test_dcmComControl.py

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"""Test CoM admittance control without using the ZMP, with CoM computed as implemented
in reference code."""
 
from time import sleep
 
import matplotlib.pyplot as plt
import numpy as np
 
from dynamic_graph.sot_talos_balance.utils.gazebo_utils import apply_force
from dynamic_graph.sot_talos_balance.utils.run_test_utils import (
    evalCommandClient,
    run_test,
    runCommandClient,
)
 
try:
    # Python 2
    input = raw_input  # noqa
except NameError:
    pass
 
run_test("appli_dcmComControl.py")
 
sleep(5.0)
 
# Connect CoM reference and reset controllers
print("Connect CoM reference")
runCommandClient(
    "robot.com_admittance_control.setState(robot.dynamic.com.value,[0.0,0.0,0.0])"
)
runCommandClient("robot.dcm_control.Ki.value = Ki_dcm")
runCommandClient("robot.dcm_control.resetDcmIntegralError()")
runCommandClient(
    "plug(robot.dcm_control.ddcomRef,robot.com_admittance_control.ddcomDes)"
)
 
sleep(5.0)
 
print("Kick the robot...")
apply_force([-1000.0, 0, 0], 0.01)
print("... kick!")
 
sleep(5.0)
 
runCommandClient("dump_tracer(robot.tracer)")
 
# --- DISPLAY
dcm_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.estimator.name") + "-dcm.dat"
)
zmp_data = np.loadtxt("/tmp/dg_" + evalCommandClient("robot.dynamic.name") + "-zmp.dat")
zmpDes_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dcm_control.name") + "-zmpRef.dat"
)
com_data = np.loadtxt("/tmp/dg_" + evalCommandClient("robot.dynamic.name") + "-com.dat")
comDes_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.com_admittance_control.name") + "-comRef.dat"
)
 
plt.ion()
 
plt.figure()
plt.plot(dcm_data[:, 1], "b-")
plt.plot(dcm_data[:, 2], "r-")
plt.title("DCM")
plt.legend(["x", "y"])
 
plt.figure()
plt.plot(com_data[:, 1], "b-")
plt.plot(comDes_data[:, 1], "b--")
plt.plot(com_data[:, 2], "r-")
plt.plot(comDes_data[:, 2], "r--")
plt.plot(com_data[:, 3], "g-")
plt.plot(comDes_data[:, 3], "g--")
plt.title("COM real vs desired")
plt.legend(["Real x", "Desired x", "Real y", "Desired y", "Real z", "Desired z"])
 
plt.figure()
plt.plot(com_data[:, 1], "b-")
plt.title("COM real x")
plt.figure()
plt.plot(comDes_data[:, 1], "b--")
plt.title("COM desired x")
 
plt.figure()
plt.plot(com_data[:, 2], "r-")
plt.title("COM real y")
plt.figure()
plt.plot(comDes_data[:, 2], "r--")
plt.title("COM desired y")
 
plt.figure()
plt.plot(com_data[:, 3], "g-")
plt.title("COM real z")
plt.figure()
plt.plot(comDes_data[:, 3], "g--")
plt.title("COM desired z")
 
plt.figure()
plt.plot(zmp_data[:, 1], "b-")
plt.plot(zmpDes_data[:, 1], "b--")
plt.plot(zmp_data[:, 2], "r-")
plt.plot(zmpDes_data[:, 2], "r--")
plt.title("ZMP real vs desired")
plt.legend(["Real x", "Desired x", "Real y", "Desired y"])
 
plt.figure()
plt.plot(zmp_data[:, 1] - zmpDes_data[:, 1], "b-")
plt.plot(zmp_data[:, 2] - zmpDes_data[:, 2], "r-")
plt.title("ZMP error")
plt.legend(["Error on x", "Error on y"])
 
input("Wait before leaving the simulation")