Commit 8499c36f authored by Olivier Stasse's avatar Olivier Stasse Committed by olivier stasse
Browse files

Fixing #6 and trying to fix #7

parent 651da839
......@@ -56,9 +56,6 @@ add_project_dependency(dynamic_graph_bridge REQUIRED)
# Installing python based scripts
catkin_install_python(PROGRAMS
scripts/appli.py
scripts/appli_dcmZmpControl_file.py
scripts/appli_online_walking.py
scripts/start_talos_gazebo_kine.py
scripts/start_sot_talos_balance.py
scripts/start_sot_online_walking.py
......@@ -73,6 +70,8 @@ foreach(dir launch tests)
)
endforeach()
ADD_SUBDIRECTORY(src)
# Testing part
if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
......
from dynamic_graph.sot.core.meta_tasks_kine import MetaTaskKine6d, MetaTaskKineCom, gotoNd
from dynamic_graph.sot.core.matrix_util import matrixToTuple
from numpy import eye
taskRH = MetaTaskKine6d('rh',robot.dynamic,'rh',robot.OperationalPointsMap['right-wrist'])
handMgrip = eye(4); handMgrip[0:3,3] = (0.1,0,0)
taskRH.opmodif = matrixToTuple(handMgrip)
taskRH.feature.frame('desired')
# --- STATIC COM (if not walking)
taskCom = MetaTaskKineCom(robot.dynamic)
robot.dynamic.com.recompute(0)
taskCom.featureDes.errorIN.value = robot.dynamic.com.value
taskCom.task.controlGain.value = 10
# --- CONTACTS
#define contactLF and contactRF
contactLF = MetaTaskKine6d('contactLF',robot.dynamic,'LF',robot.OperationalPointsMap['left-ankle'])
contactLF.feature.frame('desired')
contactLF.gain.setConstant(10)
contactLF.keep()
locals()['contactLF'] = contactLF
contactRF = MetaTaskKine6d('contactRF',robot.dynamic,'RF',robot.OperationalPointsMap['right-ankle'])
contactRF.feature.frame('desired')
contactRF.gain.setConstant(10)
contactRF.keep()
locals()['contactRF'] = contactRF
from dynamic_graph import plug
from dynamic_graph.sot.core.sot import SOT
sot = SOT('sot')
sot.setSize(robot.dynamic.getDimension())
plug(sot.control,robot.device.control)
from dynamic_graph.ros import RosPublish
ros_publish_state = RosPublish ("ros_publish_state")
ros_publish_state.add ("vector", "state", "/sot_control/state")
from dynamic_graph import plug
plug (robot.device.state, ros_publish_state.state)
robot.device.after.addDownsampledSignal ("ros_publish_state.trigger", 100)
#target = (0.5,-0.2,1.0)
#addRobotViewer(robot, small=False)
#robot.viewer.updateElementConfig('zmp',target+(0,0,0))
#gotoNd(taskRH,target,'111',(4.9,0.9,0.01,0.9))
sot.push(contactRF.task.name)
sot.push(contactLF.task.name)
sot.push(taskCom.task.name)
robot.device.control.recompute(0)
# flake8: noqa
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
from dynamic_graph.sot.core.matrix_util import matrixToTuple
from dynamic_graph.sot.core.meta_tasks_kine import MetaTaskKine6d, MetaTaskKineCom, gotoNd
from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio
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 *
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()
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)
# -------------------------- 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
# 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
robot.keepWaist = MetaTaskKine6d('keepWaist', robot.dynamic, 'WT', robot.OperationalPointsMap['waist'])
robot.keepWaist.feature.frame('desired')
robot.keepWaist.gain.setConstant(300)
plug(robot.wp.waistDes, robot.keepWaist.featureDes.position)
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
robot.publisher = create_rospublish(robot, 'robot_publisher')
create_topic(robot.publisher, robot.device, 'state', robot=robot, data_type='vector')
create_topic(robot.publisher, robot.base_estimator, 'q', robot=robot, data_type='vector')
#create_topic(robot.publisher, robot.stf, 'q', robot = robot, data_type='vector')
create_topic(robot.publisher, robot.comTrajGen, 'x', robot=robot, data_type='vector') # generated CoM
create_topic(robot.publisher, robot.comTrajGen, 'dx', robot=robot, data_type='vector') # generated CoM velocity
create_topic(robot.publisher, robot.comTrajGen, 'ddx', robot=robot, data_type='vector') # generated CoM acceleration
create_topic(robot.publisher, robot.wp, 'comDes', robot=robot, data_type='vector') # desired CoM
create_topic(robot.publisher, robot.cdc_estimator, 'c', robot=robot, data_type='vector') # estimated CoM
create_topic(robot.publisher, robot.cdc_estimator, 'dc', robot=robot, data_type='vector') # estimated CoM velocity
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.zmpTrajGen, 'x', robot=robot, data_type='vector') # generated ZMP
create_topic(robot.publisher, robot.wp, 'zmpDes', robot=robot, data_type='vector') # desired ZMP
create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vector') # SOT 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') # reference ZMP
#create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector') # measured left wrench
#create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector') # measured right wrench
#create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
#create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
create_topic(robot.publisher, robot.waistTrajGen, 'x', robot=robot, data_type='vector') # desired waist orientation
create_topic(robot.publisher, robot.lfTrajGen, 'x', robot=robot, data_type='vector') # desired left foot pose
create_topic(robot.publisher, robot.rfTrajGen, 'x', robot=robot, data_type='vector') # desired right foot pose
create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector') # calibrated left wrench
create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector') # calibrated right wrench
create_topic(robot.publisher, robot.dynamic, 'LF', robot=robot, data_type='matrixHomo') # left foot
create_topic(robot.publisher, robot.dynamic, 'RF', robot=robot, data_type='matrixHomo') # right foot
# --- TRACER
robot.tracer = TracerRealTime("com_tracer")
robot.tracer.setBufferSize(80 * (2**20))
robot.tracer.open('/tmp', 'dg_', '.dat')
robot.device.after.addSignal('{0}.triger'.format(robot.tracer.name))
addTrace(robot.tracer, robot.wp, 'comDes') # desired CoM
addTrace(robot.tracer, robot.cdc_estimator, 'c') # estimated CoM
addTrace(robot.tracer, robot.cdc_estimator, 'dc') # estimated CoM velocity
addTrace(robot.tracer, robot.com_admittance_control, 'comRef') # reference CoM
addTrace(robot.tracer, robot.dynamic, 'com') # resulting SOT CoM
addTrace(robot.tracer, robot.dcm_control, 'dcmDes') # desired DCM
addTrace(robot.tracer, robot.estimator, 'dcm') # estimated DCM
addTrace(robot.tracer, robot.dcm_control, 'zmpDes') # desired ZMP
addTrace(robot.tracer, robot.dynamic, 'zmp') # SOT ZMP
addTrace(robot.tracer, robot.zmp_estimator, 'zmp') # estimated ZMP
addTrace(robot.tracer, robot.dcm_control, 'zmpRef') # reference ZMP
addTrace(robot.tracer, robot.ftc, 'left_foot_force_out') # calibrated left wrench
addTrace(robot.tracer, robot.ftc, 'right_foot_force_out') # calibrated right wrench
addTrace(robot.tracer, robot.dynamic, 'LF') # left foot
addTrace(robot.tracer, robot.dynamic, 'RF') # right foot
robot.tracer.start()
# flake8: noqa
import sys
from math import sqrt
import numpy as np
from dynamic_graph import plug
from dynamic_graph.sot.core import SOT, Derivator_of_Vector
from dynamic_graph.sot.core import FeaturePosture, MatrixHomoToPoseQuaternion
from dynamic_graph.sot.core import 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
from dynamic_graph.sot.core.meta_tasks_kine import MetaTaskKineCom, gotoNd
from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio
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 *
from dynamic_graph.sot.pattern_generator import PatternGenerator
# 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()