class MotionJoint(Motion):
yaml_tag = u'joint'
gain = None
name = None
reference = None
# FIXME: not generic enough and joints are missing.
nameToId = {
'left-claw': 35,
'right-claw': 28
}
def __init__(self, motion, yamlData, defaultDirectories):
checkDict('interval', yamlData)
Motion.__init__(self, motion, yamlData)
self.gain = yamlData.get('gain', 1.)
self.name = yamlData['name']
self.reference = yamlData['reference']
self.task = Task('joint'+str(id(yamlData)))
self.feature = FeaturePosture('jointFeaturePosture'+str(id(yamlData)))
plug(motion.robot.device.state, self.feature.state)
jointId = self.nameToId[self.name]
posture = np.array(motion.robot.halfSitting)
posture[jointId] = self.reference
self.feature.setPosture(tuple(posture.tolist()))
for i in xrange(len(posture) - 6):
if i + 6 == jointId:
self.feature.selectDof(i + 6, True)
else:
self.feature.selectDof(i + 6, False)
self.task.add(self.feature.name)
self.task.controlGain.value = self.gain
# Push the task into supervisor.
motion.supervisor.addTask(self.task.name,
self.interval[0], self.interval[1],
self.priority,
(jointId,))
def __str__(self):
return "joint motion ({0})".format(self.name)
def setupTrace(self, trace):
pass
class LegsFollowerGraph(object):
legsFollower = None
postureTask = None
postureFeature = None
postureFeatureDes = None
postureError = None
legsTask = None
legsFeature = None
legsFeatureDes = None
legsError = None
waistTask = None
waistFeature = None
waistFeatureDes = None
waistError = None
trace = None
def __init__(self, robot, solver, trace = None, postureTaskDofs = None):
print("Constructor of LegsFollower Graph")
self.robot = robot
self.solver = solver
self.legsFollower = LegsFollower('legs-follower')
self.statelength = len(robot.device.state.value)
# Initialize the posture task.
print("Posture Task")
self.postureTaskDofs = postureTaskDofs
if not self.postureTaskDofs:
self.postureTaskDofs = []
for i in xrange(len(robot.halfSitting) - 6):
# Disable legs dofs.
if i < 12: #FIXME: not generic enough
self.postureTaskDofs.append((i + 6, False))
else:
self.postureTaskDofs.append((i + 6, True))
# This part is taken from feet_follower_graph
self.postureTask = Task(self.robot.name + '_posture')
self.postureFeature = FeaturePosture(self.robot.name + '_postureFeature')
plug(self.robot.device.state, self.postureFeature.state)
posture = list(self.robot.halfSitting)
self.postureFeature.setPosture(tuple(posture))
for (dof, isEnabled) in self.postureTaskDofs:
self.postureFeature.selectDof(dof, isEnabled)
self.postureTask.add(self.postureFeature.name)
self.postureTask.controlGain.value = 2.
# Initialize the waist follower task.
print("Waist Task")
self.robot.features['waist'].selec.value = '111111'
plug(self.legsFollower.waist, self.robot.features['waist'].reference)
self.robot.tasks['waist'].controlGain.value = 1.
# Initialize the legs follower task.
print("Legs Task")
self.legsTask = Task(self.robot.name + '_legs')
self.legsFeature = FeatureGeneric(self.robot.name + '_legsFeature')
legsFeatureDesName = self.robot.name + '_legsFeatureDes'
self.legsFeatureDes = FeatureGeneric(legsFeatureDesName)
self.legsError = LegsError('LegsError')
plug(self.robot.device.state, self.legsError.state)
# self.legsFeatureDes.errorIN.value = self.legsFollower.ldof.value
plug(self.legsFollower.ldof,self.legsFeatureDes.errorIN)
self.legsFeature.jacobianIN.value = self.legsJacobian()
self.legsFeature.setReference(legsFeatureDesName)
plug(self.legsError.error, self.legsFeature.errorIN)
self.legsTask.add(self.legsFeature.name)
self.legsTask.controlGain.value = 5.
#CoM task
print("Com Task")
print (0., 0., self.robot.dynamic.com.value[2])
self.robot.comTask.controlGain.value = 50.
self.robot.featureComDes.errorIN.value = (0., 0., self.robot.dynamic.com.value[2])
self.robot.featureCom.selec.value = '111'
plug(self.legsFollower.com, self.robot.featureComDes.errorIN)
# Plug the legs follower zmp output signals.
plug(self.legsFollower.zmp, self.robot.device.zmp)
solver.sot.remove(self.robot.comTask.name)
print("Push in solver.")
solver.sot.push(self.legsTask.name)
solver.sot.push(self.postureTask.name)
solver.sot.push(self.robot.tasks['waist'].name)
solver.sot.push(self.robot.comTask.name)
solver.sot.remove(self.robot.tasks['left-ankle'].name)
solver.sot.remove(self.robot.tasks['right-ankle'].name)
print solver.sot.display()
print("Tasks added in solver.\n")
print("Command are : \n - f.plug()\n - f.plugViewer()\n - f.plugPlanner()\n"
" - f.plugPlannerWithoutMocap()\n - f.start()\n - f.stop()\n - f.readMocap()\n")
def legsJacobian(self):
j = []
for i in xrange(12):
j.append(oneVector(6+i,self.statelength))
return tuple(j)
def waistJacobian(self):
j = []
for i in xrange(6):
j.append(oneVector(i,self.statelength))
return tuple(j)
def postureJacobian(self):
j = []
for i in xrange(self.statelength):
if i >= 6 + 2 * 6:
j.append(oneVector(i))
if i == 3 or i == 4:
j.append(zeroVector())
return tuple(j)
def computeDesiredValue(self):
e = self.robot.halfSitting
#e = halfSitting
e_ = [e[3], e[4]]
offset = 6 + 2 * 6
for i in xrange(len(e) - offset):
e_.append(e[offset + i])
return tuple(e_)
def canStart(self):
securityThreshold = 1e-3
return (self.postureTask.error.value <=
(securityThreshold,) * len(self.postureTask.error.value))
def setupTrace(self):
self.trace = TracerRealTime('trace')
self.trace.setBufferSize(2**20)
self.trace.open('/tmp/','legs_follower_','.dat')
self.trace.add('legs-follower.com', 'com')
self.trace.add('legs-follower.zmp', 'zmp')
self.trace.add('legs-follower.ldof', 'ldof')
self.trace.add('legs-follower.waist', 'waist')
self.trace.add(self.robot.device.name + '.state', 'state')
self.trace.add(self.legsTask.name + '.error', 'errorLegs')
self.trace.add(self.robot.comTask.name + '.error', 'errorCom')
#self.trace.add('legs-follower.outputStart','start')
#self.trace.add('legs-follower.outputYaw','yaw')
self.trace.add('corba.planner_steps','steps')
self.trace.add('corba.planner_outputGoal','goal')
self.trace.add('corba.waist','waistMocap')
self.trace.add('corba.left-foot','footMocap')
self.trace.add('corba.table','tableMocap')
self.trace.add('corba.bar','barMocap')
self.trace.add('corba.chair','chairMocap')
self.trace.add('corba.helmet','helmetMocap')
self.trace.add('corba.planner_outputObs','obstacles')
self.trace.add(self.robot.dynamic.name + '.left-ankle',
self.robot.dynamic.name + '-left-ankle')
self.trace.add(self.robot.dynamic.name + '.right-ankle',
self.robot.dynamic.name + '-right-ankle')
# Recompute trace.triger at each iteration to enable tracing.
self.robot.device.after.addSignal('legs-follower.zmp')
self.robot.device.after.addSignal('legs-follower.outputStart')
self.robot.device.after.addSignal('legs-follower.outputYaw')
self.robot.device.after.addSignal('corba.planner_steps')
self.robot.device.after.addSignal('corba.planner_outputGoal')
self.robot.device.after.addSignal('corba.waist')
self.robot.device.after.addSignal('corba.left-foot')
self.robot.device.after.addSignal('corba.table')
self.robot.device.after.addSignal('corba.bar')
self.robot.device.after.addSignal('corba.chair')
self.robot.device.after.addSignal('corba.helmet')
self.robot.device.after.addSignal('corba.planner_outputObs')
self.robot.device.after.addSignal(self.robot.dynamic.name + '.left-ankle')
self.robot.device.after.addSignal(self.robot.dynamic.name + '.right-ankle')
self.robot.device.after.addSignal('trace.triger')
return
def plugPlanner(self):
print("Plug planner.")
plug(corba.planner_radQ, self.legsFollower.inputRef)
plug(self.legsFollower.outputStart, corba.planner_inputStart)
plug(corba.waistTimestamp, corba.planner_timestamp)
plug(corba.table, corba.planner_table)
plug(corba.chair, corba.planner_chair)
plug(corba.bar, corba.planner_bar)
plug(corba.waist, corba.planner_waist)
plug(corba.helmet, corba.planner_inputGoal)
plug(corba.torus1, corba.planner_torus1)
plug(corba.torus2, corba.planner_torus2)
plug(corba.signal('left-foot'), corba.planner_foot)
plug(corba.signal('left-footTimestamp'), corba.planner_footTimestamp)
return
def plugPlannerWithoutMocap(self):
print("Plug planner without mocap.")
plug(corba.planner_radQ, self.legsFollower.inputRef)
plug(self.legsFollower.outputStart, corba.planner_inputStart)
return
def plugViewer(self):
print("Plug viewer.")
plug(self.legsFollower.ldof, corba.viewer_Ldof)
plug(self.legsFollower.outputStart, corba.viewer_Start)
plug(self.legsFollower.com, corba.viewer_Com)
plug(self.legsFollower.outputYaw, corba.viewer_Yaw)
plug(corba.planner_steps, corba.viewer_Steps)
plug(corba.planner_outputGoal, corba.viewer_Goal)
plug(corba.table, corba.viewer_Table)
plug(corba.chair, corba.viewer_Chair)
plug(corba.bar, corba.viewer_Bar)
plug(corba.torus1, corba.viewer_Torus1)
plug(corba.torus2, corba.viewer_Torus2)
plug(corba.waist, corba.viewer_Waist)
plug(corba.planner_outputLabyrinth, corba.viewer_Labyrinth)
plug(corba.planner_outputObs, corba.viewer_Obs)
return
def plug(self):
self.plugPlanner()
self.plugViewer()
return
def readMocap(self):
print "Table : "
print corba.table.value
print "Waist : "
if len(corba.waist.value)<3:
corba.waist.value = (0,0,0)
print corba.waist.value
print "Helmet : "
print corba.helmet.value
return;
def start(self):
if not self.canStart():
print("Robot has not yet converged to the initial position,"
" please wait and try again.")
return
print("Start.")
self.postureTask.controlGain.value = 180.
#self.waistTask.controlGain.value = 90.
self.legsTask.controlGain.value = 180.
self.robot.comTask.controlGain.value = 180.
self.robot.tasks['waist'].controlGain.value = 45.
self.setupTrace()
self.trace.start()
self.legsFollower.start()
return
def stop(self):
self.legsFollower.stop()
self.trace.dump()
return
class Motion (object):
reachTime = 3.
stillTime = .5
def __init__ (self, robot, solver):
self.samplingPeriod = .005
self.robot = robot
self.solver = solver
self.ros = Ros (robot)
self.ros.rosExport.add ('matrixHomoStamped', 'ballInCamera',
'/wide/blobs/rose/transform')
self.ros.rosExport.add ('matrixHomoStamped', 'ballInWaist',
'/wide/blobs/rose/transform_base_link')
self.rightGripperId = 28
# Right hand task
self.featureRightHand = \
FeaturePosition ('featureRightHand',
robot.frames ['rightHand'].position,
robot.frames ['rightHand'].jacobian)
self.featureRightHand.selec.value = '000111'
# interpolation
self.prodSE3 = Multiply_of_matrixHomo ("prod SE3")
self.interpolation = CylindricalCubicInterpolationSE3 ('interpolation')
self.interpolation.setSamplingPeriod (self.samplingPeriod)
plug (self.robot.waist.position, self.prodSE3.sin1)
plug (self.interpolation.reference,
self.featureRightHand.signal('reference'))
plug (self.ros.rosExport.ballInWaist, self.prodSE3.sin2)
plug (self.prodSE3.sout, self.interpolation.goal)
plug (self.featureRightHand.position, self.interpolation.init)
plug (self.robot.waist.position, self.interpolation.localFrame)
self.taskRightHand = TaskPD ('taskRightHand')
self.taskRightHand.add (self.featureRightHand.name)
#plug (interpolation.errorDot, taskRightHand.errorDot)
self.taskRightHand.controlGain.value = 180.0
self.solver.push (self.taskRightHand)
# Waist task
self.robot.waist.selec.value = '011000'
self.robot.waist.value = I4
self.solver.push (self.robot.tasks ['waist'])
# Ball tracking
refBallInCamera = FeatureVisualPoint ('featureBallInCameraRef')
refBallInCamera.xy.value = (0., 0.)
self.pinholeProjection = VispPointProjection('pinholeProjection')
plug (self.ros.rosExport.ballInCamera, self.pinholeProjection.cMo)
plug (self.ros.rosTime.time, self.pinholeProjection.time)
plug (self.ros.rosExport.ballInCameraTimestamp,
self.pinholeProjection.cMoTimestamp)
self.ballInCamera = FeatureVisualPoint ('featureBallInCamera')
plug (self.pinholeProjection.xy, self.ballInCamera.xy)
self.ballInCamera.Z.value = 1.
self.ballInCamera.setReference (refBallInCamera.name)
self.ballInCamera.selec.value = '11'
plug (self.robot.frames ['cameraTopRight'].jacobian,
self.ballInCamera.Jq)
self.taskBallTracking = TaskPD ('taskBallTracking')
self.taskBallTracking.add (self.ballInCamera.name)
self.taskBallTracking.controlGain.value = 1.0
# Posture task
self.posture = list (self.robot.halfSitting [::])
self.featurePosture = FeaturePosture ('featurePosture')
plug (self.robot.device.state, self.featurePosture.state)
self.featurePosture.setPosture (tuple (self.posture))
for dof in range (6, self.robot.dimension):
self.featurePosture.selectDof (dof, False)
self.postureTask = TaskPD ('postureTask')
self.postureTask.add (self.featurePosture.name)
self.postureTask.controlGain.value = 1.
self.solver.push (self.postureTask)
def trackBall (self):
self.solver.push (self.taskBallTracking)
def openHand (self):
# open hand
self.featurePosture.selectDof (self.rightGripperId, True)
self.posture [self.rightGripperId] = 0.7
self.featurePosture.setPosture (tuple (self.posture))
def reach (self):
# move hand
self.handInitPos = self.robot.frames ['rightHand'].position.value
self.interpolation.start (self.reachTime)
def stopTracking (self):
self.solver.remove (self.taskBallTracking)
def closeHand (self):
self.posture [self.rightGripperId] = 0.3
self.featurePosture.setPosture (tuple (self.posture))
self.postureTask.controlGain.value = 4.
def moveBack (self):
# move hand back
self.postureTask.controlGain.value = 0.
for dof in range (6, len (self.posture)):
self.featurePosture.selectDof (dof, True)
self.interpolation.goal.value = self.handInitPos
self.postureTask.controlGain.value = 3.
self.interpolation.start (2.)
def stopMotion (self):
self.solver.remove (self.taskBallTracking)
plug (self.ros.rosExport.ballInWaist, self.interpolation.goal)
def catchBall (self):
#self.trackBall ()
self.openHand ()
self.reach ()
time.sleep (self.reachTime)
self.closeHand ()
time.sleep (1.)
self.moveBack ()
self.stopMotion ()
def play(self, totalTime):
nbSteps = int(totalTime/timeStep) + 1
path = []
for i in xrange(nbSteps):
print (i)
if i == 100:
self.start ()
t = timeStep*i
self.robot.device.increment(timeStep)
config = self.robot.device.state.value
path.append(config)
if hasRobotViewer:
clt.updateElementConfig(rvName, toViewerConfig(config))
ballPos = []
for i in range (3):
ballPos.append(self.ros.rosExport.ballInWaist.value[i][3])
ballPos.extend (3*[0])
clt.updateElementConfig("rose_ball", ballPos)