def main(): # np.set_printoptions(precision=4, linewidth=200) np.set_printoptions(precision=5, threshold=np.inf, suppress=True, linewidth=3000) motionFile = 'wd2_tiptoe.bvh' motionFile = 'wd2_tiptoe_zygote.bvh' # motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped(motionFile, SEGMENT_FOOT_RAD=0.008) motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped( motionFile, SEGMENT_FOOT_MAG=0.01, SEGMENT_FOOT_RAD=0.008) # motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped() # motion, mcfg, wcfg, stepsPerFrame, config = mit.create_jump_biped() 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 = (0., 0., 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(np.zeros_like(controlModel.get_q())) controlModel_q = np.zeros_like(controlModel.get_q()) controlModel_q[4] = controlModel_q[4] + 1.2 - 0.24 controlModel.set_q(controlModel_q) print( controlModel.getBodyPositionGlobal( motion[0].skeleton.getJointIndex('RightFoot_foot_1_0'))) 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_heel_R'] = init Ts['foot_R'] = init Ts['heel_R'] = init Ts['outside_metatarsal_R'] = init Ts['outside_phalanges_R'] = init Ts['inside_metatarsal_R'] = init Ts['inside_phalanges_R'] = init Ts['upper_limb_R'] = init Ts['lower_limb_R'] = init Ts['thigh_L'] = init Ts['shin_L'] = init Ts['foot_heel_L'] = init Ts['foot_L'] = init Ts['heel_L'] = init Ts['outside_metatarsal_L'] = init Ts['outside_phalanges_L'] = init Ts['inside_metatarsal_L'] = init Ts['inside_phalanges_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 = hsv.hpSimpleViewer(rect=[0, 0, 1920 + 300, 1 + 1080 + 55], viewForceWnd=False) # viewer.record(False) # viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE)) viewer.doc.addObject('motion', motion) motion_model_renderer = yr.VpModelRenderer(motionModel, (255, 240, 255), yr.POLYGON_FILL) viewer.doc.addRenderer('motionModel', motion_model_renderer) # viewer.doc.setRendererVisible('motionModel', False) viewer.doc.addRenderer( 'ikModel', yr.VpModelRenderer(controlModel_ik, (150, 150, 255), yr.POLYGON_LINE)) viewer.doc.setRendererVisible('ikModel', False) # 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) viewer.doc.setRendererVisible('controlModel', False) skeleton_renderer = None if SKELETON_ON: # skeleton_renderer = yr.BasicSkeletonRenderer(makeEmptyBasicSkeletonTransformDict(np.eye(4)), offset_Y=-0.08) # skeleton_renderer = yr.BasicSkeletonRenderer(makeEmptyBasicSkeletonTransformDict(np.eye(4)), color=(230, 230, 230), offset_draw=(0.8, -0.02, 0.)) skeleton_renderer = yr.BasicSkeletonRenderer( makeEmptyBasicSkeletonTransformDict(np.eye(4)), color=(230, 230, 230), offset_draw=(0., -0.0, 0.)) viewer.doc.addRenderer('skeleton', skeleton_renderer) viewer.doc.setRendererVisible('skeleton', False) viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter)) viewer.doc.setRendererVisible('rd_footCenter', False) viewer.doc.addRenderer('rd_footCenter_ref', yr.PointsRenderer(rd_footCenter_ref)) viewer.doc.setRendererVisible('rd_footCenter_ref', False) viewer.doc.addRenderer('rd_CM_plane', yr.PointsRenderer(rd_CM_plane, (255, 255, 0))) viewer.doc.setRendererVisible('rd_CM_plane', False) viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (0, 255, 0))) viewer.doc.setRendererVisible('rd_CP', False) viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (255, 0, 255))) viewer.doc.setRendererVisible('rd_CP_des', False) viewer.doc.addRenderer( 'rd_dL_des_plane', yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255, 255, 0))) viewer.doc.setRendererVisible('rd_dL_des_plane', False) viewer.doc.addRenderer('rd_dH_des', yr.VectorsRenderer(rd_dH_des, rd_CM, (0, 255, 0))) viewer.doc.setRendererVisible('rd_dH_des', False) # 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.setRendererVisible('rd_CF', False) viewer.doc.addRenderer( 'rd_foot_ori', yr.OrientationsRenderer(rd_foot_ori, rd_foot_pos, (255, 255, 0))) viewer.doc.setRendererVisible('rd_foot_ori', False) viewer.doc.addRenderer( 'rd_root_ori', yr.OrientationsRenderer(rd_root_ori, rd_root_pos, (255, 255, 0))) viewer.doc.setRendererVisible('rd_root_ori', False) viewer.doc.addRenderer( 'extraForce', yr.VectorsRenderer(rd_exf_des, extraForcePos, (0, 255, 0))) viewer.doc.setRendererVisible('extraForce', False) 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. # initKt = 60. initKl = 100. initKh = 100. initBl = .1 initBh = .13 # initSupKt = 17 initSupKt = 22 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., 0.001, initComX) viewer.objectInfoWnd.add1DSlider("com Y offset", -1., 1., 0.001, initComY) viewer.objectInfoWnd.add1DSlider("com Z offset", -1., 1., 0.001, initComZ) viewer.objectInfoWnd.add1DSlider("tiptoe angle", -0.5, .5, 0.001, 0.) viewer.objectInfoWnd.add1DSlider("left tilt angle", -0.5, .5, 0.001, 0.) viewer.objectInfoWnd.add1DSlider("right tilt angle", -0.5, .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) idDic = dict() for i in range(motion[0].skeleton.getJointNum()): idDic[motion[0].skeleton.getJointName(i)] = i # extendedFootName = ['Foot_foot_0_0', 'Foot_foot_0_1', 'Foot_foot_0_0_0', 'Foot_foot_0_1_0', 'Foot_foot_1_0'] extendedFootName = [ 'Foot_foot_0_0', '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 start_frame = 50 up_vec_in_each_link = dict() for foot_id in footIdlist: up_vec_in_each_link[ foot_id] = controlModel_ik.getBodyOrientationGlobal(foot_id)[1, :] controlModel_ik.set_q(controlModel.get_q()) ################################### # simulate ################################### def preFrameCallback_Always(frame): global COLOR_ON viewer.motionViewWnd.glWindow.camera.rotateX = math.pi / 180. * -25. viewer.motionViewWnd.glWindow.camera.rotateY = mm.deg2Rad(45.) viewer.motionViewWnd.glWindow.camera.distance = .5 viewer.motionViewWnd.glWindow.camera.center = np.array( [0.04347, -0.01005, -0.31936]) if frame < start_frame: setParamVal('com Y offset', -0.11) viewer.doc.setRendererVisible('motionModel', False) viewer.doc.setRendererVisible('skeleton', True) elif frame < start_frame + 20: viewer.doc.setRendererVisible('motionModel', True) elif frame < start_frame + 50: setParamVal('com X offset', (frame - start_frame - 20) * 0.003) elif frame < start_frame + 70: pass elif frame < start_frame + 90: COLOR_ON = True elif frame < start_frame + 105: setParamVal('com Y offset', -0.11 + (frame - start_frame - 90) * 0.0032) setParamVal('tiptoe angle', (frame - start_frame - 90) * 0.012) elif frame < start_frame + 120: pass elif frame < start_frame + 135: setParamVal('com Y offset', -0.065 - (frame - start_frame - 120) * 0.0032) setParamVal('tiptoe angle', 0.168 - (frame - start_frame - 120) * 0.012) elif frame < start_frame + 150: pass elif frame < start_frame + 165: setParamVal('com Y offset', -0.11 + (frame - start_frame - 150) * 0.0004) setParamVal('left tilt angle', -(frame - start_frame - 150) * 0.012) elif frame < start_frame + 180: pass elif frame < start_frame + 195: setParamVal('com Y offset', -0.104 - (frame - start_frame - 180) * 0.0004) setParamVal('left tilt angle', -0.168 + (frame - start_frame - 180) * 0.012) # print(viewer.motionViewWnd.glWindow.camera.rotateX/math.pi * 180.) # print(viewer.motionViewWnd.glWindow.camera.rotateY/math.pi * 180.) # print(viewer.motionViewWnd.glWindow.camera.distance) # print(viewer.motionViewWnd.glWindow.camera.center) # if frame > start_frame: # viewer.motionViewWnd.glWindow.camera.rotateY = mm.deg2Rad((frame-start_frame)*3+45.) # else: # viewer.motionViewWnd.glWindow.camera.rotateY = mm.deg2Rad(45.) # # elif frame > 340: # viewer.doc.setRendererVisible('controlModel', False) # viewer.doc.setRendererVisible('skeleton', 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 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) viewer.setSimulateCallback(simulateCallback) viewer.setPreFrameCallback_Always(preFrameCallback_Always) 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) foot_viewer.check_not_all_seg() viewer.motionViewWnd.goToFrame(0) Fl.run()
def main(): # np.set_printoptions(precision=4, linewidth=200) np.set_printoptions(precision=5, threshold=np.inf, suppress=True, linewidth=3000) motionFile = 'wd2_tiptoe.bvh' motionFile = 'wd2_tiptoe_zygote.bvh' # motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped(motionFile, SEGMENT_FOOT_RAD=0.008) motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped( motionFile, SEGMENT_FOOT_MAG=0.01, SEGMENT_FOOT_RAD=0.008) # motion, mcfg, wcfg, stepsPerFrame, config, frame_rate = mit.create_biped() # motion, mcfg, wcfg, stepsPerFrame, config = mit.create_jump_biped() vpWorld = cvw.VpWorld(wcfg) sphere_radius = 0.5 # vpWorld.add_sphere_bump(sphere_radius, (1.6361, -sphere_radius + 0.08, -0.3209)) # vpWorld.add_sphere_bump(sphere_radius, (1.4543, -sphere_radius + 0.08, -0.3301)) vpWorld.add_sphere_bump(sphere_radius, (1.6361, -sphere_radius + 0.08, -0.2909)) vpWorld.add_sphere_bump(sphere_radius, (1.4543, -sphere_radius + 0.08, -0.2901)) 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) 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(np.zeros_like(controlModel.get_q())) totalDOF = controlModel.getTotalDOF() DOFs = controlModel.getDOFs() print(totalDOF) print(controlModel.getTotalMass()) 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']) selectedBody = motion[0].skeleton.getJointIndex('Spine') 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 = [2.] * 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_heel_R'] = init Ts['foot_R'] = init Ts['heel_R'] = init Ts['outside_metatarsal_R'] = init Ts['outside_phalanges_R'] = init Ts['inside_metatarsal_R'] = init Ts['inside_phalanges_R'] = init Ts['upper_limb_R'] = init Ts['lower_limb_R'] = init Ts['thigh_L'] = init Ts['shin_L'] = init Ts['foot_heel_L'] = init Ts['foot_L'] = init Ts['heel_L'] = init Ts['outside_metatarsal_L'] = init Ts['outside_phalanges_L'] = init Ts['inside_metatarsal_L'] = init Ts['inside_phalanges_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 = hsv.hpSimpleViewer(rect=[0, 0, 960 + 300, 1 + 1080 + 55], 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('world', yr.VpWorldRenderer(vpWorld, (150, 150, 150))) viewer.doc.addRenderer( 'motionModel', yr.VpModelRenderer(motionModel, (150, 150, 255), yr.POLYGON_FILL)) viewer.doc.setRendererVisible('motionModel', False) viewer.doc.addRenderer( 'ikModel', yr.VpModelRenderer(controlModel_ik, (150, 150, 255), yr.POLYGON_LINE)) viewer.doc.setRendererVisible('ikModel', False) # 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) # skeleton_renderer = yr.BasicSkeletonRenderer(makeEmptyBasicSkeletonTransformDict(np.eye(4)), color=(230, 230, 230), offset_draw=(0.8, -0.02, 0.)) skeleton_renderer = yr.BasicSkeletonRenderer( makeEmptyBasicSkeletonTransformDict(np.eye(4)), color=(230, 230, 230), offset_draw=(0., -0.0, 0.)) viewer.doc.addRenderer('skeleton', skeleton_renderer) viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter)) # viewer.doc.setRendererVisible('rd_footCenter', False) viewer.doc.addRenderer('rd_footCenter_ref', yr.PointsRenderer(rd_footCenter_ref)) # viewer.doc.setRendererVisible('rd_footCenter_ref', False) viewer.doc.addRenderer('rd_CM_plane', yr.PointsRenderer(rd_CM_plane, (255, 255, 0))) # viewer.doc.setRendererVisible('rd_CM_plane', False) viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (0, 255, 0))) # viewer.doc.setRendererVisible('rd_CP', False) viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (255, 0, 255))) # viewer.doc.setRendererVisible('rd_CP_des', False) viewer.doc.addRenderer( 'rd_dL_des_plane', yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255, 255, 0))) # viewer.doc.setRendererVisible('rd_dL_des_plane', False) viewer.doc.addRenderer('rd_dH_des', yr.VectorsRenderer(rd_dH_des, rd_CM, (0, 255, 0))) # viewer.doc.setRendererVisible('rd_dH_des', False) # 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.setRendererVisible('rd_CF', False) viewer.doc.addRenderer( 'rd_foot_ori', yr.OrientationsRenderer(rd_foot_ori, rd_foot_pos, (255, 255, 0))) viewer.doc.setRendererVisible('rd_foot_ori', False) viewer.doc.addRenderer( 'rd_root_ori', yr.OrientationsRenderer(rd_root_ori, rd_root_pos, (255, 255, 0))) viewer.doc.setRendererVisible('rd_root_ori', False) viewer.doc.addRenderer( 'extraForce', yr.VectorsRenderer(rd_exf_des, extraForcePos, (0, 255, 0))) viewer.doc.setRendererVisible('extraForce', False) # viewer.doc.addRenderer('extraForceEnable', yr.VectorsRenderer(rd_exfen_des, extraForcePos, (255,0,0))) viewer.doc.addRenderer( 'extraForceEnable', yr.WideArrowRenderer(rd_exfen_des, extraForcePos, (255, 0, 0), lineWidth=.05, fromPoint=False)) # 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. # initKt = 60. initKl = 100. initKh = 100. initBl = .1 initBh = .13 # initSupKt = 17 initSupKt = 22 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., 1., 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", -0.5, .5, 0.001, 0.) viewer.objectInfoWnd.add1DSlider("left tilt angle", -0.5, .5, 0.001, 0.) viewer.objectInfoWnd.add1DSlider("right tilt angle", -0.5, .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(0.4) 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) idDic = dict() for i in range(motion[0].skeleton.getJointNum()): idDic[motion[0].skeleton.getJointName(i)] = i # extendedFootName = ['Foot_foot_0_0', 'Foot_foot_0_1', 'Foot_foot_0_0_0', 'Foot_foot_0_1_0', 'Foot_foot_1_0'] extendedFootName = [ 'Foot_foot_0_0', '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 start_frame = 200 up_vec_in_each_link = dict() for foot_id in footIdlist: up_vec_in_each_link[ foot_id] = controlModel_ik.getBodyOrientationGlobal(foot_id)[1, :] controlModel_ik.set_q(controlModel.get_q()) ################################### # simulate ################################### 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) 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_all_seg() viewer.motionViewWnd.goToFrame(0) Fl.run()
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() vpWorld = cvw.VpWorld(wcfg) 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) 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'] supL = motion[0].skeleton.getJointIndex(config['supLink1']) supR = motion[0].skeleton.getJointIndex(config['supLink2']) selectedBody = motion[0].skeleton.getJointIndex(config['end']) constBody = motion[0].skeleton.getJointIndex('RightFoot') # jacobian # JsupL = yjc.makeEmptyJacobian(DOFs, 1) # dJsupL = JsupL.copy() # JsupPreL = JsupL.copy() # # JsupR = yjc.makeEmptyJacobian(DOFs, 1) # dJsupR = JsupR.copy() # JsupPreR = JsupR.copy() Jconst = yjc.makeEmptyJacobian(DOFs, 1) dJconst = Jconst.copy() JconstPre = Jconst.copy() Jsys = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum()) dJsys_temp = Jsys.copy() JsysPre = Jsys.copy() constJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, constBody)] allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton) # momentum matrix linkMasses = controlModel.getBodyMasses() totalMass = controlModel.getTotalMass() TO = ymt.make_TO(linkMasses) dTO = ymt.make_dTO(len(linkMasses)) # optimization problem = yac.LSE(totalDOF, 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_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_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 # success!! # initKt = 50 # initKl = 10.1 # initKh = 3.1 # initBl = .1 # initBh = .1 # initSupKt = 21.6 # initFm = 100.0 # success!! -- 2015.2.12. double stance # initKt = 50 # initKl = 37.1 # initKh = 41.8 # initBl = .1 # initBh = .13 # initSupKt = 21.6 # initFm = 165.0 # single stance # initKt = 25 # initKl = 80.1 # initKh = 10.8 # initBl = .1 # initBh = .13 # initSupKt = 21.6 # initFm = 50.0 # single stance -> double stance # initKt = 25 # initKl = 60. # initKh = 20. # initBl = .1 # initBh = .13 # initSupKt = 21.6 # initFm = 50.0 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.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) 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') def get_jacobianbase_and_masks(skeleton, DOFs, joint_idx): J = yjc.makeEmptyJacobian(DOFs, 1) joint_masks = [yjc.getLinkJointMask(skeleton, joint_idx)] return J, joint_masks # ik_solver = hik.numIkSolver(dartIkModel) # ik_solver.clear() ################################### # simulate ################################### 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) 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_om_l.value(True) foot_viewer.check_h_l.value(True) foot_viewer.check_op_r.value(True) foot_viewer.check_om_r.value(True) foot_viewer.check_h_r.value(True) Fl.run()
def main(): # np.set_printoptions(precision=4, linewidth=200) np.set_printoptions(precision=5, threshold=np.inf, suppress=True, linewidth=3000) config = dict() config['weightMap'] = { 'h_scapula_left': .4, 'h_bicep_left': .3, 'h_forearm_left': .2, 'h_hand_left': .2, 'h_scapula_right': .4, 'h_bicep_right': .3, 'h_forearm_right': .2, 'h_hand_right': .2, 'h_abdomen': .6, 'h_spine': .6, 'j_head': .6, 'h_heel_right': .2, 'h_heel_left': .2, 'h_pelvis': 0.5, 'h_thigh_left': 5., 'h_shin_left': .5, 'h_thigh_right': 5., 'h_shin_right': .5 } motionModel = cvdm.VpDartModel("cart_pole_blade.skel") motionModel.translateByOffset((1.5, 0.93, 0.)) init_q = motionModel.get_q() init_q[motionModel.getJointDOFIndexesByName('h_thigh_right')] = np.array( (0., 0., math.pi / 8.)) init_q[motionModel.getJointDOFIndexesByName('h_shin_right')] = np.array( (0., 0., -math.pi / 4.)) init_q[motionModel.getJointDOFIndexesByName('h_heel_right')] = np.array( (0., 0., math.pi / 8.)) motionModel.set_q(init_q) init_q[0] = 0. controlModel = cvdm.VpDartModel("cart_pole_blade.skel") # vpWorld.SetGlobalDamping(0.999) controlModel.set_q(init_q) controlModel.initializeHybridDynamics() # print(controlModel.getTotalMass()) render_fps = 40 stepsPerFrame = round(1. / (controlModel.getTimeStep() * render_fps)) # for j in range(1, dartModel.getJointNum()): # print(j, dartModel.getJointOrientationLocal(j)) 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 # tracking gain Kt = 25. Dt = 2. * (Kt**.5) # linear balance gain Kl = 100. Dl = 2. * (Kl**.5) # angular balance gain Kh = 100. Dh = 2. * (Kh**.5) # penalty force spring gain Ks = 15000. Ds = 2. * (Ks**.5) # objective weight Bt = 1. Bl = 0.1 Bh = 0.13 # selectedBody = motion[0].skeleton.getJointIndex(config['end']) selectedBody = controlModel.getJointIndex('h_spine') supL = controlModel.getJointIndex('h_blade_left') supR = controlModel.getJointIndex('h_blade_right') # supL = controlModel.getJointIndex('h_heel_left') # supR = controlModel.getJointIndex('h_heel_right') # 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(controlModel.getBodyNum())) # bodyIDsToCheck = [supL, supR] bodyIDsToCheck = [supL] # 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_body_ori = [None] rd_body_pos = [None] rd_root_ori = [None] rd_root_pos = [None] rd_CF = [None] rd_CF_pos = [None] rootPos = [None] selectedBodyId = [controlModel.index2vpid(selectedBody)] extraForce = [None] extraForcePos = [None] rightFootVectorX = [None] rightFootVectorY = [None] rightFootVectorZ = [None] rightFootPos = [None] rightVectorX = [None] rightVectorY = [None] rightVectorZ = [None] rightPos = [None] # viewer = ysv.SimpleViewer() # viewer = hsv.hpSimpleViewer(rect=[0, 0, 1024, 768], viewForceWnd=False) viewer = hsv.hpSimpleViewer(rect=[0, 0, 960 + 300, 1 + 1080 + 55], viewForceWnd=False) # viewer.record(False) # viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_BONE)) # viewer.doc.addObject('motion', motion) viewer.setMaxFrame(2000) viewer.doc.addRenderer( 'motionModel', yr.VpModelRenderer(motionModel, (150, 150, 255), yr.POLYGON_FILL)) viewer.doc.setRendererVisible('motionModel', False) control_model_renderer = yr.VpModelRenderer(controlModel, (255, 240, 255), yr.POLYGON_FILL) viewer.doc.addRenderer('controlModel', control_model_renderer) viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter)) viewer.doc.setRendererVisible('rd_footCenter', False) viewer.doc.addRenderer('rd_footCenter_ref', yr.PointsRenderer(rd_footCenter_ref)) viewer.doc.setRendererVisible('rd_footCenter_ref', False) viewer.doc.addRenderer('rd_CM_plane', yr.PointsRenderer(rd_CM_plane, (255, 255, 0))) viewer.doc.setRendererVisible('rd_CM_plane', False) viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (0, 255, 0))) viewer.doc.setRendererVisible('rd_CP', False) viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (255, 0, 255))) viewer.doc.setRendererVisible('rd_CP_des', False) viewer.doc.addRenderer( 'rd_dL_des_plane', yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255, 255, 0))) viewer.doc.setRendererVisible('rd_dL_des_plane', False) viewer.doc.addRenderer('rd_dH_des', yr.VectorsRenderer(rd_dH_des, rd_CM, (0, 255, 0))) viewer.doc.setRendererVisible('rd_dH_des', False) # 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.setRendererVisible('rd_CF', False) viewer.doc.addRenderer( 'rd_foot_ori', yr.OrientationsRenderer(rd_foot_ori, rd_foot_pos, (255, 255, 0))) viewer.doc.setRendererVisible('rd_foot_ori', False) viewer.doc.addRenderer( 'rd_root_ori', yr.OrientationsRenderer(rd_root_ori, rd_root_pos, (255, 255, 0))) viewer.doc.setRendererVisible('rd_root_ori', False) viewer.doc.addRenderer( 'rd_body_ori', yr.OrientationsRenderer(rd_body_ori, rd_body_pos, (255, 255, 0))) viewer.doc.addRenderer( 'extraForce', yr.VectorsRenderer(rd_exf_des, extraForcePos, (0, 255, 0))) viewer.doc.setRendererVisible('extraForce', False) # viewer.doc.addRenderer('extraForceEnable', yr.VectorsRenderer(rd_exfen_des, extraForcePos, (255,0,0))) viewer.doc.addRenderer( 'extraForceEnable', yr.WideArrowRenderer(rd_exfen_des, extraForcePos, (255, 0, 0), lineWidth=.05, fromPoint=False)) # 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. # initKt = 60. initKl = 100. initKh = 100. initBl = .1 initBh = .13 # initSupKt = 17 # initSupKt = 32. initSupKt = 28. initFm = 45.0 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., 1., 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", -0.5, .5, 0.001, 0.) viewer.objectInfoWnd.add1DSlider("left tilt angle", -0.5, .5, 0.001, 0.) viewer.objectInfoWnd.add1DSlider("right tilt angle", -0.5, .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(0.4) 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) idDic = dict() for i in range(controlModel.getBodyNum()): idDic[controlModel.index2name(i)] = i # extendedFootName = ['Foot_foot_0_0', 'Foot_foot_0_1', 'Foot_foot_0_0_0', 'Foot_foot_0_1_0', 'Foot_foot_1_0'] extendedFootName = ['h_blade'] # 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} lIDdic = { name + '_left': controlModel.getJointIndex(name + '_left') for name in extendedFootName } rIDdic = { name + '_right': controlModel.getJointIndex(name + '_right') for name in extendedFootName } footIdDic = lIDdic.copy() footIdDic.update(rIDdic) lIDlist = [ controlModel.getJointIndex(name + '_left') for name in extendedFootName ] rIDlist = [ controlModel.getJointIndex(name + '_right') for name in extendedFootName ] footIdlist = [] footIdlist.extend(lIDlist) footIdlist.extend(rIDlist) print(footIdlist) 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 start_frame = 200 up_vec_in_each_link = dict() for foot_id in footIdlist: up_vec_in_each_link[foot_id] = mm.unitY() ################################### # simulate ################################### 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) # 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_r = motionModel.getDOFPositions() # th = controlModel.getDOFPositions() # # dth_r = motion.getDOFVelocities(frame) # dth = controlModel.getDOFVelocities() # # ddth_r = motion.getDOFAccelerations(frame) # ddth_des = yct.getDesiredDOFAccelerations(th_r, th, None, dth, None, 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) # # print(ddth_des) # ype.flatten(ddth_des, ddth_des_flat) # ype.flatten(dth, dth_flat) th_r_flat = motionModel.get_q() th_flat = controlModel.get_q() dth_flat = controlModel.get_dq() joint_dof_info = controlModel.getJointDOFInfo() ddth_des_flat = yct.getDesiredDOFAccelerations_flat( th_r_flat, th_flat, None, dth_flat, None, Kt, Dt, joint_dof_info) # print(controlModel.getCoriAndGrav()) ################################################# # jacobian ################################################# contact_des_ids = list() # desired contact segments contact_des_ids.append(supL) # if foot_viewer.check_h_l.value(): # contact_des_ids.append(motion[0].skeleton.getJointIndex('LeftFoot')) # # if foot_viewer.check_h_r.value(): # contact_des_ids.append(motion[0].skeleton.getJointIndex('RightFoot')) 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(motionModel.getJointOrientationGlobal, contact_ids)) ref_joint_pos = list( map(motionModel.getJointPositionGlobal, contact_ids)) ref_joint_vel = [ motionModel.getJointVelocityGlobal(joint_idx) for joint_idx in contact_ids ] ref_joint_angvel = [ motionModel.getJointAngVelocityGlobal(joint_idx) 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 = [ motionModel.getJointAngVelocityGlobal(joint_idx) 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_flat[0:3] - th_r_flat[0:3] contMotionOffset = np.array((1.5, 0., 0.)) linkPositions = [ controlModel.getBodyComPositionGlobal(i) for i in range(controlModel.getBodyNum()) ] linkVelocities = [ controlModel.getBodyComVelocityGlobal(i) for i in range(controlModel.getBodyNum()) ] linkAngVelocities = [ controlModel.getBodyAngVelocityGlobal(i) for i in range(controlModel.getBodyNum()) ] linkInertias = [ controlModel.getBodyInertiaGlobal(i) for i in range(controlModel.getBodyNum()) ] 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.getBodyComPositionGlobal(supL) + controlModel.getBodyComPositionGlobal(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.getBodyComPositionGlobal(supL) + motionModel.getBodyComPositionGlobal(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 = controlModel.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 * controlModel.getGravity())) if contactChangeCount > 0: # and contactChangeType == 'DtoS': dH_des *= (maxContactChangeCount - contactChangeCount) / maxContactChangeCount else: dH_des = None # 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 LEG_FLEXIBLE: if contact == 2: config['weightMap']['h_thigh_right'] = .8 config['weightMap']['h_shin_right'] = .8 config['weightMap']['h_heel_right'] = .8 else: config['weightMap']['h_thigh_right'] = .1 config['weightMap']['h_shin_right'] = .25 config['weightMap']['h_heel_right'] = .2 if contact == 1: config['weightMap']['h_thigh_left'] = .8 config['weightMap']['h_shin_left'] = .8 config['weightMap']['h_heel_left'] = .8 else: config['weightMap']['h_thigh_left'] = .1 config['weightMap']['h_shin_left'] = .25 config['weightMap']['h_heel_left'] = .2 w = mot.getTrackingWeight(DOFs, controlModel, 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 _ in range(stepsPerFrame): bodyIDs, contactPositions, contactPositionLocals, contactForces = controlModel.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) controlModel.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) # apply penalty force # 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 += controlModel.getTimeStep() controlModel.applyPenaltyForce(selectedBodyId, localPos, extraForce) controlModel.step() # rendering # bodyIDs, geomIDs, positionLocalsForGeom = vpWorld.getContactInfoForcePlate(bodyIDsToCheck) # for foot_seg_id in footIdlist: # control_model_renderer.body_colors[foot_seg_id] = (255, 240, 255) # control_model_renderer.geom_colors[foot_seg_id] = [(255, 240, 255)] * controlModel.getBodyGeomNum(foot_seg_id) # for i in range(len(geomIDs)): # if controlModel.vpid2index(bodyIDs[i]) in footIdlist: # control_model_renderer.geom_colors[controlModel.vpid2index(bodyIDs[i])][geomIDs[i]] = (255, 0, 0) # 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 * controlModel.getGravity() 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)) del rd_body_ori[:] del rd_body_pos[:] # for body_idx in range(dartModel.getBodyNum()): 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() ]) def postFrameCallback_Always(frame): pass # 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) viewer.setPostFrameCallback_Always(postFrameCallback_Always) viewer.setSimulateCallback(simulateCallback) viewer.startTimer(1. / render_fps) # 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_all_seg() # foot_viewer.check_h_r.value(False) # viewer.motionViewWnd.goToFrame(0) Fl.run()
def main(): np.set_printoptions(precision=4, linewidth=200) # motion, mcfg, wcfg, stepsPerFrame, config = mit.create_vchain_5() motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped_zygote() # motion, mcfg, wcfg, stepsPerFrame, config = mit.create_biped() # motion, mcfg, wcfg, stepsPerFrame, config = mit.create_jump_biped() vpWorld = cvw.VpWorld(wcfg) motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg) controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg) vpWorld.initialize() controlModel.initializeHybridDynamics() # controlToMotionOffset = (1.5, -0.02, 0) controlToMotionOffset = (1.5, 0, 0) controlModel.translateByOffset(controlToMotionOffset) totalDOF = controlModel.getTotalDOF() DOFs = controlModel.getDOFs() # parameter Kt = config['Kt'] Dt = config['Dt'] # tracking gain Kl = config['Kl'] Dl = config['Dl'] # linear balance gain Kh = config['Kh'] Dh = config['Dh'] # angular balance gain Ks = config['Ks'] Ds = config['Ds'] # penalty force spring gain Bt = config['Bt'] Bl = config['Bl'] Bh = config['Bh'] w = mot.getTrackingWeight(DOFs, motion[0].skeleton, config['weightMap']) supL = motion[0].skeleton.getJointIndex(config['supLink1']) supR = motion[0].skeleton.getJointIndex(config['supLink2']) # selectedBody = motion[0].skeleton.getJointIndex(config['end']) selectedBody = motion[0].skeleton.getJointIndex('Spine') constBody = motion[0].skeleton.getJointIndex('RightFoot') # jacobian JsupL = yjc.makeEmptyJacobian(DOFs, 1) dJsupL = JsupL.copy() JsupPreL = JsupL.copy() JsupR = yjc.makeEmptyJacobian(DOFs, 1) dJsupR = JsupR.copy() JsupPreR = JsupR.copy() Jconst = yjc.makeEmptyJacobian(DOFs, 1) dJconst = Jconst.copy() JconstPre = Jconst.copy() Jsys = yjc.makeEmptyJacobian(DOFs, controlModel.getBodyNum()) dJsys = Jsys.copy() JsysPre = Jsys.copy() supLJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, supL)] supRJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, supR)] constJointMasks = [yjc.getLinkJointMask(motion[0].skeleton, constBody)] allLinkJointMasks = yjc.getAllLinkJointMasks(motion[0].skeleton) # momentum matrix linkMasses = controlModel.getBodyMasses() totalMass = controlModel.getTotalMass() TO = ymt.make_TO(linkMasses) dTO = ymt.make_dTO(len(linkMasses)) # optimization problem = yac.LSE(totalDOF, 12) # a_sup = (0,0,0, 0,0,0) #ori # a_sup = (0,0,0, 0,0,0) #L a_supL = (0, 0, 0, 0, 0, 0) a_supR = (0, 0, 0, 0, 0, 0) a_sup_2 = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0) CP_old = [mm.v3(0., 0., 0.)] # penalty method bodyIDsToCheck = 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_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_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] # viewer = ysv.SimpleViewer() viewer = hsv.hpSimpleViewer(rect=(0, 0, 960 + 300, 1080 + 56), 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.setRendererVisible('motionModel', False) # viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE)) viewer.doc.addRenderer( 'controlModel', yr.VpModelRenderer(controlModel, (255, 240, 255), yr.POLYGON_FILL)) viewer.doc.addRenderer('rd_footCenter', yr.PointsRenderer(rd_footCenter)) # viewer.doc.setRendererVisible('rd_footCenter', False) viewer.doc.addRenderer('rd_CM_plane', yr.PointsRenderer(rd_CM_plane, (255, 255, 0))) # viewer.doc.setRendererVisible('rd_CM_plane', False) viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (0, 255, 0))) # viewer.doc.setRendererVisible('rd_CP', False) viewer.doc.addRenderer('rd_CP_des', yr.PointsRenderer(rd_CP_des, (255, 0, 255))) # viewer.doc.setRendererVisible('rd_CP_des', False) viewer.doc.addRenderer( 'rd_dL_des_plane', yr.VectorsRenderer(rd_dL_des_plane, rd_CM, (255, 255, 0))) # viewer.doc.setRendererVisible('rd_dL_des_plane', False) viewer.doc.addRenderer('rd_dH_des', yr.VectorsRenderer(rd_dH_des, rd_CM, (0, 255, 0))) # viewer.doc.setRendererVisible('rd_dH_des', False) # 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.setRendererVisible('rd_CF', False) viewer.doc.addRenderer( 'rd_foot_ori', yr.OrientationsRenderer(rd_foot_ori, rd_foot_pos, (255, 255, 0))) # viewer.doc.setRendererVisible('rd_foot_ori', False) viewer.doc.addRenderer( 'extraForce', yr.VectorsRenderer(rd_exf_des, extraForcePos, (0, 255, 0))) viewer.doc.setRendererVisible('extraForce', False) # viewer.doc.addRenderer('extraForceEnable', yr.VectorsRenderer(rd_exfen_des, extraForcePos, (255,0,0))) viewer.doc.addRenderer( 'extraForceEnable', yr.WideArrowRenderer(rd_exfen_des, extraForcePos, (255, 0, 0), lineWidth=.05, fromPoint=False)) # 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))) # success!! # initKt = 50 # initKl = 10.1 # initKh = 3.1 # initBl = .1 # initBh = .1 # initSupKt = 21.6 # initFm = 100.0 # success!! -- 2015.2.12. double stance # initKt = 50 # initKl = 37.1 # initKh = 41.8 # initBl = .1 # initBh = .13 # initSupKt = 21.6 # initFm = 165.0 # single stance # initKt = 25 # initKl = 80.1 # initKh = 10.8 # initBl = .1 # initBh = .13 # initSupKt = 21.6 # initFm = 50.0 # single stance -> double stance # initKt = 25 # initKl = 60. # initKh = 20. # initBl = .1 # initBh = .13 # initSupKt = 21.6 # initFm = 50.0 initKt = 25 initKl = 100. initKh = 100. initBl = .1 initBh = .13 initSupKt = 17 # initKt = 25 # initKl = 60. # initKh = 20. # # initBl = .1 # initBh = .13 initSupKt = 21.6 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., 100., 0.1, initSupKt) viewer.objectInfoWnd.add1DSlider("Fm", 0., 1000., 1., 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.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(0.4) 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) ################################### # simulate ################################### def simulateCallback(frame): if frame == 200: viewer.force_on = True motionModel.update(motion[frame]) global g_initFlag global forceShowTime global JsysPre global JsupPreL global JsupPreR global JsupPre 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) ype.flatten(dth, dth_flat) ################################################# # jacobian ################################################# # 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) refFootOriL = motionModel.getBodyOrientationGlobal(supL) refFootOriR = motionModel.getBodyOrientationGlobal(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)) 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 # if 32 < frame < 147: # contactR = 0 contMotionOffset = th[0][0] - th_r[0][0] linkPositions = controlModel.getBodyPositionsGlobal() linkVelocities = controlModel.getBodyVelocitiesGlobal() linkAngVelocities = controlModel.getBodyAngVelocitiesGlobal() linkInertias = controlModel.getBodyInertiasGlobal() jointPositions = controlModel.getJointPositionsGlobal() jointAxeses = controlModel.getDOFAxeses() CM = yrp.getCM(linkPositions, linkMasses, totalMass) dCM = yrp.getCM(linkVelocities, linkMasses, totalMass) CM_plane = copy.copy(CM) CM_plane[1] = 0. dCM_plane = copy.copy(dCM) dCM_plane[1] = 0. 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() JsupL = Jsys[6 * supL:6 * supL + 6, :] dJsupL = dJsys[6 * supL:6 * supL + 6] JsupR = Jsys[6 * supR:6 * supR + 6, :] dJsupR = dJsys[6 * supR:6 * supR + 6] # 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() JsupPreL = JsupL.copy() JsupPreR = JsupR.copy() JconstPre = Jconst.copy() softConstPoint = footCenterR.copy() # yjc.computeJacobian2(JsysPre, DOFs, jointPositions, jointAxeses, linkPositions, allLinkJointMasks) # yjc.computeJacobian2(JsupPreL, DOFs, jointPositions, jointAxeses, [footCenterL], supLJointMasks) # yjc.computeJacobian2(JsupPreR, DOFs, jointPositions, jointAxeses, [footCenterR], supRJointMasks) # 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 footCenter 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. 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! # todo that, set joint velocities to vpModel CM_ref_plane = footCenter # CM_ref_plane[1] += motionModel.getCOM()[1] 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_plane - CM_plane) - Dl*totalMass*dCM_plane dL_des_plane = Kl * totalMass * (CM_ref - CM) - Dl * totalMass * dCM # dL_des_plane[1] = 0. # angular momentum CP_ref = footCenter 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 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*10) dH_des *= (maxContactChangeCount - contactChangeCount) / (maxContactChangeCount) # dH_des *= (contactChangeCount)/(maxContactChangeCount)*.9+.1 else: dH_des = None # H = np.dot(P, np.dot(Jsys, dth_flat)) # dH_des = -Kh* H[3:] # soft point constraint #softConstPoint = refFootR.copy() ##softConstPoint[0] += 0.2 #Ksc = 50 #Dsc = 2*(Ksc**.5) #Bsc = 1. #P_des = softConstPoint #P_cur = controlModel.getBodyPositionGlobal(constBody) #dP_des = [0, 0, 0] #dP_cur = controlModel.getBodyVelocityGlobal(constBody) #ddP_des1 = Ksc*(P_des - P_cur) + Dsc*(dP_des - dP_cur) #r = P_des - P_cur #I = np.vstack(([1,0,0],[0,1,0],[0,0,1])) #Z = np.hstack((I, mm.getCrossMatrixForm(-r))) #yjc.computeJacobian2(Jconst, DOFs, jointPositions, jointAxeses, [softConstPoint], constJointMasks) #dJconst = (Jconst - Jconst)/(1/30.) #JconstPre = Jconst.copy() ##yjc.computeJacobianDerivative2(dJconst, DOFs, jointPositions, jointAxeses, linkAngVelocities, [softConstPoint], constJointMasks, False) #JL, JA = np.vsplit(Jconst, 2) #Q1 = np.dot(Z, Jconst) #q1 = np.dot(JA, dth_flat) #q2 = np.dot(mm.getCrossMatrixForm(q1), np.dot(mm.getCrossMatrixForm(q1), r)) #q_bias1 = np.dot(np.dot(Z, dJconst), dth_flat) + q2 #set up equality constraint L_ddq = mm.logSO3( np.dot( footBodyOriL.T, np.dot( refFootOriL, mm.getSO3FromVectors(np.dot(refFootOriL, mm.unitY()), mm.unitY())))) R_ddq = mm.logSO3( np.dot( footBodyOriR.T, np.dot( refFootOriR, mm.getSO3FromVectors(np.dot(refFootOriR, mm.unitY()), mm.unitY())))) L_q = mm.logSO3(footBodyOriL) R_q = mm.logSO3(footBodyOriR) L_ang = np.dot(footBodyOriL, footBodyAngVelL) R_ang = np.dot(footBodyOriR, footBodyAngVelR) L_dq = mm.vel2qd(L_ang, L_q) R_dq = mm.vel2qd(R_ang, R_q) a_oriL = np.dot(footBodyOriL, mm.qdd2accel(L_dq, L_dq, L_q)) a_oriR = np.dot(footBodyOriR, mm.qdd2accel(R_dq, R_dq, R_q)) # 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))])) # 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))] # a_oriL = mm.logSO3( mm.getSO3FromVectors(np.dot(footBodyOriL, mm.unitY()), mm.unitY())) a_oriR = mm.logSO3( mm.getSO3FromVectors(np.dot(footBodyOriR, mm.unitY()), mm.unitY())) #if contact == 3 and contactChangeCount < maxContactChangeCount/4 and contactChangeCount >=1: #kt_sup = 30 #viewer.objectInfoWnd.labelSupKt.value(kt_sup) #viewer.objectInfoWnd.sliderSupKt.value(initSupKt*10) # a_supL = np.append(kt_sup*(refFootL - footCenterL + contMotionOffset) + dt_sup*(refFootVelL - footBodyVelL), kt_sup*a_oriL+dt_sup*(refFootAngVelL-footBodyAngVelL)) # a_supR = np.append(kt_sup*(refFootR - footCenterR + contMotionOffset) + dt_sup*(refFootVelR - footBodyVelR), kt_sup*a_oriR+dt_sup*(refFootAngVelR-footBodyAngVelR)) a_supL = np.append( kt_sup * (refFootL - footCenterL + contMotionOffset) - dt_sup * footBodyVelL, kt_sup * a_oriL - dt_sup * footBodyAngVelL) # a_supL[1] = kt_sup*(0.028-footCenterL[1]) -dt_sup*footBodyVelL[1] a_supL[1] = kt_sup * (0.0 - footCenterL[1]) - dt_sup * footBodyVelL[1] a_supR = np.append( kt_sup * (refFootR - footCenterR + contMotionOffset) - dt_sup * footBodyVelR, kt_sup * a_oriR - dt_sup * footBodyAngVelR) # a_supR[1] = kt_sup*(0.028-footCenterR[1]) -dt_sup*footBodyVelR[1] a_supR[1] = kt_sup * (0.0 - footCenterR[1]) - dt_sup * footBodyVelR[1] ##if contact == 2: #if refFootR[1] <doubleTosingleOffset : #Jsup = np.vstack((JsupL, JsupR)) #dJsup = np.vstack((dJsupL, dJsupR)) #a_sup = np.append(a_supL, a_supR) #else: #Jsup = JsupL.copy() #dJsup = dJsupL.copy() #a_sup = a_supL.copy() # 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) #if contact & 1 and contactChangeCount == 0: if contact & 1: #if refFootR[1] < doubleTosingleOffset: mot.addConstraint2(problem, totalDOF, JsupR, dJsupR, dth_flat, a_supR) if contact & 2: #if refFootL[1] < doubleTosingleOffset: mot.addConstraint2(problem, totalDOF, JsupL, dJsupL, dth_flat, a_supL) if contactChangeCount > 0: contactChangeCount -= 1 if contactChangeCount == 0: maxContactChangeCount = 30 contactChangeType = 0 r = problem.solve() problem.clear() ype.nested(r['x'], ddth_sol) rootPos[0] = controlModel.getBodyPositionGlobal(selectedBody) localPos = [[0, 0, 0]] for i in range(stepsPerFrame): # apply penalty force bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce( bodyIDsToCheck, mus, Ks, Ds) # print(contactForces) #bodyIDs, contactPositions, contactPositionLocals, contactForces, contactVelocities = vpWorld.calcManyPenaltyForce(0, bodyIDsToCheck, mus, Ks, Ds) vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces) controlModel.setDOFAccelerations(ddth_sol) 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) # extraForce[0] = viewer.objectInfoWnd.labelFm.value() * mm.normalize2(forceforce) if viewer_GetForceState(): forceShowTime += wcfg.timeStep vpWorld.applyPenaltyForce(selectedBodyId, localPos, extraForce) vpWorld.step() # rendering 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_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] del rd_foot_ori[:] del rd_foot_pos[:] rd_foot_ori.append(controlModel.getBodyOrientationGlobal(supL)) rd_foot_ori.append(controlModel.getBodyOrientationGlobal(supR)) rd_foot_pos.append(controlModel.getBodyPositionGlobal(supL)) rd_foot_pos.append(controlModel.getBodyPositionGlobal(supR)) 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) - 0.1 * np.array([ viewer.objectInfoWnd.labelForceX.value(), 0., viewer.objectInfoWnd.labelForceZ.value() ]) viewer.setSimulateCallback(simulateCallback) viewer.startTimer(1 / 30.) viewer.show() Fl.run()
def init(): global motion global mcfg global wcfg global stepsPerFrame global config global vpWorld global controlModel global totalDOF global DOFs global bodyIDsToCheck global torques_nested global ddth_des_flat global dth_flat global ddth_sol global rd_cForces global rd_cPositions global rd_jointPos global rd_cForcesControl global rd_cPositionsControl global rd_ForceControl global rd_ForceDes global rd_Position global rd_PositionDes global rd_point2 global rd_jointOri global viewer global motionModel global solver global IKModel def create_foot(motionFile='foot3.bvh'): # motion motion = yf.readBvhFile(motionFile, .05) motion.extend([motion[-1]]*300) # world, model mcfg = ypc.ModelConfig() mcfg.defaultDensity = 1000. mcfg.defaultBoneRatio = 1. for i in range(motion[0].skeleton.getElementNum()): mcfg.addNode(motion[0].skeleton.getElementName(i)) node = mcfg.getNode('root') node.geom = 'MyFoot3' # node.geom = 'MyBox' node.jointType = "U" # node.length = 1. node.mass = 1. node = mcfg.getNode('foot00') node.geom = 'MyFoot4' # node.geom = 'MyBox' node.jointType = "U" node.mass = 1. node = mcfg.getNode('foot01') node.geom = 'MyFoot4' # node.geom = 'MyBox' node.jointType = "U" node.mass = 1. def mcfgFix(_mcfg): """ :param _mcfg: ypc.ModelConfig :return: """ # for v in _mcfg.nodes.itervalues(): for k, v in _mcfg.nodes: if len(v.geoms) == 0: v.geoms.append(v.geom) v.geomMass.append(v.mass) v.geomTs.append(None) # mcfgFix(mcfg) wcfg = ypc.WorldConfig() wcfg.planeHeight = 0. wcfg.useDefaultContactModel = False stepsPerFrame = 40 simulSpeedInv = 1. wcfg.timeStep = (1/30.*simulSpeedInv)/stepsPerFrame # parameter config = dict([]) config['Kt'] = 20; config['Dt'] = 2*(config['Kt']**.5) # tracking gain config['Kl'] = 1; config['Dl'] = 2*(config['Kl']**.5) # linear balance gain config['Kh'] = 1; config['Dh'] = 2*(config['Kh']**.5) # angular balance gain config['Ks'] = 5000; config['Ds'] = 2*(config['Ks']**.5) # penalty force spring gain config['Bt'] = 1. config['Bl'] = 1. config['Bh'] = 1. config['stepsPerFrame'] = stepsPerFrame config['simulSpeedInv'] = simulSpeedInv # etc config['weightMap'] = {'root': 1., 'foot00': 1., 'foot01': 1.} config['weightMapTuple'] = (1., 1., 1.) # config['supLink'] = 'link0' return motion, mcfg, wcfg, stepsPerFrame, config np.set_printoptions(precision=4, linewidth=200) motion, mcfg, wcfg, stepsPerFrame, config = create_foot('test2.bvh') vpWorld = cvw.VpWorld(wcfg) controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg) motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg) # IKModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg) # solver = hik.numIkSolver(wcfg, motion[0], mcfg) vpWorld.SetGlobalDamping(0.9999) controlModel.initializeHybridDynamics() # controlModel.initializeForwardDynamics() ModelOffset = np.array([0., 1.62, 0.]) controlModel.translateByOffset(ModelOffset) motionModel.translateByOffset(ModelOffset) # ModelRotateOffset = np.array([[0.707, 0., 0.707],[0., 1., 0.],[-0.707, 0., 0.707]]) # ModelRotateOffset = np.array([[1., 0., 0.],[0., 0., -1.],[0, 1., 0.]]) ModelRotateOffset = np.array([[1., 0., 0.],[0., 0.707, -0.707],[0, 0.707, 0.707]]) # controlModel.rotate(ModelRotateOffset) # motionModel.rotate(ModelRotateOffset) vpWorld.SetIntegrator("RK4") # vpWorld.SetIntegrator("IMPLICIT_EULER_FAST") # vpWorld.SetIntegrator("EULER") # vpWorld.SetGravity([0., 0., 0.]) vpWorld.initialize() totalDOF = controlModel.getTotalDOF() DOFs = controlModel.getDOFs() bodyIDsToCheck = range(vpWorld.getBodyNum()) # flat data structure extendDOF = controlModel.get3dExtendTotalDOF() ddth_des_flat = ype.makeFlatList(totalDOF) dth_flat = ype.makeFlatList(totalDOF) ddth_sol = ype.makeNestedList(DOFs) torques_nested = ype.makeNestedList(DOFs) rd_cForces = [None] rd_cPositions = [None] rd_cForcesControl = [None] rd_cPositionsControl = [None] rd_ForceControl = [None] rd_ForceDes = [None] rd_Position = [None] rd_PositionDes = [None] rd_jointPos = [None] rd_jointOri = [None] rd_point2 = [None] viewer = hsv.hpSimpleViewer(title='main_Test') viewer.doc.addObject('motion', motion) # viewer.doc.addRenderer('motionModel', cvr.VpModelRenderer(motionModel, MOTION_COLOR, yr.POLYGON_FILL)) # viewer.doc.addRenderer('IKModel', cvr.VpModelRenderer(solver.model, MOTION_COLOR, yr.POLYGON_FILL)) viewer.doc.addRenderer('controlModel', yr.VpModelRenderer(controlModel, CHARACTER_COLOR, yr.POLYGON_FILL)) viewer.doc.addRenderer('rd_contactForcesControl', yr.VectorsRenderer(rd_cForcesControl, rd_cPositionsControl, (255, 0, 0), .1)) viewer.doc.addRenderer('rd_contactForces', yr.VectorsRenderer(rd_cForces, rd_cPositions, (0, 255, 0), .1)) viewer.doc.addRenderer('rd_contactForceControl', yr.VectorsRenderer(rd_ForceControl, rd_Position, (0, 0, 255), .1)) # viewer.doc.addRenderer('rd_contactForceDes', yr.VectorsRenderer(rd_ForceDes, rd_PositionDes, (255, 0, 255), .1)) # viewer.doc.addRenderer('rd_jointPos', yr.PointsRenderer(rd_jointPos)) viewer.doc.addRenderer('rd_point2', yr.PointsRenderer(rd_point2, (255,0,0))) viewer.doc.addRenderer('rd_jointOri', yr.OrientationsRenderer(rd_jointOri, rd_jointPos, (0, 0, 255), .1)) viewer.objectInfoWnd.add1DSlider('PD gain', minVal=0., maxVal=200., initVal=10., valStep=.1) viewer.objectInfoWnd.add1DSlider('Joint Damping', minVal=1., maxVal=2000., initVal=35., valStep=1.) viewer.objectInfoWnd.add1DSlider('steps per frame', minVal=1., maxVal=200., initVal=config['stepsPerFrame'], valStep=1.) viewer.objectInfoWnd.add1DSlider('1/simul speed', minVal=1., maxVal=100., initVal=config['simulSpeedInv'], valStep=1.) viewer.objectInfoWnd.add1DSlider('normal des force min', minVal=0., maxVal=1000., initVal=0., valStep=1.) viewer.objectInfoWnd.add1DSlider('normal des force max', minVal=0., maxVal=1000., initVal=80., valStep=1.) viewer.objectInfoWnd.add1DSlider('des force begin', minVal=0., maxVal=len(motion) - 1, initVal=70., valStep=1.) viewer.objectInfoWnd.add1DSlider('des force dur', minVal=1., maxVal=len(motion) - 1, initVal=5., valStep=1.) viewer.objectInfoWnd.add1DSlider('force weight', minVal=-10., maxVal=10., initVal=0., valStep=.01) viewer.objectInfoWnd.add1DSlider('LCP weight', minVal=-10., maxVal=10., initVal=0., valStep=.01) viewer.objectInfoWnd.add1DSlider('tau weight', minVal=-10., maxVal=10., initVal=0., valStep=.01) viewer.objectInfoWnd.addBtn('image', viewer.motionViewWnd.dump) viewer.objectInfoWnd.addBtn('image seq dump', viewer.motionViewWnd.dumpMov) viewer.cForceWnd.addDataSet('expForce', FL_BLACK) viewer.cForceWnd.addDataSet('desForceMin', FL_RED) viewer.cForceWnd.addDataSet('desForceMax', FL_RED) viewer.cForceWnd.addDataSet('realForce', FL_GREEN) for i in range(motion[0].skeleton.getJointNum()): print(i, motion[0].skeleton.getJointName(i)) print motion[0].skeleton.getJointNum() print("(index, id, name)") for i in range(controlModel.getBodyNum()): print(i, controlModel.index2id(i), controlModel.index2name(i)) print controlModel.getBodyNum()
def basicTest3(): def create_foot(motionFile='foot3.bvh'): massMap = {} massMap = massMap.fromkeys(['Hips', 'foot00', 'foot01'], 0.) massMap['Hips'] = 1. massMap['foot00'] = 1. massMap['foot01'] = 1. # motion motion = yf.readBvhFile(motionFile, .05) motion.extend([motion[-1]] * 3000) # world, model mcfg = ypc.ModelConfig() mcfg.defaultDensity = 1000. mcfg.defaultBoneRatio = 1. # for i in range(motion[0].skeleton.getElementNum()): # mcfg.addNode(motion[0].skeleton.getElementName(i)) for name in massMap: node = mcfg.addNode(name) node.mass = massMap[name] # totalMass += node.mass node = mcfg.getNode('Hips') # node.geom = 'MyFoot3' node.geom = 'MyBox' node.jointType = "B" # node.length = 1. node.mass = 1. node = mcfg.getNode('foot00') # node.geom = 'MyFoot4' node.geom = 'MyBox' node.jointType = "U" node.mass = 1. node = mcfg.getNode('foot01') # node.geom = 'MyFoot4' node.geom = 'MyBox' node.jointType = "U" node.mass = 1. def mcfgFix(_mcfg): """ :param _mcfg: ypc.ModelConfig :return: """ # for v in _mcfg.nodes.itervalues(): for k, v in _mcfg.nodes: if len(v.geoms) == 0: v.geoms.append(v.geom) v.geomMass.append(v.mass) v.geomTs.append(None) # mcfgFix(mcfg) wcfg = ypc.WorldConfig() wcfg.planeHeight = 0. wcfg.useDefaultContactModel = False stepsPerFrame = 40 simulSpeedInv = 1. wcfg.timeStep = (1 / 30. * simulSpeedInv) / stepsPerFrame # parameter config = dict([]) config['Kt'] = 20 config['Dt'] = 2 * (config['Kt']**.5) # tracking gain config['Kl'] = 1 config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain config['Kh'] = 1 config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain config['Ks'] = 5000 config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain config['Bt'] = 1. config['Bl'] = 1. config['Bh'] = 1. config['stepsPerFrame'] = stepsPerFrame config['simulSpeedInv'] = simulSpeedInv # etc config['weightMap'] = {'root': 1., 'foot00': 1., 'foot01': 1.} config['weightMapTuple'] = (1., 1., 1.) # config['supLink'] = 'link0' return motion, mcfg, wcfg, stepsPerFrame, config # model setting motion, mcfg, wcfg, stpesPerFrame, config = create_foot('test2.bvh') pydart.init() dartModel = cdm.DartModel(wcfg, motion[0], mcfg) q = dartModel.skeleton.q q[4] = 2. dartModel.skeleton.set_positions(q) dartModel.world.set_gravity(np.array((0., -9.81, 0.))) # viewer setting viewer = hsv.hpSimpleViewer() viewer.doc.addObject('motion', motion) viewer.doc.addRenderer('dartModel', yr.DartModelRenderer(dartModel, CHARACTER_COLOR)) jointOrientations = [] jointPositions = [] bodyOrientations = [] bodyPositions = [] rd_points = [] viewer.doc.addRenderer( 'joint coord', yr.OrientationsRenderer(jointOrientations, jointPositions)) viewer.doc.addRenderer( 'body coord', yr.OrientationsRenderer(bodyOrientations, bodyPositions)) viewer.doc.addRenderer('contact points', yr.PointsRenderer(rd_points, (255, 0, 0))) viewer.objectInfoWnd.add1DSlider('joint1 x torque', minVal=-2., maxVal=2., initVal=0., valStep=.01) viewer.objectInfoWnd.add1DSlider('joint1 y torque', minVal=-2., maxVal=2., initVal=0., valStep=.01) viewer.objectInfoWnd.add1DSlider('joint2 x torque', minVal=-2., maxVal=2., initVal=0., valStep=.01) viewer.objectInfoWnd.add1DSlider('joint2 y torque', minVal=-2., maxVal=2., initVal=0., valStep=.01) bodyIDsToCheck = range(dartModel.getBodyNum()) def simulateCallback(frame): # tau = np.zeros(dartModel.skeleton.q.shape) # tau[6] = viewer.objectInfoWnd.getVal('joint1 x torque') # tau[7] = viewer.objectInfoWnd.getVal('joint1 y torque') # tau[8] = viewer.objectInfoWnd.getVal('joint2 x torque') # tau[9] = viewer.objectInfoWnd.getVal('joint2 y torque') vel = np.zeros(dartModel.skeleton.velocities().shape) vel[6] = viewer.objectInfoWnd.getVal('joint1 x torque') vel[7] = viewer.objectInfoWnd.getVal('joint1 y torque') vel[8] = viewer.objectInfoWnd.getVal('joint2 x torque') vel[9] = viewer.objectInfoWnd.getVal('joint2 y torque') # dartModel.skeleton.set_velocities(vel) # print mm.logSO3(dartModel.getJoint(2).get_local_transform()[:3, :3]) for i in range(stpesPerFrame): # dartModel.skeleton.set_velocities(vel) dartModel.step() bodyIDs, contactPositions, contactPositionLocals, velocities = dartModel.getContactPoints( bodyIDsToCheck) del rd_points[:] if contactPositions is not None: rd_points.extend(contactPositions) del jointOrientations[:] del jointPositions[:] del bodyOrientations[:] del bodyPositions[:] for i in range(1, len(dartModel.skeleton.joints)): # jointOrientations.append(dartModel.getJoint(i).get_world_frame_before_transform()) jointOrientations.append( dartModel.getJoint(i).get_world_frame_after_transform()) jointPositions.append(dartModel.getJointPositionGlobal(i)) for i in range(len(dartModel.skeleton.bodynodes)): bodyOrientations.append(dartModel.getBodyOrientationGlobal(i)) bodyPositions.append(dartModel.getBodyPositionGlobal(i)) viewer.setSimulateCallback(simulateCallback) viewer.startTimer(1 / 30.) viewer.show() # splineEditor = hse.SplineEditor() # splineEditor.show() Fl.run()