Skip to content
GitLab
Explore
Sign in
Register
Primary navigation
Search or go to…
Project
S
sot-talos-balance
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Container Registry
Model registry
Operate
Environments
Monitor
Incidents
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
Guilhem Saurel
sot-talos-balance
Commits
14e8b914
Commit
14e8b914
authored
6 years ago
by
Gabriele Buondonno
Browse files
Options
Downloads
Patches
Plain Diff
rework test_dcmZmpControl
parent
cdcac9eb
No related branches found
Branches containing commit
No related tags found
Tags containing commit
No related merge requests found
Changes
2
Hide whitespace changes
Inline
Side-by-side
Showing
2 changed files
python/sot_talos_balance/test/appli_dcmZmpControl.py
+115
-23
115 additions, 23 deletions
python/sot_talos_balance/test/appli_dcmZmpControl.py
python/sot_talos_balance/test/test_dcmZmpControl.py
+47
-27
47 additions, 27 deletions
python/sot_talos_balance/test/test_dcmZmpControl.py
with
162 additions
and
50 deletions
python/sot_talos_balance/test/appli_dcmZmpControl.py
+
115
−
23
View file @
14e8b914
from
sot_talos_balance.create_entities_utils
import
*
import
sot_talos_balance.control_manager_conf
as
param_server_conf
from
dynamic_graph.sot.core.meta_tasks_kine
import
MetaTaskKine6d
,
MetaTaskKineCom
,
gotoNd
from
dynamic_graph.sot.core.matrix_util
import
matrixToTuple
from
dynamic_graph
import
plug
from
dynamic_graph.sot.core
import
SOT
from
math
import
sqrt
from
dynamic_graph.tracer_real_time
import
TracerRealTime
robot
.
timeStep
=
robot
.
device
.
getTimeStep
()
dt
=
robot
.
timeStep
;
# --- Dummy estimator
robot
.
estimator
=
create_dummy_dcm_estimator
(
robot
)
# -------------------------- DESIRED TRAJECTORY --------------------------
# --- Desired values
robot
.
dynamic
.
com
.
recompute
(
0
)
comDes
=
robot
.
dynamic
.
com
.
value
dcmDes
=
comDes
zmpDes
=
comDes
[:
2
]
+
(
0.0
,)
ddcomDes
=
(
0.0
,
0.0
,
0.0
)
# --- Pendulum parameters
mass
=
robot
.
dynamic
.
data
.
mass
[
0
]
h
=
robot
.
dynamic
.
com
.
value
[
2
]
g
=
9.81
omega
=
sqrt
(
g
/
h
)
# -------------------------- ESTIMATION --------------------------
# --- General Estimation
robot
.
param_server
=
create_parameter_server
(
param_server_conf
,
dt
)
robot_name
=
'
robot
'
cdc_estimator
=
DcmEstimator
(
'
dcm_estimator
'
)
cdc_estimator
.
init
(
dt
,
robot_name
)
plug
(
robot
.
device
.
state
,
cdc_estimator
.
q
)
plug
(
robot
.
device
.
velocity
,
cdc_estimator
.
v
)
robot
.
cdc_estimator
=
cdc_estimator
# cdc_estimator.c == robot.dynamic.com
# --- DCM Estimation
robot
.
estimator
=
create_cdc_dcm_estimator
(
robot
)
# --- ZMP estimation
zmp_estimator
=
SimpleZmpEstimator
(
"
zmpEst
"
)
robot
.
dynamic
.
createOpPoint
(
'
LF
'
,
robot
.
OperationalPointsMap
[
'
left-ankle
'
])
robot
.
dynamic
.
createOpPoint
(
'
RF
'
,
robot
.
OperationalPointsMap
[
'
right-ankle
'
])
plug
(
robot
.
dynamic
.
LF
,
zmp_estimator
.
poseLeft
)
plug
(
robot
.
dynamic
.
RF
,
zmp_estimator
.
poseRight
)
# plug(robot.device_filters.ft_LF_filter.x_filtered,zmp_estimator.wrenchLeft)
# plug(robot.device_filters.ft_RF_filter.x_filtered,zmp_estimator.wrenchRight)
plug
(
robot
.
device
.
forceLLEG
,
zmp_estimator
.
wrenchLeft
)
plug
(
robot
.
device
.
forceRLEG
,
zmp_estimator
.
wrenchRight
)
zmp_estimator
.
init
()
robot
.
zmp_estimator
=
zmp_estimator
# -------------------------- ADMITTANCE CONTROL --------------------------
# --- DCM controller
Kp_dcm
=
[
500.0
,
500.0
,
500.0
]
Ki_dcm
=
[
0.0
,
0.0
,
0.0
]
# zero (to be set later)
gamma_dcm
=
0.2
dcm_controller
=
DcmController
(
"
dcmCtrl
"
)
dcm_controller
.
Kp
.
value
=
Kp_dcm
dcm_controller
.
Ki
.
value
=
Ki_dcm
dcm_controller
.
decayFactor
.
value
=
gamma_dcm
dcm_controller
.
mass
.
value
=
mass
dcm_controller
.
omega
.
value
=
omega
plug
(
robot
.
cdc_estimator
.
c
,
dcm_controller
.
com
)
plug
(
robot
.
estimator
.
dcm
,
dcm_controller
.
dcm
)
dcm_controller
.
zmpDes
.
value
=
zmpDes
# plug a signal here
dcm_controller
.
dcmDes
.
value
=
dcmDes
# plug a signal here
dcm_controller
.
init
(
dt
)
robot
.
dcm_control
=
dcm_controller
Ki_dcm
=
[
1.0
,
1.0
,
0.0
]
# to be set later
robot
.
dcm_control
=
create_dcm_controller
(
Kp_dcm
,[
0.0
]
*
3
,
dt
,
robot
,
robot
.
estimator
.
dcm
)
# --- Admittance controller
# --- CoM admittance controller
Kp_adm
=
[
0.0
,
0.0
,
0.0
]
# zero (to be set later)
com_admittance_control
=
ComAdmittanceController
(
"
comAdmCtrl
"
)
com_admittance_control
.
Kp
.
value
=
Kp_adm
plug
(
robot
.
zmp_estimator
.
zmp
,
com_admittance_control
.
zmp
)
com_admittance_control
.
zmpDes
.
value
=
zmpDes
# should be plugged to robot.dcm_control.zmpRef
com_admittance_control
.
ddcomDes
.
value
=
ddcomDes
# plug a signal here
com_admittance_control
.
init
(
dt
)
com_admittance_control
.
setState
(
comDes
,[
0.0
,
0.0
,
0.0
])
robot
.
com_admittance_control
=
com_admittance_control
Kp_adm
=
[
20.0
,
10.0
,
0.0
]
# to be set later
robot
.
com_admittance_control
=
create_com_admittance_controller
([
0.0
]
*
3
,
dt
,
robot
)
# -------------------------- SOT CONTROL --------------------------
# --- CONTACTS
#define contactLF and contactRF
...
...
@@ -37,12 +114,12 @@ locals()['contactRF'] = robot.contactRF
# --- COM
robot
.
taskCom
=
MetaTaskKineCom
(
robot
.
dynamic
)
robot
.
dynamic
.
com
.
recompute
(
0
)
plug
(
robot
.
com_admittance_control
.
comRef
,
robot
.
taskCom
.
featureDes
.
errorIN
)
plug
(
robot
.
com_admittance_control
.
dcomRef
,
robot
.
taskCom
.
featureDes
.
errordotIN
)
robot
.
taskCom
.
task
.
controlGain
.
value
=
0
robot
.
taskCom
.
task
.
setWithDerivative
(
True
)
# --- SOT solver
robot
.
sot
=
SOT
(
'
sot
'
)
robot
.
sot
.
setSize
(
robot
.
dynamic
.
getDimension
())
plug
(
robot
.
sot
.
control
,
robot
.
device
.
control
)
...
...
@@ -52,30 +129,45 @@ robot.sot.push(robot.contactLF.task.name)
robot
.
sot
.
push
(
robot
.
taskCom
.
task
.
name
)
robot
.
device
.
control
.
recompute
(
0
)
# -------------------------- PLOTS --------------------------
# --- ROS PUBLISHER
robot
.
publisher
=
create_rospublish
(
robot
,
'
robot_publisher
'
)
rospub_signalName
=
'
{0}_{1}
'
.
format
(
'
fake
'
,
'
comDes
'
)
topicname
=
'
/sot/{0}/{1}
'
.
format
(
'
fake
'
,
'
comDes
'
)
robot
.
publisher
.
add
(
'
vector
'
,
rospub_signalName
,
topicname
)
plug
(
robot
.
dcm_control
.
dcmDes
,
robot
.
publisher
.
signal
(
rospub_signalName
))
# desired CoM (workaround)
create_topic
(
robot
.
publisher
,
robot
.
cdc_estimator
,
'
c
'
,
robot
=
robot
,
data_type
=
'
vector
'
)
# estimated CoM
create_topic
(
robot
.
publisher
,
robot
.
com_admittance_control
,
'
comRef
'
,
robot
=
robot
,
data_type
=
'
vector
'
)
# reference CoM
create_topic
(
robot
.
publisher
,
robot
.
dynamic
,
'
com
'
,
robot
=
robot
,
data_type
=
'
vector
'
)
# resulting SOT CoM
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'
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
.
dcm_control
,
'
zmpDes
'
,
robot
=
robot
,
data_type
=
'
vector
'
)
# desired ZMP
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'
zmp
'
,
robot
=
robot
,
data_type
=
'
vector
'
)
# estimated ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'
zmpRef
'
,
robot
=
robot
,
data_type
=
'
vector
'
)
# resulting SOT CoM
# --- TRACER
robot
.
tracer
=
TracerRealTime
(
"
zmp_tracer
"
)
robot
.
tracer
.
setBufferSize
(
80
*
(
2
**
20
))
robot
.
tracer
.
open
(
'
/tmp
'
,
'
dg_
'
,
'
.dat
'
)
robot
.
device
.
after
.
addSignal
(
'
{0}.triger
'
.
format
(
robot
.
tracer
.
name
))
robot
.
device
.
after
.
addSignal
(
'
{0}.zmpRef
'
.
format
(
robot
.
dcm_control
.
name
))
robot
.
device
.
after
.
addSignal
(
'
{0}.zmp
'
.
format
(
robot
.
dynamic
.
name
))
# why needed?
robot
.
device
.
after
.
addSignal
(
'
{0}.comRef
'
.
format
(
robot
.
com_admittance_control
.
name
))
# why needed?
addTrace
(
robot
.
tracer
,
robot
.
dynamic
,
'
zmp
'
)
addTrace
(
robot
.
tracer
,
robot
.
dcm_control
,
'
zmpRef
'
)
addTrace
(
robot
.
tracer
,
robot
.
estimator
,
'
dcm
'
)
addTrace
(
robot
.
tracer
,
robot
.
dynamic
,
'
com
'
)
addTrace
(
robot
.
tracer
,
robot
.
com_admittance_control
,
'
comRef
'
)
addTrace
(
robot
.
tracer
,
robot
.
dcm_control
,
'
dcmDes
'
)
# desired CoM (workaround)
addTrace
(
robot
.
tracer
,
robot
.
cdc_estimator
,
'
c
'
)
# estimated CoM
addTrace
(
robot
.
tracer
,
robot
.
com_admittance_control
,
'
comRef
'
)
# reference CoM
addTrace
(
robot
.
tracer
,
robot
.
dynamic
,
'
com
'
)
# resulting SOT CoM
# --- ROS PUBLISHER
robot
.
publisher
=
create_rospublish
(
robot
,
'
robot_publisher
'
)
create_topic
(
robot
.
publisher
,
robot
.
dynamic
,
'
zmp
'
,
robot
=
robot
,
data_type
=
'
vector
'
)
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'
zmpRef
'
,
robot
=
robot
,
data_type
=
'
vector
'
)
create_topic
(
robot
.
publisher
,
robot
.
estimator
,
'
dcm
'
,
robot
=
robot
,
data_type
=
'
vector
'
)
create_topic
(
robot
.
publisher
,
robot
.
dynamic
,
'
com
'
,
robot
=
robot
,
data_type
=
'
vector
'
)
create_topic
(
robot
.
publisher
,
robot
.
com_admittance_control
,
'
comRef
'
,
robot
=
robot
,
data_type
=
'
vector
'
)
# SIMULATION
# addTrace(robot.tracer, robot.dcm_control, 'dcmDes') # desired DCM (already added)
addTrace
(
robot
.
tracer
,
robot
.
estimator
,
'
dcm
'
)
# estimated DCM
addTrace
(
robot
.
tracer
,
robot
.
dcm_control
,
'
zmpDes
'
)
# desired ZMP
addTrace
(
robot
.
tracer
,
robot
.
zmp_estimator
,
'
zmp
'
)
# estimated ZMP
addTrace
(
robot
.
tracer
,
robot
.
dcm_control
,
'
zmpRef
'
)
# reference ZMP
# -------------------------- SIMULATION --------------------------
robot
.
tracer
.
start
()
This diff is collapsed.
Click to expand it.
python/sot_talos_balance/test/test_dcmZmpControl.py
+
47
−
27
View file @
14e8b914
...
...
@@ -13,11 +13,11 @@ sleep(5.0)
# Connect ZMP reference and reset controllers
print
(
'
Connect ZMP reference
'
)
runCommandClient
(
'
plug(robot.dcm_control.zmpRef,robot.com_admittance_control.zmpDes)
'
)
runCommandClient
(
'
robot.com_admittance_control.setState(robot.dynamic.com.value,[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
'
)
#
runCommandClient('plug(robot.dcm_control.zmpRef,robot.com_admittance_control.zmpDes)')
#
runCommandClient('robot.com_admittance_control.setState(robot.dynamic.com.value,[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
(
5.0
)
...
...
@@ -30,41 +30,61 @@ 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
'
)
comDes_data
=
np
.
loadtxt
(
'
/tmp/dg_
'
+
evalCommandClient
(
'
robot.dcm_control.name
'
)
+
'
-dcmDes.dat
'
)
# desired CoM (workaround)
comEst_data
=
np
.
loadtxt
(
'
/tmp/dg_
'
+
evalCommandClient
(
'
robot.cdc_estimator.name
'
)
+
'
-c.dat
'
)
# estimated CoM
comRef_data
=
np
.
loadtxt
(
'
/tmp/dg_
'
+
evalCommandClient
(
'
robot.com_admittance_control.name
'
)
+
'
-comRef.dat
'
)
# reference CoM
comSOT_data
=
np
.
loadtxt
(
'
/tmp/dg_
'
+
evalCommandClient
(
'
robot.dynamic.name
'
)
+
'
-com.dat
'
)
# resulting SOT CoM
plt
.
ion
()
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
plt
.
figure
()
plt
.
plot
(
dcm_data
[:,
1
],
'
b-
'
)
plt
.
plot
(
dcm_data
[:,
2
],
'
r-
'
)
plt
.
title
(
'
DCM
'
)
plt
.
legend
([
'
x
'
,
'
y
'
])
zmpDes_data
=
np
.
loadtxt
(
'
/tmp/dg_
'
+
evalCommandClient
(
'
robot.dcm_control.name
'
)
+
'
-zmpDes.dat
'
)
# desired 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
(
com_data
[:,
1
],
'
b-
'
)
plt
.
plot
(
comDes_data
[:,
1
],
'
b--
'
)
plt
.
plot
(
com_data
[:,
2
],
'
r-
'
)
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
(
com_data
[:,
3
],
'
g-
'
)
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
.
title
(
'
COM real vs desired
'
)
plt
.
legend
([
'
Real x
'
,
'
Desired x
'
,
'
Real y
'
,
'
Desired y
'
,
'
Real z
'
,
'
Desired z
'
])
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
(
zmp_data
[:,
1
],
'
b-
'
)
plt
.
plot
(
zmpDes_data
[:,
1
],
'
b--
'
)
plt
.
plot
(
zmp_data
[:,
2
],
'
r-
'
)
plt
.
plot
(
zmpEst_data
[:,
1
],
'
b-
'
)
plt
.
plot
(
zmpRef_data
[:,
1
],
'
b:
'
)
plt
.
plot
(
zmpDes_data
[:,
2
],
'
r--
'
)
plt
.
title
(
'
ZMP real vs desired
'
)
plt
.
legend
([
'
Real x
'
,
'
Desired x
'
,
'
Real y
'
,
'
Desired y
'
])
plt
.
plot
(
zmpEst_data
[:,
2
],
'
r-
'
)
plt
.
plot
(
zmpRef_data
[:,
2
],
'
r:
'
)
plt
.
title
(
'
ZMP
'
)
plt
.
legend
([
'
Desired x
'
,
'
Estimated x
'
,
'
Reference x
'
,
'
Desired y
'
,
'
Estimated y
'
,
'
Reference y
'
])
plt
.
figure
()
plt
.
plot
(
zmp_data
[:,
1
]
-
zmpDes_data
[:,
1
],
'
b-
'
)
plt
.
plot
(
zmp_data
[:,
2
]
-
zmpDes_data
[:,
2
],
'
r-
'
)
plt
.
plot
(
zmp
Est
_data
[:,
1
]
-
zmpDes_data
[:,
1
],
'
b-
'
)
plt
.
plot
(
zmp
Est
_data
[:,
2
]
-
zmpDes_data
[:,
2
],
'
r-
'
)
plt
.
title
(
'
ZMP error
'
)
plt
.
legend
([
'
Error on x
'
,
'
Error on y
'
])
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment