class Posture(Task): name_prefix = "" def __init__(self, name, sotrobot, withDerivative=False): super(Posture, self).__init__() n = self._name(name) self._task = SotTask(n + '_task') self._task.dyn = sotrobot.dynamic self._feature = FeaturePosture(n + '_feature_') q = list(sotrobot.dynamic.position.value) self._feature.state.value = q self._feature.posture.value = q robotDim = sotrobot.dynamic.getDimension() for i in range(6, robotDim): self._feature.selectDof(i, True) self._gain = GainAdaptive(n + "_gain") self._task.add(self._feature.name) # Connects the dynamics to the current feature of the posture task plug(sotrobot.dynamic.position, self._feature.state) self._task.setWithDerivative(withDerivative) # Set the gain of the posture task setGain(self._gain, (4.9, 0.9, 0.01, 0.9)) plug(self._gain.gain, self._task.controlGain) plug(self._task.error, self._gain.error) self.tasks = [self._task] self.topics = { name: { "type": "vector", "topic": "/hpp/target/position", "signalGetters": frozenset([self._signalPositionRef]) }, } if withDerivative: self.topics["vel_" + name] = { "type": "vector", "topic": "/hpp/target/velocity", "signalGetters": frozenset([self._signalVelocityRef]) } def _signalPositionRef(self): return self._feature.posture def _signalVelocityRef(self): return self._feature.postureDot
def initPostureTask(robot): # --- TASK POSTURE -------------------------------------------------- # set a default position for the joints. robot.features['featurePosition'] = FeaturePosture('featurePosition') plug(robot.device.state, robot.features['featurePosition'].state) robot.features['featurePosition'].posture.value = robot.halfSitting # Remove the dofs of the feet. postureTaskDofs = [True] * (len(robot.dynamic.position.value) - 6) jla = robot.dynamic.signal('J' + robot.OperationalPointsMap['left-ankle']).value postureTaskDofs = removeDofUsed(jla, postureTaskDofs) jra = robot.dynamic.signal('J' + robot.OperationalPointsMap['right-ankle']).value postureTaskDofs = removeDofUsed(jra, postureTaskDofs) for dof, isEnabled in enumerate(postureTaskDofs): robot.features['featurePosition'].selectDof(dof + 6, isEnabled) robot.tasks['robot_task_position'] = Task('robot_task_position') robot.tasks['robot_task_position'].add('featurePosition') gainPosition = GainAdaptive('gainPosition') gainPosition.set(0.1, 0.1, 125e3) gainPosition.gain.value = 5 plug(robot.tasks['robot_task_position'].error, gainPosition.error) plug(gainPosition.gain, robot.tasks['robot_task_position'].controlGain)
def __init__(self, sotrobot, gripper, name_suffix): super(EndEffector, self).__init__() self.gripper = gripper self.jointNames = gripper.joints self.robot = sotrobot pinmodel = sotrobot.dynamic.model self.name = self._name(gripper.name, name_suffix) from . import SotTask self.tp = SotTask('task' + self.name) self.tp.dyn = sotrobot.dynamic self.tp.feature = FeaturePosture('feature_' + self.name) plug(sotrobot.dynamic.position, self.tp.feature.state) # Select the dofs self.tp.feature.posture.value = sotrobot.dynamic.position.value # Define the reference and the selected DoF self.jointRanks = [] for name in self.jointNames: idJ = pinmodel.getJointId(name) assert idJ < pinmodel.njoints joint = pinmodel.joints[idJ] idx_v = joint.idx_v nv = joint.nv self.jointRanks.append((idx_v, nv)) for idx_v, nv in self.jointRanks: for i in range(idx_v, idx_v + nv): self.tp.feature.selectDof(i, True) self.tp.add(self.tp.feature.name) if len(self.jointNames) > 0: self.tasks = [self.tp] self.thr_task_error = 0.0001
def init_online_walking(robot): # 09.04.20 est a 100 dans dcmZmpControl_file, used to be 10 cm_conf.CTRL_MAX = 1000.0 # temporary hack dt = robot.device.getTimeStep() robot.timeStep = dt # --- Pendulum parameters robot_name = 'robot' robot.dynamic.com.recompute(0) robotDim = robot.dynamic.getDimension() mass = robot.dynamic.data.mass[0] h = robot.dynamic.com.value[2] g = 9.81 omega = sqrt(g / h) # --- Parameter server robot.param_server = create_parameter_server(param_server_conf, dt) # --- Initial feet and waist robot.dynamic.createOpPoint('LF', robot.OperationalPointsMap['left-ankle']) robot.dynamic.createOpPoint('RF', robot.OperationalPointsMap['right-ankle']) robot.dynamic.createOpPoint('WT', robot.OperationalPointsMap['waist']) robot.dynamic.LF.recompute(0) robot.dynamic.RF.recompute(0) robot.dynamic.WT.recompute(0) # -------------------------- DESIRED TRAJECTORY -------------------------- rospack = RosPack() # -------------------------- PATTERN GENERATOR -------------------------- robot.pg = PatternGenerator('pg') # MODIFIED WITH MY PATHS talos_data_folder = rospack.get_path('talos_data') robot.pg.setURDFpath(talos_data_folder + '/urdf/talos_reduced_wpg.urdf') robot.pg.setSRDFpath(talos_data_folder + '/srdf/talos_wpg.srdf') ## END MODIFIED robot.pg.buildModel() robot.pg.parseCmd(":samplingperiod 0.005") robot.pg.parseCmd(":previewcontroltime 1.6") robot.pg.parseCmd(":omega 0.0") robot.pg.parseCmd(':stepheight 0.05') robot.pg.parseCmd(':doublesupporttime 0.2') robot.pg.parseCmd(':singlesupporttime 1.0') robot.pg.parseCmd(":armparameters 0.5") robot.pg.parseCmd(":LimitsFeasibility 0.0") robot.pg.parseCmd(":ZMPShiftParameters 0.015 0.015 0.015 0.015") robot.pg.parseCmd(":TimeDistributeParameters 2.0 3.5 1.7 3.0") robot.pg.parseCmd(":UpperBodyMotionParameters -0.1 -1.0 0.0") robot.pg.parseCmd(":comheight 0.876681") robot.pg.parseCmd(":setVelReference 0.1 0.0 0.0") robot.pg.parseCmd(":SetAlgoForZmpTrajectory Naveau") plug(robot.dynamic.position, robot.pg.position) plug(robot.dynamic.com, robot.pg.com) #plug(robot.dynamic.com, robot.pg.comStateSIN) plug(robot.dynamic.LF, robot.pg.leftfootcurrentpos) plug(robot.dynamic.RF, robot.pg.rightfootcurrentpos) robotDim = len(robot.dynamic.velocity.value) robot.pg.motorcontrol.value = robotDim * (0, ) robot.pg.zmppreviouscontroller.value = (0, 0, 0) robot.pg.initState() robot.pg.parseCmd(':setDSFeetDistance 0.162') robot.pg.parseCmd(':NaveauOnline') robot.pg.parseCmd(':numberstepsbeforestop 2') robot.pg.parseCmd(':setfeetconstraint XY 0.091 0.0489') robot.pg.parseCmd(':deleteallobstacles') robot.pg.parseCmd(':feedBackControl false') robot.pg.parseCmd(':useDynamicFilter true') robot.pg.velocitydes.value = (0.1, 0.0, 0.0) # DEFAULT VALUE (0.1,0.0,0.0) # -------------------------- TRIGGER -------------------------- robot.triggerPG = BooleanIdentity('triggerPG') robot.triggerPG.sin.value = 0 plug(robot.triggerPG.sout, robot.pg.trigger) # --------- Interface with controller entities ------------- wp = DummyWalkingPatternGenerator('dummy_wp') wp.init() # #wp.displaySignals() wp.omega.value = omega # 22.04 after modifying pg.cpp, new way to try and connect the waist plug(robot.pg.waistattitudematrixabsolute, wp.waist) plug(robot.pg.leftfootref, wp.footLeft) plug(robot.pg.rightfootref, wp.footRight) plug(robot.pg.comref, wp.com) plug(robot.pg.dcomref, wp.vcom) plug(robot.pg.ddcomref, wp.acom) robot.wp = wp # --- Compute the values to use them in initialization robot.wp.comDes.recompute(0) robot.wp.dcmDes.recompute(0) robot.wp.zmpDes.recompute(0) ## END ADDED # -------------------------- ESTIMATION -------------------------- # --- Base Estimation robot.device_filters = create_device_filters(robot, dt) robot.imu_filters = create_imu_filters(robot, dt) robot.base_estimator = create_base_estimator(robot, dt, base_estimator_conf) robot.m2qLF = MatrixHomoToPoseQuaternion('m2qLF') plug(robot.dynamic.LF, robot.m2qLF.sin) plug(robot.m2qLF.sout, robot.base_estimator.lf_ref_xyzquat) robot.m2qRF = MatrixHomoToPoseQuaternion('m2qRF') plug(robot.dynamic.RF, robot.m2qRF.sin) plug(robot.m2qRF.sout, robot.base_estimator.rf_ref_xyzquat) # --- Conversion e2q = EulerToQuat('e2q') plug(robot.base_estimator.q, e2q.euler) robot.e2q = e2q # --- Kinematic computations robot.rdynamic = DynamicPinocchio("real_dynamics") robot.rdynamic.setModel(robot.dynamic.model) robot.rdynamic.setData(robot.rdynamic.model.createData()) plug(robot.base_estimator.q, robot.rdynamic.position) robot.rdynamic.velocity.value = [0.0] * robotDim robot.rdynamic.acceleration.value = [0.0] * robotDim # --- CoM Estimation cdc_estimator = DcmEstimator('cdc_estimator') cdc_estimator.init(dt, robot_name) plug(robot.e2q.quaternion, cdc_estimator.q) plug(robot.base_estimator.v, cdc_estimator.v) robot.cdc_estimator = cdc_estimator # --- DCM Estimation estimator = DummyDcmEstimator("dummy") estimator.omega.value = omega estimator.mass.value = 1.0 plug(robot.cdc_estimator.c, estimator.com) plug(robot.cdc_estimator.dc, estimator.momenta) estimator.init() robot.estimator = estimator # --- Force calibration robot.ftc = create_ft_calibrator(robot, ft_conf) # --- ZMP estimation zmp_estimator = SimpleZmpEstimator("zmpEst") robot.rdynamic.createOpPoint('sole_LF', 'left_sole_link') robot.rdynamic.createOpPoint('sole_RF', 'right_sole_link') plug(robot.rdynamic.sole_LF, zmp_estimator.poseLeft) plug(robot.rdynamic.sole_RF, zmp_estimator.poseRight) plug(robot.ftc.left_foot_force_out, zmp_estimator.wrenchLeft) plug(robot.ftc.right_foot_force_out, zmp_estimator.wrenchRight) zmp_estimator.init() robot.zmp_estimator = zmp_estimator # -------------------------- ADMITTANCE CONTROL -------------------------- # --- DCM controller Kp_dcm = [8.0] * 3 Ki_dcm = [0.0, 0.0, 0.0] # zero (to be set later) gamma_dcm = 0.2 dcm_controller = DcmController("dcmCtrl") dcm_controller.Kp.value = Kp_dcm dcm_controller.Ki.value = Ki_dcm dcm_controller.decayFactor.value = gamma_dcm dcm_controller.mass.value = mass dcm_controller.omega.value = omega plug(robot.cdc_estimator.c, dcm_controller.com) plug(robot.estimator.dcm, dcm_controller.dcm) plug(robot.wp.zmpDes, dcm_controller.zmpDes) plug(robot.wp.dcmDes, dcm_controller.dcmDes) dcm_controller.init(dt) robot.dcm_control = dcm_controller Ki_dcm = [1.0, 1.0, 1.0] # this value is employed later # --- CoM admittance controller Kp_adm = [0.0, 0.0, 0.0] # zero (to be set later) com_admittance_control = ComAdmittanceController("comAdmCtrl") com_admittance_control.Kp.value = Kp_adm plug(robot.zmp_estimator.zmp, com_admittance_control.zmp) com_admittance_control.zmpDes.value = robot.wp.zmpDes.value # should be plugged to robot.dcm_control.zmpRef plug(robot.wp.acomDes, com_admittance_control.ddcomDes) com_admittance_control.init(dt) com_admittance_control.setState(robot.wp.comDes.value, [0.0, 0.0, 0.0]) robot.com_admittance_control = com_admittance_control Kp_adm = [15.0, 15.0, 0.0] # this value is employed later # --- Control Manager robot.cm = create_ctrl_manager(cm_conf, dt, robot_name='robot') robot.cm.addCtrlMode('sot_input') robot.cm.setCtrlMode('all', 'sot_input') robot.cm.addEmergencyStopSIN('zmp') # -------------------------- SOT CONTROL -------------------------- # --- Upper body robot.taskUpperBody = Task('task_upper_body') robot.taskUpperBody.feature = FeaturePosture('feature_upper_body') q = list(robot.dynamic.position.value) robot.taskUpperBody.feature.state.value = q robot.taskUpperBody.feature.posture.value = q robot.taskUpperBody.feature.selectDof(18, True) robot.taskUpperBody.feature.selectDof(19, True) robot.taskUpperBody.feature.selectDof(20, True) robot.taskUpperBody.feature.selectDof(21, True) robot.taskUpperBody.feature.selectDof(22, True) robot.taskUpperBody.feature.selectDof(23, True) robot.taskUpperBody.feature.selectDof(24, True) robot.taskUpperBody.feature.selectDof(25, True) robot.taskUpperBody.feature.selectDof(26, True) robot.taskUpperBody.feature.selectDof(27, True) robot.taskUpperBody.feature.selectDof(28, True) robot.taskUpperBody.feature.selectDof(29, True) robot.taskUpperBody.feature.selectDof(30, True) robot.taskUpperBody.feature.selectDof(31, True) robot.taskUpperBody.feature.selectDof(32, True) robot.taskUpperBody.feature.selectDof(33, True) robot.taskUpperBody.feature.selectDof(34, True) robot.taskUpperBody.feature.selectDof(35, True) robot.taskUpperBody.feature.selectDof(36, True) robot.taskUpperBody.feature.selectDof(37, True) robot.taskUpperBody.controlGain.value = 100.0 robot.taskUpperBody.add(robot.taskUpperBody.feature.name) plug(robot.dynamic.position, robot.taskUpperBody.feature.state) # --- CONTACTS robot.contactLF = MetaTaskKine6d('contactLF', robot.dynamic, 'LF', robot.OperationalPointsMap['left-ankle']) robot.contactLF.feature.frame('desired') robot.contactLF.gain.setConstant(300) plug(robot.wp.footLeftDes, robot.contactLF.featureDes.position) #.errorIN? locals()['contactLF'] = robot.contactLF robot.contactRF = MetaTaskKine6d('contactRF', robot.dynamic, 'RF', robot.OperationalPointsMap['right-ankle']) robot.contactRF.feature.frame('desired') robot.contactRF.gain.setConstant(300) plug(robot.wp.footRightDes, robot.contactRF.featureDes.position) #.errorIN? locals()['contactRF'] = robot.contactRF # --- COM height robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH') plug(robot.wp.comDes, robot.taskComH.featureDes.errorIN) robot.taskComH.task.controlGain.value = 100. robot.taskComH.feature.selec.value = '100' # --- COM robot.taskCom = MetaTaskKineCom(robot.dynamic) plug(robot.com_admittance_control.comRef, robot.taskCom.featureDes.errorIN) plug(robot.com_admittance_control.dcomRef, robot.taskCom.featureDes.errordotIN) robot.taskCom.task.controlGain.value = 0 robot.taskCom.task.setWithDerivative(True) robot.taskCom.feature.selec.value = '011' # --- Waist robot.keepWaist = MetaTaskKine6d('keepWaist', robot.dynamic, 'WT', robot.OperationalPointsMap['waist']) robot.keepWaist.feature.frame('desired') robot.keepWaist.gain.setConstant(300) plug(robot.wp.waistDes, robot.keepWaist.featureDes.position) #de base robot.keepWaist.feature.selec.value = '111000' locals()['keepWaist'] = robot.keepWaist # --- SOT solver robot.sot = SOT('sot') robot.sot.setSize(robot.dynamic.getDimension()) # --- Plug SOT control to device through control manager plug(robot.sot.control, robot.cm.ctrl_sot_input) plug(robot.cm.u_safe, robot.device.control) robot.sot.push(robot.taskUpperBody.name) robot.sot.push(robot.contactRF.task.name) robot.sot.push(robot.contactLF.task.name) robot.sot.push(robot.taskComH.task.name) robot.sot.push(robot.taskCom.task.name) robot.sot.push(robot.keepWaist.task.name) # --- Fix robot.dynamic inputs plug(robot.device.velocity, robot.dynamic.velocity) robot.dvdt = Derivator_of_Vector("dv_dt") robot.dvdt.dt.value = dt plug(robot.device.velocity, robot.dvdt.sin) plug(robot.dvdt.sout, robot.dynamic.acceleration) # -------------------------- PLOTS -------------------------- # --- ROS PUBLISHER ## THIS PARAGRAPH QUITE DIFFERENT, TO CHECK robot.publisher = create_rospublish(robot, 'robot_publisher') ## ADDED create_topic(robot.publisher, robot.pg, 'comref', robot=robot, data_type='vector') # desired CoM create_topic(robot.publisher, robot.pg, 'dcomref', robot=robot, data_type='vector') create_topic(robot.publisher, robot.wp, 'waist', robot=robot, data_type='matrixHomo') create_topic(robot.publisher, robot.keepWaist.featureDes, 'position', robot=robot, data_type='matrixHomo') create_topic(robot.publisher, robot.dynamic, 'WT', robot=robot, data_type='matrixHomo') create_topic(robot.publisher, robot.pg, 'waistattitudematrixabsolute', robot=robot, data_type='matrixHomo') ## que font ces lignes exactement ?? create_topic(robot.publisher, robot.pg, 'leftfootref', robot=robot, data_type='matrixHomo') create_topic(robot.publisher, robot.wp, 'footLeft', robot=robot, data_type='matrixHomo') create_topic(robot.publisher, robot.pg, 'rightfootref', robot=robot, data_type='matrixHomo') create_topic(robot.publisher, robot.wp, 'footRight', robot=robot, data_type='matrixHomo') ## --- TRACER robot.tracer = TracerRealTime("com_tracer") robot.tracer.setBufferSize(80 * (2**20)) robot.tracer.open('/tmp', 'dg_', '.dat') robot.device.after.addSignal('{0}.triger'.format(robot.tracer.name)) addTrace(robot.tracer, robot.pg, 'waistattitudeabsolute') # fin addTrace(robot.tracer, robot.wp, 'comDes') # desired CoM addTrace(robot.tracer, robot.cdc_estimator, 'c') # estimated CoM addTrace(robot.tracer, robot.cdc_estimator, 'dc') # estimated CoM velocity addTrace(robot.tracer, robot.pg, 'comref') addTrace(robot.tracer, robot.pg, 'dcomref') addTrace(robot.tracer, robot.pg, 'ddcomref') addTrace(robot.tracer, robot.pg, 'rightfootref') addTrace(robot.tracer, robot.pg, 'leftfootref') addTrace(robot.tracer, robot.pg, 'rightfootcontact') addTrace(robot.tracer, robot.pg, 'leftfootcontact') addTrace(robot.tracer, robot.pg, 'SupportFoot') addTrace(robot.tracer, robot.dynamic, 'com') # resulting SOT CoM addTrace(robot.tracer, robot.dynamic, 'LF') # left foot addTrace(robot.tracer, robot.dynamic, 'RF') # right foot robot.tracer.start()
def init_sot_talos_balance(robot, test_folder): cm_conf.CTRL_MAX = 1000.0 # temporary hack dt = robot.device.getTimeStep() robot.timeStep = dt # --- Pendulum parameters robot_name = 'robot' robot.dynamic.com.recompute(0) robotDim = robot.dynamic.getDimension() mass = robot.dynamic.data.mass[0] h = robot.dynamic.com.value[2] g = 9.81 omega = sqrt(g / h) # --- Parameter server robot.param_server = create_parameter_server(param_server_conf, dt) # --- Initial feet and waist robot.dynamic.createOpPoint('LF', robot.OperationalPointsMap['left-ankle']) robot.dynamic.createOpPoint('RF', robot.OperationalPointsMap['right-ankle']) robot.dynamic.createOpPoint('WT', robot.OperationalPointsMap['waist']) robot.dynamic.LF.recompute(0) robot.dynamic.RF.recompute(0) robot.dynamic.WT.recompute(0) # -------------------------- DESIRED TRAJECTORY -------------------------- rospack = RosPack() data_folder = rospack.get_path('sot-talos-balance') + "/data/" folder = data_folder + test_folder + '/' # --- Trajectory generators # --- General trigger robot.triggerTrajGen = BooleanIdentity('triggerTrajGen') robot.triggerTrajGen.sin.value = 0 # --- CoM robot.comTrajGen = create_com_trajectory_generator(dt, robot) robot.comTrajGen.x.recompute(0) # trigger computation of initial value robot.comTrajGen.playTrajectoryFile(folder + 'CoM.dat') plug(robot.triggerTrajGen.sout, robot.comTrajGen.trigger) # --- Left foot robot.lfTrajGen = create_pose_rpy_trajectory_generator(dt, robot, 'LF') robot.lfTrajGen.x.recompute(0) # trigger computation of initial value robot.lfToMatrix = PoseRollPitchYawToMatrixHomo('lf2m') plug(robot.lfTrajGen.x, robot.lfToMatrix.sin) robot.lfTrajGen.playTrajectoryFile(folder + 'LeftFoot.dat') plug(robot.triggerTrajGen.sout, robot.lfTrajGen.trigger) # --- Right foot robot.rfTrajGen = create_pose_rpy_trajectory_generator(dt, robot, 'RF') robot.rfTrajGen.x.recompute(0) # trigger computation of initial value robot.rfToMatrix = PoseRollPitchYawToMatrixHomo('rf2m') plug(robot.rfTrajGen.x, robot.rfToMatrix.sin) robot.rfTrajGen.playTrajectoryFile(folder + 'RightFoot.dat') plug(robot.triggerTrajGen.sout, robot.rfTrajGen.trigger) # --- ZMP robot.zmpTrajGen = create_zmp_trajectory_generator(dt, robot) robot.zmpTrajGen.x.recompute(0) # trigger computation of initial value # robot.zmpTrajGen.playTrajectoryFile(folder + 'ZMP.dat') plug(robot.triggerTrajGen.sout, robot.zmpTrajGen.trigger) # --- Waist robot.waistTrajGen = create_orientation_rpy_trajectory_generator( dt, robot, 'WT') robot.waistTrajGen.x.recompute(0) # trigger computation of initial value robot.waistMix = Mix_of_vector("waistMix") robot.waistMix.setSignalNumber(3) robot.waistMix.addSelec(1, 0, 3) robot.waistMix.addSelec(2, 3, 3) robot.waistMix.default.value = [0.0] * 6 robot.waistMix.signal("sin1").value = [0.0] * 3 plug(robot.waistTrajGen.x, robot.waistMix.signal("sin2")) robot.waistToMatrix = PoseRollPitchYawToMatrixHomo('w2m') plug(robot.waistMix.sout, robot.waistToMatrix.sin) robot.waistTrajGen.playTrajectoryFile(folder + 'WaistOrientation.dat') plug(robot.triggerTrajGen.sout, robot.waistTrajGen.trigger) # --- Interface with controller entities wp = DummyWalkingPatternGenerator('dummy_wp') wp.init() wp.omega.value = omega #wp.waist.value = robot.dynamic.WT.value # wait receives a full homogeneous matrix, but only the rotational part is controlled #wp.footLeft.value = robot.dynamic.LF.value #wp.footRight.value = robot.dynamic.RF.value #wp.com.value = robot.dynamic.com.value #wp.vcom.value = [0.]*3 #wp.acom.value = [0.]*3 plug(robot.waistToMatrix.sout, wp.waist) plug(robot.lfToMatrix.sout, wp.footLeft) plug(robot.rfToMatrix.sout, wp.footRight) plug(robot.comTrajGen.x, wp.com) plug(robot.comTrajGen.dx, wp.vcom) plug(robot.comTrajGen.ddx, wp.acom) #plug(robot.zmpTrajGen.x, wp.zmp) robot.wp = wp # --- Compute the values to use them in initialization robot.wp.comDes.recompute(0) robot.wp.dcmDes.recompute(0) robot.wp.zmpDes.recompute(0) # -------------------------- ESTIMATION -------------------------- # --- Base Estimation robot.device_filters = create_device_filters(robot, dt) robot.imu_filters = create_imu_filters(robot, dt) robot.base_estimator = create_base_estimator(robot, dt, base_estimator_conf) robot.m2qLF = MatrixHomoToPoseQuaternion('m2qLF') plug(robot.dynamic.LF, robot.m2qLF.sin) plug(robot.m2qLF.sout, robot.base_estimator.lf_ref_xyzquat) robot.m2qRF = MatrixHomoToPoseQuaternion('m2qRF') plug(robot.dynamic.RF, robot.m2qRF.sin) plug(robot.m2qRF.sout, robot.base_estimator.rf_ref_xyzquat) # --- Conversion e2q = EulerToQuat('e2q') plug(robot.base_estimator.q, e2q.euler) robot.e2q = e2q # --- Kinematic computations robot.rdynamic = DynamicPinocchio("real_dynamics") robot.rdynamic.setModel(robot.dynamic.model) robot.rdynamic.setData(robot.rdynamic.model.createData()) plug(robot.base_estimator.q, robot.rdynamic.position) robot.rdynamic.velocity.value = [0.0] * robotDim robot.rdynamic.acceleration.value = [0.0] * robotDim # --- CoM Estimation cdc_estimator = DcmEstimator('cdc_estimator') cdc_estimator.init(dt, robot_name) plug(robot.e2q.quaternion, cdc_estimator.q) plug(robot.base_estimator.v, cdc_estimator.v) robot.cdc_estimator = cdc_estimator # --- DCM Estimation estimator = DummyDcmEstimator("dummy") estimator.omega.value = omega estimator.mass.value = 1.0 plug(robot.cdc_estimator.c, estimator.com) plug(robot.cdc_estimator.dc, estimator.momenta) estimator.init() robot.estimator = estimator # --- Force calibration robot.ftc = create_ft_calibrator(robot, ft_conf) # --- ZMP estimation zmp_estimator = SimpleZmpEstimator("zmpEst") robot.rdynamic.createOpPoint('sole_LF', 'left_sole_link') robot.rdynamic.createOpPoint('sole_RF', 'right_sole_link') plug(robot.rdynamic.sole_LF, zmp_estimator.poseLeft) plug(robot.rdynamic.sole_RF, zmp_estimator.poseRight) plug(robot.ftc.left_foot_force_out, zmp_estimator.wrenchLeft) plug(robot.ftc.right_foot_force_out, zmp_estimator.wrenchRight) zmp_estimator.init() robot.zmp_estimator = zmp_estimator # -------------------------- ADMITTANCE CONTROL -------------------------- # --- DCM controller Kp_dcm = [8.0] * 3 Ki_dcm = [0.0, 0.0, 0.0] # zero (to be set later) gamma_dcm = 0.2 dcm_controller = DcmController("dcmCtrl") dcm_controller.Kp.value = Kp_dcm dcm_controller.Ki.value = Ki_dcm dcm_controller.decayFactor.value = gamma_dcm dcm_controller.mass.value = mass dcm_controller.omega.value = omega plug(robot.cdc_estimator.c, dcm_controller.com) plug(robot.estimator.dcm, dcm_controller.dcm) plug(robot.wp.zmpDes, dcm_controller.zmpDes) plug(robot.wp.dcmDes, dcm_controller.dcmDes) dcm_controller.init(dt) robot.dcm_control = dcm_controller Ki_dcm = [1.0, 1.0, 1.0] # this value is employed later # --- CoM admittance controller Kp_adm = [0.0, 0.0, 0.0] # zero (to be set later) com_admittance_control = ComAdmittanceController("comAdmCtrl") com_admittance_control.Kp.value = Kp_adm plug(robot.zmp_estimator.zmp, com_admittance_control.zmp) com_admittance_control.zmpDes.value = robot.wp.zmpDes.value # should be plugged to robot.dcm_control.zmpRef plug(robot.wp.acomDes, com_admittance_control.ddcomDes) com_admittance_control.init(dt) com_admittance_control.setState(robot.wp.comDes.value, [0.0, 0.0, 0.0]) robot.com_admittance_control = com_admittance_control # --- Control Manager robot.cm = create_ctrl_manager(cm_conf, dt, robot_name='robot') robot.cm.addCtrlMode('sot_input') robot.cm.setCtrlMode('all', 'sot_input') robot.cm.addEmergencyStopSIN('zmp') # -------------------------- SOT CONTROL -------------------------- # --- Upper body robot.taskUpperBody = Task('task_upper_body') robot.taskUpperBody.feature = FeaturePosture('feature_upper_body') q = list(robot.dynamic.position.value) robot.taskUpperBody.feature.state.value = q robot.taskUpperBody.feature.posture.value = q # robotDim = robot.dynamic.getDimension() # 38 robot.taskUpperBody.feature.selectDof(18, True) robot.taskUpperBody.feature.selectDof(19, True) robot.taskUpperBody.feature.selectDof(20, True) robot.taskUpperBody.feature.selectDof(21, True) robot.taskUpperBody.feature.selectDof(22, True) robot.taskUpperBody.feature.selectDof(23, True) robot.taskUpperBody.feature.selectDof(24, True) robot.taskUpperBody.feature.selectDof(25, True) robot.taskUpperBody.feature.selectDof(26, True) robot.taskUpperBody.feature.selectDof(27, True) robot.taskUpperBody.feature.selectDof(28, True) robot.taskUpperBody.feature.selectDof(29, True) robot.taskUpperBody.feature.selectDof(30, True) robot.taskUpperBody.feature.selectDof(31, True) robot.taskUpperBody.feature.selectDof(32, True) robot.taskUpperBody.feature.selectDof(33, True) robot.taskUpperBody.feature.selectDof(34, True) robot.taskUpperBody.feature.selectDof(35, True) robot.taskUpperBody.feature.selectDof(36, True) robot.taskUpperBody.feature.selectDof(37, True) robot.taskUpperBody.controlGain.value = 100.0 robot.taskUpperBody.add(robot.taskUpperBody.feature.name) plug(robot.dynamic.position, robot.taskUpperBody.feature.state) # --- CONTACTS #define contactLF and contactRF robot.contactLF = MetaTaskKine6d('contactLF', robot.dynamic, 'LF', robot.OperationalPointsMap['left-ankle']) robot.contactLF.feature.frame('desired') robot.contactLF.gain.setConstant(300) plug(robot.wp.footLeftDes, robot.contactLF.featureDes.position) #.errorIN? locals()['contactLF'] = robot.contactLF robot.contactRF = MetaTaskKine6d('contactRF', robot.dynamic, 'RF', robot.OperationalPointsMap['right-ankle']) robot.contactRF.feature.frame('desired') robot.contactRF.gain.setConstant(300) plug(robot.wp.footRightDes, robot.contactRF.featureDes.position) #.errorIN? locals()['contactRF'] = robot.contactRF # --- COM height robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH') plug(robot.wp.comDes, robot.taskComH.featureDes.errorIN) robot.taskComH.task.controlGain.value = 100. robot.taskComH.feature.selec.value = '100' # --- COM robot.taskCom = MetaTaskKineCom(robot.dynamic) plug(robot.com_admittance_control.comRef, robot.taskCom.featureDes.errorIN) plug(robot.com_admittance_control.dcomRef, robot.taskCom.featureDes.errordotIN) robot.taskCom.task.controlGain.value = 0 robot.taskCom.task.setWithDerivative(True) robot.taskCom.feature.selec.value = '011' # --- Waist robot.keepWaist = MetaTaskKine6d('keepWaist', robot.dynamic, 'WT', robot.OperationalPointsMap['waist']) robot.keepWaist.feature.frame('desired') robot.keepWaist.gain.setConstant(300) plug(robot.wp.waistDes, robot.keepWaist.featureDes.position) robot.keepWaist.feature.selec.value = '111000' locals()['keepWaist'] = robot.keepWaist # --- SOT solver robot.sot = SOT('sot') robot.sot.setSize(robot.dynamic.getDimension()) # --- Plug SOT control to device through control manager plug(robot.sot.control, robot.cm.ctrl_sot_input) plug(robot.cm.u_safe, robot.device.control) robot.sot.push(robot.taskUpperBody.name) robot.sot.push(robot.contactRF.task.name) robot.sot.push(robot.contactLF.task.name) robot.sot.push(robot.taskComH.task.name) robot.sot.push(robot.taskCom.task.name) robot.sot.push(robot.keepWaist.task.name) # --- Fix robot.dynamic inputs plug(robot.device.velocity, robot.dynamic.velocity) robot.dvdt = Derivator_of_Vector("dv_dt") robot.dvdt.dt.value = dt plug(robot.device.velocity, robot.dvdt.sin) plug(robot.dvdt.sout, robot.dynamic.acceleration) # -------------------------- PLOTS -------------------------- # --- ROS PUBLISHER robot.publisher = create_rospublish(robot, 'robot_publisher') create_topic(robot.publisher, robot.device, 'state', robot=robot, data_type='vector') create_topic(robot.publisher, robot.base_estimator, 'q', robot=robot, data_type='vector') #create_topic(robot.publisher, robot.stf, 'q', robot = robot, data_type='vector') create_topic(robot.publisher, robot.comTrajGen, 'x', robot=robot, data_type='vector') # generated CoM create_topic(robot.publisher, robot.comTrajGen, 'dx', robot=robot, data_type='vector') # generated CoM velocity create_topic(robot.publisher, robot.comTrajGen, 'ddx', robot=robot, data_type='vector') # generated CoM acceleration create_topic(robot.publisher, robot.wp, 'comDes', robot=robot, data_type='vector') # desired CoM create_topic(robot.publisher, robot.cdc_estimator, 'c', robot=robot, data_type='vector') # estimated CoM create_topic(robot.publisher, robot.cdc_estimator, 'dc', robot=robot, data_type='vector') # estimated CoM velocity create_topic(robot.publisher, robot.com_admittance_control, 'comRef', robot=robot, data_type='vector') # reference CoM create_topic(robot.publisher, robot.dynamic, 'com', robot=robot, data_type='vector') # resulting SOT CoM create_topic(robot.publisher, robot.dcm_control, 'dcmDes', robot=robot, data_type='vector') # desired DCM create_topic(robot.publisher, robot.estimator, 'dcm', robot=robot, data_type='vector') # estimated DCM create_topic(robot.publisher, robot.zmpTrajGen, 'x', robot=robot, data_type='vector') # generated ZMP create_topic(robot.publisher, robot.wp, 'zmpDes', robot=robot, data_type='vector') # desired ZMP create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vector') # SOT ZMP create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type='vector') # estimated ZMP create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_type='vector') # reference ZMP create_topic(robot.publisher, robot.waistTrajGen, 'x', robot=robot, data_type='vector') # desired waist orientation create_topic(robot.publisher, robot.lfTrajGen, 'x', robot=robot, data_type='vector') # desired left foot pose create_topic(robot.publisher, robot.rfTrajGen, 'x', robot=robot, data_type='vector') # desired right foot pose create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector') # calibrated left wrench create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector') # calibrated right wrench create_topic(robot.publisher, robot.dynamic, 'LF', robot=robot, data_type='matrixHomo') # left foot create_topic(robot.publisher, robot.dynamic, 'RF', robot=robot, data_type='matrixHomo') # right foot # --- TRACER robot.tracer = TracerRealTime("com_tracer") robot.tracer.setBufferSize(80 * (2**20)) robot.tracer.open('/tmp', 'dg_', '.dat') robot.device.after.addSignal('{0}.triger'.format(robot.tracer.name)) addTrace(robot.tracer, robot.wp, 'comDes') # desired CoM addTrace(robot.tracer, robot.cdc_estimator, 'c') # estimated CoM addTrace(robot.tracer, robot.cdc_estimator, 'dc') # estimated CoM velocity addTrace(robot.tracer, robot.com_admittance_control, 'comRef') # reference CoM addTrace(robot.tracer, robot.dynamic, 'com') # resulting SOT CoM addTrace(robot.tracer, robot.dcm_control, 'dcmDes') # desired DCM addTrace(robot.tracer, robot.estimator, 'dcm') # estimated DCM addTrace(robot.tracer, robot.dcm_control, 'zmpDes') # desired ZMP addTrace(robot.tracer, robot.dynamic, 'zmp') # SOT ZMP addTrace(robot.tracer, robot.zmp_estimator, 'zmp') # estimated ZMP addTrace(robot.tracer, robot.dcm_control, 'zmpRef') # reference ZMP addTrace(robot.tracer, robot.ftc, 'left_foot_force_out') # calibrated left wrench addTrace(robot.tracer, robot.ftc, 'right_foot_force_out') # calibrated right wrench addTrace(robot.tracer, robot.dynamic, 'LF') # left foot addTrace(robot.tracer, robot.dynamic, 'RF') # right foot robot.tracer.start()