appli_no_admittance.py

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# flake8: noqa
from math import sqrt
 
import numpy as np
from dynamic_graph import plug
from dynamic_graph.sot.core import (
    SOT,
    Derivator_of_Vector,
    FeaturePosture,
    MatrixHomoToPoseQuaternion,
    Task,
)
from dynamic_graph.sot.core.matrix_util import matrixToTuple
from dynamic_graph.sot.core.meta_tasks_kine import (
    MetaTaskKine6d,
    MetaTaskKineCom,
    gotoNd,
)
from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio
from dynamic_graph.tracer_real_time import TracerRealTime
 
import dynamic_graph.sot_talos_balance.talos.base_estimator_conf as base_estimator_conf
import dynamic_graph.sot_talos_balance.talos.control_manager_conf as cm_conf
import dynamic_graph.sot_talos_balance.talos.ft_calibration_conf as ft_conf
import dynamic_graph.sot_talos_balance.talos.parameter_server_conf as param_server_conf
from dynamic_graph.sot_talos_balance.create_entities_utils import *
 
cm_conf.CTRL_MAX = 10.0  # temporary hack
 
robot.timeStep = robot.device.getTimeStep()
dt = robot.timeStep
 
# --- Pendulum parameters
robot_name = "robot"
robot.dynamic.com.recompute(0)
robotDim = robot.dynamic.getDimension()
mass = robot.dynamic.data.mass[0]
h = robot.dynamic.com.value[2]
g = 9.81
omega = sqrt(g / h)
 
# --- Parameter server
robot.param_server = create_parameter_server(param_server_conf, dt)
 
# --- Initial feet and waist
robot.dynamic.createOpPoint("LF", robot.OperationalPointsMap["left-ankle"])
robot.dynamic.createOpPoint("RF", robot.OperationalPointsMap["right-ankle"])
robot.dynamic.createOpPoint("WT", robot.OperationalPointsMap["waist"])
robot.dynamic.LF.recompute(0)
robot.dynamic.RF.recompute(0)
robot.dynamic.WT.recompute(0)
 
# -------------------------- DESIRED TRAJECTORY --------------------------
 
folder = None
if test_folder is not None:
    if sot_talos_balance_folder:
        from rospkg import RosPack
 
        rospack = RosPack()
 
        folder = rospack.get_path("sot-talos-balance") + "/data/" + test_folder
    else:
        folder = test_folder
    if folder[-1] != "/":
        folder += "/"
 
# --- Trajectory generators
 
# --- General trigger
robot.triggerTrajGen = BooleanIdentity("triggerTrajGen")
robot.triggerTrajGen.sin.value = 0
 
# --- CoM
robot.comTrajGen = create_com_trajectory_generator(dt, robot)
robot.comTrajGen.x.recompute(0)  # trigger computation of initial value
plug(robot.triggerTrajGen.sout, robot.comTrajGen.trigger)
 
# --- Left foot
robot.lfTrajGen = create_pose_rpy_trajectory_generator(dt, robot, "LF")
robot.lfTrajGen.x.recompute(0)  # trigger computation of initial value
 
robot.lfToMatrix = PoseRollPitchYawToMatrixHomo("lf2m")
plug(robot.lfTrajGen.x, robot.lfToMatrix.sin)
plug(robot.triggerTrajGen.sout, robot.lfTrajGen.trigger)
 
# --- Right foot
robot.rfTrajGen = create_pose_rpy_trajectory_generator(dt, robot, "RF")
robot.rfTrajGen.x.recompute(0)  # trigger computation of initial value
 
robot.rfToMatrix = PoseRollPitchYawToMatrixHomo("rf2m")
plug(robot.rfTrajGen.x, robot.rfToMatrix.sin)
plug(robot.triggerTrajGen.sout, robot.rfTrajGen.trigger)
 
# --- ZMP
robot.zmpTrajGen = create_zmp_trajectory_generator(dt, robot)
robot.zmpTrajGen.x.recompute(0)  # trigger computation of initial value
plug(robot.triggerTrajGen.sout, robot.zmpTrajGen.trigger)
 
# --- Waist
robot.waistTrajGen = create_orientation_rpy_trajectory_generator(dt, robot, "WT")
robot.waistTrajGen.x.recompute(0)  # trigger computation of initial value
 
robot.waistMix = Mix_of_vector("waistMix")
robot.waistMix.setSignalNumber(3)
robot.waistMix.addSelec(1, 0, 3)
robot.waistMix.addSelec(2, 3, 3)
robot.waistMix.default.value = [0.0] * 6
robot.waistMix.signal("sin1").value = [0.0] * 3
plug(robot.waistTrajGen.x, robot.waistMix.signal("sin2"))
 
robot.waistToMatrix = PoseRollPitchYawToMatrixHomo("w2m")
plug(robot.waistMix.sout, robot.waistToMatrix.sin)
plug(robot.triggerTrajGen.sout, robot.waistTrajGen.trigger)
 
# --- Load files
if folder is not None:
    robot.comTrajGen.playTrajectoryFile(folder + "CoM.dat")
    robot.lfTrajGen.playTrajectoryFile(folder + "LeftFoot.dat")
    robot.rfTrajGen.playTrajectoryFile(folder + "RightFoot.dat")
    # robot.zmpTrajGen.playTrajectoryFile(folder + 'ZMP.dat')
    robot.waistTrajGen.playTrajectoryFile(folder + "WaistOrientation.dat")
 
# --- Interface with controller entities
 
wp = DummyWalkingPatternGenerator("dummy_wp")
wp.init()
wp.omega.value = omega
plug(robot.waistToMatrix.sout, wp.waist)
plug(robot.lfToMatrix.sout, wp.footLeft)
plug(robot.rfToMatrix.sout, wp.footRight)
plug(robot.comTrajGen.x, wp.com)
plug(robot.comTrajGen.dx, wp.vcom)
plug(robot.comTrajGen.ddx, wp.acom)
# if folder is not None:
#    plug(robot.zmpTrajGen.x, wp.zmp)
 
robot.wp = wp
 
# --- Compute the values to use them in initialization
robot.wp.comDes.recompute(0)
robot.wp.dcmDes.recompute(0)
robot.wp.zmpDes.recompute(0)
 
# -------------------------- ESTIMATION --------------------------
 
# --- Base Estimation
robot.device_filters = create_device_filters(robot, dt)
robot.imu_filters = create_imu_filters(robot, dt)
robot.base_estimator = create_base_estimator(robot, dt, base_estimator_conf)
 
robot.m2qLF = MatrixHomoToPoseQuaternion("m2qLF")
plug(robot.dynamic.LF, robot.m2qLF.sin)
plug(robot.m2qLF.sout, robot.base_estimator.lf_ref_xyzquat)
robot.m2qRF = MatrixHomoToPoseQuaternion("m2qRF")
plug(robot.dynamic.RF, robot.m2qRF.sin)
plug(robot.m2qRF.sout, robot.base_estimator.rf_ref_xyzquat)
 
# robot.be_filters              = create_be_filters(robot, dt)
 
# --- Conversion
e2q = EulerToQuat("e2q")
plug(robot.base_estimator.q, e2q.euler)
robot.e2q = e2q
 
# --- Kinematic computations
robot.rdynamic = DynamicPinocchio("real_dynamics")
robot.rdynamic.setModel(robot.dynamic.model)
robot.rdynamic.setData(robot.rdynamic.model.createData())
plug(robot.base_estimator.q, robot.rdynamic.position)
robot.rdynamic.velocity.value = [0.0] * robotDim
robot.rdynamic.acceleration.value = [0.0] * robotDim
 
# --- CoM Estimation
cdc_estimator = DcmEstimator("cdc_estimator")
cdc_estimator.init(dt, robot_name)
plug(robot.e2q.quaternion, cdc_estimator.q)
plug(robot.base_estimator.v, cdc_estimator.v)
robot.cdc_estimator = cdc_estimator
 
# --- DCM Estimation
estimator = DummyDcmEstimator("dummy")
plug(robot.wp.omegaDes, estimator.omega)
estimator.mass.value = 1.0
plug(robot.cdc_estimator.c, estimator.com)
plug(robot.cdc_estimator.dc, estimator.momenta)
estimator.init()
robot.estimator = estimator
 
# --- Force calibration
robot.ftc = create_ft_calibrator(robot, ft_conf)
 
# --- ZMP estimation
zmp_estimator = SimpleZmpEstimator("zmpEst")
robot.rdynamic.createOpPoint("sole_LF", "left_sole_link")
robot.rdynamic.createOpPoint("sole_RF", "right_sole_link")
plug(robot.rdynamic.sole_LF, zmp_estimator.poseLeft)
plug(robot.rdynamic.sole_RF, zmp_estimator.poseRight)
plug(robot.ftc.left_foot_force_out, zmp_estimator.wrenchLeft)
plug(robot.ftc.right_foot_force_out, zmp_estimator.wrenchRight)
zmp_estimator.init()
robot.zmp_estimator = zmp_estimator
 
# --- Control Manager
robot.cm = create_ctrl_manager(cm_conf, dt, robot_name="robot")
robot.cm.addCtrlMode("sot_input")
robot.cm.setCtrlMode("all", "sot_input")
robot.cm.addEmergencyStopSIN("zmp")
 
# -------------------------- SOT CONTROL --------------------------
 
# --- Upper body
robot.taskUpperBody = Task("task_upper_body")
robot.taskUpperBody.feature = FeaturePosture("feature_upper_body")
 
q = list(robot.dynamic.position.value)
robot.taskUpperBody.feature.state.value = q
robot.taskUpperBody.feature.posture.value = q
 
robotDim = robot.dynamic.getDimension()  # 38
for i in range(18, robotDim):
    robot.taskUpperBody.feature.selectDof(i, True)
 
robot.taskUpperBody.controlGain.value = 100.0
robot.taskUpperBody.add(robot.taskUpperBody.feature.name)
plug(robot.dynamic.position, robot.taskUpperBody.feature.state)
 
# --- CONTACTS
# define contactLF and contactRF
robot.contactLF = MetaTaskKine6d(
    "contactLF", robot.dynamic, "LF", robot.OperationalPointsMap["left-ankle"]
)
robot.contactLF.feature.frame("desired")
robot.contactLF.gain.setConstant(300)
plug(robot.wp.footLeftDes, robot.contactLF.featureDes.position)  # .errorIN?
locals()["contactLF"] = robot.contactLF
 
robot.contactRF = MetaTaskKine6d(
    "contactRF", robot.dynamic, "RF", robot.OperationalPointsMap["right-ankle"]
)
robot.contactRF.feature.frame("desired")
robot.contactRF.gain.setConstant(300)
plug(robot.wp.footRightDes, robot.contactRF.featureDes.position)  # .errorIN?
locals()["contactRF"] = robot.contactRF
 
# --- COM
robot.taskCom = MetaTaskKineCom(robot.dynamic)
plug(robot.wp.comDes, robot.taskCom.featureDes.errorIN)
# plug(robot.wp.vcomDes,robot.taskCom.featureDes.errordotIN)
robot.taskCom.task.controlGain.value = 100.0
# robot.taskCom.task.setWithDerivative(True)
 
# --- Waist
robot.keepWaist = MetaTaskKine6d(
    "keepWaist", robot.dynamic, "WT", robot.OperationalPointsMap["waist"]
)
robot.keepWaist.feature.frame("desired")
robot.keepWaist.gain.setConstant(300)
plug(robot.wp.waistDes, robot.keepWaist.featureDes.position)
robot.keepWaist.feature.selec.value = "111000"
locals()["keepWaist"] = robot.keepWaist
 
# --- SOT solver
robot.sot = SOT("sot")
robot.sot.setSize(robot.dynamic.getDimension())
 
# --- Plug SOT control to device through control manager
plug(robot.sot.control, robot.cm.ctrl_sot_input)
plug(robot.cm.u_safe, robot.device.control)
 
robot.sot.push(robot.taskUpperBody.name)
robot.sot.push(robot.contactRF.task.name)
robot.sot.push(robot.contactLF.task.name)
robot.sot.push(robot.taskCom.task.name)
robot.sot.push(robot.keepWaist.task.name)
# robot.sot.push(robot.taskPos.name)
# robot.device.control.recompute(0) # this crashes as it employs joint sensors which are not ready yet
 
# --- Fix robot.dynamic inputs
plug(robot.device.velocity, robot.dynamic.velocity)
robot.dvdt = Derivator_of_Vector("dv_dt")
robot.dvdt.dt.value = dt
plug(robot.device.velocity, robot.dvdt.sin)
plug(robot.dvdt.sout, robot.dynamic.acceleration)
 
# -------------------------- PLOTS --------------------------
 
# --- ROS PUBLISHER
robot.publisher = create_rospublish(robot, "robot_publisher")
 
create_topic(robot.publisher, robot.device, "state", robot=robot, data_type="vector")
create_topic(
    robot.publisher, robot.base_estimator, "q", robot=robot, data_type="vector"
)
 
create_topic(
    robot.publisher, robot.comTrajGen, "x", robot=robot, data_type="vector"
)  # generated CoM
create_topic(
    robot.publisher, robot.comTrajGen, "dx", robot=robot, data_type="vector"
)  # generated CoM velocity
create_topic(
    robot.publisher, robot.comTrajGen, "ddx", robot=robot, data_type="vector"
)  # generated CoM acceleration
 
create_topic(
    robot.publisher, robot.wp, "comDes", robot=robot, data_type="vector"
)  # desired CoM
 
create_topic(
    robot.publisher, robot.cdc_estimator, "c", robot=robot, data_type="vector"
)  # estimated CoM
create_topic(
    robot.publisher, robot.cdc_estimator, "dc", robot=robot, data_type="vector"
)  # estimated CoM velocity
 
create_topic(
    robot.publisher, robot.dynamic, "com", robot=robot, data_type="vector"
)  # resulting SOT CoM
 
create_topic(
    robot.publisher, robot.wp, "dcmDes", robot=robot, data_type="vector"
)  # desired DCM
create_topic(
    robot.publisher, robot.estimator, "dcm", robot=robot, data_type="vector"
)  # estimated DCM
 
create_topic(
    robot.publisher, robot.zmpTrajGen, "x", robot=robot, data_type="vector"
)  # generated ZMP
create_topic(
    robot.publisher, robot.wp, "zmpDes", robot=robot, data_type="vector"
)  # desired ZMP
create_topic(
    robot.publisher, robot.dynamic, "zmp", robot=robot, data_type="vector"
)  # SOT ZMP
create_topic(
    robot.publisher, robot.zmp_estimator, "zmp", robot=robot, data_type="vector"
)  # estimated ZMP
 
# create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector')               # measured left wrench
# create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector')               # measured right wrench
 
# create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
# create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
 
create_topic(
    robot.publisher, robot.waistTrajGen, "x", robot=robot, data_type="vector"
)  # desired waist orientation
 
create_topic(
    robot.publisher, robot.lfTrajGen, "x", robot=robot, data_type="vector"
)  # desired left foot pose
create_topic(
    robot.publisher, robot.rfTrajGen, "x", robot=robot, data_type="vector"
)  # desired right foot pose
 
create_topic(
    robot.publisher, robot.ftc, "left_foot_force_out", robot=robot, data_type="vector"
)  # calibrated left wrench
create_topic(
    robot.publisher, robot.ftc, "right_foot_force_out", robot=robot, data_type="vector"
)  # calibrated right wrench
 
create_topic(
    robot.publisher, robot.dynamic, "LF", robot=robot, data_type="matrixHomo"
)  # left foot
create_topic(
    robot.publisher, robot.dynamic, "RF", robot=robot, data_type="matrixHomo"
)  # right foot
 
 
 
# addTrace(robot.tracer, robot.wp, 'comDes')                      # desired CoM
 
# addTrace(robot.tracer, robot.cdc_estimator, 'c')                # estimated CoM
# addTrace(robot.tracer, robot.cdc_estimator, 'dc')               # estimated CoM velocity
 
# addTrace(robot.tracer, robot.com_admittance_control, 'comRef')  # reference CoM
# addTrace(robot.tracer, robot.dynamic, 'com')                    # resulting SOT CoM
 
# addTrace(robot.tracer, robot.dcm_control, 'dcmDes')             # desired DCM
# addTrace(robot.tracer, robot.estimator, 'dcm')                  # estimated DCM
 
# addTrace(robot.tracer, robot.dcm_control, 'zmpDes')             # desired ZMP
# addTrace(robot.tracer, robot.dynamic, 'zmp')                    # SOT ZMP
# addTrace(robot.tracer, robot.zmp_estimator, 'zmp')              # estimated ZMP
# addTrace(robot.tracer, robot.dcm_control, 'zmpRef')             # reference ZMP
 
# addTrace(robot.tracer, robot.ftc, 'left_foot_force_out')        # calibrated left wrench
# addTrace(robot.tracer,  robot.ftc, 'right_foot_force_out')      # calibrated right wrench
 
# addTrace(robot.tracer,  robot.dynamic, 'LF')                    # left foot
# addTrace(robot.tracer,  robot.dynamic, 'RF')                    # right foot
 
# robot.tracer.start()