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, 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, tci_container, robot):
self._tci_container = tci_container
self._robot = robot
# Initialize WBC
act_list = [False] * robot.n_floating + [True] * robot.n_a
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))
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._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)
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