def __init__(self):
super(ManipulatorInterface, self).__init__()
if ManipulatorConfig.DYN_LIB == "dart":
from pnc.robot_system.dart_robot_system import DartRobotSystem
self._robot = DartRobotSystem(
cwd + "/robot_model/manipulator/three_link_manipulator.urdf",
True, ManipulatorConfig.PRINT_ROBOT_INFO)
elif ManipulatorConfig.DYN_LIB == "pinocchio":
from pnc.robot_system.pinocchio_robot_system import PinocchioRobotSystem
self._robot = PinocchioRobotSystem(
cwd + "/robot_model/manipulator/three_link_manipulator.urdf",
cwd + "/robot_model/manipulator", True,
ManipulatorConfig.PRINT_ROBOT_INFO)
else:
raise ValueError("wrong dynamics library")
self._joint_integrator = JointIntegrator(self._robot.n_a,
ManipulatorConfig.DT)
self._joint_integrator.pos_cutoff_freq = 0.001 # hz
self._joint_integrator.vel_cutoff_freq = 0.002 # hz
self._joint_integrator.max_pos_err = 0.2 # rad
self._joint_integrator.joint_pos_limit = self._robot.joint_pos_limit
self._joint_integrator.joint_vel_limit = self._robot.joint_vel_limit
self._b_first_visit = True
self._data_saver = DataSaver()
def __init__(self):
super(Draco3LBInterface, self).__init__()
if PnCConfig.DYN_LIB == "dart":
from pnc.robot_system.dart_robot_system import DartRobotSystem
self._robot = DartRobotSystem(
cwd + "/robot_model/draco3/draco3_rel_path.urdf", False,
PnCConfig.PRINT_ROBOT_INFO)
elif PnCConfig.DYN_LIB == "pinocchio":
from pnc.robot_system.pinocchio_robot_system import PinocchioRobotSystem
self._robot = PinocchioRobotSystem(
cwd + "/robot_model/draco3/draco3_lb.urdf",
cwd + "/robot_model/draco3", False, PnCConfig.PRINT_ROBOT_INFO)
else:
raise ValueError("wrong dynamics library")
self._sp = Draco3LBStateProvider(self._robot)
self._se = Draco3LBStateEstimator(self._robot)
self._control_architecture = Draco3LBControlArchitecture(self._robot)
self._interrupt_logic = Draco3LBInterruptLogic(
self._control_architecture)
if PnCConfig.SAVE_DATA:
self._data_saver = DataSaver()
self._data_saver.add('joint_pos_limit',
self._robot.joint_pos_limit)
self._data_saver.add('joint_vel_limit',
self._robot.joint_vel_limit)
self._data_saver.add('joint_trq_limit',
self._robot.joint_trq_limit)
def __init__(self, tci_container, robot):
self._tci_container = tci_container
self._robot = robot
# Initialize WBC
l_jp_idx, l_jd_idx, r_jp_idx, r_jd_idx = self._robot.get_q_dot_idx(
['l_knee_fe_jp', 'l_knee_fe_jd', 'r_knee_fe_jp', 'r_knee_fe_jd'])
act_list = [False] * robot.n_floating + [True] * robot.n_a
act_list[l_jp_idx] = False
act_list[r_jp_idx] = False
n_q_dot = len(act_list)
n_active = np.count_nonzero(np.array(act_list))
n_passive = n_q_dot - n_active - 6
self._sa = np.zeros((n_active, n_q_dot))
self._sv = np.zeros((n_passive, n_q_dot))
self._sd = np.zeros((n_passive, n_q_dot))
j, k = 0, 0
for i in range(n_q_dot):
if i >= 6:
if act_list[i]:
self._sa[j, i] = 1.
j += 1
else:
self._sv[k, i] = 1.
k += 1
self._sd[0, l_jd_idx] = 1.
self._sd[1, r_jd_idx] = 1.
self._sf = np.zeros((6, n_q_dot))
self._sf[0:6, 0:6] = np.eye(6)
self._ihwbc = IHWBC(self._sf, self._sa, self._sv, PnCConfig.SAVE_DATA)
###consider transmission constraint
# self._ihwbc = IHWBC2(self._sf, self._sa, self._sv, self._sd,
# PnCConfig.SAVE_DATA)
if WBCConfig.B_TRQ_LIMIT:
self._ihwbc.trq_limit = np.dot(self._sa[:, 6:],
self._robot.joint_trq_limit)
self._ihwbc.lambda_q_ddot = WBCConfig.LAMBDA_Q_DDOT
self._ihwbc.lambda_rf = WBCConfig.LAMBDA_RF
# Initialize Joint Integrator
self._joint_integrator = JointIntegrator(robot.n_a,
PnCConfig.CONTROLLER_DT)
self._joint_integrator.pos_cutoff_freq = WBCConfig.POS_CUTOFF_FREQ
self._joint_integrator.vel_cutoff_freq = WBCConfig.VEL_CUTOFF_FREQ
self._joint_integrator.max_pos_err = WBCConfig.MAX_POS_ERR
self._joint_integrator.joint_pos_limit = self._robot.joint_pos_limit
self._joint_integrator.joint_vel_limit = self._robot.joint_vel_limit
self._b_first_visit = True
if PnCConfig.SAVE_DATA:
self._data_saver = DataSaver()
def __init__(self, act_list, data_save=False):
self._n_q_dot = len(act_list)
self._n_active = np.count_nonzero(np.array(act_list))
self._n_passive = self._n_q_dot - self._n_active
# Selection matrix
self._sa = np.zeros((self._n_active, self._n_q_dot))
self._sv = np.zeros((self._n_passive, self._n_q_dot))
j, k = 0, 0
for i in range(self._n_q_dot):
if act_list[i]:
self._sa[j, i] = 1.
j += 1
else:
self._sv[k, i] = 1.
k += 1
# Assume first six is floating
self._sf = np.zeros((6, self._n_q_dot))
self._sf[0:6, 0:6] = np.eye(6)
self._trq_limit = None
self._lambda_q_ddot = 0.
self._lambda_rf = 0.
self._w_hierarchy = 0.
self._b_data_save = data_save
if self._b_data_save:
self._data_saver = DataSaver()
def __init__(self, robot, link_id, mu, data_save=False):
super(PointContact, self).__init__(robot, 3)
self._link_id = link_id
self._mu = mu
self._b_data_save = data_save
if self._b_data_save:
self._data_saver = DataSaver()
def __init__(self, robot, task_type, dim, target_id=None, data_save=False):
super(BasicTask, self).__init__(robot, dim)
self._target_id = target_id
self._task_type = task_type
self._b_data_save = data_save
if self._b_data_save:
self._data_saver = DataSaver()
def __init__(self, robot, link_id, x, y, mu, data_save=False):
super(SurfaceContact, self).__init__(robot, 6)
self._link_id = link_id
self._x = x
self._y = y
self._mu = mu
self._b_data_save = data_save
if self._b_data_save:
self._data_saver = DataSaver()
def __init__(self):
super(LaikagoInterface, self).__init__()
self._robot = PinocchioRobotSystem(
cwd + "/robot_model/laikago/laikago_toes.urdf",
cwd + "/robot_model/laikago", False, True)
self._sp = LaikagoStateProvider(self._robot)
self._se = LaikagoStateEstimator(self._robot)
self._control_architecture = LaikagoControlArchitecture(self._robot)
self._interrupt_logic = LaikagoInterruptLogic(
self._control_architecture)
if PnCConfig.SAVE_DATA:
self._data_saver = DataSaver()
def __init__(self, robot, act_list, data_save=False):
self._robot = robot
self._n_q_dot = len(act_list)
self._n_active = np.count_nonzero(np.array(act_list))
self._n_passive = self._n_q_dot - self._n_active
# Selection matrix
self._sa = np.zeros((self._n_active, self._n_q_dot))
self._sv = np.zeros((self._n_passive, self._n_q_dot))
j, k = 0, 0
for i in range(self._n_q_dot):
if act_list[i]:
self._sa[j, i] = 1.
j += 1
else:
self._sv[k, i] = 1.
k += 1
# Assume first six is floating
self._sf = np.zeros((6, self._n_q_dot))
self._sf[0:6, 0:6] = np.eye(6)
# Internal constraint
self._n_int = 2
self._jac_int = np.zeros((self._n_int, self._n_q_dot))
l_jp_idx, l_jd_idx, r_jp_idx, r_jd_idx = self._robot.get_q_dot_idx(
['l_knee_fe_jp', 'l_knee_fe_jd', 'r_knee_fe_jp', 'r_knee_fe_jd'])
self._jac_int[0, l_jp_idx] = 1.
self._jac_int[0, l_jd_idx] = -1.
self._jac_int[1, r_jp_idx] = 1.
self._jac_int[1, r_jd_idx] = -1.
self._trq_limit = None
self._lambda_q_ddot = 0.
self._lambda_if = 0.
self._lambda_rf = 0.
self._w_hierarchy = 0.
self._b_data_save = data_save
if self._b_data_save:
self._data_saver = DataSaver()
def __init__(self):
super(AtlasInterface, self).__init__()
if PnCConfig.DYN_LIB == "dart":
from pnc.robot_system.dart_robot_system import DartRobotSystem
self._robot = DartRobotSystem(
cwd + "/robot_model/atlas/atlas_rel_path.urdf", False,
PnCConfig.PRINT_ROBOT_INFO)
elif PnCConfig.DYN_LIB == "pinocchio":
from pnc.robot_system.pinocchio_robot_system import PinocchioRobotSystem
self._robot = PinocchioRobotSystem(
cwd + "/robot_model/atlas/atlas.urdf",
cwd + "/robot_model/atlas", False, PnCConfig.PRINT_ROBOT_INFO)
else:
raise ValueError("wrong dynamics library")
self._sp = AtlasStateProvider(self._robot)
self._se = AtlasStateEstimator(self._robot)
self._control_architecture = AtlasControlArchitecture(self._robot)
self._interrupt_logic = AtlasInterruptLogic(self._control_architecture)
if PnCConfig.SAVE_DATA:
self._data_saver = DataSaver()
def __init__(self):
super(DracoManipulationInterface, self).__init__()
self._robot = PinocchioRobotSystem(
cwd + "/robot_model/draco3/draco3.urdf",
cwd + "/robot_model/draco3", False, False)
self._sp = DracoManipulationStateProvider(self._robot)
self._sp.initialize(self._robot)
self._se = DracoManipulationStateEstimator(self._robot)
self._control_architecture = DracoManipulationControlArchitecture(
self._robot)
self._interrupt_logic = DracoManipulationInterruptLogic(
self._control_architecture)
if PnCConfig.SAVE_DATA:
self._data_saver = DataSaver()
self._data_saver.add('joint_pos_limit',
self._robot.joint_pos_limit)
self._data_saver.add('joint_vel_limit',
self._robot.joint_vel_limit)
self._data_saver.add('joint_trq_limit',
self._robot.joint_trq_limit)
def __init__(self, sf, sa, sv, data_save=False):
self._n_q_dot = sa.shape[1]
self._n_active = sa.shape[0]
self._n_passive = sv.shape[0]
self._sf = sf
self._snf = np.concatenate((np.zeros(
(self._n_active + self._n_passive, 6)),
np.eye(self._n_active + self._n_passive)),
axis=1)
self._sa = sa
self._sv = sv
self._trq_limit = None
self._lambda_q_ddot = 0.
self._lambda_rf = 0.
self._w_rf = 0.
self._w_hierarchy = 0.
self._b_data_save = data_save
if self._b_data_save:
self._data_saver = DataSaver()
pybullet_util.set_joint_friction(robot, joint_id, 0)
if DYN_LIB == 'dart':
from pnc.robot_system.dart_robot_system import DartRobotSystem
robot_sys = DartRobotSystem(
cwd + "/robot_model/atlas/atlas_rel_path.urdf", False, True)
elif DYN_LIB == 'pinocchio':
from pnc.robot_system.pinocchio_robot_system import PinocchioRobotSystem
robot_sys = PinocchioRobotSystem(cwd + "/robot_model/atlas/atlas.urdf",
cwd + "/robot_model/atlas", False,
True)
else:
raise ValueError
# DataSaver
data_saver = DataSaver("atlas_crbi_validation.pkl")
# Run Sim
t = 0
dt = DT
count = 0
nominal_sensor_data = pybullet_util.get_sensor_data(
robot, joint_id, link_id, pos_basejoint_to_basecom,
rot_basejoint_to_basecom)
nominal_lf_iso = pybullet_util.get_link_iso(robot, link_id['l_sole'])
nominal_rf_iso = pybullet_util.get_link_iso(robot, link_id['r_sole'])
base_pos = np.copy(nominal_sensor_data['base_com_pos'])
base_quat = np.copy(nominal_sensor_data['base_com_quat'])
joint_pos = copy.deepcopy(nominal_sensor_data['joint_pos'])
s = 0.
# Joint Friction
pybullet_util.set_joint_friction(robot, joint_id, 0)
if DYN_LIB == 'dart':
from pnc.robot_system.dart_robot_system import DartRobotSystem
robot_sys = DartRobotSystem(cwd + "/robot_model/nao/nao_rel_path.urdf",
False, True)
elif DYN_LIB == 'pinocchio':
from pnc.robot_system.pinocchio_robot_system import PinocchioRobotSystem
robot_sys = PinocchioRobotSystem(cwd + "/robot_model/nao/nao.urdf",
cwd + "/robot_model/nao", False, True)
else:
raise ValueError
# DataSaver
data_saver = DataSaver("nao_crbi_validation.pkl")
# Run Sim
t = 0
dt = DT
count = 0
nominal_sensor_data = pybullet_util.get_sensor_data(
robot, joint_id, link_id, pos_basejoint_to_basecom,
rot_basejoint_to_basecom)
nominal_lf_iso = pybullet_util.get_link_iso(robot, link_id['l_sole'])
nominal_rf_iso = pybullet_util.get_link_iso(robot, link_id['r_sole'])
base_pos = np.copy(nominal_sensor_data['base_com_pos'])
base_quat = np.copy(nominal_sensor_data['base_com_quat'])
joint_pos = copy.deepcopy(nominal_sensor_data['joint_pos'])
s = 0.
pybullet_util.set_joint_friction(robot, joint_id, 0)
if DYN_LIB == 'dart':
from pnc.robot_system.dart_robot_system import DartRobotSystem
robot_sys = DartRobotSystem(
cwd + "/robot_model/valkyrie/valkyrie_rel_path.urdf", False, True)
elif DYN_LIB == 'pinocchio':
from pnc.robot_system.pinocchio_robot_system import PinocchioRobotSystem
robot_sys = PinocchioRobotSystem(
cwd + "/robot_model/valkyrie/valkyrie.urdf",
cwd + "/robot_model/valkyrie", False, True)
else:
raise ValueError
# DataSaver
data_saver = DataSaver("valkyrie_crbi_validation.pkl")
# Run Sim
t = 0
dt = DT
count = 0
nominal_sensor_data = pybullet_util.get_sensor_data(
robot, joint_id, link_id, pos_basejoint_to_basecom,
rot_basejoint_to_basecom)
nominal_lf_iso = pybullet_util.get_link_iso(robot,
link_id['leftCOP_Frame'])
nominal_rf_iso = pybullet_util.get_link_iso(robot,
link_id['rightCOP_Frame'])
base_pos = np.copy(nominal_sensor_data['base_com_pos'])
base_quat = np.copy(nominal_sensor_data['base_com_quat'])