Skip to content
GitLab
Commit 7b5769d3 authored by Thomas Flayols's avatar Thomas Flayols
Browse files

update tp4 notebook (actuators), upload tp5 (solo12 control)

parent ebea72b1
Expand all Hide whitespace changes
Inline Side-by-side
4_actuators.ipynb
View file @ 7b5769d3
This diff is collapsed.
This diff is collapsed.
5_solo12_control.ipynb 0 → 100644
View file @ 7b5769d3
{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Controllers for Solo12\n",
"This notebook will be used as a base to design controller to be executed on the Solo12 real quadruped robot."
]
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
"from math import pi\n",
"from ipywidgets import interact\n",
"from pinocchio.visualize import MeshcatVisualizer\n",
"%config Completer.use_jedi = False\n",
"import numpy as np\n",
"np.set_printoptions(precision=3,suppress=True)\n",
"from example_robot_data.robots_loader import Solo12Loader\n",
"import pinocchio as pin\n",
"Solo12Loader.free_flyer = False #Important, we are working with a fixed based model version (12dof)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Let's load solo12 and setup a viewer"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"You can open the visualizer by visiting the following URL:\n",
"http://127.0.0.1:7000/static/\n"
]
}
],
"source": [
"solo12 = Solo12Loader().robot\n",
"viz = MeshcatVisualizer(solo12.model, solo12.collision_model, solo12.visual_model)\n",
"viz.initViewer(loadModel=True)\n",
"viz.viewer.jupyter_cell()\n",
"q0 = solo12.q0\n",
"viz.display(q0)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Let us have some input control to vary the robot state (Front left foot - 3dof)"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [
{
"data": {
"application/vnd.jupyter.widget-view+json": {
"model_id": "b140b0490450479a8842c69e9c404d0d",
"version_major": 2,
"version_minor": 0
},
"text/plain": [
"interactive(children=(FloatSlider(value=0.0, description='HAA', max=1.0, min=-1.0, step=0.01), FloatSlider(val…"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"@interact(HAA=(-1.0, 1.0, 0.01),HFE=(-1.0, 1.0, 0.01),KFE=(-1.0, 1.0, 0.01))\n",
"def change_q(HAA=0.,HFE=0.,KFE=0.):\n",
" q0[0:3] = HAA,HFE,KFE\n",
" print(q0[0:3])\n",
" viz.display(q0)"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Pinocchio cheat code"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Get the Jacobian of the Feet, expressed locally, aligned with the world:"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"[[ 0. -0.32 -0.16 0. 0. 0. 0. 0. 0. 0.\n",
" 0. 0. ]\n",
" [ 0.32 0. 0. 0. 0. 0. 0. 0. 0. 0.\n",
" 0. 0. ]\n",
" [ 0.059 0. 0. 0. 0. 0. 0. 0. 0. 0.\n",
" 0. 0. ]]\n"
]
}
],
"source": [
"solo12.forwardKinematics(q0)\n",
"solo12.framesForwardKinematics(q0)\n",
"solo12.computeJointJacobians(q0)\n",
"J = solo12.getFrameJacobian(solo12.model.getFrameId('FL_FOOT'),pin.LOCAL_WORLD_ALIGNED)[:3]\n",
"print (J)"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.6.9"
}
},
"nbformat": 4,
"nbformat_minor": 4
}
%% Cell type:markdown id: tags:
# Controllers for Solo12
This notebook will be used as a base to design controller to be executed on the Solo12 real quadruped robot.
%% Cell type:code id: tags:
``` python
from math import pi
from ipywidgets import interact
from pinocchio.visualize import MeshcatVisualizer
%config Completer.use_jedi = False
import numpy as np
np.set_printoptions(precision=3,suppress=True)
from example_robot_data.robots_loader import Solo12Loader
import pinocchio as pin
Solo12Loader.free_flyer = False #Important, we are working with a fixed based model version (12dof)
```
%% Cell type:markdown id: tags:
Let's load solo12 and setup a viewer
%% Cell type:code id: tags:
``` python
solo12 = Solo12Loader().robot
viz = MeshcatVisualizer(solo12.model, solo12.collision_model, solo12.visual_model)
viz.initViewer(loadModel=True)
viz.viewer.jupyter_cell()
q0 = solo12.q0
viz.display(q0)
```
%%%% Output: stream
You can open the visualizer by visiting the following URL:
http://127.0.0.1:7000/static/
%% Cell type:markdown id: tags:
Let us have some input control to vary the robot state (Front left foot - 3dof)
%% Cell type:code id: tags:
``` python
@interact(HAA=(-1.0, 1.0, 0.01),HFE=(-1.0, 1.0, 0.01),KFE=(-1.0, 1.0, 0.01))
def change_q(HAA=0.,HFE=0.,KFE=0.):
q0[0:3] = HAA,HFE,KFE
print(q0[0:3])
viz.display(q0)
```
%%%% Output: display_data
%% Cell type:code id: tags:
``` python
```
%% Cell type:code id: tags:
``` python
```
%% Cell type:code id: tags:
``` python
```
%% Cell type:code id: tags:
``` python
```
%% Cell type:code id: tags:
``` python
```
%% Cell type:code id: tags:
``` python
```
%% Cell type:code id: tags:
``` python
```
%% Cell type:markdown id: tags:
# Pinocchio cheat code
%% Cell type:markdown id: tags:
Get the Jacobian of the Feet, expressed locally, aligned with the world:
%% Cell type:code id: tags:
``` python
solo12.forwardKinematics(q0)
solo12.framesForwardKinematics(q0)
solo12.computeJointJacobians(q0)
J = solo12.getFrameJacobian(solo12.model.getFrameId('FL_FOOT'),pin.LOCAL_WORLD_ALIGNED)[:3]
print (J)
```
%%%% Output: stream
[[ 0. -0.32 -0.16 0. 0. 0. 0. 0. 0. 0.
0. 0. ]
[ 0.32 0. 0. 0. 0. 0. 0. 0. 0. 0.
0. 0. ]
[ 0.059 0. 0. 0. 0. 0. 0. 0. 0. 0.
0. 0. ]]
%% Cell type:code id: tags:
``` python
```
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment