-
Notifications
You must be signed in to change notification settings - Fork 60
/
Copy pathStateEstimator.py
144 lines (118 loc) · 6.58 KB
/
StateEstimator.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
import numpy as np
from scipy import linalg
from MPC_Controller.Parameters import Parameters
from MPC_Controller.common.Quadruped import Quadruped
from MPC_Controller.math_utils.moving_window_filter import MovingWindowFilter
from MPC_Controller.utils import DTYPE
from MPC_Controller.math_utils.orientation_tools import quat_to_rot, quat_to_rpy,rot_to_rpy, get_rot_from_normals, rpy_to_rot, Quaternion
class StateEstimate:
def __init__(self):
self.position = np.zeros((3,1), dtype=DTYPE)
self.vWorld = np.zeros((3,1), dtype=DTYPE)
self.omegaWorld = np.zeros((3,1), dtype=DTYPE)
self.orientation = Quaternion(1, 0, 0, 0)
self.rBody = np.zeros((3,3), dtype=DTYPE)
self.rpy = np.zeros((3,1), dtype=DTYPE)
self.rpyBody = np.zeros((3,1), dtype=DTYPE)
self.ground_normal_world = np.array([0,0,1], dtype=DTYPE)
self.ground_normal_yaw = np.array([0,0,1], dtype=DTYPE)
self.vBody = np.zeros((3,1), dtype=DTYPE)
self.omegaBody = np.zeros((3,1), dtype=DTYPE)
class StateEstimator:
def __init__(self, quadruped:Quadruped):
self.result = StateEstimate()
self._quadruped = quadruped
# self._ground_normal_filter = MovingWindowFilter(window_size=10)
# self._velocity_filter = MovingWindowFilter(window_size=60)
self._phase = np.zeros((4,1), dtype=DTYPE)
self._contactPhase = self._phase
self._foot_contact_history:np.ndarray = None
self.ground_R_body_frame:np.ndarray = None
self.body_height:float = self._quadruped._bodyHeight
self.result.position[2] = self.body_height
def reset(self):
self.result = StateEstimate()
self._phase = np.zeros((4,1), dtype=DTYPE)
self._contactPhase = self._phase
self._foot_contact_history:np.ndarray = None
self.ground_R_body_frame:np.ndarray = None
self.body_height = self._quadruped._bodyHeight
self.result.position[2] = self.body_height
def setContactPhase(self, phase:np.ndarray):
self._contactPhase = phase
def getResult(self):
return self.result
def update(self, body_states):
if Parameters.bridge_MPC_to_RL:
# self.result.position ~~ body_states[0:3]
self.result.orientation.x = body_states[3]
self.result.orientation.y = body_states[4]
self.result.orientation.z = body_states[5]
self.result.orientation.w = body_states[6]
self.result.vWorld[0] = body_states[7]
self.result.vWorld[1] = body_states[8]
self.result.vWorld[2] = body_states[9]
self.result.omegaWorld[0] = body_states[10]
self.result.omegaWorld[1] = body_states[11]
self.result.omegaWorld[2] = body_states[12]
else:
for idx in range(3):
# self.result.position[idx] = body_states["pose"]["p"][idx] # positions (Vec3: x, y, z)
self.result.vWorld[idx] = body_states["vel"]["linear"][idx] # linear velocities (Vec3: x, y, z)
self.result.omegaWorld[idx] = body_states["vel"]["angular"][idx] # angular velocities (Vec3: x, y, z)
self.result.orientation.x = body_states["pose"]["r"][0] # orientations (Quat: x, y, z, w)
self.result.orientation.y = body_states["pose"]["r"][1]
self.result.orientation.z = body_states["pose"]["r"][2]
self.result.orientation.w = body_states["pose"]["r"][3]
# all good here
self.result.rBody = quat_to_rot(self.result.orientation) # world_R_body_frame
self.result.vBody = self.result.rBody @ self.result.vWorld
self.result.omegaBody = self.result.rBody @ self.result.omegaWorld
# RPY of body in the world frame
self.result.rpy = quat_to_rpy(self.result.orientation)
world_R_yaw_frame = rpy_to_rot([0,0,self.result.rpy[2]])
yaw_R_ground_frame = get_rot_from_normals(np.array([0,0,1], dtype=DTYPE),
self.result.ground_normal_yaw)
# self.ground_R_body_frame = self.result.rBody @ yaw_R_ground_frame.T
self.ground_R_body_frame = self.result.rBody @ world_R_yaw_frame.T @ yaw_R_ground_frame.T
# RPY of body in yaw aligned ground frame
self.result.rpyBody = rot_to_rpy(self.ground_R_body_frame)
def _init_contact_history(self, foot_positions:np.ndarray):
self._foot_contact_history = foot_positions.copy()
self._foot_contact_history[:, 2] = - self.body_height
def _update_contact_history(self, foot_positions:np.ndarray):
foot_positions_ = foot_positions.copy()
for leg_id in range(4):
if self._contactPhase[leg_id]:
self._foot_contact_history[leg_id] = foot_positions_[leg_id]
def _update_com_position_ground_frame(self, foot_positions:np.ndarray):
foot_contacts = self._contactPhase.flatten()
if np.sum(foot_contacts) == 0:
return np.array((0, 0, self.body_height))
else:
foot_positions_ground_frame = (foot_positions.reshape((4,3)).dot(self.ground_R_body_frame.T))
foot_heights = -foot_positions_ground_frame[:, 2]
height_in_ground_frame = np.sum(foot_heights * foot_contacts) / np.sum(foot_contacts)
self.result.position[2] = height_in_ground_frame
def _compute_ground_normal_and_com_position(self, foot_positions:np.ndarray):
"""
Computes the surface orientation in robot frame based on foot positions.
Solves a least squares problem, see the following paper for details:
https://ieeexplore.ieee.org/document/7354099
"""
self._update_com_position_ground_frame(foot_positions)
self._update_contact_history(foot_positions)
contact_foot_positions = self._foot_contact_history.reshape((4,3)) # reshape from (4,3,1) to (4,3)
normal_vec = linalg.lstsq(contact_foot_positions, np.ones(4, dtype=DTYPE))[0]
# numpy lstsq not support float16 or less
# normal_vec = np.linalg.lstsq(contact_foot_positions.astype(np.float32),
# np.ones(4, dtype=np.float32), rcond=None)[0]
normal_vec /= np.linalg.norm(normal_vec)
if normal_vec[2] < 0:
normal_vec = -normal_vec
# _ground_normal = self._ground_normal_filter.calculate_average(normal_vec)
_ground_normal = normal_vec
_ground_normal /= np.linalg.norm(_ground_normal)
# ground normal in yaw aligned ground frame and world frame
self.result.ground_normal_yaw = _ground_normal
self.result.ground_normal_world = self.result.rBody.T @ _ground_normal