Skip to content

Commit

Permalink
[Style] fix flake8, isort & yapf
Browse files Browse the repository at this point in the history
  • Loading branch information
Guilhem Saurel committed Mar 26, 2019
1 parent d59165f commit 49fb962
Show file tree
Hide file tree
Showing 4 changed files with 207 additions and 240 deletions.
10 changes: 10 additions & 0 deletions setup.cfg
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
[flake8]
max-line-length = 119
exclude = cmake

[yapf]
column_limit = 119

[isort]
line_length = 119
skip = cmake
141 changes: 65 additions & 76 deletions sot_application/acceleration/precomputed_meta_tasks.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2,24 +2,19 @@

# Copyright 2013, Florent Lamiraux, Francesco Morsillo CNRS

from numpy import eye

from dynamic_graph.sot.core.feature_position import FeaturePosition
from dynamic_graph.sot.core import FeatureGeneric, FeatureJointLimits, Task, \
JointLimitator
from dynamic_graph.sot.dyninv import SolverKine, TaskDynLimits, TaskDynInequality
from dynamic_graph.sot.dyninv.meta_tasks_dyn import gotoNd, MetaTaskDynCom, \
MetaTaskDynPosture
from dynamic_graph.sot.dyninv.meta_task_dyn_6d import MetaTaskDyn6d
from dynamic_graph import plug

from numpy import eye
from dynamic_graph.sot.core import FeatureGeneric
from dynamic_graph.sot.core.matrix_util import matrixToTuple
from dynamic_graph.sot.dyninv import SolverKine, TaskDynInequality, TaskDynLimits
from dynamic_graph.sot.dyninv.meta_task_dyn_6d import MetaTaskDyn6d
from dynamic_graph.sot.dyninv.meta_tasks_dyn import MetaTaskDynCom, MetaTaskDynPosture

class Solver:

class Solver:
def __init__(self, robot):
self.robot = robot

"""
# Make sure control does not exceed joint limits.
self.jointLimitator = JointLimitator('joint_limitator')
Expand All @@ -32,13 +27,12 @@ def __init__(self, robot):
self.sot = SolverKine('solver')
self.sot.signal('damping').value = 1e-6
self.sot.setSize(self.robot.dimension)

# Set second order computation
self.robot.device.setSecondOrderIntegration()
self.sot.setSecondOrderKinematics()
plug(self.robot.device.velocity,self.robot.dynamic.velocity)
plug(self.robot.dynamic.velocity,self.sot.velocity)

plug(self.robot.device.velocity, self.robot.dynamic.velocity)
plug(self.robot.dynamic.velocity, self.sot.velocity)
"""
# Plug the solver control into the filter.
plug(self.sot.control, self.jointLimitator.controlIN)
Expand All @@ -48,154 +42,151 @@ def __init__(self, robot):
if robot.device:
plug(self.jointLimitator.control, robot.device.control)
"""

# Plug the solver control into the robot.
plug(self.sot.control, robot.device.control)


def push (self, task):
def push(self, task):
"""
Proxy method to push a task (not a MetaTask) in the sot
"""
self.sot.push (task.name)
if task.name!="taskposture" and "taskposture" in self.toList():
self.sot.push(task.name)
if task.name != "taskposture" and "taskposture" in self.toList():
self.sot.down("taskposture")

def rm (self, task):
def rm(self, task):
"""
Proxy method to remove a task from the sot
"""
self.sot.rm (task.name)
self.sot.rm(task.name)

def pop (self):
def pop(self):
"""
Proxy method to remove the last (usually posture) task from the sot
"""
self.sot.pop ()
self.sot.pop()

def __str__ (self):
return self.sot.display ()
def __str__(self):
return self.sot.display()

def toList(self):
"""
Creates the list of the tasks in the sot
"""
return map(lambda x: x[1:-1],self.sot.dispStack().split('|')[1:])
return map(lambda x: x[1:-1], self.sot.dispStack().split('|')[1:])

def clear(self):
"""
Proxy method to remove all tasks from the sot
"""
self.sot.clear ()
self.sot.clear()


def setTaskLim(taskLim,robot):
def setTaskLim(taskLim, robot):
"""
Sets the parameters for teh 'task-limits'
"""
# Angular position and velocity limits
plug(robot.dynamic.position,taskLim.position)
plug(robot.dynamic.velocity,taskLim.velocity)
plug(robot.dynamic.position, taskLim.position)
plug(robot.dynamic.velocity, taskLim.velocity)
taskLim.dt.value = robot.timeStep
robot.dynamic.upperJl.recompute(0)
robot.dynamic.lowerJl.recompute(0)
taskLim.referencePosInf.value = robot.dynamic.lowerJl.value
taskLim.referencePosSup.value = robot.dynamic.upperJl.value
#dqup = (0, 0, 0, 0, 0, 0, 200, 220, 250, 230, 290, 520, 200, 220, 250, 230, 290, 520, 250, 140, 390, 390, 240, 140, 240, 130, 270, 180, 330, 240, 140, 240, 130, 270, 180, 330)
dqup = (1000,)*robot.dimension ########################
taskLim.referenceVelInf.value = tuple([-val*3.14/180 for val in dqup])
taskLim.referenceVelSup.value = tuple([ val*3.14/180 for val in dqup])
# dqup = (0, 0, 0, 0, 0, 0, 200, 220, 250, 230, 290, 520, 200, 220, 250, 230, 290, 520, 250, 140, 390, 390, 240,
# 140, 240, 130, 270, 180, 330, 240, 140, 240, 130, 270, 180, 330)
dqup = (1000, ) * robot.dimension
taskLim.referenceVelInf.value = tuple([-val * 3.14 / 180 for val in dqup])
taskLim.referenceVelSup.value = tuple([val * 3.14 / 180 for val in dqup])
taskLim.controlGain.value = 0.3


def setContacts(contactLF,contactRF):
def setContacts(contactLF, contactRF):
"""
Sets the parameters for teh contacts
"""
# Left foot
contactLF.featureDes.velocity.value=(0,0,0,0,0,0)
contactLF.featureDes.velocity.value = (0, 0, 0, 0, 0, 0)
contactLF.feature.frame('desired')
contactLF.name = "LF"

# Right foot
contactRF.featureDes.velocity.value=(0,0,0,0,0,0)
contactRF.featureDes.velocity.value = (0, 0, 0, 0, 0, 0)
contactRF.feature.frame('desired')
contactRF.name = "RF"
contactRF.support = ((0.11,-0.08,-0.08,0.11),(-0.045,-0.045,0.07,0.07),(-0.105,-0.105,-0.105,-0.105))
contactLF.support = ((0.11,-0.08,-0.08,0.11),(-0.07,-0.07,0.045,0.045),(-0.105,-0.105,-0.105,-0.105))

contactRF.support = ((0.11, -0.08, -0.08, 0.11), (-0.045, -0.045, 0.07, 0.07), (-0.105, -0.105, -0.105, -0.105))
contactLF.support = ((0.11, -0.08, -0.08, 0.11), (-0.07, -0.07, 0.045, 0.045), (-0.105, -0.105, -0.105, -0.105))

# Imposed errordot = 0
contactLF.feature.errordot.value=(0,0,0,0,0,0)
contactRF.feature.errordot.value=(0,0,0,0,0,0)
contactLF.feature.errordot.value = (0, 0, 0, 0, 0, 0)
contactRF.feature.errordot.value = (0, 0, 0, 0, 0, 0)


def createTasks(robot):

# MetaTasks dictonary
robot.mTasks = dict()
robot.tasksIne = dict()

# Foot contacts
robot.contactLF = MetaTaskDyn6d('contactLF',robot.dynamic,'lf','left-ankle')
robot.contactRF = MetaTaskDyn6d('contactRF',robot.dynamic,'rf','right-ankle')
setContacts(robot.contactLF,robot.contactRF)
robot.contactLF = MetaTaskDyn6d('contactLF', robot.dynamic, 'lf', 'left-ankle')
robot.contactRF = MetaTaskDyn6d('contactRF', robot.dynamic, 'rf', 'right-ankle')
setContacts(robot.contactLF, robot.contactRF)

# MetaTasksDyn6d for other operational points
robot.mTasks['waist'] = MetaTaskDyn6d('waist', robot.dynamic, 'waist', 'waist')
robot.mTasks['chest'] = MetaTaskDyn6d('chest', robot.dynamic, 'chest', 'chest')
robot.mTasks['rh'] = MetaTaskDyn6d('rh', robot.dynamic, 'rh', 'right-wrist')
robot.mTasks['lh'] = MetaTaskDyn6d('lh', robot.dynamic, 'lh', 'left-wrist')

for taskName in robot.mTasks:
robot.mTasks[taskName].feature.frame('desired')
robot.mTasks[taskName].gain.setConstant(10)
robot.mTasks[taskName].task.dt.value = robot.timeStep
robot.mTasks[taskName].featureDes.velocity.value=(0,0,0,0,0,0)

handMgrip=eye(4); handMgrip[0:3,3] = (0,0,-0.14)
robot.mTasks[taskName].featureDes.velocity.value = (0, 0, 0, 0, 0, 0)

handMgrip = eye(4)
handMgrip[0:3, 3] = (0, 0, -0.14)
robot.mTasks['rh'].opmodif = matrixToTuple(handMgrip)
robot.mTasks['lh'].opmodif = matrixToTuple(handMgrip)


# CoM Task
robot.mTasks['com'] = MetaTaskDynCom(robot.dynamic,robot.timeStep)
robot.mTasks['com'] = MetaTaskDynCom(robot.dynamic, robot.timeStep)
robot.dynamic.com.recompute(0)
robot.mTasks['com'].featureDes.errorIN.value = robot.dynamic.com.value
robot.mTasks['com'].task.controlGain.value = 10
robot.mTasks['com'].feature.selec.value = '011'

# Posture Task
robot.mTasks['posture'] = MetaTaskDynPosture(robot.dynamic,robot.timeStep)
robot.mTasks['posture'] = MetaTaskDynPosture(robot.dynamic, robot.timeStep)
robot.mTasks['posture'].ref = robot.halfSitting
robot.mTasks['posture'].gain.setConstant(5)
robot.mTasks['posture'].gain.setConstant(5)


## TASK INEQUALITY
# TASK INEQUALITY

# Task Height
featureHeight = FeatureGeneric('featureHeight')
plug(robot.dynamic.com,featureHeight.errorIN)
plug(robot.dynamic.Jcom,featureHeight.jacobianIN)
robot.tasksIne['taskHeight']=TaskDynInequality('taskHeight')
plug(robot.dynamic.velocity,robot.tasksIne['taskHeight'].qdot)
plug(robot.dynamic.com, featureHeight.errorIN)
plug(robot.dynamic.Jcom, featureHeight.jacobianIN)
robot.tasksIne['taskHeight'] = TaskDynInequality('taskHeight')
plug(robot.dynamic.velocity, robot.tasksIne['taskHeight'].qdot)
robot.tasksIne['taskHeight'].add(featureHeight.name)
robot.tasksIne['taskHeight'].selec.value = '100'
robot.tasksIne['taskHeight'].referenceInf.value = (0.,0.,0.) # Xmin, Ymin
robot.tasksIne['taskHeight'].referenceSup.value = (0.,0.,0.80771) # Xmax, Ymax
robot.tasksIne['taskHeight'].dt.value=robot.timeStep
robot.tasksIne['taskHeight'].referenceInf.value = (0., 0., 0.) # Xmin, Ymin
robot.tasksIne['taskHeight'].referenceSup.value = (0., 0., 0.80771) # Xmax, Ymax
robot.tasksIne['taskHeight'].dt.value = robot.timeStep


def createBalanceAndPosture(robot,solver):
def createBalanceAndPosture(robot, solver):

solver.clear()

# Task Limits
robot.taskLim = TaskDynLimits('taskLim')
setTaskLim(robot.taskLim,robot)

setTaskLim(robot.taskLim, robot)

# --- push tasks --- #
solver.sot.addContact(robot.contactLF)
Expand All @@ -205,16 +196,14 @@ def createBalanceAndPosture(robot,solver):
solver.push(robot.mTasks['posture'].task)



def initialize (robot):
def initialize(robot):

# --- create solver --- #
solver = Solver (robot)

solver = Solver(robot)

# --- create tasks --- #
createTasks(robot)

createBalanceAndPosture(robot,solver)
createBalanceAndPosture(robot, solver)

return solver
Loading

0 comments on commit 49fb962

Please sign in to comment.