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Merge pull request #3 from PotentiaRobotics/Ram-Dynamic-Balance
Implement CP-stable dynamic balance
This commit is contained in:
Aditya Vasantharao
GitHub
commit
414129fe48
237
simulation/atlas/controllers/DynamicBalanceBackup2.py
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237
simulation/atlas/controllers/DynamicBalanceBackup2.py
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import time
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from shapely.geometry.polygon import Polygon
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from shapely.geometry.point import Point
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from controller import Robot, Supervisor, Display
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#robot - wb_supervisor_node
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#supervisor - wb_robot
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#so basically supervisor is the robot and robot is the supervisor
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#hooray for poor nomenclature
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supervisor = Supervisor()
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global TIMESTEP
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TIMESTEP = int(supervisor.getBasicTimeStep())
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startTime = time.time()
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robotNode = supervisor.getRoot()
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children = robotNode.getField("children")
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robot = children.getMFNode(5)
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right_arm_uzi = supervisor.getDevice("RArmUsy")
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left_arm_uzi = supervisor.getDevice("LArmUsy")
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torso_pitch = supervisor.getDevice("BackMby")
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torso_roll = supervisor.getDevice("BackUbx")
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right_torso_pitch = supervisor.getDevice("RLegLhy")
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left_torso_pitch = supervisor.getDevice("LLegLhy")
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right_ankle_pitch = supervisor.getDevice("RLegUay")
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left_ankle_pitch = supervisor.getDevice("LLegUay")
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# print(rightFootSlotPosition,leftFootSlotPosition)
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# def isCOMInSupportPlane(wantDistance):
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# coordinate1 = ((rightFootSlotPosition[0] + 0.17), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Front Edge
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# coordinate2 = ((rightFootSlotPosition[0] - 0.08), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Back Edge
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# coordinate3 = ((leftFootSlotPosition[0] - 0.08), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Back Edge
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# coordinate4 = ((leftFootSlotPosition[0] + 0.17), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Front Edge
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# coordinate5 = ((robot.getCenterOfMass()[0]), (robot.getCenterOfMass()[2]))
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# supportRectangle = Polygon([coordinate1,coordinate2,coordinate3,coordinate4])
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# COMPoint = Point(coordinate5)
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# if(wantDistance== False):
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# return supportRectangle.contains(COMPoint)
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# elif(wantDistance == True):
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# return supportRectangle.distance(COMPoint)
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def distanceToCOMinSupportPlaneCenter():
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rightFootSlot = robot.getField("rightFootSlot")
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rightFootSlotPosition = rightFootSlot.getMFNode(0).getPosition()
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leftFootSlot = robot.getField("leftFootSlot")
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leftFootSlotPosition = leftFootSlot.getMFNode(0).getPosition()
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coordinate1 = ((rightFootSlotPosition[0] + 0.17), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Front Edge
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coordinate2 = ((rightFootSlotPosition[0] - 0.08), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Back Edge
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coordinate3 = ((leftFootSlotPosition[0] - 0.08), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Back Edge
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coordinate4 = ((leftFootSlotPosition[0] + 0.17), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Front Edge
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coordinate5 = ((robot.getCenterOfMass()[0]), (robot.getCenterOfMass()[2]))
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supportRectangle = Polygon([coordinate1,coordinate2,coordinate3,coordinate4])
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COMPoint = Point(coordinate5)
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supportRectangleCenter = supportRectangle.centroid
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return [(COMPoint.x - supportRectangleCenter.x), (COMPoint.y - supportRectangleCenter.y)]
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# def isCOMInSupportPlaneTight(wantDistance):
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# coordinate1 = ((rightFootSlotPosition[0] + 0.025), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Front Edge
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# coordinate2 = ((rightFootSlotPosition[0] - 0.05), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Back Edge
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# coordinate3 = ((leftFootSlotPosition[0] - 0.05), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Back Edge
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# coordinate4 = ((leftFootSlotPosition[0] + 0.025), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Front Edge
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# coordinate5 = ((robot.getCenterOfMass()[0]), (robot.getCenterOfMass()[2]))
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# supportRectangle = Polygon([coordinate1,coordinate2,coordinate3,coordinate4])
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# COMPoint = Point(coordinate5)
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# if(wantDistance== False):
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# return supportRectangle.contains(COMPoint)
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# elif(wantDistance == True):
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# return supportRectangle.distance(COMPoint)
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# def isComInSupportPlaneCenter(wantDistance):
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# coordinate1 = ((rightFootSlotPosition[0] + 0.075), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Front Edge
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# coordinate2 = ((rightFootSlotPosition[0] - 0.025), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Back Edge
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# coordinate3 = ((leftFootSlotPosition[0] - 0.025), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Back Edge
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# coordinate4 = ((leftFootSlotPosition[0] + 0.075), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Front Edge
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# coordinate5 = ((robot.getCenterOfMass()[0]), (robot.getCenterOfMass()[2]))
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# supportRectangle = Polygon([coordinate1,coordinate2,coordinate3,coordinate4])
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# COMPoint = Point(coordinate5)
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# print("COM is at " + str(COMPoint))
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# print("COM should be at" + str(supportRectangle.centroid))
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# if (wantDistance == False):
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# if((COMPoint.x > coordinate2[0]) and (COMPoint.x < (coordinate2[0] + 0.03))):
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# return True
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# elif(supportRectangle.centroid != COMPoint):
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# return False
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# elif (wantDistance == True):
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# return ((coordinate2[0] + 0.015) - COMPoint.x)
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shoulderForce = 1.5
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# right_shoulder_pitch.setPosition(shoulderForce)
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# left_shoulder_pitch.setPosition(shoulderForce)
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firstTimeMovingTest = True
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fallingForward = True
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# isComInSupportPlaneCenter(False)
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while supervisor.step(TIMESTEP) != -1:
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if(time.time() - startTime >= 3 and firstTimeMovingTest == True ):
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# right_torso_pitch.setPosition(testForce)
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# left_torso_pitch.setPosition(testForce)
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# forcex = -4550,6000
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forcex = -4500
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robot.addForce([forcex,0,0], False)
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firstTimeMovingTest = False
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# if(time.time() - startTime >= 6 ):
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# # isComInSupportPlaneCenter()
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# # print(robot.getCenterOfMass())
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# print(isComInSupportPlaneCenter(True))
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wantActuation = True
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if( firstTimeMovingTest == False and wantActuation == True):
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if(robot.getCenterOfMass()[0] > 0):
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fallingForward = True #com is forward so apply backwards motor values (positive motor values)
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elif (robot.getCenterOfMass()[0] < 0):
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fallingForward = False #com is backward so apply forwards motor values (negative motor values)
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# print(fallingForward)
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# print(error)
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fallModifier = 1
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if(fallingForward == True):
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fallModifier = 1
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elif(fallingForward == False):
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fallModifier = -1
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# print(distanceToCOMinSupportPlaneCenter())
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#PID CONTROL (ADD DERIVITIVE)
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#CO = CObias + KC * e(t)
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ankleerrorx = distanceToCOMinSupportPlaneCenter()[0] #find error/e(t)
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anklekc = -0.5 * fallModifier
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ankleCObias = 0
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ankleCOx = ankleCObias + (anklekc * ankleerrorx)
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torsoerrorx = distanceToCOMinSupportPlaneCenter()[0] #find error/e(t)
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torsokc = -1 * fallModifier
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torsoCObias = 0
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torsoCOx = torsoCObias + (torsokc * torsoerrorx)
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torsoerrory = distanceToCOMinSupportPlaneCenter()[1] #find error/e(t)
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torsokc = -1 * fallModifier
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torsoCObias = 0
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torsoCOy = torsoCObias + (torsokc * torsoerrorx)
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shouldererrorx = distanceToCOMinSupportPlaneCenter()[0] #find error/e(t)
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shoulderkc = -0.5 * fallModifier
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shoulderCObias = 0
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shoulderCOx = shoulderCObias + (shoulderkc * shouldererrorx)
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right_ankle_pitch.setPosition(ankleCOx)
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left_ankle_pitch.setPosition(ankleCOx)
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torso_pitch.setPosition(torsoCOx)
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torso_roll.setPosition(torsoCOy)
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right_torso_pitch.setPosition(torsoCOx*-1)
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left_torso_pitch.setPosition(torsoCOx*-1)
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right_arm_uzi.setPosition(shoulderCOx)
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left_arm_uzi.setPosition(shoulderCOx)
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# print("CO " + str(shoulderCOx))
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#TODO: make it fix y errors as well as x errors.
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192
simulation/controllers/olympian/NaoBalanceTest.py
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192
simulation/controllers/olympian/NaoBalanceTest.py
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from os import truncate
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from controller import Robot, Supervisor, Display
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from shapely.geometry import Polygon #for rectangle intersections
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from shapely.geometry import Point
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import time
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supervisor = Supervisor()
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global TIMESTEP
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TIMESTEP = int(supervisor.getBasicTimeStep())
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robotNode = supervisor.getRoot()
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children = robotNode.getField("children")
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robot = children.getMFNode(5)
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startTime = time.time()
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#get devices
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gyro = supervisor.getDevice("gyro")
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accel = supervisor.getDevice("accelerometer")
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gyro.enable(TIMESTEP)
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accel.enable(TIMESTEP)
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right_shoulder_pitch = supervisor.getDevice("RShoulderPitch")
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left_shoulder_pitch = supervisor.getDevice("LShoulderPitch")
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right_torso_pitch = supervisor.getDevice("RHipPitch")
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left_torso_pitch = supervisor.getDevice("LHipPitch")
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right_hip_roll = supervisor.getDevice("RHipRoll")
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left_hip_roll = supervisor.getDevice("LHipRoll")
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right_knee_pitch = supervisor.getDevice("RKneePitch")
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left_knee_pitch = supervisor.getDevice("LKneePitch")
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right_ankle_pitch = supervisor.getDevice("RAnklePitch")
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left_ankle_pitch = supervisor.getDevice("LAnklePitch")
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left_foot_bumper_left = supervisor.getDevice("LFoot/Bumper/Left")
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right_foot_bumper_right = supervisor.getDevice("RFoot/Bumper/Right")
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left_foot_sensor = supervisor.getDevice("LFsr")
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right_foot_sensor = supervisor.getDevice("RFsr")
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rightFootSlot = robot.getField("rightFootSlot")
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rightFootSlotPosition = rightFootSlot.getMFNode(0).getPosition()
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# print(rightFootSlotPosition)
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leftFootSlot = robot.getField("leftFootSlot")
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leftFootSlotPosition = leftFootSlot.getMFNode(0).getPosition()
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# print(leftFootSlotPosition)
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#default +0.075, -0.025, +0.05, -0.05
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def isCOMInSupportPlane(wantDistance):
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coordinate1 = ((rightFootSlotPosition[0] + 0.075), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Front Edge
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coordinate2 = ((rightFootSlotPosition[0] - 0.025), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Back Edge
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coordinate3 = ((leftFootSlotPosition[0] - 0.025), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Back Edge
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coordinate4 = ((leftFootSlotPosition[0] + 0.075), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Front Edge
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coordinate5 = ((robot.getCenterOfMass()[0]), (robot.getCenterOfMass()[2]))
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supportRectangle = Polygon([coordinate1,coordinate2,coordinate3,coordinate4])
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COMPoint = Point(coordinate5)
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if(wantDistance== False):
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return supportRectangle.contains(COMPoint)
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elif(wantDistance == True):
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return supportRectangle.distance(COMPoint)
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def isComInSupportPlaneCenter(wantDistance):
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coordinate1 = ((rightFootSlotPosition[0] + 0.075), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Front Edge
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coordinate2 = ((rightFootSlotPosition[0] - 0.025), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Back Edge
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coordinate3 = ((leftFootSlotPosition[0] - 0.025), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Back Edge
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coordinate4 = ((leftFootSlotPosition[0] + 0.075), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Front Edge
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coordinate5 = ((robot.getCenterOfMass()[0]), (robot.getCenterOfMass()[2]))
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supportRectangle = Polygon([coordinate1,coordinate2,coordinate3,coordinate4])
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COMPoint = Point(coordinate5)
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print("COM is at " + str(COMPoint))
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print("COM should be at" + str(supportRectangle.centroid))
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if (wantDistance == False):
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if((COMPoint.x > coordinate2[0]) and (COMPoint.x < (coordinate2[0] + 0.03))):
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return True
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elif(supportRectangle.centroid != COMPoint):
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return False
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elif (wantDistance == True):
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return ((coordinate2[0] + 0.015) - COMPoint.x)
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shoulderForce = 1.5
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right_shoulder_pitch.setPosition(shoulderForce)
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left_shoulder_pitch.setPosition(shoulderForce)
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firstTimeMovingTest = True
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fallingForward = True
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isComInSupportPlaneCenter(False)
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while supervisor.step(TIMESTEP) != -1:
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if(time.time() - startTime >= 3 and firstTimeMovingTest == True ):
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# right_torso_pitch.setPosition(testForce)
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# left_torso_pitch.setPosition(testForce)
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# robot.addForce(5, False)
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#145 good
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# forcex = 100
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# forcex = -75/-80
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forcex = -85
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robot.addForce([forcex,0,0], False)
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firstTimeMovingTest = False
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# if(time.time() - startTime >= 6 ):
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# # isComInSupportPlaneCenter()
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# # print(robot.getCenterOfMass())
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# print(isComInSupportPlaneCenter(True))
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if(isCOMInSupportPlane(False) == False and firstTimeMovingTest == False):
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if(robot.getCenterOfMass()[0] > 0):
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fallingForward = True #com is forward so apply backwards motor values (positive motor values)
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elif (robot.getCenterOfMass()[0] < 0):
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fallingForward = False #com is backward so apply forwards motor values (negative motor values)
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# print(fallingForward)
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# print(error)
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fallModifier = 1
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if(fallingForward == True):
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fallModifier = 1
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elif(fallingForward == False):
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fallModifier = -1
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#PID CONTROL (ADD DERIVITIVE)
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#CO = CObias + KC * e(t)
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ankleerror = isCOMInSupportPlane(True) #find error/e(t)
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anklekc = 1 * fallModifier
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ankleCObias = 0
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ankleCO = ankleCObias + (anklekc * ankleerror)
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torsoerror = isCOMInSupportPlane(True) #find error/e(t)
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torsokc = 2 * fallModifier
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torsoCObias = 0
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torsoCO = torsoCObias + (torsokc * torsoerror)
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shouldererror = isCOMInSupportPlane(True) #find error/e(t)
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shoulderkc = 2 * fallModifier
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shoulderCObias = 0
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shoulderCO = shoulderCObias + (shoulderkc * shouldererror)
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right_ankle_pitch.setPosition(ankleCO)
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left_ankle_pitch.setPosition(ankleCO)
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right_torso_pitch.setPosition(torsoCO)
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left_torso_pitch.setPosition(torsoCO)
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right_shoulder_pitch.setPosition(shoulderCO)
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left_shoulder_pitch.setPosition(shoulderCO)
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print("CO " + str(shoulderCO))
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