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Add examples for samplerobot #252

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Jul 15, 2014
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Add examples for samplerobot #252

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898af9c
(SampleRobot) : Add examples for samplerobot by copying from start-js…
snozawa Jul 11, 2014
7f3740c
Merge branch 'master' of https://github.com/fkanehiro/hrpsys-base int…
snozawa Jul 13, 2014
6c326ae
Merge remote-tracking branch 'origin/master' into add_examples_for_sa…
snozawa Jul 15, 2014
44800c7
(samplerobot_impedance_controller.py) : Add example for impedancecont…
snozawa Jul 15, 2014
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1 change: 1 addition & 0 deletions sample/CMakeLists.txt
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Expand Up @@ -7,6 +7,7 @@ endif()

add_subdirectory(PA10)
add_subdirectory(HRP4C)
add_subdirectory(SampleRobot)

install(PROGRAMS
simTest1.py simTest2.py simTest3.py simTest4.py simTest5.py
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35 changes: 35 additions & 0 deletions sample/SampleRobot/CMakeLists.txt
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# generate .conf and .xml files for two controller period
set(controller_time_list 0.002 0.005) # [s]
set(controller_period_list 500 200) # [Hz]
foreach(_idx 0 1)
list(GET controller_time_list ${_idx} _tmp_controller_time)
list(GET controller_period_list ${_idx} _tmp_controller_period)
set(CONTROLLER_TIME ${_tmp_controller_time})
set(CONTROLLER_PERIOD ${_tmp_controller_period})
configure_file(SampleRobot.RobotHardware.conf.in ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.RobotHardware.${_tmp_controller_period}.conf)
configure_file(SampleRobot.xml.in ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.${_tmp_controller_period}.xml)
configure_file(SampleRobot.conf.in ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.${_tmp_controller_period}.conf)
endforeach()

configure_file(samplerobot_walk.py.in ${CMAKE_CURRENT_BINARY_DIR}/samplerobot_walk.py)

install(PROGRAMS
samplerobot_data_logger.py
samplerobot_auto_balancer.py
samplerobot_stabilizer.py
samplerobot_remove_force_offset.py
samplerobot_impedance_controller.py
${CMAKE_CURRENT_BINARY_DIR}/samplerobot_walk.py
DESTINATION share/hrpsys/samples/SampleRobot)

install(FILES
# files for 500[Hz] = 0.002[s]
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.500.conf
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.500.xml
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.RobotHardware.500.conf
# files for 200[Hz] = 0.005[s]
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.200.conf
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.200.xml
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.RobotHardware.200.conf
DESTINATION share/hrpsys/samples/SampleRobot)

5 changes: 5 additions & 0 deletions sample/SampleRobot/SampleRobot.RobotHardware.conf.in
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model: file://@OPENHRP_DIR@/share/OpenHRP-3.1/sample/model/sample1.wrl
exec_cxt.periodic.type: hrpExecutionContext
exec_cxt.periodic.rate: @CONTROLLER_PERIOD@


6 changes: 6 additions & 0 deletions sample/SampleRobot/SampleRobot.conf.in
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model: file://@OPENHRP_DIR@/share/OpenHRP-3.1/sample/model/sample1.wrl
dt: @CONTROLLER_TIME@

abc_leg_offset: 0,0.09,0
abc_stride_parameter: 0.15,0.05,10
end_effectors: :rarm,RARM_WRIST_P,CHEST,0.0,-5.684342e-17,-0.12,9.813078e-18,1.0,0.0,1.5708, :larm,LARM_WRIST_P,CHEST,0.0,5.684342e-17,-0.12,-9.813078e-18,1.0,0.0,1.5708, :rleg,RLEG_ANKLE_R,WAIST,0.0,0.0,-0.07,0.0,0.0,0.0,0.0, :lleg,LLEG_ANKLE_R,WAIST,0.0,0.0,-0.07,0.0,0.0,0.0,0.0,
192 changes: 192 additions & 0 deletions sample/SampleRobot/SampleRobot.xml.in
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<grxui>
<mode name="Simulation">
<item class="com.generalrobotix.ui.item.GrxSimulationItem" name="simulationItem">
<property name="integrate" value="true"/>
<property name="timeStep" value="@CONTROLLER_TIME@"/>
<property name="totalTime" value="2000000.0"/>
<property name="method" value="EULER"/>
</item>
<item class="com.generalrobotix.ui.item.GrxRTSItem" name="SampleRobot" select="true">
<property name="SampleRobot(Robot)0.period" value="@CONTROLLER_TIME@"/>
<property name="HGcontroller0.period" value="@CONTROLLER_TIME@"/>
<property name="HGcontroller0.factory" value="HGcontroller"/>
<property name="connection" value="HGcontroller0.qOut:SampleRobot(Robot)0.qRef"/>
<property name="connection" value="HGcontroller0.dqOut:SampleRobot(Robot)0.dqRef"/>
<property name="connection" value="HGcontroller0.ddqOut:SampleRobot(Robot)0.ddqRef"/>
</item>
<item class="com.generalrobotix.ui.item.GrxModelItem" name="sample1" url="@OPENHRP_DIR@/share/OpenHRP-3.1/sample/model/sample1.wrl">
<property name="rtcName" value="SampleRobot(Robot)0"/>
<property name="inport" value="qRef:JOINT_VALUE"/>
<property name="inport" value="dqRef:JOINT_VELOCITY"/>
<property name="inport" value="ddqRef:JOINT_ACCELERATION"/>
<property name="outport" value="q:JOINT_VALUE"/>
<property name="outport" value="tau:JOINT_TORQUE"/>
<property name="outport" value="lfsensor:lfsensor:FORCE_SENSOR"/>
<property name="outport" value="rfsensor:rfsensor:FORCE_SENSOR"/>
<property name="outport" value="lhsensor:lhsensor:FORCE_SENSOR"/>
<property name="outport" value="rhsensor:rhsensor:FORCE_SENSOR"/>
<property name="outport" value="gyrometer:gyrometer:RATE_GYRO_SENSOR"/>
<property name="outport" value="gsensor:gsensor:ACCELERATION_SENSOR"/>
<property name="WAIST.NumOfAABB" value="1"/>
<property name="WAIST.translation" value="0 0 0.7235"/>
<property name="WAIST.rotation" value="1 0 0 0"/>
<property name="WAIST.mode" value="Torque"/>
<property name="controller" value="SampleRobot"/>
<property name="RLEG_HIP_R.angle" value="0.0"/>
<property name="RLEG_HIP_R.mode" value="HighGain"/>
<property name="RLEG_HIP_R.NumOfAABB" value="1"/>
<property name="RLEG_HIP_P.angle" value="0.0"/>
<property name="RLEG_HIP_P.mode" value="HighGain"/>
<property name="RLEG_HIP_P.NumOfAABB" value="1"/>
<property name="RLEG_HIP_Y.angle" value="0.0"/>
<property name="RLEG_HIP_Y.mode" value="HighGain"/>
<property name="RLEG_HIP_Y.NumOfAABB" value="1"/>
<property name="RLEG_KNEE.angle" value="0.0"/>
<property name="RLEG_KNEE.mode" value="HighGain"/>
<property name="RLEG_KNEE.NumOfAABB" value="1"/>
<property name="RLEG_ANKLE_P.angle" value="0.0"/>
<property name="RLEG_ANKLE_P.mode" value="HighGain"/>
<property name="RLEG_ANKLE_P.NumOfAABB" value="1"/>
<property name="RLEG_ANKLE_R.angle" value="0.0"/>
<property name="RLEG_ANKLE_R.mode" value="HighGain"/>
<property name="RLEG_ANKLE_R.NumOfAABB" value="1"/>
<property name="RARM_SHOULDER_P.angle" value="0.0"/>
<property name="RARM_SHOULDER_P.mode" value="HighGain"/>
<property name="RARM_SHOULDER_P.NumOfAABB" value="1"/>
<property name="RARM_SHOULDER_R.angle" value="0.0"/>
<property name="RARM_SHOULDER_R.mode" value="HighGain"/>
<property name="RARM_SHOULDER_R.NumOfAABB" value="1"/>
<property name="RARM_SHOULDER_Y.angle" value="0.0"/>
<property name="RARM_SHOULDER_Y.mode" value="HighGain"/>
<property name="RARM_SHOULDER_Y.NumOfAABB" value="1"/>
<property name="RARM_ELBOW.angle" value="0.0"/>
<property name="RARM_ELBOW.mode" value="HighGain"/>
<property name="RARM_ELBOW.NumOfAABB" value="1"/>
<property name="RARM_WRIST_Y.angle" value="0.0"/>
<property name="RARM_WRIST_Y.mode" value="HighGain"/>
<property name="RARM_WRIST_Y.NumOfAABB" value="1"/>
<property name="RARM_WRIST_P.angle" value="0.0"/>
<property name="RARM_WRIST_P.mode" value="HighGain"/>
<property name="RARM_WRIST_P.NumOfAABB" value="1"/>
<property name="RARM_WRIST_R.angle" value="0.0"/>
<property name="RARM_WRIST_R.mode" value="HighGain"/>
<property name="RARM_WRIST_R.NumOfAABB" value="1"/>
<property name="LLEG_HIP_R.angle" value="0.0"/>
<property name="LLEG_HIP_R.mode" value="HighGain"/>
<property name="LLEG_HIP_R.NumOfAABB" value="1"/>
<property name="LLEG_HIP_P.angle" value="0.0"/>
<property name="LLEG_HIP_P.mode" value="HighGain"/>
<property name="LLEG_HIP_P.NumOfAABB" value="1"/>
<property name="LLEG_HIP_Y.angle" value="0.0"/>
<property name="LLEG_HIP_Y.mode" value="HighGain"/>
<property name="LLEG_HIP_Y.NumOfAABB" value="1"/>
<property name="LLEG_KNEE.angle" value="0.0"/>
<property name="LLEG_KNEE.mode" value="HighGain"/>
<property name="LLEG_KNEE.NumOfAABB" value="1"/>
<property name="LLEG_ANKLE_P.angle" value="0.0"/>
<property name="LLEG_ANKLE_P.mode" value="HighGain"/>
<property name="LLEG_ANKLE_P.NumOfAABB" value="1"/>
<property name="LLEG_ANKLE_R.angle" value="0.0"/>
<property name="LLEG_ANKLE_R.mode" value="HighGain"/>
<property name="LLEG_ANKLE_R.NumOfAABB" value="1"/>
<property name="LARM_SHOULDER_P.angle" value="0.0"/>
<property name="LARM_SHOULDER_P.mode" value="HighGain"/>
<property name="LARM_SHOULDER_P.NumOfAABB" value="1"/>
<property name="LARM_SHOULDER_R.angle" value="0.0"/>
<property name="LARM_SHOULDER_R.mode" value="HighGain"/>
<property name="LARM_SHOULDER_R.NumOfAABB" value="1"/>
<property name="LARM_SHOULDER_Y.angle" value="0.0"/>
<property name="LARM_SHOULDER_Y.mode" value="HighGain"/>
<property name="LARM_SHOULDER_Y.NumOfAABB" value="1"/>
<property name="LARM_ELBOW.angle" value="0.0"/>
<property name="LARM_ELBOW.mode" value="HighGain"/>
<property name="LARM_ELBOW.NumOfAABB" value="1"/>
<property name="LARM_WRIST_Y.angle" value="0.0"/>
<property name="LARM_WRIST_Y.mode" value="HighGain"/>
<property name="LARM_WRIST_Y.NumOfAABB" value="1"/>
<property name="LARM_WRIST_P.angle" value="0.0"/>
<property name="LARM_WRIST_P.mode" value="HighGain"/>
<property name="LARM_WRIST_P.NumOfAABB" value="1"/>
<property name="LARM_WRIST_R.angle" value="0.0"/>
<property name="LARM_WRIST_R.mode" value="HighGain"/>
<property name="LARM_WRIST_R.NumOfAABB" value="1"/>
<property name="WAIST_P.angle" value="0.0"/>
<property name="WAIST_P.mode" value="HighGain"/>
<property name="WAIST_P.NumOfAABB" value="1"/>
<property name="WAIST_R.angle" value="0.0"/>
<property name="WAIST_R.mode" value="HighGain"/>
<property name="WAIST_R.NumOfAABB" value="1"/>
<property name="CHEST.angle" value="0.0"/>
<property name="CHEST.mode" value="HighGain"/>
<property name="CHEST.NumOfAABB" value="1"/>
</item>
<view class="com.generalrobotix.ui.view.GrxRobotHardwareClientView" name="RobotHardware RTC Client">
<property name="robotHost" value="localhost"/>
<property name="StateHolderRTC" value="StateHolder0"/>
<property name="interval" value="100"/>
<property name="RobotHardwareServiceRTC" value="RobotHardware0"/>
<property name="robotPort" value="2809"/>
<property name="ROBOT" value="SampleRobot"/>
</view>
<view class="com.generalrobotix.ui.view.Grx3DView" name="3DView">
<property name="view.mode" value="Room"/>
<property name="showCoM" value="false"/>
<property name="showCoMonFloor" value="false"/>
<property name="showDistance" value="false"/>
<property name="showIntersection" value="false"/>
<property name="eyeHomePosition" value="-0.70711 -0 0.70711 2 0.70711 -0 0.70711 2 0 1 0 0.8 0 0 0 1 "/>
<property name="showCollision" value="true"/>
<property name="showActualState" value="true"/>
<property name="showScale" value="true"/>
</view>
<item class="com.generalrobotix.ui.item.GrxRTSItem" name="longfloor" select="true">
<property name="longfloor(Robot)0.period" value="@CONTROLLER_TIME@"/>
<property name="HGcontroller0.period" value="@CONTROLLER_TIME@"/>
<property name="HGcontroller0.factory" value="HGcontroller"/>
<property name="connection" value="HGcontroller0.qOut:longfloor(Robot)0.qRef"/>
<property name="connection" value="HGcontroller0.dqOut:longfloor(Robot)0.dqRef"/>
<property name="connection" value="HGcontroller0.ddqOut:longfloor(Robot)0.ddqRef"/>
</item>
<item class="com.generalrobotix.ui.item.GrxModelItem" name="longfloor" url="@OPENHRP_DIR@/share/OpenHRP-3.1/sample/model/longfloor.wrl">
<property name="rtcName" value="longfloor(Robot)0"/>
<property name="inport" value="qRef:JOINT_VALUE"/>
<property name="inport" value="dqRef:JOINT_VELOCITY"/>
<property name="inport" value="ddqRef:JOINT_ACCELERATION"/>
<property name="outport" value="q:JOINT_VALUE"/>
<property name="outport" value="tau:JOINT_TORQUE"/>
<property name="WAIST.NumOfAABB" value="1"/>
<property name="WAIST.translation" value="0 0 -0.1"/>
<property name="WAIST.rotation" value="1 0 0 0"/>
</item>
<view class="com.generalrobotix.ui.view.GrxRobotHardwareClientView" name="RobotHardware RTC Client">
<property name="robotHost" value="localhost"/>
<property name="StateHolderRTC" value="StateHolder0"/>
<property name="interval" value="100"/>
<property name="RobotHardwareServiceRTC" value="RobotHardware0"/>
<property name="robotPort" value="2809"/>
<property name="ROBOT" value="longfloor"/>
</view>
<view class="com.generalrobotix.ui.view.Grx3DView" name="3DView">
<property name="view.mode" value="Room"/>
<property name="showCoM" value="false"/>
<property name="showCoMonFloor" value="false"/>
<property name="showDistance" value="false"/>
<property name="showIntersection" value="false"/>
<property name="eyeHomePosition" value="-0.70711 -0 0.70711 2 0.70711 -0 0.70711 2 0 1 0 0.8 0 0 0 1 "/>
<property name="showCollision" value="true"/>
<property name="showActualState" value="true"/>
<property name="showScale" value="true"/>
</view>
<item class="com.generalrobotix.ui.item.GrxCollisionPairItem" name="CP#longfloor_#sample1_">
<property name="springConstant" value="0 0 0 0 0 0"/>
<property name="slidingFriction" value="0.5"/>
<property name="jointName2" value=""/>
<property name="jointName1" value=""/>
<property name="damperConstant" value="0 0 0 0 0 0"/>
<property name="objectName2" value="longfloor"/>
<property name="objectName1" value="sample1"/>
<property name="springDamperModel" value="false"/>
<property name="staticFriction" value="0.5"/>
</item>
</mode>
</grxui>
102 changes: 102 additions & 0 deletions sample/SampleRobot/samplerobot_auto_balancer.py
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#!/usr/bin/env python

try:
from hrpsys.hrpsys_config import *
import OpenHRP
except:
print "import without hrpsys"
import rtm
from rtm import *
from OpenHRP import *
import waitInput
from waitInput import *
import socket
import time

def getRTCList ():
return [
['seq', "SequencePlayer"],
['sh', "StateHolder"],
['fk', "ForwardKinematics"],
['abc', "AutoBalancer"],
]

def init ():
global hcf
hcf = HrpsysConfigurator()
hcf.getRTCList = getRTCList
hcf.init ("SampleRobot(Robot)0")

def demo():
init()
# set initial pose from sample/controller/SampleController/etc/Sample.pos
initial_pose = [-7.779e-005, -0.378613, -0.000209793, 0.832038, -0.452564, 0.000244781, 0.31129, -0.159481, -0.115399, -0.636277, 0, 0, 0, -7.77902e-005, -0.378613, -0.000209794, 0.832038, -0.452564, 0.000244781, 0.31129, 0.159481, 0.115399, -0.636277, 0, 0, 0, 0, 0, 0]
arm_front_pose = [-7.779e-005, -0.378613, -0.000209793, 0.832038, -0.452564, 0.000244781, -0.8, -0.159481, -0.115399, -0.636277, 0, 0, 0, -7.77902e-005, -0.378613, -0.000209794, 0.832038, -0.452564, 0.000244781, -0.8, 0.159481, 0.115399, -0.636277, 0, 0, 0, 0.2, 0, 0]
hcf.seq_svc.setJointAngles(initial_pose, 2.0)
hcf.seq_svc.waitInterpolation()

# sample for AutoBalancer mode
# 1. AutoBalancer mode by fixing feet
hcf.abc_svc.startAutoBalancer([":rleg", ":lleg"]);
hcf.seq_svc.setJointAngles(arm_front_pose, 1.0)
hcf.seq_svc.waitInterpolation()
hcf.seq_svc.setJointAngles(initial_pose, 1.0)
hcf.seq_svc.waitInterpolation()
hcf.abc_svc.stopAutoBalancer();
# 2. AutoBalancer mode by fixing hands and feet
hcf.abc_svc.startAutoBalancer([":rleg", ":lleg", ":rarm", ":larm"])
hcf.seq_svc.setJointAngles(arm_front_pose, 1.0)
hcf.seq_svc.waitInterpolation()
hcf.seq_svc.setJointAngles(initial_pose, 1.0)
hcf.seq_svc.waitInterpolation()
hcf.abc_svc.stopAutoBalancer();
# 3. getAutoBalancerParam
ret = hcf.abc_svc.getAutoBalancerParam()
if ret[0]:
print "getAutoBalancerParam() => OK"
# 4. setAutoBalancerParam
ret[1].default_zmp_offsets = [[0.1,0,0], [0.1,0,0]]
hcf.abc_svc.setAutoBalancerParam(ret[1])
if ret[0] and ret[1].default_zmp_offsets == [[0.1,0,0], [0.1,0,0]]:
print "setAutoBalancerParam() => OK"
hcf.abc_svc.startAutoBalancer([":rleg", ":lleg"]);
hcf.abc_svc.stopAutoBalancer();
ret[1].default_zmp_offsets = [[0,0,0], [0,0,0]]
hcf.abc_svc.setAutoBalancerParam(ret[1])

# sample for walk pattern generation by AutoBalancer RTC
# 1. goPos
hcf.abc_svc.goPos(0.1, 0.05, 20)
hcf.abc_svc.waitFootSteps()
# 2. goVelocity and goStop
hcf.abc_svc.goVelocity(-0.1, -0.05, -20)
time.sleep(1)
hcf.abc_svc.goStop()
# 3. setFootSteps
hcf.abc_svc.setFootSteps([OpenHRP.AutoBalancerService.Footstep([0,-0.09,0], [1,0,0,0], ":rleg"), OpenHRP.AutoBalancerService.Footstep([0,0.09,0], [1,0,0,0], ":lleg")])
hcf.abc_svc.waitFootSteps()
hcf.abc_svc.setFootSteps([OpenHRP.AutoBalancerService.Footstep([0,-0.09,0], [1,0,0,0], ":rleg"), OpenHRP.AutoBalancerService.Footstep([0.15,0.09,0], [1,0,0,0], ":lleg"), OpenHRP.AutoBalancerService.Footstep([0.3,-0.09,0], [1,0,0,0], ":rleg"), OpenHRP.AutoBalancerService.Footstep([0.3,0.09,0], [1,0,0,0], ":lleg")])
hcf.abc_svc.waitFootSteps()
# 4. getGaitGeneratorParam
ret = hcf.abc_svc.getGaitGeneratorParam()
if ret[0]:
print "getGaitGeneratorParam() => OK"
# 5. setGaitGeneratorParam
ret[1].default_step_time = 0.7
ret[1].default_step_height = 0.15
ret[1].default_double_support_ratio = 0.4
hcf.abc_svc.setGaitGeneratorParam(ret[1])
ret = hcf.abc_svc.getGaitGeneratorParam()
if ret[0] and ret[1].default_step_time == 0.7 and ret[1].default_step_height == 0.15 and ret[1].default_double_support_ratio == 0.4:
print "setGaitGeneratorParam() => OK"
hcf.abc_svc.goVelocity(0,0,0)
time.sleep(1)
hcf.abc_svc.goStop()
# 6. walking by fixing
# abc_svc.startAutoBalancer([AutoBalancerService.AutoBalancerLimbParam(":rleg", [0,0,0], [0,0,0,0]),
# AutoBalancerService.AutoBalancerLimbParam(":lleg", [0,0,0], [0,0,0,0]),
# AutoBalancerService.AutoBalancerLimbParam(":rarm", [0,0,0], [0,0,0,0]),
# AutoBalancerService.AutoBalancerLimbParam(":larm", [0,0,0], [0,0,0,0])])
# abc_svc.goPos(0.1, 0.05, 20)
# abc_svc.waitFootSteps()
# abc_svc.stopABC()
43 changes: 43 additions & 0 deletions sample/SampleRobot/samplerobot_data_logger.py
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#!/usr/bin/env python

try:
from hrpsys.hrpsys_config import *
import OpenHRP
except:
print "import without hrpsys"
import rtm
from rtm import *
from OpenHRP import *
import waitInput
from waitInput import *
import socket
import time

def getRTCList ():
return [
['seq', "SequencePlayer"],
['sh', "StateHolder"],
['fk', "ForwardKinematics"],
['log', "DataLogger"],
]

def init ():
global hcf
hcf = HrpsysConfigurator()
hcf.getRTCList = getRTCList
hcf.init ("SampleRobot(Robot)0")

def demo ():
init()
# set initial pose from sample/controller/SampleController/etc/Sample.pos
initial_pose = [-7.779e-005, -0.378613, -0.000209793, 0.832038, -0.452564, 0.000244781, 0.31129, -0.159481, -0.115399, -0.636277, 0, 0, 0, -7.77902e-005, -0.378613, -0.000209794, 0.832038, -0.452564, 0.000244781, 0.31129, 0.159481, 0.115399, -0.636277, 0, 0, 0, 0, 0, 0]

# Set max ring-buffer length : 200 [loop] * 0.002 [s] = 0.4 [s] data
hcf.log_svc.maxLength(200)
# Clear buffer
hcf.log_svc.clear()
hcf.seq_svc.setJointAngles(initial_pose, 2.0)
hcf.seq_svc.waitInterpolation()
# Save log files for each ports as /tmp/test-samplerobot-log.*
# file names are /tmp/test-samplerobot-log.[RTCName]_[PortName], c.f., /tmp/test-samplerobot-log.sh_qOut ... etc
hcf.log_svc.save("/tmp/test-samplerobot-log")
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