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generate_motion.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# Copyright (C) 2015 Stephane Caron <[email protected]>
#
# This file is part of icra-2015.
#
# This code is free software: you can redistribute it and/or
# modify it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or (at your
# option) any later version.
#
# This code is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
# more details.
#
# You should have received a copy of the GNU General Public License along with
# this code. If not, see <http://www.gnu.org/licenses/>.
import pylab
from dmotions import Trajectory, HRP4
from dmotions.hrp4 import Stance
from dmotions.interpolation import active_bezier_interpolate
from dmotions.hrp4.topp import WrenchConstraint
from numpy import array, eye, dot, linalg, pi
from dmotions.vector import norm
hrp = HRP4(topp_npoints=1000, topp_constraint=WrenchConstraint)
ACTUATED_DOFS = hrp.get_dofs('CHEST', 'R_LEG', 'L_LEG', 'R_ARM', 'L_ARM',
'TRANS_Y', 'TRANS_X', 'TRANS_Z')
def project_foot_velocity(q, qd_ref):
"""Return qd s.t. J * qd = 0 and |qd - qd_ref| is minimized."""
J = hrp.compute_foot_jacobian(hrp.left_foot_link, q)
P = eye(56) - dot(linalg.pinv(J), J)
return dot(dot(P, linalg.pinv(P)), qd_ref)
def connect(q0, q1, support):
"""Bezier curve with as-linear-as-possible velocity."""
assert not hrp.self_collides(q0)
assert not hrp.self_collides(q1)
qd_ref = (q1 - q0) / norm(q1 - q0)
qd0 = project_foot_velocity(q0, qd_ref)
qd1 = project_foot_velocity(q1, qd_ref)
traj = active_bezier_interpolate(
q0, qd0, q1, qd1, ACTUATED_DOFS, support)
return traj
q_start = pi / 180 * array(
[0., 0., 0., 0., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 0., 0.,
0., 0., -0.76, -22.02, 41.29,
-18.75, -0.45, 0., 1.15, -21.89,
41.21, -18.74, -1.10, 8., 0.,
0., 0., -3., -10., 0.,
-30., 0., 0., 0., 0.,
0., -3., 10., 0., -30.,
0., 0., 0., 0., 0.,
0. * (180 / pi), # [m/rad] TRANS_X
0. * (180 / pi), # [m/rad] TRANS_Y
-0.0387 * (180 / pi), # [m/rad] TRANS_Z (feet touch the floor)
0., # [rad] ROT_R
0., # [rad] ROT_P
0.]) # [rad] ROT_Y
q_comleft = \
array([0.00000000, 0.00000000, 0.00000000, 0.00000000, 0.00000000,
0.00000000, 0.00000000, 0.00000000, 0.00000000, 0.00000000,
0.00000000, 0.00000000, 0.00000000, 0.00000000, 0.00000000,
0.00000000, 0.00118611, -0.14315774, -0.34923836, 0.73068834,
-0.37228841, 0.12204464, 0.00131564, -0.10959855, -0.33846228,
0.71184241, -0.36320601, 0.11047787, 0.15604690, -0.00292546,
0.00000000, 0.00000000, -0.06132496, -0.14572702, 0.00442847,
-0.52713123, 0.00000000, 0.00000000, 0.00000000, 0.00000000,
0.00000000, -0.06132139, 0.20359890, 0.00443174, -0.52553889,
0.00000000, 0.00000000, 0.00000000, 0.00000000, 0.00000000,
0.02605553, 0.08471537, -0.04321228, 0.00000000, 0.00000000,
0.0000000])
q_c3po = \
array([0.00000000e+00, 0.00000000e+00, -2.60046563e-16,
0.00000000e+00, -2.60046563e-16, 0.00000000e+00,
-2.60046560e-16, 0.00000000e+00, 0.00000000e+00,
-4.50930800e-15, 0.00000000e+00, -4.50930807e-15,
0.00000000e+00, -4.50930807e-15, 0.00000000e+00,
-4.50930800e-15, 9.45055790e-03, -1.83551404e-01,
-7.79022310e-01, 8.78871699e-01, -4.81160707e-02,
1.83791813e-01, 1.58375597e-03, -1.35570684e-01,
-1.28703450e-01, 2.48598574e-01, -1.09680652e-01,
1.36451361e-01, 2.18538123e-02, -2.19932584e-02,
0.00000000e+00, 0.00000000e+00, -2.67218252e-01,
-7.02197180e-01, 1.44640348e+00, -1.01289066e+00,
0.00000000e+00, -3.39061720e-15, -1.53554789e-15,
1.00136913e-15, 0.00000000e+00, -2.67124714e-01,
7.69639186e-01, -1.44639515e+00, -9.87170259e-01,
0.00000000e+00, -3.33644647e-16, 0.00000000e+00,
-3.33066900e-16, -1.42289629e-16, 1.52893123e-02,
1.06716976e-01, -8.27889835e-03, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00])
q_equi1 = \
array([0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 1.27570012e-16,
0.00000000e+00, 1.27570012e-16, 0.00000000e+00,
1.27570012e-16, 0.00000000e+00, 1.27570012e-16,
0.00000000e+00, -5.31697580e-01, -1.37186676e-02,
-1.05000000e+00, 6.72038247e-01, 6.91383507e-02,
1.95835459e-02, 2.16317098e-03, -1.91291785e-01,
-3.61300248e-01, 6.75221914e-01, -3.03612956e-01,
1.92175266e-01, -8.01118850e-02, -3.98762220e-01,
0.00000000e+00, 0.00000000e+00, -1.18124922e+00,
-5.04941626e-01, 1.44612245e+00, -1.81210097e+00,
0.00000000e+00, 3.18726237e-16, -3.18726237e-16,
5.49104856e-09, 0.00000000e+00, -1.56818020e+00,
4.63682676e-01, -1.44673829e+00, -1.71382162e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
-2.28751701e-07, 0.00000000e+00, -8.83400882e-04,
1.37974225e-01, -4.92850237e-02, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00])
q_eagle = \
array([0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
-2.38968325e-15, 0.00000000e+00, -2.38968325e-15,
0.00000000e+00, -2.38968325e-15, 0.00000000e+00,
-2.38968325e-15, -5.31697573e-01, -1.37186678e-02,
-9.36266529e-01, 6.72038187e-01, 6.91384916e-02,
1.95834886e-02, 2.16317105e-03, -1.91291783e-01,
-3.61300263e-01, 6.75221935e-01, -3.03612962e-01,
1.92175242e-01, -8.01118845e-02, -3.98762309e-01,
0.00000000e+00, 0.00000000e+00, -1.18124923e+00,
-1.40862387e+00, 1.44612246e+00, 3.49065850e-02,
0.00000000e+00, 1.63367867e-15, 4.80124714e-15,
9.12758123e-08, -2.94392336e-16, -1.56818014e+00,
1.27529159e+00, -1.44673828e+00, 3.49065566e-02,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
-2.40600596e-07, 0.00000000e+00, -8.83400906e-04,
1.37974232e-01, -4.92850244e-02, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00])
q_eagle2 = \
array([0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
-1.13049189e-16, 0.00000000e+00, -1.13049189e-16,
0.00000000e+00, -1.13049189e-16, 0.00000000e+00,
-1.13049189e-16, -5.31697573e-01, -1.37186678e-02,
-9.36266529e-01, 6.72038187e-01, 6.91384916e-02,
1.95834512e-02, 2.16317105e-03, -1.91291783e-01,
-3.61300263e-01, 6.75221935e-01, -3.03612962e-01,
1.92175220e-01, -8.01118845e-02, -3.98762396e-01,
0.00000000e+00, 0.00000000e+00, -3.53177031e-02,
-1.40862387e+00, 1.44612245e+00, 3.45066261e-02,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
6.50810699e-08, 0.00000000e+00, -3.10400530e-02,
1.27529167e+00, -1.44673827e+00, 3.49065750e-02,
0.00000000e+00, -1.27570012e-16, -1.66822324e-16,
-2.69971583e-07, -1.66822324e-16, -8.83400906e-04,
1.37974232e-01, -4.92850244e-02, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00])
q_fly = \
array([0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
-1.32675345e-16, 0.00000000e+00, -1.32675345e-16,
0.00000000e+00, -1.32675345e-16, 0.00000000e+00,
-1.32675345e-16, -5.31697573e-01, -1.37186678e-02,
-9.36266529e-01, 6.72038187e-01, 6.91384916e-02,
1.95833884e-02, 2.16317105e-03, -1.91291783e-01,
-3.61300263e-01, 6.75221935e-01, -3.03612962e-01,
1.92175191e-01, -8.01118845e-02, -1.98762396e-01,
0.00000000e+00, 0.00000000e+00, -3.53177031e-02,
-6.90361512e-01, 1.44612235e+00, 3.45066060e-02,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
1.26461233e-07, 0.00000000e+00, -3.10400530e-02,
7.27553488e-01, -1.44673825e+00, 3.49065657e-02,
0.00000000e+00, 1.57009246e-16, 0.00000000e+00,
-9.66028413e-08, 0.00000000e+00, -8.83400906e-04,
1.37974232e-01, -4.92850244e-02, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00])
q_fly2 = \
array([0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, -5.31697573e-01, -1.37186678e-02,
-9.36266529e-01, 6.72038187e-01, 6.91384916e-02,
1.95832459e-02, 2.16317105e-03, -1.91291783e-01,
-3.61300263e-01, 6.75221935e-01, -3.03612962e-01,
1.92175162e-01, -8.01118845e-02, -3.98762396e-01,
0.00000000e+00, 0.00000000e+00, -3.53177031e-02,
-6.90361512e-01, 1.44612229e+00, -6.74909954e-01,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
9.42456180e-08, 0.00000000e+00, -3.10400530e-02,
1.45783012e+00, -1.44673820e+00, 3.49065671e-02,
0.00000000e+00, -1.27570012e-16, 0.00000000e+00,
-1.58883364e-07, 0.00000000e+00, -8.83400906e-04,
1.37974232e-01, -4.92850244e-02, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00])
q_eagle3 = \
array([0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
-1.13049189e-16, 0.00000000e+00, -1.13049189e-16,
0.00000000e+00, -1.13049189e-16, 0.00000000e+00,
-1.13049189e-16, -5.31697573e-01, -1.37186678e-02,
-9.36266529e-01, 6.72038187e-01, 6.91384916e-02,
1.95834512e-02, 2.16317105e-03, -1.91291783e-01,
-3.61300263e-01, 6.75221935e-01, -3.03612962e-01,
1.92175220e-01, -8.01118845e-02, -1.98762396e-01,
0.00000000e+00, 0.00000000e+00, -3.53177031e-02,
-1.40862387e+00, 1.44612245e+00, 3.45066261e-02,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
6.50810699e-08, 0.00000000e+00, -3.10400530e-02,
1.27529167e+00, -1.44673827e+00, 3.49065750e-02,
0.00000000e+00, -1.27570012e-16, -1.66822324e-16,
-2.69971583e-07, -1.66822324e-16, -8.83400906e-04,
1.37974232e-01, -4.92850244e-02, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00])
q_equi2 =\
array([0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, -5.30426373e-01, -1.66662360e-03,
-8.81897608e-01, 6.91688450e-01, 8.51297350e-02,
7.46465163e-03, 2.20596250e-03, -1.95363994e-01,
-4.24648707e-01, 7.55521166e-01, -3.20555535e-01,
1.96247692e-01, -1.58804238e-01, -4.08143387e-01,
0.00000000e+00, 0.00000000e+00, -1.15095983e+00,
-5.11763808e-01, 1.44513465e+00, -1.80611632e+00,
0.00000000e+00, 2.40221614e-16, -7.50501663e-16,
5.49104862e-09, 0.00000000e+00, -1.53484266e+00,
4.55981690e-01, -1.44514520e+00, -1.71521827e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
-2.28751701e-07, 0.00000000e+00, -1.63755803e-02,
1.38534429e-01, -6.01283466e-02, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00])
q_c3po2 = \
array([0.00000000e+00, -1.15303665e-16, -1.15303665e-16,
-1.15303665e-16, -1.15303665e-16, -1.15303665e-16,
-1.15303665e-16, -1.15303665e-16, -7.19421271e-16,
-5.05884043e-15, -7.19421271e-16, -5.05884043e-15,
-7.19421271e-16, -5.05884043e-15, -7.19421271e-16,
-5.05884043e-15, 9.83999747e-03, -1.90936680e-01,
-8.26779336e-01, 8.52418532e-01, 2.61665088e-02,
1.91186996e-01, 1.63537987e-03, -1.40574964e-01,
-2.64750088e-01, 4.15885412e-01, -1.40913757e-01,
1.41455902e-01, -1.02353201e-01, -2.11336232e-02,
0.00000000e+00, 0.00000000e+00, -2.10305273e-01,
-6.58760161e-01, 1.44468754e+00, -6.84627665e-01,
0.00000000e+00, -2.00329331e-15, -2.98788342e-15,
3.36536354e-16, -2.17114348e-16, -2.11893350e-01,
6.61302973e-01, -1.44463764e+00, -6.84649427e-01,
0.00000000e+00, 1.15916982e-16, 0.00000000e+00,
-6.73072709e-16, -1.93194971e-16, -2.69159294e-02,
1.08592387e-01, -1.93959479e-02, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00])
q_equi22 = \
array([0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 9.83999747e-03, -1.90936680e-01,
-8.26779336e-01, 8.52418532e-01, 2.61665088e-02,
7.46465163e-03, 2.20596250e-03, -1.95363994e-01,
-4.24648707e-01, 7.55521166e-01, -3.20555535e-01,
1.96247692e-01, -1.58804238e-01, -4.08143387e-01,
0.00000000e+00, 0.00000000e+00, -1.15095983e+00,
-5.11763808e-01, 1.44513465e+00, -1.80611632e+00,
0.00000000e+00, 2.40221614e-16, -7.50501663e-16,
5.49104862e-09, 0.00000000e+00, -1.53484266e+00,
4.55981690e-01, -1.44514520e+00, -1.71521827e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
-2.28751701e-07, 0.00000000e+00, -1.63755803e-02,
1.38534429e-01, -6.01283466e-02, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00])
q_list = [
q_start,
q_comleft,
q_c3po,
q_equi1,
q_eagle,
q_eagle2,
q_fly,
q_fly2,
q_eagle3,
q_eagle,
q_equi2,
q_equi22,
q_c3po2,
q_comleft,
# q_start, # this segment is done separately in double support
]
def move_com(q, dcom):
stance = Stance.from_q(hrp, q)
stance.com = stance.com + array(dcom)
stance.recompute_q()
return stance.q
def export(version="v12"): # petit clin d'oeil a la CA ;)
global traj0, traj1
last_chunk_open = connect(q_list[-1], q_list[0],
support=hrp.Support.DOUBLE)
last_traj = hrp.maintain_foot_contact(last_chunk_open)
retimed = Trajectory([retimed_traj] + last_traj.chunks,
active_dofs=retimed_traj.active_dofs)
hrp.export_openhrp(retimed, "retimed-" + version)
reacc10 = Trajectory([reacc10_traj] + last_traj.chunks,
active_dofs=reacc10_traj.active_dofs)
hrp.export_openhrp(reacc10, "reacc10-" + version)
reacc15 = Trajectory([reacc15_traj] + last_traj.chunks,
active_dofs=reacc15_traj.active_dofs)
hrp.export_openhrp(reacc15, "reacc15-" + version)
slowed10 = Trajectory([slowed10_traj] + last_traj.chunks,
active_dofs=slowed10_traj.active_dofs)
hrp.export_openhrp(slowed10, "slowed10-" + version)
slowed15 = Trajectory([slowed15_traj] + last_traj.chunks,
active_dofs=slowed15_traj.active_dofs)
hrp.export_openhrp(slowed15, "slowed15-" + version)
slowed20 = Trajectory([slowed20_traj] + last_traj.chunks,
active_dofs=slowed20_traj.active_dofs)
hrp.export_openhrp(slowed20, "slowed20-" + version)
scaled = Trajectory(scaled_traj.chunks + last_traj.chunks,
active_dofs=scaled_traj.active_dofs)
hrp.export_openhrp(scaled, "scaled-" + version)
original = Trajectory(original_traj.chunks + last_traj.chunks,
active_dofs=original_traj.active_dofs)
hrp.export_openhrp(original, "original-" + version)
if __name__ == '__main__':
pylab.ion()
hrp.display()
q_pairs = [(q_list[i], q_list[i + 1]) for i in xrange(len(q_list) - 1)]
open_chunks = [connect(q[0], q[1], support=hrp.Support.LEFT) for q in
q_pairs]
closed_trajs = map(hrp.maintain_foot_contact, open_chunks)
original_traj = Trajectory.merge(*closed_trajs)
retimed_traj = hrp.topp.retime_trajectory(original_traj, 0., 0.)
tscale = retimed_traj.duration / original_traj.duration
scaled_traj = original_traj.timescale(tscale)
reacc10_traj = retimed_traj.timescale(0.90)
reacc15_traj = retimed_traj.timescale(0.85)
slowed10_traj = retimed_traj.timescale(1.10)
slowed15_traj = retimed_traj.timescale(1.15)
slowed20_traj = retimed_traj.timescale(1.20)
print "original duration:", original_traj.duration
print "retimed duration: ", retimed_traj.duration
print "scaled duration: ", scaled_traj.duration
# hrp.collision_handle = None # for manipulation in OpenRAVE GUI
export()
if False:
kron = hrp.topp.retime_trajectory(scaled_traj, 0., 0.)
hrp.topp.plot_last_instance(ylim=(0, 2))
if False: # compare with discrete contact points
w_cons = hrp.topp.get_constraint(original_traj)
def wtest(s, sd):
return w_cons.test_abc(
original_traj.q_full(s), original_traj.qd_full(s),
original_traj.qdd_full(s), sd)