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humanoid_jvrc.py
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humanoid_jvrc.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# SPDX-License-Identifier: Apache-2.0
# Copyright 2022 Stéphane Caron
"""JVRC-1 humanoid standing on two feet and reaching with a hand."""
import meshcat_shapes
import numpy as np
import pinocchio as pin
import qpsolvers
from loop_rate_limiters import RateLimiter
import pink
from pink import solve_ik
from pink.tasks import FrameTask
try:
from robot_descriptions.loaders.pinocchio import load_robot_description
except ModuleNotFoundError:
raise ModuleNotFoundError(
"Examples need robot_descriptions, "
"try `pip install robot_descriptions`"
)
class WavingPose:
"""Moving target to the wave the right hand."""
def __init__(self, init: pin.SE3):
"""Initialize pose.
Args:
init: Initial transform from the wrist frame to the world frame.
"""
self.init = init
def at(self, t):
"""Get waving pose at a given time.
Args:
t: Time in seconds.
"""
T = self.init.copy()
R = T.rotation
R = np.dot(R, pin.utils.rpyToMatrix(0.0, 0.0, np.pi / 2))
R = np.dot(R, pin.utils.rpyToMatrix(0.0, -np.pi, 0.0))
T.rotation = R
T.translation[0] += 0.5
T.translation[1] += -0.1 + 0.05 * np.sin(8.0 * t)
T.translation[2] += 0.5
return T
if __name__ == "__main__":
robot = load_robot_description(
"jvrc_description", root_joint=pin.JointModelFreeFlyer()
)
viz = pin.visualize.MeshcatVisualizer(
robot.model, robot.collision_model, robot.visual_model
)
robot.setVisualizer(viz, init=False)
viz.initViewer(open=True)
viz.loadViewerModel()
configuration = pink.Configuration(robot.model, robot.data, robot.q0)
viz.display(configuration.q)
left_foot_task = FrameTask(
"l_ankle", position_cost=1.0, orientation_cost=3.0
)
pelvis_task = FrameTask(
"PELVIS_S", position_cost=1.0, orientation_cost=0.0
)
right_foot_task = FrameTask(
"r_ankle", position_cost=1.0, orientation_cost=3.0
)
right_wrist_task = FrameTask(
"r_wrist", position_cost=1.0, orientation_cost=3.0
)
tasks = [left_foot_task, pelvis_task, right_foot_task, right_wrist_task]
pelvis_pose = configuration.get_transform_frame_to_world("PELVIS_S").copy()
pelvis_pose.translation[0] += 0.05
meshcat_shapes.frame(viz.viewer["pelvis_pose"])
viz.viewer["pelvis_pose"].set_transform(pelvis_pose.np)
pelvis_task.set_target(pelvis_pose)
transform_l_ankle_target_to_init = pin.SE3(
np.eye(3), np.array([0.1, 0.0, 0.0])
)
transform_r_ankle_target_to_init = pin.SE3(
np.eye(3), np.array([-0.1, 0.0, 0.0])
)
left_foot_task.set_target(
configuration.get_transform_frame_to_world("l_ankle")
* transform_l_ankle_target_to_init
)
right_foot_task.set_target(
configuration.get_transform_frame_to_world("r_ankle")
* transform_r_ankle_target_to_init
)
pelvis_task.set_target(
configuration.get_transform_frame_to_world("PELVIS_S")
)
right_wrist_pose = WavingPose(
configuration.get_transform_frame_to_world("r_wrist")
)
wrist_frame = viz.viewer["right_wrist_pose"]
meshcat_shapes.frame(wrist_frame)
# Select QP solver
solver = qpsolvers.available_solvers[0]
if "quadprog" in qpsolvers.available_solvers:
solver = "quadprog"
rate = RateLimiter(frequency=200.0)
dt = rate.period
t = 0.0 # [s]
while True:
# Update task targets
right_wrist_task.set_target(right_wrist_pose.at(t))
wrist_frame.set_transform(right_wrist_pose.at(t).np)
# Compute velocity and integrate it into next configuration
velocity = solve_ik(configuration, tasks, dt, solver=solver)
configuration.integrate_inplace(velocity, dt)
# Visualize result at fixed FPS
viz.display(configuration.q)
rate.sleep()
t += dt