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fsm_walking_compiled_controller.py
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"""
Example walking controller for the OSL.
Senthur Raj Ayyappan, Kevin Best
Neurobionics Lab
Robotics Department
University of Michigan
October 9, 2023
"""
import inspect
import os
import numpy as np
from opensourceleg.actuators.dephy import DephyActuator
from opensourceleg.control.compiled import CompiledController
from opensourceleg.sensors.loadcell import SRILoadcell
from opensourceleg.time import SoftRealtimeLoop
from opensourceleg.units import units
use_offline_mode = False
FREQUENCY = 200
clock = SoftRealtimeLoop(dt=1 / FREQUENCY)
knee = DephyActuator(
tag="knee",
firmware_version="7.2.0",
port="/dev/ttyACM0",
gear_ratio=9 * 83 / 18,
frequency=FREQUENCY,
)
ankle = DephyActuator(
tag="ankle",
firmware_version="7.2.0",
port="/dev/ttyACM1",
gear_ratio=9 * 83 / 18,
frequency=FREQUENCY,
)
actuators = [knee, ankle]
LOADCELL_MATRIX = np.array([
(-38.72600, -1817.74700, 9.84900, 43.37400, -44.54000, 1824.67000),
(-8.61600, 1041.14900, 18.86100, -2098.82200, 31.79400, 1058.6230),
(-1047.16800, 8.63900, -1047.28200, -20.70000, -1073.08800, -8.92300),
(20.57600, -0.04000, -0.24600, 0.55400, -21.40800, -0.47600),
(-12.13400, -1.10800, 24.36100, 0.02300, -12.14100, 0.79200),
(-0.65100, -28.28700, 0.02200, -25.23000, 0.47300, -27.3070),
])
loadcell = SRILoadcell(
calibration_matrix=LOADCELL_MATRIX,
bus=1,
)
sensors = [loadcell]
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
controller = CompiledController(
library_name="FSMController",
library_path=currentdir,
main_function_name="FSMController",
initialization_function_name="FSMController_initialize",
cleanup_function_name="FSMController_terminate",
)
controller.define_type(
"impedance_param_type",
[
("stiffness", controller.types.c_double),
("damping", controller.types.c_double),
("eq_angle", controller.types.c_double),
],
)
controller.define_type(
"joint_impedance_set",
[
("early_stance", controller.types.impedance_param_type),
("late_stance", controller.types.impedance_param_type),
("early_swing", controller.types.impedance_param_type),
("late_swing", controller.types.impedance_param_type),
],
)
controller.define_type(
"transition_parameters",
[
("min_time_in_state", controller.types.c_double),
("loadLStance", controller.types.c_double),
("ankleThetaEstanceToLstance", controller.types.c_double),
("kneeThetaESwingToLSwing", controller.types.c_double),
("kneeDthetaESwingToLSwing", controller.types.c_double),
("loadESwing", controller.types.c_double),
("loadEStance", controller.types.c_double),
("kneeThetaLSwingToEStance", controller.types.c_double),
],
)
controller.define_type(
"UserParameters",
[
("body_weight", controller.types.c_double),
("knee_impedance", controller.types.joint_impedance_set),
("ankle_impedance", controller.types.joint_impedance_set),
("transition_parameters", controller.types.transition_parameters),
],
)
controller.define_type("sensors", controller.DEFAULT_SENSOR_LIST)
controller.define_inputs([
("parameters", controller.types.UserParameters),
("sensors", controller.types.sensors),
("time", controller.types.c_double),
])
controller.define_outputs([
("current_state", controller.types.c_int),
("time_in_current_state", controller.types.c_double),
("knee_impedance", controller.types.impedance_param_type),
("ankle_impedance", controller.types.impedance_param_type),
])
# Populate Controller inputs as needed
controller.inputs.parameters.knee_impedance.early_stance.stiffness = 99.372
controller.inputs.parameters.knee_impedance.early_stance.damping = 3.180
controller.inputs.parameters.knee_impedance.early_stance.eq_angle = 5
controller.inputs.parameters.knee_impedance.late_stance.stiffness = 99.372
controller.inputs.parameters.knee_impedance.late_stance.damping = 1.272
controller.inputs.parameters.knee_impedance.late_stance.eq_angle = 8
controller.inputs.parameters.knee_impedance.early_swing.stiffness = 39.746
controller.inputs.parameters.knee_impedance.early_swing.damping = 0.063
controller.inputs.parameters.knee_impedance.early_swing.eq_angle = 60
controller.inputs.parameters.knee_impedance.late_swing.stiffness = 15.899
controller.inputs.parameters.knee_impedance.late_swing.damping = 3.186
controller.inputs.parameters.knee_impedance.late_swing.eq_angle = 5
controller.inputs.parameters.ankle_impedance.early_stance.stiffness = 19.874
controller.inputs.parameters.ankle_impedance.early_stance.damping = 0
controller.inputs.parameters.ankle_impedance.early_stance.eq_angle = -2
controller.inputs.parameters.ankle_impedance.late_stance.stiffness = 79.498
controller.inputs.parameters.ankle_impedance.late_stance.damping = 0.063
controller.inputs.parameters.ankle_impedance.late_stance.eq_angle = -20
controller.inputs.parameters.ankle_impedance.early_swing.stiffness = 7.949
controller.inputs.parameters.ankle_impedance.early_swing.damping = 0
controller.inputs.parameters.ankle_impedance.early_swing.eq_angle = 25
controller.inputs.parameters.ankle_impedance.late_swing.stiffness = 7.949
controller.inputs.parameters.ankle_impedance.late_swing.damping = 0.0
controller.inputs.parameters.ankle_impedance.late_swing.eq_angle = 15
# Configure state machine
body_weight = 82 # kg
controller.inputs.parameters.body_weight = body_weight
controller.inputs.parameters.transition_parameters.min_time_in_state = 0.20
controller.inputs.parameters.transition_parameters.loadLStance = -body_weight * 0.25
controller.inputs.parameters.transition_parameters.ankleThetaEstanceToLstance = 6.0
controller.inputs.parameters.transition_parameters.loadESwing = -body_weight * 0.15
controller.inputs.parameters.transition_parameters.kneeThetaESwingToLSwing = 50
controller.inputs.parameters.transition_parameters.kneeDthetaESwingToLSwing = 3
controller.inputs.parameters.transition_parameters.loadEStance = -body_weight * 0.4
controller.inputs.parameters.transition_parameters.kneeThetaLSwingToEStance = 30
with knee, ankle, loadcell:
knee.home()
ankle.home()
knee.set_control_mode(knee.CONTROL_MODES.IMPEDANCE)
ankle.set_control_mode(ankle.CONTROL_MODES.IMPEDANCE)
# Main Loop
for t in clock:
knee.update()
ankle.update()
loadcell.update()
controller.inputs.sensors.knee_angle = units.convert_from_default(knee.output_position, units.position.deg)
controller.inputs.sensors.ankle_angle = units.convert_from_default(ankle.output_position, units.position.deg)
controller.inputs.sensors.knee_velocity = units.convert_from_default(
knee.output_velocity, units.velocity.deg_per_s
)
controller.inputs.sensors.ankle_velocity = units.convert_from_default(
ankle.output_velocity, units.velocity.deg_per_s
)
controller.inputs.sensors.Fz = loadcell.fz
# Update any control inputs that change every loop
controller.inputs.time = t
# Call the controller
outputs = controller.run()
# Test print to ensure external library call works
print(
f"Current time in state {outputs.current_state}: {outputs.time_in_current_state:.2f} seconds, \
Knee Eq {outputs.knee_impedance.eq_angle:.2f}, \
Ankle Eq {outputs.ankle_impedance.eq_angle:.2f}, \
Fz {loadcell.fz:.2f}",
end="\r",
)
# Write to the hardware
knee.set_output_impedance(
k=units.convert_to_default(outputs.knee_impedance.stiffness, units.stiffness.N_m_per_rad),
b=units.convert_to_default(outputs.knee_impedance.damping, units.damping.N_m_per_rad_per_s),
)
knee.set_output_position(value=units.convert_to_default(outputs.knee_impedance.eq_angle, units.position.deg))
ankle.set_output_impedance(
k=units.convert_to_default(outputs.ankle_impedance.stiffness, units.stiffness.N_m_per_rad),
b=units.convert_to_default(outputs.ankle_impedance.damping, units.damping.N_m_per_rad_per_s),
)
ankle.set_output_position(value=units.convert_to_default(outputs.ankle_impedance.eq_angle, units.position.deg))
print("\n")