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197 lines
8.2 KiB
197 lines
8.2 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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from zmp_controller.fkine import FKineQuadruped
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class Action5():
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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.fk = FKineQuadruped(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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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.ref_joint_kp = [self.max_kp[0], self.max_kp[1], self.max_kp[2]]*4
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self.ref_joint_kd = [self.max_kd[0], self.max_kd[1], self.max_kd[2]]*4
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theta_cur = list(self.cur_joint_pos[:])
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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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# sit down
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theta_ref = [0.3, -0.57, 0.31,
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-0.3, 0.57, -0.31,
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-0.34, -1.29, 2.28,
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0.34, 1.29, -2.28]
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theta_refs = create_multiple_trajectory(theta_cur, theta_ref, 0.7, 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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# time.sleep(2)
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# raise hand
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theta_cur = theta_ref[:]
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l2_cur_pos = self.fk.calculate(self.cur_joint_pos)[3:6]
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theta_ref[3:6] = self.ik.ikine_L1([l2_cur_pos[0], l2_cur_pos[1]+0.02, l2_cur_pos[2]+0.04], config=self.kinematic_scheme)
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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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# time.sleep(2)
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theta_cur = theta_ref[:]
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theta_ref = [0.3, -0.57, 0.31,
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-0.1, -2.89, 0.52,
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-0.34, -1.29, 2.28,
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0.34, 1.29, -2.28]
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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] += 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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# time.sleep(2)
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# wave left hand
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for i in range(3):
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# move L2 left
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theta_cur = theta_ref[:]
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theta_ref = [0.3, -0.57, 0.31,
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0.3, -2.89, 0.52,
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-0.34, -1.29, 2.28,
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0.34, 1.29, -2.28]
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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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# move L2 right
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theta_cur = theta_ref[:]
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theta_ref = [0.3, -0.57, 0.31,
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-0.1, -2.89, 0.52,
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-0.34, -1.29, 2.28,
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0.34, 1.29, -2.28]
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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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# put the hand down
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theta_cur = theta_ref[:]
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theta_ref = [0.3, -0.57, 0.31,
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-0.3, 0.57, -0.31,
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-0.34, -1.29, 2.28,
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0.34, 1.29, -2.28]
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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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# stand up
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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 |