Commit ea904413 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[test_dcmZmpControl_estimator] Raising foot

parent 34df6623
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<default time_axis=""/>
</DataLoad_CSV>
<DataLoad_ROS_bags>
<selected_topics list=""/>
</DataLoad_ROS_bags>
<DataLoad_ULog>
<no_params/>
</DataLoad_ULog>
<ROS_Topic_Streamer>
<selected_topics list="/sot/robot_dynamic/zmp;/sot/zmpEst/zmp;/sot/robot_dynamic/com"/>
</ROS_Topic_Streamer>
<RosoutPublisherROS/>
<TopicPublisherROS/>
</Plugins>
<previouslyLoadedStreamer name="ROS_Topic_Streamer"/>
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<snippets>
<snippet name="1st_derivative">
<global>var prevX = 0
var prevY = 0</global>
<equation>dx = time - prevX
dy = value - prevY
prevX = time
prevY = value
return dy/dx</equation>
</snippet>
<snippet name="1st_order_lowpass">
<global>var prevY = 0
var alpha = 0.1</global>
<equation>prevY = alpha * value + (1.-alpha) * prevY
return prevY</equation>
</snippet>
<snippet name="sum_A_B">
<global></global>
<equation>return $$PLOT_A$$ + $$PLOT_B$$</equation>
</snippet>
<snippet name="yaw_from_quaternion">
<global>// source: https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
function quaternionToYaw(x, y, z, w)
{
// yaw (z-axis rotation)
t1 = 2.0 * (w * z + x * y);
t2 = 1.0 - 2.0 * (y * y + z * z);
yaw = Math.atan2(t1, t2);
return yaw
}</global>
<equation>return quaternionToYaw(x, y, z, w);</equation>
</snippet>
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<transform value="noTransform"/>
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<plot col="2" row="1">
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<transform value="noTransform"/>
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</plotmatrix>
......@@ -55,7 +53,7 @@
<no_params/>
</DataLoad_ULog>
<ROS_Topic_Streamer>
<selected_topics list="/sot/robot_dynamic/zmp;/sot/zmpEst/zmp;/sot/robot_dynamic/com"/>
<selected_topics list="/sot/cdc_estimator/c;/sot/zmpEst/zmp"/>
</ROS_Topic_Streamer>
<RosoutPublisherROS/>
<TopicPublisherROS/>
......
......@@ -80,6 +80,16 @@ def create_com_trajectory_generator(dt, robot):
comTrajGen.init(dt, 3)
return comTrajGen
def create_position_trajectory_generator(dt, robot, signal_name):
trajGen = NdTrajectoryGenerator(signal_name+"TrajGen")
M = robot.dynamic.signal(signal_name).value
v = [ M[i][3] for i in range(3) ]
trajGen.initial_value.value = v
trajGen.trigger.value = 1.0
trajGen.init(dt, 3)
return trajGen
def create_joint_controller(Kp):
controller = JointPositionController("posctrl")
......
......@@ -30,12 +30,7 @@ omega = sqrt(g/h)
# --- Parameter server
robot.param_server = create_parameter_server(param_server_conf,dt)
# -------------------------- DESIRED TRAJECTORY --------------------------
# --- Desired CoM
robot.comTrajGen = create_com_trajectory_generator(dt,robot)
# --- Desired feet and waist
# --- 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'])
......@@ -43,14 +38,23 @@ robot.dynamic.LF.recompute(0)
robot.dynamic.RF.recompute(0)
robot.dynamic.WT.recompute(0)
# -------------------------- DESIRED TRAJECTORY --------------------------
# --- Trajectory generators
robot.comTrajGen = create_com_trajectory_generator(dt,robot)
robot.lfPosTrajGen = create_position_trajectory_generator(dt, robot, 'LF')
robot.rfPosTrajGen = create_position_trajectory_generator(dt, robot, 'RF')
# --- Walking pattern generator
wp = DummyWalkingPatternGenerator('dummy_wp')
wp.init()
wp.omega.value = omega
wp.waist.value = robot.dynamic.WT.value
wp.footLeft.value = robot.dynamic.LF.value
wp.footRight.value = robot.dynamic.RF.value
wp.waist.value = robot.dynamic.WT.value
plug(robot.lfPosTrajGen.x, wp.footPositionLeft)
plug(robot.rfPosTrajGen.x, wp.footPositionRight)
plug(robot.comTrajGen.x, wp.com)
plug(robot.comTrajGen.dx, wp.vcom)
plug(robot.comTrajGen.ddx, wp.acom)
......
......@@ -19,71 +19,25 @@ runCommandClient('robot.com_admittance_control.Kp.value = Kp_adm')
runCommandClient('robot.dcm_control.resetDcmIntegralError()')
runCommandClient('robot.dcm_control.Ki.value = Ki_dcm')
sleep(30.0)
runCommandClient('dump_tracer(robot.tracer)')
# --- DISPLAY
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
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
zmpDes_data = np.loadtxt('/tmp/dg_' + evalCommandClient('robot.dcm_control.name') + '-zmpDes.dat') # desired ZMP
zmpSOT_data = np.loadtxt('/tmp/dg_' + evalCommandClient('robot.dynamic.name') + '-zmp.dat') # SOT 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(comDes_data[:,1],'b--')
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(comEst_data[:,2],'r-')
plt.plot(comRef_data[:,2],'r:')
plt.plot(comSOT_data[:,2],'r-.')
plt.plot(comDes_data[:,3],'g--')
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(zmpDes_data[:,1],'b--')
plt.plot(zmpSOT_data[:,1],'b-')
plt.plot(zmpRef_data[:,1],'b:')
plt.plot(zmpDes_data[:,2],'r--')
plt.plot(zmpSOT_data[:,2],'r-')
plt.plot(zmpRef_data[:,2],'r:')
plt.title('ZMP')
plt.legend(['Desired x', 'SOT x', 'Reference x',
'Desired y', 'SOT y', 'Reference y'])
zmpErrSOT = zmpSOT_data - zmpDes_data
plt.figure()
plt.plot(zmpErrSOT[:,1],'b-')
plt.plot(zmpErrSOT[:,2],'r-')
plt.title('ZMP SOT error')
plt.legend(['Error on x','Error on y'])
c = ask_for_confirmation("Do you want to raise the foot?")
if c:
runCommandClient('robot.comTrajGen.move(1,-0.08,10.0)')
print("Putting the robot in position...")
sleep(10.0)
print("Robot is in position!")
c2 = ask_for_confirmation("Confirm raising the foot?")
if c2:
print("Raising the foot...")
runCommandClient('h = robot.dynamic.LF.value[2][3]')
runCommandClient('robot.lfPosTrajGen.move(2,h+0.05,10.0)')
sleep(10.0)
print("Foot has been raised!")
else:
print("Not raising the foot")
else:
print("Not raising the foot")
raw_input("Wait before leaving the simulation")
runCommandClient('dump_tracer(robot.tracer)')
......@@ -92,16 +92,17 @@ def run_test(appli,verbosity=1):
except rospy.ServiceException, e:
rospy.logerr("Service call failed: %s" % e)
def ask_for_confirmation(text):
c = raw_input(text+" [y/N] ")
try:
return strtobool(c)
except:
return False
def run_ft_calibration(sensor_name,force=False):
cb = False
if force:
cb = True
else:
c = raw_input("Calibrate force sensors? [y/N] ")
try:
cb = strtobool(c)
except:
cb = False
cb = force
if not cb:
cb = ask_for_confirmation("Calibrate force sensors?")
if cb:
raw_input("Wait before running the calibration")
print("Calibrating sensors...")
......
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