def test_motion(): # bvhFilePath = '../samples/walk_left_90degree.bvh' # bvhFilePath = '../samples/wd2_cross_walk_0d_01.bvh' # bvhFilePath = '../samples/wd2_cross_walk_0d_fast_21.bvh' # bvhFilePath = '../samples/wd2_WalkAzuma01.bvh' # bvhFilePath = '../samples/wd2_WalkBackward00.bvh' # bvhFilePath = '../samples/wd2_WalkForwardNormal00.bvh' # bvhFilePath = '../samples/wd2_WalkForwardSlow01.bvh' # bvhFilePath = '../samples/wd2_WalkForwardVFast00.bvh' # bvhFilePath = '../samples/wd2_WalkHandWav00.bvh' bvhFilePath = '../samples/wd2_WalkSukiko00.bvh' # bvhFilePath = '../samples/wd2_WalkSameSame01.bvh' # bvhFilePath = '../samples/wd2_WalkSoldier00.bvh' motion0 = yf.readBvhFile(bvhFilePath) viewer = ysv.SimpleViewer(rect=(0, 0, 1280, 900)) viewer.record(False) viewer.doc.addRenderer( 'motion0', yr.JointMotionRenderer(motion0, (0, 0, 255), yr.LINK_LINE)) viewer.doc.addObject('motion0', motion0) viewer.startTimer(1 / 30.) viewer.show() Fl.run() pass
def test_blend_motion(): # bvhFilePath = '../samples/wd2_WalkForwardVFast00.bvh' bvhFilePath = '../samples/wd2_WalkSameSame00.bvh' motion0 = yf.readBvhFile(bvhFilePath, 0.01) bvhFilePath = '../samples/wd2_WalkSukiko00.bvh' motion1 = yf.readBvhFile(bvhFilePath, 0.01) # VFast to Sukiko # align_motion(motion1, motion0[54], 121) # temp_motion = blend_motion(motion0, motion1, 54, 82, 121, 180) # SameSame to Sukiko # align_motion(motion1, motion0[76], 121) # temp_motion = blend_motion(motion0, motion1, 76, 116, 121, 180) # Sukiko to SameSame align_motion(motion0, motion1[121], 76) temp_motion = blend_motion(motion1, motion0, 121, 180, 76, 116) viewer = ysv.SimpleViewer(rect=(0, 0, 1280, 900)) viewer.record(False) viewer.doc.addRenderer( 'motion0', yr.JointMotionRenderer(motion0, (0, 0, 255), yr.LINK_LINE)) viewer.doc.addObject('motion0', motion0) # viewer.doc.setRendererVisible('motion0', False) viewer.doc.addRenderer( 'motion1', yr.JointMotionRenderer(motion1, (0, 255, 0), yr.LINK_LINE)) viewer.doc.addObject('motion1', motion1) # viewer.doc.setRendererVisible('motion1', False) viewer.doc.addRenderer( 'stitched_motion', yr.JointMotionRenderer(temp_motion, (255, 255, 0), yr.LINK_LINE)) viewer.doc.addObject('stitched_motion', temp_motion) # viewer.doc.setRendererVisible('stitched_motion', True) def pre_callback(frame): # VFast to Sukiko # motion0.goToFrame(54) # motion1.goToFrame(180) # SameSame to Sukiko # motion0.goToFrame(76) # motion1.goToFrame(180) # Sukiko to SameSame motion0.goToFrame(116) motion1.goToFrame(121) motion0.goToFrame(116) motion1.goToFrame(121) viewer.setPreFrameCallback_Always(pre_callback) viewer.startTimer(1 / 30.) viewer.show() Fl.run()
def test_blend_posture(): bvhFilePath = '../samples/walk_left_90degree.bvh' motion0 = yf.readBvhFile(bvhFilePath)[104:] bvhFilePath = '../samples/walk_left_90degree.bvh' motion1 = yf.readBvhFile(bvhFilePath)[0:] align_motion(motion1, motion0[0], 0) temp_motion = deepcopy(motion1) for i in range(21): temp_motion[i] = blend_posture( motion0[0], motion1[0], .5 - .5 * math.cos(i / 20. * math.pi)) # temp_motion[i] = blend_posture(motion0[0], motion1[0], i/20.) for i in range(21, len(temp_motion)): temp_motion[i] = temp_motion[20] viewer = ysv.SimpleViewer(rect=(0, 0, 1280, 900)) viewer.record(False) viewer.doc.addRenderer( 'motion0', yr.JointMotionRenderer(motion0, (0, 0, 255), yr.LINK_LINE)) viewer.doc.addObject('motion0', motion0) viewer.doc.addRenderer( 'motion1', yr.JointMotionRenderer(motion1, (0, 255, 0), yr.LINK_LINE)) viewer.doc.addObject('motion1', motion1) viewer.doc.addRenderer( 'stitched_motion', yr.JointMotionRenderer(temp_motion, (255, 255, 0), yr.LINK_LINE)) viewer.doc.addObject('stitched_motion', temp_motion) def pre_callback(frame): motion0.goToFrame(0) motion1.goToFrame(0) viewer.setPreFrameCallback_Always(pre_callback) viewer.startTimer(1 / 30.) viewer.show() Fl.run()
def main(): np.set_printoptions(precision=4, linewidth=200) # motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5() motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped() vpWorld = cvw.VpWorld(wcfg) motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg) controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg) vpWorld.initialize() controlModel.initializeHybridDynamics() ModelOffset = (1.5, -0.02, 0) #ModelOffset = (1.5, 1.02, 0) #ModelOffset = (1.5, 0.02, 0) controlModel.translateByOffset(ModelOffset) #controlModel.translateByOffset((1.5,-0.0328,0))#(1.5,-0.02,0)) totalDOF = controlModel.getTotalDOF() DOFs = controlModel.getDOFs() # parameter Kt = config['Kt'] Dt = config['Dt'] # tracking gain Kl = config['Kl'] Dl = config['Dl'] # linear balance gain Kh = config['Kh'] Dh = config['Dh'] # angular balance gain Ks = config['Ks'] Ds = config['Ds'] # penalty force spring gain Bt = config['Bt'] Bl = config['Bl'] Bh = config['Bh'] w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap']) w_IK = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['IKweightMap']) supL = motion[0].skeleton.getJointIndex(config['supLink']) supR = motion[0].skeleton.getJointIndex(config['supLink2']) #controlModel.SetGround(supL, True) #controlModel.SetGround(supR, True) selectedBody = motion[0].skeleton.getJointIndex(config['end']) #constBody = motion[0].skeleton.getJointIndex('LeftForeArm') constBody = motion[0].skeleton.getJointIndex('Hips') # jacobian JsupL = yjc.makeEmptyJacobian(DOFs, 1) dJsupL = JsupL.copy() JsupPreL = JsupL.copy() JsupR = yjc.makeEmptyJacobian(DOFs, 1) dJsupR = JsupR.copy() JsupPreR = JsupR.copy() Jsup = yjc.makeEmptyJacobian(DOFs, 1) dJsup = Jsup.copy() JsupPre = Jsup.copy() Jsys = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum()) dJsys = Jsys.copy() JsysPre = Jsys.copy() Jconst = yjc.makeEmptyJacobian(DOFs, 1) dJconst = Jconst.copy() supLJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, supL)] supRJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, supR)] constJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, constBody)] allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton) # momentum matrix linkMasses = controlModel.getBodyMasses() totalMass = controlModel.getTotalMass() TO = ymt.make_TO(linkMasses) dTO = ymt.make_dTO(len(linkMasses)) # optimization problem = yac.LSE(totalDOF, 6) a_sup = (0, 0, 0, 0, 0, 0) #L #a_sup2 = (0,0,0, 0,0,0)#R a_sup2 = [0, 0, 0, 0, 0, 0] #R a_sup_2 = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] CP_old = [mm.v3(0., 0., 0.)] # penalty method bodyIDsToCheck = range(vpWorld.getBodyNum()) mus = [1.] * len(bodyIDsToCheck) # flat data structure ddth_des_flat = ype.makeFlatList(totalDOF) dth_flat = ype.makeFlatList(totalDOF) ddth_sol = ype.makeNestedList(DOFs) d_th_IK = ype.makeNestedList(DOFs) d_th_IK_L = ype.makeNestedList(DOFs) d_th_IK_R = ype.makeNestedList(DOFs) dd_th_IK = ype.makeNestedList(DOFs) dd_th_IK_flat = ype.makeFlatList(totalDOF) d_th_IK_flat = ype.makeFlatList(totalDOF) ddth_c_flat = ype.makeFlatList(totalDOF) # viewer rd_footCenter = [None] rd_footCenter_ref = [None] rd_footCenterL = [None] rd_footCenterR = [None] rd_CM_plane = [None] rd_CM_plane_ref = [None] rd_CM = [None] rd_CP = [None] rd_CP_des = [None] rd_dL_des_plane = [None] rd_dH_des = [None] rd_grf_des = [None] rd_exf_des = [None] rd_root_des = [None] rd_soft_const_vec = [None] rd_CMP = [None] rd_DesPosL = [None] rd_DesPosR = [None] rootPos = [None] selectedBodyId = [selectedBody] extraForce = [None] applyedExtraForce = [None] applyedExtraForce[0] = [0, 0, 0] viewer = ysv.SimpleViewer(rect=(0, 0, 1000, 800)) # viewer.record(False) # viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE)) viewer.doc.addObject('motion', motion) viewer.doc.addRenderer( 'motionModel', cvr.VpModelRenderer(motionModel, (150, 150, 255), yr.POLYGON_FILL)) viewer.doc.addRenderer( 'controlModel', cvr.VpModelRenderer(controlModel, (255, 240, 255), yr.POLYGON_FILL)) viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter)) #viewer.doc.addRenderer('rd_footCenterL', yr.PointsRenderer(rd_footCenterL)) #viewer.doc.addRenderer('rd_footCenterR', yr.PointsRenderer(rd_footCenterR)) viewer.doc.addRenderer('rd_CM_plane', yr.PointsRenderer(rd_CM_plane, (255, 255, 0))) viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (0, 255, 0))) #viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (255,0,255))) # viewer.doc.addRenderer('rd_dL_des_plane', yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255,255,0))) # viewer.doc.addRenderer('rd_dH_des', yr.VectorsRenderer(rd_dH_des, rd_CM, (0,255,0))) viewer.doc.addRenderer( 'rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP_des, (0, 255, 255), .001)) viewer.doc.addRenderer( 'rd_exf_des', yr.ForcesRenderer(rd_exf_des, rd_root_des, (0, 255, 0), .009, 0.05)) #viewer.doc.addRenderer('rd_CMP', yr.PointsRenderer(rd_CMP, (0,0,255))) viewer.doc.addRenderer('rd_DesPosL', yr.PointsRenderer(rd_DesPosL, (0, 0, 255))) viewer.doc.addRenderer('rd_DesPosR', yr.PointsRenderer(rd_DesPosR, (0, 100, 255))) #viewer.doc.addRenderer('softConstraint', yr.VectorsRenderer(rd_soft_const_vec, rd_CMP, (255,0,0), 3)) viewer.doc.addRenderer('rd_footCenter_ref', yr.PointsRenderer(rd_footCenter_ref)) viewer.doc.addRenderer('rd_CM_plane_ref', yr.PointsRenderer(rd_CM_plane_ref, (255, 255, 0))) stage = 0 def preCallback(frame): motionModel.update(motion[frame]) def simulateCallback(frame): global g_initFlag global preFootCenterL, preFootCenterR global preFootOrientationL, preFootOrientationR global forceShowFrame global forceApplyFrame global JsysPre global JsupPreL global JsupPreR global JsupPre global softConstPoint global stage motionModel.update(motion[frame]) Kt, Kk, Kl, Kh, Ksc, Bt, Bl, Bh, Bsc = viewer.GetParam() if stage == 3: Bsc = 0 #Kl *= 1.5 Dt = 2 * (Kt**.5) Dk = 2 * (Kk**.5) Dl = 2 * (Kl**.5) Dh = 2 * (Kh**.5) Dsc = 2 * (Ksc**.5) if Bsc == 0.0: viewer.doc.showRenderer('softConstraint', False) viewer.motionViewWnd.update(1, viewer.doc) else: viewer.doc.showRenderer('softConstraint', True) renderer1 = viewer.doc.getRenderer('softConstraint') renderer1.rc.setLineWidth(0.1 + Bsc * 3) viewer.motionViewWnd.update(1, viewer.doc) # tracking th_r = motion.getDOFPositions(frame) th = controlModel.getDOFPositions() dth_r = motion.getDOFVelocities(frame) dth = controlModel.getDOFVelocities() ddth_r = motion.getDOFAccelerations(frame) ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt) ddth_c = controlModel.getDOFAccelerations() ype.flatten(ddth_des, ddth_des_flat) ype.flatten(dth, dth_flat) ype.flatten(ddth_c, ddth_c_flat) # jacobian footCenterL = controlModel.getBodyPositionGlobal(supL) footCenterR = controlModel.getBodyPositionGlobal(supR) refFootL = motionModel.getBodyPositionGlobal(supL) refFootR = motionModel.getBodyPositionGlobal(supR) footCenter = footCenterL + (footCenterR - footCenterL) / 2.0 footCenter[1] = 0. footCenter_ref = refFootL + (refFootR - refFootL) / 2.0 footCenter_ref[1] = 0. linkPositions = controlModel.getBodyPositionsGlobal() linkVelocities = controlModel.getBodyVelocitiesGlobal() linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal() linkInertias = controlModel.getBodyInertiasGlobal() jointPositions = controlModel.getJointPositionsGlobal() jointAxeses = controlModel.getDOFAxeses() CM = yrp.getCM(linkPositions, linkMasses, totalMass) dCM = yrp.getCM(linkVelocities, linkMasses, totalMass) CM_plane = copy.copy(CM) CM_plane[1] = 0. dCM_plane = copy.copy(dCM) dCM_plane[1] = 0. linkPositions_ref = motionModel.getBodyPositionsGlobal() CM_plane_ref = yrp.getCM(linkPositions_ref, linkMasses, totalMass) CM_plane_ref[1] = 0. P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM, linkInertias) dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses, linkVelocities, dCM, linkAngVelocities, linkInertias) yjc.computeJacobian2(Jsys, DOFs, jointPositions, jointAxeses, linkPositions, allLinkJointMasks) dJsys = (Jsys - JsysPre) / (1 / 30.) JsysPre = Jsys #yjc.computeJacobianDerivative2(dJsys, DOFs, jointPositions, jointAxeses, linkAngVelocities, linkPositions, allLinkJointMasks) if g_initFlag == 0: preFootCenterL = footCenterL preFootCenterR = footCenterR preFootCenterL[1] -= 0.02 preFootCenterR[1] -= 0.02 preFootOrientationL = controlModel.getBodyOrientationGlobal(supL) preFootOrientationR = controlModel.getBodyOrientationGlobal(supR) softConstPoint = controlModel.getBodyPositionGlobal(constBody) #softConstPoint[2] += 0.3 #softConstPoint[1] -= 1.1 #softConstPoint[0] += 0.1 softConstPoint[1] -= .3 #softConstPoint[0] -= .1 #softConstPoint[1] -= 1. #softConstPoint[0] -= .5 g_initFlag = 1 yjc.computeJacobian2(JsupL, DOFs, jointPositions, jointAxeses, [footCenterL], supLJointMasks) dJsupL = (JsupL - JsupPreL) / (1 / 30.) JsupPreL = JsupL #yjc.computeJacobianDerivative2(dJsupL, DOFs, jointPositions, jointAxeses, linkAngVelocities, [footCenterL], supLJointMasks, False) yjc.computeJacobian2(JsupR, DOFs, jointPositions, jointAxeses, [footCenterR], supRJointMasks) dJsupR = (JsupR - JsupPreR) / (1 / 30.) JsupPreR = JsupR #yjc.computeJacobianDerivative2(dJsupR, DOFs, jointPositions, jointAxeses, linkAngVelocities, [footCenterR], supRJointMasks, False) preFootCenter = preFootCenterL + (preFootCenterR - preFootCenterL) / 2.0 preFootCenter[1] = 0 bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) CP = yrp.getCP(contactPositions, contactForces) # linear momentum CM_ref_plane = footCenter #CM_ref_plane = preFootCenter dL_des_plane = Kl * totalMass * (CM_ref_plane - CM_plane) - Dl * totalMass * dCM_plane #print("dL_des_plane ", dL_des_plane ) #dL_des_plane[1] = 0. # angular momentum CP_ref = footCenter timeStep = 30. if CP_old[0] == None or CP == None: dCP = None else: dCP = (CP - CP_old[0]) / (1 / timeStep) CP_old[0] = CP if CP != None and dCP != None: ddCP_des = Kh * (CP_ref - CP) - Dh * (dCP) CP_des = CP + dCP * (1 / timeStep) + .5 * ddCP_des * ( (1 / timeStep)**2) dH_des = np.cross( (CP_des - CM), (dL_des_plane + totalMass * mm.s2v(wcfg.gravity))) #dH_des = np.cross((CP_des - CM_plane), (dL_des_plane + totalMass*mm.s2v(wcfg.gravity))) #dH_des = [0, 0, 0] else: dH_des = None CMP = yrp.getCMP(contactForces, CM) r = [0, 0, 0] if CP != None and np.any(np.isnan(CMP)) != True: r = CP - CMP #print("r.l", mm.length(r)) #Bba = Bh*(mm.length(r)) Bba = Bh # momentum matrix RS = np.dot(P, Jsys) R, S = np.vsplit(RS, 2) rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat) r_bias, s_bias = np.hsplit(rs, 2) ############################## # soft point constraint ''' cmDiff = footCenter - CM_plane print("cmDiff", cmDiff) if stage == 3: softConstPoint += ''' P_des = softConstPoint P_cur = controlModel.getBodyPositionGlobal(constBody) dP_des = [0, 0, 0] dP_cur = controlModel.getBodyVelocityGlobal(constBody) ddP_des1 = Ksc * (P_des - P_cur) - Dsc * (dP_cur - dP_des) r = P_des - P_cur I = np.vstack(([1, 0, 0], [0, 1, 0], [0, 0, 1])) Z = np.hstack((I, mm.getCrossMatrixForm(-r))) yjc.computeJacobian2(Jconst, DOFs, jointPositions, jointAxeses, [softConstPoint], constJointMasks) JL, JA = np.vsplit(Jconst, 2) Q1 = np.dot(Z, Jconst) q1 = np.dot(JA, dth_flat) q2 = np.dot(mm.getCrossMatrixForm(q1), np.dot(mm.getCrossMatrixForm(q1), r)) yjc.computeJacobianDerivative2(dJconst, DOFs, jointPositions, jointAxeses, linkAngVelocities, [softConstPoint], constJointMasks, False) q_bias1 = np.dot(np.dot(Z, dJconst), dth_flat) + q2 ''' P_des = preFootCenterR P_cur = controlModel.getBodyPositionGlobal(supR) P_cur[1] = 0 dP_des = [0, 0, 0] dP_cur = controlModel.getBodyVelocityGlobal(supR) ddP_des2 = Kp*(P_des - P_cur) - Dp*(dP_cur - dP_des) r = P_des - P_cur #print("r2", r) I = np.vstack(([1,0,0],[0,1,0],[0,0,1])) Z = np.hstack((I, mm.getCrossMatrixForm(-r))) JL, JA = np.vsplit(JsupR, 2) Q2 = np.dot(Z, JsupR) q1 = np.dot(JA, dth_flat) q2 = np.dot(mm.getCrossMatrixForm(q1), np.dot(mm.getCrossMatrixForm(q1), r)) q_bias2 = np.dot(np.dot(Z, dJsupR), dth_flat) + q2 ''' #print("Q1", Q1) ''' print("ddP_des1", ddP_des1) q_ddth1 = np.dot(Q1, ddth_c_flat) print("q_ddth1", q_ddth1) print("q_bias1", q_bias1) ddp1 = q_ddth1+q_bias1 print("ddp1", ddp1) print("diff1", ddP_des1-ddp1) ''' ''' print("ddP_des2", ddP_des2) q_ddth2 = np.dot(Q2, ddth_c_flat) print("q_ddth2", q_ddth2) print("q_bias2", q_bias2) ddp2 = q_ddth2+q_bias2 print("ddp2", ddp2) print("diff2", ddP_des2-ddp2) ''' ############################## ############################ # IK ''' P_des = preFootCenterL P_cur = controlModel.getJointPositionGlobal(supL) r = P_des - P_cur Q_des = preFootOrientationL Q_cur = controlModel.getJointOrientationGlobal(supL) rv = mm.logSO3(np.dot(Q_cur.transpose(), Q_des)) #print("rv", rv) des_v_sup = (r[0],r[1],r[2], rv[0], rv[1], rv[2]) A_large = np.dot(JsupL.T, JsupL) b_large = np.dot(JsupL.T, des_v_sup) des_d_th = npl.lstsq(A_large, b_large) ype.nested(des_d_th[0], d_th_IK_L) P_des2 = preFootCenterR P_cur2 = controlModel.getJointPositionGlobal(supR) r2 = P_des2 - P_cur2 Q_des2 = preFootOrientationR Q_cur2 = controlModel.getJointOrientationGlobal(supR) rv2 = mm.logSO3(np.dot(Q_cur2.transpose(), Q_des2)) #print("Q_des2", Q_des2) #print("Q_cur2", Q_cur2) #print("rv2", rv2) des_v_sup2 = (r2[0],r2[1],r2[2], rv2[0], rv2[1], rv[2]) A_large = np.dot(JsupR.T, JsupR) b_large = np.dot(JsupR.T, des_v_sup2) des_d_th = npl.lstsq(A_large, b_large) ype.nested(des_d_th[0], d_th_IK_R) for i in range(len(d_th_IK_L)): for j in range(len(d_th_IK_L[i])): d_th_IK[i][j] = d_th_IK_L[i][j] + d_th_IK_R[i][j] th_IK = yct.getIntegralDOF(th, d_th_IK, 1/timeStep) dd_th_IK = yct.getDesiredDOFAccelerations(th_IK, th, d_th_IK, dth, ddth_r, Kk, Dk) ype.flatten(d_th_IK, d_th_IK_flat) ype.flatten(dd_th_IK, dd_th_IK_flat) ''' ############################ flagContact = True if dH_des == None or np.any(np.isnan(dH_des)) == True: flagContact = False ''' 0 : initial 1 : contact 2 : fly 3 : landing ''' if flagContact == False: if stage == 1: stage = 2 print("fly") else: if stage == 0: stage = 1 print("contact") elif stage == 2: stage = 3 print("landing") if stage == 3: Bt = Bt * 0.8 Bl = Bl * 1 # optimization mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat) #mot.addTrackingTerms(problem, totalDOF, Bk, w_IK, dd_th_IK_flat) mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1, q_bias1) #mot.addSoftPointConstraintTerms(problem, totalDOF, Bp, ddP_des2, Q2, q_bias2) #mot.addConstraint(problem, totalDOF, JsupL, dJsupL, dth_flat, a_sup) #mot.addConstraint(problem, totalDOF, JsupR, dJsupR, dth_flat, a_sup2) desLinearAccL = [0, 0, 0] desAngularAccL = [0, 0, 0] desLinearAccR = [0, 0, 0] desAngularAccR = [0, 0, 0] refPos = motionModel.getBodyPositionGlobal(supL) refPos[0] += ModelOffset[0] refPos[1] = 0 refVel = motionModel.getBodyVelocityGlobal(supL) curPos = controlModel.getBodyPositionGlobal(supL) #curPos[1] = 0 curVel = controlModel.getBodyVelocityGlobal(supL) refAcc = (0, 0, 0) if stage == 3: refPos = curPos refPos[1] = 0 if curPos[1] < 0.0: curPos[1] = 0 else: curPos[1] = 0 rd_DesPosL[0] = refPos #(p_r, p, v_r, v, a_r, Kt, Dt) desLinearAccL = yct.getDesiredAcceleration(refPos, curPos, refVel, curVel, refAcc, Kk, Dk) #desLinearAccL[1] = 0 refPos = motionModel.getBodyPositionGlobal(supR) refPos[0] += ModelOffset[0] refPos[1] = 0 refVel = motionModel.getBodyVelocityGlobal(supR) curPos = controlModel.getBodyPositionGlobal(supR) #curPos[1] = 0 curVel = controlModel.getBodyVelocityGlobal(supR) if stage == 3: refPos = curPos refPos[1] = 0 if curPos[1] < 0.0: curPos[1] = 0 else: curPos[1] = 0 rd_DesPosR[0] = refPos desLinearAccR = yct.getDesiredAcceleration(refPos, curPos, refVel, curVel, refAcc, Kk, Dk) #desLinearAccR[1] = 0 #(th_r, th, dth_r, dth, ddth_r, Kt, Dt) refAng = [preFootOrientationL] curAng = [controlModel.getBodyOrientationGlobal(supL)] refAngVel = motionModel.getBodyAngVelocityGlobal(supL) curAngVel = controlModel.getBodyAngVelocityGlobal(supL) refAngAcc = (0, 0, 0) #desAngularAccL = yct.getDesiredAngAccelerations(refAng, curAng, refAngVel, curAngVel, refAngAcc, Kk, Dk) curAngY = np.dot(curAng, np.array([0, 1, 0])) aL = mm.logSO3(mm.getSO3FromVectors(curAngY[0], np.array([0, 1, 0]))) print("curAngYL=", curAngY, "aL=", aL) desAngularAccL = [Kk * aL + Dk * (refAngVel - curAngVel)] refAng = [preFootOrientationR] curAng = [controlModel.getBodyOrientationGlobal(supR)] refAngVel = motionModel.getBodyAngVelocityGlobal(supR) curAngVel = controlModel.getBodyAngVelocityGlobal(supR) refAngAcc = (0, 0, 0) #desAngularAccR = yct.getDesiredAngAccelerations(refAng, curAng, refAngVel, curAngVel, refAngAcc, Kk, Dk) curAngY = np.dot(curAng, np.array([0, 1, 0])) aL = mm.logSO3(mm.getSO3FromVectors(curAngY[0], np.array([0, 1, 0]))) desAngularAccR = [Kk * aL + Dk * (refAngVel - curAngVel)] print("curAngYR=", curAngY, "aL=", aL) a_sup_2 = [ desLinearAccL[0], desLinearAccL[1], desLinearAccL[2], desAngularAccL[0][0], desAngularAccL[0][1], desAngularAccL[0][2], desLinearAccR[0], desLinearAccR[1], desLinearAccR[2], desAngularAccR[0][0], desAngularAccR[0][1], desAngularAccR[0][2] ] if stage == 2: #or stage == 3: refAccL = motionModel.getBodyAccelerationGlobal(supL) refAndAccL = motionModel.getBodyAngAccelerationGlobal(supL) refAccR = motionModel.getBodyAccelerationGlobal(supR) refAndAccR = motionModel.getBodyAngAccelerationGlobal(supR) a_sup_2 = [ refAccL[0], refAccL[1], refAccL[2], refAndAccL[0], refAndAccL[1], refAndAccL[2], refAccR[0], refAccR[1], refAccR[2], refAndAccR[0], refAndAccR[1], refAndAccR[2] ] ''' a_sup_2 = [0,0,0, desAngularAccL[0][0], desAngularAccL[0][1], desAngularAccL[0][2], 0,0,0, desAngularAccR[0][0], desAngularAccR[0][1], desAngularAccR[0][2]] ''' Jsup_2 = np.vstack((JsupL, JsupR)) dJsup_2 = np.vstack((dJsupL, dJsupR)) if flagContact == True: mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias) mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias) mot.setConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat, a_sup_2) #mot.setConstraint(problem, totalDOF, JsupR, dJsupR, dth_flat, a_sup2) #mot.setConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat, a_sup_2) #mot.addConstraint(problem, totalDOF, Jsup_2, dJsup_2, d_th_IK_flat, a_sup_2) ''' jZ = np.dot(dJsup_2.T, dJsup_2) lamda = 0.001 for i in range(len(jZ)): for j in range(len(jZ[0])): if i == j : jZ[i][j] += lamda jZInv = npl.pinv(jZ) jA = np.dot(Jsup_2, np.dot(jZInv, np.dot(dJsup_2.T, -Jsup_2))) mot.addConstraint2(problem, totalDOF, jA, a_sup_2) ''' r = problem.solve() problem.clear() ype.nested(r['x'], ddth_sol) rootPos[0] = controlModel.getBodyPositionGlobal(selectedBody) localPos = [[0, 0, 0]] for i in range(stepsPerFrame): # apply penalty force bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) controlModel.setDOFAccelerations(ddth_sol) controlModel.solveHybridDynamics() extraForce[0] = viewer.GetForce() if (extraForce[0][0] != 0 or extraForce[0][1] != 0 or extraForce[0][2] != 0): forceApplyFrame += 1 vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce) applyedExtraForce[0] = extraForce[0] if forceApplyFrame * wcfg.timeStep > 0.1: viewer.ResetForce() forceApplyFrame = 0 vpWorld.step() # rendering rd_footCenter[0] = footCenter rd_footCenterL[0] = preFootCenterL rd_footCenterR[0] = preFootCenterR rd_CM[0] = CM rd_CM_plane[0] = CM_plane.copy() rd_footCenter_ref[0] = footCenter_ref rd_CM_plane_ref[0] = CM_plane_ref.copy() #rd_CM_plane[0][1] = 0. if CP != None and dCP != None: rd_CP[0] = CP rd_CP_des[0] = CP_des rd_dL_des_plane[0] = dL_des_plane rd_dH_des[0] = dH_des rd_grf_des[0] = dL_des_plane - totalMass * mm.s2v(wcfg.gravity) rd_exf_des[0] = applyedExtraForce[0] #print("rd_exf_des", rd_exf_des[0]) rd_root_des[0] = rootPos[0] rd_CMP[0] = softConstPoint rd_soft_const_vec[0] = controlModel.getBodyPositionGlobal( constBody) - softConstPoint #if (applyedExtraForce[0][0] != 0 or applyedExtraForce[0][1] != 0 or applyedExtraForce[0][2] != 0) : if (forceApplyFrame == 0): applyedExtraForce[0] = [0, 0, 0] viewer.setPreFrameCallback_Always(preCallback) viewer.setSimulateCallback(simulateCallback) viewer.startTimer(1 / 60.) viewer.show() Fl.run()
def main(): np.set_printoptions(precision=4, linewidth=200) # motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5() motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped() mcfg_motion = mit.normal_mcfg() vpWorld = cvw.VpWorld(wcfg) motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg) motionModel.recordVelByFiniteDiff() controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg) footPartNum = config['FootPartNum'] if footPartNum > 1: elasticity = 2000 damping = 2 * (elasticity**.5) springBody1 = 5 springBody2 = 6 springBody1Pos = motionModel.getBodyPositionGlobal( motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1])) springBody2Pos = motionModel.getBodyPositionGlobal( motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2])) initialDist = mm.length(springBody1Pos - springBody2Pos) * 1. node = mcfg.getNode(mit.LEFT_PHALANGE_1) initialDist -= node.width #0.084 v1 = (-node.width * 0.5, 0.0, node.length * 0.4) v2 = (node.width * 0.5, 0.0, node.length * 0.4) controlModel.setSpring( motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]), motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]), elasticity, damping, v2, v1, initialDist) controlModel.setSpring( motion[0].skeleton.getJointIndex(config['FootRPart'][springBody1]), motion[0].skeleton.getJointIndex(config['FootRPart'][springBody2]), elasticity, damping, v1, v2, initialDist) #elasticity = 10 #damping = 2*(elasticity**.5) #springBody1 = 3 #springBody2 = 4 #node = mcfg.getNode(mit.LEFT_PHALANGE_1) #springBody1Pos = motionModel.getBodyPositionGlobal(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1])) #springBody2Pos = motionModel.getBodyPositionGlobal(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2])) #initialDist = mm.length(springBody1Pos - springBody2Pos)*1. #initialDist -= node.width#0.084 #v1 = (-node.width*0.5,0.0,-node.length*0.4) #v2 = (node.width*0.5,0.0,-node.length*0.4) ##controlModel.setSpring(motion[0].skeleton.getJointIndex(config['FootLPart'][springBody1]), motion[0].skeleton.getJointIndex(config['FootLPart'][springBody2]), elasticity, damping, v2, v1, initialDist) ##controlModel.setSpring(motion[0].skeleton.getJointIndex(config['FootRPart'][springBody1]), motion[0].skeleton.getJointIndex(config['FootRPart'][springBody2]), elasticity, damping, v1, v2, initialDist) vpWorld.initialize() controlModel.initializeHybridDynamics() #ModelOffset = (1.5, -0.01, 0) ModelOffset = (1.5, 0.4, 0) controlModel.translateByOffset(ModelOffset) totalDOF = controlModel.getTotalDOF() DOFs = controlModel.getDOFs() # parameter Kt = config['Kt'] Dt = config['Dt'] # tracking gain Kl = config['Kl'] Dl = config['Dl'] # linear balance gain Kh = config['Kh'] Dh = config['Dh'] # angular balance gain Ks = config['Ks'] Ds = config['Ds'] # penalty force spring gain Bt = config['Bt'] Bl = config['Bl'] Bh = config['Bh'] w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap']) w2 = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap2']) #w_IK = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['IKweightMap']) supL = motion[0].skeleton.getJointIndex(config['supLink']) supR = motion[0].skeleton.getJointIndex(config['supLink2']) rootB = motion[0].skeleton.getJointIndex(config['root']) selectedBody = motion[0].skeleton.getJointIndex(config['end']) #constBody = motion[0].skeleton.getJointIndex('LeftForeArm') constBody = motion[0].skeleton.getJointIndex(config['const']) # jacobian Jsup = yjc.makeEmptyJacobian(DOFs, 1) dJsup = Jsup.copy() JsupPre = Jsup.copy() Jsys = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum()) dJsys = Jsys.copy() JsysPre = Jsys.copy() Jconst = yjc.makeEmptyJacobian(DOFs, 1) dJconst = Jconst.copy() Jcom = yjc.makeEmptyJacobian(DOFs, 1, False) dJcom = Jcom.copy() JcomAng = yjc.makeEmptyJacobian(DOFs, 1, False) dJcomAng = JcomAng.copy() ############### indexFootL = [None] * footPartNum indexFootR = [None] * footPartNum jFootL = [None] * footPartNum dJFootL = [None] * footPartNum jFootR = [None] * footPartNum dJFootR = [None] * footPartNum jointMasksFootL = [None] * footPartNum jointMasksFootR = [None] * footPartNum for i in range(footPartNum): jFootL[i] = yjc.makeEmptyJacobian(DOFs, 1) dJFootL[i] = jFootL[i].copy() jFootR[i] = yjc.makeEmptyJacobian(DOFs, 1) dJFootR[i] = jFootR[i].copy() indexFootL[i] = motion[0].skeleton.getJointIndex( config['FootLPart'][i]) indexFootR[i] = motion[0].skeleton.getJointIndex( config['FootRPart'][i]) jointMasksFootL[i] = [ yjc.getLinkJointMask(motion[0].skeleton, indexFootL[i]) ] jointMasksFootR[i] = [ yjc.getLinkJointMask(motion[0].skeleton, indexFootR[i]) ] constJointMasks = [ yjc.getLinksJointMask(motion[0].skeleton, [indexFootL[0], indexFootR[0]]) ] #constJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [indexFootL[0]])] #constJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, constBody)] allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton) #comLowerJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [motion[0].skeleton.getJointIndex('LeftLeg'), motion[0].skeleton.getJointIndex('RightLeg')])] comUpperJointMasks = [ yjc.getLinkJointMask(motion[0].skeleton, selectedBody) ] #comLowerJointMasks = [yjc.getLinksJointMask(motion[0].skeleton, [motion[0].skeleton.getJointIndex('LeftLeg'), motion[0].skeleton.getJointIndex('RightLeg')])] comUpperJointMasks[0][0] = 0 #comUpperJointMasks[0][1] = 1 #comUpperJointMasks[0][10] = 1 comUpperJointMasks[0][2] = 1 comUpperJointMasks[0][11] = 1 #print(comUpperJointMasks) comLowerJointMasks = [ yjc.getLinksJointMask(motion[0].skeleton, [ motion[0].skeleton.getJointIndex('LeftLeg'), motion[0].skeleton.getJointIndex('RightLeg') ]) ] ''' maskArray = [foreSupLJointMasks, foreSupRJointMasks, rearSupLJointMasks, rearSupRJointMasks] parentArray = [supL, supR, supL, supR] effectorArray = [foreSupL, foreSupR, rearSupL, rearSupR] for j in range(4) : for i in range(len(foreSupLJointMasks)) : if i == parentArray[j] or i == effectorArray[j] : maskArray[j][0][i] = 1 else : maskArray[j][0][i] = 0 ''' # momentum matrix linkMasses = controlModel.getBodyMasses() totalMass = controlModel.getTotalMass() TO = ymt.make_TO(linkMasses) dTO = ymt.make_dTO(len(linkMasses)) # optimization problem = yac.LSE(totalDOF, 6) a_sup = (0, 0, 0, 0, 0, 0) #L #a_sup2 = (0,0,0, 0,0,0)#R a_sup2 = [0, 0, 0, 0, 0, 0] #R a_sup_2 = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] CP_old = [mm.v3(0., 0., 0.)] # penalty method bodyIDsToCheck = range(vpWorld.getBodyNum()) mus = [1.] * len(bodyIDsToCheck) # flat data structure ddth_des_flat = ype.makeFlatList(totalDOF) dth_flat = ype.makeFlatList(totalDOF) ddth_sol = ype.makeNestedList(DOFs) d_th_IK = ype.makeNestedList(DOFs) d_th_IK_L = ype.makeNestedList(DOFs) d_th_IK_R = ype.makeNestedList(DOFs) dd_th_IK = ype.makeNestedList(DOFs) dd_th_IK_flat = ype.makeFlatList(totalDOF) d_th_IK_flat = ype.makeFlatList(totalDOF) ddth_c_flat = ype.makeFlatList(totalDOF) # viewer rd_footCenter = [None] rd_footCenter_ref = [None] rd_footCenterL = [None] rd_footCenterR = [None] rd_CM_plane = [None] rd_CM_plane_ref = [None] rd_CM_ref = [None] rd_CM_des = [None] rd_CM = [None] rd_CM_vec = [None] rd_CM_ref_vec = [None] rd_CP = [None] rd_CP_des = [None] rd_dL_des_plane = [None] rd_dH_des = [None] rd_grf_des = [None] rd_footCenter_des = [None] rd_exf_des = [None] rd_root_des = [None] rd_soft_const_vec = [None] rd_root = [None] rd_footL_vec = [None] rd_footR_vec = [None] rd_CMP = [None] rd_DesPosL = [None] rd_DesPosR = [None] rd_DesForePosL = [None] rd_DesForePosR = [None] rd_DesRearPosL = [None] rd_DesRearPosR = [None] rd_Joint = [None] rd_Joint2 = [None] rd_Joint3 = [None] rd_Joint4 = [None] rd_desPoints = [None] #rd_contactForces = [None]*10000 #rd_contactPositions = [None]*10000 rd_virtualForce = [None] rootPos = [None] selectedBodyId = [selectedBody] extraForce = [None] applyedExtraForce = [None] applyedExtraForce[0] = [0, 0, 0] normalVector = [[0, 2, 0]] if MULTI_VIEWER: viewer = ymv.MultiViewer(800, 655) #viewer = ymv.MultiViewer(1600, 1255) viewer.setRenderers1([ cvr.VpModelRenderer(motionModel, CHARACTER_COLOR, yr.POLYGON_FILL) ]) viewer.setRenderers2([ cvr.VpModelRenderer(controlModel, CHARACTER_COLOR, yr.POLYGON_FILL) ]) else: viewer = ysv.SimpleViewer() # viewer.record(False) # viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE)) viewer.doc.addObject('motion', motion) viewer.doc.addRenderer( 'motionModel', cvr.VpModelRenderer(motionModel, (100, 100, 100), yr.POLYGON_FILL)) #(150,150,255) viewer.doc.addRenderer( 'controlModel', cvr.VpModelRenderer(controlModel, CHARACTER_COLOR, yr.POLYGON_FILL)) #viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, CHARACTER_COLOR, yr.POLYGON_LINE)) #viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter)) #viewer.doc.addRenderer('rd_footCenter_des', yr.PointsRenderer(rd_footCenter_des, (150,0,150)) ) #viewer.doc.addRenderer('rd_footCenterL', yr.PointsRenderer(rd_footCenterL)) #viewer.doc.addRenderer('rd_footCenterR', yr.PointsRenderer(rd_footCenterR)) viewer.doc.addRenderer('rd_CM_plane', yr.PointsRenderer(rd_CM_plane, (255, 255, 0))) viewer.doc.addRenderer('rd_CM', yr.PointsRenderer(rd_CM, (255, 0, 255))) viewer.doc.addRenderer('rd_CM_des', yr.PointsRenderer(rd_CM_des, (64, 64, 255))) viewer.doc.addRenderer( 'rd_CM_vec', yr.VectorsRenderer(rd_CM_vec, rd_CM_plane, (255, 0, 0), 3)) #viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (0,255,0))) viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (255, 0, 128))) # viewer.doc.addRenderer('rd_dL_des_plane', yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255,255,0))) # viewer.doc.addRenderer('rd_dH_des', yr.VectorsRenderer(rd_dH_des, rd_CM, (0,255,0))) #viewer.doc.addRenderer('rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP, (0,255,255), .001)) viewer.doc.addRenderer( 'rd_exf_des', yr.ForcesRenderer(rd_exf_des, rd_root_des, (0, 255, 0), .009, 0.04)) #viewer.doc.addRenderer('rd_CMP', yr.PointsRenderer(rd_CMP, (0,0,255))) #viewer.doc.addRenderer('rd_DesPosL', yr.PointsRenderer(rd_DesPosL, (0,0,255))) #viewer.doc.addRenderer('rd_DesPosR', yr.PointsRenderer(rd_DesPosR, (0,100,255))) #viewer.doc.addRenderer('rd_DesForePosL', yr.PointsRenderer(rd_DesForePosL, (150,0,200))) #viewer.doc.addRenderer('rd_DesForePosR', yr.PointsRenderer(rd_DesForePosR, (150,0,250))) #viewer.doc.addRenderer('rd_DesRearPosL', yr.PointsRenderer(rd_DesRearPosL, (0,150,200))) #viewer.doc.addRenderer('rd_DesRearPosR', yr.PointsRenderer(rd_DesRearPosR, (0,150,250))) #viewer.doc.addRenderer('softConstraint', yr.VectorsRenderer(rd_soft_const_vec, rd_CMP, (150,100,100), 3)) #viewer.doc.addRenderer('rd_footLVec', yr.VectorsRenderer(rd_footL_vec, rd_footCenterL, (255,0,0), 3)) #viewer.doc.addRenderer('rd_footRVec', yr.VectorsRenderer(rd_footR_vec, rd_footCenterR, (255,255,0), 3)) #viewer.doc.addRenderer('rd_footCenter_ref', yr.PointsRenderer(rd_footCenter_ref)) #viewer.doc.addRenderer('rd_CM_plane_ref', yr.PointsRenderer(rd_CM_plane_ref, (255,255,0))) #viewer.doc.addRenderer('rd_refNormalVec', yr.VectorsRenderer(normalVector, rd_footCenter_ref, (255,0,0), 3)) #viewer.doc.addRenderer('rd_refCMVec', yr.VectorsRenderer(rd_CM_ref_vec, rd_footCenter_ref, (255,0,255), 3)) #viewer.doc.addRenderer('rd_curNormalVec', yr.VectorsRenderer(normalVector, rd_footCenter, (255,0,0), 3)) #viewer.doc.addRenderer('rd_CMVec', yr.VectorsRenderer(rd_CM_vec, rd_footCenter, (255,0,255), 3)) #viewer.doc.addRenderer('rd_contactForces', yr.ForcesRenderer(rd_contactForces, rd_contactPositions, (0,255,0), .009, 0.009)) #viewer.doc.addRenderer('rd_virtualForce', yr.ForcesRenderer(rd_virtualForce, rd_CM, (50,255,0), 0.5, 0.02)) #viewer.doc.addRenderer('rd_Joint', yr.PointsRenderer(rd_Joint, (255,0,0))) #viewer.doc.addRenderer('rd_Joint2', yr.PointsRenderer(rd_Joint2, (0,255,0))) #viewer.doc.addRenderer('rd_Joint3', yr.PointsRenderer(rd_Joint3, (0,0,255))) #viewer.doc.addRenderer('rd_Joint4', yr.PointsRenderer(rd_Joint4, (255,255,0))) viewer.doc.addRenderer('rd_desPoints', yr.PointsRenderer(rd_desPoints, (255, 0, 0))) stage = STATIC_BALANCING contactRendererName = [] for i in range(motion[0].skeleton.getJointNum()): print(i, motion[0].skeleton.getJointName(i)) desCOMOffset = 0.0 pt = [0.] timeReport = [0.] * 7 viewer.objectInfoWnd.comOffsetY.value(-0.05) viewer.objectInfoWnd.comOffsetZ.value(0.00) viewer.objectInfoWnd.begin() viewer.objectInfoWnd.Bc = Fl_Value_Input(100, 450, 40, 10, 'Bc') viewer.objectInfoWnd.Bc.value(0.1) viewer.objectInfoWnd.end() viewer.objectInfoWnd.labelKt.value(50) viewer.objectInfoWnd.labelKk.value(17) def simulateCallback(frame): curTime = time.time() if frame % 30 == 1: pt[0] = time.time() global g_initFlag global forceShowFrame global forceApplyFrame global JsysPre global JsupPreL global JsupPreR global JsupPre global softConstPoint global stage global contactRendererName global desCOMOffset motionModel.update(motion[0]) Kt, Kk, Kl, Kh, Ksc, Bt, Bl, Bh, B_CM, B_CMSd, B_Toe = viewer.GetParam( ) Dt = 2 * (Kt**.5) Dk = 2 * (Kk**.5) Dl = 2 * (Kl**.5) Dh = 2 * (Kh**.5) Dsc = 2 * (Ksc**.5) # tracking th_r_ori = motion.getDOFPositions(frame) th_r = copy.copy(th_r_ori) ############################ #Reference motion modulation dCM_k = 10. linkVelocities = controlModel.getBodyVelocitiesGlobal() dCM = yrp.getCM(linkVelocities, linkMasses, totalMass) dCM_plane = copy.copy(dCM) dCM_plane[1] = 0. global leftHipTimer if viewer.objectInfoWnd.onLeftHip: leftHipTimer = 60 viewer.objectInfoWnd.onLeftHip = False if leftHipTimer > 0: viewer.objectInfoWnd.comOffsetX.value( 0.08 * np.sin(2 * 3.14 * leftHipTimer / 60.)) #viewer.objectInfoWnd.comOffsetZ.value(0.04*np.cos(2*3.14*leftHipTimer/90.)) #B_Hipd = viewer.objectInfoWnd.labelLeftHip.value() #newR1 = mm.exp(mm.v3(0.0,1.0,0.0), 3.14*0.5*B_Hipd/100.) #idx = motion[0].skeleton.getJointIndex('LeftUpLeg') #th_r[idx] = np.dot(th_r[idx], newR1) #idx = motion[0].skeleton.getJointIndex('RightUpLeg') #th_r[idx] = np.dot(th_r[idx], newR1) leftHipTimer -= 1 timeReport[0] += time.time() - curTime curTime = time.time() th = controlModel.getDOFPositions() dth_r = motion.getDOFVelocities(frame) dth = controlModel.getDOFVelocities() ddth_r = motion.getDOFAccelerations(frame) ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt) ddth_c = controlModel.getDOFAccelerations() ype.flatten(ddth_des, ddth_des_flat) ype.flatten(dth, dth_flat) ype.flatten(ddth_c, ddth_c_flat) # jacobian refFootL = motionModel.getBodyPositionGlobal(supL) refFootR = motionModel.getBodyPositionGlobal(supR) positionFootL = [None] * footPartNum positionFootR = [None] * footPartNum for i in range(footPartNum): positionFootL[i] = controlModel.getBodyPositionGlobal( indexFootL[i]) positionFootR[i] = controlModel.getBodyPositionGlobal( indexFootR[i]) linkPositions = controlModel.getBodyPositionsGlobal() linkVelocities = controlModel.getBodyVelocitiesGlobal() linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal() linkInertias = controlModel.getBodyInertiasGlobal() jointPositions = controlModel.getJointPositionsGlobal() jointAxeses = controlModel.getDOFAxeses() CM = yrp.getCM(linkPositions, linkMasses, totalMass) dCM = yrp.getCM(linkVelocities, linkMasses, totalMass) CM_plane = copy.copy(CM) CM_plane[1] = 0. dCM_plane = copy.copy(dCM) dCM_plane[1] = 0. linkPositions_ref = motionModel.getBodyPositionsGlobal() linkVelocities_ref = motionModel.getBodyVelocitiesGlobal() linkAngVelocities_ref = motionModel.getBodyAngVelocitiesGlobal() linkInertias_ref = motionModel.getBodyInertiasGlobal() CM_ref = yrp.getCM(linkPositions_ref, linkMasses, totalMass) CM_plane_ref = copy.copy(CM_ref) CM_plane_ref[1] = 0. P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM, linkInertias) dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses, linkVelocities, dCM, linkAngVelocities, linkInertias) timeReport[1] += time.time() - curTime curTime = time.time() yjc.computeJacobian2(Jsys, DOFs, jointPositions, jointAxeses, linkPositions, allLinkJointMasks) timeReport[2] += time.time() - curTime curTime = time.time() # yjc.computeJacobianDerivative2(dJsys, DOFs, jointPositions, jointAxeses, linkAngVelocities, linkPositions, allLinkJointMasks) if frame > 0: dJsys = (Jsys - JsysPre) * 30. else: dJsys = (Jsys - Jsys) JsysPre = Jsys.copy() timeReport[3] += time.time() - curTime curTime = time.time() bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) CP = yrp.getCP(contactPositions, contactForces) if CP != None: CP[1] = 0. for i in range(len(bodyIDsToCheck)): controlModel.SetBodyColor(bodyIDsToCheck[i], 0, 0, 0, 255) contactFlagFootL = [0] * footPartNum contactFlagFootR = [0] * footPartNum for i in range(len(bodyIDs)): controlModel.SetBodyColor(bodyIDs[i], 255, 105, 105, 200) index = controlModel.id2index(bodyIDs[i]) for j in range(len(indexFootL)): if index == indexFootL[j]: contactFlagFootL[j] = 1 for j in range(len(indexFootR)): if index == indexFootR[j]: contactFlagFootR[j] = 1 for j in range(0, footPartNum): jFootR[j] = Jsys[6 * indexFootR[j]:6 * indexFootR[j] + 6] #.copy() jFootL[j] = Jsys[6 * indexFootL[j]:6 * indexFootL[j] + 6] #.copy() dJFootR[j] = dJsys[6 * indexFootR[j]:6 * indexFootR[j] + 6] #.copy() dJFootL[j] = dJsys[6 * indexFootL[j]:6 * indexFootL[j] + 6] #.copy() if footPartNum == 1: desFCL = (controlModel.getBodyPositionGlobal(supL)) desFCR = (controlModel.getBodyPositionGlobal(supR)) else: r = .5 + desCOMOffset desFCL = (controlModel.getBodyPositionGlobal(indexFootL[0]) * r + controlModel.getBodyPositionGlobal(indexFootL[1]) * (1.0 - r) ) #controlModel.getBodyPositionGlobal(indexFootL[1]) desFCR = (controlModel.getBodyPositionGlobal(indexFootR[0]) * r + controlModel.getBodyPositionGlobal(indexFootR[1]) * (1.0 - r) ) #controlModel.getBodyPositionGlobal(indexFootR[1]) desFC = desFCL + (desFCR - desFCL) / 2.0 desFC[1] = 0 rd_footCenter_des[0] = desFC.copy() curRelCMVec = CM_plane - desFC vecRatio = mm.length(curRelCMVec) * 0. #print(frame, vecRatio) footCenter = desFC - curRelCMVec * (vecRatio) #/10.0 footCenter = ( getBodyGlobalPos(controlModel, motion, 'LeftCalcaneus_1') + getBodyGlobalPos(controlModel, motion, 'LeftPhalange_1') + getBodyGlobalPos(controlModel, motion, 'RightCalcaneus_1') + getBodyGlobalPos(controlModel, motion, 'RightPhalange_1')) / 4. #footCenter = (getBodyGlobalPos(controlModel, motion, 'LeftCalcaneus_1') + getBodyGlobalPos(controlModel, motion, 'LeftTalus_1') + getBodyGlobalPos(controlModel, motion, 'RightCalcaneus_1') + getBodyGlobalPos(controlModel, motion, 'RightTalus_1'))/4. footCenter_ref = refFootL + (refFootR - refFootL) / 2.0 #footCenter_ref[1] = 0. footCenter[1] = 0. footCenterOffset = np.array([ viewer.objectInfoWnd.comOffsetX.value(), 0, viewer.objectInfoWnd.comOffsetZ.value() ]) #footCenter += footCenterOffset vecRatio = mm.length(curRelCMVec) * 0. softConstPointOffset = -curRelCMVec * (vecRatio) #/10.0 #print(frame, vecRatio, softConstPointOffset) desForeSupLAcc = [0, 0, 0] desForeSupRAcc = [0, 0, 0] totalNormalForce = [0, 0, 0] for i in range(len(contactForces)): totalNormalForce[0] += contactForces[i][0] totalNormalForce[1] += contactForces[i][1] totalNormalForce[2] += contactForces[i][2] #print((totalMass*mm.s2v(wcfg.gravity))[1]) footCenterOffset = np.array([ viewer.objectInfoWnd.comOffsetX.value(), viewer.objectInfoWnd.comOffsetY.value(), viewer.objectInfoWnd.comOffsetZ.value() ]) ###################### # optimization terms ###################### # linear momentum CM_ref_plane = footCenter + footCenterOffset dL_des_plane = Kl * totalMass * (CM_ref_plane - CM_plane) - Dl * totalMass * dCM_plane dL_des_plane[1] = Kl * totalMass * (CM_ref[1] + footCenterOffset[1] - CM[1]) - Dl * totalMass * dCM[1] #dL_des_plane[1] = 0. #print 'dL_des_plane', dL_des_plane # angular momentum CP_ref = footCenter + footCenterOffset CP_ref[1] = 0. timeStep = 30. if CP_old[0] == None or CP == None: dCP = None else: dCP = (CP - CP_old[0]) * timeStep CP_old[0] = CP if CP != None and dCP != None: ddCP_des = Kh * (CP_ref - CP) - Dh * (dCP) CP_des = CP + dCP * (1 / timeStep) + .5 * ddCP_des * ( (1 / timeStep)**2) #print 'dCP: ', dCP #print 'ddCP_des: ', ddCP_des #print 'CP_des: ', CP_des #dH_des = np.cross((CP_des - CM), (dL_des_plane + totalMass*mm.s2v(wcfg.gravity))) dH_des = np.cross( (CP_des - CM_plane), (dL_des_plane + totalMass * mm.s2v(wcfg.gravity))) else: dH_des = None # momentum matrix RS = np.dot(P, Jsys) R, S = np.vsplit(RS, 2) rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat) r_bias, s_bias = np.hsplit(rs, 2) flagContact = True if dH_des == None or np.any(np.isnan(dH_des)) == True: flagContact = False #viewer.doc.showRenderer('rd_grf_des', False) #viewer.motionViewWnd.update(1, viewer.doc) #else: #viewer.doc.showRenderer('rd_grf_des', True) #viewer.motionViewWnd.update(1, viewer.doc) ''' 0 : initial 1 : contact 2 : fly 3 : landing ''' #MOTION = FORWARD_JUMP if mit.MOTION == mit.FORWARD_JUMP: frame_index = [136, 100] #frame_index = [100000, 100000] elif mit.MOTION == mit.TAEKWONDO: frame_index = [130, 100] #frame_index = [100000, 100000] elif mit.MOTION == mit.TAEKWONDO2: frame_index = [130 + 40, 100] elif mit.MOTION == mit.WALK: frame_index = [10000, 60] elif mit.MOTION == mit.TIPTOE: frame_index = [1000000, 1000000] #frame_index = [10000, 165] else: frame_index = [1000000, 1000000] #MOTION = TAEKWONDO #frame_index = [135, 100] if frame > frame_index[0]: if stage != POWERFUL_BALANCING: print("#", frame, "-POWERFUL_BALANCING") stage = POWERFUL_BALANCING Kk = Kk * 2 Dk = 2 * (Kk**.5) elif frame > frame_index[1]: if stage != MOTION_TRACKING: print("#", frame, "-MOTION_TRACKING") stage = MOTION_TRACKING trackingW = w #if checkAll(contactFlagFootR, 0) != 1 : if 0: #stage == MOTION_TRACKING: trackingW = w2 #stage = POWERFUL_BALANCING Bt = Bt * 2 # optimization mot.addTrackingTerms(problem, totalDOF, Bt, trackingW, ddth_des_flat) #mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1, q_bias1) if flagContact == True: if stage != MOTION_TRACKING + 10: mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias) #mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias) # using || dH ||^2 instead mot.addAnotherTerms(problem, totalDOF, Bh, S, -(s_bias + Kh * np.dot(S, dth_flat))) a_sup_2 = None Jsup_2 = None dJsup_2 = None ############################## # Hard constraint Kk2 = Kk * 4.0 Dk2 = 2 * (Kk2**.5) ankleW = 0 ankleOffset = ankleW * curRelCMVec[2] metatarW = 0 metatarOffset = metatarW * curRelCMVec[2] ############################## ############################## # Additional constraint if stage != MOTION_TRACKING and frame > 5: # ankle strategy idx = 0 #LEFT/RIGHT_TOES if mit.FOOT_PART_NUM == 1: yOffset = 0.03 else: yOffset = 0.069 #yOffset = 0.06 # ankleOffset = (footCenter - CM_plane)*4. ankleOffset = footCenterOffset * 10. ankleOffset[1] = 0. #ankleOffset[2] = 0. ankleOffset[2] = ankleOffset[2] * 20. ankleOffsetL = ankleOffset.copy() ankleOffsetR = ankleOffset.copy() #ankleOffset= np.array((0,0,0)) if footCenterOffset[0] > 0.0: ankleOffsetL[0] = 0. else: ankleOffsetR[0] = 0. # print 'ankleOffset=', ankleOffset desLinearAccL, desPosL = getDesFootLinearAcc( motionModel, controlModel, indexFootL[idx], ModelOffset, CM_ref, CM, Kk, Dk, yOffset) #0.076) #0.14) desLinearAccR, desPosR = getDesFootLinearAcc( motionModel, controlModel, indexFootR[idx], ModelOffset, CM_ref, CM, Kk, Dk, yOffset) ax = [0, 0, -1] aaa = getBodyGlobalOri(controlModel, motion, 'RightFoot') #print np.dot(aaa, ax) if mit.FOOT_PART_NUM == 1: ax = [0, 1, 0] desAngularAccL = getDesFootAngularAcc( motionModel, controlModel, indexFootL[idx], Kk, Dk, ax, mm.normalize([0, 1, 0] + ankleOffsetL)) desAngularAccR = getDesFootAngularAcc( motionModel, controlModel, indexFootR[idx], Kk, Dk, ax, mm.normalize([0, 1, 0] + ankleOffsetR)) a_sup_2 = np.hstack((np.hstack((desLinearAccL, desAngularAccL)), np.hstack((desLinearAccR, desAngularAccR)))) Jsup_2 = np.vstack((jFootL[idx], jFootR[idx])) dJsup_2 = np.vstack((dJFootL[idx], dJFootR[idx])) #mot.addConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat, a_sup_2) #mot.addConstraint(problem, totalDOF, Jsup_2[:1], dJsup_2[:1], dth_flat, a_sup_2[:1]) #mot.addConstraint(problem, totalDOF, Jsup_2[2:], dJsup_2[2:], dth_flat, a_sup_2[2:]) #mot.addConstraint(problem, totalDOF, Jsup_2[3:], dJsup_2[3:], dth_flat, a_sup_2[3:]) mot.addAnotherTerms(problem, totalDOF, viewer.objectInfoWnd.Bc.value(), Jsup_2[3:], a_sup_2[3:] - np.dot(dJsup_2[3:], dth_flat)) #mot.addAnotherTerms(problem, totalDOF, viewer.objectInfoWnd.Bc.value(), Jsup_2, a_sup_2 - np.dot(dJsup_2, dth_flat)) #mot.addAnotherTerms(problem, totalDOF, 1.*viewer.objectInfoWnd.Bc.value(), Jsup_2[0:1], a_sup_2[0:1] - np.dot(dJsup_2[0:1] , dth_flat)) #mot.addAnotherTerms(problem, totalDOF, 1.*viewer.objectInfoWnd.Bc.value(), Jsup_2[2:], a_sup_2[2:] - np.dot(dJsup_2[2:] , dth_flat)) desCOMOffset = 0.0 rd_DesPosL[0] = desPosL.copy() rd_DesPosR[0] = desPosR.copy() if stage == STATIC_BALANCING and frame > 10: # and False: del rd_desPoints[:] # foot strategy #Kk2 = Kk * 2.5 #Kk2 = Kk * .2 #Dk2 = 2*(Kk2**.5) desForePosL = [0, 0, 0] desForePosR = [0, 0, 0] desRearPosL = [0, 0, 0] desRearPosR = [0, 0, 0] footPartPos = [] footPartPos.append( controlModel.getBodyPositionGlobal( motion[0].skeleton.getJointIndex('LeftCalcaneus_1'))) footPartPos.append( controlModel.getBodyPositionGlobal( motion[0].skeleton.getJointIndex('LeftPhalange_1'))) footPartPos.append( controlModel.getBodyPositionGlobal( motion[0].skeleton.getJointIndex('RightCalcaneus_1'))) footPartPos.append( controlModel.getBodyPositionGlobal( motion[0].skeleton.getJointIndex('RightPhalange_1'))) for i in range(1, footPartNum): contactFlagFootL[i] = 1 contactFlagFootR[i] = 1 SupPts = np.vstack( (np.array((footPartPos[0][0], footPartPos[1][0], footPartPos[2][0], footPartPos[3][0])), np.array( (footPartPos[0][2], footPartPos[1][2], footPartPos[2][2], footPartPos[3][2])), np.array((1., 1., 1., 1.)))) coordWidthLen = 2. coordLengthLen = 1.5 SupUV = np.vstack( (np.array((-coordWidthLen, -coordWidthLen, coordWidthLen, coordWidthLen)), np.array((-coordLengthLen, coordLengthLen, -coordLengthLen, coordLengthLen)), np.array((1., 1., 1., 1.)))) SupMap = np.dot(np.dot(SupUV, SupUV.T), np.linalg.inv(np.dot(SupPts, SupUV.T))) #print SupMap desFootCenter = footCenter + footCenterOffset footCenterPts = np.array((desFootCenter[0], desFootCenter[2], 1)) #print np.dot(SupMap, footCenterPts) #print np.dot(getBodyGlobalOri(controlModel, motion, 'LeftMetatarsal_1'), np.array((0,1,0))) CM_plane_2D = np.array((CM[0], CM[2], 1)) # CM_plane_UV = np.dot(SupMap, CM_plane_2D) CM_plane_UV = np.dot(SupMap, footCenterPts) # print CM_plane_UV # for i in range(1, footPartNum): if CM_plane_UV[1] > .5: # com is in front for i in range(1, 5): contactFlagFootL[i] = 0 contactFlagFootR[i] = 0 elif CM_plane_UV[1] < -.5: # com is back for i in range(3, footPartNum): contactFlagFootL[i] = 0 contactFlagFootR[i] = 0 else: # com is in middle position for i in range(3, 5): contactFlagFootL[i] = 0 contactFlagFootR[i] = 0 contactFlagFoot = contactFlagFootL if CM_plane_UV[0] < 0.: contactFlagFoot = contactFlagFootR # CM_plane_UV[0] = -CM_plane_UV[0] if abs(CM_plane_UV[0]) > 1.: for j in range(0, 3): contactFlagFoot[2 * j + 2] = 0 # print 'footL : ',contactFlagFootL # print 'footR : ',contactFlagFootR for i in range(1, footPartNum): axis = [0, 0, 1] if i == 1 or i == 2: axis = [0, 0, -1] desAng = [0, 0, 1] if i == 1 or i == 2: desAng = [0, 0, -1] desY = 0.029 if contactFlagFootL[i] == 1: desLinearAccL, desForePosL = getDesFootLinearAcc( motionModel, controlModel, indexFootL[i], ModelOffset, CM_ref, CM, Kk2, Dk2, desY) desAngularAccL = getDesFootAngularAcc( motionModel, controlModel, indexFootL[i], Kk2, Dk2, axis, desAng) a_sup_2 = np.hstack((desLinearAccL, desAngularAccL)) Jsup_2 = jFootL[i].copy() dJsup_2 = dJFootL[i].copy() mot.addConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat, a_sup_2) #mot.addAnotherTerms(problem, totalDOF, viewer.objectInfoWnd.Bc.value(), Jsup_2, a_sup_2 - np.dot(dJsup_2, dth_flat)) #mot.addAnotherTerms(problem, totalDOF, viewer.objectInfoWnd.Bc.value(), Jsup_2[3:], a_sup_2[3:] - np.dot(dJsup_2[3:] , dth_flat)) rd_desPoints.append(desForePosL.copy()) if contactFlagFootR[i] == 1: desLinearAccR, desForePosR = getDesFootLinearAcc( motionModel, controlModel, indexFootR[i], ModelOffset, CM_ref, CM, Kk2, Dk2, desY) desAngularAccR = getDesFootAngularAcc( motionModel, controlModel, indexFootR[i], Kk2, Dk2, axis, desAng) a_sup_2 = np.hstack((desLinearAccR, desAngularAccR)) Jsup_2 = jFootR[i].copy() dJsup_2 = dJFootR[i].copy() mot.addConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat, a_sup_2) #mot.addAnotherTerms(problem, totalDOF, viewer.objectInfoWnd.Bc.value(), Jsup_2, a_sup_2 - np.dot(dJsup_2, dth_flat)) #mot.addAnotherTerms(problem, totalDOF, viewer.objectInfoWnd.Bc.value(), Jsup_2[3:], a_sup_2[3:] - np.dot(dJsup_2[3:], dth_flat)) rd_desPoints.append(desForePosR.copy()) rd_DesForePosL[0] = desForePosL rd_DesForePosR[0] = desForePosR rd_DesRearPosL[0] = desRearPosL rd_DesRearPosR[0] = desRearPosR ############################## #if Jsup_2 != None: # mot.addConstraint(problem, totalDOF, Jsup_2, dJsup_2, dth_flat, a_sup_2) timeReport[4] += time.time() - curTime curTime = time.time() #print np.NAN r = problem.solve() #print frame #Ashape = np.shape(problem.A) #if len(Ashape) >0 : # for i in range(0, Ashape[0]): # print problem.A[i] #print problem.A[] #print problem.b #print r problem.clear() #print r['x'] ype.nested(r['x'], ddth_sol) #print ddth_sol rootPos[0] = controlModel.getBodyPositionGlobal(selectedBody) localPos = [[0, 0, 0]] ########################################### ##Jacobian Transpose control # COM Position control #fCom = Wcp*(pHatComDes - pHatCom) + Wcv*(vComDes - vCom) + Wcm*(footCenter_plane - CM_plane) w1 = 10 #10.1 w2 = 1 #1#2*(w1**.5) if frame > 100: w1 = 10.1 #10.1 w2 = 1 footToCMVec = CM - footCenter desCMPos = [footCenter[0], mm.length(footToCMVec), footCenter[2]] #print("desCMPos", desCMPos) #print("CM", CM) fCom = w1 * (desCMPos - CM) + w2 * (-dCM) #print("fCom", fCom) #fCom[0] = 0. #fCom[1] = 0 #fCom[2] = 0 rd_virtualForce[0] = fCom.copy() #hipPos = controlModel.getBodyPositionGlobal(rootB) headPos = controlModel.getBodyPositionGlobal(selectedBody) hipPos = controlModel.getBodyPositionGlobal(rootB) yjc.computeJacobian2(Jcom, DOFs, jointPositions, jointAxeses, [headPos], comUpperJointMasks) #yjc.computeJacobianDerivative2(dJcom, DOFs, jointPositions, jointAxeses, linkAngVelocities, [CM], comUpperJointMasks, False) JcomT = Jcom.T TauJT = np.dot(JcomT, fCom) # Angular Momentum Hc = ymt.getAngularMomentum(CM, linkInertias, linkAngVelocities, linkPositions, linkMasses, linkVelocities) Href = ymt.getAngularMomentum(CM_ref, linkInertias_ref, linkAngVelocities_ref, linkPositions_ref, linkMasses, linkVelocities_ref) Wam = .05 Tam = Wam * (Href - Hc) #print("Tam", Tam) yjc.computeAngJacobian2(JcomAng, DOFs, jointPositions, jointAxeses, [headPos], comUpperJointMasks) TauAM = np.dot(JcomAng.T, Tam) timeReport[5] += time.time() - curTime curTime = time.time() for i in range(stepsPerFrame): # apply penalty force bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) #print frame, bodyIDs, contactPositions, contactPositionLocals, contactForces vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) extraForce[0] = viewer.GetForce() if (extraForce[0][0] != 0 or extraForce[0][1] != 0 or extraForce[0][2] != 0): forceApplyFrame += 1 #vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce) controlModel.applyBodyForceGlobal(selectedBody, extraForce[0]) applyedExtraForce[0] = extraForce[0] if forceApplyFrame * wcfg.timeStep > 0.1: viewer.ResetForce() forceApplyFrame = 0 #print ddth_sol controlModel.setDOFAccelerations(ddth_sol) controlModel.solveHybridDynamics() ''' if (frame > 5): tau = controlModel.getJointTorqueLocal(indexFootL[3]) tau2 = controlModel.getJointTorqueLocal(indexFootL[4]) tau3 = controlModel.getJointTorqueLocal(indexFootR[3]) tau4 = controlModel.getJointTorqueLocal(indexFootR[4]) torques = controlModel.getInternalJointTorquesLocal() if (frame > 100 and frame < 110) or (frame > 165 and frame < 190): Wcal1 = 0.05 Wcal2 = 0.05 dC = fCom[2]*Wcal1-dCM[2]*Wcal2 print("dC", dC) torques[indexFootL[5]-1]+= (dC, 0.0, 0.0) torques[indexFootR[5]-1]+= (dC, 0.0, 0.0) if (frame > 50 and frame < 75) or (frame > 110 and frame <140) or (frame > 185 and frame < 220): metatarR = [controlModel.getBodyOrientationGlobal(indexFootL[1])] phalangeR = [controlModel.getBodyOrientationGlobal(indexFootL[3])] metatarR2 = np.dot(metatarR, np.array([0,0,1])) phalangeR2 = np.dot(phalangeR, np.array([0,0,1])) metatarRZ = mm.normalize(metatarR2[0]) phalangeRZ = mm.normalize(phalangeR2[0]) lean = np.dot(metatarRZ, phalangeRZ) Wlean = 2 dt = -0.02*(lean)*Wlean torques[indexFootL[3]-1]+= (dt, 0.0, 0.0) torques[indexFootL[4]-1]+= (dt, 0.0, 0.0) torques[indexFootR[3]-1]+= (dt, 0.0, 0.0) torques[indexFootR[4]-1]+= (dt, 0.0, 0.0) i = 0 t = 6 while t < len(TauJT) : torques[i] += (TauJT[t]+TauAM[t], TauJT[t+1]+TauAM[t+1], TauJT[t+2]+TauAM[t+2]) i+=1 t+=3 #totalTorques = [a + b for a, b in zip(torques, TauJT)] #print("torques2", torques) #print("TauJT", TauJT[16], TauJT[17], TauJT[18]) #print("torques", torques[16]) #print("totalTorques", totalTorques[16]) controlModel.setInternalJointTorquesLocal(torques) ''' ''' extraForce[0] = viewer.GetForce() if (extraForce[0][0] != 0 or extraForce[0][1] != 0 or extraForce[0][2] != 0) : forceApplyFrame += 1 vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce) applyedExtraForce[0] = extraForce[0] if forceApplyFrame*wcfg.timeStep > 0.1: viewer.ResetForce() forceApplyFrame = 0 ''' vpWorld.step() if frame % 30 == 0: print 'elapsed time for 30 frames:', time.time() - pt[0] # rendering rd_footCenter[0] = footCenter rd_CM[0] = CM.copy() rd_CM_plane[0] = CM_plane.copy() rd_footCenter_ref[0] = footCenter_ref rd_CM_plane_ref[0] = CM_ref.copy() rd_CM_ref[0] = CM_ref.copy() rd_CM_ref_vec[0] = (CM_ref - footCenter_ref) * 3. rd_CM_vec[0] = (CM - CM_plane) rd_CM_des[0] = CM_ref_plane.copy() rd_CM_des[0][1] = .01 #rd_CM_plane[0][1] = 0. if CP != None and dCP != None: rd_CP[0] = CP rd_CP_des[0] = CP_des rd_dL_des_plane[0] = dL_des_plane rd_dH_des[0] = dH_des rd_grf_des[ 0] = totalNormalForce # - totalMass*mm.s2v(wcfg.gravity)#dL_des_plane - totalMass*mm.s2v(wcfg.gravity) rd_exf_des[0] = applyedExtraForce[0] rd_root_des[0] = rootPos[0] rd_CMP[0] = softConstPoint rd_soft_const_vec[0] = controlModel.getBodyPositionGlobal( constBody) - softConstPoint #indexL = motion[0].skeleton.getJointIndex('Hips') #indexR = motion[0].skeleton.getJointIndex('Spine1') indexL = indexFootL[0] indexR = indexFootR[0] curAng = [controlModel.getBodyOrientationGlobal(indexL)] curAngY = np.dot(curAng, np.array([0, 0, 1])) rd_footL_vec[0] = np.copy(curAngY[0]) rd_footCenterL[0] = controlModel.getBodyPositionGlobal(indexL) curAng = [controlModel.getBodyOrientationGlobal(indexR)] curAngY = np.dot(curAng, np.array([0, 0, 1])) rd_footR_vec[0] = np.copy(curAngY[0]) rd_footCenterR[0] = controlModel.getBodyPositionGlobal(indexR) if (forceApplyFrame == 0): applyedExtraForce[0] = [0, 0, 0] timeReport[6] += time.time() - curTime # print timeReport viewer.setSimulateCallback(simulateCallback) viewer.startTimer(1 / 30.) viewer.show() Fl.run()
def simulation_test(): Kt = 20. Dt = 2 * (Kt**.5) Ks = 2000. Ds = 2 * (Ks**.5) mu = 1. dir = './icmotion_last/' filename = 'stop_left_normal.temp' # filename = 'left_left_normal.temp' # filename = 'right_left_fast.temp' motion_ori = yf.readBvhFile(dir + filename) frameTime = 1 / motion_ori.fps motion_ori[0:0] = [motion_ori[0]] * 20 mcfgfile = open(dir + 'mcfg', 'rb') mcfg = pickle.load(mcfgfile) mcfgfile.close() wcfg = ypc.WorldConfig() wcfg.planeHeight = 0. wcfg.useDefaultContactModel = False # wcfg.lockingVel = c_locking_vel stepsPerFrame = 30 wcfg.timeStep = (frameTime) / stepsPerFrame vpWorld = cvw.VpWorld(wcfg) motionModel = cvm.VpMotionModel(vpWorld, motion_ori[0], mcfg) controlModel = cvm.VpControlModel(vpWorld, motion_ori[0], mcfg) vpWorld.initialize() print(controlModel) controlModel.initializeHybridDynamics() bodyIDsToCheck = range(vpWorld.getBodyNum()) mus = [mu] * len(bodyIDsToCheck) viewer = ysv.SimpleViewer() # viewer.record(False) # viewer.doc.addRenderer('motion_ori', yr.JointMotionRenderer(motion_ori, (0,100,255), yr.LINK_BONE)) viewer.doc.addObject('motion_ori', motion_ori) viewer.doc.addRenderer( 'motionModel', cvr.VpModelRenderer(motionModel, (0, 150, 255), yr.POLYGON_LINE)) viewer.doc.addRenderer( 'controlModel', cvr.VpModelRenderer(controlModel, (200, 200, 200), yr.POLYGON_LINE)) def simulateCallback(frame): th_r = motion_ori.getDOFPositions(frame) th = controlModel.getDOFPositions() dth_r = motion_ori.getDOFVelocities(frame) dth = controlModel.getDOFVelocities() ddth_r = motion_ori.getDOFAccelerations(frame) ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt) for i in range(stepsPerFrame): bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) controlModel.setDOFAccelerations(ddth_des) controlModel.solveHybridDynamics() vpWorld.step() motionModel.update(motion_ori[frame]) viewer.setSimulateCallback(simulateCallback) viewer.startTimer(frameTime / 1.4) viewer.show() Fl.run()
def preprocess(SEGMENT_FOOT=False): tasks = [] outputDir = './ppmotion/' dir = '../Data/woody2/Motion/Physics2/' config = None if SEGMENT_FOOT: # segmented foot config = { 'repeat': True, 'footRot': mm.rotX(.07), 'yOffset': 0., 'halfFootHeight': 0.0944444444444, 'scale': .01, 'type': 'woody2' } else: # box foot config = { 'repeat': True, 'footRot': mm.rotX(-.4), 'yOffset': 0., 'halfFootHeight': 0.0444444444444, 'scale': .01, 'type': 'woody2' } paths = [] paths.append(dir + 'wd2_WalkSameSame01.bvh') paths.append(dir + 'wd2_WalkForwardSlow01.bvh') paths.append(dir + 'wd2_WalkForwardNormal00.bvh') paths.append(dir + 'wd2_WalkHandWav00.bvh') paths.append(dir + 'wd2_WalkForwardFast00.bvh') paths.append(dir + 'wd2_WalkForwardVFast00.bvh') paths.append(dir + 'wd2_WalkLean00.bvh') paths.append(dir + 'wd2_WalkAzuma01.bvh') paths.append(dir + 'wd2_WalkSoldier00.bvh') paths.append(dir + 'wd2_WalkSukiko00.bvh') # paths.append(dir+'wd2_WalkBackward00.bvh') paths.append(dir + 'wd2_WalkTongTong00.bvh') tasks.append({'config': config, 'paths': paths}) ## # dir = '../Data/woody2/Motion/Balancing/' # config = {'footRot': mm.exp(mm.v3(1,-.5,0), -.6), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01, 'type':'woody2'} # paths = [] # paths.append(dir+'wd2_2foot_walk_turn.bvh') # paths.append(dir+'wd2_2foot_walk_turn2.bvh') # paths.append(dir+'wd2_slow_2foot_hop.bvh') # paths.append(dir+'wd2_short_broad_jump.bvh') # paths.append(dir+'wd2_long_broad_jump.bvh') # paths.append(dir+'wd2_ffast_cancan_run.bvh') # paths.append(dir+'wd2_fast_cancan_run.bvh') # paths.append(dir+'wd2_fast_2foot_hop.bvh') # paths.append(dir+'wd2_1foot_contact_run.bvh') # paths.append(dir+'wd2_1foot_contact_run2.bvh') ## tasks.append({'config':config, 'paths':paths}) # ## dir = '../Data/woody2/Motion/Samsung/' ## config = {'footRot': mm.rotX(-.46), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01*2.54, 'type':'woody2amc'} ## paths = [] ## paths.append(dir+'wd2_left_turn.bvh') ## paths.append(dir+'wd2_right_turn.bvh') ## paths.append(dir+'wd2_pose_inner1.bvh') ## paths.append(dir+'wd2_pose_inner2.bvh') ## tasks.append({'config':config, 'paths':paths}) # # dir = '../Data/woody2/Motion/Picking/' # config = {'footRot': mm.rotX(-.5), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01, 'type':'woody2'} # paths = [] # paths.append(dir+'wd2_pick_walk_1.bvh') ## tasks.append({'config':config, 'paths':paths}) # # dir = '../Data/woody2/Motion/VideoMotion/' # config = {'footRot': mm.rotX(-.48), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01*2.54, 'type':'woody2amc'} ## paths = glob.glob(dir+'*.bvh') # paths = [] # paths.append(dir+'wd2_cross_walk_90d_fast_27.bvh') ## tasks.append({'config':config, 'paths':paths}) # # dir = '../Data/woody2/Motion/Walking/' # config = {'footRot': mm.rotX(-.40), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01*2.54, 'type':'woody2amc'} # paths = glob.glob(dir+'*.bvh') ## tasks.append({'config':config, 'paths':paths}) # ## dir = '../Data/woody2/Motion/samsung_boxing/round/' ## config = {'footRot': mm.rotX(-.65), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01*2.54, 'type':'woody2amc'} ## paths = glob.glob(dir+'*.bvh') ## tasks.append({'config':config, 'paths':paths}) # ## dir = '../Data/woody2/Motion/samsung_boxing/boxman/' ## config = {'footRot': mm.rotX(-.5), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01*2.54, 'type':'woody2amc'} ## paths = glob.glob(dir+'*.bvh') ## tasks.append({'config':config, 'paths':paths}) # # dir = '../Data/woody2/Motion/motion_edit/' # config = {'footRot': mm.rotX(-.5), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01*2.54, 'type':'woody2amc'} # paths = glob.glob(dir+'*.bvh') ## tasks.append({'config':config, 'paths':paths}) # ## outputDir = './icmotion_test/' ## dir = './rawmotion/' ## config = {'footRot': mm.rotX(-.5), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':1., 'type':'woody2_new'} ## paths = glob.glob(dir+'*.temp') ## tasks.append({'config':config, 'paths':paths}) # # outputDir = './icmotion_last/' # dir = './lastmotion/add/' ## config = {'rootRot':mm.rotZ(.05), 'footRot': mm.rotX(-.5), 'leftFootR':mm.rotZ(-.1), \ # config = {'rootRot':mm.rotZ(.0), 'footRot': np.dot(mm.rotX(-.5), mm.rotZ(.04)), 'leftFootR':mm.rotZ(-.2), \ # 'halfFootHeight': 0.0444444444444, 'scale':1., 'type':'woody2_new'} # paths = glob.glob(dir+'*.temp') # tasks.append({'config':config, 'paths':paths}) # outputDir = './ppmotion_slope/' # dir = './rawmotion_slope_extracted/' # config = {'rootRot':mm.rotZ(.0), 'footRot': np.dot(mm.rotX(-.55), mm.rotZ(.04)), 'leftFootR':mm.rotZ(-.2), \ # 'halfFootHeight': 0.0444444444444, 'scale':1., 'type':'woody2_new'} # paths = glob.glob(dir+'*.bvh') # tasks.append({'config':config, 'paths':paths}) VISUALIZE = False for task in tasks: config = task['config'] paths = task['paths'] for path in paths: motion = yf.readBvhFile(path) normalizeSkeleton(motion, config) adjustHeight(motion, config['halfFootHeight']) additionalEdit(motion, path) outputPath = outputDir + os.path.basename(path) if SEGMENT_FOOT: outputPath = outputDir + "segfoot_" + os.path.basename(path) yf.writeBvhFile(outputPath, motion) print(outputPath, 'done') if 'repeat' in config and config['repeat']: hRef = .1 vRef = .3 lc = yma.getElementContactStates(motion, 'LeftFoot', hRef, vRef) interval = yba.getWalkingCycle2(motion, lc) transitionLength = 20 if 'wd2_WalkAzuma01.bvh' in path else 10 motion = ymt.repeatCycle(motion, interval, 50, transitionLength) outputName = os.path.splitext( os.path.basename(path))[0] + '_REPEATED.bvh' outputPath = outputDir + outputName if SEGMENT_FOOT: outputPath = outputDir + 'segfoot_' + outputName yf.writeBvhFile(outputPath, motion) print(outputPath, 'done') if VISUALIZE: viewer = ysv.SimpleViewer() viewer.record(False) viewer.doc.addRenderer( 'motion', yr.JointMotionRenderer(motion, (0, 100, 255), yr.LINK_LINE)) viewer.doc.addObject('motion', motion) viewer.startTimer(1 / 30.) viewer.show() Fl.run() print('FINISHED')
def preprocess(SEGMENT_FOOT=False): tasks = [] outputDir = './ppmotion/' if SEGMENT_FOOT: outputDir = './ppmotion_segfoot/' dir = './ori_motion/' config = None if SEGMENT_FOOT: # segmented foot # config = {'repeat':False, 'footRot': mm.rotX(.07), 'yOffset':0., 'halfFootHeight': 0.0944444444444, 'scale':.01, 'type':'woody2'} config = { 'repeat': False, 'footRot': mm.rotX(-.07), 'yOffset': 0., 'halfFootHeight': 0.0944444444444, 'scale': .01, 'type': 'woody2' } else: # box foot config = { 'repeat': False, 'footRot': mm.rotX(-.4), 'yOffset': 0., 'halfFootHeight': 0.0444444444444, 'scale': .01, 'type': 'woody2' } paths = [] # rotX = -0.07 paths.append(dir + 'wd2_1foot_contact_run2_edit.bvh') paths.append(dir + 'wd2_fast_2foot_hop_edit.bvh') paths.append(dir + 'wd2_long_broad_jump_edit.bvh') paths.append(dir + 'wd2_n_kick_edit.bvh') paths.append(dir + 'wd2_short_broad_jump_edit.bvh') paths.append(dir + 'wd2_slow_2foot_hop_edit.bvh') # rotX = 0.07 # paths.append(dir+'wd2_boxing_round_round_girl1_edit.bvh') # paths.append(dir+'wd2_u-turn_edit.bvh') tasks.append({'config': config, 'paths': paths}) VISUALIZE = False for task in tasks: config = task['config'] paths = task['paths'] for path in paths: motion = yf.readBvhFile(path) normalizeSkeleton(motion, config) adjustHeight(motion, config['halfFootHeight']) additionalEdit(motion, path) outputPath = outputDir + os.path.basename(path) if SEGMENT_FOOT: outputPath = outputDir + "segfoot_" + os.path.basename(path) yf.writeBvhFile(outputPath, motion) print(outputPath, 'done') if 'repeat' in config and config['repeat']: hRef = .1 vRef = .3 lc = yma.getElementContactStates(motion, 'LeftFoot', hRef, vRef) interval = yba.getWalkingCycle2(motion, lc) transitionLength = 20 if 'wd2_WalkAzuma01.bvh' in path else 10 motion = ymt.repeatCycle(motion, interval, 50, transitionLength) outputName = os.path.splitext( os.path.basename(path))[0] + '_REPEATED.bvh' outputPath = outputDir + outputName if SEGMENT_FOOT: outputPath = outputDir + 'segfoot_' + outputName yf.writeBvhFile(outputPath, motion) print(outputPath, 'done') if VISUALIZE: viewer = ysv.SimpleViewer() viewer.record(False) viewer.doc.addRenderer( 'motion', yr.JointMotionRenderer(motion, (0, 100, 255), yr.LINK_LINE)) viewer.doc.addObject('motion', motion) viewer.startTimer(1 / 30.) viewer.show() Fl.run() print('FINISHED')