class MetaTaskCom(object): def __init__(self, dyn, name="com"): self.dyn = dyn self.name = name # dyn.setProperty('ComputeCoM','true') self.feature = FeatureGeneric('feature' + name) self.featureDes = FeatureGeneric('featureDes' + name) self.gain = GainAdaptive('gain' + name) plug(dyn.com, self.feature.errorIN) plug(dyn.Jcom, self.feature.jacobianIN) self.feature.setReference(self.featureDes.name) def plugTask(self): self.task.add(self.feature.name) plug(self.task.error, self.gain.error) plug(self.gain.gain, self.task.controlGain) @property def ref(self): return self.featureDes.errorIN.value @ref.setter def ref(self, v): self.featureDes.errorIN.value = v
class MetaTaskConfig(object): def __init__(self, dyn, config=None, name="config"): self.dyn = dyn self.name = name self.config = config self.feature = FeatureGeneric('feature' + name) self.featureDes = FeatureGeneric('featureDes' + name) self.gain = GainAdaptive('gain' + name) plug(dyn.position, self.feature.errorIN) robotDim = dyn.getDimension() self.feature.jacobianIN.value = matrixToTuple(identity(robotDim)) self.feature.setReference(self.featureDes.name) if config is not None: self.feature.selec.value = toFlags(self.config) def plugTask(self): self.task.add(self.feature.name) plug(self.task.error, self.gain.error) plug(self.gain.gain, self.task.controlGain) @property def ref(self): return self.featureDes.errorIN.value @ref.setter def ref(self, v): self.featureDes.errorIN.value = v
class MetaTaskJoint(object): def __init__(self, dyn, joint, name=None): if name is None: name = "joint" + str(joint) self.dyn = dyn self.name = name self.joint = joint self.feature = FeatureGeneric('feature' + name) self.featureDes = FeatureGeneric('featureDes' + name) self.gain = GainAdaptive('gain' + name) self.selec = Selec_of_vector("selec" + name) self.selec.selec(joint, joint + 1) plug(dyn.position, self.selec.sin) plug(self.selec.sout, self.feature.errorIN) robotDim = len(dyn.position.value) Id = identity(robotDim) J = Id[joint:joint + 1] self.feature.jacobianIN.value = matrixToTuple(J) self.feature.setReference(self.featureDes.name) def plugTask(self): self.task.add(self.feature.name) plug(self.task.error, self.gain.error) plug(self.gain.gain, self.task.controlGain) @property def ref(self): return self.featureDes.errorIN.value @ref.setter def ref(self, v): self.featureDes.errorIN.value = v
def createPostureTask (robot, taskName, ingain = 1.): robot.dynamic.position.recompute(0) feature = FeatureGeneric('feature'+taskName) featureDes = FeatureGeneric('featureDes'+taskName) featureDes.errorIN.value = robot.halfSitting plug(robot.dynamic.position,feature.errorIN) feature.setReference(featureDes.name) robotDim = len(robot.dynamic.position.value) feature.jacobianIN.value = matrixToTuple( identity(robotDim) ) task = Task (taskName) task.add (feature.name) gain = GainAdaptive('gain'+taskName) plug(gain.gain,task.controlGain) plug(task.error,gain.error) gain.setConstant(ingain) return (feature, featureDes, task, gain)
def createPostureTask(robot, taskName, ingain=1.): robot.dynamic.position.recompute(0) feature = FeatureGeneric('feature' + taskName) featureDes = FeatureGeneric('featureDes' + taskName) featureDes.errorIN.value = robot.halfSitting plug(robot.dynamic.position, feature.errorIN) feature.setReference(featureDes.name) robotDim = len(robot.dynamic.position.value) feature.jacobianIN.value = matrixToTuple(identity(robotDim)) task = Task(taskName) task.add(feature.name) gain = GainAdaptive('gain' + taskName) plug(gain.gain, task.controlGain) plug(task.error, gain.error) gain.setConstant(ingain) return (feature, featureDes, task, gain)
def createCenterOfMassFeatureAndTask(robot, featureName, featureDesName, taskName, selec='111', ingain=1.): robot.dynamic.com.recompute(0) robot.dynamic.Jcom.recompute(0) featureCom = FeatureGeneric(featureName) plug(robot.dynamic.com, featureCom.errorIN) plug(robot.dynamic.Jcom, featureCom.jacobianIN) featureCom.selec.value = selec featureComDes = FeatureGeneric(featureDesName) featureComDes.errorIN.value = robot.dynamic.com.value featureCom.setReference(featureComDes.name) taskCom = Task(taskName) taskCom.add(featureName) gainCom = GainAdaptive('gain' + taskName) gainCom.setConstant(ingain) plug(gainCom.gain, taskCom.controlGain) plug(taskCom.error, gainCom.error) return (featureCom, featureComDes, taskCom, gainCom)
def createCenterOfMassFeatureAndTask(self, featureName, featureDesName, taskName, selec = '011', gain = 1.): self.dynamic.com.recompute(0) self.dynamic.Jcom.recompute(0) featureCom = FeatureGeneric(featureName) plug(self.dynamic.com, featureCom.errorIN) plug(self.dynamic.Jcom, featureCom.jacobianIN) featureCom.selec.value = selec featureComDes = FeatureGeneric(featureDesName) featureComDes.errorIN.value = self.dynamic.com.value featureCom.setReference(featureComDes.name) comTask = Task(taskName) comTask.add(featureName) comTask.controlGain.value = gain return (featureCom, featureComDes, comTask)
class LegsFollowerGraph(object): legsFollower = None postureTask = None postureFeature = None postureFeatureDes = None postureError = None legsTask = None legsFeature = None legsFeatureDes = None legsError = None waistTask = None waistFeature = None waistFeatureDes = None waistError = None trace = None def __init__(self, robot, solver, trace = None, postureTaskDofs = None): print("Constructor of LegsFollower Graph") self.robot = robot self.solver = solver self.legsFollower = LegsFollower('legs-follower') self.statelength = len(robot.device.state.value) # Initialize the posture task. print("Posture Task") self.postureTaskDofs = postureTaskDofs if not self.postureTaskDofs: self.postureTaskDofs = [] for i in xrange(len(robot.halfSitting) - 6): # Disable legs dofs. if i < 12: #FIXME: not generic enough self.postureTaskDofs.append((i + 6, False)) else: self.postureTaskDofs.append((i + 6, True)) # This part is taken from feet_follower_graph self.postureTask = Task(self.robot.name + '_posture') self.postureFeature = FeaturePosture(self.robot.name + '_postureFeature') plug(self.robot.device.state, self.postureFeature.state) posture = list(self.robot.halfSitting) self.postureFeature.setPosture(tuple(posture)) for (dof, isEnabled) in self.postureTaskDofs: self.postureFeature.selectDof(dof, isEnabled) self.postureTask.add(self.postureFeature.name) self.postureTask.controlGain.value = 2. # Initialize the waist follower task. print("Waist Task") self.robot.features['waist'].selec.value = '111111' plug(self.legsFollower.waist, self.robot.features['waist'].reference) self.robot.tasks['waist'].controlGain.value = 1. # Initialize the legs follower task. print("Legs Task") self.legsTask = Task(self.robot.name + '_legs') self.legsFeature = FeatureGeneric(self.robot.name + '_legsFeature') legsFeatureDesName = self.robot.name + '_legsFeatureDes' self.legsFeatureDes = FeatureGeneric(legsFeatureDesName) self.legsError = LegsError('LegsError') plug(self.robot.device.state, self.legsError.state) # self.legsFeatureDes.errorIN.value = self.legsFollower.ldof.value plug(self.legsFollower.ldof,self.legsFeatureDes.errorIN) self.legsFeature.jacobianIN.value = self.legsJacobian() self.legsFeature.setReference(legsFeatureDesName) plug(self.legsError.error, self.legsFeature.errorIN) self.legsTask.add(self.legsFeature.name) self.legsTask.controlGain.value = 5. #CoM task print("Com Task") print (0., 0., self.robot.dynamic.com.value[2]) self.robot.comTask.controlGain.value = 50. self.robot.featureComDes.errorIN.value = (0., 0., self.robot.dynamic.com.value[2]) self.robot.featureCom.selec.value = '111' plug(self.legsFollower.com, self.robot.featureComDes.errorIN) # Plug the legs follower zmp output signals. plug(self.legsFollower.zmp, self.robot.device.zmp) solver.sot.remove(self.robot.comTask.name) print("Push in solver.") solver.sot.push(self.legsTask.name) solver.sot.push(self.postureTask.name) solver.sot.push(self.robot.tasks['waist'].name) solver.sot.push(self.robot.comTask.name) solver.sot.remove(self.robot.tasks['left-ankle'].name) solver.sot.remove(self.robot.tasks['right-ankle'].name) print solver.sot.display() print("Tasks added in solver.\n") print("Command are : \n - f.plug()\n - f.plugViewer()\n - f.plugPlanner()\n" " - f.plugPlannerWithoutMocap()\n - f.start()\n - f.stop()\n - f.readMocap()\n") def legsJacobian(self): j = [] for i in xrange(12): j.append(oneVector(6+i,self.statelength)) return tuple(j) def waistJacobian(self): j = [] for i in xrange(6): j.append(oneVector(i,self.statelength)) return tuple(j) def postureJacobian(self): j = [] for i in xrange(self.statelength): if i >= 6 + 2 * 6: j.append(oneVector(i)) if i == 3 or i == 4: j.append(zeroVector()) return tuple(j) def computeDesiredValue(self): e = self.robot.halfSitting #e = halfSitting e_ = [e[3], e[4]] offset = 6 + 2 * 6 for i in xrange(len(e) - offset): e_.append(e[offset + i]) return tuple(e_) def canStart(self): securityThreshold = 1e-3 return (self.postureTask.error.value <= (securityThreshold,) * len(self.postureTask.error.value)) def setupTrace(self): self.trace = TracerRealTime('trace') self.trace.setBufferSize(2**20) self.trace.open('/tmp/','legs_follower_','.dat') self.trace.add('legs-follower.com', 'com') self.trace.add('legs-follower.zmp', 'zmp') self.trace.add('legs-follower.ldof', 'ldof') self.trace.add('legs-follower.waist', 'waist') self.trace.add(self.robot.device.name + '.state', 'state') self.trace.add(self.legsTask.name + '.error', 'errorLegs') self.trace.add(self.robot.comTask.name + '.error', 'errorCom') #self.trace.add('legs-follower.outputStart','start') #self.trace.add('legs-follower.outputYaw','yaw') self.trace.add('corba.planner_steps','steps') self.trace.add('corba.planner_outputGoal','goal') self.trace.add('corba.waist','waistMocap') self.trace.add('corba.left-foot','footMocap') self.trace.add('corba.table','tableMocap') self.trace.add('corba.bar','barMocap') self.trace.add('corba.chair','chairMocap') self.trace.add('corba.helmet','helmetMocap') self.trace.add('corba.planner_outputObs','obstacles') self.trace.add(self.robot.dynamic.name + '.left-ankle', self.robot.dynamic.name + '-left-ankle') self.trace.add(self.robot.dynamic.name + '.right-ankle', self.robot.dynamic.name + '-right-ankle') # Recompute trace.triger at each iteration to enable tracing. self.robot.device.after.addSignal('legs-follower.zmp') self.robot.device.after.addSignal('legs-follower.outputStart') self.robot.device.after.addSignal('legs-follower.outputYaw') self.robot.device.after.addSignal('corba.planner_steps') self.robot.device.after.addSignal('corba.planner_outputGoal') self.robot.device.after.addSignal('corba.waist') self.robot.device.after.addSignal('corba.left-foot') self.robot.device.after.addSignal('corba.table') self.robot.device.after.addSignal('corba.bar') self.robot.device.after.addSignal('corba.chair') self.robot.device.after.addSignal('corba.helmet') self.robot.device.after.addSignal('corba.planner_outputObs') self.robot.device.after.addSignal(self.robot.dynamic.name + '.left-ankle') self.robot.device.after.addSignal(self.robot.dynamic.name + '.right-ankle') self.robot.device.after.addSignal('trace.triger') return def plugPlanner(self): print("Plug planner.") plug(corba.planner_radQ, self.legsFollower.inputRef) plug(self.legsFollower.outputStart, corba.planner_inputStart) plug(corba.waistTimestamp, corba.planner_timestamp) plug(corba.table, corba.planner_table) plug(corba.chair, corba.planner_chair) plug(corba.bar, corba.planner_bar) plug(corba.waist, corba.planner_waist) plug(corba.helmet, corba.planner_inputGoal) plug(corba.torus1, corba.planner_torus1) plug(corba.torus2, corba.planner_torus2) plug(corba.signal('left-foot'), corba.planner_foot) plug(corba.signal('left-footTimestamp'), corba.planner_footTimestamp) return def plugPlannerWithoutMocap(self): print("Plug planner without mocap.") plug(corba.planner_radQ, self.legsFollower.inputRef) plug(self.legsFollower.outputStart, corba.planner_inputStart) return def plugViewer(self): print("Plug viewer.") plug(self.legsFollower.ldof, corba.viewer_Ldof) plug(self.legsFollower.outputStart, corba.viewer_Start) plug(self.legsFollower.com, corba.viewer_Com) plug(self.legsFollower.outputYaw, corba.viewer_Yaw) plug(corba.planner_steps, corba.viewer_Steps) plug(corba.planner_outputGoal, corba.viewer_Goal) plug(corba.table, corba.viewer_Table) plug(corba.chair, corba.viewer_Chair) plug(corba.bar, corba.viewer_Bar) plug(corba.torus1, corba.viewer_Torus1) plug(corba.torus2, corba.viewer_Torus2) plug(corba.waist, corba.viewer_Waist) plug(corba.planner_outputLabyrinth, corba.viewer_Labyrinth) plug(corba.planner_outputObs, corba.viewer_Obs) return def plug(self): self.plugPlanner() self.plugViewer() return def readMocap(self): print "Table : " print corba.table.value print "Waist : " if len(corba.waist.value)<3: corba.waist.value = (0,0,0) print corba.waist.value print "Helmet : " print corba.helmet.value return; def start(self): if not self.canStart(): print("Robot has not yet converged to the initial position," " please wait and try again.") return print("Start.") self.postureTask.controlGain.value = 180. #self.waistTask.controlGain.value = 90. self.legsTask.controlGain.value = 180. self.robot.comTask.controlGain.value = 180. self.robot.tasks['waist'].controlGain.value = 45. self.setupTrace() self.trace.start() self.legsFollower.start() return def stop(self): self.legsFollower.stop() self.trace.dump() return