Commit 7032e7d8 authored by Louise Scherrer's avatar Louise Scherrer Committed by olivier stasse
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[test- AND appli- joystick...] Tests on waist orientation control

parent a35da6de
# flake8: noqa
## File adapted from appli_dcmZmpControl_file.py and appli_dcmZmpControl_online_ISA.py written by Isabelle Maroger
## ALL THINGS ADDED OR CHANGED ARE COMMENTED IN CAPITAL LETTERS
# ADDED
import sys
# END ADDED
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, RPYToMatrix
from dynamic_graph.sot.core.matrix_util import matrixToTuple # RPYToMatrix deuxieme pour essai ajout waistattitudeabsolute
from dynamic_graph.sot.core.meta_tasks_kine import MetaTaskKine6d, MetaTaskKineCom, gotoNd
# ERROR ON 09.04 from dynamic_graph.sot.dynamics_pinocchio import DynamicPinocchio # NOTE: IS IN /integration_tests/robotpkg-test-rc/install/lib/python 2.7/site-packages/dynamic_graph/sot/dynamics_pinocchio
from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio # essai sans le 's' de dynamics => PROBLEME REGLE ! =D
from dynamic_graph.tracer_real_time import TracerRealTime
from rospkg import RosPack
import sot_talos_balance.talos.base_estimator_conf as base_estimator_conf
import sot_talos_balance.talos.control_manager_conf as cm_conf
import sot_talos_balance.talos.ft_calibration_conf as ft_conf
import sot_talos_balance.talos.parameter_server_conf as param_server_conf
from sot_talos_balance.create_entities_utils import *
# Ajout 24.03.20, pour mise a jour des parametres waist, mauvaise fonction
#from sot_talos_balance.utils.plot_utils import dump_sot_sig
# fin ajout
# ADDED FROM APPLI ONLINE ISABELLE #
#from dynamic_graph.sot.pattern_generator import PatternGenerator #ERROR: "DOESN't EXIST", indeed ...
# TRYING IMPORTING THE PACKAGE FROM DEVEL-SRC
#sys.path.insert(0, "/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages/dynamic_graph/sot/pattern_generator") #doesn't work
#sys.path.insert(0, "/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages/dynamic_graph/sot/pattern_generator/pg") # either
#sys.path.insert(0, "/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages/dynamic_graph/sot")#either
#sys.path.insert(0, "/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages")#either: needs an __init__.py, in pattern_generator
#sys.path.append("/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages")#either: : needs an __init__.py, in pattern_generator
#sys.path.append("/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages/dynamic_graph")#either
#sys.path.append("/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages/dynamic_graph/sot/")
# LOCAL VERSION
#sys.path.append("/local/lscherrer/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages/dynamic_graph/sot/")
# new path
sys.path.append("/local/lscherrer/lscherrer/sot_ws/install/lib/python2.7/site-packages/dynamic_graph/sot/")
from pattern_generator import PatternGenerator # this works, not very pretty but works for now
# END ADDED
# 09.04.20 est a 100 dans dcmZmpControl_file, used to be 10
cm_conf.CTRL_MAX = 100.0 # 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 --------------------------
rospack = RosPack() ## DO I NEED THAT ?
## COMMENTING EVERYTHING RELATED TO READING A PRE-EXISTING FILE
#data_folder = rospack.get_path('sot_talos_balance') + "/data/"
#folder = data_folder + test_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
#robot.comTrajGen.playTrajectoryFile(folder + 'CoM.dat')
#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)
#robot.lfTrajGen.playTrajectoryFile(folder + 'LeftFoot.dat')
#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)
#robot.rfTrajGen.playTrajectoryFile(folder + 'RightFoot.dat')
#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
## robot.zmpTrajGen.playTrajectoryFile(folder + 'ZMP.dat')
#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)
#robot.waistTrajGen.playTrajectoryFile(folder + 'WaistOrientation.dat')
#plug(robot.triggerTrajGen.sout, robot.waistTrajGen.trigger)
#
## --- Interface with controller entities
#
#wp = DummyWalkingPatternGenerator('dummy_wp')
#wp.init()
#wp.omega.value = omega
##wp.waist.value = robot.dynamic.WT.value # wait receives a full homogeneous matrix, but only the rotational part is controlled
##wp.footLeft.value = robot.dynamic.LF.value
##wp.footRight.value = robot.dynamic.RF.value
##wp.com.value = robot.dynamic.com.value
##wp.vcom.value = [0.]*3
##wp.acom.value = [0.]*3
#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)
##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)
#
## ADDED: THE PG OF M.NAVEAU FROM ISABELLE'S CODE
# -------------------------- PATTERN GENERATOR --------------------------
robot.pg = PatternGenerator('pg')
# MODIFIED WITH MY PATHS
#robot.pg.setURDFpath("/local/imaroger/sot-pattern-generator/talos_reduced_wpg.urdf")
#robot.pg.setSRDFpath("/local/imaroger/sot-pattern-generator/talos_wpg.srdf")
#robot.pg.setURDFpath("/integration_tests/robotpkg-test-rc/install/share/talos_data/urdf/talos_reduced_wpg.urdf")
#robot.pg.setSRDFpath("/integration_tests/robotpkg-test-rc/install/share/talos_data/srdf/talos_wpg.srdf")
robot.pg.setURDFpath("/local/lscherrer/lscherrer/sot_ws/install/share/talos_data/urdf/talos_reduced_wpg.urdf")
robot.pg.setSRDFpath("/local/lscherrer/lscherrer/sot_ws/install/share/talos_data/srdf/talos_wpg.srdf")
## END MODIFIED
robot.pg.buildModel()
robot.pg.parseCmd(":samplingperiod 0.005")
robot.pg.parseCmd(":previewcontroltime 1.6")
robot.pg.parseCmd(":omega 0.0")
robot.pg.parseCmd(':stepheight 0.05')
robot.pg.parseCmd(':doublesupporttime 0.2')
robot.pg.parseCmd(':singlesupporttime 1.0')
robot.pg.parseCmd(":armparameters 0.5")
robot.pg.parseCmd(":LimitsFeasibility 0.0")
robot.pg.parseCmd(":ZMPShiftParameters 0.015 0.015 0.015 0.015")
robot.pg.parseCmd(":TimeDistributeParameters 2.0 3.5 1.7 3.0")
robot.pg.parseCmd(":UpperBodyMotionParameters -0.1 -1.0 0.0")
robot.pg.parseCmd(":comheight 0.876681")
robot.pg.parseCmd(":setVelReference 0.1 0.0 0.0")
robot.pg.parseCmd(":SetAlgoForZmpTrajectory Naveau")
plug(robot.dynamic.position,robot.pg.position)
plug(robot.dynamic.com, robot.pg.com)
#plug(robot.dynamic.com, robot.pg.comStateSIN)
plug(robot.dynamic.LF, robot.pg.leftfootcurrentpos)
plug(robot.dynamic.RF, robot.pg.rightfootcurrentpos)
robotDim = len(robot.dynamic.velocity.value)
robot.pg.motorcontrol.value = robotDim*(0,)
robot.pg.zmppreviouscontroller.value = (0,0,0)
robot.pg.initState()
robot.pg.parseCmd(':setDSFeetDistance 0.162')
robot.pg.parseCmd(':NaveauOnline')
robot.pg.parseCmd(':numberstepsbeforestop 2')
robot.pg.parseCmd(':setfeetconstraint XY 0.091 0.0489')
robot.pg.parseCmd(':deleteallobstacles')
robot.pg.parseCmd(':feedBackControl false')
robot.pg.parseCmd(':useDynamicFilter true')
robot.pg.velocitydes.value=(0.1,0.0,0.0) # DEFAULT VALUE (0.1,0.0,0.0)
# Ajout 24.03.20 -> pas la bonne fonction
#dump_sot_sig(robot, robot.pg, 'waistattitudematrix', dt) # quel duration ? essai avec 0.1, 1., dt, 0.005
#
# 27.03.20 la fonction
#robot.device.after.addSignal('robot.pg.waistattitudeabsolute')
#robot.pg.displaySignals()
# -------------------------- TRIGGER --------------------------
robot.triggerPG= BooleanIdentity('triggerPG')
robot.triggerPG.sin.value = 0
plug(robot.triggerPG.sout,robot.pg.trigger)
# -------------------------- Interface with controller entities --------------------------
wp = DummyWalkingPatternGenerator('dummy_wp')
wp.init()
# #wp.displaySignals()
wp.omega.value = omega
# 31.03.20 essai sur le waist
#robot.waistattitudeabTOmatrixHomo = RPYToMatrix('waistattitudeabTOmatrixHomo') # marche pas, je peux pas rajouter ca dans robot
#waistattitudeabTOmatrixHomo = RPYToMatrix('waistattitudeabTOmatrixHomo') # pas non plus
#waistattitudeabTOmatrixHomo = RPYToMatrix('waistattitudeabTOmatrixHomo')
#plug(robot.pg.waistattitudeabsolute, waistattitudeabTOmatrixHomo.sin)
#plug(waistattitudeabTOmatrixHomo.sout, wp.waist)
# ca tout seul marche pas
#plug(RPYToMatrix(robot.pg.waistattitudeabsolute), wp.waist)
# j etais la dessus apparemment
#robot.waistToMatrix = RPYToMatrix('w2m')
#plug(robot.waistMix.sout, robot.waistToMatrix.sin)
#20.04
#robot.waistToMatrix = RPYToMatrix('w2m')
#plug(robot.pg.waistattitudeabsolute, robot.waistToMatrix.sin) # works
#plug(robot.waistToMatrix.sout, wp.waist)# waistToMatrix sort une matrice de rotation, waist prend une matrixHomo en entree...
# 22.04 after modifying pg.cpp, new way to try and connect the waist
plug(robot.pg.waistattitudematrix, wp.waist)
#plug(robot.pg.waistattitudematrix, wp.waist)
# fin
plug(robot.pg.leftfootref, wp.footLeft)
plug(robot.pg.rightfootref, wp.footRight)
plug(robot.pg.comref, wp.com)
plug(robot.pg.dcomref, wp.vcom)
plug(robot.pg.ddcomref, wp.acom)
#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)
## END ADDED
# -------------------------- 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)
## --- Reference frame
#rf = SimpleReferenceFrame('rf')
#rf.init(robot_name)
#plug(robot.dynamic.LF, rf.footLeft)
#plug(robot.dynamic.RF, rf.footRight)
#rf.reset.value = 1
#robot.rf = rf
## --- State transformation
#stf = StateTransformation("stf")
#stf.init()
#plug(robot.rf.referenceFrame,stf.referenceFrame)
#plug(robot.base_estimator.q,stf.q_in)
#plug(robot.base_estimator.v,stf.v_in)
#robot.stf = stf
# --- 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")
estimator.omega.value = 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
# -------------------------- ADMITTANCE CONTROL --------------------------
# --- DCM controller
Kp_dcm = [8.0] * 3
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)
plug(robot.wp.zmpDes, dcm_controller.zmpDes)
plug(robot.wp.dcmDes, dcm_controller.dcmDes)
dcm_controller.init(dt)
robot.dcm_control = dcm_controller
Ki_dcm = [1.0, 1.0, 1.0] # this value is employed later
# --- 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 = robot.wp.zmpDes.value # should be plugged to robot.dcm_control.zmpRef
plug(robot.wp.acomDes, com_admittance_control.ddcomDes)
com_admittance_control.init(dt)
com_admittance_control.setState(robot.wp.comDes.value, [0.0, 0.0, 0.0])
robot.com_admittance_control = com_admittance_control
Kp_adm = [15.0, 15.0, 0.0] # this value is employed later
# --- 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
## ON THE NEXT STUFF THERE IS A DIFFERENCE, CHECK IF RELEVENT TO CHANGE HERE AS WELL FROM ISA'S CODE
# robotDim = robot.dynamic.getDimension() # 38
robot.taskUpperBody.feature.selectDof(18, True)
robot.taskUpperBody.feature.selectDof(19, True)
robot.taskUpperBody.feature.selectDof(20, True)
robot.taskUpperBody.feature.selectDof(21, True)
robot.taskUpperBody.feature.selectDof(22, True)
robot.taskUpperBody.feature.selectDof(23, True)
robot.taskUpperBody.feature.selectDof(24, True)
robot.taskUpperBody.feature.selectDof(25, True)
robot.taskUpperBody.feature.selectDof(26, True)
robot.taskUpperBody.feature.selectDof(27, True)
robot.taskUpperBody.feature.selectDof(28, True)
robot.taskUpperBody.feature.selectDof(29, True)
robot.taskUpperBody.feature.selectDof(30, True)
robot.taskUpperBody.feature.selectDof(31, True)
robot.taskUpperBody.feature.selectDof(32, True)
robot.taskUpperBody.feature.selectDof(33, True)
robot.taskUpperBody.feature.selectDof(34, True)
robot.taskUpperBody.feature.selectDof(35, True)
robot.taskUpperBody.feature.selectDof(36, True)
robot.taskUpperBody.feature.selectDof(37, 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 height
robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH')
plug(robot.wp.comDes, robot.taskComH.featureDes.errorIN)
robot.taskComH.task.controlGain.value = 100.
robot.taskComH.feature.selec.value = '100'
# --- COM
robot.taskCom = MetaTaskKineCom(robot.dynamic)
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)
robot.taskCom.feature.selec.value = '011'
# --- Waist
# Ajout 24.03.20, se met a jour tous les combien ??? A chaque cycle. Essai de le mettre plus haut, au niveau pg
#dump_sot_sig(robot, robot.pg, 'waistattitudematrix', 0.005) # quel duration ? essai avec 0.1, 1., dt, 0.005
#
robot.keepWaist = MetaTaskKine6d('keepWaist', robot.dynamic, 'WT', robot.OperationalPointsMap['waist'])
robot.keepWaist.feature.frame('desired')
robot.keepWaist.gain.setConstant(300)
#plug(robot.wp.waist, robot.keepWaist.featureDes.position)
#plug(robot.wp.waist, robot.keepWaist.feature.position)
plug(robot.wp.waistDes, robot.keepWaist.featureDes.position) #de base
robot.keepWaist.feature.selec.value = '111000'
locals()['keepWaist'] = robot.keepWaist
# # --- Posture
# robot.taskPos = Task ('task_pos')
# robot.taskPos.feature = FeaturePosture('feature_pos')
#
# q = list(robot.dynamic.position.value)
# robot.taskPos.feature.state.value = q
# robot.taskPos.feature.posture.value = q
# robotDim = robot.dynamic.getDimension() # 38
#robot.taskPos.feature.selectDof(6,True)
#robot.taskPos.feature.selectDof(7,True)
#robot.taskPos.feature.selectDof(8,True)
#robot.taskPos.feature.selectDof(9,True)
#robot.taskPos.feature.selectDof(10,True)
#robot.taskPos.feature.selectDof(11,True)
#robot.taskPos.feature.selectDof(12,True)
#robot.taskPos.feature.selectDof(13,True)
#robot.taskPos.feature.selectDof(14,True)
#robot.taskPos.feature.selectDof(15,True)
#robot.taskPos.feature.selectDof(16,True)
#robot.taskPos.feature.selectDof(17,True)
#robot.taskPos.feature.selectDof(18,True)
#robot.taskPos.feature.selectDof(19,True)
#robot.taskPos.feature.selectDof(20,True)
#robot.taskPos.feature.selectDof(21,True)
#robot.taskPos.feature.selectDof(22,True)
#robot.taskPos.feature.selectDof(23,True)
#robot.taskPos.feature.selectDof(24,True)
#robot.taskPos.feature.selectDof(25,True)
#robot.taskPos.feature.selectDof(26,True)
#robot.taskPos.feature.selectDof(27,True)
#robot.taskPos.feature.selectDof(28,True)
#robot.taskPos.feature.selectDof(29,True)
#robot.taskPos.feature.selectDof(30,True)
#robot.taskPos.feature.selectDof(31,True)
#robot.taskPos.feature.selectDof(32,True)
#robot.taskPos.feature.selectDof(33,True)
#robot.taskPos.feature.selectDof(34,True)
#robot.taskPos.feature.selectDof(35,True)
#robot.taskPos.feature.selectDof(36,True)
#robot.taskPos.feature.selectDof(37,True)
#robot.taskPos.controlGain.value = 100.0
#robot.taskPos.add(robot.taskPos.feature.name)
#plug(robot.dynamic.position, robot.taskPos.feature.state)
# --- 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.taskComH.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
## THIS PARAGRAPH QUITE DIFFERENT, TO CHECK
robot.publisher = create_rospublish(robot, 'robot_publisher')
## ADDED
create_topic(robot.publisher, robot.pg, 'comref', robot = robot, data_type='vector') # desired CoM
create_topic(robot.publisher, robot.pg, 'dcomref', robot = robot, data_type='vector')
#create_topic(robot.publisher, robot.wp, 'waistDes', robot = robot, data_type='matrixHomo')
create_topic(robot.publisher, robot.wp, 'waist', robot = robot, data_type='matrixHomo')
create_topic(robot.publisher, robot.keepWaist.featureDes, 'position', robot = robot, data_type='matrixHomo')
create_topic(robot.publisher, robot.dynamic, 'WT', robot = robot, data_type='matrixHomo')
create_topic(robot.publisher, robot.pg, 'waistattitudematrix', robot = robot, data_type='matrixHomo') ## que font ces lignes exactement ??
#create_topic(robot.publisher, robot.pg, 'waistattitudeabsolute', robot = robot, data_type='vectorRPY')
create_topic(robot.publisher, robot.pg, 'leftfootref', robot = robot, data_type ='matrixHomo')
create_topic(robot.publisher, robot.wp, 'footLeft', robot = robot, data_type ='matrixHomo')
create_topic(robot.publisher, robot.pg, 'rightfootref', robot = robot, data_type ='matrixHomo')
create_topic(robot.publisher, robot.wp, 'footRight', robot = robot, data_type ='matrixHomo')