https://github.com/raphaelm/ba-dynfil

Code used to obtain the results for my Bachelor's thesis
https://github.com/raphaelm/ba-dynfil

optimzation robotics stability zmp

Last synced: 2 months ago
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Code used to obtain the results for my Bachelor's thesis

• Host: GitHub
• URL: https://github.com/raphaelm/ba-dynfil
• Owner: raphaelm
• Created: 2017-03-20T16:38:48.000Z (about 8 years ago)
• Default Branch: master
• Last Pushed: 2018-05-17T15:00:28.000Z (about 7 years ago)
• Last Synced: 2025-02-13T14:16:22.797Z (4 months ago)
• Topics: optimzation, robotics, stability, zmp
• Language: Python
• Size: 4.31 MB
• Stars: 4
• Watchers: 3
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Dynamic Filter for Walking Motion Correction

This repository contains all code used to produce the results of my Bachelor's thesis.

The code works, but is **not actively maintained**.

Thanks to the friendly folks at [ORB](https://orb.uni-hd.de) for helping me make this happen.

## Installation

* Install Python 2.7, virtualenv and pip

* Create and activate a virtual environment and install Python-level dependencies with

  ``pip install -r requirements.txt``

* Install custom RBDL version with the modified IK and improved Python wrapper by K. Stein,

  M. Kudruss, P. Manns and myself from the dev branch available here:

  https://bitbucket.org/mkudruss/rbdl/

  If you are on Arch Linux, install the ``lua51`` package and run cmake with the following options:

      cmake .. -DRBDL_BUILD_ADDON_LUAMODEL=ON -DRBDL_BUILD_ADDON_URDFREADER=ON \

               -DRBDL_BUILD_PYTHON_WRAPPER=ON -DLUA_INCLUDE_DIR=/usr/include/lua5.1 \

  Make sure to execute cmake and make within your Python virtualenv, then the python

  versions will be automatically correct.

* Set your PYTHONPATH such that it includes the build/python/ directory from RBDL, e.g.

  ``export PYTHONPATH=../rbdl/build/python:$PYTHONPATH``

## Usage

The repository contains two executable Python scripts, ``patterngenerator.py`` and

``main.py``. Both take a similar set of options.

Currently, the following models are available in this repository:

* ``heicub`` -- A model of the HeiCub robot available at ORB

* ``simple`` -- A model of a very simple walking robot

* ``simplelx2`` -- Same as ``simple``, but with 2x heavier legs

* ``simplelx5`` -- Same as ``simple``, but with 5x heavier legs

* ``simplelx10`` -- Same as ``simple``, but with 10x heavier legs

### Pattern Generator

This repository comes with a very simple pattern generator that can be invoked with

	python patterngenerator.py [options ...]

It has the following options:

    --model [simple|heicub|simplelx5|simplelx10|simplelx2]

                                    Model

    --out-dir TEXT                  Output directory

    --help                          Show this message and exit.

It will output plots and a trajectory file to ``out/pg_data.txt`` by default.

### Main Script

The main script supports a number of commandline options and subcommands.

It can be invoked in the following way:

	python main.py [toplevel options ...] subcommand [command options ...]

Currently, the following values can be set as top-level options:

    --model [simple|heicub|simplelx5|simplelx10|simplelx2]

                                    Model

    --trajectory TEXT               Trajectory file  [required]

    --csv-delim TEXT                CSV delimiter of trajectory file

    --out-dir TEXT                  Output directory

    --show                          Open plot windows

    -w / --show-warnings            Show warnings

    --help                          Show this message and exit.

There are multiple subcommands. The most important one is ``filter``, which performs

the full set of actions required to evaluate the results of the dynamic filter, that

means it:

* Calculates the inverse kinematics on the pattern generator data and calculates

  the ZMP trajectory from that using inverse dynamics

* Applies the dynamic filter

* Calculates a ZMP trajectory again

* Creates MeshUp animation files

* Creates a lot of plots.

It again takes a number of options, as a number of interpolation and filter

methods are currently implemented.

    --filter-method [steepestdescent|gaussnewton|newton|pc]

                                    Filter method

    --ik-method [numerical|analytical]

                                    IK method

    --iterations INTEGER RANGE      Number of filter iterations

    --interpolate [none|savgol]     Apply interpolation to filter result

    --help                          Show this message and exit.

The other subcommands, ``compare_ik`` and ``compare_interpolation`` are for 

evaluation purposes of parts of the codebase.  ``evaluate`` creates plots for

a huge number of filter configurations at once, ``evaluate_speed`` evaluates

the performance of the algorithms, ``evaluate_zmp_accuracy`` compares two

different ZMP computation algorithms and ``plot_error`` creates a plot of the

raw result without any filters applied.

You can get more information on their options using e.g.

    python main.py --trajectory out/pc_data.txt compare_interpolation --help

### Makefile

The Makefile included runs a number of batch tasks that together generate (nearly)

all plots used in my thesis -- and a lot more.