def createPseudoImpulseModel(self, supportFootIds, swingFootTask): """ Action model for pseudo-impulse models. A pseudo-impulse model consists of adding high-penalty cost for the contact velocities. :param supportFootIds: Ids of the constrained feet :param swingFootTask: swinging foot task :return pseudo-impulse differential action model """ # Creating a 3D multi-contact model, and then including the supporting # foot nu = self.actuation.nu contactModel = crocoddyl.ContactModelMultiple(self.state, nu) for i in supportFootIds: supportContactModel = crocoddyl.ContactModel3D(self.state, i, np.array([0., 0., 0.]), nu, np.array([0., 50.])) contactModel.addContact(self.rmodel.frames[i].name + "_contact", supportContactModel) # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, nu) for i in supportFootIds: cone = crocoddyl.FrictionCone(self.Rsurf, self.mu, 4, False) coneResidual = crocoddyl.ResidualModelContactFrictionCone(self.state, i, cone, nu) coneActivation = crocoddyl.ActivationModelQuadraticBarrier(crocoddyl.ActivationBounds(cone.lb, cone.ub)) frictionCone = crocoddyl.CostModelResidual(self.state, coneActivation, coneResidual) costModel.addCost(self.rmodel.frames[i].name + "_frictionCone", frictionCone, 1e1) if swingFootTask is not None: for i in swingFootTask: frameTranslationResidual = crocoddyl.ResidualModelFrameTranslation(self.state, i[0], i[1].translation, nu) frameVelocityResidual = crocoddyl.ResidualModelFrameVelocity(self.state, i[0], pinocchio.Motion.Zero(), pinocchio.LOCAL, nu) footTrack = crocoddyl.CostModelResidual(self.state, frameTranslationResidual) impulseFootVelCost = crocoddyl.CostModelResidual(self.state, frameVelocityResidual) costModel.addCost(self.rmodel.frames[i[0]].name + "_footTrack", footTrack, 1e7) costModel.addCost(self.rmodel.frames[i[0]].name + "_impulseVel", impulseFootVelCost, 1e6) stateWeights = np.array([0.] * 3 + [500.] * 3 + [0.01] * (self.rmodel.nv - 6) + [10.] * self.rmodel.nv) stateResidual = crocoddyl.ResidualModelState(self.state, self.rmodel.defaultState, nu) stateActivation = crocoddyl.ActivationModelWeightedQuad(stateWeights**2) ctrlResidual = crocoddyl.ResidualModelControl(self.state, nu) stateReg = crocoddyl.CostModelResidual(self.state, stateActivation, stateResidual) ctrlReg = crocoddyl.CostModelResidual(self.state, ctrlResidual) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-3) # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics(self.state, self.actuation, contactModel, costModel, 0., True) if self.integrator == 'euler': model = crocoddyl.IntegratedActionModelEuler(dmodel, 0.) elif self.integrator == 'rk4': model = crocoddyl.IntegratedActionModelRK(dmodel, crocoddyl.RKType.four, 0.) elif self.integrator == 'rk3': model = crocoddyl.IntegratedActionModelRK(dmodel, crocoddyl.RKType.three, 0.) elif self.integrator == 'rk2': model = crocoddyl.IntegratedActionModelRK(dmodel, crocoddyl.RKType.two, 0.) else: model = crocoddyl.IntegratedActionModelEuler(dmodel, 0.) return model
class Contact3DMultipleTest(ContactModelMultipleAbstractTestCase): ROBOT_MODEL = pinocchio.buildSampleModelHumanoidRandom() ROBOT_STATE = crocoddyl.StateMultibody(ROBOT_MODEL) gains = pinocchio.utils.rand(2) xref = crocoddyl.FrameTranslation(ROBOT_MODEL.getFrameId('rleg5_joint'), pinocchio.SE3.Random().translation) CONTACT = crocoddyl.ContactModel3D(ROBOT_STATE, xref, gains)
def createPseudoImpulseModel(self, supportFootIds, swingFootTask): """ Action model for pseudo-impulse models. A pseudo-impulse model consists of adding high-penalty cost for the contact velocities. :param supportFootIds: Ids of the constrained feet :param swingFootTask: swinging foot task :return pseudo-impulse differential action model """ # Creating a 3D multi-contact model, and then including the supporting # foot contactModel = crocoddyl.ContactModelMultiple(self.state, self.actuation.nu) for i in supportFootIds: xref = crocoddyl.FrameTranslation(i, np.array([0., 0., 0.])) supportContactModel = crocoddyl.ContactModel3D( self.state, xref, self.actuation.nu, np.array([0., 50.])) contactModel.addContact(self.rmodel.frames[i].name + "_contact", supportContactModel) # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, self.actuation.nu) for i in supportFootIds: cone = crocoddyl.FrictionCone(self.nsurf, self.mu, 4, False) frictionCone = crocoddyl.CostModelContactFrictionCone( self.state, crocoddyl.ActivationModelQuadraticBarrier( crocoddyl.ActivationBounds(cone.lb, cone.ub)), crocoddyl.FrameFrictionCone(i, cone), self.actuation.nu) costModel.addCost(self.rmodel.frames[i].name + "_frictionCone", frictionCone, 1e1) if swingFootTask is not None: for i in swingFootTask: xref = crocoddyl.FrameTranslation(i.frame, i.oMf.translation) vref = crocoddyl.FrameMotion(i.frame, pinocchio.Motion.Zero()) footTrack = crocoddyl.CostModelFrameTranslation( self.state, xref, self.actuation.nu) impulseFootVelCost = crocoddyl.CostModelFrameVelocity( self.state, vref, self.actuation.nu) costModel.addCost( self.rmodel.frames[i.frame].name + "_footTrack", footTrack, 1e7) costModel.addCost( self.rmodel.frames[i.frame].name + "_impulseVel", impulseFootVelCost, 1e6) stateWeights = np.array([0.] * 3 + [500.] * 3 + [0.01] * (self.rmodel.nv - 6) + [10.] * self.rmodel.nv) stateReg = crocoddyl.CostModelState( self.state, crocoddyl.ActivationModelWeightedQuad(stateWeights**2), self.rmodel.defaultState, self.actuation.nu) ctrlReg = crocoddyl.CostModelControl(self.state, self.actuation.nu) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-3) # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics( self.state, self.actuation, contactModel, costModel, 0., True) model = crocoddyl.IntegratedActionModelEuler(dmodel, 0.) return model
class Contact3DTest(ContactModelAbstractTestCase): ROBOT_MODEL = example_robot_data.loadHyQ().model ROBOT_STATE = crocoddyl.StateMultibody(ROBOT_MODEL) gains = pinocchio.utils.rand(2) xref = crocoddyl.FrameTranslation(ROBOT_MODEL.getFrameId('lf_foot'), pinocchio.SE3.Random().translation) CONTACT = crocoddyl.ContactModel3D(ROBOT_STATE, xref, gains) CONTACT_DER = Contact3DDerived(ROBOT_STATE, xref, gains)
def createSwingFootModel(self, timeStep, supportFootIds, comTask=None, swingFootTask=None): """ Action model for a swing foot phase. :param timeStep: step duration of the action model :param supportFootIds: Ids of the constrained feet :param comTask: CoM task :param swingFootTask: swinging foot task :return action model for a swing foot phase """ # Creating a 3D multi-contact model, and then including the supporting # foot contactModel = crocoddyl.ContactModelMultiple(self.state, self.actuation.nu) for i in supportFootIds: xref = crocoddyl.FrameTranslation(i, np.matrix([0., 0., 0.]).T) supportContactModel = crocoddyl.ContactModel3D(self.state, xref, self.actuation.nu, np.matrix([0., 50.]).T) contactModel.addContact(self.rmodel.frames[i].name + "_contact", supportContactModel) # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, self.actuation.nu) if isinstance(comTask, np.ndarray): comTrack = crocoddyl.CostModelCoMPosition(self.state, comTask, self.actuation.nu) costModel.addCost("comTrack", comTrack, 1e6) for i in supportFootIds: cone = crocoddyl.FrictionCone(self.nsurf, self.mu, 4, False) frictionCone = crocoddyl.CostModelContactFrictionCone( self.state, crocoddyl.ActivationModelQuadraticBarrier(crocoddyl.ActivationBounds(cone.lb, cone.ub)), cone, i, self.actuation.nu) costModel.addCost(self.rmodel.frames[i].name + "_frictionCone", frictionCone, 1e1) if swingFootTask is not None: for i in swingFootTask: xref = crocoddyl.FrameTranslation(i.frame, i.oMf.translation) footTrack = crocoddyl.CostModelFrameTranslation(self.state, xref, self.actuation.nu) costModel.addCost(self.rmodel.frames[i.frame].name + "_footTrack", footTrack, 1e6) stateWeights = np.array([0.] * 3 + [500.] * 3 + [0.01] * (self.rmodel.nv - 6) + [10.] * 6 + [1.] * (self.rmodel.nv - 6)) stateReg = crocoddyl.CostModelState(self.state, crocoddyl.ActivationModelWeightedQuad(np.matrix(stateWeights**2).T), self.rmodel.defaultState, self.actuation.nu) ctrlReg = crocoddyl.CostModelControl(self.state, self.actuation.nu) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-1) lb = self.state.diff(0 * self.state.lb, self.state.lb) ub = self.state.diff(0 * self.state.ub, self.state.ub) stateBounds = crocoddyl.CostModelState( self.state, crocoddyl.ActivationModelQuadraticBarrier(crocoddyl.ActivationBounds(lb, ub)), 0 * self.rmodel.defaultState, self.actuation.nu) costModel.addCost("stateBounds", stateBounds, 1e3) # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics(self.state, self.actuation, contactModel, costModel, 0., True) model = crocoddyl.IntegratedActionModelEuler(dmodel, timeStep) return model
def createSwingFootModel(self, timeStep, supportFootIds, comTask=None, swingFootTask=None): """ Action model for a swing foot phase. :param timeStep: step duration of the action model :param supportFootIds: Ids of the constrained feet :param comTask: CoM task :param swingFootTask: swinging foot task :return action model for a swing foot phase """ # Creating a 3D multi-contact model, and then including the supporting # foot contactModel = crocoddyl.ContactModelMultiple(self.state, self.actuation.nu) for i in supportFootIds: xref = crocoddyl.FrameTranslation(i, np.matrix([0., 0., 0.]).T) supportContactModel = crocoddyl.ContactModel3D( self.state, xref, self.actuation.nu, np.matrix([0., 0.]).T) contactModel.addContact('contact_' + str(i), supportContactModel) # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, self.actuation.nu) if isinstance(comTask, np.ndarray): comTrack = crocoddyl.CostModelCoMPosition(self.state, comTask, self.actuation.nu) costModel.addCost("comTrack", comTrack, 1e4) if swingFootTask is not None: for i in swingFootTask: xref = crocoddyl.FrameTranslation(i.frame, i.oMf.translation) footTrack = crocoddyl.CostModelFrameTranslation( self.state, xref, self.actuation.nu) costModel.addCost("footTrack_" + str(i), footTrack, 1e4) stateWeights = np.array([0] * 3 + [500.] * 3 + [0.01] * (self.rmodel.nv - 6) + [10] * self.rmodel.nv) stateReg = crocoddyl.CostModelState( self.state, crocoddyl.ActivationModelWeightedQuad( np.matrix(stateWeights**2).T), self.rmodel.defaultState, self.actuation.nu) ctrlReg = crocoddyl.CostModelControl(self.state, self.actuation.nu) costModel.addCost("stateReg", stateReg, 1e-1) costModel.addCost("ctrlReg", ctrlReg, 1e-4) # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics( self.state, self.actuation, contactModel, costModel) model = crocoddyl.IntegratedActionModelEuler(dmodel, timeStep) return model
class Contact3DMultipleTest(ContactModelMultipleAbstractTestCase): ROBOT_MODEL = example_robot_data.loadHyQ().model ROBOT_STATE = crocoddyl.StateMultibody(ROBOT_MODEL) gains = pinocchio.utils.rand(2) CONTACTS = collections.OrderedDict( sorted({ 'lf_foot': crocoddyl.ContactModel3D( ROBOT_STATE, crocoddyl.FrameTranslation(ROBOT_MODEL.getFrameId('lf_foot'), pinocchio.SE3.Random().translation), gains), 'rh_foot': crocoddyl.ContactModel3D( ROBOT_STATE, crocoddyl.FrameTranslation(ROBOT_MODEL.getFrameId('rh_foot'), pinocchio.SE3.Random().translation), gains) }.items()))
def createFootSwitchModel(self, supportFootIds, swingFootTask): """ Action model for a foot switch phase. :param supportFootIds: Ids of the constrained feet :param swingFootTask: swinging foot task :return action model for a foot switch phase """ # Creating a 3D multi-contact model, and then including the supporting # foot contactModel = crocoddyl.ContactModelMultiple(self.state, self.actuation.nu) for i in supportFootIds: xref = crocoddyl.FrameTranslation(i, np.matrix([0., 0., 0.]).T) supportContactModel = crocoddyl.ContactModel3D( self.state, xref, self.actuation.nu, np.matrix([0., 0.]).T) contactModel.addContact('contact_' + str(i), supportContactModel) # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, self.actuation.nu) if swingFootTask is not None: for i in swingFootTask: xref = crocoddyl.FrameTranslation(i.frame, i.oMf.translation) footTrack = crocoddyl.CostModelFrameTranslation( self.state, xref, self.actuation.nu) costModel.addCost("footTrack_" + str(i), footTrack, 1e7) stateWeights = np.array([0] * 3 + [500.] * 3 + [0.01] * (self.rmodel.nv - 6) + [10] * self.rmodel.nv) stateReg = crocoddyl.CostModelState( self.state, crocoddyl.ActivationModelWeightedQuad( np.matrix(stateWeights**2).T), self.rmodel.defaultState, self.actuation.nu) ctrlReg = crocoddyl.CostModelControl(self.state, self.actuation.nu) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-3) for i in swingFootTask: vref = crocoddyl.FrameMotion(i.frame, pinocchio.Motion.Zero()) impactFootVelCost = crocoddyl.CostModelFrameVelocity( self.state, vref, self.actuation.nu) costModel.addCost('impactVel_' + str(i.frame), impactFootVelCost, 1e6) # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics( self.state, self.actuation, contactModel, costModel) model = crocoddyl.IntegratedActionModelEuler(dmodel, 0.) return model
from test_utils import NUMDIFF_MODIFIER, assertNumDiff # Create robot model and data ROBOT_MODEL = example_robot_data.loadICub().model ROBOT_DATA = ROBOT_MODEL.createData() ROBOT_STATE = crocoddyl.StateMultibody(ROBOT_MODEL) # Contact force cost # Create differential action model and data; link the contact data ACTUATION = crocoddyl.ActuationModelFloatingBase(ROBOT_STATE) CONTACTS = crocoddyl.ContactModelMultiple(ROBOT_STATE, ACTUATION.nu) CONTACT_6D_1 = crocoddyl.ContactModel6D( ROBOT_STATE, crocoddyl.FramePlacement(ROBOT_MODEL.getFrameId('r_sole'), pinocchio.SE3.Random()), ACTUATION.nu, pinocchio.utils.rand(2)) CONTACT_3D_2 = crocoddyl.ContactModel3D( ROBOT_STATE, crocoddyl.FrameTranslation(ROBOT_MODEL.getFrameId('l_sole'), pinocchio.SE3.Random().translation), ACTUATION.nu, pinocchio.utils.rand(2)) CONTACTS.addContact("r_sole_contact", CONTACT_6D_1) CONTACTS.addContact("l_sole_contact", CONTACT_3D_2) COSTS = crocoddyl.CostModelSum(ROBOT_STATE, ACTUATION.nu) COSTS.addCost( "force_6d", crocoddyl.CostModelContactForce(ROBOT_STATE, crocoddyl.FrameForce(ROBOT_MODEL.getFrameId('r_sole'), pinocchio.Force.Random()), 6, ACTUATION.nu), 1.) COSTS.addCost( "force_3d", crocoddyl.CostModelContactForce(ROBOT_STATE, crocoddyl.FrameForce(ROBOT_MODEL.getFrameId('l_sole'), pinocchio.Force.Random()), 3, ACTUATION.nu), 1.) MODEL = crocoddyl.DifferentialActionModelContactFwdDynamics(ROBOT_STATE, ACTUATION, CONTACTS, COSTS, 0., True)
def createSwingFootModel(self, timeStep, supportFootIds, comTask=None, swingFootTask=None): """ Action model for a swing foot phase. :param timeStep: step duration of the action model :param supportFootIds: Ids of the constrained feet :param comTask: CoM task :param swingFootTask: swinging foot task :return action model for a swing foot phase """ # Creating a 3D multi-contact model, and then including the supporting # foot nu = self.actuation.nu contactModel = crocoddyl.ContactModelMultiple(self.state, nu) for i in supportFootIds: supportContactModel = crocoddyl.ContactModel3D(self.state, i, np.array([0., 0., 0.]), nu, np.array([0., 50.])) contactModel.addContact(self.rmodel.frames[i].name + "_contact", supportContactModel) # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, nu) if isinstance(comTask, np.ndarray): comResidual = crocoddyl.ResidualModelCoMPosition(self.state, comTask, nu) comTrack = crocoddyl.CostModelResidual(self.state, comResidual) costModel.addCost("comTrack", comTrack, 1e6) for i in supportFootIds: cone = crocoddyl.FrictionCone(self.Rsurf, self.mu, 4, False) coneResidual = crocoddyl.ResidualModelContactFrictionCone(self.state, i, cone, nu) coneActivation = crocoddyl.ActivationModelQuadraticBarrier(crocoddyl.ActivationBounds(cone.lb, cone.ub)) frictionCone = crocoddyl.CostModelResidual(self.state, coneActivation, coneResidual) costModel.addCost(self.rmodel.frames[i].name + "_frictionCone", frictionCone, 1e1) if swingFootTask is not None: for i in swingFootTask: frameTranslationResidual = crocoddyl.ResidualModelFrameTranslation(self.state, i[0], i[1].translation, nu) footTrack = crocoddyl.CostModelResidual(self.state, frameTranslationResidual) costModel.addCost(self.rmodel.frames[i[0]].name + "_footTrack", footTrack, 1e6) stateWeights = np.array([0.] * 3 + [500.] * 3 + [0.01] * (self.rmodel.nv - 6) + [10.] * 6 + [1.] * (self.rmodel.nv - 6)) stateResidual = crocoddyl.ResidualModelState(self.state, self.rmodel.defaultState, nu) stateActivation = crocoddyl.ActivationModelWeightedQuad(stateWeights**2) ctrlResidual = crocoddyl.ResidualModelControl(self.state, nu) stateReg = crocoddyl.CostModelResidual(self.state, stateActivation, stateResidual) ctrlReg = crocoddyl.CostModelResidual(self.state, ctrlResidual) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-1) lb = np.concatenate([self.state.lb[1:self.state.nv + 1], self.state.lb[-self.state.nv:]]) ub = np.concatenate([self.state.ub[1:self.state.nv + 1], self.state.ub[-self.state.nv:]]) stateBoundsResidual = crocoddyl.ResidualModelState(self.state, nu) stateBoundsActivation = crocoddyl.ActivationModelQuadraticBarrier(crocoddyl.ActivationBounds(lb, ub)) stateBounds = crocoddyl.CostModelResidual(self.state, stateBoundsActivation, stateBoundsResidual) costModel.addCost("stateBounds", stateBounds, 1e3) # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics(self.state, self.actuation, contactModel, costModel, 0., True) if self.integrator == 'euler': model = crocoddyl.IntegratedActionModelEuler(dmodel, self.control, timeStep) elif self.integrator == 'rk4': model = crocoddyl.IntegratedActionModelRK(dmodel, self.control, crocoddyl.RKType.four, timeStep) elif self.integrator == 'rk3': model = crocoddyl.IntegratedActionModelRK(dmodel, self.control, crocoddyl.RKType.three, timeStep) elif self.integrator == 'rk2': model = crocoddyl.IntegratedActionModelRK(dmodel, self.control, crocoddyl.RKType.two, timeStep) else: model = crocoddyl.IntegratedActionModelEuler(dmodel, self.control, timeStep) return model