ae8e83988b
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
144 lines
4.1 KiB
Python
144 lines
4.1 KiB
Python
import numpy as np
|
|
|
|
|
|
|
|
class PDControllerStableMultiDof(object):
|
|
def __init__(self, pb):
|
|
self._pb = pb
|
|
|
|
def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds, maxForces, timeStep):
|
|
|
|
numJoints = len(jointIndices)#self._pb.getNumJoints(bodyUniqueId)
|
|
curPos,curOrn = self._pb.getBasePositionAndOrientation(bodyUniqueId)
|
|
#q1 = [desiredPositions[0],desiredPositions[1],desiredPositions[2],desiredPositions[3],desiredPositions[4],desiredPositions[5],desiredPositions[6]]
|
|
q1 = [curPos[0],curPos[1],curPos[2],curOrn[0],curOrn[1],curOrn[2],curOrn[3]]
|
|
|
|
#qdot1 = [0,0,0, 0,0,0,0]
|
|
baseLinVel, baseAngVel = self._pb.getBaseVelocity(bodyUniqueId)
|
|
|
|
qdot1 = [baseLinVel[0],baseLinVel[1],baseLinVel[2],baseAngVel[0],baseAngVel[1],baseAngVel[2],0]
|
|
qError = [0,0,0, 0,0,0,0]
|
|
|
|
qIndex=7
|
|
qdotIndex=7
|
|
zeroAccelerations=[0,0,0, 0,0,0,0]
|
|
for i in range (numJoints):
|
|
js = self._pb.getJointStateMultiDof(bodyUniqueId, jointIndices[i])
|
|
|
|
jointPos=js[0]
|
|
jointVel = js[1]
|
|
q1+=jointPos
|
|
|
|
if len(js[0])==1:
|
|
desiredPos=desiredPositions[qIndex]
|
|
|
|
qdiff=desiredPos - jointPos[0]
|
|
qError.append(qdiff)
|
|
zeroAccelerations.append(0.)
|
|
qdot1+=jointVel
|
|
qIndex+=1
|
|
qdotIndex+=1
|
|
if len(js[0])==4:
|
|
desiredPos=[desiredPositions[qIndex],desiredPositions[qIndex+1],desiredPositions[qIndex+2],desiredPositions[qIndex+3]]
|
|
axis = self._pb.getAxisDifferenceQuaternion(desiredPos,jointPos)
|
|
jointVelNew = [jointVel[0],jointVel[1],jointVel[2],0]
|
|
qdot1+=jointVelNew
|
|
qError.append(axis[0])
|
|
qError.append(axis[1])
|
|
qError.append(axis[2])
|
|
qError.append(0)
|
|
desiredVel=[desiredVelocities[qdotIndex],desiredVelocities[qdotIndex+1],desiredVelocities[qdotIndex+2]]
|
|
zeroAccelerations+=[0.,0.,0.,0.]
|
|
qIndex+=4
|
|
qdotIndex+=4
|
|
|
|
q = np.array(q1)
|
|
qdot=np.array(qdot1)
|
|
|
|
qdotdesired = np.array(desiredVelocities)
|
|
qdoterr = qdotdesired-qdot
|
|
|
|
|
|
Kp = np.diagflat(kps)
|
|
Kd = np.diagflat(kds)
|
|
|
|
p = Kp.dot(qError)
|
|
|
|
#np.savetxt("pb_qError.csv", qError, delimiter=",")
|
|
#np.savetxt("pb_p.csv", p, delimiter=",")
|
|
|
|
d = Kd.dot(qdoterr)
|
|
|
|
#np.savetxt("pb_d.csv", d, delimiter=",")
|
|
#np.savetxt("pbqdoterr.csv", qdoterr, delimiter=",")
|
|
|
|
|
|
M1 = self._pb.calculateMassMatrix(bodyUniqueId,q1, flags=1)
|
|
|
|
|
|
M2 = np.array(M1)
|
|
#np.savetxt("M2.csv", M2, delimiter=",")
|
|
|
|
M = (M2 + Kd * timeStep)
|
|
|
|
#np.savetxt("pbM_tKd.csv",M, delimiter=",")
|
|
|
|
|
|
|
|
c1 = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations, flags=1)
|
|
|
|
|
|
c = np.array(c1)
|
|
#np.savetxt("pbC.csv",c, delimiter=",")
|
|
A = M
|
|
#p = [0]*43
|
|
b = p + d -c
|
|
#np.savetxt("pb_acc.csv",b, delimiter=",")
|
|
qddot = np.linalg.solve(A, b)
|
|
tau = p + d - Kd.dot(qddot) * timeStep
|
|
#print("len(tau)=",len(tau))
|
|
maxF = np.array(maxForces)
|
|
forces = np.clip(tau, -maxF , maxF )
|
|
return forces
|
|
|
|
|
|
|
|
class PDControllerStable(object):
|
|
def __init__(self, pb):
|
|
self._pb = pb
|
|
|
|
def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds, maxForces, timeStep):
|
|
numJoints = self._pb.getNumJoints(bodyUniqueId)
|
|
jointStates = self._pb.getJointStates(bodyUniqueId, jointIndices)
|
|
q1 = []
|
|
qdot1 = []
|
|
zeroAccelerations = []
|
|
for i in range (numJoints):
|
|
q1.append(jointStates[i][0])
|
|
qdot1.append(jointStates[i][1])
|
|
zeroAccelerations.append(0)
|
|
q = np.array(q1)
|
|
qdot=np.array(qdot1)
|
|
qdes = np.array(desiredPositions)
|
|
qdotdes = np.array(desiredVelocities)
|
|
qError = qdes - q
|
|
qdotError = qdotdes - qdot
|
|
Kp = np.diagflat(kps)
|
|
Kd = np.diagflat(kds)
|
|
p = Kp.dot(qError)
|
|
d = Kd.dot(qdotError)
|
|
forces = p + d
|
|
|
|
M1 = self._pb.calculateMassMatrix(bodyUniqueId,q1)
|
|
M2 = np.array(M1)
|
|
M = (M2 + Kd * timeStep)
|
|
c1 = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations)
|
|
c = np.array(c1)
|
|
A = M
|
|
b = -c + p + d
|
|
qddot = np.linalg.solve(A, b)
|
|
tau = p + d - Kd.dot(qddot) * timeStep
|
|
maxF = np.array(maxForces)
|
|
forces = np.clip(tau, -maxF , maxF )
|
|
#print("c=",c)
|
|
return tau |