Go2Py_SIM/examples/08-ActuatorNet.ipynb

530 lines
164 KiB
Plaintext

{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"pygame 2.6.1 (SDL 2.28.4, Python 3.10.12)\n",
"Hello from the pygame community. https://www.pygame.org/contribute.html\n"
]
}
],
"source": [
"from Go2Py.robot.interface import GO2Real"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
"from Go2Py.robot.model import Go2Model"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
"model = Go2Model()"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [],
"source": [
"robot=GO2Real()"
]
},
{
"cell_type": "code",
"execution_count": 6,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"{'q': [0.3250521421432495,\n",
" 0.40270543098449707,\n",
" -1.4649406671524048,\n",
" -0.44037926197052,\n",
" 0.35583579540252686,\n",
" -1.469537615776062,\n",
" 0.41242796182632446,\n",
" 0.29579007625579834,\n",
" -1.4764724969863892,\n",
" -0.38193845748901367,\n",
" 0.25427955389022827,\n",
" -1.4649723768234253],\n",
" 'dq': [0.007751047611236572,\n",
" 0.01937761902809143,\n",
" -0.014154086820781231,\n",
" 0.034879714250564575,\n",
" 0.04263076186180115,\n",
" 0.008088049478828907,\n",
" -0.034879714250564575,\n",
" -0.06200838088989258,\n",
" 0.024264149367809296,\n",
" 0.034879714250564575,\n",
" -0.003875523805618286,\n",
" -0.03033018670976162],\n",
" 'tau_est': [-0.14842969179153442,\n",
" 0.12369140982627869,\n",
" -0.1422451138496399,\n",
" -0.22264453768730164,\n",
" -0.12369140982627869,\n",
" 0.3319052755832672,\n",
" 0.049476563930511475,\n",
" 0.0,\n",
" -0.09483008086681366,\n",
" 0.049476563930511475,\n",
" -0.024738281965255737,\n",
" 0.0],\n",
" 'temperature': [27.0,\n",
" 24.0,\n",
" 26.0,\n",
" 26.0,\n",
" 25.0,\n",
" 26.0,\n",
" 27.0,\n",
" 25.0,\n",
" 26.0,\n",
" 27.0,\n",
" 24.0,\n",
" 25.0]}"
]
},
"execution_count": 6,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"state = robot.getJointStates()\n",
"state"
]
},
{
"cell_type": "code",
"execution_count": 7,
"metadata": {},
"outputs": [],
"source": [
"from scipy.spatial.transform import Rotation as R\n",
"import numpy as np\n",
"imu = robot.getIMU()\n",
"guat = imu['quat']\n",
"Rot_mat = R.from_quat(guat).as_matrix()\n",
"T = np.eye(4)\n",
"T[:3,:3]=Rot_mat\n",
"\n",
"q = np.array(state['q'])\n",
"dq = np.array(state['dq'])"
]
},
{
"cell_type": "code",
"execution_count": 8,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"dict_keys(['q', 'dq', 'tau_est', 'temperature'])"
]
},
"execution_count": 8,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"state.keys()"
]
},
{
"cell_type": "code",
"execution_count": 9,
"metadata": {},
"outputs": [],
"source": [
"model.updateAllPose(q, dq, T, np.zeros(6))"
]
},
{
"cell_type": "code",
"execution_count": 10,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"array([-0.68048197, 0.24158602, -0.19297757, 0.58341235, 0.2037472 ,\n",
" -0.19295897, -0.58055523, 0.15918967, -0.20132737, 0.64800928,\n",
" 0.12985214, -0.21048951])"
]
},
"execution_count": 10,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"model.getInfo()['g'][6:]"
]
},
{
"cell_type": "code",
"execution_count": 11,
"metadata": {},
"outputs": [],
"source": [
"def getGravComp(model, state, imu):\n",
" imu = robot.getIMU()\n",
" guat = imu['quat']\n",
" Rot_mat = R.from_quat(guat).as_matrix()\n",
" T = np.eye(4)\n",
" T[:3,:3]=Rot_mat\n",
"\n",
" q = np.array(state['q'])\n",
" dq = np.array(state['dq'])\n",
" model.updateAllPose(q, dq, T, np.zeros(6))\n",
" return model.getInfo()['g'][6:]"
]
},
{
"cell_type": "code",
"execution_count": 46,
"metadata": {},
"outputs": [
{
"ename": "KeyboardInterrupt",
"evalue": "",
"output_type": "error",
"traceback": [
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
"\u001b[0;31mKeyboardInterrupt\u001b[0m Traceback (most recent call last)",
"Cell \u001b[0;32mIn[46], line 10\u001b[0m\n\u001b[1;32m 8\u001b[0m state \u001b[38;5;241m=\u001b[39m robot\u001b[38;5;241m.\u001b[39mgetJointStates()\n\u001b[1;32m 9\u001b[0m imu \u001b[38;5;241m=\u001b[39m robot\u001b[38;5;241m.\u001b[39mgetIMU()\n\u001b[0;32m---> 10\u001b[0m grav \u001b[38;5;241m=\u001b[39m \u001b[43mgetGravComp\u001b[49m\u001b[43m(\u001b[49m\u001b[43mmodel\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mstate\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mimu\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 11\u001b[0m q \u001b[38;5;241m=\u001b[39m np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m) \n\u001b[1;32m 12\u001b[0m dq \u001b[38;5;241m=\u001b[39m np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m)\n",
"Cell \u001b[0;32mIn[36], line 10\u001b[0m, in \u001b[0;36mgetGravComp\u001b[0;34m(model, state, imu)\u001b[0m\n\u001b[1;32m 8\u001b[0m q \u001b[38;5;241m=\u001b[39m np\u001b[38;5;241m.\u001b[39marray(state[\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mq\u001b[39m\u001b[38;5;124m'\u001b[39m])\n\u001b[1;32m 9\u001b[0m dq \u001b[38;5;241m=\u001b[39m np\u001b[38;5;241m.\u001b[39marray(state[\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mdq\u001b[39m\u001b[38;5;124m'\u001b[39m])\n\u001b[0;32m---> 10\u001b[0m \u001b[43mmodel\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mupdateAllPose\u001b[49m\u001b[43m(\u001b[49m\u001b[43mq\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mdq\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mT\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mnp\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mzeros\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;241;43m6\u001b[39;49m\u001b[43m)\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 11\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m model\u001b[38;5;241m.\u001b[39mgetInfo()[\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mg\u001b[39m\u001b[38;5;124m'\u001b[39m][\u001b[38;5;241m6\u001b[39m:]\n",
"File \u001b[0;32m/home/Go2py/Go2Py/robot/model.py:251\u001b[0m, in \u001b[0;36mGo2Model.updateAllPose\u001b[0;34m(self, q, dq, T, v)\u001b[0m\n\u001b[1;32m 249\u001b[0m dq_ \u001b[38;5;241m=\u001b[39m np\u001b[38;5;241m.\u001b[39mhstack([v, dq[\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mq_reordering_idx]])\n\u001b[1;32m 250\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mupdateKinematics(q_)\n\u001b[0;32m--> 251\u001b[0m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mupdateDynamics\u001b[49m\u001b[43m(\u001b[49m\u001b[43mq_\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mdq_\u001b[49m\u001b[43m)\u001b[49m\n",
"\u001b[0;31mKeyboardInterrupt\u001b[0m: "
]
}
],
"source": [
"import numpy as np\n",
"import time\n",
"start_time = time.time()\n",
"freq = 3\n",
"omega = np.pi*2*freq\n",
"A = 1.5\n",
"while time.time()-start_time < 30:\n",
" state = robot.getJointStates()\n",
" imu = robot.getIMU()\n",
" grav = getGravComp(model, state, imu)\n",
" q = np.zeros(12) \n",
" dq = np.zeros(12)\n",
" kp = np.ones(12)*0.0\n",
" kd = np.ones(12)*0.0\n",
" tau = np.zeros(12)\n",
" # tau[2] = A*np.sin(omega*(time.time()-start_time))\n",
" tau = grav\n",
"\n",
" robot.setCommands(q, dq, kp, kd, tau)\n",
" time.sleep(0.001)"
]
},
{
"cell_type": "code",
"execution_count": 12,
"metadata": {},
"outputs": [],
"source": [
"import numpy as np\n",
"import time\n",
"start_time = time.time()\n",
"freq = 2.\n",
"omega = np.pi*2*freq\n",
"q_nominal = robot.standing_q\n",
"As = [0.5, 1., 1.5, 2, 2.5]\n",
"freqs = [1.5, 2., 2.5, 3., 3.5]\n",
"A = 0 \n",
"\n",
"# Go home before anything\n",
"while time.time()-start_time < 3:\n",
" state = robot.getJointStates()\n",
" imu = robot.getIMU()\n",
" grav = getGravComp(model, state, imu)\n",
" q = q_nominal \n",
" dq = np.zeros(12)\n",
" kp = np.ones(12)*3.0\n",
" kd = np.ones(12)*0.1\n",
" tau = np.zeros(12)\n",
" robot.setCommands(q, dq, kp, kd, tau)\n",
"# Start recording a dataset for the knee joints\n",
"dataset = []\n",
"for freq in freqs:\n",
" omega = np.pi*2*freq\n",
" for A in As:\n",
" start_time=time.time()\n",
" while time.time()-start_time < 5:\n",
" state = robot.getJointStates()\n",
" imu = robot.getIMU()\n",
" grav = getGravComp(model, state, imu)\n",
" q = q_nominal \n",
" dq = np.zeros(12)\n",
" kp = np.ones(12)*3.0\n",
" kd = np.ones(12)*0.1\n",
" tau = np.zeros(12)\n",
" tau = grav\n",
" # The internal controller of the knee joints should not be active \n",
" kp[2]=kp[5]=kp[8]=kp[11]=0.\n",
" kd[2]=kd[5]=kd[8]=kd[11]=0.\n",
" pd_law = 6.3*(q_nominal-state['q']) + 0.5*(np.array([0])-state['dq'])\n",
" tau[2] = A*np.sin(omega*(time.time()-start_time)) + grav[2] + pd_law[2]\n",
" tau[5] = A*np.sin(omega*(time.time()-start_time)) + grav[5] + pd_law[5]\n",
" tau[8] = A*np.sin(omega*(time.time()-start_time)) + grav[8] + pd_law[8]\n",
" tau[11] = A*np.sin(omega*(time.time()-start_time)) + grav[11] + pd_law[11]\n",
" robot.setCommands(q, dq, kp, kd, tau)\n",
" q = np.array(state['q'])\n",
" dq = np.array(state['dq'])\n",
" tau_recorded = np.array(state['tau_est'])\n",
" dataset.append([tau[[2,5,8,11]], q[[2,5,8,11]], dq[[2,5,8,11]], tau_recorded[[2,5,8,11]]])\n",
" time.sleep(0.01)\n",
"\n",
"dataset = np.array(dataset)"
]
},
{
"cell_type": "code",
"execution_count": 13,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"[<matplotlib.lines.Line2D at 0x70f9a272c550>,\n",
" <matplotlib.lines.Line2D at 0x70f9a272c580>,\n",
" <matplotlib.lines.Line2D at 0x70f9a2770550>,\n",
" <matplotlib.lines.Line2D at 0x70f9a2770670>]"
]
},
"execution_count": 13,
"metadata": {},
"output_type": "execute_result"
},
{
"data": {
"image/png": 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",
"text/plain": [
"<Figure size 640x480 with 1 Axes>"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"import matplotlib.pyplot as plt\n",
"plt.plot(dataset[:,-2])"
]
},
{
"cell_type": "code",
"execution_count": 14,
"metadata": {},
"outputs": [],
"source": [
"import pickle\n",
"with open('knee_friction_identification_dataset.pkl', 'wb') as f:\n",
" pickle.dump(\n",
" {'q': dataset[:,1],\n",
" 'dq': dataset[:,2],\n",
" 'tau': dataset[:,0],\n",
" 'tau_recorded': dataset[:,-1],},\n",
" f\n",
" )"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Curve fitting"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
"import torch\n",
"import torch.nn as nn\n",
"import torch.nn.functional as F"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
"import pickle\n",
"dataset = pickle.load(open('knee_friction_identification_dataset.pkl', 'rb'))"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [],
"source": [
"class FrictionSSID(nn.Module):\n",
" def __init__(self):\n",
" super().__init__()\n",
" self.mu_v = nn.Parameter(data=torch.zeros(1), requires_grad=True)\n",
" self.Fs = nn.Parameter(data=torch.zeros(1), requires_grad=True)\n",
" self.register_buffer(\"temperature\", 0.1 * torch.ones(()))\n",
"\n",
" def forward(self, dq):\n",
" tau_sticktion = self.Fs*self.softSign(dq, temperature=self.temperature)\n",
" tau_viscose = self.mu_v*dq\n",
" return tau_sticktion+tau_viscose\n",
"\n",
" def softSign(self, u, temperature=0.1):\n",
" return torch.tanh(u/temperature)"
]
},
{
"cell_type": "code",
"execution_count": 13,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"knee nb.: 0, epgetJointStatesoch 1/100, loss: 3.2810028187543234\n",
"knee nb.: 0, epgetJointStatesoch 26/100, loss: 1.5961371864755898\n",
"knee nb.: 0, epgetJointStatesoch 51/100, loss: 1.5878992784766226\n",
"knee nb.: 0, epgetJointStatesoch 76/100, loss: 1.5875244340091612\n",
"mu_v: Parameter containing:\n",
"tensor([0.2167], requires_grad=True), Fs: Parameter containing:\n",
"tensor([1.5259], requires_grad=True)\n",
"knee nb.: 1, epgetJointStatesoch 1/100, loss: 2.5653999508271745\n",
"knee nb.: 1, epgetJointStatesoch 26/100, loss: 1.620573471383013\n",
"knee nb.: 1, epgetJointStatesoch 51/100, loss: 1.6184235904911686\n",
"knee nb.: 1, epgetJointStatesoch 76/100, loss: 1.6184084277930868\n",
"mu_v: Parameter containing:\n",
"tensor([-0.0647], requires_grad=True), Fs: Parameter containing:\n",
"tensor([1.2380], requires_grad=True)\n",
"knee nb.: 2, epgetJointStatesoch 1/100, loss: 2.281400742101678\n",
"knee nb.: 2, epgetJointStatesoch 26/100, loss: 1.7584790933593724\n",
"knee nb.: 2, epgetJointStatesoch 51/100, loss: 1.7573205771828757\n",
"knee nb.: 2, epgetJointStatesoch 76/100, loss: 1.7573122681074191\n",
"mu_v: Parameter containing:\n",
"tensor([-0.0420], requires_grad=True), Fs: Parameter containing:\n",
"tensor([0.8917], requires_grad=True)\n",
"knee nb.: 3, epgetJointStatesoch 1/100, loss: 4.078545475140164\n",
"knee nb.: 3, epgetJointStatesoch 26/100, loss: 2.136013706473821\n",
"knee nb.: 3, epgetJointStatesoch 51/100, loss: 2.1031023316309967\n",
"knee nb.: 3, epgetJointStatesoch 76/100, loss: 2.100360134679885\n",
"mu_v: Parameter containing:\n",
"tensor([-0.0834], requires_grad=True), Fs: Parameter containing:\n",
"tensor([2.2461], requires_grad=True)\n"
]
}
],
"source": [
"for knee_nb in range(4):\n",
" epoch_nb = 100\n",
" friction_model = FrictionSSID()\n",
" optim = torch.optim.SGD(params=friction_model.parameters(), lr=0.2)\n",
" for e in range(epoch_nb):\n",
" dq = torch.tensor(dataset['dq'][:, knee_nb])\n",
" tau_applied = torch.tensor(dataset['tau'][:, knee_nb])\n",
" tau_recorded = torch.tensor(dataset['tau_recorded'][:, knee_nb])\n",
" loss = ((tau_applied + tau_recorded - friction_model(dq)) ** 2).mean()\n",
" optim.zero_grad()\n",
" loss.backward()\n",
" optim.step()\n",
" if (e) % 25 == 0:\n",
" print(f\"knee nb.: {knee_nb}, epgetJointStatesoch {e+1}/{epoch_nb}, loss: {loss.item()}\")\n",
" print(f\"mu_v: {friction_model.mu_v}, Fs: {friction_model.Fs}\")\n",
" torch.save(friction_model, f\"friction_model_knee_{knee_nb}\")"
]
},
{
"cell_type": "code",
"execution_count": 16,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"Text(0, 0.5, 'friction')"
]
},
"execution_count": 16,
"metadata": {},
"output_type": "execute_result"
},
{
"data": {
"image/png": 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",
"text/plain": [
"<Figure size 640x480 with 1 Axes>"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"import matplotlib.pyplot as plt\n",
"plt.plot(dataset['dq'], dataset['tau']-dataset['tau_recorded'])\n",
"plt.xlabel(\"dq\")\n",
"plt.ylabel(\"friction\")"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.10.12"
}
},
"nbformat": 4,
"nbformat_minor": 2
}