优化STEP算法，降低CPU使用率
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Ziwei.He
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@ -40,73 +40,84 @@ class AdmittanceController(BaseController):
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self.laset_print_time = 0
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def step(self,dt):
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# 计算误差 位置直接作差，姿态误差以旋转向量表示
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temp_pose_error = self.state.arm_position - self.state.desired_position
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# if time.time() - self.laset_print_time > 5:
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# print(f'temp_pose_error: {temp_pose_error} ||| arm_position: {self.state.arm_position} ||| desired_position: {self.state.desired_position}')
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# 方向统一
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if self.state.desired_orientation.dot(self.state.arm_orientation) < 0:
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self.state.arm_orientation = -self.state.arm_orientation
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self.state.pose_error[:3] = R.from_quat(self.state.arm_orientation).as_matrix().T @ temp_pose_error
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# if time.time() - self.laset_print_time > 5:
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# print("pose_error:",self.state.pose_error[:3])
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# 计算误差 位置直接作差，姿态误差以旋转向量表示
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#rot_err_mat = R.from_quat(self.state.arm_orientation).as_matrix() @ R.from_quat(self.state.desired_orientation).as_matrix().T
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rot_err_mat = R.from_quat(self.state.arm_orientation).as_matrix().T @ R.from_quat(self.state.desired_orientation).as_matrix()
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# print(f'rot_err_mat: {rot_err_mat} ||| arm_orientation: {R.from_quat(self.state.arm_orientation).as_euler('xyz',False)} ||| desired_orientation: {R.from_quat(self.state.desired_orientation).as_euler('xyz',False)}')
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rot_err_rotvex = R.from_matrix(rot_err_mat).as_rotvec(degrees=False)
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self.state.pose_error[3:] = -rot_err_rotvex
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#wrench_err = self.state.external_wrench_base - self.state.desired_wrench
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# 缓存常用计算
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arm_ori_quat = R.from_quat(self.state.arm_orientation)
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arm_ori_mat = arm_ori_quat.as_matrix()
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# 位置误差
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temp_pose_error = self.state.arm_position - self.state.desired_position
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self.state.pose_error[:3] = arm_ori_mat.T @ temp_pose_error
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# 姿态误差(四元数)
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rot_err_quat = arm_ori_quat.inv() * R.from_quat(self.state.desired_orientation)
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self.state.pose_error[3:] = -rot_err_quat.as_rotvec(degrees=False)
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# 期望加速度
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wrench_err = self.state.external_wrench_tcp - self.state.desired_wrench
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# if time.time() - self.laset_print_time > 1:
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# print(f'wrench_err: {wrench_err} ||| external_wrench_tcp: {self.state.external_wrench_tcp} ||| desired_wrench: {self.state.desired_wrench}')
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# self.state.arm_desired_acc = np.linalg.inv(self.M) @ (wrench_err - self.D @ (self.state.arm_desired_twist -self.state.desired_twist) - self.K @ self.state.pose_error)
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self.state.arm_desired_acc = self.M_inv @ (wrench_err - self.D @ (self.state.arm_desired_twist -self.state.desired_twist) - self.K @ self.state.pose_error)
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# if time.time() - self.laset_print_time > 5:
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# print("@@@:",wrench_err - self.D @ (self.state.arm_desired_twist -self.state.desired_twist) - self.K @ self.state.pose_error)
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self.clip_command(self.state.arm_desired_acc,"acc")
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self.state.arm_desired_twist = self.state.arm_desired_acc * dt + self.state.arm_desired_twist
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self.clip_command(self.state.arm_desired_twist,"vel")
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delta_pose = self.state.arm_desired_twist * dt
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# delta_pose[:3] = self.pos_scale_factor * delta_pose[:3]
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# delta_pose[3:] = self.rot_scale_factor * delta_pose[3:]
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# if time.time() - self.laset_print_time > 5:
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# print("delta_pose:",delta_pose)
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delta_pose[:3] = R.from_quat(self.state.arm_orientation).as_matrix() @ delta_pose[:3]
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# if time.time() - self.laset_print_time > 5:
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# print("tf_delta_pose:",delta_pose)
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self.clip_command(delta_pose,"pose")
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# testlsy
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delta_ori_mat = R.from_rotvec(delta_pose[3:]).as_matrix()
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# random_array = np.random.rand(3) # 生成长度为 3 的数组
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# delta_ori_mat = R.from_rotvec(random_array/100000).as_matrix()
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arm_ori_mat = delta_ori_mat @ R.from_quat(self.state.arm_orientation).as_matrix()
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arm_ori_mat = R.from_quat(self.state.arm_orientation).as_matrix() @ delta_ori_mat
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self.state.arm_orientation_command = R.from_matrix(arm_ori_mat).as_quat()
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KD_vel = self.D @ (self.state.arm_desired_twist - self.state.desired_twist)
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KD_pose = self.K @ self.state.pose_error
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self.state.arm_desired_acc = self.M_inv @ (wrench_err - KD_vel - KD_pose)
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self.clip_command(self.state.arm_desired_acc, "acc")
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## 更新速度和位姿
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self.state.arm_desired_twist += self.state.arm_desired_acc * dt
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self.clip_command(self.state.arm_desired_twist, "vel")
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# 计算位姿变化
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delta_pose = np.concatenate([
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arm_ori_mat @ (self.state.arm_desired_twist[:3] * dt),
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self.state.arm_desired_twist[3:] * dt
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])
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self.clip_command(delta_pose, "pose")
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# 更新四元数
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delta_ori_quat = R.from_rotvec(delta_pose[3:]).as_quat()
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arm_ori_quat_new = arm_ori_quat * R.from_quat(delta_ori_quat)
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self.state.arm_orientation_command = arm_ori_quat_new.as_quat()
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# 归一化四元数
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self.state.arm_orientation_command /= np.linalg.norm(self.state.arm_orientation_command)
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# 更新位置
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self.state.arm_position_command = self.state.arm_position + delta_pose[:3]
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# if time.time() - self.laset_print_time > 2:
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# print("-------------admittance_1-------------------------------")
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# print("arm_position:",self.state.arm_position)
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# print("desired_position:",self.state.desired_position)
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# print(f'wrench_err: {wrench_err} ||| external_wrench_tcp: {self.state.external_wrench_tcp} ||| desired_wrench: {self.state.desired_wrench}')
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# print("self.state.arm_desired_acc:",self.state.arm_desired_acc)
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# print("arm_orientation",R.from_quat(self.state.arm_orientation).as_euler('xyz',degrees=True))
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# print("desired_orientation",R.from_quat(self.state.desired_orientation).as_euler('xyz',degrees=True))
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# print("arm_position_command",self.state.arm_position_command)
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# print("arm_orientation_command",R.from_quat(self.state.arm_orientation_command).as_euler('xyz',degrees=True))
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# print("delta_pose:",delta_pose)
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# print("delta_ori_mat",delta_ori_mat)
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# self.laset_print_time = time.time()
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# # 计算误差 位置直接作差，姿态误差以旋转向量表示
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# temp_pose_error = self.state.arm_position - self.state.desired_position
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# if self.state.desired_orientation.dot(self.state.arm_orientation) < 0:
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# self.state.arm_orientation = -self.state.arm_orientation
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# self.state.pose_error[:3] = R.from_quat(self.state.arm_orientation).as_matrix().T @ temp_pose_error
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# rot_err_mat = R.from_quat(self.state.arm_orientation).as_matrix().T @ R.from_quat(self.state.desired_orientation).as_matrix()
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# rot_err_rotvex = R.from_matrix(rot_err_mat).as_rotvec(degrees=False)
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# self.state.pose_error[3:] = -rot_err_rotvex
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# wrench_err = self.state.external_wrench_tcp - self.state.desired_wrench
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# self.state.arm_desired_acc = self.M_inv @ (wrench_err - self.D @ (self.state.arm_desired_twist -self.state.desired_twist) - self.K @ self.state.pose_error)
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# self.clip_command(self.state.arm_desired_acc,"acc")
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# self.state.arm_desired_twist = self.state.arm_desired_acc * dt + self.state.arm_desired_twist
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# self.clip_command(self.state.arm_desired_twist,"vel")
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# delta_pose = self.state.arm_desired_twist * dt
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# delta_pose[:3] = R.from_quat(self.state.arm_orientation).as_matrix() @ delta_pose[:3]
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# self.clip_command(delta_pose,"pose")
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# # testlsy
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# delta_ori_mat = R.from_rotvec(delta_pose[3:]).as_matrix()
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# ## 关闭姿态转动
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# # random_array = np.random.rand(3) # 生成长度为 3 的数组
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# # delta_ori_mat = R.from_rotvec(random_array/100000).as_matrix()
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# arm_ori_mat = delta_ori_mat @ R.from_quat(self.state.arm_orientation).as_matrix()
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# arm_ori_mat = R.from_quat(self.state.arm_orientation).as_matrix() @ delta_ori_mat
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# self.state.arm_orientation_command = R.from_matrix(arm_ori_mat).as_quat()
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# # 归一化四元数
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# self.state.arm_orientation_command /= np.linalg.norm(self.state.arm_orientation_command)
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# self.state.arm_position_command = self.state.arm_position + delta_pose[:3]
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# # if time.time() - self.laset_print_time > 2:
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# # print("-------------admittance_1-------------------------------")
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# # print("arm_position:",self.state.arm_position)
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# # print("desired_position:",self.state.desired_position)
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# # print(f'wrench_err: {wrench_err} ||| external_wrench_tcp: {self.state.external_wrench_tcp} ||| desired_wrench: {self.state.desired_wrench}')
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# # print("self.state.arm_desired_acc:",self.state.arm_desired_acc)
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# # print("arm_orientation",R.from_quat(self.state.arm_orientation).as_euler('xyz',degrees=True))
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# # print("desired_orientation",R.from_quat(self.state.desired_orientation).as_euler('xyz',degrees=True))
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# # print("arm_position_command",self.state.arm_position_command)
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# # print("arm_orientation_command",R.from_quat(self.state.arm_orientation_command).as_euler('xyz',degrees=True))
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# # print("delta_pose:",delta_pose)
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# # print("delta_ori_mat",delta_ori_mat)
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# # self.laset_print_time = time.time()
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