From 864135ab6392383a67ee4388f32d4bb5e246fca5 Mon Sep 17 00:00:00 2001 From: "Rozo Leonel (CR/PJ-AI-R31)" Date: Tue, 18 Feb 2020 13:32:47 +0100 Subject: [PATCH] Refreshing world before reading initial robot state. --- .../cogimon_eigValsAndErrors_Man2Pos1.png | Bin 0 -> 22185 bytes .../cogimon_joints_Man2Pos1.png | Bin 0 -> 42472 bytes .../manipulability/cogimonlog_Man2Pos1.csv | 400 +++++++++++++++++ ...ic_manipulability_tracking_with_balance.py | 2 + .../com_manipulability_tracking.py | 2 + ...om_manipulability_tracking_with_balance.py | 2 + .../nao_eigValsAndErrors_Man4Pos1.png | Bin 0 -> 62656 bytes .../manipulability/nao_joints_Man4Pos1.png | Bin 0 -> 147314 bytes examples/manipulability/naolog_Man4Pos1.csv | 400 +++++++++++++++++ .../test_manipulability_tracking_COM.py | 404 ++++++++++++++++++ 10 files changed, 1210 insertions(+) create mode 100644 examples/manipulability/cogimon_eigValsAndErrors_Man2Pos1.png create mode 100644 examples/manipulability/cogimon_joints_Man2Pos1.png 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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()