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Add four leg test program #788

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merged 4 commits into from
Sep 3, 2015
Merged

Add four leg test program #788

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b902acc
[AutoBalancer.cpp] fix typo of index
eisoku9618 Sep 3, 2015
fcecde7
[sample/SampleRobot/samplerobot_auto_balancer.py] add four legs mode …
eisoku9618 Sep 3, 2015
25ce3c2
[sample/SampleRobot/samplerobot_auto_balancer.py] add a sample progra…
eisoku9618 Sep 3, 2015
510e194
[sample/SampleRobot/samplerobot_auto_balancer.py] add a sample progra…
eisoku9618 Sep 3, 2015
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2 changes: 1 addition & 1 deletion rtc/AutoBalancer/AutoBalancer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1158,7 +1158,7 @@ bool AutoBalancer::setFootStepsWithParam(const OpenHRP::AutoBalancerService::Foo
for (size_t i = 0; i < fs_vec_list.size(); i++) {
if (!(gg_is_walking && i == 0)) { // If initial footstep, e.g., not walking, pass user-defined footstep list. If walking, pass cdr footsteps in order to neglect initial double support leg.
std::vector<step_node> tmp_fns;
for (size_t j = 0; j < fs_vec_list.at(j).size(); j++) {
for (size_t j = 0; j < fs_vec_list.at(i).size(); j++) {
tmp_fns.push_back(step_node(leg_name_vec_list[i][j], fs_vec_list[i][j], spss[i].sps[j].step_height, spss[i].sps[j].step_time, spss[i].sps[j].toe_angle, spss[i].sps[j].heel_angle));
}
fnsl.push_back(tmp_fns);
Expand Down
53 changes: 51 additions & 2 deletions sample/SampleRobot/samplerobot_auto_balancer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
import time

def init ():
global hcf, initial_pose, arm_front_pose, half_sitting_pose, root_rot_x_pose, root_rot_y_pose, pose_list, hrpsys_version
global hcf, initial_pose, arm_front_pose, half_sitting_pose, root_rot_x_pose, root_rot_y_pose, pose_list, hrpsys_version, four_legs_mode_pose
hcf = HrpsysConfigurator()
hcf.getRTCList = hcf.getRTCListUnstable
hcf.init ("SampleRobot(Robot)0", "$(PROJECT_DIR)/../model/sample1.wrl")
Expand All @@ -24,7 +24,8 @@ def init ():
half_sitting_pose = [-0.000158,-0.570987,-0.000232,1.26437,-0.692521,0.000277,0.31129,-0.159481,-0.115399,-0.636277,0.0,0.0,0.0,-0.000158,-0.570987,-0.000232,1.26437,-0.692521,0.000277,0.31129,0.159481,0.115399,-0.636277,0.0,0.0,0.0,0.0,0.0,0.0]
root_rot_x_pose = [-0.241557,-0.634167,0.011778,1.30139,-0.668753,0.074236,0.31129,-0.159481,-0.115399,-0.636277,0.0,0.0,0.0,-0.233491,-0.555191,0.011181,1.13468,-0.580942,0.065086,0.31129,0.159481,0.115399,-0.636277,0.0,0.0,0.0,0.0,0.0,0.0]
root_rot_y_pose = [8.251963e-05,-0.980029,-0.000384,1.02994,-0.398115,-0.000111,0.31129,-0.159481,-0.115399,-0.636277,0.0,0.0,0.0,8.252625e-05,-0.980033,-0.000384,1.02986,-0.398027,-0.000111,0.31129,0.159481,0.115399,-0.636277,0.0,0.0,0.0,0.0,0.0,0.0]
pose_list=[half_sitting_pose, root_rot_x_pose, root_rot_y_pose, arm_front_pose]
four_legs_mode_pose = [0.0, -0.349066, 0.0, 0.820305, -0.471239, 0.0, 0.493231, 0.008013, 0.000304, -1.608, 0.008019, -0.456023, 0.637045, 0.0, -0.349066, 0.0, 0.820305, -0.471239, 0.0, 0.493231, -0.008013, -0.000304, -1.608, -0.008019, -0.456023, -0.637045, 0.0, 0.0, 0.0]
pose_list=[half_sitting_pose, root_rot_x_pose, root_rot_y_pose, arm_front_pose, four_legs_mode_pose]
hcf.seq_svc.setJointAngles(initial_pose, 2.0)
hcf.waitInterpolation()
hrpsys_version = hcf.seq.ref.get_component_profile().version
Expand Down Expand Up @@ -128,6 +129,23 @@ def demoAutoBalancerBalanceAgainstHandForce():
hcf.stopAutoBalancer();
checkActualBaseAttitude()

def demoAutoBalancerBalanceWithArms():
print >> sys.stderr, "8. balance with arms"
hcf.seq_svc.setJointAngles(four_legs_mode_pose, 1.0)
hcf.waitInterpolation()
abcp=hcf.abc_svc.getAutoBalancerParam()[1]
abcp.leg_names = ['rleg', 'lleg', 'rarm', 'larm']
hcf.abc_svc.setAutoBalancerParam(abcp)
hcf.startAutoBalancer();
print >> sys.stderr, " startAutoBalancer with arms"
hcf.stopAutoBalancer();
print >> sys.stderr, " stopAutoBalancer"
abcp.leg_names = ['rleg', 'lleg']
hcf.abc_svc.setAutoBalancerParam(abcp)
checkActualBaseAttitude()
hcf.seq_svc.setJointAngles(initial_pose, 1.0)
hcf.waitInterpolation()

def demoGaitGeneratorGoPos():
print >> sys.stderr, "1. goPos"
hcf.startAutoBalancer();
Expand Down Expand Up @@ -368,6 +386,35 @@ def demoGaitGeneratorHandFixWalking():
# abc_svc.waitFootSteps()
# abc_svc.stopABC()

def demoGaitGeneratorSetFootStepsWithArms():
print >> sys.stderr, "14. Trot Walking"
hcf.stopAutoBalancer()
hcf.seq_svc.setJointAngles(four_legs_mode_pose, 1.0)
hcf.waitInterpolation()
# use arms
orig_abcp = abcp =hcf.abc_svc.getAutoBalancerParam()[1]
abcp.leg_names = ['rleg', 'lleg', 'rarm', 'larm']
hcf.abc_svc.setAutoBalancerParam(abcp)
# decrease zmp weight for arms
orig_ggp = ggp = hcf.abc_svc.getGaitGeneratorParam()[1]
ggp.zmp_weight_map = [1.0, 1.0, 0.01, 0.01]
ggp.default_step_height = 0.01
hcf.abc_svc.setGaitGeneratorParam(ggp)
# start walking
hcf.startAutoBalancer()
hcf.setFootSteps([OpenHRP.AutoBalancerService.Footsteps([OpenHRP.AutoBalancerService.Footstep([0,-0.09,0], [1,0,0,0], "rleg"),
OpenHRP.AutoBalancerService.Footstep([0.23,0.21,0.86], [1,0,0,0], "larm")]),
OpenHRP.AutoBalancerService.Footsteps([OpenHRP.AutoBalancerService.Footstep([0,0.09,0], [1,0,0,0], "lleg"),
OpenHRP.AutoBalancerService.Footstep([0.23,-0.21,0.86], [1,0,0,0], "rarm")])])
hcf.abc_svc.waitFootSteps()
checkActualBaseAttitude()
print >> sys.stderr, " setFootSteps()=>OK"
# reset params
hcf.stopAutoBalancer()
hcf.abc_svc.setAutoBalancerParam(orig_abcp)
hcf.abc_svc.setGaitGeneratorParam(orig_ggp)
hcf.startAutoBalancer()

def demo():
init()
if hrpsys_version >= '315.5.0':
Expand All @@ -379,6 +426,7 @@ def demo():
demoAutoBalancerTestPoses()
demoAutoBalancerStartStopCheck()
demoAutoBalancerBalanceAgainstHandForce()
demoAutoBalancerBalanceWithArms()
# sample for walk pattern generation by AutoBalancer RTC
demoGaitGeneratorGoPos()
demoGaitGeneratorGoVelocity()
Expand All @@ -395,6 +443,7 @@ def demo():
demoGaitGeneratorOverwriteFootsteps()
demoGaitGeneratorOverwriteFootsteps(2)
# demoGaitGeneratorHandFixWalking()
demoGaitGeneratorSetFootStepsWithArms()

if __name__ == '__main__':
demo()
Expand Down