def sample_target(self):
angle = 2. * pi * random()
radius = 5. * random()
self.goal_in_world_frame = self.skel.body(0).to_world() + radius * (
cos(angle) * mm.unitX() - sin(angle) * mm.unitZ())
self.goal_in_world_frame[1] = 0.
def fix_dofs(_DOFs, nested_dof_values, _mcfg, _joint_names):
fixed_nested_dof_values = list()
fixed_nested_dof_values.append(nested_dof_values[0])
for i in range(1, len(_DOFs)):
dof = _DOFs[i]
if dof == 1:
node = _mcfg.getNode(_joint_names[i])
axis = mm.unitZ()
if node.jointAxes[0] == 'X':
axis = mm.unitX()
elif node.jointAxes[0] == 'Y':
axis = mm.unitY()
fixed_nested_dof_values.append(np.array([np.dot(nested_dof_values[i], axis)]))
else:
fixed_nested_dof_values.append(nested_dof_values[i])
return fixed_nested_dof_values
def preFrameCallback_Always(frame):
# print(mm.rad2Deg(math.pi/6.*math.sin((frame-30)*math.pi/180.)))
if frame <= start_frame:
vpWorld.set_plane(0, mm.unitY(), np.zeros(3))
if frame > start_frame:
if math.sin((frame - start_frame) / 360. * math.pi) > 0.:
if frame < start_frame + 50:
setParamVal(
'com Z offset', 0.02 *
math.sin(2. * (frame - start_frame) / 360. * math.pi))
else:
setParamVal('com Z offset', 0.0)
if math.sin((frame - start_frame) / 360. * math.pi) > 0.:
foot_viewer.check_not_all_seg()
foot_viewer.check_tiptoe_all()
setParamVal(
'tiptoe angle',
mm.deg2Rad(10.) * math.sin(
(frame - start_frame) / 360. * math.pi))
# foot_viewer.check_h_l.value(False)
# foot_viewer.check_h_r.value(False)
else:
foot_viewer.check_all_seg()
# foot_viewer.check_tiptoe_all()
# foot_viewer.check_h_l.value(True)
# foot_viewer.check_h_r.value(True)
vpWorld.set_plane(
0,
np.dot(
mm.exp(
-mm.unitX(),
mm.deg2Rad(10.) * math.sin(
(frame - start_frame) / 360. * math.pi)),
mm.unitY()), np.zeros(3))
plane_list = vpWorld.get_plane_list()
plane_normal = plane_list[0][0]
plane_origin = plane_list[0][1]
viewer.motionViewWnd.glWindow.pOnPlaneshadow = plane_origin + plane_normal * 0.001
viewer.motionViewWnd.glWindow.normalshadow = plane_normal
def simulateCallback(frame):
# print(frame)
# print(motion[frame].getJointOrientationLocal(footIdDic['RightFoot_foot_0_1_0']))
# hfi.footAdjust(motion[frame], idDic, SEGMENT_FOOT_MAG=.03, SEGMENT_FOOT_RAD=.015, baseHeight=0.02)
if abs(getParamVal('tiptoe angle')) > 0.001:
tiptoe_angle = getParamVal('tiptoe angle')
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_0_0'],
mm.exp(mm.unitX(), -math.pi * tiptoe_angle))
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_1_0'],
mm.exp(mm.unitX(), -math.pi * tiptoe_angle))
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_0_0_0'],
mm.exp(mm.unitX(), -math.pi * tiptoe_angle))
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_0_1_0'],
mm.exp(mm.unitX(), -math.pi * tiptoe_angle))
# motion[frame].mulJointOrientationLocal(idDic['LeftFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95))
# motion[frame].mulJointOrientationLocal(idDic['RightFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95))
# motion[frame].mulJointOrientationLocal(idDic['LeftFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle))
# motion[frame].mulJointOrientationLocal(idDic['RightFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle))
if getParamVal('left tilt angle') > 0.001:
left_tilt_angle = getParamVal('left tilt angle')
if motion[0].skeleton.getJointIndex(
'LeftFoot_foot_0_1') is not None:
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_1'],
mm.exp(mm.unitZ(), -math.pi * left_tilt_angle))
else:
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_1_0'],
mm.exp(mm.unitZ(), -math.pi * left_tilt_angle))
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot'], mm.exp(mm.unitZ(),
math.pi * left_tilt_angle))
elif getParamVal('left tilt angle') < -0.001:
left_tilt_angle = getParamVal('left tilt angle')
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_0'],
mm.exp(mm.unitZ(), -math.pi * left_tilt_angle))
if motion[0].skeleton.getJointIndex(
'LeftFoot_foot_0_1') is not None:
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_1'],
mm.exp(mm.unitZ(), math.pi * left_tilt_angle))
else:
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_1_0'],
mm.exp(mm.unitZ(), math.pi * left_tilt_angle))
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot'], mm.exp(mm.unitZ(),
math.pi * left_tilt_angle))
if getParamVal('right tilt angle') > 0.001:
right_tilt_angle = getParamVal('right tilt angle')
if motion[0].skeleton.getJointIndex(
'RightFoot_foot_0_1') is not None:
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_0_1'],
mm.exp(mm.unitZ(), math.pi * right_tilt_angle))
else:
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_0_1_0'],
mm.exp(mm.unitZ(), math.pi * right_tilt_angle))
motion[frame].mulJointOrientationLocal(
idDic['RightFoot'],
mm.exp(mm.unitZ(), -math.pi * right_tilt_angle))
elif getParamVal('right tilt angle') < -0.001:
right_tilt_angle = getParamVal('right tilt angle')
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_0_0'],
mm.exp(mm.unitZ(), math.pi * right_tilt_angle))
if motion[0].skeleton.getJointIndex(
'RightFoot_foot_0_1') is not None:
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_0_1'],
mm.exp(mm.unitZ(), -math.pi * right_tilt_angle))
# else:
# motion[frame].mulJointOrientationLocal(idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle))
motion[frame].mulJointOrientationLocal(
idDic['RightFoot'],
mm.exp(mm.unitZ(), -math.pi * right_tilt_angle))
motionModel.update(motion[frame])
motionModel.translateByOffset(
np.array([
getParamVal('com X offset'),
getParamVal('com Y offset'),
getParamVal('com Z offset')
]))
controlModel_ik.set_q(controlModel.get_q())
global g_initFlag
global forceShowTime
global JsysPre
global JsupPreL
global JsupPreR
global JconstPre
global preFootCenter
global maxContactChangeCount
global contactChangeCount
global contact
global contactChangeType
Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals(
['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt'])
Dt = 2 * (Kt**.5)
Dl = 2 * (Kl**.5)
Dh = 2 * (Kh**.5)
dt_sup = 2 * (kt_sup**.5)
# 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)
# ype.flatten(fix_dofs(DOFs, ddth_des, mcfg, joint_names), ddth_des_flat)
# ype.flatten(fix_dofs(DOFs, dth, mcfg, joint_names), dth_flat)
ype.flatten(ddth_des, ddth_des_flat)
ype.flatten(dth, dth_flat)
#################################################
# jacobian
#################################################
contact_des_ids = list() # desired contact segments
if foot_viewer.check_om_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0'))
if foot_viewer.check_op_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0_0'))
if foot_viewer.check_im_l is not None and foot_viewer.check_im_l.value(
):
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1'))
if foot_viewer.check_ip_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1_0'))
if foot_viewer.check_h_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_1_0'))
if foot_viewer.check_om_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_0'))
if foot_viewer.check_op_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_0_0'))
if foot_viewer.check_im_r is not None and foot_viewer.check_im_r.value(
):
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_1'))
if foot_viewer.check_ip_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_1_0'))
if foot_viewer.check_h_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_1_0'))
contact_ids = list() # temp idx for balancing
contact_ids.extend(contact_des_ids)
contact_joint_ori = list(
map(controlModel.getJointOrientationGlobal, contact_ids))
contact_joint_pos = list(
map(controlModel.getJointPositionGlobal, contact_ids))
contact_body_ori = list(
map(controlModel.getBodyOrientationGlobal, contact_ids))
contact_body_pos = list(
map(controlModel.getBodyPositionGlobal, contact_ids))
contact_body_vel = list(
map(controlModel.getBodyVelocityGlobal, contact_ids))
contact_body_angvel = list(
map(controlModel.getBodyAngVelocityGlobal, contact_ids))
ref_joint_ori = list(
map(motion[frame].getJointOrientationGlobal, contact_ids))
ref_joint_pos = list(
map(motion[frame].getJointPositionGlobal, contact_ids))
ref_joint_vel = [
motion.getJointVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_joint_angvel = [
motion.getJointAngVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_body_ori = list(
map(motionModel.getBodyOrientationGlobal, contact_ids))
ref_body_pos = list(map(motionModel.getBodyPositionGlobal,
contact_ids))
# ref_body_vel = list(map(controlModel.getBodyVelocityGlobal, contact_ids))
ref_body_angvel = [
motion.getJointAngVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_body_vel = [
ref_joint_vel[i] +
np.cross(ref_joint_angvel[i], ref_body_pos[i] - ref_joint_pos[i])
for i in range(len(ref_joint_vel))
]
is_contact = [1] * len(contact_ids)
contact_right = len(set(contact_des_ids).intersection(rIDlist)) > 0
contact_left = len(set(contact_des_ids).intersection(lIDlist)) > 0
contMotionOffset = th[0][0] - th_r[0][0]
linkPositions = controlModel.getBodyPositionsGlobal()
linkVelocities = controlModel.getBodyVelocitiesGlobal()
linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal()
linkInertias = controlModel.getBodyInertiasGlobal()
CM = yrp.getCM(linkPositions, linkMasses, totalMass)
dCM = yrp.getCM(linkVelocities, linkMasses, totalMass)
CM_plane = copy.copy(CM)
CM_plane[1] = 0.
dCM_plane = copy.copy(dCM)
dCM_plane[1] = 0.
P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM,
linkInertias)
dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses,
linkVelocities, dCM,
linkAngVelocities,
linkInertias)
# calculate jacobian
Jsys, dJsys = controlModel.computeCom_J_dJdq()
J_contacts = [] # type: list[np.ndarray]
dJ_contacts = [] # type: list[np.ndarray]
for contact_id in contact_ids:
J_contacts.append(Jsys[6 * contact_id:6 * contact_id + 6, :])
dJ_contacts.append(dJsys[6 * contact_id:6 * contact_id + 6])
# calculate footCenter
footCenter = sum(contact_body_pos) / len(contact_body_pos) if len(contact_body_pos) > 0 \
else .5 * (controlModel.getBodyPositionGlobal(supL) + controlModel.getBodyPositionGlobal(supR))
footCenter[1] = 0.
# if len(contact_body_pos) > 2:
# hull = ConvexHull(contact_body_pos)
footCenter_ref = sum(ref_body_pos) / len(ref_body_pos) if len(ref_body_pos) > 0 \
else .5 * (motionModel.getBodyPositionGlobal(supL) + motionModel.getBodyPositionGlobal(supR))
footCenter_ref = footCenter_ref + contMotionOffset
# if len(ref_body_pos) > 2:
# hull = ConvexHull(ref_body_pos)
footCenter_ref[1] = 0.
# footCenter[0] = footCenter[0] + getParamVal('com X offset')
# footCenter[1] = footCenter[0] + getParamVal('com Y offset')
# footCenter[2] = footCenter[2] + getParamVal('com Z offset')
# initialization
if g_initFlag == 0:
preFootCenter[0] = footCenter.copy()
g_initFlag = 1
# if contactChangeCount == 0 and np.linalg.norm(footCenter - preFootCenter[0]) > 0.01:
# contactChangeCount += 30
if contactChangeCount > 0:
# change footcenter gradually
footCenter = preFootCenter[0] + (
maxContactChangeCount - contactChangeCount) * (
footCenter - preFootCenter[0]) / maxContactChangeCount
else:
preFootCenter[0] = footCenter.copy()
# linear momentum
# TODO:
# We should consider dCM_ref, shouldn't we?
# add getBodyPositionGlobal and getBodyPositionsGlobal in csVpModel!
# to do that, set joint velocities to vpModel
CM_ref_plane = footCenter
# CM_ref_plane = footCenter_ref
CM_ref = footCenter + np.array([
getParamVal('com X offset'),
motionModel.getCOM()[1] + getParamVal('com Y offset'),
getParamVal('com Z offset')
])
dL_des_plane = Kl * totalMass * (CM_ref - CM) - Dl * totalMass * dCM
# dL_des_plane = Kl * totalMass * (CM_ref_plane - CM_plane) - Dl * totalMass * dCM_plane
# dL_des_plane[1] = 0.
# print('dCM_plane : ', np.linalg.norm(dCM_plane))
# angular momentum
CP_ref = footCenter
# CP_ref = footCenter_ref
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
CP = yrp.getCP(contactPositions, contactForces)
if CP_old[0] is None or CP is None:
dCP = None
else:
dCP = (CP - CP_old[0]) / (1 / 30.)
CP_old[0] = CP
if CP is not None and dCP is not None:
ddCP_des = Kh * (CP_ref - CP) - Dh * dCP
dCP_des = dCP + ddCP_des * (1 / 30.)
CP_des = CP + dCP_des * (1 / 30.)
# CP_des = footCenter
CP_des = CP + dCP * (1 / 30.) + .5 * ddCP_des * ((1 / 30.)**2)
dH_des = np.cross(
(CP_des - CM),
(dL_des_plane + totalMass * mm.s2v(wcfg.gravity)))
if contactChangeCount > 0: # and contactChangeType == 'DtoS':
dH_des *= (maxContactChangeCount -
contactChangeCount) / maxContactChangeCount
else:
dH_des = None
# convex hull
contact_pos_2d = np.asarray([
np.array([contactPosition[0], contactPosition[2]])
for contactPosition in contactPositions
])
p = np.array([CM_plane[0], CM_plane[2]])
# hull = None # type: Delaunay
# if contact_pos_2d.shape[0] > 0:
# hull = Delaunay(contact_pos_2d)
# print(hull.find_simplex(p) >= 0)
# set up equality constraint
# TODO:
# logSO3 is just q'', not acceleration.
# To make a_oris acceleration, q'' -> a will be needed
# body_ddqs = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori]))
# body_ddqs = list(map(mm.logSO3, [np.dot(contact_body_ori[i].T, np.dot(ref_body_ori[i], mm.getSO3FromVectors(np.dot(ref_body_ori[i], mm.unitY()), mm.unitY()))) for i in range(len(contact_body_ori))]))
# body_ddqs = list(map(mm.logSO3, [np.dot(contact_body_ori[i].T, np.dot(ref_body_ori[i], mm.getSO3FromVectors(np.dot(ref_body_ori[i], up_vec_in_each_link[contact_ids[i]]), mm.unitY()))) for i in range(len(contact_body_ori))]))
a_oris = list(
map(mm.logSO3, [
np.dot(
contact_body_ori[i].T,
np.dot(
ref_body_ori[i],
mm.getSO3FromVectors(
np.dot(ref_body_ori[i],
up_vec_in_each_link[contact_ids[i]]),
mm.unitY()))) for i in range(len(contact_body_ori))
]))
a_oris = list(
map(mm.logSO3, [
np.dot(
np.dot(
ref_body_ori[i],
mm.getSO3FromVectors(
np.dot(ref_body_ori[i],
up_vec_in_each_link[contact_ids[i]]),
mm.unitY())), contact_body_ori[i].T)
for i in range(len(contact_body_ori))
]))
body_qs = list(map(mm.logSO3, contact_body_ori))
body_angs = [
np.dot(contact_body_ori[i], contact_body_angvel[i])
for i in range(len(contact_body_ori))
]
body_dqs = [
mm.vel2qd(body_angs[i], body_qs[i]) for i in range(len(body_angs))
]
# a_oris = [np.dot(contact_body_ori[i], mm.qdd2accel(body_ddqs[i], body_dqs[i], body_qs[i])) for i in range(len(contact_body_ori))]
# body_ddq = body_ddqs[0]
# body_ori = contact_body_ori[0]
# body_ang = np.dot(body_ori.T, contact_body_angvel[0])
#
# body_q = mm.logSO3(body_ori)
# body_dq = mm.vel2qd(body_ang, body_q)
# a_ori = np.dot(body_ori, mm.qdd2accel(body_ddq, body_dq, body_q))
KT_SUP = np.diag([kt_sup / 10., kt_sup, kt_sup / 10.])
# KT_SUP = np.diag([kt_sup, kt_sup, kt_sup])
# a_oris = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori]))
# a_oris = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(contact_body_ori[i], up_vec_in_each_link[contact_ids[i]]), mm.unitY()) for i in range(len(contact_body_ori))]))
# a_sups = [np.append(kt_sup*(ref_body_pos[i] - contact_body_pos[i] + contMotionOffset) + dt_sup*(ref_body_vel[i] - contact_body_vel[i]),
# kt_sup*a_oris[i]+dt_sup*(ref_body_angvel[i]-contact_body_angvel[i])) for i in range(len(a_oris))]
# a_sups = [np.append(kt_sup*(ref_body_pos[i] - contact_body_pos[i] + contMotionOffset) - dt_sup * contact_body_vel[i],
# kt_sup*a_oris[i] - dt_sup * contact_body_angvel[i]) for i in range(len(a_oris))]
a_sups = [
np.append(
np.dot(KT_SUP,
(ref_body_pos[i] - contact_body_pos[i] +
contMotionOffset)) - dt_sup * contact_body_vel[i],
kt_sup * a_oris[i] - dt_sup * contact_body_angvel[i])
for i in range(len(a_oris))
]
# for i in range(len(a_sups)):
# a_sups[i][1] = -kt_sup * contact_body_pos[i][1] - dt_sup * contact_body_vel[i][1]
# momentum matrix
RS = np.dot(P, Jsys)
R, S = np.vsplit(RS, 2)
# rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat)
rs = np.dot(dP, np.dot(Jsys, dth_flat)) + np.dot(P, dJsys)
r_bias, s_bias = np.hsplit(rs, 2)
#######################################################
# optimization
#######################################################
# if contact == 2 and footCenterR[1] > doubleTosingleOffset/2:
if contact_left and not contact_right:
config['weightMap']['RightUpLeg'] = .8
config['weightMap']['RightLeg'] = .8
config['weightMap']['RightFoot'] = .8
else:
config['weightMap']['RightUpLeg'] = .1
config['weightMap']['RightLeg'] = .25
config['weightMap']['RightFoot'] = .2
# if contact == 1 and footCenterL[1] > doubleTosingleOffset/2:
if contact_right and not contact_left:
config['weightMap']['LeftUpLeg'] = .8
config['weightMap']['LeftLeg'] = .8
config['weightMap']['LeftFoot'] = .8
else:
config['weightMap']['LeftUpLeg'] = .1
config['weightMap']['LeftLeg'] = .25
config['weightMap']['LeftFoot'] = .2
w = mot.getTrackingWeight(DOFs, motion[0].skeleton,
config['weightMap'])
mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat)
if dH_des is not None:
mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias)
mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias)
if True:
for c_idx in range(len(contact_ids)):
mot.addConstraint2(problem, totalDOF, J_contacts[c_idx],
dJ_contacts[c_idx], dth_flat,
a_sups[c_idx])
if contactChangeCount > 0:
contactChangeCount = contactChangeCount - 1
if contactChangeCount == 0:
maxContactChangeCount = 30
contactChangeType = 0
r = problem.solve()
problem.clear()
ddth_sol_flat = np.asarray(r['x'])
# ddth_sol_flat[foot_seg_dofs] = np.array(ddth_des_flat)[foot_seg_dofs]
ype.nested(ddth_sol_flat, ddth_sol)
rootPos[0] = controlModel.getBodyPositionGlobal(selectedBody)
localPos = [[0, 0, 0]]
for i in range(stepsPerFrame):
# apply penalty force
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
# bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds)
vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals,
contactForces)
controlModel.setDOFAccelerations(ddth_sol)
# controlModel.setDOFAccelerations(ddth_des)
# controlModel.set_ddq(ddth_sol_flat)
# controlModel.set_ddq(ddth_des_flat)
controlModel.solveHybridDynamics()
if forceShowTime > viewer.objectInfoWnd.labelForceDur.value():
forceShowTime = 0
viewer_ResetForceState()
forceforce = np.array([
viewer.objectInfoWnd.labelForceX.value(),
viewer.objectInfoWnd.labelForceY.value(),
viewer.objectInfoWnd.labelForceZ.value()
])
extraForce[0] = getParamVal('Fm') * mm.normalize2(forceforce)
if viewer_GetForceState():
forceShowTime += wcfg.timeStep
vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce)
vpWorld.step()
controlModel_ik.set_q(controlModel.get_q())
if foot_viewer is not None:
foot_viewer.foot_pressure_gl_window.refresh_foot_contact_info(
frame, vpWorld, bodyIDsToCheck, mus, Ks, Ds)
foot_viewer.foot_pressure_gl_window.goToFrame(frame)
# rendering
for foot_seg_id in footIdlist:
control_model_renderer.body_colors[foot_seg_id] = (255, 240, 255)
for contact_id in contact_ids:
control_model_renderer.body_colors[contact_id] = (255, 0, 0)
rd_footCenter[0] = footCenter
rd_footCenter_ref[0] = footCenter_ref
rd_CM[0] = CM
rd_CM_plane[0] = CM.copy()
rd_CM_plane[0][1] = 0.
if CP is not None and dCP is not None:
rd_CP[0] = CP
rd_CP_des[0] = CP_des
rd_dL_des_plane[0] = [
dL_des_plane[0] / 100, dL_des_plane[1] / 100,
dL_des_plane[2] / 100
]
rd_dH_des[0] = dH_des
rd_grf_des[0] = dL_des_plane - totalMass * mm.s2v(wcfg.gravity)
del rd_foot_ori[:]
del rd_foot_pos[:]
# for seg_foot_id in footIdlist:
# rd_foot_ori.append(controlModel.getJointOrientationGlobal(seg_foot_id))
# rd_foot_pos.append(controlModel.getJointPositionGlobal(seg_foot_id))
rd_foot_ori.append(controlModel.getJointOrientationGlobal(supL))
rd_foot_ori.append(controlModel.getJointOrientationGlobal(supR))
rd_foot_pos.append(controlModel.getJointPositionGlobal(supL))
rd_foot_pos.append(controlModel.getJointPositionGlobal(supR))
rd_root_des[0] = rootPos[0]
rd_root_ori[0] = controlModel.getBodyOrientationGlobal(0)
rd_root_pos[0] = controlModel.getBodyPositionGlobal(0)
del rd_CF[:]
del rd_CF_pos[:]
for i in range(len(contactPositions)):
rd_CF.append(contactForces[i] / 400)
rd_CF_pos.append(contactPositions[i].copy())
if viewer_GetForceState():
rd_exfen_des[0] = [
extraForce[0][0] / 100, extraForce[0][1] / 100,
extraForce[0][2] / 100
]
rd_exf_des[0] = [0, 0, 0]
else:
rd_exf_des[0] = [
extraForce[0][0] / 100, extraForce[0][1] / 100,
extraForce[0][2] / 100
]
rd_exfen_des[0] = [0, 0, 0]
# extraForcePos[0] = controlModel.getBodyPositionGlobal(selectedBody)
extraForcePos[0] = controlModel.getBodyPositionGlobal(
selectedBody) - 0.1 * np.array([
viewer.objectInfoWnd.labelForceX.value(), 0.,
viewer.objectInfoWnd.labelForceZ.value()
])
# render contact_ids
# render skeleton
if SKELETON_ON:
Ts = dict()
Ts['pelvis'] = controlModel.getJointTransform(idDic['Hips'])
Ts['thigh_R'] = controlModel.getJointTransform(idDic['RightUpLeg'])
Ts['shin_R'] = controlModel.getJointTransform(idDic['RightLeg'])
Ts['foot_R'] = controlModel.getJointTransform(idDic['RightFoot'])
Ts['foot_heel_R'] = controlModel.getJointTransform(
idDic['RightFoot'])
Ts['heel_R'] = np.eye(4)
Ts['outside_metatarsal_R'] = controlModel.getJointTransform(
idDic['RightFoot_foot_0_0'])
Ts['outside_phalanges_R'] = controlModel.getJointTransform(
idDic['RightFoot_foot_0_0_0'])
# Ts['inside_metatarsal_R'] = controlModel.getJointTransform(idDic['RightFoot_foot_0_1'])
Ts['inside_metatarsal_R'] = np.eye(4)
Ts['inside_phalanges_R'] = controlModel.getJointTransform(
idDic['RightFoot_foot_0_1_0'])
Ts['spine_ribs'] = controlModel.getJointTransform(idDic['Spine'])
Ts['head'] = controlModel.getJointTransform(idDic['Spine1'])
Ts['upper_limb_R'] = controlModel.getJointTransform(
idDic['RightArm'])
Ts['lower_limb_R'] = controlModel.getJointTransform(
idDic['RightForeArm'])
Ts['thigh_L'] = controlModel.getJointTransform(idDic['LeftUpLeg'])
Ts['shin_L'] = controlModel.getJointTransform(idDic['LeftLeg'])
Ts['foot_L'] = controlModel.getJointTransform(idDic['LeftFoot'])
Ts['foot_heel_L'] = controlModel.getJointTransform(
idDic['LeftFoot'])
Ts['heel_L'] = np.eye(4)
Ts['outside_metatarsal_L'] = controlModel.getJointTransform(
idDic['LeftFoot_foot_0_0'])
Ts['outside_phalanges_L'] = controlModel.getJointTransform(
idDic['LeftFoot_foot_0_0_0'])
# Ts['inside_metatarsal_L'] = controlModel.getJointTransform(idDic['LeftFoot_foot_0_1'])
Ts['inside_metatarsal_L'] = np.eye(4)
Ts['inside_phalanges_L'] = controlModel.getJointTransform(
idDic['LeftFoot_foot_0_1_0'])
Ts['upper_limb_L'] = controlModel.getJointTransform(
idDic['LeftArm'])
Ts['lower_limb_L'] = controlModel.getJointTransform(
idDic['LeftForeArm'])
skeleton_renderer.appendFrameState(Ts)
def create_biped(motionName='wd2_n_kick.bvh',
SEGMENT_FOOT=True,
SEGMENT_FOOT_MAG=.03,
SEGMENT_FOOT_RAD=None):
"""
:param motionName: motion file name
:param SEGMENT_FOOT: whether segment foot is
:param SEGMENT_FOOT_MAG:
:return:
"""
# :rtype: ym.JointMotion, ypc.ModelConfig, ypc.WorldConfig, int, dict[str, float|dict[str, float]], float
if SEGMENT_FOOT_RAD is None:
SEGMENT_FOOT_RAD = SEGMENT_FOOT_MAG * .5
SEGMENT_FOOT_SEPARATE = False
SEGMENT_FOOT_OUTSIDE_JOINT_FIRST = True
SEGMENT_FOOT_ARC = True
SEGMENT_BETWEEN_SPACE = 1.2
SEGMENT_METATARSAL_LEN = 2.5
SEGMENT_THIRD_PHA_LEN = 1.8
SEGMENT_FOURTH_PHA_RATIO = 5. / 6.
SEGMENT_HEEL_LEN = 1.2
# motion
# motionName = 'wd2_n_kick.bvh'
# motionName = 'wd2_tiptoe.bvh'
# motionName = 'wd2_n_kick_zygote.bvh'
# motionName = 'wd2_jump.bvh'
# motionName = 'wd2_stand.bvh'
bvh = yf.readBvhFileAsBvh(motionName)
bvh.set_scale(.01)
if SEGMENT_FOOT:
# partBvhFilePath = '../PyCommon/modules/samples/simpleJump_long_test2.bvh'
current_path = os.path.dirname(os.path.abspath(__file__))
partBvhFilePath = current_path + '/../../PyCommon/modules/samples/'
if SEGMENT_FOOT_SEPARATE:
partBvhFilePath = partBvhFilePath + 'simpleJump_long_test5.bvh'
elif SEGMENT_FOOT_OUTSIDE_JOINT_FIRST:
# partBvhFilePath = partBvhFilePath + 'simpleJump_long_test3.bvh'
# partBvhFilePath = partBvhFilePath + 'foot_model_01.bvh'
partBvhFilePath = partBvhFilePath + 'foot_model_01.bvh'
else:
partBvhFilePath = partBvhFilePath + 'simpleJump_long_test4.bvh'
partBvh = yf.readBvhFileAsBvh(partBvhFilePath)
partSkeleton = partBvh.toJointSkeleton(1., False)
SEGMENT_BETWEEN_SPACE = partSkeleton.getOffset(
partSkeleton.getElementIndex('foot_0_1'))[0]
SEGMENT_METATARSAL_LEN = partSkeleton.getOffset(
partSkeleton.getElementIndex('foot_0_1_0'))[2]
SEGMENT_THIRD_PHA_LEN = partSkeleton.getOffset(
partSkeleton.getElementIndex('foot_0_0_0_Effector'))[2]
SEGMENT_HEEL_LEN = abs(
partSkeleton.getOffset(
partSkeleton.getElementIndex('foot_1_0_Effector'))[2])
bvh.replaceJointFromBvh('RightFoot', partBvh, SEGMENT_FOOT_MAG)
partBvh = yf.readBvhFileAsBvh(partBvhFilePath)
partBvh.mirror('YZ')
bvh.replaceJointFromBvh('LeftFoot', partBvh, SEGMENT_FOOT_MAG)
motion = bvh.toJointMotion(1., False) # type: ym.JointMotion
# motion.translateByOffset((0., 0.15, 0.))
# motion.translateByOffset((0., -0.12, 0.))
# motion.rotateByOffset(mm.rotZ(math.pi*1./18.))
# motion = yf.readBvhFile(motionName, .01)
# yme.offsetJointLocal(motion, 'RightArm', (.03,-.05,0), False)
# yme.offsetJointLocal(motion, 'LeftArm', (-.03,-.05,0), False)
# yme.rotateJointLocal(motion, 'Hips', mm.exp(mm.v3(1, 0, 0), .01), False)
# yme.rotateJointLocal(motion, 'LeftFoot', mm.exp(mm.v3(1,-0.0,.3), -.5), False)
# yme.rotateJointLocal(motion, 'RightFoot', mm.exp(mm.v3(1,0.0,-.3), -.5), False)
# yme.rotateJointLocal(motion, 'LeftFoot', mm.exp(mm.v3(1,-0.5,0), -.6), False)
# yme.rotateJointLocal(motion, 'RightFoot', mm.exp(mm.v3(1,0.5,0), -.6), False)
# yme.rotateJointLocal(motion, 'LeftFoot', mm.exp(mm.v3(1,-0.0,.3), -.1), False)
# yme.rotateJointLocal(motion, 'RightFoot', mm.exp(mm.v3(1,0.0,-.3), -.1), False)
# yme.removeJoint(motion, 'RightFoot_foot_1_1')
# yme.removeJoint(motion, 'RightFoot_foot_1_2')
# yme.removeJoint(motion, 'LeftFoot_foot_1_1')
# yme.removeJoint(motion, 'LeftFoot_foot_1_2')
if motionName == 'wd2_n_kick.bvh' or motionName == 'wd2_n_kick_zygote.bvh':
yme.rotateJointLocal(motion, 'Hips', mm.exp(mm.v3(1, 0, 0), .01),
False)
yme.updateGlobalT(motion)
motion.translateByOffset((0, 0.04, 0))
for i in range(2000):
motion.data.insert(0, copy.deepcopy(motion[0]))
motion.extend([motion[-1]] * 300)
elif motionName == 'wd2_tiptoe.bvh' or motionName == 'wd2_tiptoe_zygote.bvh':
yme.rotateJointLocal(motion, 'Hips', mm.exp(mm.v3(1, 0, 0), .01),
False)
yme.rotateJointLocal(motion, 'LeftFoot',
mm.exp(mm.v3(1., 0., 0.), -.1), False)
yme.rotateJointLocal(motion, 'RightFoot',
mm.exp(mm.v3(1., 0., 0.), -.1), False)
yme.updateGlobalT(motion)
motion.translateByOffset((0, 0.06, 0))
# if motionName == 'wd2_tiptoe.bvh':
# motion.translateByOffset((0, 0.06, 0))
# else:
# motion.translateByOffset((0, -0.03, 0))
del motion[:270]
for i in range(2000):
motion.data.insert(0, copy.deepcopy(motion[0]))
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 60
# stepsPerFrame = 30
frame_rate = 30
wcfg.timeStep = 1. / (frame_rate * stepsPerFrame)
# wcfg.timeStep = (1/30.)/(stepsPerFrame)
# wcfg.timeStep = (1/1000.)
# width : x axis on body frame
# height: y axis on body frame
# length: z axis on body frame
node = mcfg.getNode('Hips')
node.length = 4. / 27.
node.width = .25
# node.height = .2
# node.width = .25
node = mcfg.getNode('Spine1')
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode('Spine')
node.width = .22
node = mcfg.getNode('RightFoot')
node.length = .25
#node.length = .2
#node.width = .15
node.width = .2
node.mass = 2.
node = mcfg.getNode('LeftFoot')
node.length = .25
#node.length = .2
#node.width = .15
node.width = .2
node.mass = 2.
def capsulize(node_name):
node_capsule = mcfg.getNode(node_name)
node_capsule.geom = 'MyFoot4'
node_capsule.width = 0.01
node_capsule.density = 200.
# node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0., math.pi/4., 0.])], ypc.CapsuleMaterial(1000., .02, .2))
# node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0., math.pi/4., 0.])], ypc.CapsuleMaterial(1000., .02, .1))
# node.addGeom('MyFoot4', [np.array([0.]*3), mm.exp([0., 0., 0.])], ypc.CapsuleMaterial(1000., .01, -1))
# node.addGeom('MyFoot4', None, ypc.CapsuleMaterial(1000., .02, .1))
# capsulize('RightFoot')
# capsulize('LeftFoot')
if SEGMENT_FOOT:
node = mcfg.getNode('RightFoot')
node.density = 200.
node.geom = 'MyFoot5'
node.width = 0.01
node.jointType = 'B'
node = mcfg.getNode('LeftFoot')
node.density = 200.
node.geom = 'MyFoot5'
node.width = 0.01
node.jointType = 'B'
# bird foot
# capsulize('RightFoot_foot_0_0')
# capsulize('RightFoot_foot_0_1')
# capsulize('RightFoot_foot_1_0')
# capsulize('RightFoot_foot_1_1')
# capsulize('RightFoot_foot_2_0')
# capsulize('RightFoot_foot_2_1')
# capsulize('LeftFoot_foot_0_0')
# capsulize('LeftFoot_foot_0_1')
# capsulize('LeftFoot_foot_1_0')
# capsulize('LeftFoot_foot_1_1')
# capsulize('LeftFoot_foot_2_0')
# capsulize('LeftFoot_foot_2_1')
# human foot
if SEGMENT_FOOT:
footJointType = 'B'
capsulDensity = 400.
if SEGMENT_FOOT_SEPARATE:
# RightFoot_foot_0_0 : outside metatarsals
capsulize('RightFoot_foot_0_0')
node = mcfg.getNode('RightFoot_foot_0_0')
# node.addGeom('MyFoot3', [SEGMENT_FOOT_MAG*np.array([0., 0., 2.5*0.25]), mm.exp([0., 0., 0.])],
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([0., 0., 0.]),
mm.exp([0., 0., 0.])
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 2.5 + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([0. - 1.2, 0., 0.]),
mm.exp([0., 0., 0.])
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 2.5 + 2. * SEGMENT_FOOT_RAD))
node.jointType = footJointType
# RightFoot_foot_0_0_0 : outside phalanges
capsulize('RightFoot_foot_0_0_0')
node = mcfg.getNode('RightFoot_foot_0_0_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4', [
SEGMENT_FOOT_MAG * np.array([-1.2, 0., 0.]),
mm.exp([0.] * 3)
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# RightFoot_foot_0_1 : inside metatarsals
capsulize('RightFoot_foot_0_1')
node = mcfg.getNode('RightFoot_foot_0_1')
node.addGeom(
'MyFoot3',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([1.2, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# RightFoot_foot_0_1_0 : inside phalanges
capsulize('RightFoot_foot_0_1_0')
node = mcfg.getNode('RightFoot_foot_0_1_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4',
[SEGMENT_FOOT_MAG * np.array([1.2, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# RightFoot_foot_1_0 : center heel
capsulize('RightFoot_foot_1_0')
node = mcfg.getNode('RightFoot_foot_1_0')
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([-.6, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 1.2 + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([+.6, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 1.2 + 2. * SEGMENT_FOOT_RAD))
node.jointType = footJointType
capsulize('LeftFoot_foot_0_0')
node = mcfg.getNode('LeftFoot_foot_0_0')
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([0., 0., 0.]),
mm.exp([0., 0., 0.])
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 2.5 + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([0. + 1.2, 0., 0.]),
mm.exp([0., 0., 0.])
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 2.5 + 2. * SEGMENT_FOOT_RAD))
node.jointType = footJointType
capsulize('LeftFoot_foot_0_0_0')
node = mcfg.getNode('LeftFoot_foot_0_0_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4',
[SEGMENT_FOOT_MAG * np.array([1.2, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
capsulize('LeftFoot_foot_0_1')
node = mcfg.getNode('LeftFoot_foot_0_1')
node.addGeom(
'MyFoot3',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([-1.2, 0., 0.]),
mm.exp([0.] * 3)
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
capsulize('LeftFoot_foot_0_1_0')
node = mcfg.getNode('LeftFoot_foot_0_1_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4', [
SEGMENT_FOOT_MAG * np.array([-1.2, 0., 0.]),
mm.exp([0.] * 3)
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
capsulize('LeftFoot_foot_1_0')
node = mcfg.getNode('LeftFoot_foot_1_0')
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([-.6, 0., .0]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 1.2 + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([+.6, 0., .0]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 1.2 + 2. * SEGMENT_FOOT_RAD))
node.jointType = footJointType
elif SEGMENT_FOOT_OUTSIDE_JOINT_FIRST and not SEGMENT_FOOT_ARC:
# RightFoot_foot_0_0 : outside metatarsals
capsulize('RightFoot_foot_0_0')
node = mcfg.getNode('RightFoot_foot_0_0')
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([-0.3, 0., 2.5 * 0.25]),
mm.exp([0., -math.atan2(1.2, 2.5), 0.])
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 2.5 + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([-0.3 - 1.2, 0., 2.5 * 0.25]),
mm.exp([0., -math.atan2(1.2, 2.5), 0.])
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 2.5 + 2. * SEGMENT_FOOT_RAD))
# node.jointType = footJointType
node.jointType = 'B'
# RightFoot_foot_0_0_0 : outside phalanges
capsulize('RightFoot_foot_0_0_0')
node = mcfg.getNode('RightFoot_foot_0_0_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4', [
SEGMENT_FOOT_MAG * np.array([-1.2, 0., 0.]),
mm.exp([0.] * 3)
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# node.jointType = 'R'
# node.jointAxes = ['X']
# RightFoot_foot_0_1 : inside metatarsals
capsulize('RightFoot_foot_0_1')
node = mcfg.getNode('RightFoot_foot_0_1')
node.addGeom(
'MyFoot3',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([1.2, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# node.jointType = 'R'
# node.jointAxes = ['Z']
# RightFoot_foot_0_1_0 : inside phalanges
capsulize('RightFoot_foot_0_1_0')
node = mcfg.getNode('RightFoot_foot_0_1_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4',
[SEGMENT_FOOT_MAG * np.array([1.2, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# node.jointType = 'R'
# node.jointAxes = ['X']
# RightFoot_foot_1_0 : center heel
capsulize('RightFoot_foot_1_0')
node = mcfg.getNode('RightFoot_foot_1_0')
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([-.6, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 1.2 + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([+.6, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 1.2 + 2. * SEGMENT_FOOT_RAD))
# node.jointType = footJointType
node.jointType = 'B'
# left foot
# outside metatarsals
capsulize('LeftFoot_foot_0_0')
node = mcfg.getNode('LeftFoot_foot_0_0')
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([0.3, 0., 2.5 * 0.25]),
mm.exp([0., math.atan2(1.2, 2.5), 0.])
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 2.5 + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([0.3 + 1.2, 0., 2.5 * 0.25]),
mm.exp([0., math.atan2(1.2, 2.5), 0.])
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 2.5 + 2. * SEGMENT_FOOT_RAD))
# node.jointType = footJointType
node.jointType = 'B'
capsulize('LeftFoot_foot_0_0_0')
node = mcfg.getNode('LeftFoot_foot_0_0_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4',
[SEGMENT_FOOT_MAG * np.array([1.2, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# node.jointType = 'R'
# node.jointAxes = ['X']
capsulize('LeftFoot_foot_0_1')
node = mcfg.getNode('LeftFoot_foot_0_1')
node.addGeom(
'MyFoot3',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([-1.2, 0., 0.]),
mm.exp([0.] * 3)
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# node.jointType = 'R'
# node.jointAxes = ['Z']
capsulize('LeftFoot_foot_0_1_0')
node = mcfg.getNode('LeftFoot_foot_0_1_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4', [
SEGMENT_FOOT_MAG * np.array([-1.2, 0., 0.]),
mm.exp([0.] * 3)
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# node.jointType = 'R'
# node.jointAxes = ['X']
capsulize('LeftFoot_foot_1_0')
node = mcfg.getNode('LeftFoot_foot_1_0')
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([-.6, 0., .0]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 1.2 + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([+.6, 0., .0]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 1.2 + 2. * SEGMENT_FOOT_RAD))
# node.jointType = footJointType
node.jointType = 'B'
elif SEGMENT_FOOT_OUTSIDE_JOINT_FIRST and SEGMENT_FOOT_ARC:
FIRST_METATARSAL_ANGLE = mm.deg2Rad(30.)
SECOND_METATARSAL_ANGLE = mm.deg2Rad(20.)
THIRD_METATARSAL_ANGLE = mm.deg2Rad(15.)
# RightFoot_foot_0_0 : outside metatarsals
capsulize('RightFoot_foot_0_0')
node = mcfg.getNode('RightFoot_foot_0_0')
node.bone_dir_child = 'RightFoot_foot_0_0_0'
# third
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([
0., .5 * SEGMENT_METATARSAL_LEN *
math.tan(THIRD_METATARSAL_ANGLE), 0.
]),
mm.exp(THIRD_METATARSAL_ANGLE * mm.unitX())
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * SEGMENT_METATARSAL_LEN /
math.cos(THIRD_METATARSAL_ANGLE) + 2. * SEGMENT_FOOT_RAD))
# fourth
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG *
np.array([-SEGMENT_BETWEEN_SPACE, 0., 0.]),
mm.exp([0., 0., 0.])
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
# node.jointType = footJointType
node.jointType = 'B'
capsulize('LeftFoot_foot_0_0')
node = mcfg.getNode('LeftFoot_foot_0_0')
node.bone_dir_child = 'LeftFoot_foot_0_0_0'
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([
0., .5 * SEGMENT_METATARSAL_LEN *
math.tan(THIRD_METATARSAL_ANGLE), 0.
]),
mm.exp(THIRD_METATARSAL_ANGLE * mm.unitX())
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * SEGMENT_METATARSAL_LEN /
math.cos(THIRD_METATARSAL_ANGLE) + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG *
np.array([SEGMENT_BETWEEN_SPACE, 0., 0.]),
mm.exp([0., 0., 0.])
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
# node.jointType = footJointType
node.jointType = 'B'
# RightFoot_foot_0_0_0 : outside phalanges
SEGMENT_FOURTH_PHA_OFFSET = .5 * SEGMENT_THIRD_PHA_LEN * (
1. - SEGMENT_FOURTH_PHA_RATIO)
capsulize('RightFoot_foot_0_0_0')
node = mcfg.getNode('RightFoot_foot_0_0_0')
# third
node.addGeom(
'MyFoot4',
[SEGMENT_FOOT_MAG * np.array([0., 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
# fourth
node.addGeom(
'MyFoot4', [
SEGMENT_FOOT_MAG * np.array([
-SEGMENT_BETWEEN_SPACE, 0., -SEGMENT_FOURTH_PHA_OFFSET
]),
mm.exp([0.] * 3)
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * SEGMENT_THIRD_PHA_LEN *
SEGMENT_FOURTH_PHA_RATIO + 2. * SEGMENT_FOOT_RAD))
node.jointType = footJointType
# node.jointType = 'R'
# node.jointAxes = ['X']
capsulize('LeftFoot_foot_0_0_0')
node = mcfg.getNode('LeftFoot_foot_0_0_0')
node.addGeom(
'MyFoot4',
[SEGMENT_FOOT_MAG * np.array([0., 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4', [
SEGMENT_FOOT_MAG * np.array([
SEGMENT_BETWEEN_SPACE, 0., -SEGMENT_FOURTH_PHA_OFFSET
]),
mm.exp([0.] * 3)
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * SEGMENT_THIRD_PHA_LEN *
SEGMENT_FOURTH_PHA_RATIO + 2. * SEGMENT_FOOT_RAD))
node.jointType = footJointType
# node.jointType = 'R'
# node.jointAxes = ['X']
# RightFoot_foot_0_1 : inside metatarsals
capsulize('RightFoot_foot_0_1')
node = mcfg.getNode('RightFoot_foot_0_1')
# second
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([
0., .5 * SEGMENT_METATARSAL_LEN *
math.tan(SECOND_METATARSAL_ANGLE), 0.
]),
mm.exp(SECOND_METATARSAL_ANGLE * mm.unitX())
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * SEGMENT_METATARSAL_LEN /
math.cos(SECOND_METATARSAL_ANGLE) + 2. * SEGMENT_FOOT_RAD))
# first
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([
SEGMENT_BETWEEN_SPACE, .5 * SEGMENT_METATARSAL_LEN *
math.tan(FIRST_METATARSAL_ANGLE), 0.
]),
mm.exp(FIRST_METATARSAL_ANGLE * mm.unitX())
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * SEGMENT_METATARSAL_LEN /
math.cos(FIRST_METATARSAL_ANGLE) + 2. * SEGMENT_FOOT_RAD))
node.jointType = footJointType
# node.jointType = 'R'
# node.jointAxes = ['Z']
capsulize('LeftFoot_foot_0_1')
node = mcfg.getNode('LeftFoot_foot_0_1')
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([
0., .5 * SEGMENT_METATARSAL_LEN *
math.tan(SECOND_METATARSAL_ANGLE), 0.
]),
mm.exp(SECOND_METATARSAL_ANGLE * mm.unitX())
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * SEGMENT_METATARSAL_LEN /
math.cos(SECOND_METATARSAL_ANGLE) + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([
-SEGMENT_BETWEEN_SPACE, .5 * SEGMENT_METATARSAL_LEN *
math.tan(FIRST_METATARSAL_ANGLE), 0.
]),
mm.exp(FIRST_METATARSAL_ANGLE * mm.unitX())
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * SEGMENT_METATARSAL_LEN /
math.cos(FIRST_METATARSAL_ANGLE) + 2. * SEGMENT_FOOT_RAD))
node.jointType = footJointType
# node.jointType = 'R'
# node.jointAxes = ['Z']
# RightFoot_foot_0_1_0 : inside phalanges
capsulize('RightFoot_foot_0_1_0')
node = mcfg.getNode('RightFoot_foot_0_1_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4', [
SEGMENT_FOOT_MAG *
np.array([SEGMENT_BETWEEN_SPACE, 0., 0.]),
mm.exp([0.] * 3)
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# node.jointType = 'R'
# node.jointAxes = ['X']
capsulize('LeftFoot_foot_0_1_0')
node = mcfg.getNode('LeftFoot_foot_0_1_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4', [
SEGMENT_FOOT_MAG *
np.array([-SEGMENT_BETWEEN_SPACE, 0., 0.]),
mm.exp([0.] * 3)
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# node.jointType = 'R'
# node.jointAxes = ['X']
# RightFoot_foot_1_0 : center heel
capsulize('RightFoot_foot_1_0')
node = mcfg.getNode('RightFoot_foot_1_0')
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG *
np.array([-SEGMENT_BETWEEN_SPACE / 2., 0., 0.]),
mm.exp([0.] * 3)
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * SEGMENT_HEEL_LEN +
2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG *
np.array([+SEGMENT_BETWEEN_SPACE / 2., 0., 0.]),
mm.exp([0.] * 3)
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * SEGMENT_HEEL_LEN +
2. * SEGMENT_FOOT_RAD))
# node.jointType = footJointType
node.jointType = 'B'
capsulize('LeftFoot_foot_1_0')
node = mcfg.getNode('LeftFoot_foot_1_0')
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG *
np.array([-SEGMENT_BETWEEN_SPACE / 2., 0., .0]),
mm.exp([0.] * 3)
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * SEGMENT_HEEL_LEN +
2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG *
np.array([+SEGMENT_BETWEEN_SPACE / 2., 0., .0]),
mm.exp([0.] * 3)
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * SEGMENT_HEEL_LEN +
2. * SEGMENT_FOOT_RAD))
# node.jointType = footJointType
node.jointType = 'B'
else: # SEGMENT_FOOT_INSIDE_FIRST
# TODO:
# adjust transformation of geometries
# RightFoot_foot_0_1 : inside metatarsals
capsulize('RightFoot_foot_0_1')
node = mcfg.getNode('RightFoot_foot_0_1')
node.addGeom(
'MyFoot3',
[np.array([0.] * 3),
mm.exp([0., math.atan2(1.2, 2.5), 0.])],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([1.2, 0., 0.]),
mm.exp([0., math.atan2(1.2, 2.5), 0.])
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# RightFoot_foot_0_1_0 : inside phalanges
capsulize('RightFoot_foot_0_1_0')
node = mcfg.getNode('RightFoot_foot_0_1_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4',
[SEGMENT_FOOT_MAG * np.array([1.2, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# RightFoot_foot_0_0 : outside metatarsals
capsulize('RightFoot_foot_0_0')
node = mcfg.getNode('RightFoot_foot_0_0')
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([-0.3, 0., 2.5 * 0.25]),
mm.exp([0., -math.atan2(1.2, 2.5), 0.])
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 2.5 + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([-0.3 - 1.2, 0., 2.5 * 0.25]),
mm.exp([0., -math.atan2(1.2, 2.5), 0.])
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 2.5 + 2. * SEGMENT_FOOT_RAD))
node.jointType = footJointType
# RightFoot_foot_0_0_0 : outside phalanges
capsulize('RightFoot_foot_0_0_0')
node = mcfg.getNode('RightFoot_foot_0_0_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4', [
SEGMENT_FOOT_MAG * np.array([-1.2, 0., 0.]),
mm.exp([0.] * 3)
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
# RightFoot_foot_1_0 : center heel
capsulize('RightFoot_foot_1_0')
node = mcfg.getNode('RightFoot_foot_1_0')
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([-.6, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 1.2 + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([+.6, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 1.2 + 2. * SEGMENT_FOOT_RAD))
node.jointType = footJointType
capsulize('LeftFoot_foot_0_1')
node = mcfg.getNode('LeftFoot_foot_0_1')
node.addGeom(
'MyFoot3',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([-1.2, 0., 0.]),
mm.exp([0.] * 3)
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
capsulize('LeftFoot_foot_0_1_0')
node = mcfg.getNode('LeftFoot_foot_0_1_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4', [
SEGMENT_FOOT_MAG * np.array([-1.2, 0., 0.]),
mm.exp([0.] * 3)
], ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
capsulize('LeftFoot_foot_0_0')
node = mcfg.getNode('LeftFoot_foot_0_0')
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([0.3, 0., 2.5 * 0.25]),
mm.exp([0., math.atan2(1.2, 2.5), 0.])
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 2.5 + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3', [
SEGMENT_FOOT_MAG * np.array([0.3 + 1.2, 0., 2.5 * 0.25]),
mm.exp([0., math.atan2(1.2, 2.5), 0.])
],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 2.5 + 2. * SEGMENT_FOOT_RAD))
node.jointType = footJointType
capsulize('LeftFoot_foot_0_0_0')
node = mcfg.getNode('LeftFoot_foot_0_0_0')
node.addGeom(
'MyFoot4',
[np.array([0.] * 3), mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.addGeom(
'MyFoot4',
[SEGMENT_FOOT_MAG * np.array([1.2, 0., 0.]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(capsulDensity, SEGMENT_FOOT_RAD, -1))
node.jointType = footJointType
capsulize('LeftFoot_foot_1_0')
node = mcfg.getNode('LeftFoot_foot_1_0')
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([-.6, 0., .0]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 1.2 + 2. * SEGMENT_FOOT_RAD))
node.addGeom(
'MyFoot3',
[SEGMENT_FOOT_MAG * np.array([+.6, 0., .0]),
mm.exp([0.] * 3)],
ypc.CapsuleMaterial(
capsulDensity, SEGMENT_FOOT_RAD,
SEGMENT_FOOT_MAG * 1.2 + 2. * SEGMENT_FOOT_RAD))
node.jointType = footJointType
# parameter
config = {}
'''
config['Kt'] = 200; config['Dt'] = 2*(config['Kt']**.5) # tracking gain
config['Kl'] = 2.5; config['Dl'] = 2*(config['Kl']**.5) # linear balance gain
config['Kh'] = 1; config['Dh'] = 2*(config['Kh']**.5) # angular balance gain
config['Ks'] = 20000; config['Ds'] = 2*(config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 2.5
config['Bh'] = 1.
'''
config['Kt'] = 200
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = .10
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 0.1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 15000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1. #0.5
config['Bh'] = 1.
#config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\
#'Spine':1., 'Spine1':1., 'RightFoot':.5, 'LeftFoot':.5, 'Hips':1.5,\
#'RightUpLeg':1., 'RightLeg':1., 'LeftUpLeg':1., 'LeftLeg':1.}
#config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\
#'Spine':1., 'Spine1':1., 'RightFoot':1.0, 'LeftFoot':1.0, 'Hips':1.5,\
#'RightUpLeg':2., 'RightLeg':2., 'LeftUpLeg':2., 'LeftLeg':2.}
config['weightMap'] = {
'RightArm': .2,
'RightForeArm': .2,
'LeftArm': .2,
'LeftForeArm': .2,
'Spine': .6,
'Spine1': .6,
'RightFoot': .2,
'LeftFoot': .2,
'Hips': 0.5,
'RightUpLeg': .1,
'RightLeg': .3,
'LeftUpLeg': .1,
'LeftLeg': .3
}
if SEGMENT_FOOT:
segfoot_weight = 10.
# segfoot_weight = .1
config['weightMap'] = {
'RightArm': .2,
'RightForeArm': .2,
'LeftArm': .2,
'LeftForeArm': .2,
'Spine': .6,
'Spine1': .6,
'RightFoot': .2,
'LeftFoot': .2,
'Hips': 0.5,
'RightUpLeg': .1,
'RightLeg': .3,
'LeftUpLeg': .1,
'LeftLeg': .3,
'RightFoot_foot_0_0': segfoot_weight,
'RightFoot_foot_0_1': segfoot_weight,
'RightFoot_foot_1_0': segfoot_weight,
'RightFoot_foot_1_1': segfoot_weight,
'RightFoot_foot_1_2': segfoot_weight,
'RightFoot_foot_0_0_0': segfoot_weight,
'RightFoot_foot_0_1_0': segfoot_weight,
'LeftFoot_foot_0_0': segfoot_weight,
'LeftFoot_foot_0_1': segfoot_weight,
'LeftFoot_foot_1_0': segfoot_weight,
'LeftFoot_foot_1_1': segfoot_weight,
'LeftFoot_foot_1_2': segfoot_weight,
'LeftFoot_foot_0_0_0': segfoot_weight,
'LeftFoot_foot_0_1_0': segfoot_weight
}
#config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\
#'Spine':.6, 'Spine1':.6, 'RightFoot':.2, 'LeftFoot':1., 'Hips':0.5,\
#'RightUpLeg':.1, 'RightLeg':.3, 'LeftUpLeg':.5, 'LeftLeg':1.5}
#success!!
'''
config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\
'Spine':.5, 'Spine1':.5, 'RightFoot':1., 'LeftFoot':1., 'Hips':0.5,\
'RightUpLeg':1., 'RightLeg':1., 'LeftUpLeg':1., 'LeftLeg':1.}
'''
#config['weightMap']={'RightArm':.2, 'RightForeArm':.2, 'LeftArm':.2, 'LeftForeArm':.2,\
#'Spine':1.5, 'LeftFoot':1., 'Hips':1.5,\
#'RightUpLeg':1., 'RightLeg':1., 'LeftUpLeg':1.5, 'LeftLeg':1.5}
config['supLink'] = 'LeftFoot'
config['supLink1'] = 'LeftFoot'
config['supLink2'] = 'RightFoot'
#config['end'] = 'Hips'
config['end'] = 'Spine1'
return motion, mcfg, wcfg, stepsPerFrame, config, frame_rate
def simulateCallback(frame):
global COLOR_ON
# print(frame)
# print(motion[frame].getJointOrientationLocal(footIdDic['RightFoot_foot_0_1_0']))
if False:
if frame == 200:
if motionFile == 'wd2_tiptoe.bvh':
setParamVal('tiptoe angle', 0.3)
if motionFile == 'wd2_tiptoe_zygote.bvh':
setParamVal('tiptoe angle', 0.3)
# elif 210 < frame < 240:
# if motionFile == 'wd2_tiptoe_zygote.bvh':
# setParamVal('com Y offset', 0.01/30. * (frame-110))
elif frame == 400:
setParamVal('com Y offset', 0.)
setParamVal('tiptoe angle', 0.)
elif frame == 430:
foot_viewer.check_all_seg()
# setParamVal('SupKt', 30.)
# elif frame == 400:
# setParamVal('SupKt', 17.)
# hfi.footAdjust(motion[frame], idDic, SEGMENT_FOOT_MAG=.03, SEGMENT_FOOT_RAD=.015, baseHeight=0.02)
if abs(getParamVal('tiptoe angle')) > 0.001:
tiptoe_angle = getParamVal('tiptoe angle')
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_0_0'],
mm.exp(mm.unitX(), -math.pi * tiptoe_angle))
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_1_0'],
mm.exp(mm.unitX(), -math.pi * tiptoe_angle))
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_0_0_0'],
mm.exp(mm.unitX(), -math.pi * tiptoe_angle))
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_0_1_0'],
mm.exp(mm.unitX(), -math.pi * tiptoe_angle))
# motion[frame].mulJointOrientationLocal(idDic['LeftFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95))
# motion[frame].mulJointOrientationLocal(idDic['RightFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95))
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle))
motion[frame].mulJointOrientationLocal(
idDic['RightFoot'], mm.exp(mm.unitX(), math.pi * tiptoe_angle))
if getParamVal('left tilt angle') > 0.001:
left_tilt_angle = getParamVal('left tilt angle')
if motion[0].skeleton.getJointIndex(
'LeftFoot_foot_0_1') is not None:
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_1'],
mm.exp(mm.unitZ(), -math.pi * left_tilt_angle))
else:
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_1_0'],
mm.exp(mm.unitZ(), -math.pi * left_tilt_angle))
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_1_0'],
mm.exp(mm.unitZ(), -math.pi * left_tilt_angle))
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot'], mm.exp(mm.unitZ(),
math.pi * left_tilt_angle))
elif getParamVal('left tilt angle') < -0.001:
left_tilt_angle = getParamVal('left tilt angle')
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_0'],
mm.exp(mm.unitZ(), -math.pi * left_tilt_angle))
if motion[0].skeleton.getJointIndex(
'LeftFoot_foot_0_1') is not None:
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_0_1'],
mm.exp(mm.unitZ(), math.pi * left_tilt_angle))
# else:
# motion[frame].mulJointOrientationLocal(idDic['LeftFoot_foot_0_1_0'], mm.exp(mm.unitZ(), math.pi * left_tilt_angle))
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot_foot_1_0'],
mm.exp(mm.unitZ(), -math.pi * left_tilt_angle))
motion[frame].mulJointOrientationLocal(
idDic['LeftFoot'], mm.exp(mm.unitZ(),
math.pi * left_tilt_angle))
if getParamVal('right tilt angle') > 0.001:
right_tilt_angle = getParamVal('right tilt angle')
if motion[0].skeleton.getJointIndex(
'RightFoot_foot_0_1') is not None:
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_0_1'],
mm.exp(mm.unitZ(), math.pi * right_tilt_angle))
else:
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_0_1_0'],
mm.exp(mm.unitZ(), math.pi * right_tilt_angle))
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_1_0'],
mm.exp(mm.unitZ(), math.pi * right_tilt_angle))
motion[frame].mulJointOrientationLocal(
idDic['RightFoot'],
mm.exp(mm.unitZ(), -math.pi * right_tilt_angle))
elif getParamVal('right tilt angle') < -0.001:
right_tilt_angle = getParamVal('right tilt angle')
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_0_0'],
mm.exp(mm.unitZ(), math.pi * right_tilt_angle))
if motion[0].skeleton.getJointIndex(
'RightFoot_foot_0_1') is not None:
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_0_1'],
mm.exp(mm.unitZ(), -math.pi * right_tilt_angle))
# else:
# motion[frame].mulJointOrientationLocal(idDic['RightFoot_foot_0_1_0'], mm.exp(mm.unitZ(), -math.pi * right_tilt_angle))
motion[frame].mulJointOrientationLocal(
idDic['RightFoot_foot_1_0'],
mm.exp(mm.unitZ(), math.pi * right_tilt_angle))
motion[frame].mulJointOrientationLocal(
idDic['RightFoot'],
mm.exp(mm.unitZ(), -math.pi * right_tilt_angle))
motionModel.update(motion[frame])
motionModel.translateByOffset(
np.array([
getParamVal('com X offset'),
getParamVal('com Y offset'),
getParamVal('com Z offset')
]))
controlModel.update(motion[frame])
# controlModel_ik.set_q(controlModel.get_q())
# controlModel_ik.set_q(controlModel.get_q())
controlModel_ik.update(motion[frame])
controlModel_ik.translateByOffset(
np.array([
-getParamVal('com X offset') * 2.,
getParamVal('com Y offset'),
getParamVal('com Z offset')
]))
global g_initFlag
global forceShowTime
global JsysPre
global JsupPreL
global JsupPreR
global JconstPre
global preFootCenter
global maxContactChangeCount
global contactChangeCount
global contact
global contactChangeType
Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals(
['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt'])
Dt = 2 * (Kt**.5)
Dl = 2 * (Kl**.5)
Dh = 2 * (Kh**.5)
dt_sup = 2 * (kt_sup**.5)
# 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)
# ype.flatten(fix_dofs(DOFs, ddth_des, mcfg, joint_names), ddth_des_flat)
# ype.flatten(fix_dofs(DOFs, dth, mcfg, joint_names), dth_flat)
ype.flatten(ddth_des, ddth_des_flat)
ype.flatten(dth, dth_flat)
#################################################
# jacobian
#################################################
contact_des_ids = list() # desired contact segments
if foot_viewer.check_om_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0'))
if foot_viewer.check_op_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0_0'))
if foot_viewer.check_im_l is not None and foot_viewer.check_im_l.value(
):
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1'))
if foot_viewer.check_ip_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1_0'))
if foot_viewer.check_h_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_1_0'))
if foot_viewer.check_om_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_0'))
if foot_viewer.check_op_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_0_0'))
if foot_viewer.check_im_r is not None and foot_viewer.check_im_r.value(
):
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_1'))
if foot_viewer.check_ip_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_1_0'))
if foot_viewer.check_h_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_1_0'))
contact_ids = list() # temp idx for balancing
contact_ids.extend(contact_des_ids)
contact_joint_ori = list(
map(controlModel.getJointOrientationGlobal, contact_ids))
contact_joint_pos = list(
map(controlModel.getJointPositionGlobal, contact_ids))
contact_body_ori = list(
map(controlModel.getBodyOrientationGlobal, contact_ids))
contact_body_pos = list(
map(controlModel.getBodyPositionGlobal, contact_ids))
contact_body_vel = list(
map(controlModel.getBodyVelocityGlobal, contact_ids))
contact_body_angvel = list(
map(controlModel.getBodyAngVelocityGlobal, contact_ids))
ref_joint_ori = list(
map(motion[frame].getJointOrientationGlobal, contact_ids))
ref_joint_pos = list(
map(motion[frame].getJointPositionGlobal, contact_ids))
ref_joint_vel = [
motion.getJointVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_joint_angvel = [
motion.getJointAngVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_body_ori = list(
map(motionModel.getBodyOrientationGlobal, contact_ids))
ref_body_pos = list(map(motionModel.getBodyPositionGlobal,
contact_ids))
# ref_body_vel = list(map(controlModel.getBodyVelocityGlobal, contact_ids))
ref_body_angvel = [
motion.getJointAngVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_body_vel = [
ref_joint_vel[i] +
np.cross(ref_joint_angvel[i], ref_body_pos[i] - ref_joint_pos[i])
for i in range(len(ref_joint_vel))
]
is_contact = [1] * len(contact_ids)
contact_right = len(set(contact_des_ids).intersection(rIDlist)) > 0
contact_left = len(set(contact_des_ids).intersection(lIDlist)) > 0
contMotionOffset = th[0][0] - th_r[0][0]
linkPositions = controlModel.getBodyPositionsGlobal()
linkVelocities = controlModel.getBodyVelocitiesGlobal()
linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal()
linkInertias = controlModel.getBodyInertiasGlobal()
CM = yrp.getCM(linkPositions, linkMasses, totalMass)
dCM = yrp.getCM(linkVelocities, linkMasses, totalMass)
CM_plane = copy.copy(CM)
CM_plane[1] = 0.
dCM_plane = copy.copy(dCM)
dCM_plane[1] = 0.
P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM,
linkInertias)
dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses,
linkVelocities, dCM,
linkAngVelocities,
linkInertias)
if foot_viewer is not None:
foot_viewer.foot_pressure_gl_window.refresh_foot_contact_info(
frame, vpWorld, bodyIDsToCheck, mus, Ks, Ds)
foot_viewer.foot_pressure_gl_window.goToFrame(frame)
# rendering
for foot_seg_id in footIdlist:
motion_model_renderer.body_colors[foot_seg_id] = (255, 240, 255)
for contact_id in contact_ids:
motion_model_renderer.body_colors[contact_id] = (255, 0, 0)
pallete2 = list()
pallete2.append((244, 198, 61))
pallete2.append((4, 105, 113))
pallete2.append((234, 219, 196))
pallete2.append((216, 1, 6))
pallete2.append((230, 230, 230))
pallete = pallete2
color = dict()
color['RightFoot'] = pallete[0]
color['RightFoot_foot_1_0'] = pallete[4]
color['RightFoot_foot_0_0'] = pallete[1]
color['RightFoot_foot_0_0_0'] = pallete[2]
color['RightFoot_foot_0_1_0'] = pallete[3]
color['LeftFoot'] = pallete[0]
color['LeftFoot_foot_1_0'] = pallete[4]
color['LeftFoot_foot_0_0'] = pallete[1]
color['LeftFoot_foot_0_0_0'] = pallete[2]
color['LeftFoot_foot_0_1_0'] = pallete[3]
if COLOR_ON:
for color_key in color.keys():
motion_model_renderer.body_colors[
idDic[color_key]] = color[color_key]
rd_CM[0] = CM
rd_CM_plane[0] = CM.copy()
rd_CM_plane[0][1] = 0.
del rd_foot_ori[:]
del rd_foot_pos[:]
# for seg_foot_id in footIdlist:
# rd_foot_ori.append(controlModel.getJointOrientationGlobal(seg_foot_id))
# rd_foot_pos.append(controlModel.getJointPositionGlobal(seg_foot_id))
rd_foot_ori.append(controlModel.getJointOrientationGlobal(supL))
rd_foot_ori.append(controlModel.getJointOrientationGlobal(supR))
rd_foot_pos.append(controlModel.getJointPositionGlobal(supL))
rd_foot_pos.append(controlModel.getJointPositionGlobal(supR))
rd_root_des[0] = rootPos[0]
rd_root_ori[0] = controlModel.getBodyOrientationGlobal(0)
rd_root_pos[0] = controlModel.getBodyPositionGlobal(0)
del rd_CF[:]
del rd_CF_pos[:]
# render contact_ids
# render skeleton
if SKELETON_ON:
Ts = dict()
Ts['pelvis'] = controlModel_ik.getJointTransform(idDic['Hips'])
Ts['thigh_R'] = controlModel_ik.getJointTransform(
idDic['RightUpLeg'])
Ts['shin_R'] = controlModel_ik.getJointTransform(idDic['RightLeg'])
Ts['foot_R'] = controlModel_ik.getJointTransform(
idDic['RightFoot'])
Ts['foot_heel_R'] = controlModel_ik.getJointTransform(
idDic['RightFoot'])
Ts['heel_R'] = np.eye(4)
Ts['outside_metatarsal_R'] = controlModel_ik.getJointTransform(
idDic['RightFoot_foot_0_0'])
Ts['outside_phalanges_R'] = controlModel_ik.getJointTransform(
idDic['RightFoot_foot_0_0_0'])
# Ts['inside_metatarsal_R'] = controlModel.getJointTransform(idDic['RightFoot_foot_0_1'])
Ts['inside_metatarsal_R'] = np.eye(4)
Ts['inside_phalanges_R'] = controlModel_ik.getJointTransform(
idDic['RightFoot_foot_0_1_0'])
Ts['spine_ribs'] = controlModel_ik.getJointTransform(
idDic['Spine'])
Ts['head'] = controlModel_ik.getJointTransform(idDic['Spine1'])
Ts['upper_limb_R'] = controlModel_ik.getJointTransform(
idDic['RightArm'])
Ts['lower_limb_R'] = controlModel_ik.getJointTransform(
idDic['RightForeArm'])
Ts['thigh_L'] = controlModel_ik.getJointTransform(
idDic['LeftUpLeg'])
Ts['shin_L'] = controlModel_ik.getJointTransform(idDic['LeftLeg'])
Ts['foot_L'] = controlModel_ik.getJointTransform(idDic['LeftFoot'])
Ts['foot_heel_L'] = controlModel_ik.getJointTransform(
idDic['LeftFoot'])
Ts['heel_L'] = np.eye(4)
Ts['outside_metatarsal_L'] = controlModel_ik.getJointTransform(
idDic['LeftFoot_foot_0_0'])
Ts['outside_phalanges_L'] = controlModel_ik.getJointTransform(
idDic['LeftFoot_foot_0_0_0'])
# Ts['inside_metatarsal_L'] = controlModel.getJointTransform(idDic['LeftFoot_foot_0_1'])
Ts['inside_metatarsal_L'] = np.eye(4)
Ts['inside_phalanges_L'] = controlModel_ik.getJointTransform(
idDic['LeftFoot_foot_0_1_0'])
Ts['upper_limb_L'] = controlModel_ik.getJointTransform(
idDic['LeftArm'])
Ts['lower_limb_L'] = controlModel_ik.getJointTransform(
idDic['LeftForeArm'])
color = dict()
color['foot_R'] = pallete[0]
color['heel_R'] = pallete[4]
color['outside_metatarsal_R'] = pallete[1]
color['outside_phalanges_R'] = pallete[2]
color['inside_phalanges_R'] = pallete[3]
color['foot_L'] = pallete[0]
color['heel_L'] = pallete[4]
color['outside_metatarsal_L'] = pallete[1]
color['outside_phalanges_L'] = pallete[2]
color['inside_phalanges_L'] = pallete[3]
if COLOR_ON:
skeleton_renderer.appendFrameState(Ts, color)
else:
skeleton_renderer.appendFrameState(Ts)
def simulateCallback(frame):
# print(frame)
# print(motion[frame].getJointOrientationLocal(footIdDic['RightFoot_foot_0_1_0']))
if False and viewer_GetForceState():
# print('force on, frame: ', frame)
motion[frame].mulJointOrientationLocal(
footIdDic['LeftFoot_foot_0_0_0'],
mm.exp(mm.unitX(), -math.pi * mm.SCALAR_1_6))
motion[frame].mulJointOrientationLocal(
footIdDic['LeftFoot_foot_0_1_0'],
mm.exp(mm.unitX(), -math.pi * mm.SCALAR_1_6))
motion[frame].mulJointOrientationLocal(
footIdDic['RightFoot_foot_0_0_0'],
mm.exp(mm.unitX(), -math.pi * mm.SCALAR_1_6))
motion[frame].mulJointOrientationLocal(
footIdDic['RightFoot_foot_0_1_0'],
mm.exp(mm.unitX(), -math.pi * mm.SCALAR_1_6))
# print(motion[frame].getJointOrientationLocal(footIdDic['RightFoot_foot_0_1_0']))
motionModel.update(motion[frame])
controlModel_ik.set_q(controlModel.get_q())
global g_initFlag
global forceShowTime
global JsysPre
global JsupPreL
global JsupPreR
global JconstPre
global preFootCenter
global maxContactChangeCount
global contactChangeCount
global contact
global contactChangeType
# Kt, Kl, Kh, Bl, Bh, kt_sup = viewer.GetParam()
Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals(
['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt'])
Dt = 2 * (Kt**.5)
Dl = 2 * (Kl**.5)
Dh = 2 * (Kh**.5)
dt_sup = 2 * (kt_sup**.5)
doubleTosingleOffset = 0.15
singleTodoubleOffset = 0.30
# doubleTosingleOffset = 0.09
doubleTosingleVelOffset = 0.0
# tracking
th_r = motion.getDOFPositions(frame)
th = controlModel.getDOFPositions()
dth_r = motion.getDOFVelocities(frame)
dth = controlModel.getDOFVelocities()
ddth_r = motion.getDOFAccelerations(frame)
ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r,
Kt, Dt)
ype.flatten(ddth_des, ddth_des_flat)
# ddth_des_flat = Kt * (motion.get_q(frame) - np.array(controlModel.get_q())) - Dt * np.array(controlModel.get_dq())
ype.flatten(dth, dth_flat)
# dth_flat = np.array(controlModel.get_dq())
#################################################
# jacobian
#################################################
contact_des_ids = list() # desired contact segments
if foot_viewer.check_om_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0'))
if foot_viewer.check_op_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0_0'))
if foot_viewer.check_im_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1'))
if foot_viewer.check_ip_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1_0'))
if foot_viewer.check_h_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_1_0'))
if foot_viewer.check_om_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_0'))
if foot_viewer.check_op_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_0_0'))
if foot_viewer.check_im_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_1'))
if foot_viewer.check_ip_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_1_0'))
if foot_viewer.check_h_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_1_0'))
contact_ids = list() # temp idx for balancing
contact_ids.extend(contact_des_ids)
contact_joint_ori = list(
map(controlModel.getJointOrientationGlobal, contact_ids))
contact_joint_pos = list(
map(controlModel.getJointPositionGlobal, contact_ids))
contact_body_ori = list(
map(controlModel.getBodyOrientationGlobal, contact_ids))
contact_body_pos = list(
map(controlModel.getBodyPositionGlobal, contact_ids))
contact_body_vel = list(
map(controlModel.getBodyVelocityGlobal, contact_ids))
contact_body_angvel = list(
map(controlModel.getBodyAngVelocityGlobal, contact_ids))
ref_joint_ori = list(
map(motion[frame].getJointOrientationGlobal, contact_ids))
ref_joint_pos = list(
map(motion[frame].getJointPositionGlobal, contact_ids))
ref_joint_vel = [
motion.getJointVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_joint_angvel = [
motion.getJointAngVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_body_ori = list(
map(motionModel.getBodyOrientationGlobal, contact_ids))
ref_body_pos = list(map(motionModel.getBodyPositionGlobal,
contact_ids))
# ref_body_vel = list(map(controlModel.getBodyVelocityGlobal, contact_ids))
ref_body_angvel = [
motion.getJointAngVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_body_vel = [
ref_joint_vel[i] +
np.cross(ref_joint_angvel[i], ref_body_pos[i] - ref_joint_pos[i])
for i in range(len(ref_joint_vel))
]
J_contacts = [
yjc.makeEmptyJacobian(DOFs, 1) for i in range(len(contact_ids))
]
dJ_contacts = [
yjc.makeEmptyJacobian(DOFs, 1) for i in range(len(contact_ids))
]
joint_masks = [
yjc.getLinkJointMask(motion[0].skeleton, joint_idx)
for joint_idx in contact_ids
]
# caution!! body orientation and joint orientation of foot are totally different!!
footOriL = controlModel.getJointOrientationGlobal(supL)
footOriR = controlModel.getJointOrientationGlobal(supR)
# desire footCenter[1] = 0.041135
# desire footCenter[1] = 0.0197
footCenterL = controlModel.getBodyPositionGlobal(supL)
footCenterR = controlModel.getBodyPositionGlobal(supR)
footBodyOriL = controlModel.getBodyOrientationGlobal(supL)
footBodyOriR = controlModel.getBodyOrientationGlobal(supR)
footBodyVelL = controlModel.getBodyVelocityGlobal(supL)
footBodyVelR = controlModel.getBodyVelocityGlobal(supR)
footBodyAngVelL = controlModel.getBodyAngVelocityGlobal(supL)
footBodyAngVelR = controlModel.getBodyAngVelocityGlobal(supR)
refFootL = motionModel.getBodyPositionGlobal(supL)
refFootR = motionModel.getBodyPositionGlobal(supR)
refFootVelL = motionModel.getBodyVelocityGlobal(supL)
refFootVelR = motionModel.getBodyVelocityGlobal(supR)
refFootAngVelL = motionModel.getBodyAngVelocityGlobal(supL)
refFootAngVelR = motionModel.getBodyAngVelocityGlobal(supR)
refFootJointVelR = motion.getJointVelocityGlobal(supR, frame)
refFootJointAngVelR = motion.getJointAngVelocityGlobal(supR, frame)
refFootJointR = motion.getJointPositionGlobal(supR, frame)
refFootVelR = refFootJointVelR + np.cross(refFootJointAngVelR,
(refFootR - refFootJointR))
refFootJointVelL = motion.getJointVelocityGlobal(supL, frame)
refFootJointAngVelL = motion.getJointAngVelocityGlobal(supL, frame)
refFootJointL = motion.getJointPositionGlobal(supL, frame)
refFootVelL = refFootJointVelL + np.cross(refFootJointAngVelL,
(refFootL - refFootJointL))
is_contact = [1] * len(contact_ids)
contactR = 1
contactL = 1
if refFootVelR[1] < 0 and refFootVelR[1] / 30. + refFootR[
1] > singleTodoubleOffset:
contactR = 0
if refFootVelL[1] < 0 and refFootVelL[1] / 30. + refFootL[
1] > singleTodoubleOffset:
contactL = 0
if refFootVelR[1] > 0 and refFootVelR[1] / 30. + refFootR[
1] > doubleTosingleOffset:
contactR = 0
if refFootVelL[1] > 0 and refFootVelL[1] / 30. + refFootL[
1] > doubleTosingleOffset:
contactL = 0
# contactR = 1
contMotionOffset = th[0][0] - th_r[0][0]
linkPositions = controlModel.getBodyPositionsGlobal()
linkVelocities = controlModel.getBodyVelocitiesGlobal()
linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal()
linkInertias = controlModel.getBodyInertiasGlobal()
CM = yrp.getCM(linkPositions, linkMasses, totalMass)
dCM = yrp.getCM(linkVelocities, linkMasses, totalMass)
CM_plane = copy.copy(CM)
CM_plane[1] = 0.
dCM_plane = copy.copy(dCM)
dCM_plane[1] = 0.
P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM,
linkInertias)
dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses,
linkVelocities, dCM,
linkAngVelocities,
linkInertias)
# calculate contact state
# if g_initFlag == 1 and contact == 1 and refFootR[1] < doubleTosingleOffset and footCenterR[1] < 0.08:
if g_initFlag == 1:
# contact state
# 0: flying 1: right only 2: left only 3: double
# if contact == 2 and refFootR[1] < doubleTosingleOffset:
if contact == 2 and contactR == 1:
contact = 3
maxContactChangeCount += 30
contactChangeCount += maxContactChangeCount
contactChangeType = 'StoD'
# elif contact == 3 and refFootL[1] < doubleTosingleOffset:
elif contact == 1 and contactL == 1:
contact = 3
maxContactChangeCount += 30
contactChangeCount += maxContactChangeCount
contactChangeType = 'StoD'
# elif contact == 3 and refFootR[1] > doubleTosingleOffset:
elif contact == 3 and contactR == 0:
contact = 2
contactChangeCount += maxContactChangeCount
contactChangeType = 'DtoS'
# elif contact == 3 and refFootL[1] > doubleTosingleOffset:
elif contact == 3 and contactL == 0:
contact = 1
contactChangeCount += maxContactChangeCount
contactChangeType = 'DtoS'
else:
contact = 0
# if refFootR[1] < doubleTosingleOffset:
if contactR == 1:
contact += 1
# if refFootL[1] < doubleTosingleOffset:
if contactL == 1:
contact += 2
# initialization
if g_initFlag == 0:
# JsysPre = Jsys.copy()
JconstPre = Jconst.copy()
softConstPoint = footCenterR.copy()
# yjc.computeJacobian2(JsysPre, DOFs, jointPositions, jointAxeses, linkPositions, allLinkJointMasks)
# yjc.computeJacobian2(JconstPre, DOFs, jointPositions, jointAxeses, [softConstPoint], constJointMasks)
footCenter = footCenterL + (footCenterR - footCenterL) / 2.0
footCenter[1] = 0.
preFootCenter = footCenter.copy()
# footToBodyFootRotL = np.dot(np.transpose(footOriL), footBodyOriL)
# footToBodyFootRotR = np.dot(np.transpose(footOriR), footBodyOriR)
if refFootR[1] < doubleTosingleOffset:
contact += 1
if refFootL[1] < doubleTosingleOffset:
contact += 2
g_initFlag = 1
# calculate jacobian
Jsys, dJsys = controlModel.computeCom_J_dJdq()
for i in range(len(J_contacts)):
J_contacts[i] = Jsys[6 * contact_ids[i]:6 * contact_ids[i] + 6, :]
dJ_contacts[i] = dJsys[6 * contact_ids[i]:6 * contact_ids[i] + 6]
# calculate footCenter
footCenter = sum(contact_body_pos) / len(contact_body_pos) if len(contact_body_pos) > 0 \
else .5 * (controlModel.getBodyPositionGlobal(supL) + controlModel.getBodyPositionGlobal(supR))
# if len(contact_body_pos) > 2:
# hull = ConvexHull(contact_body_pos)
footCenter_ref = sum(ref_body_pos) / len(ref_body_pos) if len(ref_body_pos) > 0 \
else .5 * (motionModel.getBodyPositionGlobal(supL) + motionModel.getBodyPositionGlobal(supR))
footCenter_ref = footCenter_ref + contMotionOffset
# if len(ref_body_pos) > 2:
# hull = ConvexHull(ref_body_pos)
footCenter_ref[1] = 0.
# footCenter = footCenterL + (footCenterR - footCenterL)/2.0
# if refFootR[1] >doubleTosingleOffset:
# if refFootR[1] > doubleTosingleOffset or footCenterR[1] > 0.08:
# if contact == 1 or footCenterR[1] > 0.08:
# if contact == 2 or footCenterR[1] > doubleTosingleOffset/2:
if contact == 2:
footCenter = footCenterL.copy()
# elif contact == 1 or footCenterL[1] > doubleTosingleOffset/2:
if contact == 1:
footCenter = footCenterR.copy()
footCenter[1] = 0.
footCenter[0] = footCenter[0] + getParamVal('com X offset')
if contactChangeCount > 0 and contactChangeType == 'StoD':
# change footcenter gradually
footCenter = preFootCenter + (
maxContactChangeCount - contactChangeCount) * (
footCenter - preFootCenter) / maxContactChangeCount
preFootCenter = footCenter.copy()
# linear momentum
# TODO:
# We should consider dCM_ref, shouldn't we?
# add getBodyPositionGlobal and getBodyPositionsGlobal in csVpModel!
# to do that, set joint velocities to vpModel
CM_ref_plane = footCenter
# CM_ref_plane = footCenter_ref
dL_des_plane = Kl * totalMass * (CM_ref_plane -
CM_plane) - Dl * totalMass * dCM_plane
# dL_des_plane[1] = 0.
# print('dCM_plane : ', np.linalg.norm(dCM_plane))
# angular momentum
CP_ref = footCenter
# CP_ref = footCenter_ref
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
# bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds)
CP = yrp.getCP(contactPositions, contactForces)
if CP_old[0] is None or CP is None:
dCP = None
else:
dCP = (CP - CP_old[0]) / (1 / 30.)
CP_old[0] = CP
if CP is not None and dCP is not None:
ddCP_des = Kh * (CP_ref - CP) - Dh * dCP
dCP_des = dCP + ddCP_des * (1 / 30.)
CP_des = CP + dCP_des * (1 / 30.)
# CP_des = footCenter
CP_des = CP + dCP * (1 / 30.) + .5 * ddCP_des * ((1 / 30.)**2)
dH_des = np.cross(
(CP_des - CM),
(dL_des_plane + totalMass * mm.s2v(wcfg.gravity)))
if contactChangeCount > 0: # and contactChangeType == 'DtoS':
dH_des *= (maxContactChangeCount -
contactChangeCount) / maxContactChangeCount
else:
dH_des = None
# convex hull
contact_pos_2d = np.asarray([
np.array([contactPosition[0], contactPosition[2]])
for contactPosition in contactPositions
])
p = np.array([CM_plane[0], CM_plane[2]])
# hull = None # type: Delaunay
# if contact_pos_2d.shape[0] > 0:
# hull = Delaunay(contact_pos_2d)
# print(hull.find_simplex(p) >= 0)
# set up equality constraint
# TODO:
# logSO3 is just q'', not acceleration.
# To make a_oris acceleration, q'' -> a will be needed
# body_ddqs = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori]))
body_ddqs = list(
map(mm.logSO3, [
np.dot(
contact_body_ori[i].T,
np.dot(
ref_body_ori[i],
mm.getSO3FromVectors(
np.dot(ref_body_ori[i], mm.unitY()), mm.unitY())))
for i in range(len(contact_body_ori))
]))
body_qs = list(map(mm.logSO3, contact_body_ori))
body_angs = [
np.dot(contact_body_ori[i], contact_body_angvel[i])
for i in range(len(contact_body_ori))
]
body_dqs = [
mm.vel2qd(body_angs[i], body_qs[i]) for i in range(len(body_angs))
]
a_oris = [
np.dot(contact_body_ori[i],
mm.qdd2accel(body_ddqs[i], body_dqs[i], body_qs[i]))
for i in range(len(contact_body_ori))
]
# body_ddq = body_ddqs[0]
# body_ori = contact_body_ori[0]
# body_ang = np.dot(body_ori.T, contact_body_angvel[0])
#
# body_q = mm.logSO3(body_ori)
# body_dq = mm.vel2qd(body_ang, body_q)
# a_ori = np.dot(body_ori, mm.qdd2accel(body_ddq, body_dq, body_q))
# a_oris = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori]))
a_sups = [
np.append(
kt_sup *
(ref_body_pos[i] - contact_body_pos[i] + contMotionOffset) +
dt_sup * (ref_body_vel[i] - contact_body_vel[i]),
kt_sup * a_oris[i] + dt_sup *
(ref_body_angvel[i] - contact_body_angvel[i]))
for i in range(len(a_oris))
]
# momentum matrix
RS = np.dot(P, Jsys)
R, S = np.vsplit(RS, 2)
# rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat)
rs = np.dot(dP, np.dot(Jsys, dth_flat)) + np.dot(P, dJsys)
r_bias, s_bias = np.hsplit(rs, 2)
#######################################################
# optimization
#######################################################
# if contact == 2 and footCenterR[1] > doubleTosingleOffset/2:
if contact == 2:
config['weightMap']['RightUpLeg'] = .8
config['weightMap']['RightLeg'] = .8
config['weightMap']['RightFoot'] = .8
else:
config['weightMap']['RightUpLeg'] = .1
config['weightMap']['RightLeg'] = .25
config['weightMap']['RightFoot'] = .2
# if contact == 1 and footCenterL[1] > doubleTosingleOffset/2:
if contact == 1:
config['weightMap']['LeftUpLeg'] = .8
config['weightMap']['LeftLeg'] = .8
config['weightMap']['LeftFoot'] = .8
else:
config['weightMap']['LeftUpLeg'] = .1
config['weightMap']['LeftLeg'] = .25
config['weightMap']['LeftFoot'] = .2
w = mot.getTrackingWeight(DOFs, motion[0].skeleton,
config['weightMap'])
# if contact == 2:
# mot.addSoftPointConstraintTerms(problem, totalDOF, Bsc, ddP_des1, Q1, q_bias1)
mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat)
if dH_des is not None:
mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias)
mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias)
# mot.setConstraint(problem, totalDOF, Jsup, dJsup, dth_flat, a_sup)
# mot.addConstraint(problem, totalDOF, Jsup, dJsup, dth_flat, a_sup)
# if contact & 1 and contactChangeCount == 0:
if True:
for c_idx in range(len(contact_ids)):
# mot.addConstraint(problem, totalDOF, J_contacts[c_idx], dJ_contacts[c_idx], dth_flat, a_sups[c_idx])
mot.addConstraint2(problem, totalDOF, J_contacts[c_idx],
dJ_contacts[c_idx], dth_flat,
a_sups[c_idx])
if contactChangeCount > 0:
contactChangeCount = contactChangeCount - 1
if contactChangeCount == 0:
maxContactChangeCount = 30
contactChangeType = 0
r = problem.solve()
problem.clear()
ddth_sol_flat = np.asarray(r['x'])
# ddth_sol_flat[foot_seg_dofs] = np.array(ddth_des_flat)[foot_seg_dofs]
ype.nested(ddth_sol_flat, ddth_sol)
rootPos[0] = controlModel.getBodyPositionGlobal(selectedBody)
localPos = [[0, 0, 0]]
for i in range(stepsPerFrame):
# apply penalty force
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
# bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds)
vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals,
contactForces)
controlModel.setDOFAccelerations(ddth_sol)
# controlModel.setDOFAccelerations(ddth_des)
# controlModel.set_ddq(ddth_sol_flat)
# controlModel.set_ddq(ddth_des_flat)
controlModel.solveHybridDynamics()
if forceShowTime > viewer.objectInfoWnd.labelForceDur.value():
forceShowTime = 0
viewer_ResetForceState()
forceforce = np.array([
viewer.objectInfoWnd.labelForceX.value(),
viewer.objectInfoWnd.labelForceY.value(),
viewer.objectInfoWnd.labelForceZ.value()
])
extraForce[0] = getParamVal('Fm') * mm.normalize2(forceforce)
if viewer_GetForceState():
forceShowTime += wcfg.timeStep
vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce)
vpWorld.step()
controlModel_ik.set_q(controlModel.get_q())
if foot_viewer is not None:
foot_viewer.foot_pressure_gl_window.refresh_foot_contact_info(
frame, vpWorld, bodyIDsToCheck, mus, Ks, Ds)
foot_viewer.foot_pressure_gl_window.goToFrame(frame)
# rendering
for foot_seg_id in footIdlist:
control_model_renderer.body_colors[foot_seg_id] = (255, 240, 255)
for contact_id in contact_ids:
control_model_renderer.body_colors[contact_id] = (255, 0, 0)
rightFootVectorX[0] = np.dot(footOriL, np.array([.1, 0, 0]))
rightFootVectorY[0] = np.dot(footOriL, np.array([0, .1, 0]))
rightFootVectorZ[0] = np.dot(footOriL, np.array([0, 0, .1]))
rightFootPos[0] = footCenterL
rightVectorX[0] = np.dot(footBodyOriL, np.array([.1, 0, 0]))
rightVectorY[0] = np.dot(footBodyOriL, np.array([0, .1, 0]))
rightVectorZ[0] = np.dot(footBodyOriL, np.array([0, 0, .1]))
rightPos[0] = footCenterL + np.array([.1, 0, 0])
rd_footCenter[0] = footCenter
rd_footCenter_ref[0] = footCenter_ref
rd_footCenterL[0] = footCenterL
rd_footCenterR[0] = footCenterR
rd_CM[0] = CM
rd_CM_plane[0] = CM.copy()
rd_CM_plane[0][1] = 0.
if CP is not None and dCP is not None:
rd_CP[0] = CP
rd_CP_des[0] = CP_des
rd_dL_des_plane[0] = [
dL_des_plane[0] / 100, dL_des_plane[1] / 100,
dL_des_plane[2] / 100
]
rd_dH_des[0] = dH_des
rd_grf_des[0] = dL_des_plane - totalMass * mm.s2v(wcfg.gravity)
rd_root_des[0] = rootPos[0]
rd_root_ori[0] = controlModel.getBodyOrientationGlobal(0)
rd_root_pos[0] = controlModel.getBodyPositionGlobal(0)
del rd_CF[:]
del rd_CF_pos[:]
for i in range(len(contactPositions)):
rd_CF.append(contactForces[i] / 400)
rd_CF_pos.append(contactPositions[i].copy())
if viewer_GetForceState():
rd_exfen_des[0] = [
extraForce[0][0] / 100, extraForce[0][1] / 100,
extraForce[0][2] / 100
]
rd_exf_des[0] = [0, 0, 0]
else:
rd_exf_des[0] = [
extraForce[0][0] / 100, extraForce[0][1] / 100,
extraForce[0][2] / 100
]
rd_exfen_des[0] = [0, 0, 0]
extraForcePos[0] = controlModel.getBodyPositionGlobal(selectedBody)
# render contact_ids
# render skeleton
if SKELETON_ON:
Ts = dict()
Ts['pelvis'] = controlModel.getJointTransform(0)
Ts['thigh_R'] = controlModel.getJointTransform(1)
Ts['shin_R'] = controlModel.getJointTransform(2)
Ts['foot_R'] = controlModel.getJointTransform(3)
Ts['spine_ribs'] = controlModel.getJointTransform(9)
Ts['head'] = controlModel.getJointTransform(10)
Ts['upper_limb_R'] = controlModel.getJointTransform(13)
Ts['lower_limb_R'] = controlModel.getJointTransform(14)
Ts['thigh_L'] = controlModel.getJointTransform(15)
Ts['shin_L'] = controlModel.getJointTransform(16)
Ts['foot_L'] = controlModel.getJointTransform(17)
Ts['upper_limb_L'] = controlModel.getJointTransform(11)
Ts['lower_limb_L'] = controlModel.getJointTransform(12)
skeleton_renderer.appendFrameState(Ts)
def footAdjust(posture_ori, touch_body_indices, SEGMENT_FOOT_MAG, SEGMENT_FOOT_RAD, baseHeight=0.):
"""
:param posture_ori:
:type posture_ori: ym.JointPosture
:param touch_body_indices:
:type touch_body_indices: list[str]
:param SEGMENT_FOOT_MAG:
:type SEGMENT_FOOT_MAG: float
:param SEGMENT_FOOT_RAD:
:type SEGMENT_FOOT_RAD: float
:param baseHeight:
:type baseHeight: float
:return:
"""
if len(touch_body_indices) == 0:
return
# idDic: name to idx
idDic = dict()
for i in range(posture_ori.skeleton.getJointNum()):
idDic[posture_ori.skeleton.getJointName(i)] = i
# nameDic: index to name
nameDic = dict()
for i in range(posture_ori.skeleton.getJointNum()):
nameDic[i] = posture_ori.skeleton.getJointName(i)
# specified
foot_name = "LeftFoot"
# side_touch_body_indices: left or right foot touch body indices
side_touch_body_indices = [touch_body_idx for touch_body_idx in touch_body_indices if foot_name in nameDic[touch_body_idx]]
# foot_joint_pos: ankle joint position
foot_joint_pos = posture_ori.getJointPositionGlobal(idDic[foot_name])
seg_joint_ori = [posture_ori.getJointOrientationGlobal(touch_body_idx) for touch_body_idx in side_touch_body_indices]
seg_joint_pos = []
for touch_body_idx in side_touch_body_indices:
if nameDic[touch_body_idx] == foot_name+'_foot_0_0':
seg_joint_pos.append(posture_ori.getJointPositionGlobal(touch_body_idx) + SEGMENT_FOOT_MAG*np.dot(seg_joint_ori, -1.936*mm.unitY()).flatten())
else:
seg_joint_pos.append(posture_ori.getJointPositionGlobal(touch_body_idx))
if len(side_touch_body_indices) == 0:
pass
elif len(side_touch_body_indices) == 1:
seg_idx = side_touch_body_indices[0]
# seg joint y pos to 0
ankle_to_joint_vec = seg_joint_pos[0] - foot_joint_pos
joint_vec_rot_axis, temp_angle = mm.getRotAxisAngleFromVectors(ankle_to_joint_vec, -mm.unitY())
joint_y_to_zero_angle = temp_angle - math.acos((foot_joint_pos[1] - SEGMENT_FOOT_RAD - baseHeight)/np.linalg.norm(ankle_to_joint_vec))
posture_ori.mulJointOrientationGlobal(idDic[foot_name], mm.exp(joint_vec_rot_axis, joint_y_to_zero_angle))
###############################################################
# TODO:
###############################################################
# rotate seg to parallel ground
seg_ori = posture_ori.getJointOrientationGlobal(seg_idx)
posture_ori.mulJointOrientationGlobal(seg_idx, seg_ori.T)
elif len(side_touch_body_indices) == 2:
seg_idx = [side_touch_body_indices[0], side_touch_body_indices[1]]
ankle_to_joint_vecs = [seg_joint_pos[i] - foot_joint_pos for i in range(len(seg_idx))]
ankle_to_joint_vec = .5*(ankle_to_joint_vecs[0] + ankle_to_joint_vecs[1])
joint_vec_rot_axis, temp_angle = mm.getRotAxisAngleFromVectors(ankle_to_joint_vec, -mm.unitY())
joint_y_to_zero_angle = temp_angle - math.acos((foot_joint_pos[1] - SEGMENT_FOOT_RAD - baseHeight)/np.linalg.norm(ankle_to_joint_vec))
posture_ori.mulJointOrientationGlobal(idDic[foot_name], mm.exp(joint_vec_rot_axis, joint_y_to_zero_angle))
seg_contact_pos = []
for touch_body_idx in side_touch_body_indices:
ith_seg_contact_pos = []
if nameDic[touch_body_idx] == foot_name+'_foot_0_0_0':
ith_seg_contact_pos.append(seg_joint_pos)
ith_seg_contact_pos.append(seg_joint_pos + np.dot(seg_joint_ori, mm.unitZ()))
ith_seg_contact_pos.append(seg_joint_pos + np.dot(seg_joint_ori, mm.unitX()))
if nameDic[touch_body_idx] == foot_name+'_foot_0_1_0':
ith_seg_contact_pos.append(seg_joint_pos + np.dot(seg_joint_ori, np.array([0., 0., 0.])))
pass
if nameDic[touch_body_idx] == foot_name+'_foot_0_0':
pass
if nameDic[touch_body_idx] == foot_name+'_foot_1_0':
pass
# unspecified
pass
def preFrameCallback_Always(frame):
if frame < 120+start_frame:
viewer.doc.setRendererVisible('controlModel', True)
viewer.doc.setRendererVisible('skeleton', True)
viewer.motionViewWnd.glWindow.camera.rotateX = math.pi /180. * -90.
viewer.motionViewWnd.glWindow.camera.rotateY = math.pi
viewer.motionViewWnd.glWindow.camera.distance = .3
viewer.motionViewWnd.glWindow.camera.center = controlModel.getBodyPositionGlobal(idDic['RightFoot']) - 0.10*mm.unitX()
viewer.motionViewWnd.glWindow.projectionOrtho = True
viewer.motionViewWnd.glWindow.projectionChanged = True
else:
if 0 <= frame % 50 < 22:
viewer.doc.setRendererVisible('controlModel', True)
viewer.doc.setRendererVisible('skeleton', False)
elif 22 <= frame % 50 < 25:
viewer.doc.setRendererVisible('controlModel', False)
viewer.doc.setRendererVisible('skeleton', False)
elif 25 <= frame % 50 < 47:
viewer.doc.setRendererVisible('controlModel', False)
viewer.doc.setRendererVisible('skeleton', True)
elif 47 <= frame % 50 < 50:
viewer.doc.setRendererVisible('controlModel', False)
viewer.doc.setRendererVisible('skeleton', False)
def main():
# np.set_printoptions(precision=4, linewidth=200)
np.set_printoptions(precision=5,
threshold=np.inf,
suppress=True,
linewidth=3000)
motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped()
# motion, mcfg, wcfg, stepsPerFrame, config = mit.create_jump_biped()
init_tiptoe = 0.4
if True:
for i in range(len(motion)):
motion[i].mulJointOrientationLocal(
19, mm.exp(mm.unitX(), -math.pi * init_tiptoe))
motion[i].mulJointOrientationLocal(
21, mm.exp(mm.unitX(), -math.pi * init_tiptoe))
motion[i].mulJointOrientationLocal(
5, mm.exp(mm.unitX(), -math.pi * init_tiptoe))
motion[i].mulJointOrientationLocal(
7, mm.exp(mm.unitX(), -math.pi * init_tiptoe))
motion[i].mulJointOrientationLocal(
17, mm.exp(mm.unitX(), math.pi * init_tiptoe * 0.95))
motion[i].mulJointOrientationLocal(
3, mm.exp(mm.unitX(), math.pi * init_tiptoe * 0.95))
vpWorld = cvw.VpWorld(wcfg)
vpWorld.SetGlobalDamping(0.999)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
# controlModel_shadow_for_ik = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.initializeHybridDynamics()
# controlToMotionOffset = (1.5, -0.02, 0)
# controlToMotionOffset = (1.5, 0., 0)
controlToMotionOffset = (1.5, 0.1, 0)
controlModel.translateByOffset(controlToMotionOffset)
# controlModel_shadow_for_ik.set_q(controlModel.get_q())
# controlModel_shadow_for_ik.computeJacobian(0, np.array([0., 0., 0.]))
wcfg_ik = copy.deepcopy(wcfg)
vpWorld_ik = cvw.VpWorld(wcfg_ik)
controlModel_ik = cvm.VpControlModel(vpWorld_ik, motion[0], mcfg)
vpWorld_ik.initialize()
controlModel_ik.set_q(controlModel.get_q())
totalDOF = controlModel.getTotalDOF()
DOFs = controlModel.getDOFs()
foot_dofs = []
left_foot_dofs = []
right_foot_dofs = []
foot_seg_dofs = []
left_foot_seg_dofs = []
right_foot_seg_dofs = []
# for joint_idx in range(motion[0].skeleton.getJointNum()):
for joint_idx in range(controlModel.getJointNum()):
joint_name = controlModel.index2name(joint_idx)
# joint_name = motion[0].skeleton.getJointName(joint_idx)
if 'Foot' in joint_name:
foot_dofs_temp = controlModel.getJointDOFIndexes(joint_idx)
foot_dofs.extend(foot_dofs_temp)
if 'Left' in joint_name:
left_foot_dofs.extend(foot_dofs_temp)
elif 'Right' in joint_name:
right_foot_dofs.extend(foot_dofs_temp)
if 'foot' in joint_name:
foot_dofs_temp = controlModel.getJointDOFIndexes(joint_idx)
foot_seg_dofs.extend(foot_dofs_temp)
if 'Left' in joint_name:
left_foot_seg_dofs.extend(foot_dofs_temp)
elif 'Right' in joint_name:
right_foot_seg_dofs.extend(foot_dofs_temp)
# parameter
Kt = config['Kt']
Dt = config['Dt'] # tracking gain
Kl = config['Kl']
Dl = config['Dl'] # linear balance gain
Kh = config['Kh']
Dh = config['Dh'] # angular balance gain
Ks = config['Ks']
Ds = config['Ds'] # penalty force spring gain
Bt = config['Bt']
Bl = config['Bl']
Bh = config['Bh']
selectedBody = motion[0].skeleton.getJointIndex(config['end'])
constBody = motion[0].skeleton.getJointIndex('RightFoot')
supL = motion[0].skeleton.getJointIndex('LeftFoot')
supR = motion[0].skeleton.getJointIndex('RightFoot')
# momentum matrix
linkMasses = controlModel.getBodyMasses()
totalMass = controlModel.getTotalMass()
TO = ymt.make_TO(linkMasses)
dTO = ymt.make_dTO(len(linkMasses))
# optimization
problem = yac.LSE(totalDOF, 12)
# a_sup = (0,0,0, 0,0,0) #ori
# a_sup = (0,0,0, 0,0,0) #L
CP_old = [mm.v3(0., 0., 0.)]
# penalty method
bodyIDsToCheck = list(range(vpWorld.getBodyNum()))
# mus = [1.]*len(bodyIDsToCheck)
mus = [.5] * len(bodyIDsToCheck)
# flat data structure
ddth_des_flat = ype.makeFlatList(totalDOF)
dth_flat = ype.makeFlatList(totalDOF)
ddth_sol = ype.makeNestedList(DOFs)
# viewer
rd_footCenter = [None]
rd_footCenter_ref = [None]
rd_footCenterL = [None]
rd_footCenterR = [None]
rd_CM_plane = [None]
rd_CM = [None]
rd_CP = [None]
rd_CP_des = [None]
rd_dL_des_plane = [None]
rd_dH_des = [None]
rd_grf_des = [None]
rd_exf_des = [None]
rd_exfen_des = [None]
rd_root_des = [None]
rd_foot_ori = [None]
rd_foot_pos = [None]
rd_root_ori = [None]
rd_root_pos = [None]
rd_CF = [None]
rd_CF_pos = [None]
rootPos = [None]
selectedBodyId = [selectedBody]
extraForce = [None]
extraForcePos = [None]
rightFootVectorX = [None]
rightFootVectorY = [None]
rightFootVectorZ = [None]
rightFootPos = [None]
rightVectorX = [None]
rightVectorY = [None]
rightVectorZ = [None]
rightPos = [None]
def makeEmptyBasicSkeletonTransformDict(init=None):
Ts = dict()
Ts['pelvis'] = init
Ts['spine_ribs'] = init
Ts['head'] = init
Ts['thigh_R'] = init
Ts['shin_R'] = init
Ts['foot_R'] = init
Ts['upper_limb_R'] = init
Ts['lower_limb_R'] = init
Ts['thigh_L'] = init
Ts['shin_L'] = init
Ts['foot_L'] = init
Ts['upper_limb_L'] = init
Ts['lower_limb_L'] = init
return Ts
# viewer = ysv.SimpleViewer()
viewer = hsv.hpSimpleViewer(rect=[0, 0, 1024, 768], viewForceWnd=False)
# viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer(
'motionModel',
yr.VpModelRenderer(motionModel, (150, 150, 255), yr.POLYGON_FILL))
viewer.doc.addRenderer(
'ikModel',
yr.VpModelRenderer(controlModel_ik, (150, 150, 255), yr.POLYGON_LINE))
# viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
control_model_renderer = yr.VpModelRenderer(controlModel, (255, 240, 255),
yr.POLYGON_FILL)
viewer.doc.addRenderer('controlModel', control_model_renderer)
skeleton_renderer = None
if SKELETON_ON:
skeleton_renderer = yr.BasicSkeletonRenderer(
makeEmptyBasicSkeletonTransformDict(np.eye(4)), offset_Y=-0.08)
viewer.doc.addRenderer('skeleton', skeleton_renderer)
viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter))
viewer.doc.addRenderer('rd_footCenter_ref',
yr.PointsRenderer(rd_footCenter_ref))
viewer.doc.addRenderer('rd_CM_plane',
yr.PointsRenderer(rd_CM_plane, (255, 255, 0)))
viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (0, 255, 0)))
viewer.doc.addRenderer('rd_CP_des',
yr.PointsRenderer(rd_CP_des, (255, 0, 255)))
viewer.doc.addRenderer(
'rd_dL_des_plane',
yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255, 255, 0)))
viewer.doc.addRenderer('rd_dH_des',
yr.VectorsRenderer(rd_dH_des, rd_CM, (0, 255, 0)))
# viewer.doc.addRenderer('rd_grf_des', yr.ForcesRenderer(rd_grf_des, rd_CP_des, (0,255,0), .001))
viewer.doc.addRenderer('rd_CF',
yr.VectorsRenderer(rd_CF, rd_CF_pos, (255, 255, 0)))
viewer.doc.addRenderer(
'rd_foot_ori',
yr.OrientationsRenderer(rd_foot_ori, rd_foot_pos, (255, 255, 0)))
viewer.doc.addRenderer(
'rd_root_ori',
yr.OrientationsRenderer(rd_root_ori, rd_root_pos, (255, 255, 0)))
viewer.doc.addRenderer(
'extraForce', yr.VectorsRenderer(rd_exf_des, extraForcePos,
(0, 255, 0)))
viewer.doc.addRenderer(
'extraForceEnable',
yr.VectorsRenderer(rd_exfen_des, extraForcePos, (255, 0, 0)))
# viewer.doc.addRenderer('right_foot_oriX', yr.VectorsRenderer(rightFootVectorX, rightFootPos, (255,0,0)))
# viewer.doc.addRenderer('right_foot_oriY', yr.VectorsRenderer(rightFootVectorY, rightFootPos, (0,255,0)))
# viewer.doc.addRenderer('right_foot_oriZ', yr.VectorsRenderer(rightFootVectorZ, rightFootPos, (0,0,255)))
# viewer.doc.addRenderer('right_oriX', yr.VectorsRenderer(rightVectorX, rightPos, (255,0,0)))
# viewer.doc.addRenderer('right_oriY', yr.VectorsRenderer(rightVectorY, rightPos, (0,255,0)))
# viewer.doc.addRenderer('right_oriZ', yr.VectorsRenderer(rightVectorZ, rightPos, (0,0,255)))
# foot_viewer = FootWindow(viewer.x() + viewer.w() + 20, viewer.y(), 300, 400, 'foot contact modifier', controlModel)
foot_viewer = None # type: FootWindow
initKt = 25
initKl = 100.
initKh = 100.
initBl = .1
initBh = .13
initSupKt = 17
initFm = 50.0
initComX = 0.
initComY = 0.
initComZ = 0.
viewer.objectInfoWnd.add1DSlider("Kt", 0., 300., 1., initKt)
viewer.objectInfoWnd.add1DSlider("Kl", 0., 300., 1., initKl)
viewer.objectInfoWnd.add1DSlider("Kh", 0., 300., 1., initKh)
viewer.objectInfoWnd.add1DSlider("Bl", 0., 1., .001, initBl)
viewer.objectInfoWnd.add1DSlider("Bh", 0., 1., .001, initBh)
viewer.objectInfoWnd.add1DSlider("SupKt", 0., 300., 0.1, initSupKt)
viewer.objectInfoWnd.add1DSlider("Fm", 0., 1000., 10., initFm)
viewer.objectInfoWnd.add1DSlider("com X offset", -1., 1., 0.01, initComX)
viewer.objectInfoWnd.add1DSlider("com Y offset", -1., 1., 0.01, initComY)
viewer.objectInfoWnd.add1DSlider("com Z offset", -1., 1., 0.01, initComZ)
viewer.objectInfoWnd.add1DSlider("tiptoe angle", -.5, .5, 0.001, 0.)
viewer.objectInfoWnd.add1DSlider("left tilt angle", .0, .5, 0.001, 0.)
viewer.objectInfoWnd.add1DSlider("right tilt angle", .0, .5, 0.001, 0.)
viewer.force_on = False
def viewer_SetForceState(object):
viewer.force_on = True
def viewer_GetForceState():
return viewer.force_on
def viewer_ResetForceState():
viewer.force_on = False
viewer.objectInfoWnd.addBtn('Force on', viewer_SetForceState)
viewer_ResetForceState()
offset = 60
viewer.objectInfoWnd.begin()
viewer.objectInfoWnd.labelForceX = Fl_Value_Input(20, 30 + offset * 9, 40,
20, 'X')
viewer.objectInfoWnd.labelForceX.value(0)
viewer.objectInfoWnd.labelForceY = Fl_Value_Input(80, 30 + offset * 9, 40,
20, 'Y')
viewer.objectInfoWnd.labelForceY.value(0)
viewer.objectInfoWnd.labelForceZ = Fl_Value_Input(140, 30 + offset * 9, 40,
20, 'Z')
viewer.objectInfoWnd.labelForceZ.value(1)
viewer.objectInfoWnd.labelForceDur = Fl_Value_Input(
220, 30 + offset * 9, 40, 20, 'Dur')
viewer.objectInfoWnd.labelForceDur.value(0.1)
viewer.objectInfoWnd.end()
# self.sliderFm = Fl_Hor_Nice_Slider(10, 42+offset*6, 250, 10)
def getParamVal(paramname):
return viewer.objectInfoWnd.getVal(paramname)
def getParamVals(paramnames):
return (getParamVal(name) for name in paramnames)
def setParamVal(paramname, val):
viewer.objectInfoWnd.setVal(paramname, val)
extendedFootName = [
'Foot_foot_0_0', 'Foot_foot_0_1', 'Foot_foot_0_0_0', 'Foot_foot_0_1_0',
'Foot_foot_1_0'
]
lIDdic = {
'Left' + name: motion[0].skeleton.getJointIndex('Left' + name)
for name in extendedFootName
}
rIDdic = {
'Right' + name: motion[0].skeleton.getJointIndex('Right' + name)
for name in extendedFootName
}
footIdDic = lIDdic.copy()
footIdDic.update(rIDdic)
lIDlist = [
motion[0].skeleton.getJointIndex('Left' + name)
for name in extendedFootName
]
rIDlist = [
motion[0].skeleton.getJointIndex('Right' + name)
for name in extendedFootName
]
footIdlist = []
footIdlist.extend(lIDlist)
footIdlist.extend(rIDlist)
foot_left_idx = motion[0].skeleton.getJointIndex('LeftFoot')
foot_right_idx = motion[0].skeleton.getJointIndex('RightFoot')
foot_left_idx_temp = motion[0].skeleton.getJointIndex('LeftFoot_foot_1_0')
foot_right_idx_temp = motion[0].skeleton.getJointIndex(
'RightFoot_foot_1_0')
# ik_solver = hik.numIkSolver(dartIkModel)
# ik_solver.clear()
# bodyIDsToCheck = rIDlist.copy()
joint_names = [
motion[0].skeleton.getJointName(i)
for i in range(motion[0].skeleton.getJointNum())
]
def fix_dofs(_DOFs, nested_dof_values, _mcfg, _joint_names):
fixed_nested_dof_values = list()
fixed_nested_dof_values.append(nested_dof_values[0])
for i in range(1, len(_DOFs)):
dof = _DOFs[i]
if dof == 1:
node = _mcfg.getNode(_joint_names[i])
axis = mm.unitZ()
if node.jointAxes[0] == 'X':
axis = mm.unitX()
elif node.jointAxes[0] == 'Y':
axis = mm.unitY()
fixed_nested_dof_values.append(
np.array([np.dot(nested_dof_values[i], axis)]))
else:
fixed_nested_dof_values.append(nested_dof_values[i])
return fixed_nested_dof_values
###################################
# simulate
###################################
def simulateCallback(frame):
print(frame)
if True:
if frame == 100:
setParamVal('tiptoe angle', -0.4)
elif frame == 130:
foot_viewer.check_all_seg()
setParamVal('SupKt', 30.)
elif frame == 200:
setParamVal('SupKt', 17.)
elif frame == 350:
setParamVal('com X offset', -0.04)
elif frame == 400:
setParamVal('com X offset', -0.08)
elif False and frame == 500:
setParamVal('com X offset', 0.)
setParamVal('tiptoe angle', 0.)
foot_viewer.check_tiptoe_all()
# print(motion[frame].getJointOrientationLocal(footIdDic['RightFoot_foot_0_1_0']))
if abs(getParamVal('tiptoe angle')) > 0.001:
tiptoe_angle = getParamVal('tiptoe angle')
motion[frame].mulJointOrientationLocal(
footIdDic['LeftFoot_foot_0_0_0'],
mm.exp(mm.unitX(), -math.pi * tiptoe_angle))
motion[frame].mulJointOrientationLocal(
footIdDic['LeftFoot_foot_0_1_0'],
mm.exp(mm.unitX(), -math.pi * tiptoe_angle))
motion[frame].mulJointOrientationLocal(
footIdDic['RightFoot_foot_0_0_0'],
mm.exp(mm.unitX(), -math.pi * tiptoe_angle))
motion[frame].mulJointOrientationLocal(
footIdDic['RightFoot_foot_0_1_0'],
mm.exp(mm.unitX(), -math.pi * tiptoe_angle))
motion[frame].mulJointOrientationLocal(
supL, mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95))
motion[frame].mulJointOrientationLocal(
supR, mm.exp(mm.unitX(), math.pi * tiptoe_angle * 0.95))
if getParamVal('left tilt angle') > 0.001:
left_tilt_angle = getParamVal('left tilt angle')
motion[frame].mulJointOrientationLocal(
footIdDic['LeftFoot_foot_0_1'],
mm.exp(mm.unitZ(), -math.pi * left_tilt_angle))
motion[frame].mulJointOrientationLocal(
footIdDic['LeftFoot'],
mm.exp(mm.unitZ(), math.pi * left_tilt_angle))
elif getParamVal('left tilt angle') < -0.001:
left_tilt_angle = getParamVal('left tilt angle')
motion[frame].mulJointOrientationLocal(
footIdDic['LeftFoot_foot_0_0'],
mm.exp(mm.unitZ(), -math.pi * left_tilt_angle))
motion[frame].mulJointOrientationLocal(
footIdDic['LeftFoot_foot_0_1'],
mm.exp(mm.unitZ(), math.pi * left_tilt_angle))
motion[frame].mulJointOrientationLocal(
footIdDic['LeftFoot'],
mm.exp(mm.unitZ(), math.pi * left_tilt_angle))
if getParamVal('right tilt angle') > 0.001:
right_tilt_angle = getParamVal('right tilt angle')
motion[frame].mulJointOrientationLocal(
footIdDic['RightFoot_foot_0_1'],
mm.exp(mm.unitZ(), math.pi * right_tilt_angle))
motion[frame].mulJointOrientationLocal(
footIdDic['RightFoot'],
mm.exp(mm.unitZ(), -math.pi * right_tilt_angle))
elif getParamVal('right tilt angle') < -0.001:
right_tilt_angle = getParamVal('right tilt angle')
motion[frame].mulJointOrientationLocal(
footIdDic['RightFoot_foot_0_0'],
mm.exp(mm.unitZ(), math.pi * right_tilt_angle))
motion[frame].mulJointOrientationLocal(
footIdDic['RightFoot_foot_0_1'],
mm.exp(mm.unitZ(), -math.pi * right_tilt_angle))
motion[frame].mulJointOrientationLocal(
footIdDic['RightFoot'],
mm.exp(mm.unitZ(), -math.pi * right_tilt_angle))
motionModel.update(motion[frame])
controlModel_ik.set_q(controlModel.get_q())
global g_initFlag
global forceShowTime
global JsysPre
global JsupPreL
global JsupPreR
global JconstPre
global preFootCenter
global maxContactChangeCount
global contactChangeCount
global contact
global contactChangeType
Kt, Kl, Kh, Bl, Bh, kt_sup = getParamVals(
['Kt', 'Kl', 'Kh', 'Bl', 'Bh', 'SupKt'])
Dt = 2 * (Kt**.5)
Dl = 2 * (Kl**.5)
Dh = 2 * (Kh**.5)
dt_sup = 2 * (kt_sup**.5)
# 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)
ype.flatten(fix_dofs(DOFs, ddth_des, mcfg, joint_names), ddth_des_flat)
ype.flatten(fix_dofs(DOFs, dth, mcfg, joint_names), dth_flat)
#################################################
# jacobian
#################################################
contact_des_ids = list() # desired contact segments
if foot_viewer.check_om_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0'))
if foot_viewer.check_op_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_0_0'))
if foot_viewer.check_im_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1'))
if foot_viewer.check_ip_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_0_1_0'))
if foot_viewer.check_h_l.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('LeftFoot_foot_1_0'))
if foot_viewer.check_om_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_0'))
if foot_viewer.check_op_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_0_0'))
if foot_viewer.check_im_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_1'))
if foot_viewer.check_ip_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_0_1_0'))
if foot_viewer.check_h_r.value():
contact_des_ids.append(
motion[0].skeleton.getJointIndex('RightFoot_foot_1_0'))
contact_ids = list() # temp idx for balancing
contact_ids.extend(contact_des_ids)
contact_joint_ori = list(
map(controlModel.getJointOrientationGlobal, contact_ids))
contact_joint_pos = list(
map(controlModel.getJointPositionGlobal, contact_ids))
contact_body_ori = list(
map(controlModel.getBodyOrientationGlobal, contact_ids))
contact_body_pos = list(
map(controlModel.getBodyPositionGlobal, contact_ids))
contact_body_vel = list(
map(controlModel.getBodyVelocityGlobal, contact_ids))
contact_body_angvel = list(
map(controlModel.getBodyAngVelocityGlobal, contact_ids))
ref_joint_ori = list(
map(motion[frame].getJointOrientationGlobal, contact_ids))
ref_joint_pos = list(
map(motion[frame].getJointPositionGlobal, contact_ids))
ref_joint_vel = [
motion.getJointVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_joint_angvel = [
motion.getJointAngVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_body_ori = list(
map(motionModel.getBodyOrientationGlobal, contact_ids))
ref_body_pos = list(map(motionModel.getBodyPositionGlobal,
contact_ids))
# ref_body_vel = list(map(controlModel.getBodyVelocityGlobal, contact_ids))
ref_body_angvel = [
motion.getJointAngVelocityGlobal(joint_idx, frame)
for joint_idx in contact_ids
]
ref_body_vel = [
ref_joint_vel[i] +
np.cross(ref_joint_angvel[i], ref_body_pos[i] - ref_joint_pos[i])
for i in range(len(ref_joint_vel))
]
is_contact = [1] * len(contact_ids)
contact_right = len(set(contact_des_ids).intersection(rIDlist)) > 0
contact_left = len(set(contact_des_ids).intersection(lIDlist)) > 0
contMotionOffset = th[0][0] - th_r[0][0]
linkPositions = controlModel.getBodyPositionsGlobal()
linkVelocities = controlModel.getBodyVelocitiesGlobal()
linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal()
linkInertias = controlModel.getBodyInertiasGlobal()
CM = yrp.getCM(linkPositions, linkMasses, totalMass)
dCM = yrp.getCM(linkVelocities, linkMasses, totalMass)
CM_plane = copy.copy(CM)
CM_plane[1] = 0.
dCM_plane = copy.copy(dCM)
dCM_plane[1] = 0.
P = ymt.getPureInertiaMatrix(TO, linkMasses, linkPositions, CM,
linkInertias)
dP = ymt.getPureInertiaMatrixDerivative(dTO, linkMasses,
linkVelocities, dCM,
linkAngVelocities,
linkInertias)
# calculate jacobian
Jsys, dJsys = controlModel.computeCom_J_dJdq()
J_contacts = [] # type: list[np.ndarray]
dJ_contacts = [] # type: list[np.ndarray]
for contact_id in contact_ids:
J_contacts.append(Jsys[6 * contact_id:6 * contact_id + 6, :])
dJ_contacts.append(dJsys[6 * contact_id:6 * contact_id + 6])
# calculate footCenter
footCenter = sum(contact_body_pos) / len(contact_body_pos) if len(contact_body_pos) > 0 \
else .5 * (controlModel.getBodyPositionGlobal(supL) + controlModel.getBodyPositionGlobal(supR))
footCenter[1] = 0.
# if len(contact_body_pos) > 2:
# hull = ConvexHull(contact_body_pos)
footCenter_ref = sum(ref_body_pos) / len(ref_body_pos) if len(ref_body_pos) > 0 \
else .5 * (motionModel.getBodyPositionGlobal(supL) + motionModel.getBodyPositionGlobal(supR))
footCenter_ref = footCenter_ref + contMotionOffset
# if len(ref_body_pos) > 2:
# hull = ConvexHull(ref_body_pos)
footCenter_ref[1] = 0.
footCenter[0] = footCenter[0] + getParamVal('com X offset')
footCenter[2] = footCenter[2] + getParamVal('com Z offset')
# initialization
if g_initFlag == 0:
preFootCenter[0] = footCenter.copy()
g_initFlag = 1
# if contactChangeCount == 0 and np.linalg.norm(footCenter - preFootCenter[0]) > 0.01:
# contactChangeCount += 30
if contactChangeCount > 0:
# change footcenter gradually
footCenter = preFootCenter[0] + (
maxContactChangeCount - contactChangeCount) * (
footCenter - preFootCenter[0]) / maxContactChangeCount
else:
preFootCenter[0] = footCenter.copy()
# linear momentum
# TODO:
# We should consider dCM_ref, shouldn't we?
# add getBodyPositionGlobal and getBodyPositionsGlobal in csVpModel!
# to do that, set joint velocities to vpModel
CM_ref_plane = footCenter
# CM_ref_plane = footCenter_ref
dL_des_plane = Kl * totalMass * (CM_ref_plane -
CM_plane) - Dl * totalMass * dCM_plane
# dL_des_plane[1] = 0.
# print('dCM_plane : ', np.linalg.norm(dCM_plane))
# angular momentum
CP_ref = footCenter
# CP_ref = footCenter_ref
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
CP = yrp.getCP(contactPositions, contactForces)
if CP_old[0] is None or CP is None:
dCP = None
else:
dCP = (CP - CP_old[0]) / (1 / 30.)
CP_old[0] = CP
if CP is not None and dCP is not None:
ddCP_des = Kh * (CP_ref - CP) - Dh * dCP
dCP_des = dCP + ddCP_des * (1 / 30.)
CP_des = CP + dCP_des * (1 / 30.)
# CP_des = footCenter
CP_des = CP + dCP * (1 / 30.) + .5 * ddCP_des * ((1 / 30.)**2)
dH_des = np.cross(
(CP_des - CM),
(dL_des_plane + totalMass * mm.s2v(wcfg.gravity)))
if contactChangeCount > 0: # and contactChangeType == 'DtoS':
dH_des *= (maxContactChangeCount -
contactChangeCount) / maxContactChangeCount
else:
dH_des = None
# convex hull
contact_pos_2d = np.asarray([
np.array([contactPosition[0], contactPosition[2]])
for contactPosition in contactPositions
])
p = np.array([CM_plane[0], CM_plane[2]])
# hull = None # type: Delaunay
# if contact_pos_2d.shape[0] > 0:
# hull = Delaunay(contact_pos_2d)
# print(hull.find_simplex(p) >= 0)
# set up equality constraint
# TODO:
# logSO3 is just q'', not acceleration.
# To make a_oris acceleration, q'' -> a will be needed
# body_ddqs = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori]))
body_ddqs = list(
map(mm.logSO3, [
np.dot(
contact_body_ori[i].T,
np.dot(
ref_body_ori[i],
mm.getSO3FromVectors(
np.dot(ref_body_ori[i], mm.unitY()), mm.unitY())))
for i in range(len(contact_body_ori))
]))
body_qs = list(map(mm.logSO3, contact_body_ori))
body_angs = [
np.dot(contact_body_ori[i], contact_body_angvel[i])
for i in range(len(contact_body_ori))
]
body_dqs = [
mm.vel2qd(body_angs[i], body_qs[i]) for i in range(len(body_angs))
]
a_oris = [
np.dot(contact_body_ori[i],
mm.qdd2accel(body_ddqs[i], body_dqs[i], body_qs[i]))
for i in range(len(contact_body_ori))
]
# body_ddq = body_ddqs[0]
# body_ori = contact_body_ori[0]
# body_ang = np.dot(body_ori.T, contact_body_angvel[0])
#
# body_q = mm.logSO3(body_ori)
# body_dq = mm.vel2qd(body_ang, body_q)
# a_ori = np.dot(body_ori, mm.qdd2accel(body_ddq, body_dq, body_q))
# a_oris = list(map(mm.logSO3, [mm.getSO3FromVectors(np.dot(body_ori, mm.unitY()), mm.unitY()) for body_ori in contact_body_ori]))
# a_sups = [np.append(kt_sup*(ref_body_pos[i] - contact_body_pos[i] + contMotionOffset) + dt_sup*(ref_body_vel[i] - contact_body_vel[i]),
# kt_sup*a_oris[i]+dt_sup*(ref_body_angvel[i]-contact_body_angvel[i])) for i in range(len(a_oris))]
a_sups = [
np.append(
kt_sup *
(ref_body_pos[i] - contact_body_pos[i] + contMotionOffset) -
dt_sup * contact_body_vel[i],
kt_sup * a_oris[i] - dt_sup * contact_body_angvel[i])
for i in range(len(a_oris))
]
# momentum matrix
RS = np.dot(P, Jsys)
R, S = np.vsplit(RS, 2)
# rs = np.dot((np.dot(dP, Jsys) + np.dot(P, dJsys)), dth_flat)
rs = np.dot(dP, np.dot(Jsys, dth_flat)) + np.dot(P, dJsys)
r_bias, s_bias = np.hsplit(rs, 2)
#######################################################
# optimization
#######################################################
# if contact == 2 and footCenterR[1] > doubleTosingleOffset/2:
if contact_left and not contact_right:
config['weightMap']['RightUpLeg'] = .8
config['weightMap']['RightLeg'] = .8
config['weightMap']['RightFoot'] = .8
else:
config['weightMap']['RightUpLeg'] = .1
config['weightMap']['RightLeg'] = .25
config['weightMap']['RightFoot'] = .2
# if contact == 1 and footCenterL[1] > doubleTosingleOffset/2:
if contact_right and not contact_left:
config['weightMap']['LeftUpLeg'] = .8
config['weightMap']['LeftLeg'] = .8
config['weightMap']['LeftFoot'] = .8
else:
config['weightMap']['LeftUpLeg'] = .1
config['weightMap']['LeftLeg'] = .25
config['weightMap']['LeftFoot'] = .2
w = mot.getTrackingWeight(DOFs, motion[0].skeleton,
config['weightMap'])
mot.addTrackingTerms(problem, totalDOF, Bt, w, ddth_des_flat)
if dH_des is not None:
mot.addLinearTerms(problem, totalDOF, Bl, dL_des_plane, R, r_bias)
mot.addAngularTerms(problem, totalDOF, Bh, dH_des, S, s_bias)
if True:
for c_idx in range(len(contact_ids)):
mot.addConstraint2(problem, totalDOF, J_contacts[c_idx],
dJ_contacts[c_idx], dth_flat,
a_sups[c_idx])
if contactChangeCount > 0:
contactChangeCount = contactChangeCount - 1
if contactChangeCount == 0:
maxContactChangeCount = 30
contactChangeType = 0
r = problem.solve()
problem.clear()
ddth_sol_flat = np.asarray(r['x'])
# ddth_sol_flat[foot_seg_dofs] = np.array(ddth_des_flat)[foot_seg_dofs]
ype.nested(ddth_sol_flat, ddth_sol)
rootPos[0] = controlModel.getBodyPositionGlobal(selectedBody)
localPos = [[0, 0, 0]]
for i in range(stepsPerFrame):
# apply penalty force
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(
bodyIDsToCheck, mus, Ks, Ds)
# bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds)
vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals,
contactForces)
controlModel.setDOFAccelerations(ddth_sol)
# controlModel.setDOFAccelerations(ddth_des)
# controlModel.set_ddq(ddth_sol_flat)
# controlModel.set_ddq(ddth_des_flat)
controlModel.solveHybridDynamics()
if forceShowTime > viewer.objectInfoWnd.labelForceDur.value():
forceShowTime = 0
viewer_ResetForceState()
forceforce = np.array([
viewer.objectInfoWnd.labelForceX.value(),
viewer.objectInfoWnd.labelForceY.value(),
viewer.objectInfoWnd.labelForceZ.value()
])
extraForce[0] = getParamVal('Fm') * mm.normalize2(forceforce)
if viewer_GetForceState():
forceShowTime += wcfg.timeStep
vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce)
vpWorld.step()
controlModel_ik.set_q(controlModel.get_q())
if foot_viewer is not None:
foot_viewer.foot_pressure_gl_window.refresh_foot_contact_info(
frame, vpWorld, bodyIDsToCheck, mus, Ks, Ds)
foot_viewer.foot_pressure_gl_window.goToFrame(frame)
# rendering
for foot_seg_id in footIdlist:
control_model_renderer.body_colors[foot_seg_id] = (255, 240, 255)
for contact_id in contact_ids:
control_model_renderer.body_colors[contact_id] = (255, 0, 0)
rd_footCenter[0] = footCenter
rd_footCenter_ref[0] = footCenter_ref
rd_CM[0] = CM
rd_CM_plane[0] = CM.copy()
rd_CM_plane[0][1] = 0.
if CP is not None and dCP is not None:
rd_CP[0] = CP
rd_CP_des[0] = CP_des
rd_dL_des_plane[0] = [
dL_des_plane[0] / 100, dL_des_plane[1] / 100,
dL_des_plane[2] / 100
]
rd_dH_des[0] = dH_des
rd_grf_des[0] = dL_des_plane - totalMass * mm.s2v(wcfg.gravity)
del rd_foot_ori[:]
del rd_foot_pos[:]
# for seg_foot_id in footIdlist:
# rd_foot_ori.append(controlModel.getJointOrientationGlobal(seg_foot_id))
# rd_foot_pos.append(controlModel.getJointPositionGlobal(seg_foot_id))
rd_foot_ori.append(controlModel.getJointOrientationGlobal(supL))
rd_foot_ori.append(controlModel.getJointOrientationGlobal(supR))
rd_foot_pos.append(controlModel.getJointPositionGlobal(supL))
rd_foot_pos.append(controlModel.getJointPositionGlobal(supR))
rd_root_des[0] = rootPos[0]
rd_root_ori[0] = controlModel.getBodyOrientationGlobal(0)
rd_root_pos[0] = controlModel.getBodyPositionGlobal(0)
del rd_CF[:]
del rd_CF_pos[:]
for i in range(len(contactPositions)):
rd_CF.append(contactForces[i] / 400)
rd_CF_pos.append(contactPositions[i].copy())
if viewer_GetForceState():
rd_exfen_des[0] = [
extraForce[0][0] / 100, extraForce[0][1] / 100,
extraForce[0][2] / 100
]
rd_exf_des[0] = [0, 0, 0]
else:
rd_exf_des[0] = [
extraForce[0][0] / 100, extraForce[0][1] / 100,
extraForce[0][2] / 100
]
rd_exfen_des[0] = [0, 0, 0]
extraForcePos[0] = controlModel.getBodyPositionGlobal(selectedBody)
# render contact_ids
# render skeleton
if SKELETON_ON:
Ts = dict()
Ts['pelvis'] = controlModel.getJointTransform(0)
Ts['thigh_R'] = controlModel.getJointTransform(1)
Ts['shin_R'] = controlModel.getJointTransform(2)
Ts['foot_R'] = controlModel.getJointTransform(3)
Ts['spine_ribs'] = controlModel.getJointTransform(9)
Ts['head'] = controlModel.getJointTransform(10)
Ts['upper_limb_R'] = controlModel.getJointTransform(13)
Ts['lower_limb_R'] = controlModel.getJointTransform(14)
Ts['thigh_L'] = controlModel.getJointTransform(15)
Ts['shin_L'] = controlModel.getJointTransform(16)
Ts['foot_L'] = controlModel.getJointTransform(17)
Ts['upper_limb_L'] = controlModel.getJointTransform(11)
Ts['lower_limb_L'] = controlModel.getJointTransform(12)
skeleton_renderer.appendFrameState(Ts)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
# viewer.play()
viewer.show()
foot_viewer = FootWindow(viewer.x() + viewer.w() + 20, viewer.y(), 300,
500, 'foot contact modifier', controlModel)
foot_viewer.show()
foot_viewer.check_op_l.value(True)
foot_viewer.check_ip_l.value(True)
foot_viewer.check_op_r.value(True)
foot_viewer.check_ip_r.value(True)
Fl.run()
