{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "#A method to use an IMU to balance poppy with movements of his arms" ] }, { "cell_type": "code", "execution_count": 1, "metadata": { "collapsed": false }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "poppy-humanoid poppy_humanoid PoppyHumanoid\n", "poppy-ergo-jr poppy_ergo_jr PoppyErgoJr\n", "poppy-4dof-arm-mini poppy_4dof_arm_mini Poppy4dofArmMini\n", "poppy-torso poppy_torso PoppyTorso\n", "Populating the interactive namespace from numpy and matplotlib\n", "2.62500095367\n", "2.65000104904\n" ] } ], "source": [ "from poppy.creatures import PoppyHumanoid\n", "\n", "poppy = PoppyHumanoid(simulator='vrep')\n", "\n", "%pylab inline\n", "\n", "# the class time is used to set the time object to be the simulated time in V-REP and not the default python time\n", "import time as real_time\n", "class time:\n", " def __init__(self,robot):\n", " self.robot=robot\n", " def time(self):\n", " t_simu = self.robot.current_simulation_time\n", " return t_simu\n", " def sleep(self,t):\n", " t0 = self.robot.current_simulation_time\n", " while (self.robot.current_simulation_time - t0) < t-0.01:\n", " real_time.sleep(0.001)\n", "\n", "time = time(poppy)\n", "print time.time()\n", "time.sleep(0.025) #0.025 is the minimum step according to the V-REP defined dt \n", "print time.time()\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We need a primitive to run the force apply to poppy's chest." ] }, { "cell_type": "code", "execution_count": 49, "metadata": { "collapsed": true }, "outputs": [], "source": [ "from pypot.primitive import Primitive\n", "\n", "class force_primitive(Primitive):\n", " def __init__(self, robot, fx, fy, fz, shape):\n", " self.robot = robot\n", " self.fx = fx\n", " self.fy = fy\n", " self.fz = fz\n", " self.shape = shape\n", " Primitive.__init__(self, robot)\n", " \n", " def run(self):\n", " while not self.should_stop():\n", " poppy.set_vrep_force([self.fx,self.fy,self.fz],self.shape)\n", " time.sleep(0.025)\n", " poppy.set_vrep_force([0,0,0],self.shape)\n", " time.sleep(2)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "To start and stop the force primitive :" ] }, { "cell_type": "code", "execution_count": 76, "metadata": { "collapsed": false }, "outputs": [], "source": [ "force = force_primitive(poppy,-15,0,0,'chest_respondable')" ] }, { "cell_type": "code", "execution_count": 77, "metadata": { "collapsed": false }, "outputs": [], "source": [ "force.start()" ] }, { "cell_type": "code", "execution_count": 75, "metadata": { "collapsed": true }, "outputs": [], "source": [ "force.stop()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Prepared poppy for experiments" ] }, { "cell_type": "code", "execution_count": 78, "metadata": { "collapsed": true }, "outputs": [], "source": [ "poppy.head_y.goto_position(0, 4, wait=False)\n", "poppy.r_shoulder_y.goto_position(0, 4, wait=False)\n", "poppy.l_shoulder_y.goto_position(0, 4, wait=True)\n", "poppy.l_shoulder_x.goto_position(20, 4, wait=False)\n", "poppy.r_shoulder_x.goto_position(-20, 4, wait=True)" ] }, { "cell_type": "markdown", "metadata": { "collapsed": true }, "source": [ "Track the head like an IMU could do. On the next graph, you can see the pushing force every two minutes on the chest." ] }, { "cell_type": "code", "execution_count": 24, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "" ] }, "execution_count": 24, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": [ "iVBORw0KGgoAAAANSUhEUgAAAY0AAAEACAYAAABPiSrXAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n", "AAALEgAACxIB0t1+/AAAIABJREFUeJzsnXecVNXZx7/PzPbGwtKXjqAoggiiYhc12LHEktgbiRo1\n", "dkWzO2qMMcYYTWKM0deSoua1tyjRl5ioYO8FUFGK0sv2ac/7x9wLs8Pssjv3XDiw9/f5zGd3Zu59\n", "5jn3nPP8nnLuuaKqBAgQIECAAB1BaHMrECBAgAABthwEpBEgQIAAATqMgDQCBAgQIECHEZBGgAAB\n", "AgToMALSCBAgQIAAHUZAGgECBAgQoMPwTBoiMkVEPhORuSJyRRvH3O58/76IjOvIuSLyExH5VEQ+\n", "EpFfetUzQIAAAQJ4R56Xk0UkDPwOOABYBLwpIk+p6qdpxxwCbKOqI0RkV+BOYLf2zhWR/YAjgDGq\n", "GhORXl70DBAgQIAAZuA10pgIzFPV+aoaAx4Cjsw45gjgfgBVnQ1UikjfjZz7Y+AXzueo6jKPegYI\n", "ECBAAAPwShrVwIK09wudzzpyTP92zh0B7C0is0RkpohM8KhngAABAgQwAE/pKaCje5BIJ+XmAd1V\n", 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\n", " if pos_x != pos[0]:\n", " decalage_x=pos[0]-pos_x\n", " decalage_y=pos[1]-pos_y\n", " decalage_z=pos[2]-pos_z\n", " \n", " \n", "\n", " list_pos_x.append(decalage_x)\n", " list_pos_y.append(decalage_y)\n", " list_pos_z.append(decalage_z)\n", " \n", " pos_x = pos[0]\n", " pos_y = pos[1]\n", " pos_z = pos[2]\n", " \n", " t.append(poppy.current_simulation_time)\n", " \n", " time.sleep(0.01)\n", " \n", "plot(t, list_pos_x)\n", "plot(t, list_pos_y)\n", "plot(t, list_pos_z)\n", "\n", "\n", "legend(('dx', 'dy','dz'))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Changing the reference frame from absolute to a frame relative to poppy (if you want to know more on matrix of rotation, you have [this tutorial](http://nbviewer.ipython.org/github/jjehl/poppy_balance/blob/master/tutorial_rotation_matrix.ipynb). Choosing the frame oriented by visual chest. The graph shows the same movement but in the relative frame and the arms try to decrease the ocillation by balancing the movement in the opposite direction. " ] }, { "cell_type": "code", "execution_count": 25, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "" ] }, "execution_count": 25, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": [ "iVBORw0KGgoAAAANSUhEUgAAAY0AAAEACAYAAABPiSrXAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n", "AAALEgAACxIB0t1+/AAAIABJREFUeJzsnXd4HNXVxn9nq3rvsi333rBxpxgMAZwApoZqSighgSQQ\n", "EhIIkTchCSEhBUgIISb0ENOCDZj+mWobXHCTm2y5yeq9rKQt9/tjZuS1bMmydzUyYt7n8bPe0cyc\n", "e2fvnPe0e68opbBgwYIFCxa6A1tvN8CCBQsWLHx1YJGGBQsWLFjoNizSsGDBggUL3YZFGhYsWLBg\n", "oduwSMOCBQsWLHQbFmlYsGDBgoVuI2zSEJGzRWSLiGwXkbs6Oech/e/rROSE7lwrIreJyGYR2Sgi\n", "vw+3nRYsWLBgIXw4wrlYROzAI8AZQDHwhYgsVkptDjlnLjBUKTVMRKYBjwLTu7pWRE4DzgPGK6V8\n", "IpIeTjstWLBgwUJkEK6nMRUoVErtUkr5gBeA8zuccx7wFIBSaiWQJCJZR7j2FuB3+nGUUhVhttOC\n", "BQsWLEQA4ZJGLrA35Ps+/Vh3zsnp4tphwCkiskJElonIiWG204IFCxYsRABhhaeA7q5BIkd5XweQ\n", "rJSaLiJTgEXA4KO8hwULFixYiDDCJY1ioH/I9/5oHkNX5/TTz3F2ce0+4BUApdQXIhIUkVSlVFXo\n", 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np.mat([[cos(g),-sin(g),0], [sin(g),cos(g),0], [0,0,1]])\n", " Rot = Rz*Ry*Rx\n", " return Rot\n", "\n", "list_pos_x = []\n", "list_pos_y = []\n", "list_pos_z = []\n", "t= []\n", "\n", "pos0 = np.mat(poppy.get_object_position('head_visual')).transpose()\n", "t0 = time.time()\n", "time.sleep(0.01)\n", "\n", "while time.time() - t0 < 20:\n", " pos1 = np.mat(poppy.get_object_position('head_visual')).transpose()\n", " if any(pos1 != pos0):\n", " d_pos = pos1-pos0\n", " \n", " #make a rotation to d_pos to transpose the movement in a relative frame (frame of chest_visual)\n", " orient_chest = poppy.get_object_orientation('chest_visual')\n", " Rot=rotate_matrix(-orient_chest[0],-orient_chest[1],-orient_chest[2])\n", " d_pos=Rot*d_pos\n", " \n", " #balance the movement with an opposite movement of the arm\n", " #le terme instantanée doit être ajouté à un terme intégré sur les 10 derniers mouvements\n", " poppy.r_shoulder_y.goal_position = d_pos[1]*2000\n", " poppy.l_shoulder_y.goal_position = d_pos[1]*2000\n", " poppy.r_shoulder_x.goal_position = -20-d_pos[2]*2000\n", " poppy.l_shoulder_x.goal_position = 20-d_pos[2]*2000\n", " \n", " list_pos_x.append(float(d_pos[0]))\n", " list_pos_y.append(float(d_pos[1]))\n", " list_pos_z.append(float(d_pos[2]))\n", " t.append(poppy.current_simulation_time)\n", " pos0 = pos1\n", " time.sleep(0.01)\n", "\n", " \n", "plot(t, list_pos_x)\n", "plot(t, list_pos_y)\n", "plot(t, list_pos_z)\n", "legend(('dx', 'dy','dz'))" ] }, { "cell_type": "markdown", "metadata": { "collapsed": true }, "source": [ "The balance use only the speed of the movement (i.e the movement of the arm is only proportional to the speed of the move of the head. It could be better to use also the acceleration and the position (integration of speed). So to be continued..." ] }, { "cell_type": "markdown", "metadata": { "collapsed": true }, "source": [ "One test more with the possibility to react in function of the position and the acceleration." ] }, { "cell_type": "code", "execution_count": 43, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "" ] }, "execution_count": 43, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": [ "iVBORw0KGgoAAAANSUhEUgAAAYYAAAEZCAYAAACTsIJzAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n", "AAALEgAACxIB0t1+/AAAIABJREFUeJzsnXmcm1W9/9/f7MnsS6cz3Skt0JayylYQQVQKyKaCgGxu\n", "4ILX672iV1HbcblXvS6IKKI/EFQWFfWCLAIuVVDLIjulBQpdp8t09iQzk+38/jjPkzxJk8yWTJ7Q\n", "5/N6zWtmkifJN+c553y+38/3e84RpRQOHDhw4MCBCVelDXDgwIEDB/aCQwwOHDhw4CALDjE4cODA\n", "gYMsOMTgwIEDBw6y4BCDAwcOHDjIgkMMDhw4cOAgCw4xOHAwTRCR94nIg0Wef7OIrJ9Omxw4yAeH\n", "GBxUFURkk4i81fj7chFJich3cq4523j8p8b/J4nI1jzvtUZEPjg9loNS6jal1KmWz0+JyELL848o\n", 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want to apply to speed, position and acceleration. (P S A)\n", "P = 200\n", "S = 2000\n", "A = 2000\n", "\n", "\n", "class IMU:\n", " def __init__(self,nb_record=10):\n", " self.record_pos=[]\n", " i=0\n", " while i