mirror of
https://github.com/wassname/pyrobolearn.git
synced 2026-09-09 11:31:38 +08:00
Refreshing world before reading initial robot state.
This commit is contained in:
Rozo Leonel (CR/PJ-AI-R31)
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0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,2.334846740362195999e-02,5.315653617133308476e-05,-1.632049679756164551e-05,2.771615982055664062e-06,-3.168731927871704102e-05,1.191720366477966309e-05,1.509487628936767578e-05,-9.551644325256347656e-06,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,2.139379314562089157e-02,-9.998169290990466574e-06,1.907510982196200630e-04,-9.998169290990466574e-06,3.323426410039789086e-02,-3.926263656567202529e-05,1.907510982196200630e-04,-3.926263656567202529e-05,3.733812153189378861e-05,5.038186402751378523e+00
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0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,2.334846740362195999e-02,5.315653617133308476e-05,-1.638382673263549805e-05,2.816319465637207031e-06,-3.168731927871704102e-05,1.199916005134582520e-05,1.504272222518920898e-05,-9.484589099884033203e-06,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,2.139379314562089157e-02,-9.998169290990466574e-06,1.907510982196200630e-04,-9.998169290990466574e-06,3.323426410039789086e-02,-3.926263656567202529e-05,1.907510982196200630e-04,-3.926263656567202529e-05,3.733812153189378861e-05,5.038186402751378523e+00
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0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,2.334846740362195999e-02,5.315653617133308476e-05,-1.643970608711242676e-05,2.861022949218750000e-06,-3.168731927871704102e-05,1.208111643791198730e-05,1.499056816101074219e-05,-9.417533874511718750e-06,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,2.139379314562089157e-02,-9.998169290990466574e-06,1.907510982196200630e-04,-9.998169290990466574e-06,3.323426410039789086e-02,-3.926263656567202529e-05,1.907510982196200630e-04,-3.926263656567202529e-05,3.733812153189378861e-05,5.038186402751378523e+00
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0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,2.334846740362195999e-02,5.315653617133308476e-05,-1.650303602218627930e-05,2.913177013397216797e-06,-3.168731927871704102e-05,1.216307282447814941e-05,1.493096351623535156e-05,-9.343028068542480469e-06,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,2.139379314562089157e-02,-9.998169290990466574e-06,1.907510982196200630e-04,-9.998169290990466574e-06,3.323426410039789086e-02,-3.926263656567202529e-05,1.907510982196200630e-04,-3.926263656567202529e-05,3.733812153189378861e-05,5.038186402751378523e+00
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0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,2.334846740362195999e-02,5.315653617133308476e-05,-1.662224531173706055e-05,3.017485141754150391e-06,-3.168731927871704102e-05,1.231953501701354980e-05,1.482665538787841797e-05,-9.208917617797851562e-06,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,2.139379314562089157e-02,-9.998169290990466574e-06,1.907510982196200630e-04,-9.998169290990466574e-06,3.323426410039789086e-02,-3.926263656567202529e-05,1.907510982196200630e-04,-3.926263656567202529e-05,3.733812153189378861e-05,5.038186402751378523e+00
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0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,2.334846740362195999e-02,5.315653617133308476e-05,-1.668557524681091309e-05,3.062188625335693359e-06,-3.168731927871704102e-05,1.239776611328125000e-05,1.477450132369995117e-05,-9.141862392425537109e-06,0.000000000000000000e+00,0.000000000000000000e+00,0.000000000000000000e+00,2.139379314562089157e-02,-9.998169290990466574e-06,1.907510982196200630e-04,-9.998169290990466574e-06,3.323426410039789086e-02,-3.926263656567202529e-05,1.907510982196200630e-04,-3.926263656567202529e-05,3.733812153189378861e-05,5.038186402751378523e+00
|
||||
|
@@ -196,6 +196,8 @@ else:
|
||||
|
||||
|
||||
# Display initial and desired manipulability ellipsoid
|
||||
robot = world.load_robot(robot)
|
||||
world.step()
|
||||
q0 = robot.get_joint_positions()
|
||||
print("q0: {}".format(q0))
|
||||
Jcom0 = robot.get_center_of_mass_jacobian(q0)
|
||||
|
||||
@@ -100,6 +100,8 @@ else:
|
||||
|
||||
# Initial conditions for visualization
|
||||
# Display initial and desired manipulability ellipsoid
|
||||
robot = world.load_robot(robot)
|
||||
world.step()
|
||||
q0 = robot.get_joint_positions()
|
||||
Jcom = robot.get_center_of_mass_jacobian(q0)
|
||||
velocity_manip = robot.compute_velocity_manipulability_ellipsoid(Jcom)
|
||||
|
||||
@@ -194,6 +194,8 @@ else:
|
||||
|
||||
|
||||
# Display initial and desired manipulability ellipsoid
|
||||
robot = world.load_robot(robot)
|
||||
world.step()
|
||||
q0 = robot.get_joint_positions()
|
||||
print("q0: {}".format(q0))
|
||||
Jcom0 = robot.get_center_of_mass_jacobian(q0)
|
||||
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 61 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 144 KiB |
@@ -0,0 +1,400 @@
|
||||
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|
||||
|
Can't render this file because it is too large.
|
@@ -0,0 +1,404 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
import time
|
||||
# from itertools import count
|
||||
import numpy as np
|
||||
from scipy.linalg import block_diag
|
||||
import matplotlib.pyplot as plt
|
||||
import argparse
|
||||
|
||||
from pyrobolearn.simulators import Bullet
|
||||
from pyrobolearn.worlds import BasicWorld
|
||||
from pyrobolearn.robots import Nao, Centauro, Cogimon
|
||||
|
||||
## --> Create simulator, world and robot
|
||||
sim = Bullet()
|
||||
world = BasicWorld(sim)
|
||||
#robot = Nao(sim, fixed_base=False)
|
||||
robot = Cogimon(sim, fixed_base=False)
|
||||
#robot = Centauro(sim, fixed_base=False)
|
||||
|
||||
|
||||
# Loop for setting stable initial conditions
|
||||
for i in range(50):
|
||||
world.step()
|
||||
time.sleep(0.1)
|
||||
|
||||
|
||||
## --> Program variables
|
||||
dt = 0.01 # Sampling time
|
||||
nDesMan = 4 # Number of desired manipulability (Useful for tests)
|
||||
initQs = 1 # Number of initial configuration for the robots (Useful for tests)
|
||||
|
||||
if robot.name == 'nao':
|
||||
Km = 100 * np.eye(6) # Proportional gain for Nao for manip. tracking
|
||||
|
||||
# desired Velocity Manipulability for CoM (Nao)
|
||||
DesManList = np.array([[[1.539e-03, 6.653e-04, 0.833e-04],
|
||||
[6.653e-04, 2.080e-03, -5.843e-05],
|
||||
[0.833e-04, -5.843e-05, 8.601e-04]],
|
||||
[[2.580e-03, 1.653e-03, 4.833e-04],
|
||||
[1.653e-03, 1.539e-03, -5.843e-05],
|
||||
[4.833e-04, -5.843e-05, 9.601e-04]],
|
||||
[[1.580e-03, .653e-03, 4.833e-04],
|
||||
[.653e-03, 1.539e-03, -5.843e-05],
|
||||
[4.833e-04, -5.843e-05, 9.601e-04]],
|
||||
[[1e-04, 0.0, 0.0],
|
||||
[0.0, 5e-04, 0.0],
|
||||
[0.0, 0.0, 1e-04]]])
|
||||
tmpDesVelMan = DesManList[nDesMan-1, :, :]
|
||||
|
||||
# Get ids for feet (used for kinematics function)
|
||||
leftFootId = robot.get_link_ids('l_ankle')
|
||||
rightFootId = robot.get_link_ids('r_ankle')
|
||||
|
||||
# Gain matrices
|
||||
Kcom = np.diag((50, 40, 0)) # Proportional gain for CoM position control
|
||||
Klf = np.diag((20, 20, 20)) # Proportional gain for foot position control
|
||||
Krf = np.diag((20, 20, 20)) # Proportional gain for foot position control
|
||||
|
||||
# Setting initial configuration of the robot
|
||||
if initQs == 1:
|
||||
q0 = [1.55, 0.135, -1.05, -0.36, 1.55, -0.135, 1.05, 0.36]
|
||||
q0id = ['LShoulderPitch', 'LShoulderRoll', 'LElbowYaw', 'LElbowRoll',
|
||||
'RShoulderPitch', 'RShoulderRoll', 'RElbowYaw', 'RElbowRoll']
|
||||
elif initQs == 2:
|
||||
q0 = [1.55, 0.135, -1.05, -0.36, 1.55, -0.135, 1.05, 0.36, 0.1, -0.1, 0.12, 0.12, -0.12, -0.12]
|
||||
q0id = ['LShoulderPitch', 'LShoulderRoll', 'LElbowYaw', 'LElbowRoll', 'RShoulderPitch', 'RShoulderRoll',
|
||||
'RElbowYaw', 'RElbowRoll', 'LHipRoll', 'RHipRoll', 'LKneePitch', 'RKneePitch', 'LAnklePitch', 'RAnklePitch']
|
||||
elif initQs == 3:
|
||||
q0 = [2.0, 0.4, -1.3, -1.2, 2.0, -0.4, 1.3, 1.2, 0.05, -0.05, 0.2, 0.2, -0.2, -0.2]
|
||||
q0id = ['LShoulderPitch', 'LShoulderRoll', 'LElbowYaw', 'LElbowRoll', 'RShoulderPitch', 'RShoulderRoll',
|
||||
'RElbowYaw', 'RElbowRoll', 'LHipRoll', 'RHipRoll', 'LKneePitch', 'RKneePitch', 'LAnklePitch', 'RAnklePitch']
|
||||
else:
|
||||
q0 = 0
|
||||
q0id = 0
|
||||
|
||||
elif robot.name == 'cogimon': # Not working
|
||||
Km = 0.0 * np.eye(6) # Proportional gain for Cogimon for manip. tracking
|
||||
|
||||
# desired Velocity Manipulability for CoM (Cogimon)
|
||||
DesManList = np.array([[[0.0204, 0.0035, 0.0008],
|
||||
[0.0035, 0.0469, 0.0179],
|
||||
[0.0008, 0.0179, 0.0163]],
|
||||
[[0.01, 0.0, 0.0],
|
||||
[0.0, 0.06, 0.0],
|
||||
[0.0, 0.0, 0.005]]])
|
||||
tmpDesVelMan = DesManList[nDesMan-1, :, :]
|
||||
|
||||
# Get ids for feet (used for kinematics function)
|
||||
leftFootId = robot.get_link_ids('LFoot')
|
||||
rightFootId = robot.get_link_ids('RFoot')
|
||||
|
||||
# Gain matrices
|
||||
Kcom = np.diag((200.0, 200.0, 0.0)) # Proportional gain for CoM position control
|
||||
Klf = np.diag((80, 80, 80)) # Proportional gain for foot position control
|
||||
Krf = np.diag((80, 80, 80)) # Proportional gain for foot position control
|
||||
|
||||
# Setting initial configuration of the robot
|
||||
if initQs == 1:
|
||||
q0 = [-0.02, -0.02, -0.02, -0.02]
|
||||
q0id = ['RShSag', 'RShLat', 'LShSag', 'LShLat']
|
||||
else:
|
||||
q0 = 0
|
||||
q0id = 0
|
||||
|
||||
elif robot.name == 'centauro':
|
||||
Km = 50 * np.eye(6) # Proportional gain for Centauro
|
||||
# desired Velocity Manipulability for CoM (Centauro)
|
||||
DesManList = np.array([[[0.0207, 0.008, 0.0],
|
||||
[0.008, 0.01, -0.005],
|
||||
[0.0, -0.005, 0.006]],
|
||||
[[5.173e-03, -2.733e-03, 1.920e-03],
|
||||
[-2.733e-03, 2.038e-02, 7.185e-04],
|
||||
[1.920e-03, 7.185e-04, 2.107e-03]],
|
||||
[[2.2e-02, 0.0, -0.01],
|
||||
[0.0, 2.1e-02, 0.0],
|
||||
[-0.01, 0.0, 5.e-03]],
|
||||
[[5e-04, 0.0, 0.0],
|
||||
[0.0, .1, 0.0],
|
||||
[0.0, 0.0, 5e-04]]])
|
||||
tmpDesVelMan = DesManList[nDesMan-1, :, :]
|
||||
print("desVelMan: {}".format(tmpDesVelMan))
|
||||
|
||||
# Get ids for "feet" (used for kinematics function)
|
||||
leftFoot1Id = robot.get_link_ids('wheel_1')
|
||||
rightFoot1Id = robot.get_link_ids('wheel_2')
|
||||
leftFoot2Id = robot.get_link_ids('wheel_3')
|
||||
rightFoot2Id = robot.get_link_ids('wheel_4')
|
||||
|
||||
# Gain matrices
|
||||
Kcom = np.diag((250.0, 250.0, 0.0)) # Proportional gain for CoM position control
|
||||
Kl1f = np.diag((180, 180, 180)) # Proportional gain for foot position control
|
||||
Kr1f = np.diag((180, 180, 180)) # Proportional gain for foot position control
|
||||
Kl2f = np.diag((180, 180, 180)) # Proportional gain for foot position control
|
||||
Kr2f = np.diag((180, 180, 180)) # Proportional gain for foot position control
|
||||
|
||||
# Setting initial configuration of the robot
|
||||
if initQs == 1:
|
||||
q0 = [-.7, -.65, .61, -.5, .71, .64, -.68, .7]
|
||||
q0id = ['j_arm1_1', 'j_arm1_2', 'j_arm1_3', 'j_arm1_4', 'j_arm2_1', 'j_arm2_2', 'j_arm2_3', 'j_arm2_4']
|
||||
elif initQs == 2:
|
||||
q0 = [-.7, -.65, .61, -.5, .71, .64, -.68, .7, -0.42, -0.96, -0.59,
|
||||
0.42, 0.96, 0.59, 0.42, 0.96, 0.59, -0.42, -0.96, -0.59]
|
||||
q0id = ['j_arm1_1', 'j_arm1_2', 'j_arm1_3', 'j_arm1_4', 'j_arm2_1', 'j_arm2_2', 'j_arm2_3', 'j_arm2_4',
|
||||
'hip_pitch_1', 'knee_pitch_1', 'ankle_pitch_1', 'hip_pitch_2', 'knee_pitch_2', 'ankle_pitch_2',
|
||||
'hip_pitch_3', 'knee_pitch_3', 'ankle_pitch_3', 'hip_pitch_4', 'knee_pitch_4', 'ankle_pitch_4']
|
||||
elif initQs == 3:
|
||||
q0 = [-.3, -1.3, .61, -.5, .3, 1.3, -.68, .7, -0.42, -0.96, -0.59,
|
||||
0.42, 0.96, 0.59, 0.42, 0.96, 0.59, -0.42, -0.96, -0.59]
|
||||
q0id = ['j_arm1_1', 'j_arm1_2', 'j_arm1_3', 'j_arm1_4', 'j_arm2_1', 'j_arm2_2', 'j_arm2_3', 'j_arm2_4',
|
||||
'hip_pitch_1', 'knee_pitch_1', 'ankle_pitch_1', 'hip_pitch_2', 'knee_pitch_2', 'ankle_pitch_2',
|
||||
'hip_pitch_3', 'knee_pitch_3', 'ankle_pitch_3', 'hip_pitch_4', 'knee_pitch_4', 'ankle_pitch_4']
|
||||
else:
|
||||
q0 = 0
|
||||
q0id = 0
|
||||
|
||||
else:
|
||||
leftFootId = 0
|
||||
rightFootId = 0
|
||||
|
||||
# Loop need to set the robot initial posture
|
||||
for n in range(15):
|
||||
robot.set_joint_positions(np.asarray(q0), robot.get_joint_ids(np.asarray(q0id)))
|
||||
world.step()
|
||||
|
||||
# Augmented gain matrix for balancing controller
|
||||
if robot.name == 'centauro':
|
||||
Kbal = block_diag(Kl1f, Kr1f, Kl2f, Kr2f, Kcom)
|
||||
else:
|
||||
Kbal = block_diag(Klf, Krf, Kcom)
|
||||
print("Kbal: {}".format(Kbal))
|
||||
|
||||
|
||||
## --> Initial conditions
|
||||
time.sleep(2.0)
|
||||
|
||||
nDOFs = robot.num_dofs - 6
|
||||
CoMr = robot.get_center_of_mass_position() # Desired CoM
|
||||
print("CoMr: {}".format(CoMr))
|
||||
|
||||
if robot.name == 'centauro':
|
||||
xref_l1f = robot.get_link_world_frame_positions(leftFoot1Id) # Desired position for left foot
|
||||
xref_r1f = robot.get_link_world_frame_positions(rightFoot1Id) # Desired position for right foot
|
||||
xref_l2f = robot.get_link_world_frame_positions(leftFoot2Id) # Desired position for left foot
|
||||
xref_r2f = robot.get_link_world_frame_positions(rightFoot2Id) # Desired position for right foot
|
||||
else:
|
||||
xref_lf = robot.get_link_world_frame_positions(leftFootId) # Desired position for left foot
|
||||
#Qref_lf = robot.getLinkFrameWorldOrientations(leftFootId)
|
||||
xref_rf = robot.get_link_world_frame_positions(rightFootId) # Desired position for right foot
|
||||
#Qref_rf = robot.getLinkFrameWorldOrientations(rightFootId)
|
||||
|
||||
|
||||
# Display initial and desired manipulability ellipsoid
|
||||
q0 = robot.get_joint_positions()
|
||||
print("q0: {}".format(q0))
|
||||
Jcom0 = robot.get_center_of_mass_jacobian(q0)
|
||||
if robot.has_fixed_base() == False:
|
||||
velMan = robot.compute_velocity_manipulability_ellipsoid(Jcom0[:, 6:])
|
||||
else:
|
||||
velMan = robot.compute_velocity_manipulability_ellipsoid(Jcom0)
|
||||
print("Mv0: {}".format(velMan[0:3, 0:3]))
|
||||
|
||||
#tmpOr, tmpScale = robot.getEllipsoidOrientationAndScale(10 * tmpDesVelMan)
|
||||
basePos = robot.get_base_position()
|
||||
#robot.draw3DEllipsoid(basePos, tmpOr, scale=tmpScale, color=(0.1, 0.75, 0.1, 0.6))
|
||||
#robot.drawVelocityManipulabilityEllipsoid(linkId=-1, JJT=10 * tmpDesVelMan, color=(0.1, 0.75, 0.1, 0.6))
|
||||
#tmpOr, tmpScale = robot.getEllipsoidOrientationAndScale(10 * velMan[0:3, 0:3])
|
||||
#velManId = robot.draw3DEllipsoid(basePos, tmpOr, scale=tmpScale, color=(0.75, 0.1, 0.1, 0.6))
|
||||
#velManId = robot.drawVelocityManipulabilityEllipsoid(linkId=-1, JJT=10 * velMan[0:3, 0:3], color=(0.75, 0.1, 0.1, 0.6))
|
||||
|
||||
|
||||
# Logging variables
|
||||
# Format: [q minEigvalue(Jbal) minEigvalue(Jman) balanceError CurrentManip(1x9) SPDdistance]
|
||||
logArray = np.zeros((400, nDOFs + 2 + Kbal.shape[0] + velMan[0:3, 0:3].size + 1))
|
||||
|
||||
|
||||
## --> Run simulator
|
||||
#for i in count():
|
||||
for i in range(400):
|
||||
## --> Update current robot state
|
||||
qt = robot.get_joint_positions()
|
||||
CoMt = robot.get_center_of_mass_position() # Current CoM
|
||||
robot.draw_com_position(0.03)
|
||||
|
||||
if robot.name == 'centauro':
|
||||
xt_l1f = robot.get_link_world_frame_positions(leftFoot1Id) # Current position for left foot
|
||||
xt_r1f = robot.get_link_world_frame_positions(rightFoot1Id) # Current position for right foot
|
||||
xt_l2f = robot.get_link_world_frame_positions(leftFoot2Id) # Current position for left foot
|
||||
xt_r2f = robot.get_link_world_frame_positions(rightFoot2Id) # Current position for right foot
|
||||
else:
|
||||
xt_lf = robot.get_link_world_frame_positions(leftFootId) # Current left foot pos
|
||||
#Qt_lf = robot.getLinkFrameWorldOrientations(leftFootId)
|
||||
xt_rf = robot.get_link_world_frame_positions(rightFootId) # Current right foot pos
|
||||
|
||||
|
||||
## --> Simple balance control with IK kinematics for CoM and feet
|
||||
# Get Jacobians: Jcom, Jlf, and Jrf
|
||||
Jcom = robot.get_center_of_mass_jacobian(qt)
|
||||
|
||||
if robot.name == 'centauro':
|
||||
Jl1f = robot.get_jacobian(leftFoot1Id, qt)
|
||||
Jr1f = robot.get_jacobian(rightFoot1Id, qt)
|
||||
Jl2f = robot.get_jacobian(leftFoot2Id, qt)
|
||||
Jr2f = robot.get_jacobian(rightFoot2Id, qt)
|
||||
else:
|
||||
Jlf = robot.get_jacobian(leftFootId, qt)
|
||||
Jrf = robot.get_jacobian(rightFootId, qt)
|
||||
|
||||
# Compose Jacobian and nullspace for balancing task
|
||||
if robot.name == 'centauro':
|
||||
Jbal = np.vstack((Jl1f[0:3, ], Jr1f[0:3, ], Jl2f[0:3, ], Jr2f[0:3, ], Jcom[0:3, ]))
|
||||
else:
|
||||
Jbal = np.vstack((Jlf[0:3, ], Jrf[0:3, ], Jcom[0:3, ]))
|
||||
|
||||
Ubal, Sbal, VhBal = np.linalg.svd(Jbal)
|
||||
if np.min(Sbal) < 4.5E-2:
|
||||
pJbal = robot.get_damped_least_squares_inverse(Jbal, 4.5E-2)
|
||||
else:
|
||||
pJbal = robot.get_damped_least_squares_inverse(Jbal, 1E-8)
|
||||
Nbal = np.eye(Jbal.shape[1]) - np.dot(pJbal, Jbal)
|
||||
|
||||
# Compute balancing task errors
|
||||
dx_com = CoMr - CoMt # CoM error
|
||||
|
||||
if robot.name == 'centauro':
|
||||
dx_l1f = xref_l1f - xt_l1f # Left foot position error
|
||||
dx_r1f = xref_r1f - xt_r1f # Right foot position error
|
||||
dx_l2f = xref_l2f - xt_l2f # Left foot position error
|
||||
dx_r2f = xref_r2f - xt_r2f # Right foot position error
|
||||
dx_bal = np.vstack((dx_l1f.reshape(3, 1), dx_r1f.reshape(3, 1),
|
||||
dx_l2f.reshape(3, 1), dx_r2f.reshape(3, 1), dx_com.reshape(3, 1))) # Augmented error vector
|
||||
else:
|
||||
dx_lf = xref_lf - xt_lf # Left foot position error
|
||||
dx_rf = xref_rf - xt_rf # Right foot position error
|
||||
dx_bal = np.vstack((dx_lf.reshape(3, 1), dx_rf.reshape(3, 1), dx_com.reshape(3, 1))) # Augmented error vector
|
||||
#dx_bal = np.vstack((np.zeros((6, 1)), dx_com.reshape(3, 1))) # Augmented error vector
|
||||
|
||||
# Proportional controller for position
|
||||
dxref_bal = np.dot(Kbal, dx_bal)
|
||||
|
||||
# Compute desired joint velocities for balancing
|
||||
dq_bal = np.dot(pJbal, dxref_bal)
|
||||
dq_bal = dq_bal.reshape((Jbal.shape[1],))
|
||||
|
||||
|
||||
## --> Tracking of CoM velocity manipulability in nullspace
|
||||
if robot.has_fixed_base() == False:
|
||||
velMan = robot.compute_velocity_manipulability_ellipsoid(Jcom[:, 6:])
|
||||
else:
|
||||
velMan = robot.compute_velocity_manipulability_ellipsoid(Jcom)
|
||||
|
||||
# Plot current manipulability ellipsoid
|
||||
#if velManId is None:
|
||||
#if i % 40 == 0:
|
||||
#robot.removeManipulabilityEllipsoid(velManId)
|
||||
#velManId = robot.drawVelocityManipulabilityEllipsoid(linkId=-1, JJT=10 * velMan[0:3, 0:3],
|
||||
# color=(0.75, 0.1, 0.1, 0.6))
|
||||
#tmpOr, tmpScale = robot.getEllipsoidOrientationAndScale(10 * velMan[0:3, 0:3])
|
||||
#velManId = robot.draw3DEllipsoid(basePos, tmpOr, scale=tmpScale, color=(0.75, 0.1, 0.1, 0.6))
|
||||
#else:
|
||||
#robot.updateManipulabilityEllipsoid(linkId=-1, ellipsoidId=velManId, ellipsoid=10 * velMan[0:3, 0:3])
|
||||
|
||||
# Obtaining joint velocity command
|
||||
if robot.has_fixed_base() == False:
|
||||
dq_man, minSman, SPDdist = robot.calculate_inverse_differential_kinematics_velocity_manipulability(Jcom[:, 6:], tmpDesVelMan, Km)
|
||||
#dq_man = np.vstack((np.zeros((6, 1)), dq_man.reshape(nDOFs, 1)))
|
||||
else:
|
||||
dq_man, minSman, SPDdist = robot.calculate_inverse_differential_kinematics_velocity_manipulability(Jcom, tmpDesVelMan, Km)
|
||||
|
||||
# Logging
|
||||
# Format: [q minEigvalue(Jbal) minEigvalue(Jman) balanceError CurrentManip(1x9) SPDdistance]
|
||||
logArray[i, ] = np.hstack((qt.reshape(1, nDOFs), np.min(Sbal).reshape(1, 1),
|
||||
minSman.reshape(1, 1), dx_bal.T, velMan[0:3, 0:3].reshape(1, velMan[0:3, 0:3].size),
|
||||
SPDdist.reshape(1, 1)))
|
||||
|
||||
## --> Set joint position
|
||||
if robot.has_fixed_base() == False:
|
||||
dq_man = np.concatenate((np.zeros((6,)), dq_man))
|
||||
dq = dq_bal + np.dot(Nbal, dq_man)
|
||||
dq = dq[6:, ]
|
||||
else:
|
||||
dq = dq_bal + np.dot(Nbal, dq_man)
|
||||
|
||||
q = qt + (dq * dt)
|
||||
robot.set_joint_positions(q)
|
||||
|
||||
world.step()
|
||||
time.sleep(dt)
|
||||
|
||||
|
||||
# Saving log data
|
||||
np.savetxt(robot.name + 'log_Man' + str(nDesMan) + 'Pos' + str(initQs) + '.csv', logArray, delimiter=',')
|
||||
|
||||
# Plotting logged data
|
||||
fig1 = plt.figure(1, figsize=(14, 10))
|
||||
# wspace: width reserved for blank space between subplots, hspace: height reserved for white space between subplots
|
||||
fig1.subplots_adjust(left=0.09, bottom=0.05, right=0.99, wspace=0.2)
|
||||
plt.suptitle('Robot joints')
|
||||
plt.rcParams.update({'font.size': 8})
|
||||
for i in range(nDOFs):
|
||||
if robot.name == 'nao':
|
||||
plt.subplot(6, 7, i+1) # NAO
|
||||
elif robot.name == 'centauro':
|
||||
plt.subplot(7, 7, i + 1) # Centauro
|
||||
else:
|
||||
pass
|
||||
plt.ylabel(robot.get_joint_names(robot.get_joint_ids(i)))
|
||||
plt.plot(logArray[:, i])
|
||||
plt.ylim((-1.5, 1.5))
|
||||
fig1.savefig(robot.name + '_joints_Man' + str(nDesMan) + 'Pos' + str(initQs) + '.png', bbox_inches='tight', dpi=200)
|
||||
|
||||
fig2 = plt.figure(2, figsize=(14, 10))
|
||||
fig2.subplots_adjust(left=0.09, bottom=0.05, right=0.99, wspace=0.2)
|
||||
plt.rcParams.update({'font.size': 12})
|
||||
plt.suptitle('MinEigenvalues, balance and manipulatility errors.')
|
||||
plt.rcParams.update({'font.size': 8})
|
||||
if robot.name == 'nao':
|
||||
plt.subplot(4, 3, 1) # NAO
|
||||
plt.ylim((0, 0.05)) # NAO
|
||||
elif robot.name == 'centauro':
|
||||
plt.subplot(6, 3, 1) # Centauro
|
||||
plt.ylim((0, 0.02)) # Centauro
|
||||
else:
|
||||
pass
|
||||
plt.ylabel('minEigvalue(Jbal)')
|
||||
plt.plot(logArray[:, nDOFs])
|
||||
|
||||
if robot.name == 'nao':
|
||||
plt.subplot(4, 3, 2) # NAO
|
||||
plt.ylim((0., 0.0001)) # NAO
|
||||
elif robot.name == 'centauro':
|
||||
plt.subplot(6, 3, 2) # Centauro
|
||||
plt.ylim((0., 0.001)) # Centauro
|
||||
else:
|
||||
pass
|
||||
plt.ylabel('minEigvalue(Jman)')
|
||||
plt.plot(logArray[:, nDOFs+1])
|
||||
|
||||
if robot.name == 'nao':
|
||||
plt.subplot(4, 3, 3) # NAO
|
||||
plt.ylim((0., 4.0)) # NAO
|
||||
elif robot.name == 'centauro':
|
||||
plt.subplot(6, 3, 3) # Centauro
|
||||
plt.ylim((0., 5.0)) # Centauro
|
||||
else:
|
||||
pass
|
||||
plt.ylabel('SPDdist')
|
||||
plt.plot(logArray[:, -1])
|
||||
|
||||
for i in range(dx_bal.shape[0]):
|
||||
if robot.name == 'nao':
|
||||
plt.subplot(4, 3, i+4) # NAO
|
||||
elif robot.name == 'centauro':
|
||||
plt.subplot(6, 3, i + 4) # Centauro
|
||||
else:
|
||||
pass
|
||||
plt.ylabel('dx_bal'+str(i+1))
|
||||
plt.plot(logArray[:, nDOFs + 2 + i])
|
||||
plt.ylim((-.05, .05))
|
||||
fig2.savefig(robot.name + '_eigValsAndErrors_Man' + str(nDesMan) + 'Pos' + str(initQs) + '.png', bbox_inches='tight')
|
||||
|
||||
#plt.tight_layout()
|
||||
plt.show()
|
||||
Reference in New Issue
Block a user