'j1': qdot[1]
})
pin_robot_sys.update_system(None, None, None, None, None, None, None, None, {
'j0': q[0],
'j1': q[1]
}, {
'j0': qdot[0],
'j1': qdot[1]
})
# Compare EE SE(3)
print("=" * 80)
print("EE SE3")
print("=" * 80)
print(dart_robot_sys.get_link_iso('ee'))
print(pin_robot_sys.get_link_iso('ee'))
# Compare jacobian
jac_pin = pin_robot_sys.get_link_jacobian('ee')
jac_dart = dart_robot_sys.get_link_jacobian('ee')
an_jac = analytic_jacobian(q)
print("=" * 80)
print("Jacobian")
print("=" * 80)
print("jacobian from pinocchio")
print(jac_pin)
print("jacobian from dart")
print(jac_dart)
print("analytic jacobian")
print(an_jac)
class ManipulatorInterface(Interface):
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 get_command(self, sensor_data):
# Update Robot
self._robot.update_system(
sensor_data["base_com_pos"], sensor_data["base_com_quat"],
sensor_data["base_com_lin_vel"], sensor_data["base_com_ang_vel"],
sensor_data["base_joint_pos"], sensor_data["base_joint_quat"],
sensor_data["base_joint_lin_vel"],
sensor_data["base_joint_ang_vel"], sensor_data["joint_pos"],
sensor_data["joint_vel"])
if self._b_first_visit:
self._joint_integrator.initialize_states(
self._robot.joint_velocities, self._robot.joint_positions)
self._ini_ee_pos = self._robot.get_link_iso('ee')[0:3, 3]
self._b_first_visit = False
# Operational Space Control
jpos_cmd, jvel_cmd, jtrq_cmd = self._compute_osc_command()
# Compute Cmd
command = self._robot.create_cmd_ordered_dict(jpos_cmd, jvel_cmd,
jtrq_cmd)
# Increase time variables
self._count += 1
self._running_time += ManipulatorConfig.DT
self._data_saver.add('time', self._running_time)
self._data_saver.advance()
return command
def _compute_osc_command(self):
jtrq = np.zeros(self._robot.n_a)
jac = self._robot.get_link_jacobian('ee')[3:6, :]
pos = self._robot.get_link_iso('ee')[0:3, 3]
vel = self._robot.get_link_vel('ee')[3:6]
pos_des = np.zeros(3)
vel_des = np.zeros(3)
acc_des = np.zeros(3)
for i in range(3):
pos_des[i] = interpolation.smooth_changing(
self._ini_ee_pos[i], ManipulatorConfig.DES_EE_POS[i], 3.,
self._running_time)
vel_des[i] = interpolation.smooth_changing_vel(
self._ini_ee_pos[i], ManipulatorConfig.DES_EE_POS[i], 3.,
self._running_time)
acc_des[i] = interpolation.smooth_changing_acc(
self._ini_ee_pos[i], ManipulatorConfig.DES_EE_POS[i], 3.,
self._running_time)
err = pos_des - pos
err_d = vel_des - vel
# xddot_des = acc_des + ManipulatorConfig.KP * err + ManipulatorConfig.KD * err_d
xddot_des = ManipulatorConfig.KP * err + ManipulatorConfig.KD * err_d
qddot_des = np.dot(np.linalg.pinv(jac, rcond=1e-3), xddot_des)
# smoothing qddot
s = interpolation.smooth_changing(0, 1, 0.5, self._running_time)
qddot_des *= s
joint_vel_cmd, joint_pos_cmd = self._joint_integrator.integrate(
qddot_des, self._robot.joint_velocities,
self._robot.joint_positions)
mass_matrix = self._robot.get_mass_matrix()
c = self._robot.get_coriolis()
g = self._robot.get_gravity()
jtrq = np.dot(mass_matrix, qddot_des) + c + g
self._data_saver.add('ee_pos_des', pos_des)
self._data_saver.add('ee_pos_act', pos)
self._data_saver.add('ee_vel_des', vel_des)
self._data_saver.add('ee_vel_act', vel)
self._data_saver.add('ee_acc_des', acc_des)
self._data_saver.add('jpos_des', joint_pos_cmd)
self._data_saver.add('jpos_act', self._robot.joint_positions)
self._data_saver.add('jvel_des', joint_vel_cmd)
self._data_saver.add('jvel_act', self._robot.joint_velocities)
self._data_saver.add('qddot_des', qddot_des)
return joint_pos_cmd, joint_vel_cmd, jtrq
# print(j_i)
# print(s_a)
# exit()
robot.update_system(np.zeros(3), np.zeros(4), np.zeros(3), np.zeros(3),
np.zeros(3), np.zeros(4), np.zeros(3), np.zeros(3), q,
qdot, True)
mass = robot.get_mass_matrix()
mass_inv = np.linalg.inv(mass)
g = robot.get_gravity()
lambda_i = np.linalg.inv(np.dot(j_i, np.dot(mass_inv, j_i.transpose())))
j_i_bar = np.dot(np.dot(mass_inv, j_i.transpose()), lambda_i)
null_i = np.eye(robot.n_q_dot) - np.dot(j_i_bar, j_i)
grav_comp_cmd = np.dot(
np.dot(np.linalg.pinv(np.dot(s_a, null_i).transpose()),
null_i.transpose()), g)
grav_comp_cmd[3] /= 2.
grav_comp_cmd[9] /= 2.
print(grav_comp_cmd)
iso = robot.get_link_iso('r_foot_contact')
print("linear")
print(iso[0:3, 0:3])
print("translation")
print(iso[0:3, 3])