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add gait gen

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This commit is contained in:
Ram Reddy 2022-05-28 14:28:46 -04:00
parent f41b2dc3e1
commit 179f59255c
19 changed files with 3620 additions and 0 deletions
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32
control_systems/.gitignore vendored Normal file
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# Prerequisites
*.d
# Compiled Object files
*.slo
*.lo
*.o
*.obj
# Precompiled Headers
*.gch
*.pch
# Compiled Dynamic libraries
*.so
*.dylib
*.dll
# Fortran module files
*.mod
*.smod
# Compiled Static libraries
*.lai
*.la
*.a
*.lib
# Executables
*.exe
*.out
*.app

2
control_systems/.replit Normal file
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language = "undefined"
run = ""

209
control_systems/Control System/Propioception.py Normal file
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"""
This class keeps track of all the motors, sensors and import variables needed for the robot.
"""
class Propioception:
"""
Standard kwargs to give for this function
data = {
# Motors (all units are in degrees)
'left_hip_pitch': 0,
'left_hip_yaw': 0,
'left_hip_roll': 0,
'left_knee_pitch': 0,
'left_ankle_pitch': 0,
'left_ankle_yaw': 0,
'left_ankle_roll': 0,
'right_hip_pitch': 0,
'right_hip_yaw': 0,
'right_hip_roll': 0,
'right_knee_pitch': 0,
'right_ankle_pitch': 0,
'right_ankle_yaw': 0,
'right_ankle_roll': 0,
'left_shoulder_pitch': 0,
'left_shoulder_yaw': 0,
'left_shoulder_roll': 0,
'left_elbow_pitch': 0,
'right_shoulder_pitch': 0,
'right_shoulder_yaw': 0,
'right_shoulder_roll': 0,
'right_elbow_pitch': 0,
'torso_pitch': 0,
'torso_yaw': 0,
'torso_roll': 0,
'neck_pitch': 0,
'neck_yaw': 0,
'neck_roll': 0,
# Sensors
# Add later
}
This will also have the constants
"""
def __init__(self, **kwargs):
self.data = {
# Add defualt later
}
self.constants = {
# Add some constants here later
}
for key, value in kwargs.items():
self.data[str(key)] = value
def update(self, partsAndValues):
"""
This function updates the dictionary
arg artsAndValues is {string --> int or float}
Error codes:
1 is success
-1 is the error for NoneType variables
-2 is for incorrect datatypes
-3 is for when the key is not in the dictionary
"""
if partsAndValues == None:
return -1
if type(partsAndValues) != dict:
return -2
for key in partsAndValues.keys():
if key in self.data:
self.data[str(key)] = partsAndValues[key]
else:
return -3
return 1
def add(self, partsAndValues):
"""
This function will add a part to the system if needed
arg artsAndValues is {string --> int or float}
Error codes:
1 is success
-1 is the error for NoneType variables
-2 is for incorrect datatypes
-3 is for when the key is in the dictionary
"""
if partsAndValues == None:
return -1
if type(partsAndValues) != dict:
return -2
for key in partsAndValues.keys():
if key in self.data:
return -3
else:
self.data[str(key)] = partsAndValues[key]
return 1
def remove(self, partsAndValues):
"""
This function will remove a part to the system if needed
arg artsAndValues is [string]
Error codes:
1 is success
-1 is the error for NoneType variables
-2 is for incorrect datatypes
-3 is for when the key is not in the dictionary
"""
if partsAndValues == None:
return -1
if type(partsAndValues) != list:
return -2
for key in partsAndValues:
if key in self.data:
self.data.pop(str(key))
else:
return -3
return 1
# # Test
# stuff = Propioception(
# left_hip_pitch= 0,
# left_hip_yaw= 0,
# left_hip_roll= 0,
# left_knee_pitch= 0,
# left_ankle_pitch= 0,
# left_ankle_yaw= 0,
# left_ankle_roll= 0,
# right_hip_pitch= 0,
# right_hip_yaw= 0,
# right_hip_roll= 0,
# right_knee_pitch= 0,
# right_ankle_pitch= 0,
# right_ankle_yaw= 0,
# right_ankle_roll= 0,
# left_shoulder_pitch= 0,
# left_shoulder_yaw= 0,
# left_shoulder_roll= 0,
# left_elbow_pitch= 0,
# right_shoulder_pitch= 0,
# right_shoulder_yaw= 0,
# right_shoulder_roll= 0,
# right_elbow_pitch= 0,
# torso_pitch= 0,
# torso_yaw= 0,
# torso_roll= 0,
# neck_pitch= 0,
# neck_yaw= 0,
# neck_roll= 0
# )
# """Update cases"""
# # Success case
# print(stuff.data['neck_roll'])
# stuff.update({'neck_roll': 21})
# print(stuff.data['neck_roll'])
# # -1 case
# print(stuff.update(None))
# # -2 case
# print(stuff.update([]))
# # -3 case
# print(stuff.update({'test': 21}))
# """Remove cases"""
# # Success case
# print(stuff.data['neck_roll'])
# print(stuff.remove(['neck_roll']))
# # -1 case
# print(stuff.remove(None))
# # # -2 case
# print(stuff.remove({}))
# # -3 case
# print(stuff.remove(['test']))
# """Add cases"""
# # Success case
# print('test' in stuff.data.keys())
# stuff.add({'test': 21})
# print(stuff.data['test'])
# # -1 case
# print(stuff.add(None))
# # -2 case
# print(stuff.add([]))
# # -3 case
# print(stuff.add({'test': 21}))

135
control_systems/Control System/bootup.py Normal file
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# Create priority queue
# In main create three threads
# 1 for managing actions (stores priority queue)
# 1 for reading sensor data
# Updates sensor data through wifi and propiosense system
# 1 for executing the first action in the priority queue
from Propioception import *
# from commands import *
import re
import threading
import socket
import heapq
import time
#import serial
class Receiver:
def __init__(self, host, port):
self.commands = []
self.executions = []
self.transmit = []
self.timer = 0
self.HOST = host
self.PORT = port
#connecting using scokets
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
print('Socket created')
#managing error exception
try:
s.bind((self.HOST, self.PORT))
except socket.error:
print ('Bind failed ')
s.listen(5)
print('Socket awaiting messages')
(self.conn, addr) = s.accept()
print('Connected')
"""Method receives commands from client and add to queue"""
def telemetryReceive(self):
# Commands must be in form "PRIORITY|{COMMAND}|TIMESTAMP|CHECKSUM"
# awaiting for message
while True:
action = self.conn.recv(1024).decode('UTF-8')
if len(action) > 0:
heapq.heappush(self.commands,action)
print("Received|"+action)
heapq.heappush(self.transmit,"Received|"+action)
"""Method checks commands from queue and adds to execution queue"""
def checkCommand(self):
while True:
if len(self.commands) > 0:
#checking if the checksum of the command
#equals the sum of all ascii values of every character
#in command statement
pattern = "^[0-5]\|.*\|[0-9]{2}:[0-9]{2}\|" #everything but the checksum value
checksum = "\w+$" #checksum value
popped = heapq.heappop(self.commands) #gets smallest value command
com = re.findall(pattern, popped)
numval = re.findall(checksum, popped)
numval = numval[0]
numval = int(numval,16) #converts hex to int
print(com[0])
print(sum([ord(i) for i in com[0]]))
if numval == sum([ord(i) for i in com[0]]):
print("working")
heapq.heappush(self.transmit, "Correct|"+popped)
heapq.heappush(self.executions, popped)
print(self.transmit)
print(self.executions)
else:
heapq.heappush(self.transmit, "Incorrect|"+popped)
def telemetryTransmit(self):
while True:
if len(self.transmit) > 0:
print("Transmit queue", self.transmit)
self.conn.send(bytes(heapq.heappop(self.transmit),'utf-8'))
def execute(self):
while True:
if len(self.executions) > 0:
command = heapq.heappop(self.executions)
print(command)
heapq.heappush(self.transmit, "Executed|"+command)
# if command == "Password A_on_LED":
# if onAndOfffLed():
# print("Executed: ", command)
# else:
# print("Did not execute correctly ", command)
print("Inside execute",self.executions)
time.sleep(5)
if "Balancing" not in self.executions:
heapq.heappush(self.executions, "Balancing")
def balance(self):
print("Nothing")
def gaitGen(self):
print("Nothing")
def computerVision(self):
print("Nothing")
def sensorData(self):
var = ""
# Test
# print("Inside")
# ser = serial.Serial('/dev/ttyACM0', 115200, timeout=1)
# ser.reset_input_buffer()
# while True:
# print("Inside data")
## # Read from Arduinos to know what motors and sensors there are
# ser.write("Send ****s plz\n".encode('utf-8'))
# line = ser.readline().decode('utf-8').rstrip()
# print(line)
def runSimul(self):
threading.Thread(target=self.telemetryReceive).start()
threading.Thread(target=self.checkCommand).start()
threading.Thread(target=self.telemetryTransmit).start()
threading.Thread(target=self.execute).start()
# threading.Thread(target=self.sensorData).start()
# threading.Thread(target=self.balance).start()
threading.Thread(target=self.gaitGen).start()
# threading.Thread(target=self.comuterVision).start()
def startBoot():
simulation = Receiver('10.235.1.145',12345)
simulation.runSimul()

24
control_systems/Control System/commands.py Normal file
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# Commands for arduino
import serial
import time
ser = serial.Serial('/dev/ttyACM0', 9600, timeout=1) # fix
ser.reset_input_buffer()
def onAndOfffLed():
ser.write("ON\n".encode('utf-8'))
line = ser.readline().decode('utf-8').rstrip()
print(line)
time.sleep(4)
ser.write("OFF\n".encode('utf-8'))
line = ser.readline().decode('utf-8').rstrip()
print(line)
time.sleep(4)
if line == "You sent me: OFF":
return 1
else:
return 0

52
control_systems/Control System/gaitGen/footProjection.py Normal file
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import math as m
def createXProjection(length, duration):
t = 0;
f = open("xValues.txt", "w")
f2 = open("timeX.txt", "w")
xLambda = length/duration
w = m.pi * 2
w = w/duration
projectedPoints = []
deltaT = 0.01 #this is an arbitrary delta t, which can be changed later on
while(t < duration+deltaT):
value = xLambda*t - (xLambda/w)*m.sin(w*t)
projectedPoints.append(value)
f.write(str(value) + "\n")
f2.write(str(t) + "\n")
t += deltaT
t = round(t, 2)
f.close()
f2.close()
return projectedPoints
def createZProjection(height, duration):
t = 0;
f = open("zValues.txt", "w")
f2 = open("timeZ.txt", "w")
duration = duration/2
zLambda = height/(duration)
w = m.pi * 2
w = w/duration
projectedPoints = []
deltaT = 0.01 #this is an arbitrary delta t, which can be changed later on
while(t < duration+deltaT):
value = zLambda*t - (zLambda/w)*m.sin(w*t)
projectedPoints.append(value)
f.write(str(value) + "\n")
f2.write(str(t) + "\n")
t += deltaT
t = round(t, 2)
t = duration+deltaT
while(t < (2 * duration)+deltaT):
value = -(zLambda*t - (zLambda/w)*m.sin(w*t)) + (height*2)
projectedPoints.append(value)
f.write(str(value) +"\n")
f2.write(str(t)+"\n")
t += deltaT
t = round(t, 2)
f.close()
f2.close()
return projectedPoints
#change the values based on the length/height of the step and how long the duration is
createXProjection(0.5,3)
createZProjection(0.4,3)

927
control_systems/Control System/gaitGen/olympian.urdf Normal file
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<?xml version="1.0" ?>
<robot name="olympian">
<material name="silver">
<color rgba="0.700 0.700 0.700 1.000"/>
</material>
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0.10000000000000274 -1.5987211554602254e-16 0.8751666232732108"/>
<mass value="1.1521008690150791"/>
<inertia ixx="0.008991901943259162" ixy="-9.892367496064471e-18" ixz="0.0" iyy="0.005223496631877156" iyz="-6.132347048742014e-19" izz="0.008530264202422316"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Pelvis_v7_1">
<inertial>
<origin rpy="0 0 0" xyz="2.789435349370706e-15 0.049999999999999864 0.029353425629582097"/>
<mass value="0.5947505206015595"/>
<inertia ixx="0.0020170369281689027" ixy="-2.806717788186033e-19" ixz="6.938893903907228e-18" iyy="0.001878872568180201" iyz="-2.3514580861105255e-19" izz="0.0010976440297574977"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.1 0.05 -0.915"/>
<geometry>
<mesh filename="meshes/Pelvis_v7_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.1 0.05 -0.915"/>
<geometry>
<mesh filename="meshes/Pelvis_v7_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Chest_v13_1">
<inertial>
<origin rpy="0 0 0" xyz="0.03750000000000275 -8.168836624811604e-05 0.2954266005963746"/>
<mass value="5.882339234080889"/>
<inertia ixx="0.462024450225778" ixy="-1.2945373939476923e-16" ixz="-5.551115123125783e-16" iyy="0.3281120038896219" iyz="-0.0001155294730347088" izz="0.23780786856479988"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.0625 0.0 -0.99"/>
<geometry>
<mesh filename="meshes/Chest_v13_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.0625 0.0 -0.99"/>
<geometry>
<mesh filename="meshes/Chest_v13_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Box_Head_v5_1">
<inertial>
<origin rpy="0 0 0" xyz="1.8735013540549517e-15 2.486899575160351e-16 0.12700000029388225"/>
<mass value="0.4129840000000015"/>
<inertia ixx="0.00953546956266682" ixy="-1.2615370792445878e-16" ixz="-8.326672684688674e-17" iyy="0.009535469562667043" iyz="-9.005388077923778e-18" izz="0.009535469562666902"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.1 0.0 -1.5564"/>
<geometry>
<mesh filename="meshes/Box_Head_v5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.1 0.0 -1.5564"/>
<geometry>
<mesh filename="meshes/Box_Head_v5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Upper_Arm_Link_type_b_v9_1">
<inertial>
<origin rpy="0 0 0" xyz="3.011479954295737e-15 -0.03931045800644434 -0.010955881721682825"/>
<mass value="0.11011202726048713"/>
<inertia ixx="0.00018206077085142214" ixy="0.0" ixz="0.0" iyy="0.00016930933911268875" iyz="-1.861439297221046e-05" izz="0.00022075846035968932"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.1 0.275 -1.5064"/>
<geometry>
<mesh filename="meshes/Upper_Arm_Link_type_b_v9_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.1 0.275 -1.5064"/>
<geometry>
<mesh filename="meshes/Upper_Arm_Link_type_b_v9_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Upper_Arm_Roll_Link_v5_1">
<inertial>
<origin rpy="0 0 0" xyz="0.05000000000000271 7.771561172376096e-16 -0.022135117628713896"/>
<mass value="0.29143432706119626"/>
<inertia ixx="0.0002924682777393217" ixy="1.734723475976807e-18" ixz="-6.938893903907228e-18" iyy="0.001232763287599803" iyz="-2.7755575615628914e-17" izz="0.0011938412922212135"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.05 0.35 -1.4939"/>
<geometry>
<mesh filename="meshes/Upper_Arm_Roll_Link_v5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.05 0.35 -1.4939"/>
<geometry>
<mesh filename="meshes/Upper_Arm_Roll_Link_v5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Upper_Arm_v10_1">
<inertial>
<origin rpy="0 0 0" xyz="2.706168622523819e-15 -9.46964984205323e-09 -0.20731274229984487"/>
<mass value="0.9419240929020993"/>
<inertia ixx="0.018812734327517955" ixy="5.35682609381638e-15" ixz="2.7755575615628914e-17" iyy="0.019683528982801013" iyz="-1.6353901011179062e-09" izz="0.00349831999855843"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.1 0.35 -1.43755"/>
<geometry>
<mesh filename="meshes/Upper_Arm_v10_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.1 0.35 -1.43755"/>
<geometry>
<mesh filename="meshes/Upper_Arm_v10_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Lower_Arm_v8_1">
<inertial>
<origin rpy="0 0 0" xyz="-0.04999999999999716 -1.5210055437364645e-14 -0.22711717106463214"/>
<mass value="1.1287862597517475"/>
<inertia ixx="0.025477987567271376" ixy="5.370703881624195e-15" ixz="-1.3877787807814457e-17" iyy="0.025545638419054773" iyz="1.887379141862766e-15" izz="0.0030604925430051666"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.15 0.35 -1.07005"/>
<geometry>
<mesh filename="meshes/Lower_Arm_v8_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.15 0.35 -1.07005"/>
<geometry>
<mesh filename="meshes/Lower_Arm_v8_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Upper_Arm_Link_type_b_v9_2">
<inertial>
<origin rpy="0 0 0" xyz="2.5118795932144167e-15 0.039310458006443616 -0.010955881721682825"/>
<mass value="0.11011202726048713"/>
<inertia ixx="0.00018206077085147765" ixy="-1.3010426069826053e-18" ixz="-3.469446951953614e-18" iyy="0.00016930933911263324" iyz="1.8614392972175764e-05" izz="0.00022075846035969453"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.1 -0.275 -1.5064"/>
<geometry>
<mesh filename="meshes/Upper_Arm_Link_type_b_v9_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.1 -0.275 -1.5064"/>
<geometry>
<mesh filename="meshes/Upper_Arm_Link_type_b_v9_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Upper_Arm_Roll_Link_v5_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0500000000000025 -1.0547118733938987e-15 -0.022135117628713452"/>
<mass value="0.29143432706119626"/>
<inertia ixx="0.0002924682777396548" ixy="0.0" ixz="0.0" iyy="0.001232763287599914" iyz="-5.551115123125783e-17" izz="0.0011938412922211997"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.05 -0.35 -1.4939"/>
<geometry>
<mesh filename="meshes/Upper_Arm_Roll_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.05 -0.35 -1.4939"/>
<geometry>
<mesh filename="meshes/Upper_Arm_Roll_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Upper_Arm_v10_3">
<inertial>
<origin rpy="0 0 0" xyz="2.6922908347160046e-15 -9.469651840454674e-09 -0.2073127422998453"/>
<mass value="0.9419240929020993"/>
<inertia ixx="0.018812734327517955" ixy="5.370703881624195e-15" ixz="1.3877787807814457e-17" iyy="0.019683528982801457" iyz="-1.6353899900956037e-09" izz="0.0034983199985584718"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.1 -0.35 -1.43755"/>
<geometry>
<mesh filename="meshes/Upper_Arm_v10_3.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
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</link>
<link name="Lower_Arm_v8_2">
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</link>
<link name="Leg_Pitch_v5_1">
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<visual>
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<material name="silver"/>
<material/>
</visual>
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<mesh filename="meshes/Leg_Pitch_v5_1.stl" scale="0.001 0.001 0.001"/>
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</collision>
</link>
<link name="Leg_Roll_v4_1">
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<material/>
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<origin rpy="0 0 0" xyz="-0.025 0.15 -0.815"/>
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<mesh filename="meshes/Leg_Roll_v4_1.stl" scale="0.001 0.001 0.001"/>
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<link name="Upper_Leg_v4_1">
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<link name="Lower_Leg_v6_1">
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<material name="silver"/>
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<mesh filename="meshes/Lower_Leg_v6_1.stl" scale="0.001 0.001 0.001"/>
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</link>
<link name="Ankle_Link_v5_1">
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<visual>
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<mesh filename="meshes/Ankle_Link_v5_1.stl" scale="0.001 0.001 0.001"/>
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<material name="silver"/>
<material/>
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<origin rpy="0 0 0" xyz="-0.07 0.15 -0.0886"/>
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<mesh filename="meshes/Ankle_Link_v5_1.stl" scale="0.001 0.001 0.001"/>
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</link>
<link name="Foot_v4_1">
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<origin rpy="0 0 0" xyz="0.03625642783113289 0.019685521169741094 -0.0403940100478858"/>
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<visual>
<origin rpy="0 0 0" xyz="-0.1 0.17 -0.0536"/>
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<mesh filename="meshes/Foot_v4_1.stl" scale="0.001 0.001 0.001"/>
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<material name="silver"/>
<material/>
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<origin rpy="0 0 0" xyz="-0.1 0.17 -0.0536"/>
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<mesh filename="meshes/Foot_v4_1.stl" scale="0.001 0.001 0.001"/>
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</link>
<link name="Leg_Pitch_v5_2">
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<origin rpy="0 0 0" xyz="2.3869795029440866e-15 0.046835088760228516 0.003164911239771251"/>
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<visual>
<origin rpy="0 0 0" xyz="-0.1 -0.1 -0.815"/>
<geometry>
<mesh filename="meshes/Leg_Pitch_v5_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
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<origin rpy="0 0 0" xyz="-0.1 -0.1 -0.815"/>
<geometry>
<mesh filename="meshes/Leg_Pitch_v5_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Leg_Roll_v4_2">
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<origin rpy="0 0 0" xyz="0.07500000000000273 -2.7755575615628914e-16 -0.03522306705344391"/>
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<visual>
<origin rpy="0 0 0" xyz="-0.025 -0.15 -0.815"/>
<geometry>
<mesh filename="meshes/Leg_Roll_v4_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.025 -0.15 -0.815"/>
<geometry>
<mesh filename="meshes/Leg_Roll_v4_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Upper_Leg_v4_2">
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<origin rpy="0 0 0" xyz="2.5118795932144167e-15 -1.1102230246251565e-16 -0.15757232755407302"/>
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<visual>
<origin rpy="0 0 0" xyz="-0.1 -0.15 -0.74"/>
<geometry>
<mesh filename="meshes/Upper_Leg_v4_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.1 -0.15 -0.74"/>
<geometry>
<mesh filename="meshes/Upper_Leg_v4_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Lower_Leg_v6_2">
<inertial>
<origin rpy="0 0 0" xyz="2.761679773755077e-15 -0.05000000000000848 -0.14147821247779996"/>
<mass value="1.4272888897799032"/>
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<visual>
<origin rpy="0 0 0" xyz="-0.1 -0.2 -0.4418"/>
<geometry>
<mesh filename="meshes/Lower_Leg_v6_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.1 -0.2 -0.4418"/>
<geometry>
<mesh filename="meshes/Lower_Leg_v6_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Ankle_Link_v5_2">
<inertial>
<origin rpy="0 0 0" xyz="0.030000000000002913 1.6653345369377348e-16 -0.014239102534719814"/>
<mass value="0.02966359637804546"/>
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<visual>
<origin rpy="0 0 0" xyz="-0.07 -0.15 -0.0886"/>
<geometry>
<mesh filename="meshes/Ankle_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.07 -0.15 -0.0886"/>
<geometry>
<mesh filename="meshes/Ankle_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Foot_v4_2">
<inertial>
<origin rpy="0 0 0" xyz="0.03625642783113234 -0.02031447883025933 -0.04039401004788552"/>
<mass value="0.8921618023336354"/>
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<visual>
<origin rpy="0 0 0" xyz="-0.1 -0.17 -0.0536"/>
<geometry>
<mesh filename="meshes/Foot_v4_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.1 -0.17 -0.0536"/>
<geometry>
<mesh filename="meshes/Foot_v4_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="Rev1" type="continuous">
<origin rpy="0 0 0" xyz="0.1 -0.05 0.915"/>
<parent link="base_link"/>
<child link="Pelvis_v7_1"/>
<axis xyz="-0.0 1.0 0.0"/>
</joint>
<transmission name="Rev1_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev1_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev2" type="continuous">
<origin rpy="0 0 0" xyz="-0.0375 0.05 0.075"/>
<parent link="Pelvis_v7_1"/>
<child link="Chest_v13_1"/>
<axis xyz="-1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev2_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev2_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev11" type="continuous">
<origin rpy="0 0 0" xyz="0.0375 0.0 0.5664"/>
<parent link="Chest_v13_1"/>
<child link="Box_Head_v5_1"/>
<axis xyz="-0.0 -0.0 1.0"/>
</joint>
<transmission name="Rev11_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev11">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev11_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev3" type="continuous">
<origin rpy="0 0 0" xyz="0.0375 -0.275 0.5164"/>
<parent link="Chest_v13_1"/>
<child link="Upper_Arm_Link_type_b_v9_1"/>
<axis xyz="0.0 -1.0 -0.0"/>
</joint>
<transmission name="Rev3_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev3">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev3_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev4" type="continuous">
<origin rpy="0 0 0" xyz="-0.05 -0.075 -0.0125"/>
<parent link="Upper_Arm_Link_type_b_v9_1"/>
<child link="Upper_Arm_Roll_Link_v5_1"/>
<axis xyz="-1.0 -0.0 0.0"/>
</joint>
<transmission name="Rev4_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev4">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev4_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev5" type="continuous">
<origin rpy="0 0 0" xyz="0.05 0.0 -0.05635"/>
<parent link="Upper_Arm_Roll_Link_v5_1"/>
<child link="Upper_Arm_v10_1"/>
<axis xyz="0.0 0.0 -1.0"/>
</joint>
<transmission name="Rev5_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev5">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev5_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev6" type="continuous">
<origin rpy="0 0 0" xyz="0.05 0.0 -0.3675"/>
<parent link="Upper_Arm_v10_1"/>
<child link="Lower_Arm_v8_1"/>
<axis xyz="-1.0 -0.0 0.0"/>
</joint>
<transmission name="Rev6_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev6">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev6_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev7" type="continuous">
<origin rpy="0 0 0" xyz="0.0375 0.275 0.5164"/>
<parent link="Chest_v13_1"/>
<child link="Upper_Arm_Link_type_b_v9_2"/>
<axis xyz="-0.0 1.0 0.0"/>
</joint>
<transmission name="Rev7_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev7">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev7_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev8" type="continuous">
<origin rpy="0 0 0" xyz="-0.05 0.075 -0.0125"/>
<parent link="Upper_Arm_Link_type_b_v9_2"/>
<child link="Upper_Arm_Roll_Link_v5_2"/>
<axis xyz="-1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev8_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev8">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev8_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev9" type="continuous">
<origin rpy="0 0 0" xyz="0.05 0.0 -0.05635"/>
<parent link="Upper_Arm_Roll_Link_v5_2"/>
<child link="Upper_Arm_v10_3"/>
<axis xyz="0.0 0.0 -1.0"/>
</joint>
<transmission name="Rev9_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev9">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev9_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev10" type="continuous">
<origin rpy="0 0 0" xyz="-0.05 0.0 -0.3675"/>
<parent link="Upper_Arm_v10_3"/>
<child link="Lower_Arm_v8_2"/>
<axis xyz="1.0 0.0 0.0"/>
</joint>
<transmission name="Rev10_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev10">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev10_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev12" type="continuous">
<origin rpy="0 0 0" xyz="0.1 -0.1 0.815"/>
<parent link="base_link"/>
<child link="Leg_Pitch_v5_1"/>
<axis xyz="0.0 -1.0 -0.0"/>
</joint>
<transmission name="Rev12_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev12">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev12_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev13" type="continuous">
<origin rpy="0 0 0" xyz="-0.075 -0.05 0.0"/>
<parent link="Leg_Pitch_v5_1"/>
<child link="Leg_Roll_v4_1"/>
<axis xyz="-1.0 -0.0 0.0"/>
</joint>
<transmission name="Rev13_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev13">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev13_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev14" type="continuous">
<origin rpy="0 0 0" xyz="0.075 0.0 -0.075"/>
<parent link="Leg_Roll_v4_1"/>
<child link="Upper_Leg_v4_1"/>
<axis xyz="0.0 0.0 -1.0"/>
</joint>
<transmission name="Rev14_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev14">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev14_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev15" type="continuous">
<origin rpy="0 0 0" xyz="0.0 -0.05 -0.2982"/>
<parent link="Upper_Leg_v4_1"/>
<child link="Lower_Leg_v6_1"/>
<axis xyz="-0.0 1.0 0.0"/>
</joint>
<transmission name="Rev15_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev15">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev15_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev16" type="continuous">
<origin rpy="0 0 0" xyz="-0.03 0.05 -0.3532"/>
<parent link="Lower_Leg_v6_1"/>
<child link="Ankle_Link_v5_1"/>
<axis xyz="1.0 0.0 -0.0"/>
</joint>
<transmission name="Rev16_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev16">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev16_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev19" type="continuous">
<origin rpy="0 0 0" xyz="0.03 -0.02 -0.035"/>
<parent link="Ankle_Link_v5_1"/>
<child link="Foot_v4_1"/>
<axis xyz="0.0 -1.0 -0.0"/>
</joint>
<transmission name="Rev19_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev19">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev19_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev20" type="continuous">
<origin rpy="0 0 0" xyz="0.1 0.1 0.815"/>
<parent link="base_link"/>
<child link="Leg_Pitch_v5_2"/>
<axis xyz="-0.0 1.0 0.0"/>
</joint>
<transmission name="Rev20_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev20">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev20_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev21" type="continuous">
<origin rpy="0 0 0" xyz="-0.075 0.05 0.0"/>
<parent link="Leg_Pitch_v5_2"/>
<child link="Leg_Roll_v4_2"/>
<axis xyz="-1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev21_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev21">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev21_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev22" type="continuous">
<origin rpy="0 0 0" xyz="0.075 0.0 -0.075"/>
<parent link="Leg_Roll_v4_2"/>
<child link="Upper_Leg_v4_2"/>
<axis xyz="0.0 0.0 -1.0"/>
</joint>
<transmission name="Rev22_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev22">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev22_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev23" type="continuous">
<origin rpy="0 0 0" xyz="0.0 0.05 -0.2982"/>
<parent link="Upper_Leg_v4_2"/>
<child link="Lower_Leg_v6_2"/>
<axis xyz="0.0 -1.0 -0.0"/>
</joint>
<transmission name="Rev23_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev23">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev23_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev24" type="continuous">
<origin rpy="0 0 0" xyz="-0.03 -0.05 -0.3532"/>
<parent link="Lower_Leg_v6_2"/>
<child link="Ankle_Link_v5_2"/>
<axis xyz="1.0 0.0 0.0"/>
</joint>
<transmission name="Rev24_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev24">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev24_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev25" type="continuous">
<origin rpy="0 0 0" xyz="0.03 0.02 -0.035"/>
<parent link="Ankle_Link_v5_2"/>
<child link="Foot_v4_2"/>
<axis xyz="-0.0 1.0 0.0"/>
</joint>
<transmission name="Rev25_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev25">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev25_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>

299
control_systems/Control System/gaitGen/step.py Normal file
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@ -0,0 +1,299 @@
import pybullet as p
import time
import pybullet_data
import math
import matplotlib.pyplot as plt
import numpy as np
physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version
print("hi")
p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
p.setGravity(0,0,-9.8)
planeId = p.loadURDF("plane.urdf") #where is plane.urdf
startPos = [0,0,0]
#sphereId = p.loadURDF("sphere.urdf")
startOrientation = p.getQuaternionFromEuler([0,0,0])
robotId = p.loadURDF("olympian.urdf",startPos, startOrientation,
# useMaximalCoordinates=1, ## New feature in Pybullet
flags=p.URDF_USE_INERTIA_FROM_FILE)
print("==========SIMULATION ENABLED================")
#GET JOINT INFO
print(p.getNumJoints(robotId))
for i in range(0, p.getNumJoints(robotId)-1):
print(p.getJointInfo(robotId, i)[0:13])
listOfJointIndeces = []
for i in range(0, p.getNumJoints(robotId)):
listOfJointIndeces.append(i)
#why not use list(range())?
#also why have 0
def calcCOM():
#CALCULATE COM
masstimesxpossum = 0.0
masstimesypossum = 0.0
masstimeszpossum = 0.0
masssum = 0.0
for i in range(0, p.getNumJoints(robotId) -1):
# if(i >= 0):
# print(p.getJointInfo(robotId, i)[0:13])
wheight = p.getDynamicsInfo(robotId, i)[0]
xpos = p.getLinkState(robotId, i)[0][0]
ypos = p.getLinkState(robotId, i)[0][1]
zpos = p.getLinkState(robotId, i)[0][2]
masstimesxpossum += (wheight * xpos)
masstimesypossum += (wheight * ypos)
masstimeszpossum += (wheight * zpos)
masssum += wheight
# print(wheight)
# print(xpos)
# print(ypos)
# print(zpos)
# print("\n")
p.stepSimulation()
com = (masstimesxpossum/masssum, masstimesypossum/masssum, masstimeszpossum/masssum)
#print("mass: " + str(masssum))
#print("center of mass: " + str(com))
#print("\n")
return com
#INVERSE KINEMATICS
#GET JOINT ANGLES NEEDED TO MOVE LINK 10 to (0. 0.6, 2)
#FORCE IS 25NM for every link bc im too lazy to custom set it for every link
#IT FALLS BECAUSE its a lot of torque exerted in a small amount of time
torque = 100
newi = []
comPos = []
comPos2 = []
holdingTorque = 100
actuationTorque = 10
torqueList = [holdingTorque]*23
file = open("xValues.txt", "r")
xValues = []
for word in file.readlines():
xValues.append(float(word.rstrip('\n')))
file = open("zValues.txt", "r")
zValues = []
for word in file.readlines():
zValues.append(float(word.rstrip('\n')))
def shiftFoot():
leftAnkle = p.getJointState(robotId, 21)[0]
leftThigh = p.getJointState(robotId, 18)[0]
print(leftAnkle)
print(leftThigh)
for i in range(0, 50):
positionsList = [0]*23
angleNeeded = calculateAngleNeeded()
comPos.append(calcCOM())
newi.insert(0, i)
positionsList[21] = angleNeeded/50 * i #left ankle
positionsList[15] = angleNeeded/50 * i #right ankle
positionsList[18] = angleNeeded/50 * i#left thigh
positionsList[12] = angleNeeded/50 * i#right thigh
#positionsList[14] = 0.3/50 * i
forceArray = [torque]*23
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, targetPositions = positionsList, forces = forceArray)
p.stepSimulation()
''
for i in range(0, 50):
comPos.append(calcCOM())
newi.insert(0, i)
angleNeeded = 0.5
positionsList[11] = 0.2598371070140097/50 * i #thigh pitch
positionsList[14] = 0.8123194567657278/50 * i #knee
positionsList[16] = 0.4891906071331436/50 * i#ankle
#positionsList[14] = 0.3/50 * i
forceArray = [torque]*23
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, targetPositions = positionsList, forces = forceArray)
p.stepSimulation()
positionsList = [0]*23
firstY = p.getLinkState(robotId, 15)[0][1]
firstZ = p.getLinkState(robotId, 15)[0][2]
for i in range(0, len(xValues)//20):
"""
comPos.append(calcCOM())
newi.insert(0, i)
angleNeeded = calculateAngleNeeded()
positionsList[21] = angleNeeded/len(xValues) * i #left ankle
#positionsList[15] = angleNeeded/len(xValues) * i #right ankle
positionsList[18] = angleNeeded/len(xValues) * i#left thigh
#positionsList[12] = angleNeeded/len(xValues) * i#right thigh
forceArray = [torque]*23
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, targetPositions = positionsList, forces = forceArray)
p.stepSimulation()
"""
#thighs are 12 and 18
angleNeeded = calculateAngleNeeded()
ikList = p.calculateInverseKinematics(robotId, 15, [xValues[20*i], firstY, zValues[20*i]+(len(xValues)-20*i)/len(xValues)*firstZ])
positionsList = list(ikList)
#print("uwu")
#print(positionsList[11])
#print(positionsList[14])
#print(positionsList[16])
#positionsList[11] = 0.5*(len(xValues)-i)/len(xValues)+positionsList[11]*(i/len(xValues))
#positionsList[14] = 1*(len(xValues)-i)/len(xValues)+positionsList[14]*(i/len(xValues))
#positionsList[16] = 0.5*(len(xValues)-i)/len(xValues)+positionsList[16]*(i/len(xValues))
positionsList[21] = angleNeeded*(len(xValues)-8*i)/len(xValues)
positionsList[18] = angleNeeded*(len(xValues)-8*i)/len(xValues)
ankleAngle = calculateAnkleAngle()
positionsList[15] = (math.pi/2-ankleAngle*np.sign(ankleAngle))*np.sign(ankleAngle)/len(xValues)*i*20
ankleAngle = calculateOtherAnkleAngle()
positionsList[16] = 0.4891906071331436*(len(xValues)-(i*20))/len(xValues)+ankleAngle/len(xValues)*i*20
pelvisAngle = calculatePelvisAngle()
print(pelvisAngle)
positionsList[0] = -1*pelvisAngle
#positionsList[15] = (math.pi-ankleAngle*np.sign(ankleAngle))*np.sign(ankleAngle)/len(xValues)*i
'''
if((ankleAngle)<0):
positionsList[15] = -1*(math.pi-(abs(ankleAngle)))/len(xValues)*i
else:
positionsList[15] = math.pi-(abs(ankleAngle))/len(xValues)*i
'''
#positionsList[16] =
#positionsList[15] = (math.pi-calculateAnkleAngle())/len(xValues)*i
# positionsList[0] = math.pi / 4
forceArray = [torque]*23
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, targetPositions = positionsList, forces = forceArray)
p.stepSimulation()
for i in range(50000):
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, targetPositions = positionsList, forces = forceArray)
p.stepSimulation()
def calculateAngleNeeded():
anklePos = p.getLinkState(robotId, 21)[0]
comPos = calcCOM()
hipPos = p.getLinkState(robotId, 18)[0]
ankleCom = (comPos[1]-anklePos[1], comPos[2]-anklePos[2])
ankleHip = (hipPos[1]-anklePos[1], hipPos[2]-anklePos[2])
cosAngle = (ankleCom[0]*ankleHip[0] + ankleCom[1]*ankleHip[1])/(np.sqrt((ankleCom[0]**2+ankleCom[1]**2))*np.sqrt((ankleHip[0]**2 + ankleHip[1]**2)))
angle = np.arccos(cosAngle)
#print(angle)
return angle
def calculateAnkleAngle():
anklePos = p.getLinkState(robotId, 15)[0]
kneePos = p.getLinkState(robotId, 14)[0]
angle = np.arctan((kneePos[2]-anklePos[2])/(kneePos[1]-anklePos[1]))
print("thing " + str(angle))
return angle
def calculateOtherAnkleAngle():
anklePos = p.getLinkState(robotId, 15)[0]
kneePos = p.getLinkState(robotId, 14)[0]
angle = np.arctan((kneePos[0]-anklePos[0])/(kneePos[2]-anklePos[2]))
print("thing " + str(angle))
return angle
def calculatePelvisAngle():
pelvisPos = p.getLinkState(robotId, 0)[0]
chestPos = p.getLinkState(robotId, 1)[0]
print(chestPos)
print(pelvisPos)
angle = np.arctan((chestPos[0]-pelvisPos[0])/(chestPos[2]-pelvisPos[2]))
return angle
shiftFoot()
print(p.getLinkState(robotId, 21)[0][1]-calcCOM()[1])
print(str(p.getLinkState(robotId, 21)) + "HIIII")
for i in range(1000000):
p.stepSimulation()
"""
for i in range(0, len(xValues), 1):
ikList = p.calculateInverseKinematics(robotId, 15, [xValues[i], 0, zValues[i]])
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL,
targetPositions = ikList, forces = torqueList)
p.stepSimulation()
time.sleep(1./240.)
for i in range(10000):
p.stepSimulation()
time.sleep(1./240.)
"""
z = list(range(len(xValues)))
area = 3 # 0 to 15 point radii
plt.scatter(z, zValues, s=area, alpha=0.5)
#plt.show()
#ikList = p.calculateInverseKinematics(robotId, 10, [0,0.6,2] )
"""
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL,
targetPositions = ikList, forces = torqueList)
#CALCULATE COM
masstimesxpossum = 0.0
masstimesypossum = 0.0
masstimeszpossum = 0.0
masssum = 0.0
for i in range(0, p.getNumJoints(robotId) -1):
if(i >= 0):
print(p.getJointInfo(robotId, i)[0:13])
wheight = p.getDynamicsInfo(robotId, i)[0]
xpos = p.getLinkState(robotId, i)[0][0]
ypos = p.getLinkState(robotId, i)[0][1]
zpos = p.getLinkState(robotId, i)[0][2]
masstimesxpossum += (wheight * xpos)
masstimesypossum += (wheight * ypos)
masstimeszpossum += (wheight * zpos)
masssum += wheight
print(wheight) #what is wheight
print(xpos)
print(ypos)
print(zpos)
print("\n")
com = (masstimesxpossum/masssum, masstimesypossum/masssum, masstimeszpossum/masssum)
print("==========COM APROX EQUALS===========")
print(com)
print("\n")
#STEP SIMULATION
for i in range(0,10000):
p.stepSimulation()
time.sleep(1./240.)
print("========REALTIME SIMULATION DISABLED===============")
# p.calculateInverseKinematics(robotId, )
"""

301
control_systems/Control System/gaitGen/timeX.txt Normal file
View File

@ -0,0 +1,301 @@
0
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.1
0.11
0.12
0.13
0.14
0.15
0.16
0.17
0.18
0.19
0.2
0.21
0.22
0.23
0.24
0.25
0.26
0.27
0.28
0.29
0.3
0.31
0.32
0.33
0.34
0.35
0.36
0.37
0.38
0.39
0.4
0.41
0.42
0.43
0.44
0.45
0.46
0.47
0.48
0.49
0.5
0.51
0.52
0.53
0.54
0.55
0.56
0.57
0.58
0.59
0.6
0.61
0.62
0.63
0.64
0.65
0.66
0.67
0.68
0.69
0.7
0.71
0.72
0.73
0.74
0.75
0.76
0.77
0.78
0.79
0.8
0.81
0.82
0.83
0.84
0.85
0.86
0.87
0.88
0.89
0.9
0.91
0.92
0.93
0.94
0.95
0.96
0.97
0.98
0.99
1.0
1.01
1.02
1.03
1.04
1.05
1.06
1.07
1.08
1.09
1.1
1.11
1.12
1.13
1.14
1.15
1.16
1.17
1.18
1.19
1.2
1.21
1.22
1.23
1.24
1.25
1.26
1.27
1.28
1.29
1.3
1.31
1.32
1.33
1.34
1.35
1.36
1.37
1.38
1.39
1.4
1.41
1.42
1.43
1.44
1.45
1.46
1.47
1.48
1.49
1.5
1.51
1.52
1.53
1.54
1.55
1.56
1.57
1.58
1.59
1.6
1.61
1.62
1.63
1.64
1.65
1.66
1.67
1.68
1.69
1.7
1.71
1.72
1.73
1.74
1.75
1.76
1.77
1.78
1.79
1.8
1.81
1.82
1.83
1.84
1.85
1.86
1.87
1.88
1.89
1.9
1.91
1.92
1.93
1.94
1.95
1.96
1.97
1.98
1.99
2.0
2.01
2.02
2.03
2.04
2.05
2.06
2.07
2.08
2.09
2.1
2.11
2.12
2.13
2.14
2.15
2.16
2.17
2.18
2.19
2.2
2.21
2.22
2.23
2.24
2.25
2.26
2.27
2.28
2.29
2.3
2.31
2.32
2.33
2.34
2.35
2.36
2.37
2.38
2.39
2.4
2.41
2.42
2.43
2.44
2.45
2.46
2.47
2.48
2.49
2.5
2.51
2.52
2.53
2.54
2.55
2.56
2.57
2.58
2.59
2.6
2.61
2.62
2.63
2.64
2.65
2.66
2.67
2.68
2.69
2.7
2.71
2.72
2.73
2.74
2.75
2.76
2.77
2.78
2.79
2.8
2.81
2.82
2.83
2.84
2.85
2.86
2.87
2.88
2.89
2.9
2.91
2.92
2.93
2.94
2.95
2.96
2.97
2.98
2.99
3.0

301
control_systems/Control System/gaitGen/timeZ.txt Normal file
View File

@ -0,0 +1,301 @@
0
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.1
0.11
0.12
0.13
0.14
0.15
0.16
0.17
0.18
0.19
0.2
0.21
0.22
0.23
0.24
0.25
0.26
0.27
0.28
0.29
0.3
0.31
0.32
0.33
0.34
0.35
0.36
0.37
0.38
0.39
0.4
0.41
0.42
0.43
0.44
0.45
0.46
0.47
0.48
0.49
0.5
0.51
0.52
0.53
0.54
0.55
0.56
0.57
0.58
0.59
0.6
0.61
0.62
0.63
0.64
0.65
0.66
0.67
0.68
0.69
0.7
0.71
0.72
0.73
0.74
0.75
0.76
0.77
0.78
0.79
0.8
0.81
0.82
0.83
0.84
0.85
0.86
0.87
0.88
0.89
0.9
0.91
0.92
0.93
0.94
0.95
0.96
0.97
0.98
0.99
1.0
1.01
1.02
1.03
1.04
1.05
1.06
1.07
1.08
1.09
1.1
1.11
1.12
1.13
1.14
1.15
1.16
1.17
1.18
1.19
1.2
1.21
1.22
1.23
1.24
1.25
1.26
1.27
1.28
1.29
1.3
1.31
1.32
1.33
1.34
1.35
1.36
1.37
1.38
1.39
1.4
1.41
1.42
1.43
1.44
1.45
1.46
1.47
1.48
1.49
1.5
1.51
1.52
1.53
1.54
1.55
1.56
1.57
1.58
1.59
1.6
1.61
1.62
1.63
1.64
1.65
1.66
1.67
1.68
1.69
1.7
1.71
1.72
1.73
1.74
1.75
1.76
1.77
1.78
1.79
1.8
1.81
1.82
1.83
1.84
1.85
1.86
1.87
1.88
1.89
1.9
1.91
1.92
1.93
1.94
1.95
1.96
1.97
1.98
1.99
2.0
2.01
2.02
2.03
2.04
2.05
2.06
2.07
2.08
2.09
2.1
2.11
2.12
2.13
2.14
2.15
2.16
2.17
2.18
2.19
2.2
2.21
2.22
2.23
2.24
2.25
2.26
2.27
2.28
2.29
2.3
2.31
2.32
2.33
2.34
2.35
2.36
2.37
2.38
2.39
2.4
2.41
2.42
2.43
2.44
2.45
2.46
2.47
2.48
2.49
2.5
2.51
2.52
2.53
2.54
2.55
2.56
2.57
2.58
2.59
2.6
2.61
2.62
2.63
2.64
2.65
2.66
2.67
2.68
2.69
2.7
2.71
2.72
2.73
2.74
2.75
2.76
2.77
2.78
2.79
2.8
2.81
2.82
2.83
2.84
2.85
2.86
2.87
2.88
2.89
2.9
2.91
2.92
2.93
2.94
2.95
2.96
2.97
2.98
2.99
3.0

8
control_systems/Control System/gaitGen/urdf.py Normal file
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@ -0,0 +1,8 @@
from urdfpy import URDF
robot = URDF.load('olympian.urdf')
for link in robot.links:
print(link.name)
print(robot.base_link.name)

301
control_systems/Control System/gaitGen/xValues.txt Normal file
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@ -0,0 +1,301 @@
0.0
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301
control_systems/Control System/gaitGen/zValues.txt Normal file
View File

@ -0,0 +1,301 @@
0.0
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4
control_systems/Control System/instructions.py Normal file
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# Use methods online to dehash data packages/ instructions
# Add instruction to priority queue
def readInstruction

8
control_systems/Control System/main.py Normal file
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import sys
from bootup import *
def main():
startBoot() # when Olympian is booted up for first time
if __name__ == "__main__":
main()

661
control_systems/LICENSE Normal file
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@ -0,0 +1,661 @@
GNU AFFERO GENERAL PUBLIC LICENSE
Version 3, 19 November 2007
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
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control_systems/README.md Normal file
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# Control System
Control loops that monitor and manage the robot

27
control_systems/client1.py Normal file
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import socket
import threading
HOST = '10.235.1.145' # Enter IP or Hostname of your server
PORT = 12345 # Pick an open Port (1000+ recommended), must match the server port
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((HOST,PORT))
#Lets loop awaiting for your input
def telemetryReceive():
while True:
reply = s.recv(1024)
if reply != None:
print(reply)
def telemetrySend():
while True:
command = input('Enter your command: ')
if command != None:
s.send(bytes(command, 'utf-8'))
def main():
threading.Thread(target=telemetryReceive).start()
threading.Thread(target=telemetrySend).start()
main()

26
control_systems/server1.py Normal file
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import socket
HOST = '10.235.1.127' # Use this for client
PORT = 12345 # Pick an open Port (1000+ recommended), must match the client sport
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
print('Socket created')
#managing error exception
try:
s.bind((HOST, PORT))
except socket.error:
print ('Bind failed ')
s.listen(5)
print ('Socket awaiting messages')
(conn, addr) = s.accept()
print ('Connected')
# awaiting for message
while True:
data = conn.recv(1024)
print (data)
# # Sending reply
conn.send(data+bytes(" works",'utf-8'))
# conn.close() # Close connections