def publishState(self, subsampling=100):
if hasattr(self, "ros_publish_state"):
return
from dynamic_graph.ros import RosPublish
self.ros_publish_state = RosPublish("ros_publish_state")
self.ros_publish_state.add("vector", "state", "/sot_hpp/state")
plug(self.sotrobot.device.state, self.ros_publish_state.state)
self.sotrobot.device.after.addDownsampledSignal(
"ros_publish_state.trigger", 100)
def test_balance_ctrl_talos_gazebo(robot,
use_real_vel=True,
use_real_base_state=False,
startSoT=True):
# BUILD THE STANDARD GRAPH
conf = get_sim_conf()
robot = main_v3(robot, startSoT=False, go_half_sitting=False, conf=conf)
# force current measurements to zero
robot.ctrl_manager.i_measured.value = NJ * (0.0, )
#robot.current_ctrl.i_measured.value = NJ*(0.0,);
robot.filters.current_filter.x.value = NJ * (0.0, )
# BYPASS TORQUE CONTROLLER
plug(robot.inv_dyn.tau_des, robot.ctrl_manager.ctrl_torque)
# CREATE SIGNALS WITH ROBOT STATE WITH CORRECT SIZE (36)
robot.q = Selec_of_vector("q")
plug(robot.device.robotState, robot.q.sin)
robot.q.selec(0, NJ + 6)
plug(robot.q.sout, robot.pos_ctrl.base6d_encoders)
plug(robot.q.sout, robot.traj_gen.base6d_encoders)
#plug(robot.q.sout, robot.estimator_ft.base6d_encoders);
robot.ros = RosPublish('rosPublish')
robot.device.after.addDownsampledSignal('rosPublish.trigger', 1)
# BYPASS JOINT VELOCITY ESTIMATOR
if (use_real_vel):
robot.dq = Selec_of_vector("dq")
#plug(robot.device.robotVelocity, robot.dq.sin); # to check robotVelocity empty
plug(robot.device.velocity, robot.dq.sin)
robot.dq.selec(6, NJ + 6)
plug(robot.dq.sout, robot.pos_ctrl.jointsVelocities)
# generate seg fault
plug(robot.dq.sout, robot.base_estimator.joint_velocities)
plug(robot.device.gyrometer, robot.base_estimator.gyroscope)
# BYPASS BASE ESTIMATOR
robot.v = Selec_of_vector("v")
#plug(robot.device.robotVelocity, robot.dq.sin); # to check robotVelocity empty
plug(robot.device.velocity, robot.dq.sin)
robot.v.selec(0, NJ + 6)
if (use_real_base_state):
plug(robot.q.sout, robot.inv_dyn.q)
plug(robot.v.sout, robot.inv_dyn.v)
if (startSoT):
start_sot()
# RESET FORCE/TORQUE SENSOR OFFSET
# sleep(10*robot.timeStep);
#robot.estimator_ft.setFTsensorOffsets(24*(0.0,));
return robot
def publishState(self, subsampling=40):
if hasattr(self, "ros_publish_state"):
return
from dynamic_graph.ros import RosPublish
self.ros_publish_state = RosPublish("ros_publish_state")
self.ros_publish_state.add("vector", "state", "/agimus/sot/state")
self.ros_publish_state.add("vector", "reference_state",
"/agimus/sot/reference_state")
plug(self.sotrobot.device.state, self.ros_publish_state.state)
plug(self.rosSubscribe.posture, self.ros_publish_state.reference_state)
self.sotrobot.device.after.addDownsampledSignal(
"ros_publish_state.trigger", subsampling)
def __init__(self, name, robot):
self.name = name
# Setup entity that triggers the event.
self.switch = SwitchBoolean(name + "_switch")
self.event = Event(name + "_event")
plug(self.switch.sout, self.event.condition)
robot.device.after.addSignal(name + "_event.check")
self.ros_publish = RosPublish(name + '_ros_publish')
# self.ros_publish.add ('boolean', name, '/agimus/sot/event/' + name)
# self.ros_publish.signal(name).value = int(True)
self.ros_publish.add('int', name, '/agimus/sot/event/' + name)
self.event.addSignal(name + "_ros_publish.trigger")
self.switch_string = {}
def test_balance_ctrl_openhrp(robot, use_real_vel=True, use_real_base_state=False):
# BUILD THE STANDARD GRAPH
conf = get_sim_conf();
robot = main_v3(robot, startSoT=False, go_half_sitting=False, conf=conf);
# force current measurements to zero
robot.ctrl_manager.currents.value = NJ*(0.0,);
# BYPASS TORQUE CONTROLLER
plug(robot.inv_dyn.tau_des, robot.ctrl_manager.ctrl_torque);
# CREATE SIGNALS WITH ROBOT STATE WITH CORRECT SIZE (36)
robot.q = Selec_of_vector("q");
plug(robot.device.robotState, robot.q.sin);
robot.q.selec(0, NJ+6);
plug(robot.q.sout, robot.pos_ctrl.base6d_encoders);
plug(robot.q.sout, robot.traj_gen.base6d_encoders);
plug(robot.q.sout, robot.estimator_ft.base6d_encoders);
plug(robot.q.sout, robot.ctrl_manager.base6d_encoders);
plug(robot.q.sout, robot.torque_ctrl.base6d_encoders);
robot.ros = RosPublish('rosPublish');
robot.device.after.addDownsampledSignal('rosPublish.trigger',1);
# BYPASS JOINT VELOCITY ESTIMATOR
if(use_real_vel):
robot.dq = Selec_of_vector("dq");
plug(robot.device.robotVelocity, robot.dq.sin);
robot.dq.selec(6, NJ+6);
plug(robot.dq.sout, robot.pos_ctrl.jointsVelocities);
plug(robot.dq.sout, robot.base_estimator.joint_velocities);
# BYPASS BASE ESTIMATOR
robot.v = Selec_of_vector("v");
plug(robot.device.robotVelocity, robot.v.sin);
robot.v.selec(0, NJ+6);
if(use_real_base_state):
plug(robot.q.sout, robot.inv_dyn.q);
plug(robot.v.sout, robot.inv_dyn.v);
# start_sot();
#
# # RESET FORCE/TORQUE SENSOR OFFSET
# sleep(10*robot.timeStep);
# robot.estimator_ft.setFTsensorOffsets(24*(0.0,));
return robot;
def init_appli(robot):
taskRH = MetaTaskKine6d('rh', robot.dynamic, 'rh',
robot.OperationalPointsMap['right-wrist'])
handMgrip = eye(4)
handMgrip[0:3, 3] = (0.1, 0, 0)
taskRH.opmodif = matrixToTuple(handMgrip)
taskRH.feature.frame('desired')
# --- STATIC COM (if not walking)
taskCom = MetaTaskKineCom(robot.dynamic)
robot.dynamic.com.recompute(0)
taskCom.featureDes.errorIN.value = robot.dynamic.com.value
taskCom.task.controlGain.value = 10
# --- CONTACTS
contactLF = MetaTaskKine6d('contactLF', robot.dynamic, 'LF',
robot.OperationalPointsMap['left-ankle'])
contactLF.feature.frame('desired')
contactLF.gain.setConstant(10)
contactLF.keep()
locals()['contactLF'] = contactLF
contactRF = MetaTaskKine6d('contactRF', robot.dynamic, 'RF',
robot.OperationalPointsMap['right-ankle'])
contactRF.feature.frame('desired')
contactRF.gain.setConstant(10)
contactRF.keep()
locals()['contactRF'] = contactRF
from dynamic_graph import plug
from dynamic_graph.sot.core.sot import SOT
sot = SOT('sot')
sot.setSize(robot.dynamic.getDimension())
plug(sot.control, robot.device.control)
from dynamic_graph.ros import RosPublish
ros_publish_state = RosPublish("ros_publish_state")
ros_publish_state.add("vector", "state", "/sot_control/state")
from dynamic_graph import plug
plug(robot.device.state, ros_publish_state.state)
robot.device.after.addDownsampledSignal("ros_publish_state.trigger", 100)
sot.push(contactRF.task.name)
sot.push(contactLF.task.name)
sot.push(taskCom.task.name)
robot.device.control.recompute(0)
def setupEvents(self):
from dynamic_graph_hpp.sot import Event, CompareDouble
from dynamic_graph.sot.core.operator import Norm_of_vector
from dynamic_graph.ros import RosPublish
self.norm = Norm_of_vector("control_norm")
plug(self.sotrobot.device.control, self.norm.sin)
self.norm_comparision = CompareDouble("control_norm_comparison")
plug(self.norm.sout, self.norm_comparision.sin1)
self.norm_comparision.sin2.value = 1e-2
self.norm_event = Event("control_norm_event")
plug(self.norm_comparision.sout, self.norm_event.condition)
# self.sotrobot.device.after.addSignal (self.norm_event.check.name)
self.sotrobot.device.after.addSignal("control_norm_event.check")
self.ros_publish = RosPublish('ros_publish_control_norm')
self.ros_publish.add('double', 'event_control_norm',
'/sot_hpp/control_norm_changed')
plug(self.norm.sout, self.ros_publish.event_control_norm)
# plug (self.norm_event.trigger, self.ros_publish.trigger)
self.norm_event.addSignal("ros_publish_control_norm.trigger")
# flake8: noqa
from dynamic_graph import plug
from dynamic_graph.ros import RosPublish
robot.ros = RosPublish('rosPublish')
robot.ros.add('vector', 'robotState_ros', 'robotState')
plug(robot.device.robotState, robot.ros.signal('robotState_ros'))
robot.device.after.addDownsampledSignal('rosPublish.trigger', 1)
taskRH = MetaTaskKine6d('rh', robot.dynamic, 'rh',
robot.OperationalPointsMap['wrist'])
handMgrip = eye(4)
handMgrip[0:3, 3] = (0.1, 0, 0)
taskRH.opmodif = matrixToTuple(handMgrip)
taskRH.feature.frame('desired')
projection = HolonomicProjection("projection")
projection.setSize(robot.dynamic.getDimension())
projection.setLeftWheel(6)
projection.setRightWheel(7)
# The wheel separation could be obtained with pinocchio.
# See pmb2_description/urdf/base.urdf.xacro
projection.setWheelRadius(0.0985)
projection.setWheelSeparation(0.4044)
plug(robot.dynamic.mobilebase, projection.basePose)
sot = SOT('sot')
sot.setSize(robot.dynamic.getDimension())
plug(projection.projection, sot.proj0)
plug(sot.control, robot.device.control)
ros_publish_state = RosPublish("ros_publish_state")
ros_publish_state.add("vector", "state", "/sot_control/state")
plug(robot.device.state, ros_publish_state.state)
robot.device.after.addDownsampledSignal("ros_publish_state.trigger", 100)
robot.device.control.recompute(0)
def main_v3(robot, startSoT=True, go_half_sitting=True, conf=None):
if (conf is None):
conf = get_default_conf()
dt = robot.timeStep
# TMP: overwrite halfSitting configuration to use SoT joint order
robot.halfSitting = (
# Free flyer
0.,
0.,
0.648702,
0.,
0.,
0.,
# Legs
0.,
0.,
-0.453786,
0.872665,
-0.418879,
0.,
0.,
0.,
-0.453786,
0.872665,
-0.418879,
0.,
# Chest and head
0.,
0.,
0.,
0.,
# Arms
0.261799,
-0.17453,
0.,
-0.523599,
0.,
0.,
0.1,
0.261799,
0.17453,
0.,
-0.523599,
0.,
0.,
0.1)
robot.device.setControlInputType('noInteg')
robot.ctrl_manager = create_ctrl_manager(conf.control_manager,
conf.motor_params, dt)
robot.traj_gen = create_trajectory_generator(robot.device, dt)
robot.com_traj_gen = create_com_traj_gen(conf.balance_ctrl, dt)
robot.rf_force_traj_gen = create_force_traj_gen(
"rf_force_ref", conf.balance_ctrl.RF_FORCE_DES, dt)
robot.lf_force_traj_gen = create_force_traj_gen(
"lf_force_ref", conf.balance_ctrl.LF_FORCE_DES, dt)
robot.traj_sync = create_trajectory_switch()
robot.rf_traj_gen = SE3TrajectoryGenerator("tg_rf")
robot.lf_traj_gen = SE3TrajectoryGenerator("tg_lf")
robot.rf_traj_gen.init(dt)
robot.lf_traj_gen.init(dt)
robot.encoders = create_encoders(robot)
robot.imu_offset_compensation = create_imu_offset_compensation(robot, dt)
(robot.estimator_ft,
robot.filters) = create_estimators(robot, conf.force_torque_estimator,
conf.motor_params, dt)
robot.imu_filter = create_imu_filter(robot, dt)
robot.base_estimator = create_base_estimator(robot, dt,
conf.base_estimator)
connect_synchronous_trajectories(robot.traj_sync, [
robot.com_traj_gen, robot.rf_force_traj_gen, robot.lf_force_traj_gen,
robot.rf_traj_gen, robot.lf_traj_gen
])
#robot.rf_traj_gen, robot.lf_traj_gen])
robot.pos_ctrl = create_position_controller(robot, conf.pos_ctrl_gains, dt)
robot.torque_ctrl = create_torque_controller(robot,
conf.joint_torque_controller,
conf.motor_params, dt)
robot.inv_dyn = create_balance_controller(robot, conf.balance_ctrl,
conf.motor_params, dt)
robot.adm_ctrl = create_admittance_ctrl(robot, conf.adm_ctrl, dt)
robot.current_ctrl = create_current_controller(robot, conf.current_ctrl,
conf.motor_params, dt)
connect_ctrl_manager(robot)
# create low-pass filter for computing joint velocities
robot.encoder_filter = create_chebi2_lp_filter_Wn_03_N_4(
'encoder_filter', dt, conf.motor_params.NJ)
plug(robot.encoders.sout, robot.encoder_filter.x)
plug(robot.encoder_filter.dx, robot.current_ctrl.dq)
plug(robot.encoder_filter.dx, robot.torque_ctrl.jointsVelocities)
#plug(robot.encoder_filter.x_filtered, robot.base_estimator.joint_positions);
#plug(robot.encoder_filter.dx, robot.base_estimator.joint_velocities);
robot.ros = RosPublish('rosPublish')
robot.device.after.addDownsampledSignal('rosPublish.trigger', 1)
robot.estimator_ft.dgyro.value = (0.0, 0.0, 0.0)
robot.estimator_ft.gyro.value = (0.0, 0.0, 0.0)
# estimator.accelerometer.value = (0.0, 0.0, 9.81);
if (startSoT):
print "Gonna start SoT"
sleep(1.0)
start_sot()
if (go_half_sitting):
print "Gonna go to half sitting in 1 sec"
sleep(1.0)
go_to_position(robot.traj_gen, robot.halfSitting[6:], 10.0)
return robot
def create_ros_topics(robot):
from dynamic_graph.ros import RosPublish
ros = RosPublish('rosPublish')
try:
create_topic(ros, robot.device.robotState, 'robotState')
create_topic(ros, robot.device.gyrometer, 'gyrometer')
create_topic(ros, robot.device.accelerometer, 'accelerometer')
create_topic(ros, robot.device.forceRLEG, 'forceRLEG')
create_topic(ros, robot.device.forceLLEG, 'forceLLEG')
create_topic(ros, robot.device.currents, 'currents')
# create_topic(ros, robot.device.forceRARM, 'forceRARM');
# create_topic(ros, robot.device.forceLARM, 'forceLARM');
robot.device.after.addDownsampledSignal('rosPublish.trigger', 1)
except:
pass
try:
create_topic(ros, robot.filters.estimator_kin.dx, 'jointsVelocities')
# create_topic(ros, robot.estimator.jointsTorquesFromInertiaModel, 'jointsTorquesFromInertiaModel');
# create_topic(ros, robot.estimator.jointsTorquesFromMotorModel, 'jointsTorquesFromMotorModel');
# create_topic(ros, robot.estimator.currentFiltered, 'currentFiltered');
except:
pass
try:
create_topic(ros, robot.torque_ctrl.u, 'i_des_torque_ctrl')
except:
pass
try:
create_topic(ros, robot.traj_gen.q, 'q_ref')
# create_topic(ros, robot.traj_gen.dq, 'dq_ref');
# create_topic(ros, robot.traj_gen.ddq, 'ddq_ref');
except:
pass
try:
create_topic(ros, robot.ctrl_manager.pwmDes, 'i_des')
create_topic(ros, robot.ctrl_manager.pwmDesSafe, 'i_des_safe')
# create_topic(ros, robot.ctrl_manager.signOfControlFiltered, 'signOfControlFiltered');
# create_topic(ros, robot.ctrl_manager.signOfControl, 'signOfControl');
except:
pass
try:
create_topic(ros, robot.inv_dyn.tau_des, 'tau_des')
except:
pass
try:
create_topic(ros, robot.ff_locator.base6dFromFoot_encoders,
'base6dFromFoot_encoders')
except:
pass
try:
create_topic(ros, robot.floatingBase.soutPos, 'floatingBase_pos')
except:
pass
return ros
def create_rospublish(robot, name):
from dynamic_graph.ros import RosPublish
rospub = RosPublish(name)
robot.device.after.addSignal(rospub.name + '.trigger')
return rospub
def main_v3(robot, startSoT=True, go_half_sitting=True, conf=None):
if(conf is None):
conf = get_default_conf();
dt = robot.timeStep;
# TMP: overwrite halfSitting configuration to use SoT joint order
robot.halfSitting = (
# Free flyer
0., 0., 1.018213, 0., 0. , 0.,
# legs
0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708,
0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708,
# Chest
0.0 , 0.006761,
# arms
0.25847 , 0.173046, -0.0002, -0.525366, 0.0, -0.0, 0.1, -0.005,
-0.25847 , -0.173046, 0.0002 , -0.525366, 0.0, 0.0, 0.1,-0.005,
# Head
0.0,0.0);
#robot.device.setControlInputType('noInteg');
robot.ctrl_manager = create_ctrl_manager(conf.control_manager, conf.motor_params, dt);
robot.traj_gen = create_trajectory_generator(robot.device, dt);
robot.com_traj_gen = create_com_traj_gen(conf.balance_ctrl, dt);
robot.rf_force_traj_gen = create_force_traj_gen("rf_force_ref", conf.balance_ctrl.RF_FORCE_DES, dt);
robot.lf_force_traj_gen = create_force_traj_gen("lf_force_ref", conf.balance_ctrl.LF_FORCE_DES, dt);
robot.traj_sync = create_trajectory_switch();
robot.rf_traj_gen = SE3TrajectoryGenerator("tg_rf");
robot.lf_traj_gen = SE3TrajectoryGenerator("tg_lf");
robot.rf_traj_gen.init(dt);
robot.lf_traj_gen.init(dt);
robot.encoders = create_encoders(robot);
robot.imu_offset_compensation = create_imu_offset_compensation(robot, dt);
#(robot.estimator_ft, robot.filters) = create_estimators(robot, conf.force_torque_estimator, conf.motor_params, dt);
robot.filters = create_filters(robot, conf.force_torque_estimator, conf.motor_params, dt);
robot.imu_filter = create_imu_filter(robot, dt);
robot.base_estimator = create_base_estimator(robot, dt, conf.base_estimator);
connect_synchronous_trajectories(robot.traj_sync,
[robot.com_traj_gen,
robot.rf_force_traj_gen, robot.lf_force_traj_gen,
robot.rf_traj_gen, robot.lf_traj_gen])
#robot.rf_traj_gen, robot.lf_traj_gen])
robot.pos_ctrl = create_position_controller(robot, conf.pos_ctrl_gains, dt);
robot.torque_ctrl = create_torque_controller(robot, conf.joint_torque_controller, conf.motor_params, dt);
robot.inv_dyn = create_balance_controller(robot, conf.balance_ctrl,conf.motor_params, dt);
#robot.current_ctrl = create_current_controller(robot, conf.current_ctrl, conf.motor_params, dt);
connect_ctrl_manager(robot);
# create low-pass filter for computing joint velocities
robot.encoder_filter = create_chebi2_lp_filter_Wn_03_N_4('encoder_filter', dt, conf.motor_params.NJ)
plug(robot.encoders.sout, robot.encoder_filter.x)
#plug(robot.encoder_filter.dx, robot.current_ctrl.dq);
plug(robot.encoder_filter.dx, robot.torque_ctrl.jointsVelocities);
#plug(robot.encoder_filter.x_filtered, robot.base_estimator.joint_positions);
#plug(robot.encoder_filter.dx, robot.base_estimator.joint_velocities);
robot.ros = RosPublish('rosPublish');
robot.device.after.addDownsampledSignal('rosPublish.trigger',1);
#robot.estimator_ft.dgyro.value = (0.0, 0.0, 0.0);
#robot.estimator_ft.gyro.value = (0.0, 0.0, 0.0);
# estimator.accelerometer.value = (0.0, 0.0, 9.81);
if(startSoT):
print "Gonna start SoT";
sleep(1.0);
start_sot();
if(go_half_sitting):
print "Gonna go to half sitting in 1 sec";
sleep(1.0);
go_to_position(robot.traj_gen, robot.halfSitting[6:], 10.0);
return robot;