def test_walk_20cm_quasistatic(self):
cs = ContactSequence()
cs.loadFromBinary(str(PATH / "walk_20cm_quasistatic.cs"))
self.assertEqual(cs.size(), 23)
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
self.assertTrue(cs.haveConsistentContacts())
def generate_effector_trajectories_for_sequence(cfg, cs, generate_end_effector_traj, fullBody = None):
"""
Generate an effector trajectory for each effectors which are going to be in contact in the next phase
:param cfg: an instance of the configuration class
:param cs: the contact sequence
:param generate_end_effector_traj: a pointer to the method used to generate an end effector trajectory for one phase
:param fullBody: an instance of rbprm FullBody
:return: a new contact sequence, containing the same data as the one given as input
plus the effector trajectories for each swing phases
"""
cs_res = ContactSequence(cs)
effectors = cs_res.getAllEffectorsInContact()
previous_phase = None
for pid in range(cs_res.size()-1): # -1 as last phase never have effector trajectories
phase = cs_res.contactPhases[pid]
next_phase = cs_res.contactPhases[pid+1]
if pid > 0 :
previous_phase = cs_res.contactPhases[pid-1]
for eeName in effectors:
if not phase.isEffectorInContact(eeName) and next_phase.isEffectorInContact(eeName):
# eeName will be in compute in the next phase, a trajectory should be added in the current phase
placement_end = next_phase.contactPatch(eeName).placement
time_interval = [phase.timeInitial, phase.timeFinal]
if previous_phase is not None and previous_phase.isEffectorInContact(eeName):
placement_init = previous_phase.contactPatch(eeName).placement
else:
placement_init = effectorPlacementFromPhaseConfig(phase,eeName,fullBody)
# build the trajectory :
traj = generate_end_effector_traj(cfg, time_interval,placement_init,placement_end)
phase.addEffectorTrajectory(eeName,traj)
return cs_res
def test_step_in_place(self):
cs = ContactSequence()
cs.loadFromBinary(str(PATH / "step_in_place.cs"))
self.assertEqual(cs.size(), 9)
self.assertTrue(cs.haveConsistentContacts())
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
def test_com_motion_above_feet_COM(self):
cs = ContactSequence()
cs.loadFromBinary(str(PATH / "com_motion_above_feet_COM.cs"))
self.assertEqual(cs.size(), 1)
self.assertTrue(cs.haveConsistentContacts())
self.assertTrue(cs.haveTimings())
self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories())
checkCS(self, cs)
def test_walk_20cm_quasistatic_COM(self):
cs = ContactSequence()
cs.loadFromBinary(str(PATH / "walk_20cm_quasistatic_COM.cs"))
self.assertEqual(cs.size(), 23)
self.assertTrue(cs.haveConsistentContacts())
self.assertTrue(cs.haveTimings())
self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories())
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
checkCS(self, cs, quasistatic=True, effector=False, wholeBody=False)
def test_step_in_place_REF(self):
cs = ContactSequence()
cs.loadFromBinary(str(PATH / "step_in_place_REF.cs"))
self.assertEqual(cs.size(), 9)
self.assertTrue(cs.haveConsistentContacts())
self.assertTrue(cs.haveTimings())
self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories())
self.assertTrue(cs.haveEffectorsTrajectories())
self.assertTrue(cs.haveEffectorsTrajectories(1e-6, False))
self.assertTrue(cs.haveFriction())
self.assertTrue(cs.haveContactModelDefined())
checkCS(self, cs, root=True, effector=True, wholeBody=False)
def test_com_motion_above_feet_WB(self):
cs = ContactSequence()
cs.loadFromBinary(str(PATH / "com_motion_above_feet_WB.cs"))
self.assertEqual(cs.size(), 1)
self.assertTrue(cs.haveConsistentContacts())
self.assertTrue(cs.haveTimings())
self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories())
self.assertTrue(cs.haveJointsTrajectories())
self.assertTrue(cs.haveJointsDerivativesTrajectories())
self.assertTrue(cs.haveContactForcesTrajectories())
self.assertTrue(cs.haveZMPtrajectories())
checkCS(self, cs, wholeBody=True)
def test_walk_20cm_quasistatic_WB(self):
cs = ContactSequence()
cs.loadFromBinary(str(PATH / "walk_20cm_quasistatic_WB.cs"))
self.assertEqual(cs.size(), 23)
self.assertTrue(cs.haveConsistentContacts())
self.assertTrue(cs.haveTimings())
self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories())
self.assertTrue(cs.haveEffectorsTrajectories(1e-1))
self.assertTrue(cs.haveJointsTrajectories())
self.assertTrue(cs.haveJointsDerivativesTrajectories())
self.assertTrue(cs.haveContactForcesTrajectories())
self.assertTrue(cs.haveZMPtrajectories())
self.assertTrue(cs.haveFriction())
self.assertTrue(cs.haveContactModelDefined())
checkCS(self, cs, quasistatic=True, effector=True, wholeBody=True)
def generateEffectorTrajectoriesForSequence(cs, fullBody=None):
"""
Generate an effector trajectory for each effectors which are going to be in contact in the next phase
:param cs:
:return:
"""
cs_res = ContactSequence(cs)
effectors = cs_res.getAllEffectorsInContact()
previous_phase = None
for pid in range(
cs_res.size() -
1): # -1 as last phase never have effector trajectories
phase = cs_res.contactPhases[pid]
next_phase = cs_res.contactPhases[pid + 1]
if pid > 0:
previous_phase = cs_res.contactPhases[pid - 1]
for eeName in effectors:
if not phase.isEffectorInContact(
eeName) and next_phase.isEffectorInContact(eeName):
# eeName will be in compute in the next phase, a trajectory should be added in the current phase
placement_end = next_phase.contactPatch(eeName).placement
time_interval = [phase.timeInitial, phase.timeFinal]
if previous_phase is not None and previous_phase.isEffectorInContact(
eeName):
placement_init = previous_phase.contactPatch(
eeName).placement
else:
placement_init = effectorPlacementFromPhaseConfig(
phase, eeName, fullBody)
# build the trajectory :
traj = generateEndEffectorTraj(time_interval,
placement_init,
placement_end)
phase.addEffectorTrajectory(eeName, traj)
return cs_res
for pid, phase in enumerate(cs.contactPhases):
# define timing :
phase.timeInitial = t
if phase.numContacts() == 2:
phase.timeFinal = t + 2. # DS duration
else:
phase.timeFinal = t + 1.5 ## SS duration
t = phase.timeFinal
# define init/end CoM position :
if phase.numContacts() == 1:
phase.c_init = cs.contactPhases[pid - 1].c_final
phase.c_final = cs.contactPhases[pid - 1].c_final
else:
if pid > 0:
phase.c_init = cs.contactPhases[pid - 1].c_final
if pid < cs.size() - 1:
if cs.contactPhases[pid + 1].isEffectorInContact(fb.lfoot):
phase.c_final = c_l
elif cs.contactPhases[pid + 1].isEffectorInContact(fb.rfoot):
phase.c_final = c_r
else:
phase.c_final = c_mid
for phase in cs.contactPhases:
genCOMTrajFromPhaseStates(phase)
genAMTrajFromPhaseStates(phase)
assert cs.haveConsistentContacts()
assert cs.haveConsistentContacts()
assert cs.haveCentroidalValues()
assert cs.haveCentroidalTrajectories()
def CSfromMomentumopt(planner_setting,
cs,
init_state,
dyn_states,
t_init=0,
connect_goal=True):
"""
Create a ContactSequence and fill it with the results from momentumopt
:param planner_setting:
:param cs: a multicontact_api ContactSequence from which the contacts are copied
:param init_state: initial state used by momentumopt
:param dyn_states: the results of momentumopt
:return: a multicontact_api ContactSequence with centroidal trajectories
"""
logger.info("Start to convert result to mc-api ...")
cs_com = ContactSequence(cs)
MASS = planner_setting.get(mopt.PlannerDoubleParam_RobotMass)
p_id = 0 # phase id in cs
# dyn_states[0] is at t == dt , not t == 0 ! use init_state for t == 0
p0 = cs_com.contactPhases[0]
c_init = init_state.com
p0.timeInitial = t_init
# init arrays to store the discrete points. one value per columns
c_t = c_init.reshape(3, 1)
dc_t = p0.dc_init.reshape(3, 1)
ddc_t = p0.ddc_init.reshape(3, 1)
L_t = p0.L_init.reshape(3, 1)
dL_t = p0.dL_init.reshape(3, 1)
times = array(t_init)
current_t = t_init
# loop for all dynamicsStates
for k, ds in enumerate(dyn_states):
#extract states values from ds :
if k == 0:
ddc = (ds.lmom / MASS) / ds.dt # acceleration
dL = ds.amom / ds.dt # angular momentum variation
else:
ddc = ((ds.lmom / MASS) - (dyn_states[k - 1].lmom / MASS)) / ds.dt
dL = (ds.amom - dyn_states[k - 1].amom) / ds.dt
c = ds.com # position
dc = ds.lmom / MASS # velocity
L = ds.amom # angular momentum
# stack the values in the arrays:
c_t = append(c_t, c.reshape(3, 1), axis=1)
dc_t = append(dc_t, dc.reshape(3, 1), axis=1)
ddc_t = append(ddc_t, ddc.reshape(3, 1), axis=1)
L_t = append(L_t, L.reshape(3, 1), axis=1)
dL_t = append(dL_t, dL.reshape(3, 1), axis=1)
current_t += ds.dt
times = append(times, current_t)
if k > 0 and isNewPhase(dyn_states[k - 1],
ds) and p_id < cs_com.size() - 1:
#last k of current phase, first k of next one (same trajectories and time)
# set the trajectories for the current phase from the arrays :
phase = cs_com.contactPhases[p_id]
setCOMtrajectoryFromPoints(phase,
c_t,
dc_t,
ddc_t,
times,
overwriteInit=(p_id > 0))
setAMtrajectoryFromPoints(phase,
L_t,
dL_t,
times,
overwriteInit=(p_id > 0))
# set final time :
phase.timeFinal = times[-1]
# Start new phase :
p_id += 1
phase = cs_com.contactPhases[p_id]
# set initial time :
phase.timeInitial = times[-1]
# reset arrays of values to only the last point :
c_t = c_t[:, -1].reshape(3, 1)
dc_t = dc_t[:, -1].reshape(3, 1)
ddc_t = ddc_t[:, -1].reshape(3, 1)
L_t = L_t[:, -1].reshape(3, 1)
dL_t = dL_t[:, -1].reshape(3, 1)
times = times[-1]
# set final phase :
phase = cs_com.contactPhases[-1]
setCOMtrajectoryFromPoints(phase,
c_t,
dc_t,
ddc_t,
times,
overwriteFinal=not connect_goal)
setAMtrajectoryFromPoints(phase,
L_t,
dL_t,
times,
overwriteFinal=not connect_goal)
# set final time :
phase.timeFinal = times[-1]
logger.info("Converting results to mc-api done.")
return cs_com
def generate_wholebody_tsid(cfg, cs_ref, fullBody=None, viewer=None, robot=None, queue_qt = None):
"""
Generate the whole body motion corresponding to the given contactSequence
:param cs: Contact sequence containing the references,
it will only be modified if the end effector trajectories are not valid.
New references will be generated and added to the cs
:param fullBody: Required to compute collision free end effector trajectories
:param viewer: If provided, and the settings are enabled, display the end effector trajectories and the last step computed
:param robot: a tsid.RobotWrapper instance. If None, a new one is created from the urdf files defined in cfg
:param queue_qt: If not None, the joint trajectories are send to this multiprocessing.Queue during computation
The queue take a tuple: [q_t (a Curve object), ContactPhase (may be None), Bool (True mean that this is the
last trajectory of the motion)]
:return: a new ContactSequence object, containing the wholebody trajectories,
and the other trajectories computed from the wholebody motion request with cfg.IK_STORE_* and a robotWrapper instance
"""
# define nested functions used in control loop #
def appendJointsValues(first_iter_for_phase = False):
"""
Append the current q value to the current phase.q_t trajectory
:param first_iter_for_phase: if True, set the current phase.q_init value
and initialize a new Curve for phase.q_t
"""
if first_iter_for_phase:
phase.q_init = q
phase.q_t = piecewise(polynomial(q.reshape(-1,1), t, t))
#phase.root_t = piecewise_SE3(constantSE3curve(SE3FromConfig(q) ,t))
else:
phase.q_t.append(q, t)
#phase.root_t.append(SE3FromConfig(q), t)
if queue_qt:
queue_qt.put([phase.q_t.curve_at_index(phase.q_t.num_curves()-1),
phase.dq_t.curve_at_index(phase.dq_t.num_curves()-1),
None,
False])
def appendJointsDerivatives(first_iter_for_phase=False):
"""
Append the current v and dv value to the current phase.dq_t and phase.ddq_t trajectory
:param first_iter_for_phase: if True, initialize a new Curve for phase.dq_t and phase.ddq_t
"""
if first_iter_for_phase:
phase.dq_t = piecewise(polynomial(v.reshape(-1, 1), t, t))
phase.ddq_t = piecewise(polynomial(dv.reshape(-1, 1), t, t))
else:
phase.dq_t.append(v, t)
phase.ddq_t.append(dv, t)
def appendTorques(first_iter_for_phase = False):
"""
Append the current tau value to the current phase.tau_t trajectory
:param first_iter_for_phase: if True, initialize a new Curve for phase.tau_t
"""
tau = invdyn.getActuatorForces(sol)
if first_iter_for_phase:
phase.tau_t = piecewise(polynomial(tau.reshape(-1,1), t, t))
else:
phase.tau_t.append(tau, t)
def appendCentroidal(first_iter_for_phase = False):
"""
Compute the values of the CoM position, velocity, acceleration, the anuglar momentum and it's derivative
from the wholebody data and append them to the current phase trajectories
:param first_iter_for_phase: if True, set the initial values for the current phase
and initialize the centroidal trajectories
"""
pcom, vcom, acom = pinRobot.com(q, v, dv)
L = pinRobot.centroidalMomentum(q, v).angular
dL = pin.computeCentroidalMomentumTimeVariation(pinRobot.model, pinRobot.data, q, v, dv).angular
if first_iter_for_phase:
phase.c_init = pcom
phase.dc_init = vcom
phase.ddc_init = acom
phase.L_init = L
phase.dL_init = dL
phase.c_t = piecewise(polynomial(pcom.reshape(-1,1), t , t))
phase.dc_t = piecewise(polynomial(vcom.reshape(-1,1), t, t))
phase.ddc_t = piecewise(polynomial(acom.reshape(-1,1), t, t))
phase.L_t = piecewise(polynomial(L.reshape(-1,1), t, t))
phase.dL_t = piecewise(polynomial(dL.reshape(-1,1), t, t))
else:
phase.c_t.append(pcom, t)
phase.dc_t.append(vcom, t)
phase.ddc_t.append(acom, t)
phase.L_t.append(L, t)
phase.dL_t.append(dL, t)
def appendZMP(first_iter_for_phase = False):
"""
Compute the zmp from the current wholebody data and append it to the current phase
:param first_iter_for_phase: if True, initialize a new Curve for phase.zmp_t
"""
tau = pin.rnea(pinRobot.model, pinRobot.data, q, v, dv)
# tau without external forces, only used for the 6 first
# res.tau_t[:6,k_t] = tau[:6]
phi0 = pinRobot.data.oMi[1].act(Force(tau[:6]))
wrench = phi0.vector
zmp = shiftZMPtoFloorAltitude(cs, t, phi0, cfg.Robot)
if first_iter_for_phase:
phase.zmp_t = piecewise(polynomial(zmp.reshape(-1,1), t, t))
phase.wrench_t = piecewise(polynomial(wrench.reshape(-1,1), t, t))
else:
phase.zmp_t.append(zmp, t)
phase.wrench_t.append(wrench, t)
def appendEffectorsTraj(first_iter_for_phase = False):
"""
Append the current position of the effectors not in contact to the current phase trajectories
:param first_iter_for_phase: if True, initialize a new Curve for the phase effector trajectories
"""
if first_iter_for_phase and phase_prev:
for eeName in phase_prev.effectorsWithTrajectory():
if t > phase_prev.effectorTrajectory(eeName).max():
placement = getCurrentEffectorPosition(robot, invdyn.data(), eeName)
phase_prev.effectorTrajectory(eeName).append(placement, t)
for eeName in phase.effectorsWithTrajectory():
placement = getCurrentEffectorPosition(robot, invdyn.data(), eeName)
if first_iter_for_phase:
phase.addEffectorTrajectory(eeName, piecewise_SE3(constantSE3curve(placement, t)))
else:
phase.effectorTrajectory(eeName).append(placement, t)
def appendContactForcesTrajs(first_iter_for_phase = False):
"""
Append the current contact force value to the current phase, for all the effectors in contact
:param first_iter_for_phase: if True, initialize a new Curve for the phase contact trajectories
"""
for eeName in phase.effectorsInContact():
contact = dic_contacts[eeName]
if invdyn.checkContact(contact.name, sol):
contact_forces = invdyn.getContactForce(contact.name, sol)
contact_normal_force = np.array(contact.getNormalForce(contact_forces))
else:
logger.warning("invdyn check contact returned false while the reference contact is active !")
contact_normal_force = np.zeros(1)
if cfg.Robot.cType == "_3_DOF":
contact_forces = np.zeros(3)
else:
contact_forces = np.zeros(12)
if first_iter_for_phase:
phase.addContactForceTrajectory(eeName, piecewise(polynomial(contact_forces.reshape(-1,1), t, t)))
phase.addContactNormalForceTrajectory(eeName, piecewise(polynomial(contact_normal_force.reshape(1,1), t, t)))
else:
phase.contactForce(eeName).append(contact_forces, t)
phase.contactNormalForce(eeName).append(contact_normal_force.reshape(1), t)
def storeData(first_iter_for_phase = False):
"""
Append all the required data (selected in the configuration file) to the current ContactPhase
:param first_iter_for_phase: if True, set the initial values for the current phase
and correctly initiliaze empty trajectories for this phase
"""
if cfg.IK_store_joints_derivatives:
appendJointsDerivatives(first_iter_for_phase)
appendJointsValues(first_iter_for_phase)
if cfg.IK_store_joints_torque:
appendTorques(first_iter_for_phase)
if cfg.IK_store_centroidal:
appendCentroidal(first_iter_for_phase)
if cfg.IK_store_zmp:
appendZMP(first_iter_for_phase)
if cfg.IK_store_effector:
appendEffectorsTraj(first_iter_for_phase)
if cfg.IK_store_contact_forces:
appendContactForcesTrajs(first_iter_for_phase)
def printIntermediate():
"""
Print the current state: active contacts, tracking errors, computed joint acceleration and velocity
:return:
"""
if logger.isEnabledFor(logging.INFO):
print("Time %.3f" % (t))
for eeName, contact in dic_contacts.items():
if invdyn.checkContact(contact.name, sol):
f = invdyn.getContactForce(contact.name, sol)
print("\tnormal force %s: %.1f" % (contact.name.ljust(20, '.'), contact.getNormalForce(f)))
print("\ttracking err %s: %.3f" % (comTask.name.ljust(20, '.'), norm(comTask.position_error, 2)))
for eeName in phase.effectorsWithTrajectory():
task = dic_effectors_tasks[eeName]
error = task.position_error
if cfg.Robot.cType == "_3_DOF":
error = error[0:3]
print("\ttracking err %s: %.3f" % (task.name.ljust(20, '.'), norm(error, 2)))
print("\t||v||: %.3f\t ||dv||: %.3f" % (norm(v, 2), norm(dv)))
def checkDiverge():
"""
Check if either the joint velocity or acceleration is over a treshold or is NaN, and raise an error
"""
if norm(dv) > 1e6 or norm(v) > 1e6:
logger.error("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
logger.error("/!\ ABORT : controler unstable at t = %f /!\ ", t)
logger.error("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
raise ValueError("ABORT : controler unstable at t = " + str(t))
if math.isnan(norm(dv)) or math.isnan(norm(v)):
logger.error("!!!!!! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
logger.error("/!\ ABORT : nan at t = %f /!\ ", t)
logger.error("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
raise ValueError("ABORT : controler unstable at t = " + str(t))
def stopHere():
"""
Set the current data as final values for the current phase, resize the contact sequence if needed and return
:return: [The current ContactSequence, the RobotWrapper]
"""
setPreviousFinalValues(phase_prev, phase, cfg)
if cfg.WB_ABORT_WHEN_INVALID:
# cut the sequence up to the last phase
cs.resize(pid)
return cs, robot
elif cfg.WB_RETURN_INVALID:
# cut the sequence up to the current phase
cs.resize(pid+1)
return cs, robot
### End of nested functions definitions ###
if not viewer:
logger.warning("No viewer linked, cannot display end_effector trajectories.")
logger.warning("Start TSID ... ")
# copy the given contact sequence to keep it as reference :
cs = ContactSequence(cs_ref)
# delete all the 'reference' trajectories from result (to leave room for the real trajectories stored)
deleteAllTrajectories(cs)
# Create a robot wrapper
if robot is None or cfg.IK_store_centroidal or cfg.IK_store_zmp:
rp = RosPack()
package_name = cfg.Robot.packageName.split("/")[0]
package_path = rp.get_path(package_name)
urdf = package_path + cfg.Robot.packageName.lstrip(
package_name) + '/urdf/' + cfg.Robot.urdfName + cfg.Robot.urdfSuffix + '.urdf'
logger.info("load robot : %s", urdf)
if robot is None:
logger.info("load robot : %s", urdf)
robot = tsid.RobotWrapper(urdf, pin.StdVec_StdString(), pin.JointModelFreeFlyer(), False)
else:
logger.info("Use given robot in tsid.")
logger.info("robot loaded in tsid.")
if cfg.IK_store_centroidal or cfg.IK_store_zmp:
logger.info("load pinocchio robot ...")
# FIXME : tsid robotWrapper don't have all the required methods, only pinocchio have them
pinRobot = pin.RobotWrapper.BuildFromURDF(urdf, package_path, pin.JointModelFreeFlyer())
logger.info("pinocchio robot loaded.")
# get the selected end effector trajectory generation method
effectorMethod, effectorCanRetry = cfg.get_effector_method()
# get the selected simulator method
Simulator = cfg.get_simulator_class()
simulator = Simulator(cfg.IK_dt, robot.model())
### Define initial state of the robot ###
phase0 = cs.contactPhases[0]
q = phase0.q_init[:robot.nq].copy()
if not q.any():
raise RuntimeError("The contact sequence doesn't contain an initial whole body configuration")
t = phase0.timeInitial
if cs_ref.contactPhases[0].dq_t and cs_ref.contactPhases[0].dq_t.min() <= t <= cs_ref.contactPhases[0].dq_t.max():
v = cs_ref.contactPhases[0].dq_t(t)
else:
v = np.zeros(robot.nv)
logger.debug("V_init used in tsid : %s", v)
invdyn = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False)
invdyn.computeProblemData(t, q, v)
simulator.init(q, v)
# add initial contacts :
dic_contacts = {}
for eeName in cs.contactPhases[0].effectorsInContact():
# replace the initial contact patch placements if needed to match exactly the current position in the problem:
updateContactPlacement(cs, 0, eeName,
getCurrentEffectorPosition(robot, invdyn.data(), eeName),
cfg.Robot.cType == "_6_DOF")
# create the contacts :
contact = createContactForEffector(cfg, invdyn, robot, eeName, phase0.contactPatch(eeName), False)
dic_contacts.update({eeName: contact})
if cfg.EFF_CHECK_COLLISION: # initialise object needed to check the motion
from mlp.utils import check_path
validator = check_path.PathChecker(fullBody, cfg.CHECK_DT, logger.isEnabledFor(logging.INFO))
### Initialize all task used ###
logger.info("initialize tasks : ")
if cfg.w_com > 0. :
comTask = tsid.TaskComEquality("task-com", robot)
comTask.setKp(cfg.kp_com * np.ones(3))
comTask.setKd(2.0 * np.sqrt(cfg.kp_com) * np.ones(3))
invdyn.addMotionTask(comTask, cfg.w_com, cfg.level_com, 0.0)
else:
comTask = None
if cfg.w_am > 0.:
amTask = tsid.TaskAMEquality("task-am", robot)
amTask.setKp(cfg.kp_am * np.array([1., 1., 0.]))
amTask.setKd(2.0 * np.sqrt(cfg.kp_am * np.array([1., 1., 0.])))
invdyn.addMotionTask(amTask, cfg.w_am, cfg.level_am, 0.)
else:
amTask = None
if cfg.w_posture > 0.:
postureTask = tsid.TaskJointPosture("task-joint-posture", robot)
postureTask.setKp(cfg.kp_posture * cfg.gain_vector)
postureTask.setKd(2.0 * np.sqrt(cfg.kp_posture * cfg.gain_vector))
postureTask.setMask(cfg.masks_posture)
invdyn.addMotionTask(postureTask, cfg.w_posture, cfg.level_posture, 0.0)
q_ref = cfg.IK_REFERENCE_CONFIG
samplePosture = tsid.TrajectorySample(q_ref.shape[0] - 7)
samplePosture.pos(q_ref[7:]) # -7 because we remove the freeflyer part
else :
postureTask = None
if cfg.w_rootOrientation > 0. :
orientationRootTask = tsid.TaskSE3Equality("task-orientation-root", robot, 'root_joint')
mask = np.ones(6)
mask[0:3] = 0
mask[5] = cfg.YAW_ROT_GAIN
orientationRootTask.setMask(mask)
orientationRootTask.setKp(cfg.kp_rootOrientation * mask)
orientationRootTask.setKd(2.0 * np.sqrt(cfg.kp_rootOrientation * mask))
invdyn.addMotionTask(orientationRootTask, cfg.w_rootOrientation, cfg.level_rootOrientation, 0.0)
else:
orientationRootTask = None
# init effector task objects :
usedEffectors = cs.getAllEffectorsInContact()
dic_effectors_tasks = createEffectorTasksDic(cfg, usedEffectors, robot)
# Add bounds tasks if required:
if cfg.w_torque_bounds > 0.:
tau_max = cfg.scaling_torque_bounds*robot.model().effortLimit[-robot.na:]
tau_min = -tau_max
actuationBoundsTask = tsid.TaskActuationBounds("task-actuation-bounds", robot)
actuationBoundsTask.setBounds(tau_min, tau_max)
invdyn.addActuationTask(actuationBoundsTask, cfg.w_torque_bounds, 0, 0.0)
if cfg.w_joint_bounds > 0.:
jointBoundsTask = tsid.TaskJointBounds("task-joint-bounds", robot, cfg.IK_dt)
v_max = cfg.scaling_vel_bounds * robot.model().velocityLimit[-robot.na:]
v_min = -v_max
print("v_max : ", v_max)
jointBoundsTask.setVelocityBounds(v_min, v_max)
invdyn.addMotionTask(jointBoundsTask, cfg.w_joint_bounds, 0, 0.0)
solver = tsid.SolverHQuadProg("qp solver")
solver.resize(invdyn.nVar, invdyn.nEq, invdyn.nIn)
# time check
dt = cfg.IK_dt
logger.info("dt : %f", dt)
logger.info("tsid initialized, start control loop")
#raw_input("Enter to start the motion (motion displayed as it's computed, may be slower than real-time)")
time_start = time.time()
# For each phases, create the necessary task and references trajectories :
for pid in range(cs.size()):
logger.info("## for phase : %d", pid)
logger.info("t = %f", t)
# phase_ref contains the reference trajectories and should not be modified exept for new effector trajectories
# when the first ones was not collision free
phase_ref = cs_ref.contactPhases[pid]
# phase de not contains trajectories (exept for the end effectors) and should be modified with the new values computed
phase = cs.contactPhases[pid]
if pid > 0:
phase_prev = cs.contactPhases[pid - 1]
else:
phase_prev = None
if pid < cs.size() - 1:
phase_next = cs.contactPhases[pid + 1]
else:
phase_next = None
time_interval = [phase_ref.timeInitial, phase_ref.timeFinal]
logger.info("time_interval %s", time_interval)
# take CoM and AM trajectory from the phase, with their derivatives
com_traj = [phase_ref.c_t, phase_ref.dc_t, phase_ref.ddc_t]
am_traj = [phase_ref.L_t, phase_ref.L_t, phase_ref.dL_t]
# add root's orientation ref from reference config :
root_traj = phase_ref.root_t
# add se3 tasks for end effector when required
for eeName in phase.effectorsWithTrajectory():
logger.info("add se3 task for %s", eeName)
task = dic_effectors_tasks[eeName]
invdyn.addMotionTask(task, cfg.w_eff, cfg.level_eff, 0.)
adjustEndEffectorTrajectoryIfNeeded(cfg, phase_ref, robot, invdyn.data(), eeName, effectorMethod)
logger.info("t interval : %s", time_interval)
# add newly created contacts :
new_contacts_names = [] # will store the names of the contact tasks created at this phase
for eeName in usedEffectors:
if phase_prev and phase_ref.isEffectorInContact(eeName) and not phase_prev.isEffectorInContact(eeName):
invdyn.removeTask(dic_effectors_tasks[eeName].name, 0.0) # remove pin task for this contact
logger.info("remove se3 effector task : %s", dic_effectors_tasks[eeName].name)
if logger.isEnabledFor(logging.DEBUG):
current_placement = getCurrentEffectorPosition(robot, invdyn.data(), eeName)
logger.debug("Current effector placement : %s", current_placement)
logger.debug("Reference effector placement : %s", cs.contactPhases[pid].contactPatch(eeName).placement)
updateContactPlacement(cs, pid, eeName,
getCurrentEffectorPosition(robot, invdyn.data(), eeName),
cfg.Robot.cType == "_6_DOF")
contact = createContactForEffector(cfg, invdyn, robot, eeName, phase.contactPatch(eeName))
new_contacts_names += [contact.name]
dic_contacts.update({eeName: contact})
logger.info("Create contact for : %s", eeName)
# start removing the contact that will be broken in the next phase :
# (This tell the solver that it should start minimizing the contact force on this contact, and ideally get to 0 at the given time)
for eeName, contact in dic_contacts.items():
if phase_next and phase.isEffectorInContact(eeName) and not phase_next.isEffectorInContact(eeName):
transition_time = phase.duration + dt/2.
logger.info("\nTime %.3f Start breaking contact %s. transition time : %.3f\n",
t, contact.name, transition_time)
exist = invdyn.removeRigidContact(contact.name, transition_time)
assert exist, "Try to remove a non existing contact !"
# Remove all effectors not in contact at this phase,
# This is required as the block above may not remove the contact exactly at the desired time
# FIXME: why is it required ? Numerical approximation in the transition_time ?
for eeName, contact in dic_contacts.items():
if not phase.isEffectorInContact(eeName):
exist = invdyn.removeRigidContact(contact.name, 0.)
if exist:
logger.warning("Contact "+eeName+" was not remove after the given transition time.")
if cfg.WB_STOP_AT_EACH_PHASE:
input('start simulation')
# save values at the beginning of the current phase
q_begin = q.copy()
v_begin = v.copy()
phase.q_init = q_begin
if phase_prev:
phase_prev.q_final = q_begin
phaseValid = False
iter_for_phase = -1
# iterate until a valid motion for this phase is found (ie. collision free and which respect joint-limits)
while not phaseValid:
deletePhaseWBtrajectories(phase) # clean previous invalid trajectories
t = phase.timeInitial
k_t = 0
if iter_for_phase >= 0:
# reset values to their value at the beginning of the current phase
q = q_begin.copy()
v = v_begin.copy()
simulator.q = q
simulator.v = v
iter_for_phase += 1
logger.info("Start computation for phase %d , t = %f, try number : %d", pid, t, iter_for_phase)
# loop to generate states (q,v,a) for the current contact phase :
while t < phase.timeFinal - (dt / 2.):
# set traj reference for current time :
# com
if comTask:
sampleCom = curvesToTSID(com_traj,t)
comTask.setReference(sampleCom)
# am
if amTask:
if cfg.IK_trackAM:
sampleAM = curvesToTSID(am_traj,t)
else:
sampleAM = tsid.TrajectorySample(3)
amTask.setReference(sampleAM)
# posture
#print "postural task ref : ",samplePosture.pos()
if postureTask:
postureTask.setReference(samplePosture)
# root orientation :
if orientationRootTask:
sampleRoot = curveSE3toTSID(root_traj,t)
orientationRootTask.setReference(sampleRoot)
# update weight of regularization tasks for the new contacts:
if len(new_contacts_names) > 0 :
# linearly decrease the weight of the tasks for the newly created contacts
u_w_force = (t - phase.timeInitial) / (phase.duration * cfg.w_forceRef_time_ratio)
if u_w_force <= 1.:
current_w_force = cfg.w_forceRef_init * (1. - u_w_force) + cfg.w_forceRef_end * u_w_force
for contact_name in new_contacts_names:
success = invdyn.updateRigidContactWeights(contact_name, current_w_force)
assert success, "Unable to change the weight of the force regularization task for contact "+contact_name
logger.debug("### references given : ###")
logger.debug("com pos : %s", sampleCom.pos())
logger.debug("com vel : %s", sampleCom.vel())
logger.debug("com acc : %s", sampleCom.acc())
if amTask:
logger.debug("AM pos : %s", sampleAM.pos())
logger.debug("AM vel : %s", sampleAM.vel())
logger.debug("root pos : %s", sampleRoot.pos())
logger.debug("root vel : %s", sampleRoot.vel())
# end effector (if they exists)
for eeName, traj in phase_ref.effectorTrajectories().items():
sampleEff = curveSE3toTSID(traj,t,True)
dic_effectors_tasks[eeName].setReference(sampleEff)
logger.debug("effector %s, pos = %s", eeName, sampleEff.pos())
logger.debug("effector %s, vel = %s", eeName, sampleEff.vel())
logger.debug("previous q = %s", q)
logger.debug("previous v = %s", v)
# solve HQP for the current time
HQPData = invdyn.computeProblemData(t, q, v)
if t < phase.timeInitial + dt:
logger.info("final data for phase %d", pid)
if logger.isEnabledFor(logging.INFO):
HQPData.print_all()
sol = solver.solve(HQPData)
dv = invdyn.getAccelerations(sol)
storeData(k_t == 0)
q, v = simulator.simulate(dv)
t += dt
k_t += 1
if t >= phase.timeFinal - (dt / 2.):
t = phase.timeFinal # avoid numerical imprecisions
logger.debug("v = %s", v)
logger.debug("dv = %s", dv)
if int(t / dt) % cfg.IK_PRINT_N == 0:
printIntermediate()
try:
checkDiverge()
except ValueError:
return stopHere()
# end while t \in phase_t (loop for the current contact phase)
if len(phase.effectorsWithTrajectory()) > 0 and cfg.EFF_CHECK_COLLISION:
phaseValid, t_invalid = validator.check_motion(phase.q_t)
#if iter_for_phase < 3 :# debug only, force limb-rrt
# phaseValid = False
# t_invalid = (phase.timeInitial + phase.timeFinal) / 2.
if not phaseValid:
if iter_for_phase == 0:
# save the first q_t trajectory computed, for limb-rrt
first_q_t = phase.q_t
logger.warning("Phase %d not valid at t = %f", pid, t_invalid)
logger.info("First invalid q : %s", phase.q_t(t_invalid))
if t_invalid <= (phase.timeInitial + cfg.EFF_T_PREDEF) \
or t_invalid >= (phase.timeFinal - cfg.EFF_T_PREDEF):
logger.error("Motion is invalid during predefined phases, cannot change this.")
return stopHere()
if effectorCanRetry():
logger.warning("Try new end effector trajectory.")
try:
for eeName, ref_traj in phase_ref.effectorTrajectories().items():
placement_init = ref_traj.evaluateAsSE3(phase.timeInitial)
placement_end = ref_traj.evaluateAsSE3(phase.timeFinal)
traj = effectorMethod(cfg, time_interval, placement_init, placement_end,
iter_for_phase + 1, first_q_t, phase_prev,
phase_ref, phase_next, fullBody, eeName, viewer)
# save the new trajectory in the phase with the references
phase_ref.addEffectorTrajectory(eeName,traj)
if cfg.DISPLAY_ALL_FEET_TRAJ and logger.isEnabledFor(logging.INFO):
color = fullBody.dict_limb_color_traj[eeName]
color[-1] = 0.6 # set small transparency
display_tools.displaySE3Traj(phase_ref.effectorTrajectory(eeName),
viewer.client.gui,
viewer.sceneName,
eeName + "_traj_" + str(pid) + "_" + str(iter_for_phase),
color,
[phase.timeInitial, phase.timeFinal],
fullBody.dict_offset[eeName])
except ValueError as e:
logging.error("ERROR in generateEndEffectorTraj :", exc_info=e)
return stopHere()
else:
logging.error("End effector method choosen do not allow retries, abort here.")
return stopHere()
else: # no effector motions, phase always valid (or bypass the check)
phaseValid = True
logging.info("Phase %d valid.", pid)
if phaseValid:
setPreviousFinalValues(phase_prev, phase, cfg)
# display the progress by moving the robot at the last configuration computed
if viewer and cfg.IK_SHOW_PROGRESS:
display_tools.displayWBconfig(viewer,q)
#end while not phaseValid
# end for all phases
# store the data of the last point
phase_prev = phase
phase = ContactPhase(phase_prev)
storeData(True)
setPreviousFinalValues(phase_prev, phase, cfg)
time_end = time.time() - time_start
logger.warning("Whole body motion generated in : %f s.", time_end)
logger.info("\nFinal COM Position %s", robot.com(invdyn.data()))
logger.info("Desired COM Position %s", cs.contactPhases[-1].c_final)
if queue_qt:
queue_qt.put([phase.q_t.curve_at_index(phase.q_t.num_curves() - 1), None, True])
return cs, robot
class LocoPlannerReactive(LocoPlanner):
def __init__(self, cfg):
# Disable most of the automatic display that could not be updated automatically when motion is replanned
cfg.DISPLAY_CS = False
cfg.DISPLAY_CS_STONES = True
cfg.DISPLAY_SL1M_SURFACES = False
cfg.DISPLAY_INIT_GUESS_TRAJ = False
cfg.DISPLAY_WP_COST = False
cfg.DISPLAY_COM_TRAJ = False
cfg.DISPLAY_FEET_TRAJ = False
cfg.DISPLAY_ALL_FEET_TRAJ = False
cfg.DISPLAY_WB_MOTION = False
cfg.IK_SHOW_PROGRESS = False
cfg.centroidal_initGuess_method = "none" # not supported by this class yet
cfg.ITER_DYNAMIC_FILTER = 0 # not supported by this class yet
cfg.CHECK_FINAL_MOTION = False
# Disable computation of additionnal data to speed up the wholebody computation time
cfg.IK_store_centroidal = False # c,dc,ddc,L,dL (of the computed wholebody motion)
cfg.IK_store_zmp = False
cfg.IK_store_effector = False
cfg.IK_store_contact_forces = False
cfg.IK_store_joints_derivatives = True
cfg.IK_store_joints_torque = False
cfg.EFF_CHECK_COLLISION = False # WIP: disable limb-rrt
cfg.contact_generation_method = "sl1m" # Reactive planning class is specific to SL1M for now
# Store the specific settings for connecting the initial/goal points as they may be changed
cfg.Robot.DEFAULT_COM_HEIGHT += cfg.COM_SHIFT_Z
self.previous_com_shift_z = cfg.COM_SHIFT_Z
self.previous_time_shift_com = cfg.TIME_SHIFT_COM
cfg.COM_SHIFT_Z = 0.
cfg.TIME_SHIFT_COM = 0.
self.previous_connect_goal = cfg.DURATION_CONNECT_GOAL
cfg.DURATION_CONNECT_GOAL = 0.
self.TIMEOPT_CONFIG_FILE = cfg.TIMEOPT_CONFIG_FILE
super().__init__(cfg)
# Get the centroidal and wholebody methods selected in the configuraton file
self.generate_centroidal, self.CentroidalInputs, self.CentroidalOutputs = self.cfg.get_centroidal_method()
self.generate_effector_trajectories, self.EffectorInputs, self.EffectorOutputs = \
self.cfg.get_effector_initguess_method()
self.generate_wholebody, self.WholebodyInputs, self.WholebodyOutputs = self.cfg.get_wholebody_method()
# define members that will stores processes and queues
self.process_compute_cs = None
self.process_centroidal = None
self.process_wholebody = None
self.process_viewer = None
self.process_gepetto_gui = None
self.pipe_cs_in = None
self.pipe_cs_out = None
self.pipe_cs_com_in = None
self.pipe_cs_com_out = None
self.queue_qt = None
self.viewer_lock = Lock() # lock to access gepetto-gui API
self.loop_viewer_lock = Lock() # lock to guarantee that only one loop_viewer is executed at any given time
self.last_phase_lock = Lock() # lock to read/write last_phase data
self.last_phase_pickled = Array(c_ubyte,
MAX_PICKLE_SIZE) # will contain the last contact phase send to the viewer
self.last_phase = None
self.stop_motion_flag = Value(c_bool) # true if a stop is requested
self.last_phase_flag = Value(c_bool) # true if the last phase have changed
self.cfg.Robot.minDist = 0.7 # See bezier-com-traj doc,
# minimal distance between the CoM and the contact points along the Z axis
# initialize the guide planner class:
self.client_hpp = None
self.robot = None
self.gui = None
self.pyb_sim = None
self.guide_planner = self.init_guide_planner()
# initialize a fullBody rbprm object
self.fullBody, _ = initScene(cfg.Robot, cfg.ENV_NAME, context="fullbody")
self.fullBody.setCurrentConfig(cfg.IK_REFERENCE_CONFIG.tolist() + [0] * 6)
self.current_root_goal = []
self.current_guide_id = 0
# Set up gepetto gui and a pinocchio robotWrapper with display
self.init_viewer()
# Set up a pybullet environment:
if USE_PYB:
self.init_pybullet()
def init_guide_planner(self):
"""
Initialize an rbprm.AbstractPathPlanner class
:return: an instance of rbprm.AbstractPathPlanner initialized with the current settings
"""
# the following script must produce a
if hasattr(self.cfg, 'SCRIPT_ABSOLUTE_PATH'):
scriptName = self.cfg.SCRIPT_ABSOLUTE_PATH
else:
scriptName = self.cfg.RBPRM_SCRIPT_PATH + "." + self.cfg.SCRIPT_PATH + '.' + self.cfg.DEMO_NAME
scriptName += "_path"
logger.warning("Run Guide script : %s", scriptName)
module = importlib.import_module(scriptName)
planner = module.PathPlanner("guide_planning")
planner.init_problem()
# greatly increase the number of loops of the random shortcut
planner.ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops", 50)
# force the base orientation to follow the direction of motion along the Z axis
planner.ps.setParameter("Kinodynamic/forceYawOrientation", True)
planner.q_init[:2] = [0, 0] # FIXME : defined somewhere ??
planner.init_viewer(cfg.ENV_NAME)
planner.init_planner()
return planner
def init_viewer(self):
"""
Build a pinocchio wrapper and a gepetto-gui instance and assign them as class members:
self.robot and self.gui
Also start (or restart) a gepetto-gui process
"""
subprocess.run(["killall", "gepetto-gui"])
self.process_gepetto_gui = subprocess.Popen("gepetto-gui",
stdout=subprocess.PIPE,
stderr=subprocess.DEVNULL,
preexec_fn=os.setpgrp)
atexit.register(self.process_gepetto_gui.kill)
time.sleep(3)
self.robot, self.gui = initScenePinocchio(cfg.Robot.urdfName + cfg.Robot.urdfSuffix, cfg.Robot.packageName,
cfg.ENV_NAME)
self.robot.display(self.cfg.IK_REFERENCE_CONFIG)
def init_pybullet(self):
self.pyb_sim = pybullet_simulator(dt=self.cfg.IK_dt,
q_init=self.cfg.IK_REFERENCE_CONFIG[7:].reshape(-1, 1),
root_init=[0, 0, 0.1],
env_name=cfg.ENV_NAME + ".urdf",
env_package="hpp_environments",
use_gui=False)
def execute_motion(self, q_t, dq_t):
if USE_PYB:
self.viewer_lock.acquire()
SimulatorLoop(self.pyb_sim, self.cfg.IK_dt, q_t, dq_t, self.robot.display)
self.viewer_lock.release()
else:
self.viewer_lock.acquire()
disp_wb_pinocchio(self.robot, q_t, self.cfg.DT_DISPLAY)
self.viewer_lock.release()
def plan_guide(self, root_goal):
"""
Plan a guide from the current last_phase root position to the given root position
:param root_goal: list of size 3 or 7: translation and quaternion for the desired root position
If the quaternion part is not specified, the final orientation is not constrained
Store the Id of the new path in self.current_guide_id
"""
self.guide_planner.q_goal = self.guide_planner.q_init[::]
self.guide_planner.q_goal[:3] = root_goal[:3]
self.guide_planner.q_goal[3:7] = [0, 0, 0, 1]
self.guide_planner.q_goal[-6:] = [0] * 6
last_phase = self.get_last_phase()
if last_phase:
logger.warning("Last phase not None")
logger.warning("Last phase q_final : %s", last_phase.q_final[:7])
self.guide_planner.q_init[:7] = last_phase.q_final[:7]
self.guide_planner.q_init[2] = self.guide_planner.rbprmBuilder.ref_height # FIXME
#add small velocity in order to have smooth change of orientation at the beginning/end
quat_init = Quaternion(self.guide_planner.q_init[6], self.guide_planner.q_init[3],
self.guide_planner.q_init[4], self.guide_planner.q_init[5])
dir_init = quat_init * np.array([1, 0, 0])
self.guide_planner.q_init[-6] = dir_init[0] * V_INIT
self.guide_planner.q_init[-5] = dir_init[1] * V_INIT
if len(root_goal) >= 7:
self.guide_planner.q_goal[3:7] = root_goal[3:7]
quat_goal = Quaternion(self.guide_planner.q_goal[6], self.guide_planner.q_goal[3],
self.guide_planner.q_goal[4], self.guide_planner.q_goal[5])
dir_goal = quat_goal * np.array([1, 0, 0])
self.guide_planner.q_goal[-6] = dir_goal[0] * V_GOAL
self.guide_planner.q_goal[-5] = dir_goal[1] * V_GOAL
logger.warning("Guide init = %s", self.guide_planner.q_init)
logger.warning("Guide goal = %s", self.guide_planner.q_goal)
self.guide_planner.ps.resetGoalConfigs()
self.guide_planner.ps.clearRoadmap()
self.current_root_goal = root_goal
self.guide_planner.solve(True)
self.current_guide_id = self.guide_planner.ps.numberPaths() - 1
def compute_cs_from_guide(self):
"""
Call SL1M to produce a contact sequence following the root path stored in self.current_guide_id
Store the result in self.cs
:param guide_id: Id of the path stored in self.guide_planner.ps
:return:
"""
initial_contacts = None
last_phase = self.get_last_phase()
if self.cfg.SL1M_MAX_STEP > 0:
# compute the pathlength corresponding to this number of steps:
max_path_length = self.cfg.SL1M_MAX_STEP * self.cfg.GUIDE_STEP_SIZE
total_path_length = self.guide_planner.ps.pathLength(self.current_guide_id)
if total_path_length > max_path_length:
# split the guide path in several segment of max_path_length length
guide_ids = []
t = 0.
while t < total_path_length:
t_next = t + max_path_length
if t_next > total_path_length:
t_next = total_path_length
self.guide_planner.ps.extractPath(self.current_guide_id, t, t_next)
guide_ids += [self.guide_planner.ps.numberPaths() - 1]
t = t_next
else:
guide_ids = [self.current_guide_id]
else:
guide_ids = [self.current_guide_id]
print("##### compute sl1m from guide id(s) : ", guide_ids)
self.cs = ContactSequence()
for guide_id in guide_ids:
self.guide_planner.pathId = guide_id
self.guide_planner.q_goal = self.guide_planner.ps.configAtParam(
guide_id, self.guide_planner.ps.pathLength(guide_id))
print("### FORLOOP, guide id = ", guide_id)
# compute initial contacts position, either from last_phase or from the wholebody configuration
if last_phase:
q_init = None
initial_contacts = [last_phase.contactPatch(ee_name).placement.translation
+ self.fullBody.dict_offset[ee_name].translation
for ee_name in
[self.fullBody.dict_limb_joint[limb] for limb in self.fullBody.limbs_names]]
first_phase = ContactPhase()
tools.copyContactPlacement(last_phase, first_phase)
tools.setInitialFromFinalValues(last_phase, first_phase)
else:
first_phase = None
q_init = self.fullBody.getCurrentConfig()
initial_contacts = sl1m.initial_foot_pose_from_fullbody(self.fullBody, q_init)
pathId, pb, coms, footpos, allfeetpos, res = sl1m.solve(self.guide_planner,
self.cfg,
False,
initial_contacts)
root_end = self.guide_planner.ps.configAtParam(pathId, self.guide_planner.ps.pathLength(pathId) - 0.001)[0:7]
logger.info("SL1M, root_end = %s", root_end)
current_cs = sl1m.build_cs_from_sl1m(self.cfg.SL1M_USE_MIP,
self.fullBody,
self.cfg.IK_REFERENCE_CONFIG,
root_end,
pb,
sl1m.sl1m.RF,
allfeetpos,
cfg.SL1M_USE_ORIENTATION,
cfg.SL1M_USE_INTERPOLATED_ORIENTATION,
q_init,
first_phase)
last_phase = current_cs.contactPhases[-1]
# Merge current_cs in cs
if self.cs.size() == 0:
[self.cs.append(phase) for phase in current_cs.contactPhases]
else:
# first new phase is the same as last previous phase
[self.cs.append(phase) for phase in current_cs.contactPhases[1:]]
logger.warning("## Compute cs from guide done.")
process_stones = Process(target=self.display_stones_lock)
process_stones.start()
atexit.register(process_stones.terminate)
def display_stones_lock(self):
"""
Wait for the lock to access to gepetto-gui and then display the stepping stones for the current contact_sequence
"""
logger.info("Waiting lock to display stepping stones ...")
self.viewer_lock.acquire()
logger.info("Display stepping stones ...")
displaySteppingStones(self.cs, self.gui, "world",
self.cfg.Robot) # FIXME: change world if changed in pinocchio ...
logger.info("Display done.")
self.viewer_lock.release()
def hide_stones_lock(self):
"""
Wait for the lock to access to gepetto-gui and then remove all the stepping stones from the scene
"""
logger.info("Waiting lock to hide stepping stones ...")
self.viewer_lock.acquire()
logger.info("Hide stepping stones ...")
hideSteppingStone(self.gui)
logger.info("Hiding done.")
self.viewer_lock.release()
def get_last_phase(self):
"""
Retrieve the last phase stored in the shared memory
If self.last_phase exist and the flag last_phase_flag is False, return the phase stored in self.last_phase
Otherwise, retrieve the data in the shared memory and deserialize it
:return: the last phase
"""
if self.last_phase is None or self.last_phase_flag.value:
self.last_phase_lock.acquire()
try:
pic = bytes(self.last_phase_pickled)
self.last_phase = pickle.loads(pic)
self.last_phase_flag.value = False
except:
#logger.error("Cannot de serialize the last_phase")
self.last_phase = None
self.last_phase_lock.release()
return self.last_phase
def set_last_phase(self, last_phase):
"""
set pickled last_phase data to last_phase_pickled shared memory
:param last_phase:
"""
logger.info("set_last_phase: pickle serialization ...")
arr = pickle.dumps(last_phase)
logger.info("set_last_phase: waiting for lock ...")
self.last_phase_lock.acquire()
if len(arr) >= MAX_PICKLE_SIZE:
raise ValueError("In copy array: given array is too big, size = " + str(len(arr)))
logger.info("set_last_phase: writing data ... ")
for i, el in enumerate(arr):
self.last_phase_pickled[i] = el
self.last_phase_flag.value = True
logger.info("Add a last_phase, q_final = %s", last_phase.q_final)
self.last_phase_lock.release()
def is_at_stop(self):
"""
Return True if the last phase have a null CoM and joint velocities
:return:
"""
p = self.get_last_phase()
if p:
if not np.isclose(p.dc_final, np.zeros(3), atol=1e-2).all():
return False
dq = p.dq_t(p.timeFinal)
if not np.isclose(dq, np.zeros(dq.shape), atol=1e-1).all():
return False
return True
def compute_centroidal(self, cs, previous_phase, last_iter=False):
"""
Solve the centroidal problem for the given ContactSequence
:param cs: the ContactSequence used
:param previous_phase: If provided, copy the final data of this phase as initial data for
the given ContactSequence
:param last_iter: If True, return a ContactSequence corresponding to the complete contactSequence given as input
If False, the result is splitted and only the first 3 phases are returned
:return: The ContactSequence with centroidal trajectories, and the last phase
"""
# update the initial state with the data from the previous intermediate state:
if previous_phase:
tools.setInitialFromFinalValues(previous_phase, cs.contactPhases[0])
self.cfg.COM_SHIFT_Z = 0.
self.cfg.TIME_SHIFT_COM = 0.
#else:
# self.cfg.COM_SHIFT_Z = self.previous_com_shift_z
# self.cfg.TIME_SHIFT_COM = self.previous_time_shift_com
if last_iter:
# Set settings specific to the last iteration that need to connect exactly to the final goal position
self.cfg.DURATION_CONNECT_GOAL = self.previous_connect_goal
self.cfg.TIMEOPT_CONFIG_FILE = self.TIMEOPT_CONFIG_FILE
else:
# Set settings for the middle of the sequence: do not need to connect exactly to the goal
self.cfg.DURATION_CONNECT_GOAL = 0.
self.cfg.TIMEOPT_CONFIG_FILE = self.TIMEOPT_CONFIG_FILE.rstrip(".yaml") + "_lowgoal.yaml"
if not self.CentroidalInputs.checkAndFillRequirements(cs, self.cfg, None):
raise RuntimeError(
"The current contact sequence cannot be given as input to the centroidal method selected.")
cs_full = self.generate_centroidal(self.cfg, cs, None, None)
# CentroidalOutputs.assertRequirements(cs_full)
if last_iter:
return cs_full, None
else:
cs_cut = ContactSequence(0)
for i in range(3):
cs_cut.append(cs_full.contactPhases[i])
return cs_cut, cs_cut.contactPhases[1]
def compute_wholebody(self, robot, cs_com, last_q=None, last_v=None, last_iter=False):
"""
Compute the wholebody motion for the given ContactSequence
:param robot: a TSID RobotWrapper instance
:param cs_com: a ContactSequence with centroidal trajectories
:param last_q: the last wholebody configuration (used as Initial configuration for this iteration)
:param last_v: the last joint velocities vector (used as initial joint velocities for this iteration)
:param last_iter: if True, the complete ContactSequence is used, if False only the first 2 phases are used
:return: a ContactSequence with wholebody data, the last wholebody configuration, the last joint velocity,
the last phase, the TSID RobotWrapper used
"""
if not self.EffectorInputs.checkAndFillRequirements(cs_com, self.cfg, self.fullBody):
raise RuntimeError(
"The current contact sequence cannot be given as input to the end effector method selected.")
# Generate end effector trajectories for the contactSequence
cs_ref_full = self.generate_effector_trajectories(self.cfg, cs_com, self.fullBody)
# EffectorOutputs.assertRequirements(cs_ref_full)
# Split contactSequence if it is not the last iteration
if last_iter:
cs_ref = cs_ref_full
last_phase = cs_com.contactPhases[-1]
else:
cs_cut = ContactSequence()
for i in range(2):
cs_cut.append(cs_ref_full.contactPhases[i])
cs_ref = cs_cut
# last_phase should be a double support phase, it should contains all the contact data:
last_phase = cs_com.contactPhases[2]
tools.setFinalFromInitialValues(last_phase, last_phase)
if last_q is not None:
cs_ref.contactPhases[0].q_init = last_q
if last_v is not None:
t_init = cs_ref.contactPhases[0].timeInitial
cs_ref.contactPhases[0].dq_t = polynomial(last_v.reshape(-1, 1), t_init, t_init)
### Generate the wholebody trajectory:
update_root_traj_timings(cs_ref)
if not self.WholebodyInputs.checkAndFillRequirements(cs_ref, self.cfg, self.fullBody):
raise RuntimeError(
"The current contact sequence cannot be given as input to the wholeBody method selected.")
cs_wb, robot = self.generate_wholebody(self.cfg, cs_ref, robot=robot)
logger.info("-- compute whole body END")
# WholebodyOutputs.assertRequirements(cs_wb)
# Retrieve the last phase, q, and v from this outputs:
last_phase_wb = cs_wb.contactPhases[-1]
last_q = last_phase_wb.q_t(last_phase_wb.timeFinal)
last_v = last_phase_wb.dq_t(last_phase_wb.timeFinal)
tools.deletePhaseCentroidalTrajectories(last_phase) # Remove unnecessary data to reduce serialized size
last_phase.q_final = last_q
last_phase.dq_t = polynomial(last_v.reshape(-1, 1), last_phase.timeFinal, last_phase.timeFinal)
#last_phase.c_final = last_phase_wb.c_final
#last_phase.dc_final = last_phase_wb.dc_final
#last_phase.L_final = last_phase_wb.L_final
return cs_wb, last_q, last_v, last_phase, robot
def compute_wholebody_queue(self, cs_ref):
"""
Call the wholebody motion generation with the given cs_ref and the queue_qt
and store the last compute phase with self.set_last_phase
:param cs_ref:
:return:
"""
logger.warning("@@ Start compute_wholebody_queue")
cs_wb, _ = self.generate_wholebody(self.cfg, cs_ref, None, None, None, self.queue_qt)
last_phase = ContactPhase(cs_wb.contactPhases[-1])
tools.deletePhaseTrajectories(last_phase)
tools.deleteEffectorsTrajectories(last_phase)
last_phase.root_t = cs_ref.contactPhases[-1].root_t
self.set_last_phase(last_phase)
logger.warning("@@ End compute_wholebody_queue")
def loop_centroidal(self):
"""
Loop waiting for data in pipe_cs, solving the centroidal problem for each new data and send the results
in pipe_cs_com
"""
last_centroidal_phase = None
last_iter = False
timeout = False
try:
while not last_iter and not timeout:
if self.pipe_cs_out.poll(TIMEOUT_CONNECTIONS):
cs, last_iter = self.pipe_cs_out.recv()
logger.info("## Run centroidal")
cs_com, last_centroidal_phase = self.compute_centroidal(cs, last_centroidal_phase, last_iter)
logger.info("-- Add a cs_com to the queue")
self.pipe_cs_com_in.send([cs_com, last_iter])
else:
timeout = True
logger.warning("Loop centroidal closed because pipe is empty since 10 seconds")
if last_iter:
logger.info("Centroidal last iter received, close the pipe and terminate process.")
except:
logger.error("FATAL ERROR in loop centroidal: ")
traceback.print_exc()
sys.exit(0)
self.pipe_cs_com_in.close()
def loop_wholebody(self):
"""
Loop waiting for data in pipe_cs_com, computing the wholebody motion for each new data and sending the
results in queue_qt
"""
last_v = None
robot = None
last_iter = False
timeout = False
# Set the current config, either from the planned ContactSequence or from the data stored in last_phase
last_q = self.cs.contactPhases[0].q_init
if last_q is None or last_q.shape[0] < self.robot.nq:
logger.info("initial config not defined in CS, set it from last phase.")
# get current last_phase config:
last_phase = self.get_last_phase()
if logger.isEnabledFor(logging.INFO) and last_phase:
logger.info("last_phase.q_final shape: %d", last_phase.q_final.shape[0])
while last_phase is None or last_phase.q_final.shape[0] < self.robot.nq:
# Wait for the data to be updated by another process
last_phase = self.get_last_phase()
last_q = last_phase.q_final
logger.info("Got last_q from last_phase, start wholebody loop ...")
logger.info("last_q in loop_wholebody = %s", last_q)
try:
while not last_iter and not timeout:
if self.pipe_cs_com_out.poll(TIMEOUT_CONNECTIONS):
cs_com, last_iter = self.pipe_cs_com_out.recv()
logger.info("## Run wholebody")
cs_wb, last_q, last_v, last_phase, robot = self.compute_wholebody(
robot, cs_com, last_q, last_v, last_iter)
logger.info("-- Add a cs_wb to the queue")
self.queue_qt.put([cs_wb.concatenateQtrajectories(), cs_wb.concatenateDQtrajectories(), last_phase, last_iter])
else:
timeout = True
logger.warning("Loop wholebody closed because pipe is empty since 10 seconds")
if last_iter:
logger.info("Wholebody last iter received, close the pipe and terminate process.")
except:
logger.error("FATAL ERROR in loop wholebody: ")
traceback.print_exc()
sys.exit(0)
def loop_viewer(self):
"""
Loop waiting for data in queue_qt and displaying each new trajectories.
Before displaying each new data, it store the new last_phase in shared memory, this phase correspond to the last
configuration and contacts that will be displayed for the current iteration.
It watch for the "stop_motion" flag, if received the loop stop at the end of the current iteration
"""
self.loop_viewer_lock.acquire()
logger.warning("## Start a loop_viewer")
self.stop_motion_flag.value = False
last_iter = False
timeout = TIMEOUT_CONNECTIONS
try:
while not last_iter:
q_t, dq_t, last_phase, last_iter = self.queue_qt.get(timeout=timeout)
timeout = 0.1
if last_phase:
self.set_last_phase(last_phase)
self.execute_motion(q_t, dq_t)
if self.stop_motion_flag.value:
logger.info("STOP MOTION in viewer")
last_iter = True
except queue_empty:
logger.warning("Loop viewer closed because queue is empty since 10 seconds")
except:
logger.error("FATAL ERROR in loop viewer: ")
traceback.print_exc()
sys.exit(0)
self.queue_qt.close()
self.loop_viewer_lock.release()
logger.warning("## End of loop_viewer")
def stop_process(self):
"""
Terminate the compute_cs, centroidal and wholebody process, close all the pipes
and send the "stop motion" flag to the viewer
"""
self.stop_motion_flag.value = True
logger.warning("STOP MOTION flag sent")
if self.process_compute_cs:
self.process_compute_cs.terminate()
if self.pipe_cs_in:
self.pipe_cs_in.close()
if self.pipe_cs_out:
self.pipe_cs_out.close()
if self.pipe_cs_com_in:
self.pipe_cs_com_in.close()
if self.pipe_cs_com_out:
self.pipe_cs_com_out.close()
#if self.queue_qt:
# self.queue_qt.close()
if self.process_centroidal:
self.process_centroidal.terminate()
if self.process_wholebody:
self.process_wholebody.terminate()
def start_viewer_process(self):
"""
Create a new queue_qt object and start the loop_viewer method in a new process
"""
self.queue_qt = Queue()
self.process_viewer = Process(target=self.loop_viewer)
self.process_viewer.start()
atexit.register(self.process_viewer.terminate)
def start_process(self):
"""
Create new pipes and queue objects and start the centroidal, wholebody and viewer loops in new processes
Also delete the last_phase stored
"""
self.pipe_cs_out, self.pipe_cs_in = Pipe(False)
self.pipe_cs_com_out, self.pipe_cs_com_in = Pipe(False)
#self.last_phase_pickled = Array(c_ubyte, MAX_PICKLE_SIZE)
self.last_phase = None
self.start_viewer_process()
if self.process_centroidal:
self.process_centroidal.terminate()
self.process_centroidal = Process(target=self.loop_centroidal)
self.process_centroidal.start()
atexit.register(self.process_centroidal.terminate)
if self.process_wholebody:
self.process_wholebody.terminate()
self.process_wholebody = Process(target=self.loop_wholebody)
self.process_wholebody.start()
atexit.register(self.process_wholebody.terminate)
def compute_from_cs(self):
"""
Split the complete ContactSequence stored in self.cs and send each subsequence in the pipe_cs
"""
pid_centroidal = 0
last_iter_centroidal = False
logger.info("## Compute from cs, size = %d", self.cs.size())
last_phase = self.get_last_phase()
if last_phase:
tools.setFinalFromInitialValues(last_phase, self.cs.contactPhases[0])
while pid_centroidal + 5 < self.cs.size():
logger.debug("## Current pid = %d", pid_centroidal)
if pid_centroidal + 7 >= self.cs.size():
logger.debug("## Last centroidal iter")
# last iter, take all the remaining phases
num_phase = self.cs.size() - pid_centroidal
last_iter_centroidal = True
else:
num_phase = 5
logger.debug("## Num phase = %d", num_phase)
# Extract the phases [pid_centroidal; pid_centroidal +num_phases] from cs_full
cs_iter = ContactSequence(0)
for i in range(pid_centroidal, pid_centroidal + num_phase):
logger.debug("-- Add phase : %d", i)
cs_iter.append(self.cs.contactPhases[i])
self.pipe_cs_in.send([cs_iter, last_iter_centroidal]) # This call may be blocking if the pipe is full
pid_centroidal += 2
self.pipe_cs_in.close()
def compute_cs_requirements(self):
"""
Compute all the required data to use the ContactSequence stored in self.cs as input for the centroidal method
or the wholebody method
"""
tools.computePhasesTimings(self.cs, self.cfg)
tools.computePhasesCOMValues(self.cs, self.cfg.Robot.DEFAULT_COM_HEIGHT)
tools.setAllUninitializedContactModel(self.cs, cfg.Robot)
tools.computeRootTrajFromContacts(self.fullBody, self.cs)
tools.setAllUninitializedFrictionCoef(self.cs, self.cfg.MU)
def compute_stopping_cs(self, move_to_support_polygon=True):
"""
Compute a Contact Sequence with centroidal trajectories to bring the current last_phase
to a stop without contact changes
:param move_to_support_polygon: if True, add a trajectory to put the CoM above the center of the support polygon
:return:
"""
phase_stop = ContactPhase(self.get_last_phase())
tools.setInitialFromFinalValues(phase_stop, phase_stop)
phase_stop.timeInitial = phase_stop.timeFinal
phase_stop.duration = DURATION_0_STEP # FIXME !!
# try 0-step:
success, phase = zeroStepCapturability(phase_stop, self.cfg)
if success:
cs_ref = ContactSequence(0)
cs_ref.append(phase)
# TEST : add another phase to go back in the center of the support polygon
if move_to_support_polygon:
phase_projected = ContactPhase()
phase_projected.timeInitial = phase.timeFinal
phase_projected.duration = DURATION_0_STEP
tools.copyContactPlacement(phase, phase_projected)
tools.setInitialFromFinalValues(phase, phase_projected)
phase_projected.c_final = tools.computeCenterOfSupportPolygonFromPhase(
phase_stop, self.fullBody.DEFAULT_COM_HEIGHT)
#FIXME 'default height'
tools.connectPhaseTrajToFinalState(phase_projected)
cs_ref.append(phase_projected)
else:
# TODO try 1 step :
raise RuntimeError("One step capturability not implemented yet !")
tools.computeRootTrajFromContacts(self.fullBody, cs_ref)
self.last_phase = cs_ref.contactPhases[-1].copy()
# define the final root position, translation from the CoM position and rotation from the feet rotation
q_final = np.zeros(7)
q_final[:3] = self.last_phase.c_final[::]
placement_rot_root, _ = tools.rootOrientationFromFeetPlacement(self.cfg.Robot, None, self.last_phase, None)
quat_root = Quaternion(placement_rot_root.rotation)
q_final[3:7] = [quat_root.x, quat_root.y, quat_root.z, quat_root.w]
self.last_phase.q_final = q_final
self.last_phase_flag.value = False
self.last_phase_pickled = Array(c_ubyte, MAX_PICKLE_SIZE) # reset currently stored whole body last phase
return cs_ref
def run_zero_step_capturability(self, move_to_support_polygon=True):
"""
Compute the centroidal trajectory to bring the current last_phaseto a stop without contact changes.
Then start a viewer and a wholebody processes to generate and display the motion corresponding to this
centroidal trajectory.
:param move_to_support_polygon: if True, add a trajectory to put the CoM above the center of the support polygon
"""
cs_ref = self.compute_stopping_cs(move_to_support_polygon)
self.start_viewer_process()
self.cfg.IK_dt = 0.02
p = Process(target=self.compute_wholebody_queue, args=(cs_ref, ))
p.start()
def stop_motion(self, move_to_support_polygon=True):
"""
Terminate all the running contact, centroidal and wholebody processes
and remove the stepping stones from the display.
If the robot is not at a stop, compute and display a motion bringing it at a steady state
:param move_to_support_polygon: if True, add a trajectory to put the CoM above the center of the support polygon
"""
self.stop_process()
process_stones = Process(target=self.hide_stones_lock)
process_stones.start()
atexit.register(process_stones.terminate)
if not self.is_at_stop():
logger.warning("!!!!!! REQUIRE STOP MOTION: compute 0-step capturability")
self.run_zero_step_capturability(move_to_support_polygon)
def move_to_goal(self, root_goal):
"""
Plan and execute a motion connecting the current configuration to one with the given root position
If the robot is in motion, start by computing a safe stop motion.
:param root_goal: list of size 3 or 7: translation and quaternion for the desired root position
If the quaternion part is not specified, the final orientation is not constrained
:return:
"""
self.stop_motion(False)
self.plan_guide(root_goal)
logger.info("Guide planning solved, path id = %d", self.current_guide_id)
self.compute_cs_from_guide()
self.compute_cs_requirements()
logger.info("Start process")
self.start_process()
time.sleep(0.1)
logger.info("@@@ Start compute_from_cs @@@")
self.process_compute_cs = Process(target=self.compute_from_cs)
self.process_compute_cs.start()
atexit.register(self.process_compute_cs.terminate)
logger.info("@@@ END compute_from_cs @@@")
def find_closest_guide_time(self, path_id):
"""
Look for the index in the guide path that give the closest distance between the root position at this index
and the wholebody root position in the last_phase configuration
:param path_id:
:return:
"""
last_phase = self.get_last_phase()
if last_phase is None:
return 0.
root_wb = np.array(last_phase.q_final[0:2])
DT = 0.01
current_t = 0.
min_t = 0.
min_dist = math.inf
ps = self.guide_planner.ps
t_max = ps.pathLength(path_id)
while current_t <= t_max:
root_guide = np.array(ps.configAtParam(path_id, current_t)[0:2])
dist = np.linalg.norm(root_wb - root_guide)
if dist < min_dist:
min_dist = dist
min_t = current_t
current_t += DT
return min_t
def is_path_valid(self, path_id):
"""
Check if the given path id stored in self.guide_planner.ps is valid or not
:param path_id: the id of the path
:return: True if the path is completely valid, False otherwise
"""
DT = 0.01 # FIXME: timestep of the discretization for the collision checking of the path
ps = self.guide_planner.ps
robot_rom = self.guide_planner.rbprmBuilder
t = self.find_closest_guide_time(path_id) - 0.1
if t < 0:
t = 0.
t_max = ps.pathLength(path_id)
while t <= t_max:
report = robot_rom.isConfigValid(ps.configAtParam(path_id, t))
if not report[0]:
return False
t += DT
report = robot_rom.isConfigValid(ps.configAtParam(path_id, t_max))
if not report[0]:
return False
else:
return True
def add_obstacle_to_viewer(self, name, size, position, color=[0, 0, 1, 1]):
"""
Add an obstacle (a box) to the viewer. This call is blocking as it wait for a lock to access to the gepetto-gui API
:param name: the node name of the new obstacle
:param size: the size of the box [x, y, z]
:param position: the placement (translation + quaternion) of the obstacle in the world frame
:param color: the color (rgba) of the obstacle
"""
node_name = "world/environments/" + name #FIXME: change the prefix if there is changes in pinocchio ...
logger.info("Waiting lock to add obstacles ...")
self.viewer_lock.acquire()
# add the obstacle to the viewer:
self.gui.addBox(node_name, size[0], size[1], size[2], color)
# move the obstacle to the given placement:
self.gui.applyConfiguration(node_name, position)
self.gui.refresh()
self.viewer_lock.release()
logger.info("Obstacles added in the viewer")
def add_obstacle_to_problem_solvers(self, name, size, position, obstacle_client):
"""
Add an obstacle to the environment of the planner
:param name: the name of the obstacle
:param size: the size of the box (x, y, z)
:param position: the placement (translation + quaternion) of the obstacle
:param obstacle_client: a corba-server Obstacle client instance
"""
# add the obstacle to the problem solver:
obstacle_client.createBox(name, size[0] + SCALE_OBSTACLE_COLLISION, size[1] + SCALE_OBSTACLE_COLLISION,
size[2] + SCALE_OBSTACLE_COLLISION)
obstacle_client.addObstacle(name, True, False)
# move the obstacle to the given placement:
obstacle_client.moveObstacle(name, position)
def add_obstacle(self, size, position, color=[0, 0, 1, 1]):
"""
Add a cube to the environment, and recompute a motion if the current computed motion become invalid
:param size: The size of the cube [x, y, z]
:param position: The placement of the cube: either a list of length 3 for the translation or
a list of size 7 for translation + quaternion
:param color: color of the obstacle in the viewer, blue by default
:return:
"""
logger.warning("!!!! ADD OBSTACLE REQUESTED")
name = "obstacle_0" #FIXME: change the prefix if there is changes in pinocchio ...
# Add an id until it is an unused name:
i = 1
obs_names = self.guide_planner.ps.client.obstacle.getObstacleNames(True, False)
while name in obs_names:
name = "obstacle_" + str(i)
i += 1
if len(position) == 3:
position += [0, 0, 0, 1]
logger.info("!!!! Addobstacle name : %s", name)
self.add_obstacle_to_problem_solvers(name, size, position, self.guide_planner.ps.client.obstacle)
self.add_obstacle_to_problem_solvers(name, size, position, self.fullBody.client.obstacle)
logger.info("!!!! obstacle added to the problem")
# add obstacle to the viewer, do it in a process as this call is blocking:
process_obstacle = Process(target=self.add_obstacle_to_viewer, args=(name, size, position, color))
process_obstacle.start()
atexit.register(process_obstacle.terminate)
logger.info("!!!! start thread to display obstacle")
# Check if the motion must be re-planned :
if not self.is_at_stop():
logger.info("!!!!!! Add obstacle during motion, check path ...")
valid = self.is_path_valid(self.current_guide_id)
if valid:
logger.warning("!!!!!! Current path is still valid, continue ...")
else:
logger.warning("!!!!!! Current path is now invalid ! Compute a new one ...")
# Re plan the motion
self.move_to_goal(self.current_root_goal)
else:
logger.warning("!!!!!! Add obstacle: The robot is not in motion")
# start from the reference configuration of the robot :
q_ref = fb.referenceConfig[::] + [0] * 6
#q_ref[0:2] = [ , ] # change the x,y position of the base as needed
# q_ref[2] += # the z position of the base already correspond to a floor at z=0, change it accordingly to the environment
# q_ref[3:7] = # quaternion (x,y,z) of the base
# display the configuration
v(q_ref)
# create a first contact phase corresponding to this configuration
limbsInContact = [fb.rLegId, fb.lLegId
] # define the limbs in contact for this first phase
addPhaseFromConfig(fb, cs, q_ref, limbsInContact)
print("number of contact phases in the contact sequence : ", cs.size())
# there is now one phase in our 'cs' object
# we can now add new contact phases by changing the contacts of the last phase of the sequence:
cs.breakContact(
fb.rfoot
) # add a new contact phase to the sequence: break the right feet contact
# create a new contact for the right feet at a different position :
placement = cs.contactPhases[0].contactPatch(
fb.rfoot).placement.copy() # take the previous position of the right feet
pos = placement.translation
pos[0] += 0.15 # move of 15cm in the x direction
placement.translation = pos
# add a new contact phase, with a contact created for the right feet at the given placement :
cs.createContact(fb.rfoot, ContactPatch(placement))