def createContactForEffector(invdyn, robot, phase, eeName):
contactNormal = np.matrix(cfg.Robot.dict_normal[eeName]).T
contactNormal = cfg.Robot.dict_offset[
eeName].rotation * contactNormal # apply offset transform
if cfg.Robot.cType == "_3_DOF":
contact = tsid.ContactPoint("contact_" + eeName, robot, eeName,
contactNormal, cfg.MU, cfg.fMin, cfg.fMax)
mask = np.matrix(np.ones(3)).transpose()
contact.useLocalFrame(False)
else:
contact_Points = buildRectangularContactPoints(eeName)
contact = tsid.Contact6d("contact_" + eeName, robot, eeName,
contact_Points, contactNormal, cfg.MU,
cfg.fMin, cfg.fMax)
mask = np.matrix(np.ones(6)).transpose()
contact.setKp(cfg.kp_contact * mask)
contact.setKd(2.0 * np.sqrt(cfg.kp_contact) * mask)
ref = getCurrentEffectorPosition(robot, invdyn.data(), eeName)
contact.setReference(ref)
invdyn.addRigidContact(contact, cfg.w_forceRef)
if cfg.WB_VERBOSE:
print "create contact for effector ", eeName
if cfg.Robot.cType == "_3_DOF":
print "create contact point"
else:
print "create rectangular contact"
print "contact points : \n", contact_Points
print "contact placement : ", ref
print "contact_normal : ", contactNormal
return contact
def AttachContact(name):
i = contact_frames.index(name)
contacts[i] = tsid.ContactPoint(name, robot, name, contactNormal, mu, fMin, fMax)
contacts[i].setKp(kp_contact * matlib.ones(3).T)
contacts[i].setKd(2.0 * np.sqrt(kp_contact) * matlib.ones(3).T)
H_rf_ref = robot.framePosition(data, robot.model().getFrameId(name))
contacts[i].setReference(H_rf_ref)
contacts[i].useLocalFrame(False)
invdyn.addRigidContact(contacts[i], w_forceRef, 1.0, 1)
def createContactForEffector(cfg,
invdyn,
robot,
eeName,
patch,
use_force_reg=True):
"""
Add a contact task in invdyn for the given effector, at it's current placement
:param invdyn:
:param robot:
:param eeName: name of the effector
:param patch: the ContactPatch object to use. Take friction coefficient and placement for the contact from this object
:param use_force_reg: if True, use the cfg.w_forceRef_init otherwise use cfg.w_forceRef_end
:return: the contact task
"""
contactNormal = np.array(cfg.Robot.dict_normal[eeName])
contactNormal = cfg.Robot.dict_offset[
eeName].rotation @ contactNormal # apply offset transform
logger.info("create contact for effector %s", eeName)
logger.info("contact placement : %s", patch.placement)
logger.info("contact_normal : %s", contactNormal)
if patch.contact_model.contact_type == ContactType.CONTACT_POINT:
contact = tsid.ContactPoint("contact_" + eeName, robot, eeName,
contactNormal, patch.friction, cfg.fMin,
cfg.fMax)
mask = np.ones(3)
force_ref = np.zeros(3)
contact.useLocalFrame(False)
logger.info("create contact point")
elif patch.contact_model.contact_type == ContactType.CONTACT_PLANAR:
contact_points = patch.contact_model.contact_points_positions
contact = tsid.Contact6d("contact_" + eeName, robot, eeName,
contact_points, contactNormal, patch.friction,
cfg.fMin, cfg.fMax)
mask = np.ones(6)
force_ref = np.zeros(6)
logger.info("create rectangular contact")
logger.info("contact points : \n %s", contact_points)
else:
raise RuntimeError("Unknown contact type : ",
patch.contact_model.contact_type)
contact.setKp(cfg.kp_contact * mask)
contact.setKd(2.0 * np.sqrt(cfg.kp_contact) * mask)
contact.setReference(patch.placement)
contact.setForceReference(force_ref)
if use_force_reg:
w_forceRef = cfg.w_forceRef_init
else:
w_forceRef = cfg.w_forceRef_end
invdyn.addRigidContact(contact, w_forceRef)
return contact
def __init__(self, conf, viewer=True):
self.conf = conf
self.contact_frame_names = conf.contact_frame_names
print('Robot files:')
print(conf.urdf)
print(conf.srdf)
vector = pin.StdVec_StdString()
vector.extend(item for item in conf.path)
self.robot = tsid.RobotWrapper(conf.urdf, vector,
pin.JointModelFreeFlyer(), False)
robot = self.robot
self.model = robot.model()
pin.loadReferenceConfigurations(self.model, conf.srdf, False)
self.q0 = q = self.model.referenceConfigurations[
conf.reference_config_q_name]
v = np.zeros(robot.nv)
assert (all([
self.model.existFrame(frame_name)
for frame_name in self.contact_frame_names
]))
invdyn = tsid.InverseDynamicsFormulationAccForce('tsid', robot, False)
invdyn.computeProblemData(0.0, q, v)
data = invdyn.data()
robot.computeAllTerms(data, q, v)
#####################################
# define contact and associated tasks
#####################################
self.contact_frame_ids = [
self.model.getFrameId(frame_name)
for frame_name in self.contact_frame_names
]
self.nc = len(self.contact_frame_ids) # contact number
self.contacts = self.nc * [None]
self.tasks_tracking_foot = self.nc * [None]
self.traj_feet = self.nc * [None]
self.sample_feet = self.nc * [None]
mask = np.ones(6)
if not conf.contact6d:
mask[3:] = 0
for i_foot, (frame_name, fid) in enumerate(
zip(self.contact_frame_names, self.contact_frame_ids)):
Hf_ref = robot.framePosition(data, fid)
if conf.contact6d:
# DEFINE FOOT CONTACT POINTS LOCATION WRT LOCAL FOOT FRAMES
# contact_points = np.ones((3,4)) * conf.lz
contact_points = -np.ones((3, 4)) * conf.lz
contact_points[0, :] = [
-conf.lxn, -conf.lxn, conf.lxp, conf.lxp
]
contact_points[1, :] = [
-conf.lyn, conf.lyp, -conf.lyn, conf.lyp
]
# RIGID CONTACT RIGHT FOOT
self.contacts[i_foot] = tsid.Contact6d(
'contact_{}'.format(frame_name), robot, frame_name,
contact_points, conf.contactNormal, conf.mu, conf.fMin,
conf.fMax)
self.contacts[i_foot].setKp(conf.kp_contact * np.ones(6).T)
self.contacts[i_foot].setKd(2.0 * np.sqrt(conf.kp_contact) *
np.ones(6).T)
self.contacts[i_foot].setReference(Hf_ref)
invdyn.addRigidContact(self.contacts[i_foot], conf.w_forceRef)
else:
# RIGID POINT CONTACTS
self.contacts[i_foot] = tsid.ContactPoint(
'contact_{}'.format(frame_name), robot, frame_name,
conf.contactNormal, conf.mu, conf.fMin, conf.fMax)
self.contacts[i_foot].setKp(conf.kp_contact * np.ones(3))
self.contacts[i_foot].setKd(2.0 * np.sqrt(conf.kp_contact) *
np.ones(3))
self.contacts[i_foot].setReference(Hf_ref)
self.contacts[i_foot].useLocalFrame(conf.useLocalFrame)
invdyn.addRigidContact(self.contacts[i_foot], conf.w_forceRef)
# FEET TRACKING TASKS
self.tasks_tracking_foot[i_foot] = tsid.TaskSE3Equality(
'task-foot{}'.format(i_foot), self.robot,
self.contact_frame_names[i_foot])
self.tasks_tracking_foot[i_foot].setKp(conf.kp_foot * mask)
self.tasks_tracking_foot[i_foot].setKd(
2.0 * np.sqrt(conf.kp_foot) * mask)
self.tasks_tracking_foot[i_foot].setMask(mask)
self.tasks_tracking_foot[i_foot].useLocalFrame(False)
invdyn.addMotionTask(self.tasks_tracking_foot[i_foot], conf.w_foot,
conf.priority_foot, 0.0)
self.traj_feet[i_foot] = tsid.TrajectorySE3Constant(
'traj-foot{}'.format(i_foot), Hf_ref)
self.sample_feet[i_foot] = self.traj_feet[i_foot].computeNext()
#############
# Other tasks
#############
# COM TASK
self.comTask = tsid.TaskComEquality('task-com', robot)
self.comTask.setKp(conf.kp_com * np.ones(3))
self.comTask.setKd(2.0 * np.sqrt(conf.kp_com) * np.ones(3))
invdyn.addMotionTask(self.comTask, conf.w_com, conf.priority_com, 1.0)
# POSTURE TASK
self.postureTask = tsid.TaskJointPosture('task-posture', robot)
self.postureTask.setKp(conf.kp_posture * np.ones(robot.nv - 6))
self.postureTask.setKd(2.0 * np.sqrt(conf.kp_posture) *
np.ones(robot.nv - 6))
invdyn.addMotionTask(self.postureTask, conf.w_posture,
conf.priority_posture, 0.0)
# TRUNK Task
self.trunkTask = tsid.TaskSE3Equality("keepTrunk", robot, 'root_joint')
self.trunkTask.setKp(conf.kp_trunk * np.ones(6))
self.trunkTask.setKd(2.0 * np.sqrt(conf.kp_trunk) * np.ones(6))
# Add a Mask to the task which will select the vector dimensions on which the task will act.
# In this case the trunk configuration is a vector 6d (position and orientation -> SE3)
# Here we set a mask = [0 0 0 1 1 1] so the task on the trunk will act on the orientation of the robot
mask = np.ones(6)
mask[:3] = 0.
self.trunkTask.useLocalFrame(False)
self.trunkTask.setMask(mask)
invdyn.addMotionTask(self.trunkTask, conf.w_trunk, conf.priority_trunk,
0.0)
# TORQUE BOUND TASK
# self.tau_max = conf.tau_max_scaling*robot.model().effortLimit[-robot.na:]
# self.tau_min = -self.tau_max
# actuationBoundsTask = tsid.TaskActuationBounds('task-actuation-bounds', robot)
# actuationBoundsTask.setBounds(self.tau_min, self.tau_max)
# if(conf.w_torque_bounds>0.0):
# invdyn.addActuationTask(actuationBoundsTask, conf.w_torque_bounds, conf.priority_torque_bounds, 0.0)
# JOINT BOUND TASK
# jointBoundsTask = tsid.TaskJointBounds('task-joint-bounds', robot, conf.dt)
# self.v_max = conf.v_max_scaling * robot.model().velocityLimit[-robot.na:]
# self.v_min = -self.v_max
# jointBoundsTask.setVelocityBounds(self.v_min, self.v_max)
# if(conf.w_joint_bounds>0.0):
# invdyn.addMotionTask(jointBoundsTask, conf.w_joint_bounds, conf.priority_joint_bounds, 0.0)
##################################
# Init task reference trajectories
##################################
self.sample_feet = self.nc * [None]
self.sample_feet_pos = self.nc * [None]
self.sample_feet_vel = self.nc * [None]
self.sample_feet_acc = self.nc * [None]
for i_foot, traj in enumerate(self.traj_feet):
self.sample_feet[i_foot] = traj.computeNext()
self.sample_feet_pos[i_foot] = self.sample_feet[i_foot].pos()
self.sample_feet_vel[i_foot] = self.sample_feet[i_foot].vel()
self.sample_feet_acc[i_foot] = self.sample_feet[i_foot].acc()
com_ref = robot.com(data)
self.trajCom = tsid.TrajectoryEuclidianConstant('traj_com', com_ref)
self.sample_com = self.trajCom.computeNext()
q_ref = q[7:]
self.trajPosture = tsid.TrajectoryEuclidianConstant(
'traj_joint', q_ref)
self.postureTask.setReference(self.trajPosture.computeNext())
self.trunk_link_id = self.model.getFrameId('base_link')
R_trunk_init = robot.framePosition(data, self.trunk_link_id).rotation
self.trunk_ref = self.robot.framePosition(data, self.trunk_link_id)
self.trajTrunk = tsid.TrajectorySE3Constant("traj_base_link",
self.trunk_ref)
self.sample_trunk = self.trajTrunk.computeNext()
pos_trunk = np.hstack([np.zeros(3), R_trunk_init.flatten()])
self.sample_trunk.pos()
self.sample_trunk.vel(np.zeros(6))
self.sample_trunk.acc(np.zeros(6))
self.trunkTask.setReference(self.sample_trunk)
self.solver = tsid.SolverHQuadProgFast('qp solver')
self.solver.resize(invdyn.nVar, invdyn.nEq, invdyn.nIn)
self.invdyn = invdyn
self.q = q
self.v = v
self.active_contacts = self.nc * [True]
# for gepetto viewer
if (viewer):
self.robot_display = pin.RobotWrapper.BuildFromURDF(
conf.urdf, [
conf.path,
], pin.JointModelFreeFlyer())
l = subprocess.getstatusoutput(
"ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l")
if int(l[1]) == 0:
os.system('gepetto-gui &')
time.sleep(1)
gepetto.corbaserver.Client()
self.robot_display.initViewer(loadModel=True)
self.robot_display.displayCollisions(False)
self.robot_display.displayVisuals(True)
self.robot_display.display(q)
self.gui = self.robot_display.viewer.gui
self.gui.setCameraTransform('python-pinocchio',
conf.CAMERA_TRANSFORM)
self.gui.addFloor('world/floor')
self.gui.setLightingMode('world/floor', 'OFF')
self.gui.addSphere('world/com', conf.SPHERE_RADIUS,
conf.COM_SPHERE_COLOR)
self.gui.addSphere('world/com_ref', conf.REF_SPHERE_RADIUS,
conf.COM_REF_SPHERE_COLOR)
for frame_name in self.contact_frame_names:
self.gui.addSphere('world/{}'.format(frame_name),
conf.SPHERE_RADIUS, conf.F_SPHERE_COLOR)
self.gui.addSphere('world/{}_ref'.format(frame_name),
conf.REF_SPHERE_RADIUS,
conf.F_REF_SPHERE_COLOR)
path = filename + '/../models/romeo'
urdf = path + '/urdf/romeo.urdf'
vector = se3.StdVec_StdString()
vector.extend(item for item in path)
robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False)
model = robot.model()
data = robot.data()
mu = 0.3
fMin = 10.0
fMax = 1000.0
frameName = "RAnkleRoll"
contactNormal = np.matrix(np.zeros(3)).transpose()
contactNormal[2] = 1.0
contact = tsid.ContactPoint("contactPoint", robot, frameName, contactNormal,
mu, fMin, fMax)
assert contact.n_motion == 3
assert contact.n_force == 3
Kp = np.matrix(np.ones(3)).transpose()
Kd = 2 * Kp
contact.setKp(Kp)
contact.setKd(Kd)
assert np.linalg.norm(contact.Kp - Kp, 2) < tol
assert np.linalg.norm(contact.Kd - Kd, 2) < tol
q = model.neutralConfiguration
v = np.matrix(np.zeros(robot.nv)).transpose()
robot.computeAllTerms(data, q, v)
assert [robot.model().existFrame(name) for name in contact_frames]
t = 0.0 # time
invdyn = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False)
invdyn.computeProblemData(t, q, v)
data = invdyn.data()
# Place the robot onto the ground.
id_contact = robot_display.model.getFrameId(contact_frames[0])
q[2] -= robot.framePosition(data, id_contact).translation[2]
robot.computeAllTerms(data, q, v)
contacts = 4 * [None]
for i, name in enumerate(contact_frames):
contacts[i] = tsid.ContactPoint(name, robot, name, contactNormal, mu, fMin,
fMax)
contacts[i].setKp(kp_contact * np.ones(3))
contacts[i].setKd(2.0 * np.sqrt(kp_contact) * np.ones(3))
H_rf_ref = robot.framePosition(data, robot.model().getFrameId(name))
contacts[i].setReference(H_rf_ref)
contacts[i].useLocalFrame(False)
invdyn.addRigidContact(contacts[i], w_forceRef, 1.0, 1)
comTask = tsid.TaskComEquality("task-com", robot)
comTask.setKp(kp_com * np.ones(3))
comTask.setKd(2.0 * np.sqrt(kp_com) * np.ones(3))
invdyn.addMotionTask(comTask, w_com, 1, 0.0)
postureTask = tsid.TaskJointPosture("task-posture", robot)
postureTask.setKp(kp_posture * np.ones(robot.nv - 6))
postureTask.setKd(2.0 * np.sqrt(kp_posture) * np.ones(robot.nv - 6))
def __init__(self, N_simulation, k_mpc, n_periods):
self.q_ref = np.array([[0.0, 0.0, 0.2027682, 0.0, 0.0, 0.0, 1.0,
0.0, 0.8, -1.6, 0, 0.8, -1.6,
0, -0.8, 1.6, 0, -0.8, 1.6]]).transpose()
self.qtsid = self.q_ref.copy()
self.vtsid = np.zeros((18, 1))
self.ades = np.zeros((18, 1))
self.error = False
self.verbose = True
# List with the names of all feet frames
self.foot_frames = ['FL_FOOT', 'FR_FOOT', 'HL_FOOT', 'HR_FOOT']
# Constraining the contacts
mu = 0.9 # friction coefficient
fMin = 1.0 # minimum normal force
fMax = 25.0 # maximum normal force
contactNormal = np.matrix([0., 0., 1.]).T # direction of the normal to the contact surface
# Coefficients of the posture task
kp_posture = 10.0 # proportionnal gain of the posture task
w_posture = 1.0 # weight of the posture task
# Coefficients of the contact tasks
kp_contact = 100.0 # proportionnal gain for the contacts
self.w_forceRef = 50.0 # weight of the forces regularization
self.w_reg_f = 50.0
# Coefficients of the foot tracking task
kp_foot = 100.0 # proportionnal gain for the tracking task
self.w_foot = 500.0 # weight of the tracking task
# Arrays to store logs
k_max_loop = N_simulation
self.f_pos = np.zeros((4, k_max_loop, 3))
self.f_vel = np.zeros((4, k_max_loop, 3))
self.f_acc = np.zeros((4, k_max_loop, 3))
self.f_pos_ref = np.zeros((4, k_max_loop, 3))
self.f_vel_ref = np.zeros((4, k_max_loop, 3))
self.f_acc_ref = np.zeros((4, k_max_loop, 3))
self.b_pos = np.zeros((k_max_loop, 6))
self.b_vel = np.zeros((k_max_loop, 6))
self.com_pos = np.zeros((k_max_loop, 3))
self.com_pos_ref = np.zeros((k_max_loop, 3))
self.c_forces = np.zeros((4, k_max_loop, 3))
self.h_ref_feet = np.zeros((k_max_loop, ))
self.goals = np.zeros((3, 4))
self.vgoals = np.zeros((3, 4))
self.agoals = np.zeros((3, 4))
self.mgoals = np.zeros((6, 4))
# Position of the shoulders in local frame
self.shoulders = np.array([[0.19, 0.19, -0.19, -0.19], [0.15005, -0.15005, 0.15005, -0.15005]])
self.footsteps = self.shoulders.copy()
self.memory_contacts = self.shoulders.copy()
# Foot trajectory generator
max_height_feet = 0.05
t_lock_before_touchdown = 0.05
self.ftgs = [ftg.Foot_trajectory_generator(max_height_feet, t_lock_before_touchdown) for i in range(4)]
# Which pair of feet is active (0 for [1, 2] and 1 for [0, 3])
self.pair = -1
# Number of TSID steps for 1 step of the MPC
self.k_mpc = k_mpc
# For update_feet_tasks function
self.dt = 0.001 # [s], time step
self.t1 = 0.14 # [s], duration of swing phase
# Rotation matrix
self.R = np.eye(3)
# Feedforward torques
self.tau_ff = np.zeros((12, 1))
# Torques sent to the robot
self.torques12 = np.zeros((12, 1))
self.tau = np.zeros((12, ))
self.ID_base = None # ID of base link
self.ID_feet = [None] * 4 # ID of feet links
# Footstep planner object
# self.fstep_planner = FootstepPlanner.FootstepPlanner(0.001, 32)
self.vu_m = np.zeros((6, 1))
self.t_stance = 0.16
self.T_gait = 0.32
self.n_periods = n_periods
self.h_ref = 0.235 - 0.01205385
self.t_swing = np.zeros((4, )) # Total duration of current swing phase for each foot
self.contacts_order = [0, 1, 2, 3]
# Parameter to enable/disable hybrid control
self.enable_hybrid_control = False
# Time since the start of the simulation
self.t = 0.0
########################################################################
# Definition of the Model and TSID problem #
########################################################################
# Set the paths where the urdf and srdf file of the robot are registered
modelPath = "/opt/openrobots/share/example-robot-data/robots"
urdf = modelPath + "/solo_description/robots/solo12.urdf"
srdf = modelPath + "/solo_description/srdf/solo.srdf"
vector = pin.StdVec_StdString()
vector.extend(item for item in modelPath)
# Create the robot wrapper from the urdf model (which has no free flyer) and add a free flyer
self.robot = tsid.RobotWrapper(urdf, vector, pin.JointModelFreeFlyer(), False)
self.model = self.robot.model()
# Creation of the Invverse Dynamics HQP problem using the robot
# accelerations (base + joints) and the contact forces
self.invdyn = tsid.InverseDynamicsFormulationAccForce("tsid", self.robot, False)
# Compute the problem data with a solver based on EiQuadProg
t = 0.0
self.invdyn.computeProblemData(t, self.qtsid, self.vtsid)
# Saving IDs for later
self.ID_base = self.model.getFrameId("base_link")
for i, name in enumerate(self.foot_frames):
self.ID_feet[i] = self.model.getFrameId(name)
# Store a frame object to avoid creating one each time
self.pos_foot = self.robot.framePosition(self.invdyn.data(), self.ID_feet[0])
#####################
# LEGS POSTURE TASK #
#####################
# Task definition (creating the task object)
self.postureTask = tsid.TaskJointPosture("task-posture", self.robot)
self.postureTask.setKp(kp_posture * matlib.ones(self.robot.nv-6).T) # Proportional gain
self.postureTask.setKd(2.0 * np.sqrt(kp_posture) * matlib.ones(self.robot.nv-6).T) # Derivative gain
# Add the task to the HQP with weight = w_posture, priority level = 1 (not real constraint)
# and a transition duration = 0.0
self.invdyn.addMotionTask(self.postureTask, w_posture, 1, 0.0)
# TSID Trajectory (creating the trajectory object and linking it to the task)
pin.loadReferenceConfigurations(self.model, srdf, False)
self.trajPosture = tsid.TrajectoryEuclidianConstant("traj_joint", self.q_ref[7:])
self.samplePosture = self.trajPosture.computeNext()
self.postureTask.setReference(self.samplePosture)
############
# CONTACTS #
############
self.contacts = 4*[None] # List to store the rigid contact tasks
for i, name in enumerate(self.foot_frames):
# Contact definition (creating the contact object)
self.contacts[i] = tsid.ContactPoint(name, self.robot, name, contactNormal, mu, fMin, fMax)
self.contacts[i].setKp((kp_contact * matlib.ones(3).T))
self.contacts[i].setKd((2.0 * np.sqrt(kp_contact) * matlib.ones(3).T))
self.contacts[i].useLocalFrame(False)
# Set the contact reference position
H_ref = self.robot.framePosition(self.invdyn.data(), self.ID_feet[i])
H_ref.translation = np.matrix(
[H_ref.translation[0, 0],
H_ref.translation[1, 0],
0.0]).T
self.contacts[i].setReference(H_ref)
# Regularization weight for the force tracking subtask
self.contacts[i].setRegularizationTaskWeightVector(
np.matrix([self.w_reg_f, self.w_reg_f, self.w_reg_f]).T)
# Adding the rigid contact after the reference contact force has been set
self.invdyn.addRigidContact(self.contacts[i], self.w_forceRef)
#######################
# FOOT TRACKING TASKS #
#######################
self.feetTask = 4*[None] # List to store the foot tracking tasks
mask = np.matrix([1.0, 1.0, 1.0, 0.0, 0.0, 0.0]).T
# Task definition (creating the task object)
for i_foot in range(4):
self.feetTask[i_foot] = tsid.TaskSE3Equality(
"foot_track_" + str(i_foot), self.robot, self.foot_frames[i_foot])
self.feetTask[i_foot].setKp(kp_foot * mask)
self.feetTask[i_foot].setKd(2.0 * np.sqrt(kp_foot) * mask)
self.feetTask[i_foot].setMask(mask)
self.feetTask[i_foot].useLocalFrame(False)
# The reference will be set later when the task is enabled
##########
# SOLVER #
##########
# Use EiquadprogFast solver
self.solver = tsid.SolverHQuadProgFast("qp solver")
# Resize the solver to fit the number of variables, equality and inequality constraints
self.solver.resize(self.invdyn.nVar, self.invdyn.nEq, self.invdyn.nIn)
def __init__(self):
########################################################################
# Definition of the Model and TSID problem #
########################################################################
# set the path
path = "/opt/openrobots/share/example-robot-data/robots/solo_description/robots"
urdf = path + "/solo12.urdf"
srdf = "/opt/openrobots/share/example-robot-data/robots/solo_description/srdf/solo.srdf"
vec = pin.StdVec_StdString()
vec.extend(item for item in path)
# get the solo12 wrapper
self.solo12_wrapper = tsid.RobotWrapper(urdf, vec,
pin.JointModelFreeFlyer(),
False)
self.solo12_model = self.solo12_wrapper.model()
pin.loadReferenceConfigurations(self.solo12_model, srdf, False)
# problem formulation
self.formulation = tsid.InverseDynamicsFormulationAccForce(
"tsid", self.solo12_wrapper, False)
self.q0 = self.solo12_model.referenceConfigurations[
"straight_standing"]
self.v0 = np.zeros(self.solo12_model.nv)
self.formulation.computeProblemData(0.0, self.q0, self.v0)
self.data = self.formulation.data()
# get frame ID
self.ID_FL = self.solo12_model.getFrameId("FL_FOOT")
self.ID_FR = self.solo12_model.getFrameId("FR_FOOT")
self.ID_HL = self.solo12_model.getFrameId("HL_FOOT")
self.ID_HR = self.solo12_model.getFrameId("HR_FOOT")
self.ID_BASE = self.solo12_model.getFrameId("base_link")
############
# COM TASK #
############
self.kp_com = 50
self.w_com = 3
self.comTask = tsid.TaskComEquality("task-com", self.solo12_wrapper)
self.comTask.setKp(self.kp_com * np.ones(3).T)
self.comTask.setKd(2 * np.sqrt(self.kp_com) * np.ones(3).T)
self.formulation.addMotionTask(self.comTask, self.w_com, 1, 0.0)
self.com_ref = self.solo12_wrapper.com(self.data)
self.trajCom = tsid.TrajectoryEuclidianConstant(
"traj-com", self.com_ref)
#################
# SE3 BASE TASK #
#################
self.kp_trunk = 50
self.w_trunk = 1
self.trunkTask = tsid.TaskSE3Equality("task-trunk",
self.solo12_wrapper, 'base_link')
mask = np.matrix([1.0, 1.0, 0.0, 1.0, 1.0, 1.0]).T
self.trunkTask.setKp(
np.matrix([
self.kp_trunk, self.kp_trunk, 0.0, self.kp_trunk,
self.kp_trunk, self.kp_trunk
]).T)
self.trunkTask.setKd(
np.matrix([
2.0 * np.sqrt(self.kp_trunk), 2.0 * np.sqrt(self.kp_trunk),
0.0, 2.0 * np.sqrt(self.kp_trunk),
2.0 * np.sqrt(self.kp_trunk), 2.0 * np.sqrt(self.kp_trunk)
]).T)
self.trunkTask.useLocalFrame(False)
self.trunkTask.setMask(mask)
self.formulation.addMotionTask(self.trunkTask, self.w_trunk, 1, 0.0)
self.trunk_ref = self.solo12_wrapper.framePosition(
self.data, self.ID_BASE)
self.trajTrunk = tsid.TrajectorySE3Constant("traj_base_link",
self.trunk_ref)
##################
# CONTACT FORCES #
##################
self.contactNormal = np.array([0, 0, 1])
self.kp_contact = 30
self.mu = 0.5
self.contactFL = tsid.ContactPoint("contactFL", self.solo12_wrapper,
"FL_FOOT", self.contactNormal,
self.mu, 1, 1000)
self.contactFL.setKp(self.kp_contact * np.ones(6).T)
self.contactFL.setKd(2 * np.sqrt(self.kp_contact) * np.ones(6).T)
self.fl_ref = self.solo12_wrapper.framePosition(self.data, self.ID_FL)
self.contactFL.setReference(self.fl_ref)
self.formulation.addRigidContact(self.contactFL, 10)
self.contactFR = tsid.ContactPoint("contactFR", self.solo12_wrapper,
"FR_FOOT", self.contactNormal,
self.mu, 1, 1000)
self.contactFR.setKp(self.kp_contact * np.ones(6).T)
self.contactFR.setKd(2 * np.sqrt(self.kp_contact) * np.ones(6).T)
self.fr_ref = self.solo12_wrapper.framePosition(self.data, self.ID_FR)
self.contactFR.setReference(self.fr_ref)
self.formulation.addRigidContact(self.contactFR, 10)
self.contactHR = tsid.ContactPoint("contactHR", self.solo12_wrapper,
"HR_FOOT", self.contactNormal,
self.mu, 1, 1000)
self.contactHR.setKp(self.kp_contact * np.ones(6).T)
self.contactHR.setKd(2 * np.sqrt(self.kp_contact) * np.ones(6).T)
self.hr_ref = self.solo12_wrapper.framePosition(self.data, self.ID_HR)
self.contactHR.setReference(self.hr_ref)
self.formulation.addRigidContact(self.contactHR, 10)
self.contactHL = tsid.ContactPoint("contactHL", self.solo12_wrapper,
"HL_FOOT", self.contactNormal,
self.mu, 1, 1000)
self.contactHL.setKp(self.kp_contact * np.ones(6).T)
self.contactHL.setKd(2 * np.sqrt(self.kp_contact) * np.ones(6).T)
self.hl_ref = self.solo12_wrapper.framePosition(self.data, self.ID_HL)
self.contactHL.setReference(self.hl_ref)
self.formulation.addRigidContact(self.contactHL, 10)
##########
# SOLVER #
##########
self.solver = tsid.SolverHQuadProgFast("qp solver")
self.solver.resize(self.formulation.nVar, self.formulation.nEq,
self.formulation.nIn)
def __init__(self, q0, omega, t):
self.omega = omega
self.qdes = q0.copy()
self.vdes = np.zeros((18, 1))
self.ades = np.zeros((18, 1))
self.error = False
kp_posture = 10.0 # proportionnal gain of the posture task
w_posture = 1.0 # weight of the posture task
kp_com = 100.0 # proportionnal gain of the CoM task
w_com = 100.0 # weight of the CoM task
kp_lock = 1.0 # proportionnal gain of the lock task
w_lock = 100.0 # weight of the lock task
# For the contacts
mu = 0.3 # friction coefficient
fMin = 1.0 # minimum normal force
fMax = 100.0 # maximum normal force
w_forceRef = 1e-3 # weight of the forces regularization
kp_contact = 1.0 # proportionnal gain for the contacts
foot_frames = ['HL_FOOT', 'HR_FOOT', 'FL_FOOT',
'FR_FOOT'] # tab with all the foot frames names
contactNormal = np.matrix(
[0., 0., 1.]).T # direction of the normal to the contact surface
########################################################################
# Definition of the Model and TSID problem #
########################################################################
## Set the paths where the urdf and srdf file of the robot are registered
modelPath = "/opt/openrobots/lib/python3.5/site-packages/../../../share/example-robot-data/robots"
urdf = modelPath + "/solo_description/robots/solo12.urdf"
srdf = modelPath + "/solo_description/srdf/solo.srdf"
vector = pin.StdVec_StdString()
vector.extend(item for item in modelPath)
## Create the robot wrapper from the urdf model (without the free flyer)
self.robot = tsid.RobotWrapper(urdf, vector, pin.JointModelFreeFlyer(),
False)
self.model = self.robot.model()
## Creation of the Invverse Dynamics HQP problem using the robot
## accelerations (base + joints) and the contact forces
self.invdyn = tsid.InverseDynamicsFormulationAccForce(
"tsid", self.robot, False)
# Compute the problem data with a solver based on EiQuadProg
self.invdyn.computeProblemData(t, self.qdes, self.vdes)
# Get the initial data
self.data = self.invdyn.data()
## Task definition
# POSTURE Task
self.postureTask = tsid.TaskJointPosture("task-posture", self.robot)
self.postureTask.setKp(
kp_posture * matlib.ones(self.robot.nv - 6).T) # Proportional gain
self.postureTask.setKd(
2.0 * np.sqrt(kp_posture) *
matlib.ones(self.robot.nv - 6).T) # Derivative gain
# Add the task to the HQP with weight = w_posture, priority level = 0 (as real constraint) and a transition duration = 0.0
self.invdyn.addMotionTask(self.postureTask, w_posture, 1, 0.0)
# COM Task
self.comTask = tsid.TaskComEquality("task-com", self.robot)
self.comTask.setKp(
kp_com * matlib.ones(3).T) # Proportional gain of the CoM task
self.comTask.setKd(2.0 * np.sqrt(kp_com) *
matlib.ones(3).T) # Derivative gain
self.invdyn.addMotionTask(
self.comTask, w_com, 1, 0.0
) # Add the task to the HQP with weight = w_com, priority level = 1 (in the cost function) and a transition duration = 0.0
# LOCK Task
self.lockTask = tsid.TaskJointPosture("task-lock-shoulder", self.robot)
self.lockTask.setKp(kp_lock * matlib.ones(self.robot.nv - 6).T)
self.lockTask.setKd(2.0 * np.sqrt(kp_lock) *
matlib.ones(self.robot.nv - 6).T)
mask = np.matrix(np.zeros(
self.robot.nv -
6)) # Add a mask to take into account only the shoulders joints
for i in [0, 3, 6, 9]:
mask[0, i] = 1
self.lockTask.mask(mask.T)
self.invdyn.addMotionTask(
self.lockTask, w_lock, 0,
0.0) # Add the task as real constraint (priority level = 0)
## CONTACTS
self.contacts = 4 * [None]
for i, name in enumerate(foot_frames):
self.contacts[i] = tsid.ContactPoint(name, self.robot, name,
contactNormal, mu, fMin, fMax)
self.contacts[i].setKp(kp_contact * matlib.ones(3).T)
self.contacts[i].setKd(2.0 * np.sqrt(kp_contact) *
matlib.ones(3).T)
H_ref = self.robot.framePosition(self.data,
self.model.getFrameId(name))
self.contacts[i].setReference(H_ref)
self.contacts[i].useLocalFrame(False)
self.invdyn.addRigidContact(self.contacts[i], w_forceRef, 1.0, 1)
## TSID Trajectory
# POSTURE Task
pin.loadReferenceConfigurations(self.model, srdf, False)
self.q_ref = self.model.referenceConfigurations['straight_standing']
self.trajPosture = tsid.TrajectoryEuclidianConstant(
"traj_joint", self.q_ref[7:])
# Set the trajectory as reference for the posture task
self.samplePosture = self.trajPosture.computeNext()
self.postureTask.setReference(self.samplePosture)
# COM Task
self.com_ref = self.data.com[0].copy() # Initial value of the CoM
self.trajCom = tsid.TrajectoryEuclidianConstant(
"traj_com", self.com_ref)
self.sampleCom = self.trajCom.computeNext()
self.comTask.setReference(self.sampleCom)
# LOCK Task
# The mask is enough to set the shoulder acceleration to 0 because 0 is the initial configuration for the shoulders
trajLock = tsid.TrajectoryEuclidianConstant("traj_lock_shoulder",
self.q_ref[7:])
sampleLock = trajLock.computeNext()
self.lockTask.setReference(sampleLock)
## Initialization of the solver
# Use EiquadprogFast solver
self.solver = tsid.SolverHQuadProgFast("qp solver")
# Resize the solver to fit the number of variables, equality and inequality constraints
self.solver.resize(self.invdyn.nVar, self.invdyn.nEq, self.invdyn.nIn)
def __init__(self,
urdf_path,
model_path,
eff_arr,
q0,
v0,
mu=0.6,
fz_max=75):
"""
Input:
urdf_path: path to urdf of robot
model_path: path to model of robot (required by TSID)
eff_arr : end effector name array
q0: initial configuration
v0: initial velocity
tau_max: vector of maximum torques for each joint
mu: coefficient of friction at end-effectors
"""
self.kp_com = 0.0001
self.kp_contact = 5.0
self.kp_posture = 10.0
self.kp_orientation = 0.002
self.w_com = 1.0
self.w_posture = 1e0
self.w_force = 1.0
self.w_orientation = 1e-6
self.contact_transition = 0.1
self.eff_arr = eff_arr
self.curr_cnt_array = np.zeros(len(self.eff_arr))
#self.tau_max = tau_max
#self.tau_min = -1*self.tau_max
self.tsid_robot = tsid.RobotWrapper(urdf_path, [model_path],
pin.JointModelFreeFlyer(), False)
self.nq = self.tsid_robot.nq
self.nv = self.tsid_robot.nv
self.tsid_model = self.tsid_robot.model()
self.invdyn = tsid.InverseDynamicsFormulationAccForce(
"tsid", self.tsid_robot, False)
self.qp_solver = tsid.SolverHQuadProgFast("qp_solver")
#Set up initial solve
self.invdyn.computeProblemData(0, q0.copy(), v0.copy())
self.inv_dyn_data = self.invdyn.data()
self.tsid_robot.computeAllTerms(self.inv_dyn_data, q0, v0)
self.mu = mu
# Add Contact Tasks (setup as equality constraints)
contactNormal = np.array([0., 0., 1.])
self.contact_arr = len(self.eff_arr) * [None]
for i, name in enumerate(self.eff_arr):
self.contact_arr[i] = tsid.ContactPoint(name, self.tsid_robot,
name, contactNormal,
self.mu, 0.01, fz_max)
self.contact_arr[i].setKp(self.kp_contact * np.ones(3))
self.contact_arr[i].setKd(.03 * np.ones(3))
cnt_ref = self.tsid_robot.framePosition(
self.inv_dyn_data,
self.tsid_robot.model().getFrameId(name))
self.contact_arr[i].setReference(cnt_ref)
self.contact_arr[i].useLocalFrame(False)
self.invdyn.addRigidContact(self.contact_arr[i], self.w_force)
# Add posture tasks (in the cost function)
self.postureTask = tsid.TaskJointPosture("posture_task",
self.tsid_robot)
self.postureTask.setKp(self.kp_posture *
np.ones(self.tsid_robot.nv - 6))
self.postureTask.setKd(.05 * np.ones(3))
self.invdyn.addMotionTask(self.postureTask, self.w_posture, 1, 0.0)
#Add CoM task (in the cost function)
# self.comTask = tsid.TaskComEquality("task-com", self.tsid_robot)
# self.comTask.setKp(self.kp_com * np.ones(6))
# self.comTask.setKd(.01 * np.ones(6))
# self.invdyn.addMotionTask(self.comTask, self.w_com, 1, 0.0)
#Add orientation task (in the cost function)
# self.oriTask = tsid.TaskSE3Equality("orientation", self.tsid_robot, "base_link")
# self.oriTask.setKp(self.kp_orientation * np.ones(6))
# self.oriTask.setKd(2.0 * np.sqrt(self.kp_orientation) * np.ones(6))
# mask = np.ones(6)
# mask[:3] = 0
# self.oriTask.setMask(mask)
# self.invdyn.addMotionTask(self.oriTask, self.w_orientation, 1, 0.0)
#Setup trajectories (des_q, des_v, des_a)
# self.com_ref = self.tsid_robot.com(self.inv_dyn_data)
# self.trajCom = tsid.TrajectoryEuclidianConstant("trajectory_com", self.com_ref)
# self.com_reference = self.trajCom.computeNext()
#
self.trajPosture = tsid.TrajectoryEuclidianConstant(
"trajectory_posture", q0[7:])
self.traj_reference = self.trajPosture.computeNext()
self.postureTask.setReference(self.traj_reference)
# self.ori_ref = self.tsid_robot.position(self.inv_dyn_data, self.tsid_robot.model().getJointId("base_link"))
# self.oriTraj = tsid.TrajectorySE3Constant("trajectory_orientation", self.ori_ref)
# self.ori_reference = self.oriTraj.computeNext()
### --- Actuation Bounds --- ###
# Get actuator effort limits (i.e. torque limits) from URDF:
# tau_max = self.actuator_scaling * self.tsid_model.effortLimit
#actuationBounds = tsid.TaskActuationBounds("torque-actuation-bounds", self.tsid_robot)
#actuationBounds.setBounds(self.tau_min, self.tau_max)
#formulation.addActuationTask(actuationBounds, w_torque_bounds, 0, 0.0)
self.qp_solver.resize(self.invdyn.nVar, self.invdyn.nEq,
self.invdyn.nIn)
def __init__(self,
conf,
dt,
robot,
com_offset,
com_frequency,
com_amplitude,
q0=None,
viewer=True):
self.conf = conf
self.dt = dt
self.robot = tsid.RobotWrapper(robot.model, False)
if q0 is None:
q = robot.model.neutralConfiguration
else:
q = np.copy(q0)
# q = se3.getNeutralConfiguration(robot.model(), conf.srdf, False)
# q = robot.model().referenceConfigurations["half_sitting"]
v = np.zeros(robot.nv)
# for gepetto viewer
if (viewer):
# se3.RobotWrapper.BuildFromURDF(conf.urdf, [conf.path, ], se3.JointModelFreeFlyer())
self.robot_display = robot
prompt = subprocess.getstatusoutput(
"ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l")
if int(prompt[1]) == 0:
os.system('gepetto-gui &')
time.sleep(1)
gepetto.corbaserver.Client()
self.robot_display.initViewer(loadModel=True)
self.robot_display.displayCollisions(False)
self.robot_display.displayVisuals(True)
self.robot_display.display(q)
self.gui = self.robot_display.viewer.gui
self.gui.setCameraTransform('gepetto', conf.CAMERA_TRANSFORM)
robot = self.robot
self.model = robot.model()
# assert [robot.model().existFrame(name) for name in conf.contact_frames]
formulation = tsid.InverseDynamicsFormulationAccForce(
"tsid", robot, False)
formulation.computeProblemData(0.0, q, v)
data = formulation.data()
contacts = len(conf.contact_frames) * [None]
self.contact_ids = {}
for i, name in enumerate(conf.contact_frames):
contacts[i] = tsid.ContactPoint(name, robot, name,
conf.contact_normal, conf.mu,
conf.fMin, conf.fMax)
contacts[i].setKp(conf.kp_contact * np.ones(3))
contacts[i].setKd(2.0 * np.sqrt(conf.kp_contact) * np.ones(3))
self.contact_ids[name] = robot.model().getFrameId(name)
H_ref = robot.framePosition(data, robot.model().getFrameId(name))
contacts[i].setReference(H_ref)
contacts[i].useLocalFrame(False)
formulation.addRigidContact(contacts[i], conf.w_forceRef, 1.0, 1)
# modify initial robot configuration so that foot is on the ground (z=0)
# q[2] -= H_rf_ref.translation[2,0] # 0.84 # fix this
# formulation.computeProblemData(0.0, q, v)
# data = formulation.data()
# H_rf_ref = robot.position(data, self.RF)
# contactRF.setReference(H_rf_ref)
# formulation.addRigidContact(contactRF, conf.w_forceRef)
comTask = tsid.TaskComEquality("task-com", robot)
comTask.setKp(conf.kp_com * np.ones(3))
comTask.setKd(2.0 * np.sqrt(conf.kp_com) * np.ones(3))
formulation.addMotionTask(comTask, conf.w_com, 1, 0.0)
postureTask = tsid.TaskJointPosture("task-posture", robot)
postureTask.setKp(conf.kp_posture * np.ones(robot.nv - 6))
postureTask.setKd(2.0 * np.sqrt(conf.kp_posture) *
np.ones(robot.nv - 6))
formulation.addMotionTask(postureTask, conf.w_posture, 1, 0.0)
# self.leftFootTask = tsid.TaskSE3Equality("task-left-foot", self.robot, self.conf.lf_frame_name)
# self.leftFootTask.setKp(self.conf.kp_foot * np.array(np.ones(6)).T)
# self.leftFootTask.setKd(2.0 * np.sqrt(self.conf.kp_foot) * np.array(np.ones(6)).T)
# self.trajLF = tsid.TrajectorySE3Constant("traj-left-foot", H_lf_ref)
#
# self.rightFootTask = tsid.TaskSE3Equality("task-right-foot", self.robot, self.conf.rf_frame_name)
# self.rightFootTask.setKp(self.conf.kp_foot * np.array(np.ones(6)).T)
# self.rightFootTask.setKd(2.0 * np.sqrt(self.conf.kp_foot) * np.array(np.ones(6)).T)
# self.trajRF = tsid.TrajectorySE3Constant("traj-right-foot", H_rf_ref)
#
com_ref = robot.com(data)
trajCom = tsid.TrajectoryEuclidianConstant("traj_com", com_ref)
q_ref = q[7:]
trajPosture = tsid.TrajectoryEuclidianConstant("traj_joint", q_ref)
comTask.setReference(trajCom.computeNext())
postureTask.setReference(trajPosture.computeNext())
solver = tsid.SolverHQuadProgFast("qp solver")
solver.resize(formulation.nVar, formulation.nEq, formulation.nIn)
self.trajCom = trajCom
self.trajPosture = trajPosture
self.comTask = comTask
self.postureTask = postureTask
self.contacts = contacts
self.formulation = formulation
self.solver = solver
self.q = q
self.v = v
self.contacts_active = {}
for name in conf.contact_frames:
self.contacts_active[name] = True
# com_pos = np.empty((3, N_SIMULATION))*nan
# com_vel = np.empty((3, N_SIMULATION))*nan
# com_acc = np.empty((3, N_SIMULATION))*nan
# com_pos_ref = np.empty((3, N_SIMULATION))*nan
# com_vel_ref = np.empty((3, N_SIMULATION))*nan
# com_acc_ref = np.empty((3, N_SIMULATION))*nan
# # acc_des = acc_ref - Kp*pos_err - Kd*vel_err
# com_acc_des = np.empty((3, N_SIMULATION))*nan
self.offset = com_offset + self.robot.com(self.formulation.data())
self.two_pi_f = np.copy(com_frequency)
self.amp = np.copy(com_amplitude)
self.two_pi_f_amp = self.two_pi_f * self.amp
self.two_pi_f_squared_amp = self.two_pi_f * self.two_pi_f_amp
self.sampleCom = self.trajCom.computeNext()
self.reset(q, v, 0.0)