test_dcmZmpControl_feedback.py

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"""Test CoM admittance control as described in paper."""
 
from time import sleep
 
import matplotlib.pyplot as plt
import numpy as np
from dynamic_graph.sot_talos_balance.utils.run_test_utils import (
    evalCommandClient,
    run_ft_calibration,
    run_test,
    runCommandClient,
)
 
try:
    # Python 2
    input = raw_input  # noqa
except NameError:
    pass
 
run_test("appli_dcmZmpControl_feedback.py")
 
run_ft_calibration("robot.ftc")
input("Wait before running the test")
 
# Connect ZMP reference and reset controllers
print("Connect ZMP reference")
runCommandClient("plug(robot.zmp_estimator.emergencyStop,robot.cm.emergencyStop_zmp)")
runCommandClient("plug(robot.dcm_control.zmpRef,robot.com_admittance_control.zmpDes)")
runCommandClient("robot.com_admittance_control.setState(comDes,[0.0,0.0,0.0])")
runCommandClient("robot.com_admittance_control.Kp.value = Kp_adm")
runCommandClient("robot.dcm_control.resetDcmIntegralError()")
runCommandClient("robot.dcm_control.Ki.value = Ki_dcm")
 
sleep(30.0)
 
runCommandClient("dump_tracer(robot.tracer)")
 
# --- DISPLAY
# desired CoM (workaround)
comDes_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dcm_control.name") + "-dcmDes.dat"
)
# estimated CoM (not directly employed)
comEst_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.cdc_estimator.name") + "-c.dat"
)
# reference CoM
comRef_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.com_admittance_control.name") + "-comRef.dat"
)
comSOT_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dynamic.name") + "-com.dat"
)  # resulting SOT CoM
 
dcmDes_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dcm_control.name") + "-dcmDes.dat"
)  # desired DCM
dcmEst_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.estimator.name") + "-dcm.dat"
)  # estimated DCM
 
zmpDes_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dcm_control.name") + "-zmpDes.dat"
)  # desired ZMP
zmpSOT_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dynamic.name") + "-zmp.dat"
)  # SOT ZMP
zmpEst_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.zmp_estimator.name") + "-zmp.dat"
)  # estimated ZMP
zmpRef_data = np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dcm_control.name") + "-zmpRef.dat"
)  # reference ZMP
 
plt.ion()
 
plt.figure()
plt.plot(comDes_data[:, 1], "b--")
plt.plot(comEst_data[:, 1], "b-")
plt.plot(comRef_data[:, 1], "b:")
plt.plot(comSOT_data[:, 1], "b-.")
plt.plot(comDes_data[:, 2], "r--")
plt.plot(comEst_data[:, 2], "r-")
plt.plot(comRef_data[:, 2], "r:")
plt.plot(comSOT_data[:, 2], "r-.")
plt.plot(comDes_data[:, 3], "g--")
plt.plot(comEst_data[:, 3], "g-")
plt.plot(comRef_data[:, 3], "g:")
plt.plot(comSOT_data[:, 3], "g-.")
plt.title("COM")
plt.legend(
    [
        "Desired x",
        "Estimated x",
        "Reference x",
        "SOT x",
        "Desired y",
        "Estimated y",
        "Reference y",
        "SOT y",
        "Desired z",
        "Estimated z",
        "Reference z",
        "SOT z",
    ]
)
 
plt.figure()
plt.plot(dcmDes_data[:, 1], "b--")
plt.plot(dcmEst_data[:, 1], "b-")
plt.plot(dcmDes_data[:, 2], "r--")
plt.plot(dcmEst_data[:, 2], "r-")
plt.title("DCM")
plt.legend(["Desired x", "Estimated x", "Desired y", "Estimated y"])
 
plt.figure()
plt.plot(zmpDes_data[:, 1], "b--")
plt.plot(zmpSOT_data[:, 1], "b-")
plt.plot(zmpRef_data[:, 1], "b:")
plt.plot(zmpDes_data[:, 2], "r--")
plt.plot(zmpSOT_data[:, 2], "r-")
plt.plot(zmpRef_data[:, 2], "r:")
plt.title("ZMP")
plt.legend(["Desired x", "SOT x", "Reference x", "Desired y", "SOT y", "Reference y"])
 
zmpErrSOT = zmpSOT_data - zmpDes_data
 
plt.figure()
plt.plot(zmpErrSOT[:, 1], "b-")
plt.plot(zmpErrSOT[:, 2], "r-")
plt.title("ZMP SOT error")
plt.legend(["Error on x", "Error on y"])
 
input("Wait before leaving the simulation")