def main():
# np.set_printoptions(precision=4, linewidth=200)
np.set_printoptions(precision=4, linewidth=1000, threshold=np.inf)
#motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5()
motion, mcfg, wcfg, stepsPerFrame, config, frame_rate= mit.create_biped()
#motion, mcfg, wcfg, stepsPerFrame, config = mit.create_jump_biped()
frame_step_size = 1./frame_rate
pydart.init()
dartModel = cdm.DartModel(wcfg, motion[0], mcfg, DART_CONTACT_ON)
dartMotionModel = cdm.DartModel(wcfg, motion[0], mcfg, DART_CONTACT_ON)
# wcfg.lockingVel = 0.01
time_step = dartModel.world.time_step()
# dartModel.initializeForwardDynamics()
# dartModel.initializeHybridDynamics()
#controlToMotionOffset = (1.5, -0.02, 0)
controlToMotionOffset = (1.5, 0, 0)
# dartModel.translateByOffset(controlToMotionOffset)
totalDOF = dartModel.getTotalDOF()
DOFs = dartModel.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'])
constBody = motion[0].skeleton.getJointIndex('RightFoot')
# momentum matrix
linkMasses = dartModel.getBodyMasses()
print([body.name for body in dartModel.skeleton.bodynodes])
print(linkMasses)
totalMass = dartModel.getTotalMass()
TO = ymt.make_TO(linkMasses)
dTO = ymt.make_dTO(len(linkMasses))
# optimization
problem = yac.LSE(totalDOF, 12)
#a_sup = (0,0,0, 0,0,0) #ori
#a_sup = (0,0,0, 0,0,0) #L
a_supL = (0,0,0, 0,0,0)
a_supR = (0,0,0, 0,0,0)
a_sup_2 = (0,0,0, 0,0,0, 0,0,0, 0,0,0)
CP_old = [mm.v3(0.,0.,0.)]
CP_des = [None]
dCP_des = [np.zeros(3)]
# penalty method
# bodyIDsToCheck = range(dartModel.getBodyNum())
bodyIDsToCheck = [supL, supR]
#mus = [1.]*len(bodyIDsToCheck)
mus = [.5]*len(bodyIDsToCheck)
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
# 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 = hsv.hpSimpleViewer(viewForceWnd=False)
# viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('motionModel', yr.DartModelRenderer(dartMotionModel, (150,150,255), yr.POLYGON_FILL))
viewer.doc.addRenderer('controlModel', yr.DartRenderer(dartModel.world, (255,240,255), yr.POLYGON_FILL))
viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter))
viewer.doc.addRenderer('rd_CM_plane', yr.PointsRenderer(rd_CM_plane, (255,255,0)))
viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (0,255,0)))
viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (255,0,255)))
viewer.doc.addRenderer('rd_dL_des_plane', yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255,255,0)))
viewer.doc.addRenderer('rd_dH_des', yr.VectorsRenderer(rd_dH_des, rd_CM, (0,255,0)))
#viewer.doc.addRenderer('rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP_des, (0,255,0), .001))
viewer.doc.addRenderer('rd_CF', yr.VectorsRenderer(rd_CF, rd_CF_pos, (255,0,0)))
viewer.doc.addRenderer('extraForce', yr.VectorsRenderer(rd_exf_des, extraForcePos, (0,255,0)))
viewer.doc.addRenderer('extraForceEnable', yr.VectorsRenderer(rd_exfen_des, extraForcePos, (255,0,0)))
#viewer.doc.addRenderer('right_foot_oriX', yr.VectorsRenderer(rightFootVectorX, rightFootPos, (255,0,0)))
#viewer.doc.addRenderer('right_foot_oriY', yr.VectorsRenderer(rightFootVectorY, rightFootPos, (0,255,0)))
#viewer.doc.addRenderer('right_foot_oriZ', yr.VectorsRenderer(rightFootVectorZ, rightFootPos, (0,0,255)))
viewer.doc.addRenderer('right_oriX', yr.VectorsRenderer(rightVectorX, rightPos, (255,0,0)))
viewer.doc.addRenderer('right_oriY', yr.VectorsRenderer(rightVectorY, rightPos, (0,255,0)))
viewer.doc.addRenderer('right_oriZ', yr.VectorsRenderer(rightVectorZ, rightPos, (0,0,255)))
#success!!
#initKt = 50
#initKl = 10.1
#initKh = 3.1
#initBl = .1
#initBh = .1
#initSupKt = 21.6
#initFm = 100.0
#success!! -- 2015.2.12. double stance
#initKt = 50
#initKl = 37.1
#initKh = 41.8
#initBl = .1
#initBh = .13
#initSupKt = 21.6
#initFm = 165.0
#single stance
#initKt = 25
#initKl = 80.1
#initKh = 10.8
#initBl = .1
#initBh = .13
#initSupKt = 21.6
#initFm = 50.0
#single stance -> double stance
#initKt = 25
#initKl = 60.
#initKh = 20.
#initBl = .1
#initBh = .13
#initSupKt = 21.6
#initFm = 50.0
initKt = 25.
# initKl = 11.
# initKh = 22.
initKl = 100.
initKh = 100.
initBl = .1
initBh = .13
initSupKt = 17.
# initSupKt = 2.5
initFm = 50.0
initComX = 0.
initComY = 0.
initComZ = 0.
viewer.objectInfoWnd.add1DSlider("Kt", 0., 300., 1., initKt)
viewer.objectInfoWnd.add1DSlider("Kl", 0., 300., 1., initKl)
viewer.objectInfoWnd.add1DSlider("Kh", 0., 300., 1., initKh)
viewer.objectInfoWnd.add1DSlider("Bl", 0., 1., .001, initBl)
viewer.objectInfoWnd.add1DSlider("Bh", 0., 1., .001, initBh)
viewer.objectInfoWnd.add1DSlider("SupKt", 0., 100., 0.1, initSupKt)
viewer.objectInfoWnd.add1DSlider("Fm", 0., 1000., 10., initFm)
viewer.objectInfoWnd.add1DSlider("com X offset", -1., 1., 0.01, initComX)
viewer.objectInfoWnd.add1DSlider("com Y offset", -1., 1., 0.01, initComY)
viewer.objectInfoWnd.add1DSlider("com Z offset", -1., 1., 0.01, initComZ)
viewer.force_on = False
def viewer_SetForceState(object):
viewer.force_on = True
def viewer_GetForceState():
return viewer.force_on
def viewer_ResetForceState():
viewer.force_on = False
viewer.objectInfoWnd.addBtn('Force on', viewer_SetForceState)
viewer_ResetForceState()
offset = 60
viewer.objectInfoWnd.begin()
viewer.objectInfoWnd.labelForceX = Fl_Value_Input(20, 30+offset*9, 40, 20, 'X')
viewer.objectInfoWnd.labelForceX.value(0)
viewer.objectInfoWnd.labelForceY = Fl_Value_Input(80, 30+offset*9, 40, 20, 'Y')
viewer.objectInfoWnd.labelForceY.value(0)
viewer.objectInfoWnd.labelForceZ = Fl_Value_Input(140, 30+offset*9, 40, 20, 'Z')
viewer.objectInfoWnd.labelForceZ.value(1)
viewer.objectInfoWnd.labelForceDur = Fl_Value_Input(220, 30+offset*9, 40, 20, 'Dur')
viewer.objectInfoWnd.labelForceDur.value(0.1)
viewer.objectInfoWnd.end()
#self.sliderFm = Fl_Hor_Nice_Slider(10, 42+offset*6, 250, 10)
pdcontroller = PDController(dartModel, dartModel.skeleton, wcfg.timeStep, Kt, Dt)
def getParamVal(paramname):
return viewer.objectInfoWnd.getVal(paramname)
def getParamVals(paramnames):
return (getParamVal(name) for name in paramnames)
ik_solver = hikd.numIkSolver(dartMotionModel)
body_num = dartModel.getBodyNum()
# dJsys = np.zeros((6*body_num, totalDOF))
# dJsupL = np.zeros((6, totalDOF))
# dJsupR = np.zeros((6, totalDOF))
# Jpre = [np.zeros((6*body_num, totalDOF)), np.zeros((6, totalDOF)), np.zeros((6, totalDOF))]
extendedFootName = ['Foot']
lIDdic = {'Left'+name: motion[0].skeleton.getJointIndex('Left'+name) for name in extendedFootName}
rIDdic = {'Right'+name: motion[0].skeleton.getJointIndex('Right'+name) for name in extendedFootName}
lIDlist = [motion[0].skeleton.getJointIndex('Left'+name) for name in extendedFootName]
rIDlist = [motion[0].skeleton.getJointIndex('Right'+name) for name in extendedFootName]
bodyIDs, contactPositions, contactPositionLocals, contactForces = [], [], [], []
###################################
# simulate
###################################
def simulateCallback(frame):
# print()
# print(dartModel.getJointVelocityGlobal(0))
# print(dartModel.getDOFVelocities()[0])
# print(dartModel.get_dq()[:6])
dartMotionModel.update(motion[frame])
global g_initFlag
global forceShowTime
global preFootCenter
global maxContactChangeCount
global contactChangeCount
global contact
global contactChangeType
# print('contactstate:', contact, contactChangeCount)
Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals(['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt'])
Dt = 2.*(Kt**.5)
Dl = (Kl**.5)
Dh = (Kh**.5)
dt_sup = 2.*(kt_sup**.5)
# Dt = .2*(Kt**.5)
# Dl = .2*(Kl**.5)
# Dh = .2*(Kh**.5)
# dt_sup = .2*(kt_sup**.5)
pdcontroller.setKpKd(Kt, Dt)
footHeight = dartModel.getBody(supL).shapenodes[0].shape.size()[1]/2.
doubleTosingleOffset = 0.15
singleTodoubleOffset = 0.30
#doubleTosingleOffset = 0.09
doubleTosingleVelOffset = 0.0
com_offset_x, com_offset_y, com_offset_z = getParamVals(['com X offset', 'com Y offset', 'com Z offset'])
footOffset = np.array((com_offset_x, com_offset_y, com_offset_z))
des_com = dartMotionModel.getCOM() + footOffset
footCenterL = dartMotionModel.getBodyPositionGlobal(supL)
footCenterR = dartMotionModel.getBodyPositionGlobal(supR)
footBodyOriL = dartMotionModel.getBodyOrientationGlobal(supL)
footBodyOriR = dartMotionModel.getBodyOrientationGlobal(supR)
torso_pos = dartMotionModel.getBodyPositionGlobal(4)
torso_ori = dartMotionModel.getBodyOrientationGlobal(4)
# tracking
# th_r = motion.getDOFPositions(frame)
th_r = dartMotionModel.getDOFPositions()
th = dartModel.getDOFPositions()
th_r_flat = dartMotionModel.get_q()
# dth_r = motion.getDOFVelocities(frame)
dth = dartModel.getDOFVelocities()
# ddth_r = motion.getDOFAccelerations(frame)
# ddth_des = yct.getDesiredDOFAccelerations(th_r, th, None, dth, None, Kt, Dt)
dth_flat = dartModel.get_dq()
# dth_flat = np.concatenate(dth)
# ddth_des_flat = pdcontroller.compute(dartMotionModel.get_q())
# ddth_des_flat = pdcontroller.compute(th_r)
ddth_des_flat = pdcontroller.compute_flat(th_r_flat)
# ype.flatten(ddth_des, ddth_des_flat)
# ype.flatten(dth, dth_flat)
#################################################
# jacobian
#################################################
contact_des_ids = [dartModel.skeleton.bodynode_index("LeftFoot")]
contact_ids = list() # temp idx for balancing
contact_ids.extend(contact_des_ids)
contact_joint_ori = list(map(dartModel.getJointOrientationGlobal, contact_ids))
contact_joint_pos = list(map(dartModel.getJointPositionGlobal, contact_ids))
contact_body_ori = list(map(dartModel.getBodyOrientationGlobal, contact_ids))
contact_body_pos = list(map(dartModel.getBodyPositionGlobal, contact_ids))
contact_body_vel = list(map(dartModel.getBodyVelocityGlobal, contact_ids))
contact_body_angvel = list(map(dartModel.getBodyAngVelocityGlobal, contact_ids))
ref_joint_ori = list(map(motion[frame].getJointOrientationGlobal, contact_ids))
ref_joint_pos = list(map(motion[frame].getJointPositionGlobal, contact_ids))
ref_joint_vel = [motion.getJointVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids]
ref_joint_angvel = [motion.getJointAngVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids]
ref_body_ori = list(map(dartMotionModel.getBodyOrientationGlobal, contact_ids))
ref_body_pos = list(map(dartMotionModel.getBodyPositionGlobal, contact_ids))
for idx in range(len(ref_body_pos)):
ref_body_pos[idx] = dartModel.skeleton.body("RightFoot").shapenodes[0].shape.size()[1]/2.
# ref_body_vel = list(map(controlModel.getBodyVelocityGlobal, contact_ids))
ref_body_angvel = [motion.getJointAngVelocityGlobal(joint_idx, frame) for joint_idx in contact_ids]
ref_body_vel = [ref_joint_vel[i] + np.cross(ref_joint_angvel[i], ref_body_pos[i] - ref_joint_pos[i])
for i in range(len(ref_joint_vel))]
is_contact = [1] * len(contact_ids)
contact_right = len(set(contact_des_ids).intersection(rIDlist)) > 0
contact_left = len(set(contact_des_ids).intersection(lIDlist)) > 0
footOriL = dartModel.getJointOrientationGlobal(supL)
footOriR = dartModel.getJointOrientationGlobal(supR)
footCenterL = dartModel.getBodyPositionGlobal(supL)
footCenterR = dartModel.getBodyPositionGlobal(supR)
footBodyOriL = dartModel.getBodyOrientationGlobal(supL)
footBodyOriR = dartModel.getBodyOrientationGlobal(supR)
footBodyVelL = dartModel.getBodyVelocityGlobal(supL)
footBodyVelR = dartModel.getBodyVelocityGlobal(supR)
footBodyAngVelL = dartModel.getBodyAngVelocityGlobal(supL)
footBodyAngVelR = dartModel.getBodyAngVelocityGlobal(supR)
refFootL = dartMotionModel.getBodyPositionGlobal(supL)
refFootR = dartMotionModel.getBodyPositionGlobal(supR)
# refFootAngVelL = motion.getJointAngVelocityGlobal(supL, frame)
# refFootAngVelR = motion.getJointAngVelocityGlobal(supR, frame)
refFootAngVelL = np.zeros(3)
refFootAngVelR = np.zeros(3)
refFootJointVelR = motion.getJointVelocityGlobal(supR, frame)
refFootJointAngVelR = motion.getJointAngVelocityGlobal(supR, frame)
refFootJointR = motion.getJointPositionGlobal(supR, frame)
# refFootVelR = refFootJointVelR + np.cross(refFootJointAngVelR, (refFootR-refFootJointR))
refFootVelR = np.zeros(3)
refFootJointVelL = motion.getJointVelocityGlobal(supL, frame)
refFootJointAngVelL = motion.getJointAngVelocityGlobal(supL, frame)
refFootJointL = motion.getJointPositionGlobal(supL, frame)
# refFootVelL = refFootJointVelL + np.cross(refFootJointAngVelL, (refFootL-refFootJointL))
refFootVelL = np.zeros(3)
contactR = 1
contactL = 1
# contMotionOffset = th[0][0] - th_r[0][0]
contMotionOffset = dartModel.getBodyPositionGlobal(0) - dartMotionModel.getBodyPositionGlobal(0)
contMotionOffset = np.zeros(3)
linkPositions = dartModel.getBodyPositionsGlobal()
linkVelocities = dartModel.getBodyVelocitiesGlobal()
linkAngVelocities = dartModel.getBodyAngVelocitiesGlobal()
linkInertias = dartModel.getBodyInertiasGlobal()
CM = dartModel.skeleton.com()
dCM = dartModel.skeleton.com_velocity()
CM_plane = copy.copy(CM)
CM_plane[1]=0.
dCM_plane = copy.copy(dCM)
dCM_plane[1]=0.
P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM, linkInertias)
dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses, linkVelocities, dCM, linkAngVelocities, linkInertias)
#calculate jacobian
body_num = dartModel.getBodyNum()
Jsys = np.zeros((6*body_num, totalDOF))
dJsys = np.zeros((6*body_num, totalDOF))
Jsys_, dJsysdq = compute_J_dJdq(dartModel.skeleton)
# dJsys = np.zeros((6*body_num, totalDOF))
for i in range(dartModel.getBodyNum()):
Jsys[6*i:6*i+6, :] = dartModel.getBody(i).world_jacobian()[range(-3, 3), :]
dJsys[6*i:6*i+6, :] = dartModel.getBody(i).world_jacobian_classic_deriv()[range(-3, 3), :]
dJsysdq = np.dot(dJsys, dartModel.skeleton.dq)
# print(Jsys_ - Jsys)
# print(Jsys_.dot(dth_flat))
# print(Jsys.dot(dth_flat))
# print(dartModel.getBody(0).world_linear_velocity())
# print(np.dot(Jsys[:3, :3], Jsys[0:3, 3:6].T))
print('dq', np.asarray(dartModel.skeleton.dq)[6:9])
print('joint vel', dartModel.skeleton.joint(1).velocity())
# print('bjoint', mm.exp(dartModel.skeleton.q[6:9]).dot(get_bjoint_jacobian(dartModel.skeleton.q[6:9]).dot(np.asarray(dartModel.skeleton.dq)[6:9])))
# print('not bjoint', mm.exp(dartModel.skeleton.q[6:9]).dot(np.asarray(dartModel.skeleton.dq)[6:9]))
print('frombody', dartModel.getJointOrientationGlobal(1).T.dot(dartModel.getJointAngVelocityGlobal(1) - dartModel.getJointAngVelocityGlobal(0)))
print('ddq', np.asarray(dartModel.skeleton.ddq)[6:9])
# print('bjoint', mm.exp(dartModel.skeleton.q[6:9]).dot(get_bjoint_jacobian(dartModel.skeleton.q[6:9]).dot(np.asarray(dartModel.skeleton.dq)[6:9])))
# print('not bjoint', mm.exp(dartModel.skeleton.q[6:9]).dot(np.asarray(dartModel.skeleton.dq)[6:9]))
bodybody = dartModel.skeleton.body(1)
joint_trans = dartModel.skeleton.joint(1).get_world_frame_after_transform()
joint_pos = bodybody.to_local(joint_trans[:3, 3])
print('com spati', dartModel.getJointOrientationGlobal(1).T.dot(
dartModel.skeleton.body(1).world_angular_acceleration() - dartModel.skeleton.body(0).world_angular_acceleration()))
J_contacts = [] # type: list[np.ndarray]
dJ_contacts = [] # type: list[np.ndarray]
for contact_id in contact_ids:
J_contacts.append(Jsys[6*contact_id:6*contact_id + 6, :])
dJ_contacts.append(dJsysdq[6*contact_id:6*contact_id + 6])
#calculate footCenter
footCenter = .5 * (footCenterL + footCenterR) + footOffset
if contact == 2:
footCenter = footCenterL.copy() + footOffset
#elif contact == 1 or footCenterL[1] > doubleTosingleOffset/2:
if contact == 1:
footCenter = footCenterR.copy() + footOffset
footCenter[1] = 0.
if contactChangeCount > 0 and contactChangeType == 'StoD':
# change footcenter gradually
footCenter = preFootCenter + (maxContactChangeCount - contactChangeCount)*(footCenter-preFootCenter)/maxContactChangeCount
preFootCenter = footCenter.copy()
# linear momentum
# CM_ref_plane = footCenter
# dL_des_plane = Kl*totalMass*(CM_ref_plane - CM_plane) - Dl*totalMass*dCM_plane
# dL_des_plane[1] = 0.
CM_ref_plane = footCenter
CM_ref_plane[1] = dartMotionModel.skeleton.com()[1]
dL_des_plane = Kl*totalMass*(CM_ref_plane - CM) - Dl*totalMass*dCM
# dL_des_plane[1] = 0.
# angular momentum
CP_ref = footCenter
CP = yrp.getCP(contactPositions, contactForces)
if CP_old[0] is None or CP is None:
dCP = None
else:
dCP = (CP - CP_old[0])/frame_step_size
CP_old[0] = CP
CP_des[0] = None
if CP is not None and dCP is not None:
ddCP_des = Kh*(CP_ref - CP) - Dh*(dCP)
CP_des[0] = CP + dCP * frame_step_size + .5 * ddCP_des*(frame_step_size**2)
dH_des = mm.cross(CP_des[0] - CM, dL_des_plane + totalMass*mm.s2v(wcfg.gravity))
else:
dH_des = None
# set up equality constraint
a_oris = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(contact_body_ori[i], mm.unitY()), mm.unitY()) for i in range(len(contact_body_ori))]))
KT_SUP = np.diag([kt_sup/10., kt_sup, kt_sup/10.])
a_sups = [np.append(np.dot(KT_SUP, (ref_body_pos[i] - contact_body_pos[i] + contMotionOffset)) - dt_sup * contact_body_vel[i],
kt_sup*a_oris[i] - dt_sup * contact_body_angvel[i]) for i in range(len(a_oris))]
# print(a_sups)
# print(np.asarray(dartModel.skeleton.dq)[0:3])
# print(dartModel.getJointAngVelocityGlobal(0))
# print(dartModel.getJointAngVelocityLocal(0))
# momentum matrix
RS = np.dot(P, Jsys)
R, S = np.vsplit(RS, 2)
# rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat)
rs = np.dot(dP, np.dot(Jsys, dth_flat)) + np.dot(P, dJsysdq)
r_bias, s_bias = np.hsplit(rs, 2)
#######################################################
# optimization
#######################################################
#if contact == 2 and footCenterR[1] > doubleTosingleOffset/2:
if contact == 2:
config['weightMap']['RightUpLeg'] = .8
config['weightMap']['RightLeg'] = .8
config['weightMap']['RightFoot'] = .8
else:
config['weightMap']['RightUpLeg'] = .1
config['weightMap']['RightLeg'] = .25
config['weightMap']['RightFoot'] = .2
#if contact == 1 and footCenterL[1] > doubleTosingleOffset/2:
if contact == 1:
config['weightMap']['LeftUpLeg'] = .8
config['weightMap']['LeftLeg'] = .8
config['weightMap']['LeftFoot'] = .8
else:
config['weightMap']['LeftUpLeg'] = .1
config['weightMap']['LeftLeg'] = .25
config['weightMap']['LeftFoot'] = .2
# print('vel2', np.dot(dartModel.getJointOrientationGlobal(0).T, dartModel.skeleton.body(0).world_linear_velocity()))
w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap'])
#if contact == 2:
#mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1, q_bias1)
mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat)
mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias)
if dH_des is not None:
mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias)
if True:
for c_idx in range(len(contact_ids)):
mot.addConstraint2(problem, totalDOF, J_contacts[c_idx], dJ_contacts[c_idx], a_sups[c_idx])
if contactChangeCount > 0:
contactChangeCount -= 1
if contactChangeCount == 0:
maxContactChangeCount = 30
contactChangeType = 0
r = problem.solve()
problem.clear()
ddth_sol_flat = np.asarray(r['x'])
# ype.nested(r['x'], ddth_sol)
# ddth_sol[:6] = np.zeros(6)
rootPos[0] = dartModel.getBodyPositionGlobal(selectedBody)
localPos = [[0, 0, 0]]
inv_h = 1./time_step
_bodyIDs, _contactPositions, _contactPositionLocals, _contactForces = [], [], [], []
for i in range(stepsPerFrame):
# apply penalty force
_ddq, _tau, _bodyIDs, _contactPositions, _contactPositionLocals, _contactForces = hqp.calc_QP(dartModel.skeleton, ddth_sol_flat, inv_h)
# _bodyIDs, _contactPositions, _contactPositionLocals, _contactForces = dartModel.calcPenaltyForce(bodyIDsToCheck,mus, Ks, Ds)
dartModel.applyPenaltyForce(_bodyIDs, _contactPositionLocals, _contactForces)
dartModel.skeleton.set_forces(_tau)
# dartModel.setDOFAccelerations(ddth_sol)
if forceShowTime > viewer.objectInfoWnd.labelForceDur.value():
forceShowTime = 0
viewer_ResetForceState()
forceforce = np.array([viewer.objectInfoWnd.labelForceX.value(), viewer.objectInfoWnd.labelForceY.value(), viewer.objectInfoWnd.labelForceZ.value()])
extraForce[0] = getParamVal('Fm') * mm.normalize2(forceforce)
if viewer_GetForceState():
forceShowTime += wcfg.timeStep
dartModel.applyPenaltyForce(selectedBodyId, localPos, extraForce)
dartModel.step()
del bodyIDs[:]
del contactPositions[:]
del contactPositionLocals[:]
del contactForces[:]
bodyIDs.extend(_bodyIDs)
contactPositions.extend(_contactPositions)
contactPositionLocals.extend(_contactPositionLocals)
contactForces.extend(_contactForces)
# rendering
rightFootVectorX[0] = np.dot(footOriL, np.array([.1, 0, 0]))
rightFootVectorY[0] = np.dot(footOriL, np.array([0, .1, 0]))
rightFootVectorZ[0] = np.dot(footOriL, np.array([0, 0,.1]))
rightFootPos[0] = footCenterL
rightVectorX[0] = np.dot(footBodyOriL, np.array([.1,0,0]))
rightVectorY[0] = np.dot(footBodyOriL, np.array([0,.1,0]))
rightVectorZ[0] = np.dot(footBodyOriL, np.array([0,0,.1]))
rightPos[0] = footCenterL + np.array([.1,0,0])
rd_footCenter[0] = footCenter
rd_footCenterL[0] = footCenterL
rd_footCenterR[0] = footCenterR
rd_CM[0] = CM
rd_CM_plane[0] = CM.copy()
rd_CM_plane[0][1] = 0.
if CP is not None and dCP is not None:
rd_CP[0] = CP
rd_CP_des[0] = CP_des[0]
rd_dL_des_plane[0] = [dL_des_plane[0]/100, dL_des_plane[1]/100, dL_des_plane[2]/100]
rd_dH_des[0] = dH_des
rd_grf_des[0] = dL_des_plane - totalMass*mm.s2v(wcfg.gravity)
rd_root_des[0] = rootPos[0]
del rd_CF[:]
del rd_CF_pos[:]
for i in range(len(contactPositions)):
rd_CF.append( contactForces[i]/100)
rd_CF_pos.append(contactPositions[i].copy())
if viewer_GetForceState():
rd_exfen_des[0] = [extraForce[0][0]/100, extraForce[0][1]/100, extraForce[0][2]/100]
rd_exf_des[0] = [0,0,0]
else:
rd_exf_des[0] = [extraForce[0][0]/100, extraForce[0][1]/100, extraForce[0][2]/100]
rd_exfen_des[0] = [0,0,0]
extraForcePos[0] = dartModel.getBodyPositionGlobal(selectedBody)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def init():
global motion
global mcfg
global wcfg
global stepsPerFrame
global config
global vpWorld
global controlModel
global totalDOF
global DOFs
global bodyIDsToCheck
global torques_nested
global ddth_des_flat
global dth_flat
global ddth_sol
global rd_cForces
global rd_cPositions
global rd_jointPos
global rd_cForcesControl
global rd_cPositionsControl
global rd_ForceControl
global rd_ForceDes
global rd_Position
global rd_PositionDes
global viewer
global motionModel
global solver
global IKModel
global dartModel
global pdController
def create_foot(motionFile='foot3.bvh'):
# motion
motion = yf.readBvhFile(motionFile, .05)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = 1.
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
node = mcfg.getNode('root')
node.geom = 'MyFoot3'
# node.geom = 'MyBox'
# node.length = 1.
node.mass = 5.
node = mcfg.getNode('foot00')
node.geom = 'MyFoot4'
# node.geom = 'MyBox'
node.mass = 5.
node = mcfg.getNode('foot01')
node.geom = 'MyFoot4'
# node.geom = 'MyBox'
node.mass = 5.
def mcfgFix(_mcfg):
for v in _mcfg.nodes.itervalues():
if len(v.geoms) == 0:
v.geoms.append(v.geom)
v.geomMass.append(v.mass)
v.geomTs.append(None)
# mcfgFix(mcfg)
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 20
simulSpeedInv = 1.
wcfg.timeStep = (1/30.*simulSpeedInv)/stepsPerFrame
# parameter
config = dict([])
config['Kt'] = 20; config['Dt'] = 2*(config['Kt']**.5) # tracking gain
config['Kl'] = 1; config['Dl'] = 2*(config['Kl']**.5) # linear balance gain
config['Kh'] = 1; config['Dh'] = 2*(config['Kh']**.5) # angular balance gain
config['Ks'] = 5000; config['Ds'] = 2*(config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1.
config['Bh'] = 1.
config['stepsPerFrame'] = stepsPerFrame
config['simulSpeedInv'] = simulSpeedInv
# etc
config['weightMap'] = {'root': 1., 'foot00': 1., 'foot01': 1.}
config['weightMapTuple'] = (1., 1., 1.)
# config['supLink'] = 'link0'
return motion, mcfg, wcfg, stepsPerFrame, config
np.set_printoptions(precision=4, linewidth=200)
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_1()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_chiken_foot()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('fastswim.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot_2('simpleJump_2.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_capsule('simpleJump_onebody.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('simpleJump.bvh')
motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('simpleJump_long.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('DartFootProject/simpleJump_long.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = create_foot('test2.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = create_foot('DartFootProject/test2.bvh')
dartModel = cpm.DartModel(wcfg, motion[0], mcfg, DART_CONTACT_ON)
pdController = PDController(dartModel.skeleton, dartModel.world.time_step())
# dartWorld.skeletons[1].controller = PDController(dartWorld.skeletons[1], dartWorld.dt)
# solver = hik.numIkSolver(wcfg, motion[0], mcfg)
ModelOffset = np.array([0., .1, 0.])
dartModel.translateByOffset(ModelOffset)
totalDOF = dartModel.getTotalDOF()
DOFs = dartModel.getDOFs()
bodyIDsToCheck = range(dartModel.getBodyNum())
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
torques_nested = ype.makeNestedList(DOFs)
rd_cForces = [None]
rd_cPositions = [None]
rd_cForcesControl = [None]
rd_cPositionsControl = [None]
rd_ForceControl = [None]
rd_ForceDes = [None]
rd_Position = [None]
rd_PositionDes = [None]
rd_jointPos = [None]
viewer = hsv.hpSimpleViewer(title='main_Test')
viewer.doc.addObject('motion', motion)
# viewer.doc.addRenderer('dartModel', yr.DartModelRenderer(dartWorld, CHARACTER_COLOR2))
viewer.doc.addRenderer('dartModel', yr.DartModelRenderer(dartModel, CHARACTER_COLOR2))
viewer.doc.addRenderer('rd_contactForcesControl', yr.VectorsRenderer(rd_cForcesControl, rd_cPositionsControl, (255, 0, 0), .1, 'rd_c1'))
viewer.doc.addRenderer('rd_contactForces', yr.VectorsRenderer(rd_cForces, rd_cPositions, (0, 255, 0), .1, 'rd_c2'))
viewer.doc.addRenderer('rd_contactForceControl', yr.VectorsRenderer(rd_ForceControl, rd_Position, (0, 0, 255), .1, 'rd_c3'))
# viewer.doc.addRenderer('rd_contactForceDes', yr.VectorsRenderer(rd_ForceDes, rd_PositionDes, (255, 0, 255), .1))
# viewer.doc.addRenderer('rd_jointPos', yr.PointsRenderer(rd_jointPos))
viewer.doc.addRenderer('rd_contactPosition', yr.PointsRenderer(rd_cPositions, (255, 0, 0)))
viewer.objectInfoWnd.add1DSlider('PD gain', minVal=0., maxVal=200., initVal=10., valStep=.1)
viewer.objectInfoWnd.add1DSlider('Joint Damping', minVal=1., maxVal=2000., initVal=35., valStep=1.)
viewer.objectInfoWnd.add1DSlider('steps per frame', minVal=1., maxVal=200., initVal=config['stepsPerFrame'], valStep=1.)
viewer.objectInfoWnd.add1DSlider('1/simul speed', minVal=1., maxVal=100., initVal=config['simulSpeedInv'], valStep=1.)
viewer.objectInfoWnd.add1DSlider('normal des force min', minVal=0., maxVal=1000., initVal=40., valStep=1.)
viewer.objectInfoWnd.add1DSlider('normal des force max', minVal=0., maxVal=1000., initVal=40., valStep=1.)
viewer.objectInfoWnd.add1DSlider('des force begin', minVal=0., maxVal=len(motion) - 1, initVal=50., valStep=1.)
viewer.objectInfoWnd.add1DSlider('des force dur', minVal=1., maxVal=len(motion) - 1, initVal=5., valStep=1.)
viewer.objectInfoWnd.add1DSlider('force weight', minVal=-10., maxVal=10., initVal=-1.3, valStep=.01)
viewer.objectInfoWnd.add1DSlider('LCP weight', minVal=-10., maxVal=10., initVal=1.3, valStep=.01)
viewer.objectInfoWnd.add1DSlider('tau weight', minVal=-10., maxVal=10., initVal=-3., valStep=.01)
viewer.objectInfoWnd.add1DSlider('ref', minVal=-10., maxVal=10., initVal=0., valStep=.01)
viewer.objectInfoWnd.addBtn('image', viewer.motionViewWnd.dump)
viewer.objectInfoWnd.addBtn('image seq dump', viewer.motionViewWnd.dumpMov)
viewer.cForceWnd.addDataSet('expForce', FL_BLACK)
viewer.cForceWnd.addDataSet('desForceMin', FL_RED)
viewer.cForceWnd.addDataSet('desForceMax', FL_RED)
viewer.cForceWnd.addDataSet('realForce', FL_GREEN)
for i in range(motion[0].skeleton.getJointNum()):
print(i, motion[0].skeleton.getJointName(i))
def init():
global motion
global mcfg
global wcfg
global stepsPerFrame
global config
global mcfg_motion
global vpWorld
global controlModel
global totalDOF
global DOFs
global bodyIDsToCheck
global torques_nested
global ddth_des_flat
global dth_flat
global ddth_sol
global rd_cForces
global rd_cPositions
global rd_jointPos
global rd_cForcesControl
global rd_cPositionsControl
global rd_ForceControl
global rd_ForceDes
global rd_Position
global rd_PositionDes
global viewer
global motionModel
global solver
global IKModel
global dartModel
global pdController
np.set_printoptions(precision=4, linewidth=200)
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_1()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_chiken_foot()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('fastswim.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot_2('simpleJump_2.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_capsule('simpleJump_onebody.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('simpleJump.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('simpleJump_long.bvh')
motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot(
'simpleJump_long.bvh')
mcfg_motion = mit.normal_mcfg()
dartModel = cpm.DartModel(wcfg, motion[0], mcfg, False)
pdController = PDController(dartModel.skeleton,
dartModel.world.time_step())
# dartWorld.skeletons[1].controller = PDController(dartWorld.skeletons[1], dartWorld.dt)
# solver = hik.numIkSolver(wcfg, motion[0], mcfg)
ModelOffset = np.array([0., .12, 0.])
dartModel.translateByOffset(ModelOffset)
totalDOF = dartModel.getTotalDOF()
DOFs = dartModel.getDOFs()
bodyIDsToCheck = range(dartModel.getBodyNum())
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
torques_nested = ype.makeNestedList(DOFs)
rd_cForces = [None]
rd_cPositions = [None]
rd_cForcesControl = [None]
rd_cPositionsControl = [None]
rd_ForceControl = [None]
rd_ForceDes = [None]
rd_Position = [None]
rd_PositionDes = [None]
rd_jointPos = [None]
viewer = hsv.hpSimpleViewer(title='main_Test')
viewer.doc.addObject('motion', motion)
# viewer.doc.addRenderer('dartModel', yr.DartModelRenderer(dartWorld, CHARACTER_COLOR2))
viewer.doc.addRenderer('dartModel',
yr.DartModelRenderer(dartModel, CHARACTER_COLOR2))
viewer.doc.addRenderer(
'rd_contactForcesControl',
yr.VectorsRenderer(rd_cForcesControl, rd_cPositionsControl,
(255, 0, 0), .1, 'rd_c1'))
viewer.doc.addRenderer(
'rd_contactForces',
yr.VectorsRenderer(rd_cForces, rd_cPositions, (0, 255, 0), .1,
'rd_c2'))
viewer.doc.addRenderer(
'rd_contactForceControl',
yr.VectorsRenderer(rd_ForceControl, rd_Position, (0, 0, 255), .1,
'rd_c3'))
# viewer.doc.addRenderer('rd_contactForceDes', yr.VectorsRenderer(rd_ForceDes, rd_PositionDes, (255, 0, 255), .1))
# viewer.doc.addRenderer('rd_jointPos', yr.PointsRenderer(rd_jointPos))
viewer.objectInfoWnd.add1DSlider('PD gain',
minVal=0.,
maxVal=200.,
initVal=10.,
valStep=.1)
viewer.objectInfoWnd.add1DSlider('Joint Damping',
minVal=1.,
maxVal=2000.,
initVal=35.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('steps per frame',
minVal=1.,
maxVal=200.,
initVal=config['stepsPerFrame'],
valStep=1.)
viewer.objectInfoWnd.add1DSlider('1/simul speed',
minVal=1.,
maxVal=100.,
initVal=config['simulSpeedInv'],
valStep=1.)
viewer.objectInfoWnd.add1DSlider('normal des force min',
minVal=0.,
maxVal=1000.,
initVal=40.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('normal des force max',
minVal=0.,
maxVal=1000.,
initVal=40.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('des force begin',
minVal=0.,
maxVal=len(motion) - 1,
initVal=50.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('des force dur',
minVal=1.,
maxVal=len(motion) - 1,
initVal=5.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('force weight',
minVal=-10.,
maxVal=10.,
initVal=-1.3,
valStep=.01)
viewer.objectInfoWnd.add1DSlider('LCP weight',
minVal=-10.,
maxVal=10.,
initVal=1.3,
valStep=.01)
viewer.objectInfoWnd.add1DSlider('tau weight',
minVal=-10.,
maxVal=10.,
initVal=-3.,
valStep=.01)
viewer.objectInfoWnd.add1DSlider('ref',
minVal=-10.,
maxVal=10.,
initVal=0.,
valStep=.01)
viewer.objectInfoWnd.addBtn('image', viewer.motionViewWnd.dump)
viewer.objectInfoWnd.addBtn('image seq dump', viewer.motionViewWnd.dumpMov)
viewer.cForceWnd.addDataSet('expForce', FL_BLACK)
viewer.cForceWnd.addDataSet('desForceMin', FL_RED)
viewer.cForceWnd.addDataSet('desForceMax', FL_RED)
viewer.cForceWnd.addDataSet('realForce', FL_GREEN)
for i in range(motion[0].skeleton.getJointNum()):
print(i, motion[0].skeleton.getJointName(i))
def main():
# np.set_printoptions(precision=4, linewidth=200)
# np.set_printoptions(precision=4, linewidth=1000, threshold=np.inf)
np.set_printoptions(precision=5,
threshold=np.inf,
suppress=True,
linewidth=3000)
#motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5()
motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped()
#motion, mcfg, wcfg, stepsPerFrame, config = mit.create_jump_biped()
frame_step_size = 1. / frame_rate
pydart.init()
dartModel = cdm.DartModel(wcfg, motion[0], mcfg, DART_CONTACT_ON)
dartMotionModel = cdm.DartModel(wcfg, motion[0], mcfg, DART_CONTACT_ON)
# wcfg.lockingVel = 0.01
dartModel.initializeHybridDynamics()
#controlToMotionOffset = (1.5, -0.02, 0)
controlToMotionOffset = (1.5, 0, 0)
dartModel.translateByOffset(controlToMotionOffset)
totalDOF = dartModel.getTotalDOF()
DOFs = dartModel.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'])
constBody = motion[0].skeleton.getJointIndex('RightFoot')
# momentum matrix
linkMasses = dartModel.getBodyMasses()
print([body.name for body in dartModel.skeleton.bodynodes])
print(linkMasses)
totalMass = dartModel.getTotalMass()
TO = ymt.make_TO(linkMasses)
dTO = ymt.make_dTO(len(linkMasses))
# optimization
problem = yac.LSE(totalDOF, 12)
#a_sup = (0,0,0, 0,0,0) #ori
#a_sup = (0,0,0, 0,0,0) #L
a_supL = (0, 0, 0, 0, 0, 0)
a_supR = (0, 0, 0, 0, 0, 0)
a_sup_2 = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
CP_old = [mm.v3(0., 0., 0.)]
CP_des = [None]
dCP_des = [np.zeros(3)]
# penalty method
# bodyIDsToCheck = range(dartModel.getBodyNum())
bodyIDsToCheck = [supL, supR]
#mus = [1.]*len(bodyIDsToCheck)
mus = [.5] * len(bodyIDsToCheck)
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
# 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=(100, 100, 1200, 800), viewForceWnd=False)
#viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
# viewer.doc.addRenderer('motionModel', cvr.VpModelRenderer(motionModel, (150,150,255), yr.POLYGON_FILL))
# viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
#viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_FILL))
viewer.doc.addRenderer(
'motionModel',
yr.DartModelRenderer(dartMotionModel, (150, 150, 255),
yr.POLYGON_FILL))
# viewer.doc.addRenderer('controlModel', yr.DartModelRenderer(dartModel, (255,240,255), yr.POLYGON_FILL))
viewer.doc.addRenderer(
'controlModel',
yr.DartRenderer(dartModel.world, (255, 240, 255), yr.POLYGON_FILL))
viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter))
viewer.doc.addRenderer('rd_CM_plane',
yr.PointsRenderer(rd_CM_plane, (255, 255, 0)))
viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (0, 255, 0)))
viewer.doc.addRenderer('rd_CP_des',
yr.PointsRenderer(rd_CP_des, (255, 0, 255)))
viewer.doc.addRenderer(
'rd_dL_des_plane',
yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255, 255, 0)))
viewer.doc.addRenderer('rd_dH_des',
yr.VectorsRenderer(rd_dH_des, rd_CM, (0, 255, 0)))
#viewer.doc.addRenderer('rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP_des, (0,255,0), .001))
viewer.doc.addRenderer('rd_CF',
yr.VectorsRenderer(rd_CF, rd_CF_pos, (255, 0, 0)))
viewer.doc.addRenderer(
'extraForce', yr.VectorsRenderer(rd_exf_des, extraForcePos,
(0, 255, 0)))
viewer.doc.addRenderer(
'extraForceEnable',
yr.VectorsRenderer(rd_exfen_des, extraForcePos, (255, 0, 0)))
#viewer.doc.addRenderer('right_foot_oriX', yr.VectorsRenderer(rightFootVectorX, rightFootPos, (255,0,0)))
#viewer.doc.addRenderer('right_foot_oriY', yr.VectorsRenderer(rightFootVectorY, rightFootPos, (0,255,0)))
#viewer.doc.addRenderer('right_foot_oriZ', yr.VectorsRenderer(rightFootVectorZ, rightFootPos, (0,0,255)))
#viewer.doc.addRenderer('right_oriX', yr.VectorsRenderer(rightVectorX, rightPos, (255,0,0)))
#viewer.doc.addRenderer('right_oriY', yr.VectorsRenderer(rightVectorY, rightPos, (0,255,0)))
#viewer.doc.addRenderer('right_oriZ', yr.VectorsRenderer(rightVectorZ, rightPos, (0,0,255)))
#success!!
#initKt = 50
#initKl = 10.1
#initKh = 3.1
#initBl = .1
#initBh = .1
#initSupKt = 21.6
#initFm = 100.0
#success!! -- 2015.2.12. double stance
#initKt = 50
#initKl = 37.1
#initKh = 41.8
#initBl = .1
#initBh = .13
#initSupKt = 21.6
#initFm = 165.0
#single stance
#initKt = 25
#initKl = 80.1
#initKh = 10.8
#initBl = .1
#initBh = .13
#initSupKt = 21.6
#initFm = 50.0
#single stance -> double stance
#initKt = 25
#initKl = 60.
#initKh = 20.
#initBl = .1
#initBh = .13
#initSupKt = 21.6
#initFm = 50.0
initKt = 25.
# initKl = 11.
# initKh = 22.
initKl = 100.
initKh = 100.
initBl = .1
initBh = .13
initSupKt = 17.
# initSupKt = 2.5
initFm = 50.0
initComX = 0.
initComY = 0.
initComZ = 0.
viewer.objectInfoWnd.add1DSlider("Kt", 0., 300., 1., initKt)
viewer.objectInfoWnd.add1DSlider("Kl", 0., 300., 1., initKl)
viewer.objectInfoWnd.add1DSlider("Kh", 0., 300., 1., initKh)
viewer.objectInfoWnd.add1DSlider("Bl", 0., 1., .001, initBl)
viewer.objectInfoWnd.add1DSlider("Bh", 0., 1., .001, initBh)
viewer.objectInfoWnd.add1DSlider("SupKt", 0., 100., 0.1, initSupKt)
viewer.objectInfoWnd.add1DSlider("Fm", 0., 1000., 10., initFm)
viewer.objectInfoWnd.add1DSlider("com X offset", -1., 1., 0.01, initComX)
viewer.objectInfoWnd.add1DSlider("com Y offset", -1., 1., 0.01, initComY)
viewer.objectInfoWnd.add1DSlider("com Z offset", -1., 1., 0.01, initComZ)
viewer.force_on = False
def viewer_SetForceState(object):
viewer.force_on = True
def viewer_GetForceState():
return viewer.force_on
def viewer_ResetForceState():
viewer.force_on = False
viewer.objectInfoWnd.addBtn('Force on', viewer_SetForceState)
viewer_ResetForceState()
offset = 60
viewer.objectInfoWnd.begin()
viewer.objectInfoWnd.labelForceX = Fl_Value_Input(20, 30 + offset * 9, 40,
20, 'X')
viewer.objectInfoWnd.labelForceX.value(0)
viewer.objectInfoWnd.labelForceY = Fl_Value_Input(80, 30 + offset * 9, 40,
20, 'Y')
viewer.objectInfoWnd.labelForceY.value(0)
viewer.objectInfoWnd.labelForceZ = Fl_Value_Input(140, 30 + offset * 9, 40,
20, 'Z')
viewer.objectInfoWnd.labelForceZ.value(1)
viewer.objectInfoWnd.labelForceDur = Fl_Value_Input(
220, 30 + offset * 9, 40, 20, 'Dur')
viewer.objectInfoWnd.labelForceDur.value(0.1)
viewer.objectInfoWnd.end()
#self.sliderFm = Fl_Hor_Nice_Slider(10, 42+offset*6, 250, 10)
pdcontroller = PDController(dartModel, dartModel.skeleton, wcfg.timeStep,
Kt, Dt)
def getParamVal(paramname):
return viewer.objectInfoWnd.getVal(paramname)
def getParamVals(paramnames):
return (getParamVal(name) for name in paramnames)
ik_solver = hikd.numIkSolver(dartMotionModel)
body_num = dartModel.getBodyNum()
# dJsys = np.zeros((6*body_num, totalDOF))
# dJsupL = np.zeros((6, totalDOF))
# dJsupR = np.zeros((6, totalDOF))
# Jpre = [np.zeros((6*body_num, totalDOF)), np.zeros((6, totalDOF)), np.zeros((6, totalDOF))]
###################################
#simulate
###################################
def simulateCallback(frame):
# print()
# print(dartModel.getJointVelocityGlobal(0))
# print(dartModel.getDOFVelocities()[0])
# print(dartModel.get_dq()[:6])
dartMotionModel.update(motion[frame])
global g_initFlag
global forceShowTime
global preFootCenter
global maxContactChangeCount
global contactChangeCount
global contact
global contactChangeType
# print('contactstate:', contact, contactChangeCount)
Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals(
['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt'])
Dt = 2. * (Kt**.5)
Dl = (Kl**.5)
Dh = (Kh**.5)
dt_sup = 2. * (kt_sup**.5)
# Dt = .2*(Kt**.5)
# Dl = .2*(Kl**.5)
# Dh = .2*(Kh**.5)
# dt_sup = .2*(kt_sup**.5)
pdcontroller.setKpKd(Kt, Dt)
footHeight = dartModel.getBody(supL).shapenodes[0].shape.size()[1] / 2.
doubleTosingleOffset = 0.15
singleTodoubleOffset = 0.30
#doubleTosingleOffset = 0.09
doubleTosingleVelOffset = 0.0
com_offset_x, com_offset_y, com_offset_z = getParamVals(
['com X offset', 'com Y offset', 'com Z offset'])
footOffset = np.array((com_offset_x, com_offset_y, com_offset_z))
des_com = dartMotionModel.getCOM() + footOffset
footCenterL = dartMotionModel.getBodyPositionGlobal(supL)
footCenterR = dartMotionModel.getBodyPositionGlobal(supR)
footBodyOriL = dartMotionModel.getBodyOrientationGlobal(supL)
footBodyOriR = dartMotionModel.getBodyOrientationGlobal(supR)
torso_pos = dartMotionModel.getBodyPositionGlobal(4)
torso_ori = dartMotionModel.getBodyOrientationGlobal(4)
# tracking
# th_r = motion.getDOFPositions(frame)
th_r = dartMotionModel.getDOFPositions()
th = dartModel.getDOFPositions()
# th_r_flat = dartMotionModel.get_q()
dth_r = motion.getDOFVelocities(frame)
dth = dartModel.getDOFVelocities()
ddth_r = motion.getDOFAccelerations(frame)
# dth_flat = dartModel.get_dq()
dth_flat = np.concatenate(dth)
# ddth_des_flat = pdcontroller.compute(dartMotionModel.get_q())
# ddth_des_flat = pdcontroller.compute(th_r)
# ddth_des_flat = pdcontroller.compute_flat(th_r_flat)
th = get_th_dart(dartModel.skeleton)
dth = get_dth_dart(dartModel.skeleton)
dth_flat = np.concatenate(dth)
ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r,
Kt, Dt)
ype.flatten(ddth_des, ddth_des_flat)
ype.flatten(dth, dth_flat)
#################################################
# jacobian
#################################################
footOriL = dartModel.getJointOrientationGlobal(supL)
footOriR = dartModel.getJointOrientationGlobal(supR)
footCenterL = dartModel.getBodyPositionGlobal(supL)
footCenterR = dartModel.getBodyPositionGlobal(supR)
footBodyOriL = dartModel.getBodyOrientationGlobal(supL)
footBodyOriR = dartModel.getBodyOrientationGlobal(supR)
footBodyVelL = dartModel.getBodyVelocityGlobal(supL)
footBodyVelR = dartModel.getBodyVelocityGlobal(supR)
footBodyAngVelL = dartModel.getBodyAngVelocityGlobal(supL)
footBodyAngVelR = dartModel.getBodyAngVelocityGlobal(supR)
refFootL = dartMotionModel.getBodyPositionGlobal(supL)
refFootR = dartMotionModel.getBodyPositionGlobal(supR)
# refFootAngVelL = motion.getJointAngVelocityGlobal(supL, frame)
# refFootAngVelR = motion.getJointAngVelocityGlobal(supR, frame)
refFootAngVelL = np.zeros(3)
refFootAngVelR = np.zeros(3)
refFootJointVelR = motion.getJointVelocityGlobal(supR, frame)
refFootJointAngVelR = motion.getJointAngVelocityGlobal(supR, frame)
refFootJointR = motion.getJointPositionGlobal(supR, frame)
# refFootVelR = refFootJointVelR + np.cross(refFootJointAngVelR, (refFootR-refFootJointR))
refFootVelR = np.zeros(3)
refFootJointVelL = motion.getJointVelocityGlobal(supL, frame)
refFootJointAngVelL = motion.getJointAngVelocityGlobal(supL, frame)
refFootJointL = motion.getJointPositionGlobal(supL, frame)
# refFootVelL = refFootJointVelL + np.cross(refFootJointAngVelL, (refFootL-refFootJointL))
refFootVelL = np.zeros(3)
contactR = 1
contactL = 1
if refFootVelR[1] < 0 and refFootVelR[1] * frame_step_size + refFootR[
1] > singleTodoubleOffset:
contactR = 0
if refFootVelL[1] < 0 and refFootVelL[1] * frame_step_size + refFootL[
1] > singleTodoubleOffset:
contactL = 0
if refFootVelR[1] > 0 and refFootVelR[1] * frame_step_size + refFootR[
1] > doubleTosingleOffset:
contactR = 0
if refFootVelL[1] > 0 and refFootVelL[1] * frame_step_size + refFootL[
1] > doubleTosingleOffset:
contactL = 0
# contactR = 0
# contMotionOffset = th[0][0] - th_r[0][0]
contMotionOffset = dartModel.getBodyPositionGlobal(
0) - dartMotionModel.getBodyPositionGlobal(0)
linkPositions = dartModel.getBodyPositionsGlobal()
linkVelocities = dartModel.getBodyVelocitiesGlobal()
linkAngVelocities = dartModel.getBodyAngVelocitiesGlobal()
linkInertias = dartModel.getBodyInertiasGlobal()
CM = dartModel.skeleton.com()
dCM = dartModel.skeleton.com_velocity()
CM_plane = copy.copy(CM)
CM_plane[1] = 0.
dCM_plane = copy.copy(dCM)
dCM_plane[1] = 0.
P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM,
linkInertias)
dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses,
linkVelocities, dCM,
linkAngVelocities,
linkInertias)
#calculate contact state
#if g_initFlag == 1 and contact == 1 and refFootR[1] < doubleTosingleOffset and footCenterR[1] < 0.08:
if g_initFlag == 1:
#contact state
# 0: flying 1: right only 2: left only 3: double
#if contact == 2 and refFootR[1] < doubleTosingleOffset:
if contact == 2 and contactR == 1:
contact = 3
maxContactChangeCount += 30
contactChangeCount += maxContactChangeCount
contactChangeType = 'StoD'
#elif contact == 3 and refFootL[1] < doubleTosingleOffset:
elif contact == 1 and contactL == 1:
contact = 3
maxContactChangeCount += 30
contactChangeCount += maxContactChangeCount
contactChangeType = 'StoD'
#elif contact == 3 and refFootR[1] > doubleTosingleOffset:
elif contact == 3 and contactR == 0:
contact = 2
contactChangeCount += maxContactChangeCount
contactChangeType = 'DtoS'
#elif contact == 3 and refFootL[1] > doubleTosingleOffset:
elif contact == 3 and contactL == 0:
contact = 1
contactChangeCount += maxContactChangeCount
contactChangeType = 'DtoS'
else:
contact = 0
#if refFootR[1] < doubleTosingleOffset:
if contactR == 1:
contact += 1
#if refFootL[1] < doubleTosingleOffset:
if contactL == 1:
contact += 2
#initialization
if g_initFlag == 0:
softConstPoint = footCenterR.copy()
footCenter = footCenterL + (footCenterR - footCenterL) / 2.0
footCenter[1] = 0.
preFootCenter = footCenter.copy()
#footToBodyFootRotL = np.dot(np.transpose(footOriL), footBodyOriL)
#footToBodyFootRotR = np.dot(np.transpose(footOriR), footBodyOriR)
# if refFootR[1] < doubleTosingleOffset:
# contact +=1
# if refFootL[1] < doubleTosingleOffset:
# contact +=2
if refFootR[1] < footHeight:
contact += 1
if refFootL[1] < footHeight:
contact += 2
g_initFlag = 1
# calculate jacobian
body_num = dartModel.getBodyNum()
Jsys, dJsysdq = compute_J_dJdq(dartModel.skeleton)
JsupL = Jsys[6 * supL:6 * supL + 6, :]
dJsupLdq = dJsysdq[6 * supL:6 * supL + 6]
JsupR = Jsys[6 * supR:6 * supR + 6, :]
dJsupRdq = dJsysdq[6 * supR:6 * supR + 6]
# calculate footCenter
footCenter = .5 * (footCenterL + footCenterR) + footOffset
if contact == 2:
footCenter = footCenterL.copy() + footOffset
if contact == 1:
footCenter = footCenterR.copy() + footOffset
footCenter[1] = 0.
if contactChangeCount > 0 and contactChangeType == 'StoD':
#change footcenter gradually
footCenter = preFootCenter + (
maxContactChangeCount - contactChangeCount) * (
footCenter - preFootCenter) / maxContactChangeCount
preFootCenter = footCenter.copy()
# linear momentum
#TODO:
# We should consider dCM_ref, shouldn't we?
# add getBodyPositionGlobal and getBodyPositionsGlobal in csVpModel!
# todo that, set joint velocities to vpModel
CM_ref_plane = footCenter
dL_des_plane = Kl * totalMass * (CM_ref_plane -
CM_plane) - Dl * totalMass * dCM_plane
dL_des_plane[1] = 0.
CM_ref = footCenter.copy()
CM_ref[1] = dartMotionModel.getCOM()[1]
# CM_ref += np.array((0., com_offset_y, 0.))
dL_des_plane = Kl * totalMass * (CM_ref - CM) - Dl * totalMass * dCM
# angular momentum
CP_ref = footCenter
bodyIDs, contactPositions, contactPositionLocals, contactForces = [], [], [], []
if DART_CONTACT_ON:
bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.get_dart_contact_info(
)
else:
bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
#bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds)
CP = yrp.getCP(contactPositions, contactForces)
if CP_old[0] is None or CP is None:
dCP = None
else:
dCP = (CP - CP_old[0]) / frame_step_size
CP_old[0] = CP
CP_des[0] = None
# if CP_des[0] is None:
# CP_des[0] = footCenter
if CP is not None and dCP is not None:
ddCP_des = Kh * (CP_ref - CP) - Dh * (dCP)
CP_des[0] = CP + dCP * frame_step_size + .5 * ddCP_des * (
frame_step_size**2)
# dCP_des[0] += ddCP_des * frame_step_size
# CP_des[0] += dCP_des[0] * frame_step_size + .5 * ddCP_des*(frame_step_size ** 2)
dH_des = np.cross(CP_des[0] - CM,
dL_des_plane + totalMass * mm.s2v(wcfg.gravity))
if contactChangeCount > 0: # and contactChangeType == 'DtoS':
#dH_des *= (maxContactChangeCount - contactChangeCount)/(maxContactChangeCount*10)
dH_des *= (maxContactChangeCount -
contactChangeCount) / (maxContactChangeCount)
#dH_des *= (contactChangeCount)/(maxContactChangeCount)*.9+.1
else:
dH_des = None
# H = np.dot(P, np.dot(Jsys, dth_flat))
# dH_des = -Kh* H[3:]
# soft point constraint
#softConstPoint = refFootR.copy()
##softConstPoint[0] += 0.2
#Ksc = 50
#Dsc = 2*(Ksc**.5)
#Bsc = 1.
#P_des = softConstPoint
#P_cur = controlModel.getBodyPositionGlobal(constBody)
#dP_des = [0, 0, 0]
#dP_cur = controlModel.getBodyVelocityGlobal(constBody)
#ddP_des1 = Ksc*(P_des - P_cur) + Dsc*(dP_des - dP_cur)
#r = P_des - P_cur
#I = np.vstack(([1,0,0],[0,1,0],[0,0,1]))
#Z = np.hstack((I, mm.getCrossMatrixForm(-r)))
#yjc.computeJacobian2(Jconst, DOFs, jointPositions, jointAxeses, [softConstPoint], constJointMasks)
#dJconst = (Jconst - Jconst)/(1/30.)
#JconstPre = Jconst.copy()
##yjc.computeJacobianDerivative2(dJconst, DOFs, jointPositions, jointAxeses, linkAngVelocities, [softConstPoint], constJointMasks, False)
#JL, JA = np.vsplit(Jconst, 2)
#Q1 = np.dot(Z, Jconst)
#q1 = np.dot(JA, dth_flat)
#q2 = np.dot(mm.getCrossMatrixForm(q1), np.dot(mm.getCrossMatrixForm(q1), r))
#q_bias1 = np.dot(np.dot(Z, dJconst), dth_flat) + q2
#set up equality constraint
a_oriL = mm.logSO3(
mm.getSO3FromVectors(np.dot(footBodyOriL, np.array([0, 1, 0])),
np.array([0, 1, 0])))
a_oriR = mm.logSO3(
mm.getSO3FromVectors(np.dot(footBodyOriR, np.array([0, 1, 0])),
np.array([0, 1, 0])))
footErrorL = refFootL.copy()
footErrorL[1] = dartModel.getBody(
supL).shapenodes[0].shape.size()[1] / 2.
footErrorL += -footCenterL + contMotionOffset
footErrorR = refFootR.copy()
footErrorR[1] = dartModel.getBody(
supR).shapenodes[0].shape.size()[1] / 2.
footErrorR += -footCenterR + contMotionOffset
a_supL = np.append(
kt_sup * footErrorL + dt_sup * (refFootVelL - footBodyVelL),
kt_sup * a_oriL + dt_sup * (refFootAngVelL - footBodyAngVelL))
a_supR = np.append(
kt_sup * footErrorR + dt_sup * (refFootVelR - footBodyVelR),
kt_sup * a_oriR + dt_sup * (refFootAngVelR - footBodyAngVelR))
if contactChangeCount > 0 and contactChangeType == 'DtoS':
a_supL = np.append(
kt_sup * (refFootL - footCenterL + contMotionOffset) + dt_sup *
(refFootVelL - footBodyVelL), 4 * kt_sup * a_oriL +
2 * dt_sup * (refFootAngVelL - footBodyAngVelL))
a_supR = np.append(
kt_sup * (refFootR - footCenterR + contMotionOffset) + dt_sup *
(refFootVelR - footBodyVelR), 4 * kt_sup * a_oriR +
2 * dt_sup * (refFootAngVelR - footBodyAngVelR))
elif contactChangeCount > 0 and contactChangeType == 'StoD':
linkt = (13. * contactChangeCount) / (maxContactChangeCount) + 1.
lindt = 2 * (linkt**.5)
angkt = (13. * contactChangeCount) / (maxContactChangeCount) + 1.
angdt = 2 * (angkt**.5)
a_supL = np.append(
linkt * kt_sup * (refFootL - footCenterL + contMotionOffset) +
lindt * dt_sup * (refFootVelL - footBodyVelL),
angkt * kt_sup * a_oriL + angdt * dt_sup *
(refFootAngVelL - footBodyAngVelL))
a_supR = np.append(
linkt * kt_sup * (refFootR - footCenterR + contMotionOffset) +
lindt * dt_sup * (refFootVelR - footBodyVelR),
angkt * kt_sup * a_oriR + angdt * dt_sup *
(refFootAngVelR - footBodyAngVelR))
# momentum matrix
RS = np.dot(P, Jsys)
R, S = np.vsplit(RS, 2)
# rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat)
rs = np.dot(dP, np.dot(Jsys, dth_flat)) + np.dot(P, dJsysdq)
r_bias, s_bias = np.hsplit(rs, 2)
#######################################################
# optimization
#######################################################
#if contact == 2 and footCenterR[1] > doubleTosingleOffset/2:
if contact == 2:
config['weightMap']['RightUpLeg'] = .8
config['weightMap']['RightLeg'] = .8
config['weightMap']['RightFoot'] = .8
else:
config['weightMap']['RightUpLeg'] = .1
config['weightMap']['RightLeg'] = .25
config['weightMap']['RightFoot'] = .2
#if contact == 1 and footCenterL[1] > doubleTosingleOffset/2:
if contact == 1:
config['weightMap']['LeftUpLeg'] = .8
config['weightMap']['LeftLeg'] = .8
config['weightMap']['LeftFoot'] = .8
else:
config['weightMap']['LeftUpLeg'] = .1
config['weightMap']['LeftLeg'] = .25
config['weightMap']['LeftFoot'] = .2
w = mot.getTrackingWeight(DOFs, motion[0].skeleton,
config['weightMap'])
#if contact == 2:
#mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1, q_bias1)
mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat)
mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias)
if dH_des is not None:
mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias)
#mot.setConstraint(problem, totalDOF, Jsup, dJsup, dth_flat, a_sup)
#mot.addConstraint(problem, totalDOF, Jsup, dJsup, dth_flat, a_sup)
#if contact & 1 and contactChangeCount == 0:
if contact & 1:
#if refFootR[1] < doubleTosingleOffset:
mot.addConstraint2(problem, totalDOF, JsupR, dJsupRdq, a_supR)
if contact & 2:
#if refFootL[1] < doubleTosingleOffset:
mot.addConstraint2(problem, totalDOF, JsupL, dJsupLdq, a_supL)
if contactChangeCount > 0:
contactChangeCount -= 1
if contactChangeCount == 0:
maxContactChangeCount = 30
contactChangeType = 0
r = problem.solve()
problem.clear()
# ype.nested(r['x'], ddth_sol)
ddth_sol = np.asarray(r['x'])
# ddth_sol[:6] = np.zeros(6)
rootPos[0] = dartModel.getBodyPositionGlobal(selectedBody)
localPos = [[0, 0, 0]]
for i in range(stepsPerFrame):
# apply penalty force
if not DART_CONTACT_ON:
bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
dartModel.applyPenaltyForce(bodyIDs, contactPositionLocals,
contactForces)
dartModel.skeleton.set_accelerations(
ddth_vp_to_dart(dartModel.skeleton, ddth_sol))
# dartModel.skeleton.set_accelerations(ddth_des_flat)
# dartModel.skeleton.set_forces(np.zeros(totalDOF))
if forceShowTime > viewer.objectInfoWnd.labelForceDur.value():
forceShowTime = 0
viewer_ResetForceState()
forceforce = np.array([
viewer.objectInfoWnd.labelForceX.value(),
viewer.objectInfoWnd.labelForceY.value(),
viewer.objectInfoWnd.labelForceZ.value()
])
extraForce[0] = getParamVal('Fm') * mm.normalize2(forceforce)
if viewer_GetForceState():
forceShowTime += wcfg.timeStep
dartModel.applyPenaltyForce(selectedBodyId, localPos,
extraForce)
dartModel.step()
if DART_CONTACT_ON:
bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.get_dart_contact_info(
)
else:
bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
# rendering
rightFootVectorX[0] = np.dot(footOriL, np.array([.1, 0, 0]))
rightFootVectorY[0] = np.dot(footOriL, np.array([0, .1, 0]))
rightFootVectorZ[0] = np.dot(footOriL, np.array([0, 0, .1]))
rightFootPos[0] = footCenterL
rightVectorX[0] = np.dot(footBodyOriL, np.array([.1, 0, 0]))
rightVectorY[0] = np.dot(footBodyOriL, np.array([0, .1, 0]))
rightVectorZ[0] = np.dot(footBodyOriL, np.array([0, 0, .1]))
rightPos[0] = footCenterL + np.array([.1, 0, 0])
rd_footCenter[0] = footCenter
rd_footCenterL[0] = footCenterL
rd_footCenterR[0] = footCenterR
rd_CM[0] = CM
rd_CM_plane[0] = CM.copy()
rd_CM_plane[0][1] = 0.
if CP is not None and dCP is not None:
rd_CP[0] = CP
rd_CP_des[0] = CP_des[0]
rd_dL_des_plane[0] = [
dL_des_plane[0] / 100, dL_des_plane[1] / 100,
dL_des_plane[2] / 100
]
rd_dH_des[0] = dH_des
rd_grf_des[0] = dL_des_plane - totalMass * mm.s2v(wcfg.gravity)
rd_root_des[0] = rootPos[0]
del rd_CF[:]
del rd_CF_pos[:]
for i in range(len(contactPositions)):
rd_CF.append(contactForces[i] / 100)
rd_CF_pos.append(contactPositions[i].copy())
if viewer_GetForceState():
rd_exfen_des[0] = [
extraForce[0][0] / 100, extraForce[0][1] / 100,
extraForce[0][2] / 100
]
rd_exf_des[0] = [0, 0, 0]
else:
rd_exf_des[0] = [
extraForce[0][0] / 100, extraForce[0][1] / 100,
extraForce[0][2] / 100
]
rd_exfen_des[0] = [0, 0, 0]
extraForcePos[0] = dartModel.getBodyPositionGlobal(selectedBody)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def main():
# np.set_printoptions(precision=4, linewidth=200)
np.set_printoptions(precision=5,
threshold=np.inf,
suppress=True,
linewidth=3000)
motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_jump_biped()
vpWorld = cvw.VpWorld(wcfg)
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.computeJacobian(0, np.array([0., 0., 0.]))
pydart.init()
dartModel = cdm.DartModel(wcfg, motion[0], mcfg, DART_CONTACT_ON)
dartModel.set_q(controlModel.get_q())
totalDOF = controlModel.getTotalDOF()
DOFs = controlModel.getDOFs()
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']
supL = motion[0].skeleton.getJointIndex(config['supLink1'])
supR = motion[0].skeleton.getJointIndex(config['supLink2'])
selectedBody = motion[0].skeleton.getJointIndex(config['end'])
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()
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
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, 1024, 768], viewForceWnd=False)
# viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer(
'motionModel',
yr.VpModelRenderer(motionModel, (150, 150, 255), yr.POLYGON_FILL))
viewer.doc.addRenderer(
'dartModel',
yr.DartModelRenderer(dartModel, (150, 150, 255), yr.POLYGON_LINE))
# 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)
viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter))
viewer.doc.addRenderer('rd_CM_plane',
yr.PointsRenderer(rd_CM_plane, (255, 255, 0)))
viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (0, 255, 0)))
viewer.doc.addRenderer('rd_CP_des',
yr.PointsRenderer(rd_CP_des, (255, 0, 255)))
viewer.doc.addRenderer(
'rd_dL_des_plane',
yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255, 255, 0)))
viewer.doc.addRenderer('rd_dH_des',
yr.VectorsRenderer(rd_dH_des, rd_CM, (0, 255, 0)))
# viewer.doc.addRenderer('rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP_des, (0,255,0), .001))
viewer.doc.addRenderer('rd_CF',
yr.VectorsRenderer(rd_CF, rd_CF_pos, (255, 255, 0)))
viewer.doc.addRenderer(
'extraForce', yr.VectorsRenderer(rd_exf_des, extraForcePos,
(0, 255, 0)))
viewer.doc.addRenderer(
'extraForceEnable',
yr.VectorsRenderer(rd_exfen_des, extraForcePos, (255, 0, 0)))
# viewer.doc.addRenderer('right_foot_oriX', yr.VectorsRenderer(rightFootVectorX, rightFootPos, (255,0,0)))
# viewer.doc.addRenderer('right_foot_oriY', yr.VectorsRenderer(rightFootVectorY, rightFootPos, (0,255,0)))
# viewer.doc.addRenderer('right_foot_oriZ', yr.VectorsRenderer(rightFootVectorZ, rightFootPos, (0,0,255)))
# viewer.doc.addRenderer('right_oriX', yr.VectorsRenderer(rightVectorX, rightPos, (255,0,0)))
# viewer.doc.addRenderer('right_oriY', yr.VectorsRenderer(rightVectorY, rightPos, (0,255,0)))
# viewer.doc.addRenderer('right_oriZ', yr.VectorsRenderer(rightVectorZ, rightPos, (0,0,255)))
# foot_viewer = FootWindow(viewer.x() + viewer.w() + 20, viewer.y(), 300, 400, 'foot contact modifier', controlModel)
foot_viewer = None # type: FootWindow
# 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., 300., 0.1, initSupKt)
viewer.objectInfoWnd.add1DSlider("Fm", 0., 1000., 10., initFm)
viewer.objectInfoWnd.add1DSlider("com X offset", -1., 1., 0.01, initComX)
viewer.objectInfoWnd.add1DSlider("com Y offset", -1., 1., 0.01, initComY)
viewer.objectInfoWnd.add1DSlider("com Z offset", -1., 1., 0.01, initComZ)
viewer.force_on = False
def viewer_SetForceState(object):
viewer.force_on = True
def viewer_GetForceState():
return viewer.force_on
def viewer_ResetForceState():
viewer.force_on = False
viewer.objectInfoWnd.addBtn('Force on', viewer_SetForceState)
viewer_ResetForceState()
offset = 60
viewer.objectInfoWnd.begin()
viewer.objectInfoWnd.labelForceX = Fl_Value_Input(20, 30 + offset * 9, 40,
20, 'X')
viewer.objectInfoWnd.labelForceX.value(0)
viewer.objectInfoWnd.labelForceY = Fl_Value_Input(80, 30 + offset * 9, 40,
20, 'Y')
viewer.objectInfoWnd.labelForceY.value(0)
viewer.objectInfoWnd.labelForceZ = Fl_Value_Input(140, 30 + offset * 9, 40,
20, 'Z')
viewer.objectInfoWnd.labelForceZ.value(1)
viewer.objectInfoWnd.labelForceDur = Fl_Value_Input(
220, 30 + offset * 9, 40, 20, 'Dur')
viewer.objectInfoWnd.labelForceDur.value(0.1)
viewer.objectInfoWnd.end()
# self.sliderFm = Fl_Hor_Nice_Slider(10, 42+offset*6, 250, 10)
def getParamVal(paramname):
return viewer.objectInfoWnd.getVal(paramname)
def getParamVals(paramnames):
return (getParamVal(name) for name in paramnames)
extendedFootName = [
'Foot_foot_0_0', 'Foot_foot_0_1', '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')
def get_jacobianbase_and_masks(skeleton, DOFs, joint_idx):
J = yjc.makeEmptyJacobian(DOFs, 1)
joint_masks = [yjc.getLinkJointMask(skeleton, joint_idx)]
return J, joint_masks
###################################
# simulate
###################################
def simulateCallback(frame):
motionModel.update(motion[frame])
# dartModel.update(motion[frame])
dartModel.set_q(controlModel.get_q())
global g_initFlag
global forceShowTime
global JsysPre
global JsupPreL
global JsupPreR
global JconstPre
global preFootCenter
global maxContactChangeCount
global contactChangeCount
global contact
global contactChangeType
# Kt, Kl, Kh, Bl, Bh, kt_sup = viewer.GetParam()
Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals(
['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt'])
Dt = 2 * (Kt**.5)
Dl = 2 * (Kl**.5)
Dh = 2 * (Kh**.5)
dt_sup = 2 * (kt_sup**.5)
doubleTosingleOffset = 0.15
singleTodoubleOffset = 0.30
# doubleTosingleOffset = 0.09
doubleTosingleVelOffset = 0.0
# tracking
# print(len(motion.get_q(frame)))
# print(motion.get_q(frame))
# print(motion.get_dq(frame))
# print(len(controlModel.get_q()))
# print(controlModel.get_q())
# print(controlModel.get_dq())
# print(np.asarray(motion.get_dq(frame)) - np.asarray(controlModel.get_dq()))
# print(np.asarray(dartModel.get_q())[:6])
# print(controlModel.get_q()[:6])
th_r = motion.getDOFPositions(frame)
th = controlModel.getDOFPositions()
dth_r = motion.getDOFVelocities(frame)
dth = controlModel.getDOFVelocities()
ddth_r = motion.getDOFAccelerations(frame)
ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r,
Kt, Dt)
ype.flatten(ddth_des, ddth_des_flat)
# ddth_des_flat = Kt * (motion.get_q(frame) - np.array(controlModel.get_q())) - Dt * np.array(controlModel.get_dq())
ype.flatten(dth, dth_flat)
# dth_flat = np.array(controlModel.get_dq())
#################################################
# jacobian
#################################################
contact_ids = list()
# contact_ids = [supL, supR]
# contact_ids = footIdlist
if foot_viewer.check_om_l.value():
contact_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0'))
if foot_viewer.check_op_l.value():
contact_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0_0'))
if foot_viewer.check_im_l.value():
contact_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1'))
if foot_viewer.check_ip_l.value():
contact_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1_0'))
if foot_viewer.check_h_l.value():
contact_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_1_0'))
if foot_viewer.check_om_r.value():
contact_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_0'))
if foot_viewer.check_op_r.value():
contact_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_0_0'))
if foot_viewer.check_im_r.value():
contact_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_1'))
if foot_viewer.check_ip_r.value():
contact_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_1_0'))
if foot_viewer.check_h_r.value():
contact_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_1_0'))
contact_joint_ori = list(
map(controlModel.getJointOrientationGlobal, contact_ids))
contact_joint_pos = list(
map(controlModel.getJointPositionGlobal, contact_ids))
contact_body_ori = list(
map(controlModel.getBodyOrientationGlobal, contact_ids))
contact_body_pos = list(
map(controlModel.getBodyPositionGlobal, contact_ids))
contact_body_vel = list(
map(controlModel.getBodyVelocityGlobal, contact_ids))
contact_body_angvel = list(
map(controlModel.getBodyAngVelocityGlobal, contact_ids))
ref_joint_ori = list(
map(motion[frame].getJointOrientationGlobal, contact_ids))
ref_joint_pos = list(
map(motion[frame].getJointPositionGlobal, contact_ids))
ref_joint_vel = [
motion.getJointVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_joint_angvel = [
motion.getJointAngVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_body_ori = list(
map(motionModel.getBodyOrientationGlobal, contact_ids))
ref_body_pos = list(map(motionModel.getBodyPositionGlobal,
contact_ids))
# ref_body_vel = list(map(controlModel.getBodyVelocityGlobal, contact_ids))
ref_body_angvel = [
motion.getJointAngVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_body_vel = [
ref_joint_vel[i] +
np.cross(ref_joint_angvel[i], ref_body_pos[i] - ref_joint_pos[i])
for i in range(len(ref_joint_vel))
]
J_contacts = [
yjc.makeEmptyJacobian(DOFs, 1) for i in range(len(contact_ids))
]
dJ_contacts = [
yjc.makeEmptyJacobian(DOFs, 1) for i in range(len(contact_ids))
]
joint_masks = [
yjc.getLinkJointMask(motion[0].skeleton, joint_idx)
for joint_idx in contact_ids
]
# caution!! body orientation and joint orientation of foot are totally different!!
footOriL = controlModel.getJointOrientationGlobal(supL)
footOriR = controlModel.getJointOrientationGlobal(supR)
# desire footCenter[1] = 0.041135
# desire footCenter[1] = 0.0197
footCenterL = controlModel.getBodyPositionGlobal(supL)
footCenterR = controlModel.getBodyPositionGlobal(supR)
footBodyOriL = controlModel.getBodyOrientationGlobal(supL)
footBodyOriR = controlModel.getBodyOrientationGlobal(supR)
footBodyVelL = controlModel.getBodyVelocityGlobal(supL)
footBodyVelR = controlModel.getBodyVelocityGlobal(supR)
footBodyAngVelL = controlModel.getBodyAngVelocityGlobal(supL)
footBodyAngVelR = controlModel.getBodyAngVelocityGlobal(supR)
refFootL = motionModel.getBodyPositionGlobal(supL)
refFootR = motionModel.getBodyPositionGlobal(supR)
refFootVelL = motionModel.getBodyVelocityGlobal(supL)
refFootVelR = motionModel.getBodyVelocityGlobal(supR)
refFootAngVelL = motionModel.getBodyAngVelocityGlobal(supL)
refFootAngVelR = motionModel.getBodyAngVelocityGlobal(supR)
refFootJointVelR = motion.getJointVelocityGlobal(supR, frame)
refFootJointAngVelR = motion.getJointAngVelocityGlobal(supR, frame)
refFootJointR = motion.getJointPositionGlobal(supR, frame)
refFootVelR = refFootJointVelR + np.cross(refFootJointAngVelR,
(refFootR - refFootJointR))
refFootJointVelL = motion.getJointVelocityGlobal(supL, frame)
refFootJointAngVelL = motion.getJointAngVelocityGlobal(supL, frame)
refFootJointL = motion.getJointPositionGlobal(supL, frame)
refFootVelL = refFootJointVelL + np.cross(refFootJointAngVelL,
(refFootL - refFootJointL))
is_contact = [1] * len(contact_ids)
contactR = 1
contactL = 1
if refFootVelR[1] < 0 and refFootVelR[1] / 30. + refFootR[
1] > singleTodoubleOffset:
contactR = 0
if refFootVelL[1] < 0 and refFootVelL[1] / 30. + refFootL[
1] > singleTodoubleOffset:
contactL = 0
if refFootVelR[1] > 0 and refFootVelR[1] / 30. + refFootR[
1] > doubleTosingleOffset:
contactR = 0
if refFootVelL[1] > 0 and refFootVelL[1] / 30. + refFootL[
1] > doubleTosingleOffset:
contactL = 0
# contactR = 1
contMotionOffset = th[0][0] - th_r[0][0]
linkPositions = controlModel.getBodyPositionsGlobal()
linkVelocities = controlModel.getBodyVelocitiesGlobal()
linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal()
linkInertias = controlModel.getBodyInertiasGlobal()
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 contact state
# if g_initFlag == 1 and contact == 1 and refFootR[1] < doubleTosingleOffset and footCenterR[1] < 0.08:
if g_initFlag == 1:
# contact state
# 0: flying 1: right only 2: left only 3: double
# if contact == 2 and refFootR[1] < doubleTosingleOffset:
if contact == 2 and contactR == 1:
contact = 3
maxContactChangeCount += 30
contactChangeCount += maxContactChangeCount
contactChangeType = 'StoD'
# elif contact == 3 and refFootL[1] < doubleTosingleOffset:
elif contact == 1 and contactL == 1:
contact = 3
maxContactChangeCount += 30
contactChangeCount += maxContactChangeCount
contactChangeType = 'StoD'
# elif contact == 3 and refFootR[1] > doubleTosingleOffset:
elif contact == 3 and contactR == 0:
contact = 2
contactChangeCount += maxContactChangeCount
contactChangeType = 'DtoS'
# elif contact == 3 and refFootL[1] > doubleTosingleOffset:
elif contact == 3 and contactL == 0:
contact = 1
contactChangeCount += maxContactChangeCount
contactChangeType = 'DtoS'
else:
contact = 0
# if refFootR[1] < doubleTosingleOffset:
if contactR == 1:
contact += 1
# if refFootL[1] < doubleTosingleOffset:
if contactL == 1:
contact += 2
# initialization
if g_initFlag == 0:
# JsysPre = Jsys.copy()
JconstPre = Jconst.copy()
softConstPoint = footCenterR.copy()
# yjc.computeJacobian2(JsysPre, DOFs, jointPositions, jointAxeses, linkPositions, allLinkJointMasks)
# yjc.computeJacobian2(JconstPre, DOFs, jointPositions, jointAxeses, [softConstPoint], constJointMasks)
footCenter = footCenterL + (footCenterR - footCenterL) / 2.0
footCenter[1] = 0.
preFootCenter = footCenter.copy()
# footToBodyFootRotL = np.dot(np.transpose(footOriL), footBodyOriL)
# footToBodyFootRotR = np.dot(np.transpose(footOriR), footBodyOriR)
if refFootR[1] < doubleTosingleOffset:
contact += 1
if refFootL[1] < doubleTosingleOffset:
contact += 2
g_initFlag = 1
# calculate jacobian
Jsys = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum())
yjc.computeJacobian2(Jsys, DOFs, jointPositions, jointAxeses,
linkPositions, allLinkJointMasks)
dJsys = (Jsys - JsysPre) / (1 / 30.)
JsysPre = Jsys.copy()
# # yjc.computeJacobianDerivative2(dJsys, DOFs, jointPositions, jointAxeses, linkAngVelocities, linkPositions, allLinkJointMasks)
# print(np.dot(Jsys, dth_flat))
vp_legacy = np.dot(Jsys, dth_flat)
# print(Jsys)
# '''
# calculate jacobian using dart
body_num = dartModel.getBodyNum()
Jsys_dart = np.zeros((6 * body_num, totalDOF))
dJsys_dart = np.zeros((6 * body_num, totalDOF))
for i in range(dartModel.getBodyNum()):
# body_i_jacobian = dartModel.getBody(i).world_jacobian()[range(-3, 3), :]
# body_i_jacobian_deriv = dartModel.getBody(i).world_jacobian_classic_deriv()[range(-3, 3), :]
# Jsys[6*i:6*i+6, :] = body_i_jacobian
# dJsys[6*i:6*i+6, :] = body_i_jacobian_deriv
Jsys_dart[6 * i:6 * i + 6, :] = dartModel.getBody(
i).world_jacobian()[range(-3, 3), :]
dJsys_dart[6 * i:6 * i + 6, :] = dartModel.getBody(
i).world_jacobian_classic_deriv()[range(-3, 3), :]
# print(np.dot(Jsys, controlModel.get_dq()))
dart_result = np.dot(Jsys_dart, controlModel.get_dq())
# print(Jsys)
# '''
Jsys_hp = np.zeros_like(Jsys_dart)
for i in range(len(linkPositions)):
Jsys_hp[6 * i:6 * i + 6, :] = controlModel.computeJacobian(
i, linkPositions[i])
# Jsys = Jsys_hp
# print('vpJ : ', vp_legacy)
# print('hpJ : ', np.dot(Jsys_hp, controlModel.get_dq()))
# print('dart: ', dart_result)
# print('vp : ', np.asarray([[controlModel.getBodyVelocityGlobal(i), controlModel.getBodyAngVelocityGlobal(i)] for i in range(controlModel.getBodyNum())]).flatten())
# print(np.linalg.norm(vp_legacy - dart_result))
for i in range(len(J_contacts)):
J_contacts[i] = Jsys[6 * contact_ids[i]:6 * contact_ids[i] + 6, :]
dJ_contacts[i] = dJsys[6 * contact_ids[i]:6 * contact_ids[i] +
6, :]
# yjc.computeJacobian2(J_contacts[i], DOFs, jointPositions, jointAxeses, [contact_body_pos[i]], [joint_masks[i]])
# yjc.computeJacobianDerivative2(
# dJ_contacts[i], DOFs, jointPositions, jointAxeses, linkAngVelocities, [contact_body_pos[i]], [joint_masks[i]])
# calculate footCenter
footCenter = sum(contact_body_pos) / len(contact_body_pos) if len(contact_body_pos) > 0 \
else .5 * (controlModel.getBodyPositionGlobal(supL) + controlModel.getBodyPositionGlobal(supR))
# if len(contact_body_pos) > 2:
# hull = ConvexHull(contact_body_pos)
footCenter_ref = sum(ref_body_pos) / len(ref_body_pos) if len(ref_body_pos) > 0 \
else .5 * (motionModel.getBodyPositionGlobal(supL) + motionModel.getBodyPositionGlobal(supR))
footCenter_ref = footCenter_ref + contMotionOffset
# if len(ref_body_pos) > 2:
# hull = ConvexHull(ref_body_pos)
footCenter_ref[1] = 0.
# footCenter = footCenterL + (footCenterR - footCenterL)/2.0
# if refFootR[1] >doubleTosingleOffset:
# if refFootR[1] > doubleTosingleOffset or footCenterR[1] > 0.08:
# if contact == 1 or footCenterR[1] > 0.08:
# if contact == 2 or footCenterR[1] > doubleTosingleOffset/2:
if contact == 2:
footCenter = footCenterL.copy()
# elif contact == 1 or footCenterL[1] > doubleTosingleOffset/2:
if contact == 1:
footCenter = footCenterR.copy()
footCenter[1] = 0.
if contactChangeCount > 0 and contactChangeType == 'StoD':
# change footcenter gradually
footCenter = preFootCenter + (
maxContactChangeCount - contactChangeCount) * (
footCenter - preFootCenter) / maxContactChangeCount
preFootCenter = footCenter.copy()
# linear momentum
# TODO:
# We should consider dCM_ref, shouldn't we?
# add getBodyPositionGlobal and getBodyPositionsGlobal in csVpModel!
# to do that, set joint velocities to vpModel
CM_ref_plane = footCenter
# CM_ref_plane = footCenter_ref
dL_des_plane = Kl * totalMass * (CM_ref_plane -
CM_plane) - Dl * totalMass * dCM_plane
# dL_des_plane[1] = 0.
# angular momentum
CP_ref = footCenter
# CP_ref = footCenter_ref
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
# bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds)
CP = yrp.getCP(contactPositions, contactForces)
if CP_old[0] is None or CP is None:
dCP = None
else:
dCP = (CP - CP_old[0]) / (1 / 30.)
CP_old[0] = CP
if CP is not None and dCP is not None:
ddCP_des = Kh * (CP_ref - CP) - Dh * dCP
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
# set up equality constraint
# TODO:
# logSO3 is just q'', not acceleration.
# To make a_oris acceleration, q'' -> a will be needed
# body_ddqs = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori]))
body_ddqs = list(
map(mm.logSO3, [
np.dot(
contact_body_ori[i].T,
np.dot(
ref_body_ori[i],
mm.getSO3FromVectors(
np.dot(ref_body_ori[i], mm.unitY()), mm.unitY())))
for i in range(len(contact_body_ori))
]))
body_qs = list(map(mm.logSO3, contact_body_ori))
body_angs = [
np.dot(contact_body_ori[i], contact_body_angvel[i])
for i in range(len(contact_body_ori))
]
body_dqs = [
mm.vel2qd(body_angs[i], body_qs[i]) for i in range(len(body_angs))
]
a_oris = [
np.dot(contact_body_ori[i],
mm.qdd2accel(body_ddqs[i], body_dqs[i], body_qs[i]))
for i in range(len(contact_body_ori))
]
# body_ddq = body_ddqs[0]
# body_ori = contact_body_ori[0]
# body_ang = np.dot(body_ori.T, contact_body_angvel[0])
#
# body_q = mm.logSO3(body_ori)
# body_dq = mm.vel2qd(body_ang, body_q)
# a_ori = np.dot(body_ori, mm.qdd2accel(body_ddq, body_dq, body_q))
# a_oris = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori]))
a_sups = [
np.append(
kt_sup *
(ref_body_pos[i] - contact_body_pos[i] + contMotionOffset) +
dt_sup * (ref_body_vel[i] - contact_body_vel[i]),
kt_sup * a_oris[i] + dt_sup *
(ref_body_angvel[i] - contact_body_angvel[i]))
for i in range(len(a_oris))
]
# momentum matrix
RS = np.dot(P, Jsys)
R, S = np.vsplit(RS, 2)
rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat)
r_bias, s_bias = np.hsplit(rs, 2)
#######################################################
# optimization
#######################################################
# if contact == 2 and footCenterR[1] > doubleTosingleOffset/2:
if contact == 2:
config['weightMap']['RightUpLeg'] = .8
config['weightMap']['RightLeg'] = .8
config['weightMap']['RightFoot'] = .8
else:
config['weightMap']['RightUpLeg'] = .1
config['weightMap']['RightLeg'] = .25
config['weightMap']['RightFoot'] = .2
# if contact == 1 and footCenterL[1] > doubleTosingleOffset/2:
if contact == 1:
config['weightMap']['LeftUpLeg'] = .8
config['weightMap']['LeftLeg'] = .8
config['weightMap']['LeftFoot'] = .8
else:
config['weightMap']['LeftUpLeg'] = .1
config['weightMap']['LeftLeg'] = .25
config['weightMap']['LeftFoot'] = .2
w = mot.getTrackingWeight(DOFs, motion[0].skeleton,
config['weightMap'])
# if contact == 2:
# mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1, q_bias1)
mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat)
if dH_des is not None:
mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias)
mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias)
# mot.setConstraint(problem, totalDOF, Jsup, dJsup, dth_flat, a_sup)
# mot.addConstraint(problem, totalDOF, Jsup, dJsup, dth_flat, a_sup)
# if contact & 1 and contactChangeCount == 0:
if True:
for c_idx in range(len(contact_ids)):
mot.addConstraint(problem, totalDOF, J_contacts[c_idx],
dJ_contacts[c_idx], dth_flat,
a_sups[c_idx])
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.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()
dartModel.set_q(controlModel.get_q())
if foot_viewer is not None:
foot_viewer.foot_pressure_gl_window.refresh_foot_contact_info(
frame, vpWorld, bodyIDsToCheck, mus, Ks, Ds)
foot_viewer.foot_pressure_gl_window.goToFrame(frame)
# rendering
for foot_seg_id in footIdlist:
control_model_renderer.body_colors[foot_seg_id] = (255, 240, 255)
for contact_id in contact_ids:
control_model_renderer.body_colors[contact_id] = (255, 0, 0)
rightFootVectorX[0] = np.dot(footOriL, np.array([.1, 0, 0]))
rightFootVectorY[0] = np.dot(footOriL, np.array([0, .1, 0]))
rightFootVectorZ[0] = np.dot(footOriL, np.array([0, 0, .1]))
rightFootPos[0] = footCenterL
rightVectorX[0] = np.dot(footBodyOriL, np.array([.1, 0, 0]))
rightVectorY[0] = np.dot(footBodyOriL, np.array([0, .1, 0]))
rightVectorZ[0] = np.dot(footBodyOriL, np.array([0, 0, .1]))
rightPos[0] = footCenterL + np.array([.1, 0, 0])
rd_footCenter[0] = footCenter
rd_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)
# render contact_ids
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()
Fl.run()
def basicTest3():
def create_foot(motionFile='foot3.bvh'):
massMap = {}
massMap = massMap.fromkeys(['Hips', 'foot00', 'foot01'], 0.)
massMap['Hips'] = 1.
massMap['foot00'] = 1.
massMap['foot01'] = 1.
# motion
motion = yf.readBvhFile(motionFile, .05)
motion.extend([motion[-1]] * 3000)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = 1.
# for i in range(motion[0].skeleton.getElementNum()):
# mcfg.addNode(motion[0].skeleton.getElementName(i))
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
# totalMass += node.mass
node = mcfg.getNode('Hips')
# node.geom = 'MyFoot3'
node.geom = 'MyBox'
node.jointType = "B"
# node.length = 1.
node.mass = 1.
node = mcfg.getNode('foot00')
# node.geom = 'MyFoot4'
node.geom = 'MyBox'
node.jointType = "U"
node.mass = 1.
node = mcfg.getNode('foot01')
# node.geom = 'MyFoot4'
node.geom = 'MyBox'
node.jointType = "U"
node.mass = 1.
def mcfgFix(_mcfg):
"""
:param _mcfg: ypc.ModelConfig
:return:
"""
# for v in _mcfg.nodes.itervalues():
for k, v in _mcfg.nodes:
if len(v.geoms) == 0:
v.geoms.append(v.geom)
v.geomMass.append(v.mass)
v.geomTs.append(None)
# mcfgFix(mcfg)
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 40
simulSpeedInv = 1.
wcfg.timeStep = (1 / 30. * simulSpeedInv) / stepsPerFrame
# parameter
config = dict([])
config['Kt'] = 20
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = 1
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 5000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1.
config['Bh'] = 1.
config['stepsPerFrame'] = stepsPerFrame
config['simulSpeedInv'] = simulSpeedInv
# etc
config['weightMap'] = {'root': 1., 'foot00': 1., 'foot01': 1.}
config['weightMapTuple'] = (1., 1., 1.)
# config['supLink'] = 'link0'
return motion, mcfg, wcfg, stepsPerFrame, config
# model setting
motion, mcfg, wcfg, stpesPerFrame, config = create_foot('test2.bvh')
pydart.init()
dartModel = cdm.DartModel(wcfg, motion[0], mcfg)
q = dartModel.skeleton.q
q[4] = 2.
dartModel.skeleton.set_positions(q)
dartModel.world.set_gravity(np.array((0., -9.81, 0.)))
# viewer setting
viewer = hsv.hpSimpleViewer()
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('dartModel',
yr.DartModelRenderer(dartModel, CHARACTER_COLOR))
jointOrientations = []
jointPositions = []
bodyOrientations = []
bodyPositions = []
rd_points = []
viewer.doc.addRenderer(
'joint coord',
yr.OrientationsRenderer(jointOrientations, jointPositions))
viewer.doc.addRenderer(
'body coord', yr.OrientationsRenderer(bodyOrientations, bodyPositions))
viewer.doc.addRenderer('contact points',
yr.PointsRenderer(rd_points, (255, 0, 0)))
viewer.objectInfoWnd.add1DSlider('joint1 x torque',
minVal=-2.,
maxVal=2.,
initVal=0.,
valStep=.01)
viewer.objectInfoWnd.add1DSlider('joint1 y torque',
minVal=-2.,
maxVal=2.,
initVal=0.,
valStep=.01)
viewer.objectInfoWnd.add1DSlider('joint2 x torque',
minVal=-2.,
maxVal=2.,
initVal=0.,
valStep=.01)
viewer.objectInfoWnd.add1DSlider('joint2 y torque',
minVal=-2.,
maxVal=2.,
initVal=0.,
valStep=.01)
bodyIDsToCheck = range(dartModel.getBodyNum())
def simulateCallback(frame):
# tau = np.zeros(dartModel.skeleton.q.shape)
# tau[6] = viewer.objectInfoWnd.getVal('joint1 x torque')
# tau[7] = viewer.objectInfoWnd.getVal('joint1 y torque')
# tau[8] = viewer.objectInfoWnd.getVal('joint2 x torque')
# tau[9] = viewer.objectInfoWnd.getVal('joint2 y torque')
vel = np.zeros(dartModel.skeleton.velocities().shape)
vel[6] = viewer.objectInfoWnd.getVal('joint1 x torque')
vel[7] = viewer.objectInfoWnd.getVal('joint1 y torque')
vel[8] = viewer.objectInfoWnd.getVal('joint2 x torque')
vel[9] = viewer.objectInfoWnd.getVal('joint2 y torque')
# dartModel.skeleton.set_velocities(vel)
# print mm.logSO3(dartModel.getJoint(2).get_local_transform()[:3, :3])
for i in range(stpesPerFrame):
# dartModel.skeleton.set_velocities(vel)
dartModel.step()
bodyIDs, contactPositions, contactPositionLocals, velocities = dartModel.getContactPoints(
bodyIDsToCheck)
del rd_points[:]
if contactPositions is not None:
rd_points.extend(contactPositions)
del jointOrientations[:]
del jointPositions[:]
del bodyOrientations[:]
del bodyPositions[:]
for i in range(1, len(dartModel.skeleton.joints)):
# jointOrientations.append(dartModel.getJoint(i).get_world_frame_before_transform())
jointOrientations.append(
dartModel.getJoint(i).get_world_frame_after_transform())
jointPositions.append(dartModel.getJointPositionGlobal(i))
for i in range(len(dartModel.skeleton.bodynodes)):
bodyOrientations.append(dartModel.getBodyOrientationGlobal(i))
bodyPositions.append(dartModel.getBodyPositionGlobal(i))
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
# splineEditor = hse.SplineEditor()
# splineEditor.show()
Fl.run()
def main():
np.set_printoptions(precision=4, linewidth=200)
motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped(
SEGMENT_FOOT, SEGMENT_FOOT_MAG)
#motion, mcfg, wcfg, stepsPerFrame, config = mit.create_jump_biped()
# motion_offset = np.array((0, 0.15, 0))
# motion.translateByOffset(motion_offset, True)
frame_step_size = 1. / frame_rate
pydart.init()
dartModel = cdm.DartModel(wcfg, motion[0], mcfg, DART_CONTACT_ON)
dartMotionModel = cdm.DartModel(wcfg, motion[0], mcfg, DART_CONTACT_ON)
# wcfg.lockingVel = 0.01
dartModel.initializeHybridDynamics()
# controlToMotionOffset = (1.5, -0.02, 0)
# controlToMotionOffset = (1.5, 0.15, 0)
controlToMotionOffset = (1.5, 0.03, 0)
dartModel.translateByOffset(controlToMotionOffset)
totalDOF = dartModel.getTotalDOF()
DOFs = dartModel.getDOFs()
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(dartModel.getJointNum()):
joint_name = dartModel.getJoint(joint_idx).name
# joint_name = motion[0].skeleton.getJointName(joint_idx)
if 'Foot' in joint_name:
foot_dofs_temp = dartModel.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 = dartModel.getJointDOFIndexes(joint_idx)
foot_seg_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)
# for dart_foot_joint in (dartModel.getJoint(i) for i in foot_seg_dofs):
# dart_foot_joint.set_actuator_type(pydart.Joint.FORCE)
# 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'])
constBody = motion[0].skeleton.getJointIndex('RightFoot')
# momentum matrix
linkMasses = dartModel.getBodyMasses()
print([body.name for body in dartModel.skeleton.bodynodes])
print(linkMasses)
totalMass = dartModel.getTotalMass()
TO = ymt.make_TO(linkMasses)
dTO = ymt.make_dTO(len(linkMasses))
# optimization
problem = yac.LSE(totalDOF, 12)
#a_sup = (0,0,0, 0,0,0) #ori
#a_sup = (0,0,0, 0,0,0) #L
# a_supL = (0,0,0, 0,0,0)
# a_supR = (0,0,0, 0,0,0)
# a_sup_2 = (0,0,0, 0,0,0, 0,0,0, 0,0,0)
CP_old = [mm.v3(0., 0., 0.)]
CP_des = [None]
dCP_des = [np.zeros(3)]
# penalty method
bodyIDsToCheck = range(dartModel.getBodyNum())
#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(viewForceWnd=False)
#viewer.record(False)
viewer.doc.addRenderer(
'motion', yr.JointMotionRenderer(motion, (0, 255, 255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
# viewer.doc.addRenderer('motionModel', cvr.VpModelRenderer(motionModel, (150,150,255), yr.POLYGON_FILL))
# viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
#viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_FILL))
viewer.doc.addRenderer(
'motionModel',
yr.DartModelRenderer(dartMotionModel, (150, 150, 255),
yr.POLYGON_FILL))
viewer.doc.addRenderer(
'controlModel',
yr.DartModelRenderer(dartModel, (255, 240, 255), yr.POLYGON_FILL))
viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter))
viewer.doc.addRenderer('rd_CM_plane',
yr.PointsRenderer(rd_CM_plane, (255, 255, 0)))
viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (0, 255, 0)))
viewer.doc.addRenderer('rd_CP_des',
yr.PointsRenderer(rd_CP_des, (255, 0, 255)))
viewer.doc.addRenderer(
'rd_dL_des_plane',
yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255, 255, 0)))
viewer.doc.addRenderer('rd_dH_des',
yr.VectorsRenderer(rd_dH_des, rd_CM, (0, 255, 0)))
#viewer.doc.addRenderer('rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP_des, (0,255,0), .001))
viewer.doc.addRenderer('rd_CF',
yr.VectorsRenderer(rd_CF, rd_CF_pos, (255, 0, 0)))
viewer.doc.addRenderer(
'extraForce', yr.VectorsRenderer(rd_exf_des, extraForcePos,
(0, 255, 0)))
viewer.doc.addRenderer(
'extraForceEnable',
yr.VectorsRenderer(rd_exfen_des, extraForcePos, (255, 0, 0)))
#viewer.doc.addRenderer('right_foot_oriX', yr.VectorsRenderer(rightFootVectorX, rightFootPos, (255,0,0)))
#viewer.doc.addRenderer('right_foot_oriY', yr.VectorsRenderer(rightFootVectorY, rightFootPos, (0,255,0)))
#viewer.doc.addRenderer('right_foot_oriZ', yr.VectorsRenderer(rightFootVectorZ, rightFootPos, (0,0,255)))
#viewer.doc.addRenderer('right_oriX', yr.VectorsRenderer(rightVectorX, rightPos, (255,0,0)))
#viewer.doc.addRenderer('right_oriY', yr.VectorsRenderer(rightVectorY, rightPos, (0,255,0)))
#viewer.doc.addRenderer('right_oriZ', yr.VectorsRenderer(rightVectorZ, rightPos, (0,0,255)))
#success!!
#initKt = 50
#initKl = 10.1
#initKh = 3.1
#initBl = .1
#initBh = .1
#initSupKt = 21.6
#initFm = 100.0
#success!! -- 2015.2.12. double stance
#initKt = 50
#initKl = 37.1
#initKh = 41.8
#initBl = .1
#initBh = .13
#initSupKt = 21.6
#initFm = 165.0
#single stance
#initKt = 25
#initKl = 80.1
#initKh = 10.8
#initBl = .1
#initBh = .13
#initSupKt = 21.6
#initFm = 50.0
#single stance -> double stance
#initKt = 25
#initKl = 60.
#initKh = 20.
#initBl = .1
#initBh = .13
#initSupKt = 21.6
#initFm = 50.0
initKt = 25.
initKl = 100.
initKh = 100.
initBl = .1
initBh = .13
initSupKt = 17.
initFm = 50.0
viewer.objectInfoWnd.add1DSlider("Kt", 0., 300., 1., initKt)
viewer.objectInfoWnd.add1DSlider("Kl", 0., 300., 1., initKl)
viewer.objectInfoWnd.add1DSlider("Kh", 0., 300., 1., initKh)
viewer.objectInfoWnd.add1DSlider("Bl", 0., 1., .001, initBl)
viewer.objectInfoWnd.add1DSlider("Bh", 0., 1., .001, initBh)
viewer.objectInfoWnd.add1DSlider("SupKt", 0., 100., 0.1, initSupKt)
viewer.objectInfoWnd.add1DSlider("Fm", 0., 1000., 10., initFm)
# viewer.objectInfoWnd.labelKt.value(initKt)
# viewer.objectInfoWnd.labelKl.value(initKl)
# viewer.objectInfoWnd.labelKh.value(initKh)
# viewer.objectInfoWnd.labelBl.value(initBl)
# viewer.objectInfoWnd.labelBh.value(initBh)
# viewer.objectInfoWnd.labelSupKt.value(initSupKt)
# viewer.objectInfoWnd.labelFm.value(initFm)
#
# viewer.objectInfoWnd.sliderKt.value(initKt*50)
# viewer.objectInfoWnd.sliderKl.value(initKl*10)
# viewer.objectInfoWnd.sliderKh.value(initKh*10)
# viewer.objectInfoWnd.sliderBl.value(initBl*100)
# viewer.objectInfoWnd.sliderBh.value(initBh*100)
# viewer.objectInfoWnd.sliderSupKt.value(initSupKt*10)
# viewer.objectInfoWnd.sliderFm.value(initFm)
viewer.force_on = False
def viewer_SetForceState(obj):
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 * 7, 40,
20, 'X')
viewer.objectInfoWnd.labelForceX.value(0)
viewer.objectInfoWnd.labelForceY = Fl_Value_Input(80, 30 + offset * 7, 40,
20, 'Y')
viewer.objectInfoWnd.labelForceY.value(0)
viewer.objectInfoWnd.labelForceZ = Fl_Value_Input(140, 30 + offset * 7, 40,
20, 'Z')
viewer.objectInfoWnd.labelForceZ.value(1)
viewer.objectInfoWnd.labelForceDur = Fl_Value_Input(
220, 30 + offset * 7, 40, 20, 'Dur')
viewer.objectInfoWnd.labelForceDur.value(0.1)
viewer.objectInfoWnd.end()
#self.sliderFm = Fl_Hor_Nice_Slider(10, 42+offset*6, 250, 10)
pdcontroller = PDController(dartModel, dartModel.skeleton, wcfg.timeStep,
16., 8.)
def getParamVal(paramname):
return viewer.objectInfoWnd.getVal(paramname)
def getParamVals(paramnames):
return (getParamVal(name) for name in paramnames)
extendedFootName = [
'Foot_foot_0_0', 'Foot_foot_0_1', 'Foot_foot_0_0_0', 'Foot_foot_0_1_0',
'Foot_foot_1_0', 'Foot_foot_1_1', 'Foot_foot_1_2'
]
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)
foot_left_idx = motion[0].skeleton.getJointIndex('LeftFoot')
foot_right_idx = motion[0].skeleton.getJointIndex('RightFoot')
###################################
#simulate
###################################
def simulateCallback(frame):
global g_initFlag
global forceShowTime
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)
# Dt = .2*(Kt**.5)
# Dl = .2*(Kl**.5)
# Dh = .2*(Kh**.5)
# dt_sup = .2*(kt_sup**.5)
pdcontroller.setKpKd(Kt, Dt)
doubleTosingleOffset = 0.15
singleTodoubleOffset = 0.30
#doubleTosingleOffset = 0.09
doubleTosingleVelOffset = 0.0
# tracking
# th_r = motion.getDOFPositions(frame)
# th = dartModel.getDOFPositions()
# dth_r = motion.getDOFVelocities(frame)
# dth = dartModel.getDOFVelocities()
# ddth_r = motion.getDOFAccelerations(frame)
# ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt)
dth_flat = dartModel.get_dq()
# 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 = dartModel.getJointOrientationGlobal(supL)
footOriR = dartModel.getJointOrientationGlobal(supR)
#desire footCenter[1] = 0.041135
#desire footCenter[1] = 0.0197
footCenterL = dartModel.getBodyPositionGlobal(supL)
footCenterR = dartModel.getBodyPositionGlobal(supR)
footBodyOriL = dartModel.getBodyOrientationGlobal(supL)
footBodyOriR = dartModel.getBodyOrientationGlobal(supR)
footBodyVelL = dartModel.getBodyVelocityGlobal(supL)
footBodyVelR = dartModel.getBodyVelocityGlobal(supR)
footBodyAngVelL = dartModel.getBodyAngVelocityGlobal(supL)
footBodyAngVelR = dartModel.getBodyAngVelocityGlobal(supR)
refFootL = dartMotionModel.getBodyPositionGlobal(supL)
refFootR = dartMotionModel.getBodyPositionGlobal(supR)
refFootAngVelL = motion.getJointAngVelocityGlobal(supL, frame)
refFootAngVelR = motion.getJointAngVelocityGlobal(supR, frame)
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] * frame_step_size + refFootR[
1] > singleTodoubleOffset:
contactR = 0
if refFootVelL[1] < 0 and refFootVelL[1] * frame_step_size + refFootL[
1] > singleTodoubleOffset:
contactL = 0
if refFootVelR[1] > 0 and refFootVelR[1] * frame_step_size + refFootR[
1] > doubleTosingleOffset:
contactR = 0
if refFootVelL[1] > 0 and refFootVelL[1] * frame_step_size + refFootL[
1] > doubleTosingleOffset:
contactL = 0
# contactR = 0
# contMotionOffset = th[0][0] - th_r[0][0]
contMotionOffset = dartModel.getBodyPositionGlobal(
0) - dartMotionModel.getBodyPositionGlobal(0)
linkPositions = dartModel.getBodyPositionsGlobal()
linkVelocities = dartModel.getBodyVelocitiesGlobal()
linkAngVelocities = dartModel.getBodyAngVelocitiesGlobal()
linkInertias = dartModel.getBodyInertiasGlobal()
CM = dartModel.skeleton.com()
dCM = dartModel.skeleton.com_velocity()
CM_plane = copy.copy(CM)
CM_plane[1] = 0.
dCM_plane = copy.copy(dCM)
dCM_plane[1] = 0.
P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM,
linkInertias)
dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses,
linkVelocities, dCM,
linkAngVelocities,
linkInertias)
#calculate contact state
#if g_initFlag == 1 and contact == 1 and refFootR[1] < doubleTosingleOffset and footCenterR[1] < 0.08:
if g_initFlag == 1:
#contact state
# 0: flying 1: right only 2: left only 3: double
#if contact == 2 and refFootR[1] < doubleTosingleOffset:
if contact == 2 and contactR == 1:
contact = 3
maxContactChangeCount += 30
contactChangeCount += maxContactChangeCount
contactChangeType = 'StoD'
#elif contact == 3 and refFootL[1] < doubleTosingleOffset:
elif contact == 1 and contactL == 1:
contact = 3
maxContactChangeCount += 30
contactChangeCount += maxContactChangeCount
contactChangeType = 'StoD'
#elif contact == 3 and refFootR[1] > doubleTosingleOffset:
elif contact == 3 and contactR == 0:
contact = 2
contactChangeCount += maxContactChangeCount
contactChangeType = 'DtoS'
#elif contact == 3 and refFootL[1] > doubleTosingleOffset:
elif contact == 3 and contactL == 0:
contact = 1
contactChangeCount += maxContactChangeCount
contactChangeType = 'DtoS'
else:
contact = 0
#if refFootR[1] < doubleTosingleOffset:
if contactR == 1:
contact += 1
#if refFootL[1] < doubleTosingleOffset:
if contactL == 1:
contact += 2
#initialization
if g_initFlag == 0:
softConstPoint = footCenterR.copy()
footCenter = footCenterL + (footCenterR - footCenterL) / 2.0
footCenter[1] = 0.
preFootCenter = footCenter.copy()
#footToBodyFootRotL = np.dot(np.transpose(footOriL), footBodyOriL)
#footToBodyFootRotR = np.dot(np.transpose(footOriR), footBodyOriR)
if refFootR[1] < doubleTosingleOffset:
contact += 1
if refFootL[1] < doubleTosingleOffset:
contact += 2
g_initFlag = 1
#calculate jacobian
body_num = dartModel.getBodyNum()
Jsys = np.zeros((6 * body_num, totalDOF))
dJsys = np.zeros((6 * body_num, totalDOF))
for i in range(dartModel.getBodyNum()):
body_i_jacobian = dartModel.getBody(i).world_jacobian()[
range(-3, 3), :]
body_i_jacobian_deriv = dartModel.getBody(
i).world_jacobian_classic_deriv()[range(-3, 3), :]
Jsys[6 * i:6 * i + 6, :] = body_i_jacobian
dJsys[6 * i:6 * i + 6, :] = body_i_jacobian_deriv
JsupL = dartModel.getBody(supL).world_jacobian()[range(-3, 3), :]
dJsupL = dartModel.getBody(supL).world_jacobian_classic_deriv()[
range(-3, 3), :]
JsupR = dartModel.getBody(supR).world_jacobian()[range(-3, 3), :]
dJsupR = dartModel.getBody(supR).world_jacobian_classic_deriv()[
range(-3, 3), :]
dartMotionModel.update(motion[frame])
# ddth_des_flat = pdcontroller.compute(dartMotionModel.get_q())
ddth_des_flat = pdcontroller.compute(motion.getDOFPositions(frame))
#calculate footCenter
footCenter = .5 * (footCenterL + footCenterR)
#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()
# foot adjustment
foot_angle_weight = 1.
foot_dCM_weight = 5.
foot_center_diff = CM_plane + dCM_plane * frame_step_size * foot_dCM_weight - footCenter
foot_center_diff_norm = np.linalg.norm(foot_center_diff)
foot_left_height = dartModel.getJointPositionGlobal(foot_left_idx)[1]
foot_right_height = dartModel.getJointPositionGlobal(foot_left_idx)[1]
foot_left_angle = foot_angle_weight * math.atan2(
foot_center_diff_norm, foot_left_height)
foot_right_angle = foot_angle_weight * math.atan2(
foot_center_diff_norm, foot_right_height)
foot_axis = np.cross(np.array((0., 1., 0.)), foot_center_diff)
foot_left_R = mm.exp(foot_axis, foot_left_angle)
foot_right_R = mm.exp(foot_axis, foot_right_angle)
# motion[frame].mulJointOrientationGlobal(foot_left_idx, foot_left_R)
# motion[frame].mulJointOrientationGlobal(foot_right_idx, foot_right_R)
# hfi.footAdjust(motion[frame], footIdDic, SEGMENT_FOOT_MAG, SEGMENT_FOOT_RAD, 0.)
# 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
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 = [], [], [], []
if DART_CONTACT_ON:
bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.get_dart_contact_info(
)
else:
bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
#bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds)
CP = yrp.getCP(contactPositions, contactForces)
if CP_old[0] is None or CP is None:
dCP = None
else:
dCP = (CP - CP_old[0]) / frame_step_size
CP_old[0] = CP
# CP_des = None
if CP_des[0] is None:
CP_des[0] = footCenter
if CP is not None and dCP is not None:
ddCP_des = Kh * (CP_ref - CP) - Dh * dCP
CP_des[0] = CP + dCP * frame_step_size + .5 * ddCP_des * (
frame_step_size**2)
# dCP_des[0] += ddCP_des * frame_step_size
# CP_des[0] += dCP_des[0] * frame_step_size + .5 * ddCP_des*(frame_step_size ** 2)
dH_des = np.cross(
CP_des[0] - CM,
(dL_des_plane + totalMass * mm.s2v(wcfg.gravity)))
if contactChangeCount > 0: # and contactChangeType == 'DtoS':
#dH_des *= (maxContactChangeCount - contactChangeCount)/(maxContactChangeCount*10)
dH_des *= (maxContactChangeCount -
contactChangeCount) / maxContactChangeCount
#dH_des *= (contactChangeCount)/(maxContactChangeCount)*.9+.1
else:
dH_des = None
# H = np.dot(P, np.dot(Jsys, dth_flat))
# dH_des = -Kh* H[3:]
# soft point constraint
#softConstPoint = refFootR.copy()
##softConstPoint[0] += 0.2
#Ksc = 50
#Dsc = 2*(Ksc**.5)
#Bsc = 1.
#P_des = softConstPoint
#P_cur = controlModel.getBodyPositionGlobal(constBody)
#dP_des = [0, 0, 0]
#dP_cur = controlModel.getBodyVelocityGlobal(constBody)
#ddP_des1 = Ksc*(P_des - P_cur) + Dsc*(dP_des - dP_cur)
#r = P_des - P_cur
#I = np.vstack(([1,0,0],[0,1,0],[0,0,1]))
#Z = np.hstack((I, mm.getCrossMatrixForm(-r)))
#yjc.computeJacobian2(Jconst, DOFs, jointPositions, jointAxeses, [softConstPoint], constJointMasks)
#dJconst = (Jconst - Jconst)/(1/30.)
#JconstPre = Jconst.copy()
##yjc.computeJacobianDerivative2(dJconst, DOFs, jointPositions, jointAxeses, linkAngVelocities, [softConstPoint], constJointMasks, False)
#JL, JA = np.vsplit(Jconst, 2)
#Q1 = np.dot(Z, Jconst)
#q1 = np.dot(JA, dth_flat)
#q2 = np.dot(mm.getCrossMatrixForm(q1), np.dot(mm.getCrossMatrixForm(q1), r))
#q_bias1 = np.dot(np.dot(Z, dJconst), dth_flat) + q2
#set up equality constraint
# a_oriL = mm.logSO3(mm.getSO3FromVectors(np.dot(footBodyOriL, np.array([0,1,0])), np.array([0,1,0])))
# a_oriR = mm.logSO3(mm.getSO3FromVectors(np.dot(footBodyOriR, np.array([0,1,0])), np.array([0,1,0])))
left_foot_up_vec, right_foot_up_vec = hfi.get_foot_up_vector(
motion[frame], footIdDic, None)
a_oriL = mm.logSO3(
mm.getSO3FromVectors(left_foot_up_vec, np.array([0, 1, 0])))
a_oriR = mm.logSO3(
mm.getSO3FromVectors(right_foot_up_vec, 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 *
(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[3:] = 0.
# a_supR[3:] = 0.
if contactChangeCount > 0 and contactChangeType == 'DtoS':
#refFootR += (footCenter-CM_plane)/2.
#refFootR[1] = 0
#pre contact value are needed
#if contact == 2:
##refFootR[0] += 0.2
##refFootR[2] -= 0.05
#offsetDropR = (footCenter-CM_plane)/2.
#refFootR += offsetDropR
#refFootR[1] = 0.
##refFootR[2] = footCenterR[2] - contMotionOffset[2]
##refFootR[0] = footCenterR[0] - contMotionOffset[0]
#refFootL[0] += 0.05
#refFootL[2] -= 0.05
#elif contact == 1:
#offsetDropL = (footCenter-CM_plane)/2.
#refFootL += offsetDropL
#refFootL[1] = 0.
#a_supL = np.append(kt_sup*(refFootL - footCenterL + contMotionOffset) + dt_sup*(refFootVelL - footBodyVelL), kt_sup*a_oriL+dt_sup*(refFootAngVelL-footBodyAngVelL))
#a_supR = np.append(kt_sup*(refFootR - footCenterR + contMotionOffset) + dt_sup*(refFootVelR - footBodyVelR), kt_sup*a_oriR+dt_sup*(refFootAngVelR-footBodyAngVelR))
#a_supL = np.append(kt_sup*(refFootL - footCenterL + contMotionOffset) + dt_sup*(refFootVelL - footBodyVelL), 16*kt_sup*a_oriL+4*dt_sup*(refFootAngVelL-footBodyAngVelL))
#a_supR = np.append(kt_sup*(refFootR - footCenterR + contMotionOffset) + dt_sup*(refFootVelR - footBodyVelR), 16*kt_sup*a_oriR+4*dt_sup*(refFootAngVelR-footBodyAngVelR))
a_supL = np.append(
kt_sup * (refFootL - footCenterL + contMotionOffset) + dt_sup *
(refFootVelL - footBodyVelL), 4 * kt_sup * a_oriL +
2 * dt_sup * (refFootAngVelL - footBodyAngVelL))
a_supR = np.append(
kt_sup * (refFootR - footCenterR + contMotionOffset) + dt_sup *
(refFootVelR - footBodyVelR), 4 * kt_sup * a_oriR +
2 * dt_sup * (refFootAngVelR - footBodyAngVelR))
elif contactChangeCount > 0 and contactChangeType == 'StoD':
#refFootR[0] +=0.05
#refFootR[2] +=0.05
linkt = (13. * contactChangeCount) / maxContactChangeCount + 1.
lindt = 2 * (linkt**.5)
angkt = (13. * contactChangeCount) / maxContactChangeCount + 1.
angdt = 2 * (angkt**.5)
#a_supL = np.append(4*kt_sup*(refFootL - footCenterL + contMotionOffset) + 2*dt_sup*(refFootVelL - footBodyVelL), 16*kt_sup*a_oriL+4*dt_sup*(refFootAngVelL-footBodyAngVelL))
#a_supR = np.append(4*kt_sup*(refFootR - footCenterR + contMotionOffset) + 2*dt_sup*(refFootVelR - footBodyVelR), 16*kt_sup*a_oriR+4*dt_sup*(refFootAngVelR-footBodyAngVelR))
a_supL = np.append(
linkt * kt_sup * (refFootL - footCenterL + contMotionOffset) +
lindt * dt_sup * (refFootVelL - footBodyVelL),
angkt * kt_sup * a_oriL + angdt * dt_sup *
(refFootAngVelL - footBodyAngVelL))
a_supR = np.append(
linkt * kt_sup * (refFootR - footCenterR + contMotionOffset) +
lindt * dt_sup * (refFootVelR - footBodyVelR),
angkt * kt_sup * a_oriR + angdt * dt_sup *
(refFootAngVelR - footBodyAngVelR))
#a_supL = np.append(16*kt_sup*(refFootL - footCenterL + contMotionOffset) + 4*dt_sup*(refFootVelL - footBodyVelL), 16*kt_sup*a_oriL+4*dt_sup*(refFootAngVelL-footBodyAngVelL))
#a_supR = np.append(16*kt_sup*(refFootR - footCenterR + contMotionOffset) + 4*dt_sup*(refFootVelR - footBodyVelR), 16*kt_sup*a_oriR+4*dt_sup*(refFootAngVelR-footBodyAngVelR))
#a_supL = np.append(4*kt_sup*(refFootL - footCenterL + contMotionOffset) + 2*dt_sup*(refFootVelL - footBodyVelL), 32*kt_sup*a_oriL+5.6*dt_sup*(refFootAngVelL-footBodyAngVelL))
#a_supR = np.append(4*kt_sup*(refFootR - footCenterR + contMotionOffset) + 2*dt_sup*(refFootVelR - footBodyVelR), 32*kt_sup*a_oriR+5.6*dt_sup*(refFootAngVelR-footBodyAngVelR))
#a_supL[1] = kt_sup*(refFootL[1] - footCenterL[1] + contMotionOffset[1]) + dt_sup*(refFootVelL[1] - footBodyVelL[1])
#a_supR[1] = kt_sup*(refFootR[1] - footCenterR[1] + contMotionOffset[1]) + dt_sup*(refFootVelR[1] - footBodyVelR[1])
##if contact == 2:
#if refFootR[1] <doubleTosingleOffset :
#Jsup = np.vstack((JsupL, JsupR))
#dJsup = np.vstack((dJsupL, dJsupR))
#a_sup = np.append(a_supL, a_supR)
#else:
#Jsup = JsupL.copy()
#dJsup = dJsupL.copy()
#a_sup = a_supL.copy()
# momentum matrix
RS = np.dot(P, Jsys)
R, S = np.vsplit(RS, 2)
rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat)
r_bias, s_bias = np.hsplit(rs, 2)
#######################################################
# optimization
#######################################################
#if contact == 2 and footCenterR[1] > doubleTosingleOffset/2:
if contact == 2:
config['weightMap']['RightUpLeg'] = .8
config['weightMap']['RightLeg'] = .8
config['weightMap']['RightFoot'] = .8
else:
config['weightMap']['RightUpLeg'] = .1
config['weightMap']['RightLeg'] = .25
config['weightMap']['RightFoot'] = .2
#if contact == 1 and footCenterL[1] > doubleTosingleOffset/2:
if contact == 1:
config['weightMap']['LeftUpLeg'] = .8
config['weightMap']['LeftLeg'] = .8
config['weightMap']['LeftFoot'] = .8
else:
config['weightMap']['LeftUpLeg'] = .1
config['weightMap']['LeftLeg'] = .25
config['weightMap']['LeftFoot'] = .2
w = mot.getTrackingWeight(DOFs, motion[0].skeleton,
config['weightMap'])
#if contact == 2:
#mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1, q_bias1)
mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat)
if dH_des is not None:
mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias)
mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias)
#mot.setConstraint(problem, totalDOF, Jsup, dJsup, dth_flat, a_sup)
#mot.addConstraint(problem, totalDOF, Jsup, dJsup, dth_flat, a_sup)
#if contact & 1 and contactChangeCount == 0:
if contact & 1:
#if refFootR[1] < doubleTosingleOffset:
mot.addConstraint(problem, totalDOF, JsupR, dJsupR, dth_flat,
a_supR)
if contact & 2:
#if refFootL[1] < doubleTosingleOffset:
mot.addConstraint(problem, totalDOF, JsupL, dJsupL, dth_flat,
a_supL)
if contactChangeCount > 0:
contactChangeCount -= 1
if contactChangeCount == 0:
maxContactChangeCount = 30
contactChangeType = 0
r = problem.solve()
problem.clear()
# ype.nested(r['x'], ddth_sol)
ddth_sol = np.asarray(r['x'])
# remove foot seg effect
ddth_sol[foot_dofs] = ddth_des_flat[foot_dofs]
# ddth_sol[:] = ddth_des_flat[:]
rootPos[0] = dartModel.getBodyPositionGlobal(selectedBody)
localPos = [[0, 0, 0]]
for i in range(stepsPerFrame):
# apply penalty force
if not DART_CONTACT_ON:
bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
dartModel.applyPenaltyForce(bodyIDs, contactPositionLocals,
contactForces)
#bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds)
dartModel.skeleton.set_accelerations(ddth_sol)
if forceShowTime > viewer.objectInfoWnd.labelForceDur.value():
forceShowTime = 0
viewer_ResetForceState()
forceforce = np.array([
viewer.objectInfoWnd.labelForceX.value(),
viewer.objectInfoWnd.labelForceY.value(),
viewer.objectInfoWnd.labelForceZ.value()
])
extraForce[0] = getParamVal('Fm') * mm.normalize2(forceforce)
if viewer_GetForceState():
forceShowTime += wcfg.timeStep
dartModel.applyPenaltyForce(selectedBodyId, localPos,
extraForce)
dartModel.step()
if DART_CONTACT_ON:
bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.get_dart_contact_info(
)
else:
bodyIDs, contactPositions, contactPositionLocals, contactForces = dartModel.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
# rendering
rightFootVectorX[0] = np.dot(footOriL, np.array([.1, 0, 0]))
rightFootVectorY[0] = np.dot(footOriL, np.array([0, .1, 0]))
rightFootVectorZ[0] = np.dot(footOriL, np.array([0, 0, .1]))
rightFootPos[0] = footCenterL
rightVectorX[0] = np.dot(footBodyOriL, np.array([.1, 0, 0]))
rightVectorY[0] = np.dot(footBodyOriL, np.array([0, .1, 0]))
rightVectorZ[0] = np.dot(footBodyOriL, np.array([0, 0, .1]))
rightPos[0] = footCenterL + np.array([.1, 0, 0])
rd_footCenter[0] = footCenter
rd_footCenterL[0] = footCenterL
rd_footCenterR[0] = footCenterR
rd_CM[0] = CM
rd_CM_plane[0] = CM.copy()
rd_CM_plane[0][1] = 0.
if CP is not None and dCP is not None:
rd_CP[0] = CP
rd_CP_des[0] = CP_des[0]
rd_dL_des_plane[0] = [
dL_des_plane[0] / 100, dL_des_plane[1] / 100,
dL_des_plane[2] / 100
]
rd_dH_des[0] = dH_des
rd_grf_des[0] = dL_des_plane - totalMass * mm.s2v(wcfg.gravity)
rd_root_des[0] = rootPos[0]
del rd_CF[:]
del rd_CF_pos[:]
for i in range(len(contactPositions)):
rd_CF.append(contactForces[i] / 100)
rd_CF_pos.append(contactPositions[i].copy())
if viewer_GetForceState():
rd_exfen_des[0] = [
extraForce[0][0] / 100, extraForce[0][1] / 100,
extraForce[0][2] / 100
]
rd_exf_des[0] = [0, 0, 0]
else:
rd_exf_des[0] = [
extraForce[0][0] / 100, extraForce[0][1] / 100,
extraForce[0][2] / 100
]
rd_exfen_des[0] = [0, 0, 0]
extraForcePos[0] = dartModel.getBodyPositionGlobal(selectedBody)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def init():
global motion
global mcfg
global wcfg
global stepsPerFrame
global config
global mcfg_motion
global vpWorld
global controlModel
global totalDOF
global DOFs
global bodyIDsToCheck
global torques_nested
global ddth_des_flat
global dth_flat
global ddth_sol
global rd_cForces
global rd_cPositions
global rd_jointPos
global rd_cForcesControl
global rd_cPositionsControl
global rd_ForceControl
global rd_ForceDes
global rd_Position
global rd_PositionDes
global viewer
global motionModel
global solver
global IKModel
global dartWorld
np.set_printoptions(precision=4, linewidth=200)
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_1()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_chiken_foot()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('fastswim.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot_2('simpleJump_2.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_capsule('simpleJump_onebody.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('simpleJump.bvh')
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot('simpleJump_long.bvh')
motion, mcfg, wcfg, stepsPerFrame, config = mit.create_foot(
'simpleJump_long.bvh')
mcfg_motion = mit.normal_mcfg()
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
IKModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
# solver = hik.numIkSolver(wcfg, motion[0], mcfg)
vpWorld.SetGlobalDamping(0.9999)
# controlModel.initializeHybridDynamics()
controlModel.initializeForwardDynamics()
ModelOffset = np.array([0., .12, 0.])
controlModel.translateByOffset(ModelOffset)
motionModel.translateByOffset(ModelOffset)
vpWorld.SetIntegrator("RK4")
# vpWorld.SetIntegrator("IMPLICIT_EULER_FAST")
# vpWorld.SetIntegrator("EULER")
controlModel.SetJointsDamping(0.2)
controlModel.SetJointsElasticity(.01)
vpWorld.initialize()
totalDOF = controlModel.getTotalDOF()
DOFs = controlModel.getDOFs()
bodyIDsToCheck = range(vpWorld.getBodyNum())
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
torques_nested = ype.makeNestedList(DOFs)
rd_cForces = [None]
rd_cPositions = [None]
rd_cForcesControl = [None]
rd_cPositionsControl = [None]
rd_ForceControl = [None]
rd_ForceDes = [None]
rd_Position = [None]
rd_PositionDes = [None]
rd_jointPos = [None]
viewer = hsv.hpSimpleViewer(title='main_Test')
viewer.doc.addObject('motion', motion)
# viewer.doc.addRenderer('motionModel', cvr.VpModelRenderer(
# motionModel, MOTION_COLOR, yr.POLYGON_FILL))
# viewer.doc.addRenderer('IKModel', cvr.VpModelRenderer(
# solver.model, MOTION_COLOR, yr.POLYGON_FILL))
viewer.doc.addRenderer('dartModel',
yr.DartModelRenderer(dartWorld, CHARACTER_COLOR2))
viewer.doc.addRenderer(
'rd_contactForcesControl',
yr.VectorsRenderer(rd_cForcesControl, rd_cPositionsControl,
(255, 0, 0), .1))
viewer.doc.addRenderer(
'rd_contactForces',
yr.VectorsRenderer(rd_cForces, rd_cPositions, (0, 255, 0), .1))
viewer.doc.addRenderer(
'rd_contactForceControl',
yr.VectorsRenderer(rd_ForceControl, rd_Position, (0, 0, 255), .1))
viewer.doc.addRenderer(
'rd_contactForceDes',
yr.VectorsRenderer(rd_ForceDes, rd_PositionDes, (255, 0, 255), .1))
# viewer.doc.addRenderer('rd_jointPos', yr.PointsRenderer(rd_jointPos))
viewer.objectInfoWnd.add1DSlider('PD gain',
minVal=0.,
maxVal=200.,
initVal=10.,
valStep=.1)
viewer.objectInfoWnd.add1DSlider('Joint Damping',
minVal=1.,
maxVal=2000.,
initVal=35.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('steps per frame',
minVal=1.,
maxVal=200.,
initVal=config['stepsPerFrame'],
valStep=1.)
viewer.objectInfoWnd.add1DSlider('1/simul speed',
minVal=1.,
maxVal=100.,
initVal=config['simulSpeedInv'],
valStep=1.)
viewer.objectInfoWnd.add1DSlider('normal des force min',
minVal=0.,
maxVal=1000.,
initVal=80.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('normal des force max',
minVal=0.,
maxVal=1000.,
initVal=80.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('des force begin',
minVal=0.,
maxVal=len(motion) - 1,
initVal=70.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('des force dur',
minVal=1.,
maxVal=len(motion) - 1,
initVal=5.,
valStep=1.)
viewer.objectInfoWnd.add1DSlider('force weight',
minVal=-10.,
maxVal=10.,
initVal=0.,
valStep=.01)
viewer.objectInfoWnd.add1DSlider('LCP weight',
minVal=-10.,
maxVal=10.,
initVal=0.,
valStep=.01)
viewer.objectInfoWnd.add1DSlider('tau weight',
minVal=-10.,
maxVal=10.,
initVal=0.,
valStep=.01)
viewer.objectInfoWnd.add1DSlider('ref',
minVal=-10.,
maxVal=10.,
initVal=0.,
valStep=.01)
viewer.objectInfoWnd.addBtn('image', viewer.motionViewWnd.dump)
viewer.objectInfoWnd.addBtn('image seq dump', viewer.motionViewWnd.dumpMov)
# viewer.cForceWnd.addDataSet('expForce', FL_BLACK)
# viewer.cForceWnd.addDataSet('desForceMin', FL_RED)
# viewer.cForceWnd.addDataSet('desForceMax', FL_RED)
# viewer.cForceWnd.addDataSet('realForce', FL_GREEN)
for i in range(motion[0].skeleton.getJointNum()):
print(i, motion[0].skeleton.getJointName(i))
print("(index, id, name)")
for i in range(controlModel.getBodyNum()):
print(i, controlModel.index2id(i), controlModel.index2name(i))