def main(): # np.set_printoptions(precision=4, linewidth=200) np.set_printoptions(precision=5, threshold=np.inf, suppress=True, linewidth=3000) motionFile = 'wd2_tiptoe.bvh' motionFile = 'wd2_tiptoe_zygote.bvh' # motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped(motionFile, SEGMENT_FOOT_RAD=0.008) motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped( motionFile, SEGMENT_FOOT_MAG=0.01, SEGMENT_FOOT_RAD=0.008) # motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped() # motion, mcfg, wcfg, stepsPerFrame, config = mit.create_jump_biped() vpWorld = cvw.VpWorld(wcfg) sphere_radius = 0.5 # vpWorld.add_sphere_bump(sphere_radius, (1.6361, -sphere_radius + 0.08, -0.3209)) # vpWorld.add_sphere_bump(sphere_radius, (1.4543, -sphere_radius + 0.08, -0.3301)) vpWorld.add_sphere_bump(sphere_radius, (1.6361, -sphere_radius + 0.08, -0.2909)) vpWorld.add_sphere_bump(sphere_radius, (1.4543, -sphere_radius + 0.08, -0.2901)) 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 = [2.] * 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 = [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('world', yr.VpWorldRenderer(vpWorld, (150, 150, 150))) 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 = 22 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., 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_foot_0_0', 'Foot_foot_0_0_0', 'Foot_foot_0_1_0', 'Foot_foot_1_0' ] 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) foot_left_idx = motion[0].skeleton.getJointIndex('LeftFoot') foot_right_idx = motion[0].skeleton.getJointIndex('RightFoot') foot_left_idx_temp = motion[0].skeleton.getJointIndex('LeftFoot_foot_1_0') foot_right_idx_temp = motion[0].skeleton.getJointIndex( 'RightFoot_foot_1_0') # ik_solver = hik.numIkSolver(dartIkModel) # ik_solver.clear() # bodyIDsToCheck = rIDlist.copy() 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, :] controlModel_ik.set_q(controlModel.get_q()) ################################### # simulate ################################### 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) 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 main(): np.set_printoptions(precision=4, linewidth=200) # motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5() motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped_zygote() # motion, mcfg, wcfg, stepsPerFrame, config = mit.create_jump_biped() vpWorld = cvw.VpWorld(wcfg) sphere_radius = 0.5 vpWorld.add_sphere_bump(sphere_radius, (1.6361, -sphere_radius + 0.08, -0.3209)) vpWorld.add_sphere_bump(sphere_radius, (1.4543, -sphere_radius + 0.08, -0.3301)) # vpWorld.add_sphere_bump(sphere_radius, (1.6361, -sphere_radius + 0.08, -0.2909)) # vpWorld.add_sphere_bump(sphere_radius, (1.4543, -sphere_radius + 0.08, -0.2901)) motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg) controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg) vpWorld.initialize() controlModel.initializeHybridDynamics() # controlToMotionOffset = (1.5, -0.02, 0) controlToMotionOffset = (1.5, 0, 0) controlModel.translateByOffset(controlToMotionOffset) totalDOF = controlModel.getTotalDOF() DOFs = controlModel.getDOFs() # parameter Kt = config['Kt']; Dt = config['Dt'] # tracking gain Kl = config['Kl']; Dl = config['Dl'] # linear balance gain Kh = config['Kh']; Dh = config['Dh'] # angular balance gain Ks = config['Ks']; Ds = config['Ds'] # penalty force spring gain Bt = config['Bt'] Bl = config['Bl'] Bh = config['Bh'] w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap']) supL = motion[0].skeleton.getJointIndex(config['supLink1']) supR = motion[0].skeleton.getJointIndex(config['supLink2']) # selectedBody = motion[0].skeleton.getJointIndex(config['end']) selectedBody = motion[0].skeleton.getJointIndex('Spine') constBody = motion[0].skeleton.getJointIndex('RightFoot') # jacobian JsupL = yjc.makeEmptyJacobian(DOFs, 1) dJsupL = JsupL.copy() JsupPreL = JsupL.copy() JsupR = yjc.makeEmptyJacobian(DOFs, 1) dJsupR = JsupR.copy() JsupPreR = JsupR.copy() Jconst = yjc.makeEmptyJacobian(DOFs, 1) dJconst = Jconst.copy() JconstPre = Jconst.copy() Jsys = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum()) dJsys = Jsys.copy() JsysPre = Jsys.copy() supLJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, supL)] supRJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, supR)] constJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, constBody)] allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton) # momentum matrix linkMasses = controlModel.getBodyMasses() totalMass = controlModel.getTotalMass() TO = ymt.make_TO(linkMasses) dTO = ymt.make_dTO(len(linkMasses)) # optimization problem = yac.LSE(totalDOF, 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.)] # 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_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(rect=(0, 0, 960+300, 1080+56), 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('world', yr.VpWorldRenderer(vpWorld, (150, 150, 150))) viewer.doc.addRenderer('motionModel', yr.VpModelRenderer(motionModel, (150,150,255), yr.POLYGON_FILL)) viewer.doc.setRendererVisible('motionModel', False) # viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE)) viewer.doc.addRenderer('controlModel', yr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_FILL)) viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter)) viewer.doc.setRendererVisible('rd_footCenter', 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('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))) # 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 = 100. initKh = 100. initBl = .1 initBh = .13 initSupKt = 17 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., 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.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) ################################### # simulate ################################### def simulateCallback(frame): motionModel.update(motion[frame]) global g_initFlag global forceShowTime global JsysPre global JsupPreL global JsupPreR global JsupPre global JconstPre global preFootCenter global maxContactChangeCount global contactChangeCount global contact global contactChangeType # Kt, Kl, Kh, Bl, Bh, kt_sup = viewer.GetParam() Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals(['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt']) Dt = 2*(Kt**.5) Dl = 2*(Kl**.5) Dh = 2*(Kh**.5) dt_sup = 2*(kt_sup**.5) doubleTosingleOffset = 0.15 singleTodoubleOffset = 0.30 # doubleTosingleOffset = 0.09 doubleTosingleVelOffset = 0.0 # tracking th_r = motion.getDOFPositions(frame) th = controlModel.getDOFPositions() dth_r = motion.getDOFVelocities(frame) dth = controlModel.getDOFVelocities() ddth_r = motion.getDOFAccelerations(frame) ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt) ype.flatten(ddth_des, ddth_des_flat) ype.flatten(dth, dth_flat) ################################################# # jacobian ################################################# # caution!! body orientation and joint orientation of foot are totally different!! footOriL = controlModel.getJointOrientationGlobal(supL) footOriR = controlModel.getJointOrientationGlobal(supR) # desire footCenter[1] = 0.041135 # desire footCenter[1] = 0.0197 footCenterL = controlModel.getBodyPositionGlobal(supL) footCenterR = controlModel.getBodyPositionGlobal(supR) footBodyOriL = controlModel.getBodyOrientationGlobal(supL) footBodyOriR = controlModel.getBodyOrientationGlobal(supR) footBodyVelL = controlModel.getBodyVelocityGlobal(supL) footBodyVelR = controlModel.getBodyVelocityGlobal(supR) footBodyAngVelL = controlModel.getBodyAngVelocityGlobal(supL) footBodyAngVelR = controlModel.getBodyAngVelocityGlobal(supR) refFootL = motionModel.getBodyPositionGlobal(supL) refFootR = motionModel.getBodyPositionGlobal(supR) refFootVelL = motionModel.getBodyVelocityGlobal(supL) refFootVelR = motionModel.getBodyVelocityGlobal(supR) refFootAngVelL = motionModel.getBodyAngVelocityGlobal(supL) refFootAngVelR = motionModel.getBodyAngVelocityGlobal(supR) 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] dL_des_plane = Kl*totalMass*(CM_ref_plane - CM_plane) - Dl*totalMass*dCM_plane # dL_des_plane[1] = 0. # angular momentum CP_ref = footCenter bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(bodyIDsToCheck, mus, Ks, Ds) # bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds) CP = yrp.getCP(contactPositions, contactForces) if CP_old[0] is None or CP is None: dCP = None else: dCP = (CP - CP_old[0])/(1/30.) CP_old[0] = CP if CP is not None and dCP is not None: ddCP_des = Kh*(CP_ref - CP) - Dh*(dCP) CP_des = CP + dCP*(1/30.) + .5*ddCP_des*((1/30.)**2) dH_des = np.cross((CP_des - CM), (dL_des_plane + totalMass*mm.s2v(wcfg.gravity))) if contactChangeCount >0:# and contactChangeType == 'DtoS': # dH_des *= (maxContactChangeCount - contactChangeCount)/(maxContactChangeCount*10) dH_des *= (maxContactChangeCount - contactChangeCount)/(maxContactChangeCount) # dH_des *= (contactChangeCount)/(maxContactChangeCount)*.9+.1 else: dH_des = None # H = np.dot(P, np.dot(Jsys, dth_flat)) # dH_des = -Kh* H[3:] # soft point constraint #softConstPoint = refFootR.copy() ##softConstPoint[0] += 0.2 #Ksc = 50 #Dsc = 2*(Ksc**.5) #Bsc = 1. #P_des = softConstPoint #P_cur = controlModel.getBodyPositionGlobal(constBody) #dP_des = [0, 0, 0] #dP_cur = controlModel.getBodyVelocityGlobal(constBody) #ddP_des1 = Ksc*(P_des - P_cur) + Dsc*(dP_des - dP_cur) #r = P_des - P_cur #I = np.vstack(([1,0,0],[0,1,0],[0,0,1])) #Z = np.hstack((I, mm.getCrossMatrixForm(-r))) #yjc.computeJacobian2(Jconst, DOFs, jointPositions, jointAxeses, [softConstPoint], constJointMasks) #dJconst = (Jconst - Jconst)/(1/30.) #JconstPre = Jconst.copy() ##yjc.computeJacobianDerivative2(dJconst, DOFs, jointPositions, jointAxeses, linkAngVelocities, [softConstPoint], constJointMasks, False) #JL, JA = np.vsplit(Jconst, 2) #Q1 = np.dot(Z, Jconst) #q1 = np.dot(JA, dth_flat) #q2 = np.dot(mm.getCrossMatrixForm(q1), np.dot(mm.getCrossMatrixForm(q1), r)) #q_bias1 = np.dot(np.dot(Z, dJconst), dth_flat) + q2 #set up equality constraint footBodyOriL 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, np.array([0,1,0])), np.array([0,1,0]))) a_oriR = mm.logSO3(mm.getSO3FromVectors(np.dot(footBodyOriR, np.array([0,1,0])), np.array([0,1,0]))) #if contact == 3 and contactChangeCount < maxContactChangeCount/4 and contactChangeCount >=1: #kt_sup = 30 #viewer.objectInfoWnd.labelSupKt.value(kt_sup) #viewer.objectInfoWnd.sliderSupKt.value(initSupKt*10) # a_supL = np.append(kt_sup*(refFootL - footCenterL + contMotionOffset) + dt_sup*(refFootVelL - footBodyVelL), kt_sup*a_oriL+dt_sup*(refFootAngVelL-footBodyAngVelL)) # a_supR = np.append(kt_sup*(refFootR - footCenterR + contMotionOffset) + dt_sup*(refFootVelR - footBodyVelR), kt_sup*a_oriR+dt_sup*(refFootAngVelR-footBodyAngVelR)) a_supL = np.append(kt_sup*(refFootL - footCenterL + contMotionOffset) - dt_sup*footBodyVelL, kt_sup*a_oriL-dt_sup*footBodyAngVelL) a_supL[1] = -kt_sup*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*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 rightFootVectorX[0] = np.dot(footOriL, np.array([.1,0,0])) rightFootVectorY[0] = np.dot(footOriL, np.array([0,.1,0])) rightFootVectorZ[0] = np.dot(footOriL, np.array([0,0,.1])) rightFootPos[0] = footCenterL rightVectorX[0] = np.dot(footBodyOriL, np.array([.1,0,0])) rightVectorY[0] = np.dot(footBodyOriL, np.array([0,.1,0])) rightVectorZ[0] = np.dot(footBodyOriL, np.array([0,0,.1])) rightPos[0] = footCenterL + np.array([.1,0,0]) rd_footCenter[0] = footCenter rd_footCenterL[0] = footCenterL rd_footCenterR[0] = footCenterR rd_CM[0] = CM rd_CM_plane[0] = CM.copy() rd_CM_plane[0][1] = 0. if CP is not None and dCP is not None: rd_CP[0] = CP rd_CP_des[0] = CP_des rd_dL_des_plane[0] = [dL_des_plane[0]/100, dL_des_plane[1]/100, dL_des_plane[2]/100] rd_dH_des[0] = dH_des rd_grf_des[0] = dL_des_plane - totalMass*mm.s2v(wcfg.gravity) rd_root_des[0] = rootPos[0] del rd_CF[:] del rd_CF_pos[:] for i in range(len(contactPositions)): rd_CF.append( contactForces[i]/400) rd_CF_pos.append(contactPositions[i].copy()) if viewer_GetForceState(): rd_exfen_des[0] = [extraForce[0][0]/100, extraForce[0][1]/100, extraForce[0][2]/100] rd_exf_des[0] = [0,0,0] else: rd_exf_des[0] = [extraForce[0][0]/100, extraForce[0][1]/100, extraForce[0][2]/100] rd_exfen_des[0] = [0,0,0] extraForcePos[0] = controlModel.getBodyPositionGlobal(selectedBody) - 0.1 * np.array([viewer.objectInfoWnd.labelForceX.value(), 0., viewer.objectInfoWnd.labelForceZ.value()]) viewer.setSimulateCallback(simulateCallback) viewer.startTimer(1/30.) viewer.show() Fl.run()