From 4cc1ca5e55ba12c81e5101ff1041afb2a19759e3 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 2 Aug 2012 16:44:38 +0200
Subject: [PATCH] Using the meta_pg.
---
kinewalk.py | 290 ++++++++++++++++++++++++++++++++++++++++++++++++++++
1 file changed, 290 insertions(+)
create mode 100644 kinewalk.py
diff --git a/kinewalk.py b/kinewalk.py
new file mode 100644
index 0000000..865b513
--- /dev/null
+++ b/kinewalk.py
@@ -0,0 +1,290 @@
+import sys
+sys.path.append('../../sot-dyninv/python')
+
+from dynamic_graph import plug
+from dynamic_graph.sot.core import *
+from dynamic_graph.sot.core.math_small_entities import Derivator_of_Matrix
+from dynamic_graph.sot.dynamics import *
+import dynamic_graph.script_shortcuts
+from dynamic_graph.script_shortcuts import optionalparentheses
+from dynamic_graph.matlab import matlab
+from dynamic_graph.sot.core.meta_task_6d import MetaTask6d,toFlags
+
+from robotSpecific import pkgDataRootDir,modelName,robotDimension,initialConfig,gearRatio,inertiaRotor
+robotName = 'hrp10small'
+
+from numpy import *
+def totuple( a ):
+ al=a.tolist()
+ res=[]
+ for i in range(a.shape[0]):
+ res.append( tuple(al[i]) )
+ return tuple(res)
+
+initialConfig.clear()
+initialConfig['hrp10small'] = (0,0,0.648697398115,0,0,0)+(0, 0, -0.4538, 0.8727, -0.4189, 0, 0, 0, -0.4538, 0.8727, -0.4189, 0, 0, 0, 0, 0, 0.2618, -0.1745, 0, -0.5236, 0, 0, 0, 0, 0.2618, 0.1745, 0, -0.5236, 0, 0, 0, 0 )
+
+# --- ROBOT SIMU ---------------------------------------------------------------
+# --- ROBOT SIMU ---------------------------------------------------------------
+# --- ROBOT SIMU ---------------------------------------------------------------
+
+robotDim=robotDimension[robotName]
+robot = RobotSimu("robot")
+robot.resize(robotDim)
+
+robot.set( initialConfig[robotName] )
+dt=5e-3
+
+# --- VIEWER -------------------------------------------------------------------
+# --- VIEWER -------------------------------------------------------------------
+# --- VIEWER -------------------------------------------------------------------
+try:
+ import robotviewer
+
+ def stateFullSize(robot):
+ return [float(val) for val in robot.state.value]+10*[0.0]
+ RobotSimu.stateFullSize = stateFullSize
+ robot.viewer = robotviewer.client('XML-RPC')
+ # Check the connection
+ robot.viewer.updateElementConfig('hrp',robot.stateFullSize())
+
+ def refreshView( robot ):
+ robot.viewer.updateElementConfig('hrp',robot.stateFullSize())
+ RobotSimu.refresh = refreshView
+ def incrementView( robot,dt ):
+ robot.incrementNoView(dt)
+ robot.refresh()
+ RobotSimu.incrementNoView = RobotSimu.increment
+ RobotSimu.increment = incrementView
+ def setView( robot,*args ):
+ robot.setNoView(*args)
+ robot.refresh()
+ RobotSimu.setNoView = RobotSimu.set
+ RobotSimu.set = setView
+
+ robot.refresh()
+except:
+ print "No robot viewer, sorry."
+ robot.viewer = None
+
+
+# --- MAIN LOOP ------------------------------------------
+
+qs=[]
+def inc():
+ robot.increment(dt)
+ qs.append(robot.state.value)
+
+from ThreadInterruptibleLoop import *
+@loopInThread
+def loop():
+ inc()
+runner=loop()
+
+@optionalparentheses
+def go(): runner.play()
+@optionalparentheses
+def stop(): runner.pause()
+@optionalparentheses
+def next(): inc() #runner.once()
+
+# --- shortcuts -------------------------------------------------
+@optionalparentheses
+def n():
+ inc()
+ qdot()
+@optionalparentheses
+def n5():
+ for loopIdx in range(5): inc()
+@optionalparentheses
+def n10():
+ for loopIdx in range(10): inc()
+@optionalparentheses
+def q():
+ if 'dyn' in globals(): print dyn.ffposition.__repr__()
+ print robot.state.__repr__()
+@optionalparentheses
+def qdot(): print robot.control.__repr__()
+@optionalparentheses
+def t(): print robot.state.time-1
+@optionalparentheses
+def iter(): print 'iter = ',robot.state.time
+@optionalparentheses
+def status(): print runner.isPlay
+
+# --- DYN ----------------------------------------------------------------------
+modelDir = pkgDataRootDir[robotName]
+xmlDir = pkgDataRootDir[robotName]
+specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
+jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
+
+dyn = Dynamic("dyn")
+dyn.setFiles(modelDir, modelName[robotName],specificitiesPath,jointRankPath)
+dyn.parse()
+
+dyn.inertiaRotor.value = inertiaRotor[robotName]
+dyn.gearRatio.value = gearRatio[robotName]
+
+plug(robot.state,dyn.position)
+dyn.velocity.value = robotDim*(0.,)
+dyn.acceleration.value = robotDim*(0.,)
+
+dyn.ffposition.unplug()
+dyn.ffvelocity.unplug()
+dyn.ffacceleration.unplug()
+robot.control.unplug()
+
+# --- PG ---------------------------------------------------------
+from dynamic_graph.sot.pattern_generator import PatternGenerator,Selector
+
+pg = PatternGenerator('pg')
+pg.setVrmlDir(modelDir+'/')
+pg.setVrml(modelName[robotName])
+pg.setXmlSpec(specificitiesPath)
+pg.setXmlRank(jointRankPath)
+pg.buildModel()
+
+# Standard initialization
+pg.parseCmd(":samplingperiod 0.005")
+pg.parseCmd(":previewcontroltime 1.6")
+pg.parseCmd(":comheight 0.814")
+pg.parseCmd(":omega 0.0")
+pg.parseCmd(":stepheight 0.05")
+pg.parseCmd(":singlesupporttime 0.780")
+pg.parseCmd(":doublesupporttime 0.020")
+pg.parseCmd(":armparameters 0.5")
+pg.parseCmd(":LimitsFeasibility 0.0")
+pg.parseCmd(":ZMPShiftParameters 0.015 0.015 0.015 0.015")
+pg.parseCmd(":TimeDistributeParameters 2.0 3.5 1.0 3.0")
+pg.parseCmd(":UpperBodyMotionParameters 0.0 -0.5 0.0")
+pg.parseCmd(":comheight 0.814")
+pg.parseCmd(":SetAlgoForZmpTrajectory Morisawa")
+
+plug(dyn.position,pg.position)
+plug(dyn.com,pg.com)
+pg.motorcontrol.value = robotDim*(0,)
+pg.zmppreviouscontroller.value = (0,0,0)
+
+pg.initState()
+
+# --- PG INIT FRAMES ---
+geom = Dynamic("geom")
+geom.setFiles(modelDir, modelName[robotName],specificitiesPath,jointRankPath)
+geom.parse()
+geom.createOpPoint('rf','right-ankle')
+geom.createOpPoint('lf','left-ankle')
+plug(dyn.position,geom.position)
+geom.ffposition.value = 6*(0,)
+geom.velocity.value = robotDim*(0,)
+geom.acceleration.value = robotDim*(0,)
+
+# --- Selector of Com Ref: when pg is stopped, pg.inprocess becomes 0
+comRef = Selector('comRef'
+ ,['vector','ref',dyn.com,pg.comref])
+plug(pg.inprocess,comRef.selec)
+
+selecSupportFoot = Selector('selecSupportFoot'
+ ,['matrixHomo','pg_H_sf',pg.rightfootref,pg.leftfootref]
+ ,['matrixHomo','wa_H_sf',geom.rf,geom.lf]
+ )
+plug(pg.SupportFoot,selecSupportFoot.selec)
+sf_H_wa = Inverse_of_matrixHomo('sf_H_wa')
+plug(selecSupportFoot.wa_H_sf,sf_H_wa.sin)
+pg_H_wa = Multiply_of_matrixHomo('pg_H_wa')
+plug(selecSupportFoot.pg_H_sf,pg_H_wa.sin1)
+plug(sf_H_wa.sout,pg_H_wa.sin2)
+
+# --- Compute the ZMP ref in the Waist reference frame.
+wa_H_pg = Inverse_of_matrixHomo('wa_H_pg')
+plug(pg_H_wa.sout,wa_H_pg.sin)
+wa_zmp = Multiply_matrixHomo_vector('wa_zmp')
+plug(wa_H_pg.sout,wa_zmp.sin1)
+plug(pg.zmpref,wa_zmp.sin2)
+# Connect the ZMPref to OpenHRP in the waist reference frame.
+pg.parseCmd(':SetZMPFrame world')
+plug(wa_zmp.sout,robot.zmp)
+
+# ---- TASKS -------------------------------------------------------------------
+
+# ---- WAIST TASK ---
+taskWaist=MetaTask6d('waist',dyn,'waist','waist')
+
+# Build the reference waist pos homo-matrix from PG.
+waistReferenceVector = Stack_of_vector('waistReferenceVector')
+plug(pg.initwaistposref,waistReferenceVector.sin1)
+plug(pg.initwaistattref,waistReferenceVector.sin2)
+waistReferenceVector.selec1(0,3)
+waistReferenceVector.selec2(0,3)
+waistReference=PoseRollPitchYawToMatrixHomo('waistReference')
+plug(waistReferenceVector.sout,waistReference.sin)
+plug(waistReference.sout,taskWaist.featureDes.position)
+
+taskWaist.feature.selec.value = '011100'
+taskWaist.task.controlGain.value = 5
+
+# --- TASK COM ---
+featureCom = FeatureGeneric('featureCom')
+plug(dyn.com,featureCom.errorIN)
+plug(dyn.Jcom,featureCom.jacobianIN)
+featureComDes = FeatureGeneric('featureComDes')
+featureCom.sdes.value = 'featureComDes'
+plug(comRef.ref,featureComDes.errorIN)
+featureCom.selec.value = '011'
+
+taskComPD = TaskPD('taskComPD')
+taskComPD.add('featureCom')
+plug(pg.dcomref,featureComDes.errordotIN)
+plug(featureCom.errordot,taskComPD.errorDot)
+taskComPD.controlGain.value = 40
+taskComPD.setBeta(-1)
+
+# --- TASK RIGHT FOOT
+# Task right hand
+taskRF=MetaTask6d('rf',dyn,'rf','right-ankle')
+taskLF=MetaTask6d('lf',dyn,'lf','left-ankle')
+
+plug(pg.rightfootref,taskRF.featureDes.position)
+taskRF.task.controlGain.value = 5
+plug(pg.leftfootref,taskLF.featureDes.position)
+taskLF.task.controlGain.value = 5
+
+# ---- SOT ---------------------------------------------------------------------
+# The solver SOTH of dyninv is used, but normally, the SOT solver should be sufficient
+from dynamic_graph.sot.dyninv import SolverKine
+sot = SolverKine('sot')
+sot.setSize(robotDim)
+sot.push(taskWaist.task.name)
+sot.push(taskRF.task.name)
+sot.push(taskLF.task.name)
+sot.push(taskComPD.name)
+
+plug(sot.control,robot.control)
+
+# --- HERDT PG AND START -------------------------------------------------------
+# Set the algorithm generating the ZMP reference trajectory to Herdt's one.
+pg.parseCmd(':SetAlgoForZmpTrajectory Herdt')
+pg.parseCmd(':doublesupporttime 0.1')
+pg.parseCmd(':singlesupporttime 0.7')
+# When velocity reference is at zero, the robot stops all motion after n steps
+pg.parseCmd(':numberstepsbeforestop 4')
+# Set constraints on XY
+pg.parseCmd(':setfeetconstraint XY 0.09 0.06')
+
+# The next command must be runned after a OpenHRP.inc ... ???
+# Start the robot with a speed of 0.1 m/0.8 s.
+pg.parseCmd(':HerdtOnline 0.1 0.0 0.0')
+
+# You can now modifiy the speed of the robot using set pg.velocitydes [3]( x, y, yaw)
+pg.velocitydes.value =(0.1,0.0,0.0)
+
+# --- TRACER -----------------------------------------------------------------
+from dynamic_graph.tracer import *
+from dynamic_graph.tracer_real_time import *
+tr = Tracer('tr')
+tr.open('/tmp/','','.dat')
+tr.start()
+robot.after.addSignal('tr.triger')
+
+#tr.add(dyn.name+'.ffposition','ff')
+tr.add(taskRF.featureDes.name+'.position','refr')
+tr.add(taskLF.featureDes.name+'.position','refl')
--
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