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294 lines
11 KiB
294 lines
11 KiB
import numpy as np
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from zmp_controller.TrajectoryGenerator import create_multiple_trajectory
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import time
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from zmp_controller.ikine import IKineQuadruped
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import rospy
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from datetime import datetime
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class GetUp():
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def __init__(self,
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freq=300,
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kinematic_scheme='x',
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ef_init_x=0.149,
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ef_init_y=0.13,
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cog_offset_x=0.0,
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cog_offset_y=0.0,
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robot_height=0.17,
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kp=[12, 12, 12],
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kd=[0.1, 0.1, 0.1]):
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self.freq = freq
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self.kinematic_scheme = kinematic_scheme
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self.ef_init_x = ef_init_x
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self.ef_init_y = ef_init_y
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self.cog_offset_x = cog_offset_x
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self.cog_offset_y = cog_offset_y
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self.robot_height = robot_height
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self.max_kp = np.array(kp[:3])
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self.max_kd = np.array(kd[:3]) + [0.4, 0.4, 0.4]
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self.finished = False
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self.cur_joint_pos = np.array([0.0]*12)
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self.ref_joint_pos = np.array([0.0]*12)
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self.ref_joint_vel = np.array([0.0]*12)
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self.ref_joint_torq = np.array([0.0]*12)
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self.ref_joint_kp = np.array([0.0]*12)
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self.ref_joint_kd = np.array([0.0]*12)
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self.ik = IKineQuadruped(theta_offset=[0, -np.pi/2, 0])
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self.start_time = int(time.time()*1000.0)
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self.all_theta_refs = [[], [], [], [], [], [], [], [], [], [], [], []]
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self.all_vel_refs = [[], [], [], [], [], [], [], [], [], [], [], []]
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self.all_torq_refs = [[], [], [], [], [], [], [], [], [], [], [], []]
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self.all_kp_refs = [[], [], [], [], [], [], [], [], [], [], [], []]
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self.all_kd_refs = [[], [], [], [], [], [], [], [], [], [], [], []]
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# print(self.max_kp)
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def is_finished(self):
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return self.finished
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def set_cur_joint_pos(self, cur_pos):
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self.cur_joint_pos = cur_pos[:]
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def get_ref_joint_pos(self):
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return self.ref_joint_pos, self.ref_joint_vel, self.ref_joint_torq, self.ref_joint_kp, self.ref_joint_kd
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def reset(self):
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self.all_theta_refs = [[], [], [], [], [], [], [], [], [], [], [], []]
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self.all_vel_refs = [[], [], [], [], [], [], [], [], [], [], [], []]
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self.all_torq_refs = [[], [], [], [], [], [], [], [], [], [], [], []]
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self.all_kp_refs = [[], [], [], [], [], [], [], [], [], [], [], []]
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self.all_kd_refs = [[], [], [], [], [], [], [], [], [], [], [], []]
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def step(self, it):
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self.ref_joint_pos = []
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self.ref_joint_vel = [0]*12
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self.ref_joint_torq = [0]*12
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self.ref_joint_kp = []
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self.ref_joint_kd = []
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if it >= len(self.all_theta_refs[0]):
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finished = True
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for i in range(12):
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self.ref_joint_pos.append(self.all_theta_refs[i][-1])
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self.ref_joint_kp.append(self.all_kp_refs[i][-1])
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self.ref_joint_kd.append(self.all_kd_refs[i][-1])
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else:
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finished = False
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for i in range(12):
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self.ref_joint_pos.append(self.all_theta_refs[i][it])
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self.ref_joint_kp.append(self.all_kp_refs[i][it])
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self.ref_joint_kd.append(self.all_kd_refs[i][it])
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# print(self.ref_joint_kp[0])
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return finished, self.ref_joint_pos, self.ref_joint_vel, self.ref_joint_torq, self.ref_joint_kp, self.ref_joint_kd
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def execute(self):
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# self.finished = False
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# Put your code here
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# self.start_time = int(time.time()*1000.0)
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self.kpkd_null()
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theta_cur = list(self.cur_joint_pos[:])
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theta_ref = theta_cur[:]
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if theta_cur[1] < 0 and theta_cur[4] > 0 and theta_cur[7] < 0 and theta_cur[10] > 0:
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print("___")
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print("> >")
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start_pos = 'm'
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elif theta_cur[1] < 0 and theta_cur[4] > 0 and theta_cur[7] > 0 and theta_cur[10] < 0:
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print("___")
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print("> <")
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start_pos = 'x'
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elif theta_cur[1] > 0 and theta_cur[4] < 0 and theta_cur[7] > 0 and theta_cur[10] < 0:
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print("___")
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print("< <")
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start_pos = 'inv_m'
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elif theta_cur[1] > 0 and theta_cur[4] < 0 and theta_cur[7] < 0 and theta_cur[10] > 0:
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print("___")
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print("< >")
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start_pos = 'o'
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else:
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start_pos = 'z'
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for i in range(12):
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self.all_theta_refs[i].append(theta_cur[i])
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self.all_kp_refs[i].append(self.ref_joint_kp[i])
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self.all_kd_refs[i].append(self.ref_joint_kd[i])
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for _ in range(int(self.freq*0.4)):
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self.kpkd_inc(0.4)
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# print(self.ref_joint_kp)
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for i in range(12):
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self.all_theta_refs[i].append(theta_cur[i])
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self.all_kp_refs[i].append(self.ref_joint_kp[i])
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self.all_kd_refs[i].append(self.ref_joint_kd[i])
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if start_pos != 'm':
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# установить ноги в позицию когда бедра наверху
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theta_cur = theta_ref[:]
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theta_ref[0] = -1.57
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theta_ref[3] = 1.57
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theta_ref[6] = 1.57
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theta_ref[9] = -1.57
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theta_ref[2] = 3.14
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theta_ref[5] = -3.14
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theta_ref[8] = 3.14
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theta_ref[11] = -3.14
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theta_refs = create_multiple_trajectory(theta_cur, theta_ref, 0.5, 1/self.freq)
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for i in range(12):
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self.all_theta_refs[i] = self.all_theta_refs[i] + theta_refs[i]
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self.all_kp_refs[i] += [self.ref_joint_kp[i]]*len(theta_refs[i])
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self.all_kd_refs[i] += [self.ref_joint_kd[i]]*len(theta_refs[i])
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# установить ноги в позицию когда задние колени смотрят наружу
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theta_cur = theta_ref[:]
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theta_ref = [-1.57, -1.57, 3.14,
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1.57, 1.57, -3.14,
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1.57, -1.57, 3.14,
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-1.57, 1.57, -3.14]
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theta_refs = create_multiple_trajectory(theta_cur, theta_ref, 0.5, 1/self.freq)
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for i in range(12):
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self.all_theta_refs[i] = self.all_theta_refs[i] + theta_refs[i]
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self.all_kp_refs[i] += [self.ref_joint_kp[i]]*len(theta_refs[i])
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self.all_kd_refs[i] += [self.ref_joint_kd[i]]*len(theta_refs[i])
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theta_cur = theta_ref[:]
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if self.kinematic_scheme == 'm':
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theta_ref[2] = 3.14
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theta_ref[5] = -3.14
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theta_ref[8] = 3.14
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theta_ref[11] = -3.14
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elif self.kinematic_scheme == 'x':
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theta_ref[2] = 3.14
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theta_ref[5] = -3.14
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theta_ref[8] = -3.14
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theta_ref[11] = 3.14
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if self.kinematic_scheme == 'o':
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theta_ref[2] = -3.14
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theta_ref[5] = 3.14
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theta_ref[8] = 3.14
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theta_ref[11] = -3.14
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theta_refs = create_multiple_trajectory(theta_cur, theta_ref, 0.4, 1/self.freq)
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for i in range(12):
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self.all_theta_refs[i] = self.all_theta_refs[i] + theta_refs[i]
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self.all_kp_refs[i] += [self.ref_joint_kp[i]]*len(theta_refs[i])
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self.all_kd_refs[i] += [self.ref_joint_kd[i]]*len(theta_refs[i])
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theta_cur = theta_ref[:]
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if self.kinematic_scheme == 'm':
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theta_ref = [0, -1.57, 3.14, 0, 1.57, -3.14, 0, -1.57, 3.14, 0, 1.57, -3.14]
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elif self.kinematic_scheme == 'x':
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theta_ref = [0, -1.57, 3.14, 0, 1.57, -3.14, 0, 1.57, -3.14, 0, -1.57, 3.14]
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elif self.kinematic_scheme == 'o':
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theta_ref = [0, 1.57, -3.14, 0, -1.57, 3.14, 0, -1.57, 3.14, 0, 1.57, -3.14]
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theta_refs = create_multiple_trajectory(theta_cur, theta_ref, 0.4, 1/self.freq)
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for i in range(12):
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self.all_theta_refs[i] += theta_refs[i]
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self.all_kp_refs[i] += [self.ref_joint_kp[i]]*len(theta_refs[i])
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self.all_kd_refs[i] += [self.ref_joint_kd[i]]*len(theta_refs[i])
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l = 0.09585
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abad_attach_y = 0.066
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angle = np.arccos((self.ef_init_y-abad_attach_y)/l)
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theta_cur = theta_ref[:]
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theta_ref = theta_cur[:]
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theta_ref[0] = angle
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theta_ref[6] = -angle
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theta_refs = create_multiple_trajectory(theta_cur, theta_ref, 0.3, 1/self.freq)
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for i in range(12):
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self.all_theta_refs[i] += theta_refs[i]
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self.all_kp_refs[i] += [self.ref_joint_kp[i]]*len(theta_refs[i])
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self.all_kd_refs[i] += [self.ref_joint_kd[i]]*len(theta_refs[i])
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theta_cur = theta_ref[:]
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theta_ref = theta_cur[:]
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theta_ref[3] = -angle
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theta_ref[9] = angle
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theta_refs = create_multiple_trajectory(theta_cur, theta_ref, 0.3, 1/self.freq)
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for i in range(12):
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self.all_theta_refs[i] += theta_refs[i]
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self.all_kp_refs[i] += [self.ref_joint_kp[i]]*len(theta_refs[i])
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self.all_kd_refs[i] += [self.ref_joint_kd[i]]*len(theta_refs[i])
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theta_cur = theta_ref[:]
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theta_ref = self.ik.calculate([ self.ef_init_x+self.cog_offset_x, -self.ef_init_y, -self.robot_height,
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self.ef_init_x+self.cog_offset_x, self.ef_init_y, -self.robot_height,
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-self.ef_init_x+self.cog_offset_x, -self.ef_init_y, -self.robot_height,
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-self.ef_init_x+self.cog_offset_x, self.ef_init_y, -self.robot_height], config=self.kinematic_scheme)
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theta_refs = create_multiple_trajectory(theta_cur, theta_ref, 0.6, 1/self.freq)
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for i in range(12):
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self.all_theta_refs[i] += theta_refs[i]
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self.all_kp_refs[i] += [self.ref_joint_kp[i]]*len(theta_refs[i])
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self.all_kd_refs[i] += [self.ref_joint_kd[i]]*len(theta_refs[i])
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# Finish
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# self.finished = True
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# Put your functions below
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def kpkd_inc(self, t):
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ts = self.freq*t
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kp_inc = self.max_kp[:3]/ts
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kd_inc = self.max_kd[:3]/ts
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for i in range(3):
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if self.ref_joint_kp[i] < self.max_kp[i]:
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self.ref_joint_kp[i] += kp_inc[i]
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self.ref_joint_kp[i+3] += kp_inc[i]
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self.ref_joint_kp[i+6] += kp_inc[i]
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self.ref_joint_kp[i+9] += kp_inc[i]
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if self.ref_joint_kd[i] < self.max_kd[i]:
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self.ref_joint_kd[i] += kd_inc[i]
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self.ref_joint_kd[i+3] += kd_inc[i]
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self.ref_joint_kd[i+6] += kd_inc[i]
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self.ref_joint_kd[i+9] += kd_inc[i]
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# time.sleep(1/self.freq)
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def kpkd_null(self):
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self.ref_joint_kp = [0.0]*12
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self.ref_joint_kd = [0.0]*12
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# time.sleep(10/self.freq)
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def take_position(self, theta_refs):
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step_period = 0.025
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for i in range(len(theta_refs[0])):
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# print(int(time.time()*1000.0 - self.start_time))
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# start_time = time.time()
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for j in range(12):
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self.ref_joint_pos[j] = theta_refs[j][i]
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# elapced_time = time.time() - start_time
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# print(f"{elapced_time:.5f}")
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# wait_time = step_period - elapced_time
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# if wait_time > 0:
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# time.sleep(wait_time)
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# time.sleep(0.02)
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