rework test_dcmZmpControl

python/sot_talos_balance/test/appli_dcmZmpControl.py

 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()
 

python/sot_talos_balance/test/test_dcmZmpControl.py

@@ -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(zmpEst_data[:,1] - zmpDes_data[:,1],'b-')
+plt.plot(zmpEst_data[:,2] - zmpDes_data[:,2],'r-')
 plt.title('ZMP error')
 plt.legend(['Error on x','Error on y'])