContactPos(
posture_ori,
side + footPrefix + '',
isLeftFoot=isLeftFoot,
isOutside=isOutside,
baseHeight=footPoint[1] - SEGMENT_FOOT_RAD)
posture_ori.setJointOrientationGlobal(
posture_ori.skeleton.getJointIndex(side + footPrefix + ''),
newFootOri)
footVec = getFootSegNormal(posture_ori,
side + footPrefix + '_0',
isLeftFoot=isLeftFoot,
isOutside=isOutside)
footRot = mm.getSO3FromVectors(footVec, np.array((0., 1., 0.)))
footIdx = posture_ori.skeleton.getJointIndex(side +
footPrefix + '_0')
footOri = posture_ori.getJointOrientationGlobal(footIdx)
posture_ori.setJointOrientationGlobal(footIdx,
np.dot(footRot, footOri))
outsideOffset = np.array(
(-1., 0., 0.)) if isLeftFoot ^ isOutside else np.array(
(1., 0., 0.))
inside_tmp = posture_ori.getJointPositionGlobal(
footIdDic[side + footPrefix + '_0'])
outside_tmp = posture_ori.getJointPositionGlobal(
footIdDic[side + footPrefix + '_0'], outsideOffset)
footRot2 = mm.getSO3FromVectors(outside_tmp - inside_tmp,
_outside - _inside)
posture_ori.setJointOrientationGlobal(
footIdx, np.dot(footRot2, np.dot(footRot, footOri)))
elif getJointChildPositionGlobal(
posture_ori, side + footPrefix +
'_0')[1] < SEGMENT_FOOT_RAD * 1.5 + baseHeight:
# In case of posibility of contact
# if 1 radius < toe height < 3/2 radius, this routine is working.
toeHeight = getJointChildPositionGlobal(
posture_ori, side + footPrefix + '_0')[1]
ratio = (SEGMENT_FOOT_RAD * 1.5 + baseHeight -
toeHeight) / SEGMENT_FOOT_RAD * 2.
footPoint = posture_ori.getJointPositionGlobal(
footIdDic[side + footPrefix + '_0'])
newFootOri, _inside, _outside = makeTwoContactPos(
posture_ori,
side + footPrefix + '',
isLeftFoot=isLeftFoot,
isOutside=isOutside,
baseHeight=footPoint[1] - SEGMENT_FOOT_RAD)
oldFootOri = posture_ori.getJointOrientationGlobal(
footIdDic[side + footPrefix + ''])
posture_ori.setJointOrientationGlobal(
footIdDic[side + footPrefix + ''],
mm.slerp(oldFootOri, newFootOri, ratio))
oldFootOri2 = posture_ori.getJointOrientationGlobal(
footIdDic[side + footPrefix + '_0'])
footVec = getFootSegNormal(posture_ori,
side + footPrefix + '_0',
isLeftFoot=isLeftFoot,
isOutside=isOutside)
footRot = mm.getSO3FromVectors(footVec, np.array((0., 1., 0.)))
footIdx = posture_ori.skeleton.getJointIndex(side +
footPrefix + '_0')
footOri = posture_ori.getJointOrientationGlobal(footIdx)
posture_ori.setJointOrientationGlobal(footIdx,
np.dot(footRot, footOri))
outsideOffset = np.array(
(-1., 0., 0.)) if isLeftFoot ^ isOutside else np.array(
(1., 0., 0.))
inside_tmp = posture_ori.getJointPositionGlobal(
footIdDic[side + footPrefix + '_0'])
outside_tmp = posture_ori.getJointPositionGlobal(
footIdDic[side + footPrefix + '_0'], outsideOffset)
footRot2 = mm.getSO3FromVectors(outside_tmp - inside_tmp,
_outside - _inside)
posture_ori.setJointOrientationGlobal(
footIdx,
mm.slerp(oldFootOri2,
np.dot(footRot2, np.dot(footRot, footOri)),
ratio))
if True: # back side
isLeftFoot = True if side == 'Left' else False
footPrefix = 'Foot_foot_1'
collide[side+footPrefix+'_0_Effector'] = \
getJointChildPositionGlobal(posture_ori, side+footPrefix+'_0')[1] < SEGMENT_FOOT_RAD + baseHeight
collide[side+footPrefix+'_0'] = \
posture_ori.getJointPositionGlobal(footIdDic[side+footPrefix+'_0'])[1] < SEGMENT_FOOT_RAD + baseHeight
# if collide[side+footPrefix+'_0_Effector'] and collide[side+footPrefix+'_0']:
if collide[side + footPrefix + '_0_Effector']:
# heel contact partially or fully
heel_idx = footIdDic[side + footPrefix + '_0']
R_cur = posture_ori.getJointOrientationGlobal(heel_idx)
insideOffset = SEGMENT_FOOT_MAG * np.array((-.6, 0., 1.2))
outsideOffset = SEGMENT_FOOT_MAG * np.array((.6, 0., 1.2))
origin = posture_ori.getJointPositionGlobal(heel_idx)
inside = posture_ori.getJointPositionGlobal(
heel_idx, insideOffset)
outside = posture_ori.getJointPositionGlobal(
heel_idx, outsideOffset)
# rot_vec = mm.normalize(np.cross(inside - origin, origin - outside if side == 'Left' else outside - origin))
rot_vec = mm.normalize(
np.cross(inside - origin, outside - origin))
rot_to_y = mm.getSO3FromVectors(rot_vec, mm.unitY())
posture_ori.setJointOrientationGlobal(heel_idx,
np.dot(rot_to_y, R_cur))
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)
# ddth_des = yct.getDesiredDOFAccelerations(th_r, th, None, dth, None, Kt, Dt)
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)
# ype.flatten(ddth_des, ddth_des_flat)
# ype.flatten(dth, dth_flat)
#################################################
# jacobian
#################################################
contact_des_ids = [dartModel.skeleton.bodynode_index("LeftFoot")]
contact_ids = list() # temp idx for balancing
contact_ids.extend(contact_des_ids)
contact_joint_ori = list(map(dartModel.getJointOrientationGlobal, contact_ids))
contact_joint_pos = list(map(dartModel.getJointPositionGlobal, contact_ids))
contact_body_ori = list(map(dartModel.getBodyOrientationGlobal, contact_ids))
contact_body_pos = list(map(dartModel.getBodyPositionGlobal, contact_ids))
contact_body_vel = list(map(dartModel.getBodyVelocityGlobal, contact_ids))
contact_body_angvel = list(map(dartModel.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(dartMotionModel.getBodyOrientationGlobal, contact_ids))
ref_body_pos = list(map(dartMotionModel.getBodyPositionGlobal, contact_ids))
for idx in range(len(ref_body_pos)):
ref_body_pos[idx] = dartModel.skeleton.body("RightFoot").shapenodes[0].shape.size()[1]/2.
# 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
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
# contMotionOffset = th[0][0] - th_r[0][0]
contMotionOffset = dartModel.getBodyPositionGlobal(0) - dartMotionModel.getBodyPositionGlobal(0)
contMotionOffset = np.zeros(3)
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 jacobian
body_num = dartModel.getBodyNum()
Jsys = np.zeros((6*body_num, totalDOF))
dJsys = np.zeros((6*body_num, totalDOF))
Jsys_, dJsysdq = compute_J_dJdq(dartModel.skeleton)
# dJsys = np.zeros((6*body_num, totalDOF))
for i in range(dartModel.getBodyNum()):
Jsys[6*i:6*i+6, :] = dartModel.getBody(i).world_jacobian()[range(-3, 3), :]
dJsys[6*i:6*i+6, :] = dartModel.getBody(i).world_jacobian_classic_deriv()[range(-3, 3), :]
dJsysdq = np.dot(dJsys, dartModel.skeleton.dq)
# print(Jsys_ - Jsys)
# print(Jsys_.dot(dth_flat))
# print(Jsys.dot(dth_flat))
# print(dartModel.getBody(0).world_linear_velocity())
# print(np.dot(Jsys[:3, :3], Jsys[0:3, 3:6].T))
print('dq', np.asarray(dartModel.skeleton.dq)[6:9])
print('joint vel', dartModel.skeleton.joint(1).velocity())
# print('bjoint', mm.exp(dartModel.skeleton.q[6:9]).dot(get_bjoint_jacobian(dartModel.skeleton.q[6:9]).dot(np.asarray(dartModel.skeleton.dq)[6:9])))
# print('not bjoint', mm.exp(dartModel.skeleton.q[6:9]).dot(np.asarray(dartModel.skeleton.dq)[6:9]))
print('frombody', dartModel.getJointOrientationGlobal(1).T.dot(dartModel.getJointAngVelocityGlobal(1) - dartModel.getJointAngVelocityGlobal(0)))
print('ddq', np.asarray(dartModel.skeleton.ddq)[6:9])
# print('bjoint', mm.exp(dartModel.skeleton.q[6:9]).dot(get_bjoint_jacobian(dartModel.skeleton.q[6:9]).dot(np.asarray(dartModel.skeleton.dq)[6:9])))
# print('not bjoint', mm.exp(dartModel.skeleton.q[6:9]).dot(np.asarray(dartModel.skeleton.dq)[6:9]))
bodybody = dartModel.skeleton.body(1)
joint_trans = dartModel.skeleton.joint(1).get_world_frame_after_transform()
joint_pos = bodybody.to_local(joint_trans[:3, 3])
print('com spati', dartModel.getJointOrientationGlobal(1).T.dot(
dartModel.skeleton.body(1).world_angular_acceleration() - dartModel.skeleton.body(0).world_angular_acceleration()))
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(dJsysdq[6*contact_id:6*contact_id + 6])
#calculate footCenter
footCenter = .5 * (footCenterL + footCenterR) + footOffset
if contact == 2:
footCenter = footCenterL.copy() + footOffset
#elif contact == 1 or footCenterL[1] > doubleTosingleOffset/2:
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
# 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_plane = footCenter
CM_ref_plane[1] = dartMotionModel.skeleton.com()[1]
dL_des_plane = Kl*totalMass*(CM_ref_plane - CM) - Dl*totalMass*dCM
# dL_des_plane[1] = 0.
# angular momentum
CP_ref = footCenter
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 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)
dH_des = mm.cross(CP_des[0] - CM, dL_des_plane + totalMass*mm.s2v(wcfg.gravity))
else:
dH_des = None
# set up equality constraint
a_oris = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(contact_body_ori[i], mm.unitY()), mm.unitY()) for i in range(len(contact_body_ori))]))
KT_SUP = np.diag([kt_sup/10., kt_sup, kt_sup/10.])
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))]
# print(a_sups)
# print(np.asarray(dartModel.skeleton.dq)[0:3])
# print(dartModel.getJointAngVelocityGlobal(0))
# print(dartModel.getJointAngVelocityLocal(0))
# 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
# print('vel2', np.dot(dartModel.getJointOrientationGlobal(0).T, dartModel.skeleton.body(0).world_linear_velocity()))
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)
if True:
for c_idx in range(len(contact_ids)):
mot.addConstraint2(problem, totalDOF, J_contacts[c_idx], dJ_contacts[c_idx], a_sups[c_idx])
if contactChangeCount > 0:
contactChangeCount -= 1
if contactChangeCount == 0:
maxContactChangeCount = 30
contactChangeType = 0
r = problem.solve()
problem.clear()
ddth_sol_flat = np.asarray(r['x'])
# ype.nested(r['x'], ddth_sol)
# ddth_sol[:6] = np.zeros(6)
rootPos[0] = dartModel.getBodyPositionGlobal(selectedBody)
localPos = [[0, 0, 0]]
inv_h = 1./time_step
_bodyIDs, _contactPositions, _contactPositionLocals, _contactForces = [], [], [], []
for i in range(stepsPerFrame):
# apply penalty force
_ddq, _tau, _bodyIDs, _contactPositions, _contactPositionLocals, _contactForces = hqp.calc_QP(dartModel.skeleton, ddth_sol_flat, inv_h)
# _bodyIDs, _contactPositions, _contactPositionLocals, _contactForces = dartModel.calcPenaltyForce(bodyIDsToCheck,mus, Ks, Ds)
dartModel.applyPenaltyForce(_bodyIDs, _contactPositionLocals, _contactForces)
dartModel.skeleton.set_forces(_tau)
# dartModel.setDOFAccelerations(ddth_sol)
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()
del bodyIDs[:]
del contactPositions[:]
del contactPositionLocals[:]
del contactForces[:]
bodyIDs.extend(_bodyIDs)
contactPositions.extend(_contactPositions)
contactPositionLocals.extend(_contactPositionLocals)
contactForces.extend(_contactForces)
# 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 calc_penalty_force(skel, mus=.5, Ks=15000., Ds=245., locking_vel=.05):
"""
:type skel: pydart.Skeleton
:param mus:
:param Ks:
:param Ds:
:param locking_vel:
:return:
"""
def _calcPenaltyForce(pBody, position, velocity, mu, lockingVel):
"""
:type pBody: pydart.BodyNode
:type position: np.ndarray
:type velocity: np.ndarray
:type mu: float
"""
if position[1] >= 0.:
return False, np.zeros(3)
else:
vNormalRelVel = np.array((0., velocity[1], 0.))
vTangentialRelVel = velocity - vNormalRelVel
tangentialRelVel = np.linalg.norm(vNormalRelVel)
# Ds = 0.
normalForce = max(0., -Ks * position[1] - Ds * velocity[1])
vNormalForce = np.array((0., normalForce, 0.))
frictionForce = mu * normalForce
if tangentialRelVel < lockingVel:
frictionForce *= tangentialRelVel / lockingVel
vFrictionForce = -frictionForce * (
mm.normalize2(vTangentialRelVel))
force = vNormalForce + vFrictionForce
return True, force
bodyIDs, positions, positionLocals, velocities, forces = [], [], [], [], []
for i in range(skel.num_bodynodes()):
body = skel.body(i)
for shapeNode in body.shapenodes:
if shapeNode.has_collision_aspect():
geomType = shapeNode.shape.shape_type_name()
geomT = np.dot(body.world_transform(),
shapeNode.relative_transform())
geom_point = list()
if geomType == 'SphereShape':
shape = shapeNode.shape # type: pydart.SphereShape
geom_point.append(geomT[:3, 3] -
shape.radius() * mm.unitY())
elif geomType == 'BoxShape':
shape = shapeNode.shape # type: pydart.BoxShape
data = shape.size() / 2. # type: np.ndarray
for perm in itertools.product([1, -1], repeat=3):
position_local = np.multiply(
np.array((data[0], data[1], data[2])),
np.array(perm))
geom_point.append(position_local)
for posIdx in range(len(geom_point)):
position_global = np.dot(geomT[:3, :3],
geom_point[posIdx]) + geomT[:3, 3]
if position_global[1] < 0.:
velocity = body.world_linear_velocity(
body.to_local(position_global))
is_penetrated, force = _calcPenaltyForce(
body, position_global, velocity, mus, locking_vel)
if is_penetrated:
bodyIDs.append(body.index_in_skeleton())
positions.append(position_global)
positionLocals.append(
body.to_local(position_global))
velocities.append(velocity)
forces.append(force)
return bodyIDs, positions, positionLocals, forces