def simulate_diagram(diagram, ball_paddle_plant, state_logger,
ball_init_position, ball_init_velocity, simulation_time,
target_realtime_rate):
q_init_val = np.array([
1, 0, 0, 0, ball_init_position[0], ball_init_position[1],
ball_init_position[2]
])
v_init_val = np.hstack((np.zeros(3), ball_init_velocity))
qv_init_val = np.concatenate((q_init_val, v_init_val))
simulator_config = SimulatorConfig(
target_realtime_rate=target_realtime_rate,
publish_every_time_step=True)
simulator = Simulator(diagram)
ApplySimulatorConfig(simulator_config, simulator)
plant_context = diagram.GetSubsystemContext(ball_paddle_plant,
simulator.get_context())
ball_paddle_plant.SetPositionsAndVelocities(plant_context, qv_init_val)
simulator.get_mutable_context().SetTime(0)
state_log = state_logger.FindMutableLog(simulator.get_mutable_context())
state_log.Clear()
simulator.Initialize()
simulator.AdvanceTo(boundary_time=simulation_time)
PrintSimulatorStatistics(simulator)
return state_log.sample_times(), state_log.data()
def test_simulator_integrator_manipulation(self):
# TODO(eric.cousineau): Move this to `analysis_test.py`.
system = ConstantVectorSource([1])
# Create simulator with basic constructor.
simulator = Simulator(system)
simulator.Initialize()
simulator.set_target_realtime_rate(0)
integrator = simulator.get_mutable_integrator()
target_accuracy = 1E-6
integrator.set_target_accuracy(target_accuracy)
self.assertEqual(integrator.get_target_accuracy(), target_accuracy)
maximum_step_size = 0.2
integrator.set_maximum_step_size(maximum_step_size)
self.assertEqual(integrator.get_maximum_step_size(), maximum_step_size)
minimum_step_size = 2E-2
integrator.set_requested_minimum_step_size(minimum_step_size)
self.assertEqual(integrator.get_requested_minimum_step_size(),
minimum_step_size)
integrator.set_throw_on_minimum_step_size_violation(True)
self.assertTrue(integrator.get_throw_on_minimum_step_size_violation())
integrator.set_fixed_step_mode(True)
self.assertTrue(integrator.get_fixed_step_mode())
const_integrator = simulator.get_integrator()
self.assertTrue(const_integrator is integrator)
# Test context-less constructors for
# integrator types.
test_integrator = RungeKutta2Integrator(
system=system, max_step_size=0.01)
test_integrator = RungeKutta3Integrator(system=system)
# Test simulator's reset_integrator, and also the full constructors for
# all integrator types.
rk2 = RungeKutta2Integrator(
system=system,
max_step_size=0.01,
context=simulator.get_mutable_context())
with catch_drake_warnings(expected_count=1):
# TODO(12873) We need an API for this that isn't deprecated.
simulator.reset_integrator(rk2)
rk3 = RungeKutta3Integrator(
system=system,
context=simulator.get_mutable_context())
with catch_drake_warnings(expected_count=1):
# TODO(12873) We need an API for this that isn't deprecated.
simulator.reset_integrator(rk3)
def test_simulator_integrator_manipulation(self):
system = ConstantVectorSource([1])
# Create simulator with basic constructor.
simulator = Simulator(system)
simulator.Initialize()
simulator.set_target_realtime_rate(0)
integrator = simulator.get_mutable_integrator()
target_accuracy = 1E-6
integrator.set_target_accuracy(target_accuracy)
self.assertEqual(integrator.get_target_accuracy(), target_accuracy)
maximum_step_size = 0.2
integrator.set_maximum_step_size(maximum_step_size)
self.assertEqual(integrator.get_maximum_step_size(), maximum_step_size)
minimum_step_size = 2E-2
integrator.set_requested_minimum_step_size(minimum_step_size)
self.assertEqual(integrator.get_requested_minimum_step_size(),
minimum_step_size)
integrator.set_throw_on_minimum_step_size_violation(True)
self.assertTrue(integrator.get_throw_on_minimum_step_size_violation())
integrator.set_fixed_step_mode(True)
self.assertTrue(integrator.get_fixed_step_mode())
const_integrator = simulator.get_integrator()
self.assertTrue(const_integrator is integrator)
# Test context-less constructors for
# integrator types.
test_integrator = RungeKutta2Integrator(
system=system, max_step_size=0.01)
test_integrator = RungeKutta3Integrator(system=system)
# Test simulator's reset_integrator,
# and also the full constructors for
# all integrator types.
simulator.reset_integrator(
RungeKutta2Integrator(
system=system,
max_step_size=0.01,
context=simulator.get_mutable_context()))
simulator.reset_integrator(
RungeKutta3Integrator(
system=system,
context=simulator.get_mutable_context()))
def test_simulator_integrator_manipulation(self):
system = ConstantVectorSource([1])
# Create simulator with basic constructor.
simulator = Simulator(system)
simulator.Initialize()
simulator.set_target_realtime_rate(0)
integrator = simulator.get_mutable_integrator()
target_accuracy = 1E-6
integrator.set_target_accuracy(target_accuracy)
self.assertEqual(integrator.get_target_accuracy(), target_accuracy)
maximum_step_size = 0.2
integrator.set_maximum_step_size(maximum_step_size)
self.assertEqual(integrator.get_maximum_step_size(), maximum_step_size)
minimum_step_size = 2E-2
integrator.set_requested_minimum_step_size(minimum_step_size)
self.assertEqual(integrator.get_requested_minimum_step_size(),
minimum_step_size)
integrator.set_throw_on_minimum_step_size_violation(True)
self.assertTrue(integrator.get_throw_on_minimum_step_size_violation())
integrator.set_fixed_step_mode(True)
self.assertTrue(integrator.get_fixed_step_mode())
const_integrator = simulator.get_integrator()
self.assertTrue(const_integrator is integrator)
# Test context-less constructors for
# integrator types.
test_integrator = RungeKutta2Integrator(
system=system, max_step_size=0.01)
test_integrator = RungeKutta3Integrator(system=system)
# Test simulator's reset_integrator,
# and also the full constructors for
# all integrator types.
simulator.reset_integrator(
RungeKutta2Integrator(
system=system,
max_step_size=0.01,
context=simulator.get_mutable_context()))
simulator.reset_integrator(
RungeKutta3Integrator(
system=system,
context=simulator.get_mutable_context()))
def test_simulator_ctor(self):
# Create simple system.
system = ConstantVectorSource([1])
def check_output(context):
# Check number of output ports and value for a given context.
output = system.AllocateOutput(context)
self.assertEquals(output.get_num_ports(), 1)
system.CalcOutput(context, output)
value = output.get_vector_data(0).get_value()
self.assertTrue(np.allclose([1], value))
# Create simulator with basic constructor.
simulator = Simulator(system)
simulator.Initialize()
simulator.set_target_realtime_rate(0)
simulator.set_publish_every_time_step(True)
self.assertTrue(simulator.get_context() is
simulator.get_mutable_context())
check_output(simulator.get_context())
simulator.StepTo(1)
# Create simulator specifying context.
context = system.CreateDefaultContext()
# @note `simulator` now owns `context`.
simulator = Simulator(system, context)
self.assertTrue(simulator.get_context() is context)
check_output(context)
simulator.StepTo(1)
def test_simulation(self):
# Basic constant-torque acrobot simulation.
acrobot = AcrobotPlant()
# Create the simulator.
simulator = Simulator(acrobot)
context = simulator.get_mutable_context()
# Set an input torque.
input = AcrobotInput()
input.set_tau(1.)
context.FixInputPort(0, input)
# Set the initial state.
state = context.get_mutable_continuous_state_vector()
state.set_theta1(1.)
state.set_theta1dot(0.)
state.set_theta2(0.)
state.set_theta2dot(0.)
self.assertTrue(acrobot.DynamicsBiasTerm(context).shape == (2,))
self.assertTrue(acrobot.MassMatrix(context).shape == (2, 2))
initial_total_energy = acrobot.CalcPotentialEnergy(context) + \
acrobot.CalcKineticEnergy(context)
# Simulate (and make sure the state actually changes).
initial_state = state.CopyToVector()
simulator.StepTo(1.0)
self.assertLessEqual(acrobot.CalcPotentialEnergy(context) +
acrobot.CalcKineticEnergy(context),
initial_total_energy)
def test_simulator_ctor(self):
# Create simple system.
system = ConstantVectorSource([1])
def check_output(context):
# Check number of output ports and value for a given context.
output = system.AllocateOutput(context)
self.assertEquals(output.get_num_ports(), 1)
system.CalcOutput(context, output)
value = output.get_vector_data(0).get_value()
self.assertTrue(np.allclose([1], value))
# Create simulator with basic constructor.
simulator = Simulator(system)
simulator.Initialize()
simulator.set_target_realtime_rate(0)
simulator.set_publish_every_time_step(True)
self.assertTrue(
simulator.get_context() is simulator.get_mutable_context())
check_output(simulator.get_context())
simulator.StepTo(1)
# Create simulator specifying context.
context = system.CreateDefaultContext()
# @note `simulator` now owns `context`.
simulator = Simulator(system, context)
self.assertTrue(simulator.get_context() is context)
check_output(context)
simulator.StepTo(1)
def test_simulation(self):
# Basic constant-torque acrobot simulation.
acrobot = AcrobotPlant()
# Create the simulator.
simulator = Simulator(acrobot)
context = simulator.get_mutable_context()
# Set an input torque.
input = AcrobotInput()
input.set_tau(1.)
acrobot.GetInputPort("elbow_torque").FixValue(context, input)
# Set the initial state.
state = context.get_mutable_continuous_state_vector()
state.set_theta1(1.)
state.set_theta1dot(0.)
state.set_theta2(0.)
state.set_theta2dot(0.)
self.assertTrue(acrobot.DynamicsBiasTerm(context).shape == (2, ))
self.assertTrue(acrobot.MassMatrix(context).shape == (2, 2))
initial_total_energy = acrobot.EvalPotentialEnergy(context) + \
acrobot.EvalKineticEnergy(context)
# Simulate (and make sure the state actually changes).
initial_state = state.CopyToVector()
simulator.AdvanceTo(1.0)
self.assertLessEqual(
acrobot.EvalPotentialEnergy(context) +
acrobot.EvalKineticEnergy(context), initial_total_energy)
def run_pendulum_example(args):
builder = DiagramBuilder()
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.0)
parser = Parser(plant)
parser.AddModelFromFile(FindResourceOrThrow(
"drake/examples/pendulum/Pendulum.urdf"))
plant.Finalize()
T_VW = np.array([[1., 0., 0., 0.],
[0., 0., 1., 0.],
[0., 0., 0., 1.]])
visualizer = ConnectPlanarSceneGraphVisualizer(
builder, scene_graph, T_VW=T_VW, xlim=[-1.2, 1.2], ylim=[-1.2, 1.2])
if args.playback:
visualizer.start_recording()
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.Initialize()
simulator.set_target_realtime_rate(1.0)
# Fix the input port to zero.
plant_context = diagram.GetMutableSubsystemContext(
plant, simulator.get_mutable_context())
plant.get_actuation_input_port().FixValue(
plant_context, np.zeros(plant.num_actuators()))
plant_context.SetContinuousState([0.5, 0.1])
simulator.AdvanceTo(args.duration)
if args.playback:
visualizer.stop_recording()
ani = visualizer.get_recording_as_animation()
# Playback the recording and save the output.
ani.save("{}/pend_playback.mp4".format(temp_directory()), fps=30)
def simulate(*, initial_state, controller_params, t_final, tape_period):
"""Simulates an Acrobot + Spong controller from the given initial state and
parameters until the given final time. Returns the state sampled at the
given tape_period.
"""
builder = DiagramBuilder()
plant = builder.AddSystem(AcrobotPlant())
controller = builder.AddSystem(AcrobotSpongController())
builder.Connect(plant.get_output_port(0), controller.get_input_port(0))
builder.Connect(controller.get_output_port(0), plant.get_input_port(0))
state_logger = LogOutput(plant.get_output_port(0), builder)
state_logger.set_publish_period(tape_period)
diagram = builder.Build()
simulator = Simulator(diagram)
context = simulator.get_mutable_context()
plant_context = diagram.GetMutableSubsystemContext(plant, context)
controller_context = diagram.GetMutableSubsystemContext(
controller, context)
plant_context.SetContinuousState(initial_state)
controller_context.get_mutable_numeric_parameter(0).SetFromVector(
controller_params)
simulator.AdvanceTo(t_final)
x_tape = state_logger.data()
return x_tape
def test_lcm_interface_system_diagram(self):
# First, check the class doc.
self.assertIn("only inherits from LeafSystem",
mut.LcmInterfaceSystem.__doc__)
# Next, construct a diagram and add both the interface system and
# a subscriber.
builder = DiagramBuilder()
lcm = DrakeLcm()
lcm_system = builder.AddSystem(mut.LcmInterfaceSystem(lcm=lcm))
# Create subscriber in the diagram.
subscriber = builder.AddSystem(
mut.LcmSubscriberSystem.Make(channel="TEST_CHANNEL",
lcm_type=lcmt_quaternion,
lcm=lcm))
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.Initialize()
# Publish test message.
model_message = self._model_message()
lcm.Publish("TEST_CHANNEL", model_message.encode())
# Simulate to a non-zero time to ensure the subscriber picks up the
# message.
eps = np.finfo(float).eps
simulator.AdvanceTo(eps)
# Ensure that we have what we want.
context = subscriber.GetMyContextFromRoot(
simulator.get_mutable_context())
actual_message = subscriber.get_output_port(0).Eval(context)
self.assert_lcm_equal(actual_message, model_message)
def _make_visualization(self, stop_time):
simulator = Simulator(self.builder.Build())
simulator.Initialize()
self.meshcat.vis.render_static()
# Set simulator context
simulator.get_mutable_context().SetTime(0.0)
# Start recording and simulate the diagram
self.meshcat.reset_recording()
self.meshcat.start_recording()
simulator.AdvanceTo(stop_time)
# Publish the recording
self.meshcat.publish_recording()
# Render
self.meshcat.vis.render_static()
input("View visualization. Press <ENTER> to end")
print("Finished")
def run_pendulum_example(args):
builder = DiagramBuilder()
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.0)
parser = Parser(plant)
parser.AddModelFromFile(
FindResourceOrThrow("drake/examples/pendulum/Pendulum.urdf"))
plant.WeldFrames(plant.world_frame(), plant.GetFrameByName("base"))
plant.Finalize()
pose_bundle_output_port = scene_graph.get_pose_bundle_output_port()
Tview = np.array([[1., 0., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]],
dtype=np.float64)
visualizer = builder.AddSystem(
PlanarSceneGraphVisualizer(scene_graph,
T_VW=Tview,
xlim=[-1.2, 1.2],
ylim=[-1.2, 1.2]))
builder.Connect(pose_bundle_output_port, visualizer.get_input_port(0))
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.Initialize()
simulator.set_target_realtime_rate(1.0)
# Fix the input port to zero.
plant_context = diagram.GetMutableSubsystemContext(
plant, simulator.get_mutable_context())
plant_context.FixInputPort(plant.get_actuation_input_port().get_index(),
np.zeros(plant.num_actuators()))
plant_context.SetContinuousState([0.5, 0.1])
simulator.AdvanceTo(args.duration)
def setUp(self):
builder = DiagramBuilder()
X_WP_0 = RigidTransform.Identity()
X_WP_1 = RigidTransform.Identity()
X_WP_1.set_translation([1.0, 0, 0])
id_list = ["0", "1"]
self.pc_concat = builder.AddSystem(PointCloudConcatenation(id_list))
self.num_points = 10000
xyzs = np.random.uniform(-0.1, 0.1, (3, self.num_points))
# Only go to 254 to distinguish between point clouds with and without
# color.
rgbs = np.random.uniform(0., 254.0, (3, self.num_points))
self.pc = PointCloud(self.num_points,
Fields(BaseField.kXYZs | BaseField.kRGBs))
self.pc.mutable_xyzs()[:] = xyzs
self.pc.mutable_rgbs()[:] = rgbs
self.pc_no_rgbs = PointCloud(self.num_points, Fields(BaseField.kXYZs))
self.pc_no_rgbs.mutable_xyzs()[:] = xyzs
diagram = builder.Build()
simulator = Simulator(diagram)
self.context = diagram.GetMutableSubsystemContext(
self.pc_concat, simulator.get_mutable_context())
self.pc_concat.GetInputPort("X_FCi_0").FixValue(self.context, X_WP_0)
self.pc_concat.GetInputPort("X_FCi_1").FixValue(self.context, X_WP_1)
def test_simulator_context_manipulation(self):
system = ConstantVectorSource([1])
# Use default-constructed context.
simulator = Simulator(system)
self.assertTrue(simulator.has_context())
context_default = simulator.get_mutable_context()
# WARNING: Once we call `simulator.reset_context()`, it will delete the
# context it currently owns, which is `context_default` in this case.
# BE CAREFUL IN SITUATIONS LIKE THIS!
# TODO(eric.cousineau): Bind `release_context()`, or migrate context
# usage to use `shared_ptr`.
context = system.CreateDefaultContext()
simulator.reset_context(context)
self.assertIs(context, simulator.get_mutable_context())
# WARNING: This will also invalidate `context`. Be careful!
simulator.reset_context(None)
self.assertFalse(simulator.has_context())
def pendulum_example(duration=1., playback=True, show=True):
"""
Simulate the pendulum
Arguments:
duration: Simulation duration (sec)
playback: enable pyplot animations
"""
# To make a visualization, we have to attach a multibody plant, a scene graph, and a visualizer together. In Drake, we can connect all these systems together in a Diagram.
builder = DiagramBuilder()
# AddMultibodyPlantSceneGraph: Adds a multibody plant and scene graph to the Diagram, and connects their geometry ports. The second input is the timestep for MultibodyPlant
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.)
# Now we create the plant model from a file
parser = Parser(plant)
parser.AddModelFromFile(
FindResourceOrThrow("drake/examples/pendulum/Pendulum.urdf"))
plant.WeldFrames(plant.world_frame(), plant.GetFrameByName("base"))
plant.Finalize()
# The SceneGraph port that communicates with the visualizer is the pose bundle output port. A PoseBundle is just a set of poses in SE(3) and a set of frame velocities, expressed in the world frame, used for rendering.
pose_bundle_output_port = scene_graph.get_pose_bundle_output_port()
# T_VW is the projection matrix from view coordinates to world coordinates
T_VW = np.array([[1., 0., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]])
# Now we add a planar visualizer to the the diagram, so we can see the results
visualizer = builder.AddSystem(
PlanarSceneGraphVisualizer(scene_graph,
T_VW=T_VW,
xlim=[-1.2, 1.2],
ylim=[-1.2, 1.2],
show=show))
# finally, we must connect the scene_graph to the visualizer so they can communicate
builder.Connect(pose_bundle_output_port, visualizer.get_input_port(0))
if playback:
visualizer.start_recording()
# To finalize the diagram, we build it
diagram = builder.Build()
# We create a simulator of our diagram to step through the diagram in time
simulator = Simulator(diagram)
# Initialize prepares the simulator for simulation
simulator.Initialize()
# Slow down the simulator to realtime. Otherwise it could run too fast
simulator.set_target_realtime_rate(1.)
# To set initial conditions, we modify the mutable simulator context (we could do this before Initialize)
plant_context = diagram.GetMutableSubsystemContext(
plant, simulator.get_mutable_context())
plant_context.SetContinuousState([0.5, 0.1])
# Now we fix the value of the actuation to get an unactuated simulation
plant.get_actuation_input_port().FixValue(
plant_context, np.zeros([plant.num_actuators()]))
# Run the simulation to the specified duration
simulator.AdvanceTo(duration)
# Return an animation, if one was made
if playback:
visualizer.stop_recording()
ani = visualizer.get_recording_as_animation()
return ani
else:
return None
def main():
args_parser = argparse.ArgumentParser()
args_parser.add_argument("--simulation_sec", type=float, default=np.inf)
args_parser.add_argument("--sim_dt", type=float, default=0.1)
args_parser.add_argument(
"--single_shot",
action="store_true",
help="Test workflow of visulaization through Simulator.Initialize")
args_parser.add_argument("--realtime_rate", type=float, default=1.)
args_parser.add_argument("--num_models", type=int, default=3)
args = args_parser.parse_args()
sdf_file = FindResourceOrThrow(
"drake/manipulation/models/iiwa_description/iiwa7/"
"iiwa7_no_collision.sdf")
builder = DiagramBuilder()
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, time_step=0.01)
parser = Parser(plant)
models = []
for i in range(args.num_models):
model_name = f"iiwa{i}"
# TODO(eric.cousineau): This warns about mutating the package path
# multiple times :(
model = parser.AddModelFromFile(sdf_file, model_name)
models.append(model)
base_frame = plant.GetFrameByName("iiwa_link_0", model)
# Translate along x-axis by 1m to separate.
X_WB = RigidTransform([i, 0, 0])
plant.WeldFrames(plant.world_frame(), base_frame, X_WB)
plant.Finalize()
for model in models:
no_control(plant, builder, model)
ConnectDrakeVisualizer(builder, scene_graph)
ConnectRvizVisualizer(builder, scene_graph)
diagram = builder.Build()
simulator = Simulator(diagram)
context = simulator.get_mutable_context()
simulator.set_target_realtime_rate(args.realtime_rate)
# Wait for ROS publishers to wake up :(
time.sleep(0.3)
if args.single_shot:
# To see what 'preview' scripts look like.
# TODO(eric.cousineau): Make this work *robustly* with Rviz. Markers
# still don't always show up :(
simulator.Initialize()
diagram.Publish(context)
else:
while context.get_time() < args.simulation_sec:
# Use increments to permit Ctrl+C to be caught.
simulator.AdvanceTo(context.get_time() + args.sim_dt)
def run_pendulum_example(duration=1.0, playback=True, show=True):
"""
Runs a simulation of a pendulum
Arguments:
duration: Simulation duration (sec).
playback: Enable pyplot animations to be produced.
"""
builder = DiagramBuilder()
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.0)
parser = Parser(plant)
parser.AddModelFromFile(
FindResourceOrThrow("drake/examples/pendulum/Pendulum.urdf"))
plant.WeldFrames(plant.world_frame(), plant.GetFrameByName("base"))
plant.Finalize()
pose_bundle_output_port = scene_graph.get_pose_bundle_output_port()
T_VW = np.array([[1., 0., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]])
visualizer = builder.AddSystem(
PlanarSceneGraphVisualizer(scene_graph,
T_VW=T_VW,
xlim=[-1.2, 1.2],
ylim=[-1.2, 1.2],
show=show))
builder.Connect(pose_bundle_output_port, visualizer.get_input_port(0))
if playback:
visualizer.start_recording()
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.Initialize()
simulator.set_target_realtime_rate(1.0)
# Fix the input port to zero
plant_context = diagram.GetMutableSubsystemContext(
plant, simulator.get_mutable_context())
plant.get_actuation_input_port().FixValue(plant_context,
np.zeros(plant.num_actuators()))
plant_context.SetContinuousState([0.5, 0.1])
simulator.AdvanceTo(duration)
if playback:
visualizer.stop_recording()
ani = visualizer.get_recording_as_animation()
return ani
else:
return None
def test_simulation(self):
van_der_pol = VanDerPolOscillator()
# Create the simulator.
simulator = Simulator(van_der_pol)
context = simulator.get_mutable_context()
# Set the initial state.
state = context.get_mutable_continuous_state_vector()
state.SetFromVector([0., 2.])
# Simulate (and make sure the state actually changes).
initial_state = state.CopyToVector()
simulator.StepTo(1.0)
self.assertFalse((state.CopyToVector() == initial_state).any())
def __init__(self, tree):
lcm = DrakeLcm()
self.tree = tree
self.visualizer = DrakeVisualizer(tree=self.tree,
lcm=lcm,
enable_playback=True)
self.x = np.concatenate([
robot.getZeroConfiguration(),
np.zeros(tree.get_num_velocities())
])
# Workaround for the fact that PublishLoadRobot is not public.
# Ultimately that should be fixed.
sim = Simulator(self.visualizer)
context = sim.get_mutable_context()
context.FixInputPort(0, BasicVector(self.x))
sim.Initialize()
def run_manipulation_example(args):
builder = DiagramBuilder()
station = builder.AddSystem(ManipulationStation(time_step=0.005))
station.SetupManipulationClassStation()
station.Finalize()
plant = station.get_multibody_plant()
scene_graph = station.get_scene_graph()
pose_bundle_output_port = station.GetOutputPort("pose_bundle")
# Side-on view of the station.
T_VW = np.array([[1., 0., 0., 0.],
[0., 0., 1., 0.],
[0., 0., 0., 1.]])
visualizer = builder.AddSystem(PlanarSceneGraphVisualizer(
scene_graph, T_VW=T_VW, xlim=[-0.5, 1.0], ylim=[-1.2, 1.2],
draw_period=0.1))
builder.Connect(pose_bundle_output_port, visualizer.get_input_port(0))
if args.playback:
visualizer.start_recording()
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.Initialize()
simulator.set_target_realtime_rate(1.0)
# Fix the control inputs to zero.
station_context = diagram.GetMutableSubsystemContext(
station, simulator.get_mutable_context())
station.GetInputPort("iiwa_position").FixValue(
station_context, station.GetIiwaPosition(station_context))
station.GetInputPort("iiwa_feedforward_torque").FixValue(
station_context, np.zeros(7))
station.GetInputPort("wsg_position").FixValue(
station_context, np.zeros(1))
station.GetInputPort("wsg_force_limit").FixValue(
station_context, [40.0])
simulator.AdvanceTo(args.duration)
if args.playback:
visualizer.stop_recording()
ani = visualizer.get_recording_as_animation()
# Playback the recording and save the output.
ani.save("{}/manip_playback.mp4".format(temp_directory()), fps=30)
def test_simulation(self):
# Basic constant-torque rimless_wheel simulation.
rimless_wheel = RimlessWheel()
# Create the simulator.
simulator = Simulator(rimless_wheel)
context = simulator.get_mutable_context()
context.set_accuracy(1e-8)
# Set the initial state.
state = context.get_mutable_continuous_state_vector()
state.set_theta(0.)
state.set_thetadot(4.)
# Simulate (and make sure the state actually changes).
initial_state = state.CopyToVector()
simulator.StepTo(1.0)
self.assertFalse((state.CopyToVector() == initial_state).any())
def test_simulation(self):
# Basic rimless_wheel simulation.
rimless_wheel = RimlessWheel()
# Create the simulator.
simulator = Simulator(rimless_wheel)
context = simulator.get_mutable_context()
context.set_accuracy(1e-8)
# Set the initial state.
state = context.get_mutable_continuous_state_vector()
state.set_theta(0.)
state.set_thetadot(4.)
# Simulate (and make sure the state actually changes).
initial_state = state.CopyToVector()
simulator.StepTo(1.0)
self.assertFalse((state.CopyToVector() == initial_state).any())
def test_simulation(self):
# Basic compass_gait simulation.
compass_gait = CompassGait()
# Create the simulator.
simulator = Simulator(compass_gait)
context = simulator.get_mutable_context()
context.SetAccuracy(1e-8)
# Set the initial state.
state = context.get_mutable_continuous_state_vector()
state.set_stance(0.)
state.set_swing(0.)
state.set_stancedot(0.4)
state.set_swingdot(-2.0)
# Simulate (and make sure the state actually changes).
initial_state = state.CopyToVector()
simulator.AdvanceTo(1.0)
self.assertFalse((state.CopyToVector() == initial_state).any())
def test_simulation(self):
# Basic constant-torque pendulum simulation.
pendulum = PendulumPlant()
# Create the simulator.
simulator = Simulator(pendulum)
context = simulator.get_mutable_context()
# Set an input torque.
input = PendulumInput()
input.set_tau(1.)
context.FixInputPort(0, input)
# Set the initial state.
state = context.get_mutable_continuous_state_vector()
state.set_theta(1.)
state.set_thetadot(0.)
# Simulate (and make sure the state actually changes).
initial_state = state.CopyToVector()
simulator.StepTo(1.0)
self.assertFalse((state.CopyToVector() == initial_state).any())
def test_simulation(self):
# Basic constant-torque pendulum simulation.
pendulum = PendulumPlant()
# Create the simulator.
simulator = Simulator(pendulum)
context = simulator.get_mutable_context()
# Set an input torque.
input = PendulumInput()
input.set_tau(1.)
context.FixInputPort(0, input)
# Set the initial state.
state = context.get_mutable_continuous_state_vector()
state.set_theta(1.)
state.set_thetadot(0.)
# Simulate (and make sure the state actually changes).
initial_state = state.CopyToVector()
simulator.AdvanceTo(1.0)
self.assertFalse((state.CopyToVector() == initial_state).any())
def run_manipulation_example(args):
builder = DiagramBuilder()
station = builder.AddSystem(ManipulationStation(time_step=0.005))
station.SetupManipulationClassStation()
station.Finalize()
plant = station.get_multibody_plant()
scene_graph = station.get_scene_graph()
pose_bundle_output_port = station.GetOutputPort("pose_bundle")
# Side-on view of the station.
Tview = np.array([[1., 0., 0., 0.],
[0., 0., 1., 0.],
[0., 0., 0., 1.]],
dtype=np.float64)
visualizer = builder.AddSystem(PlanarSceneGraphVisualizer(
scene_graph, T_VW=Tview, xlim=[-0.5, 1.0], ylim=[-1.2, 1.2],
draw_period=0.1))
builder.Connect(pose_bundle_output_port, visualizer.get_input_port(0))
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.Initialize()
simulator.set_target_realtime_rate(1.0)
# Fix the control inputs to zero.
station_context = diagram.GetMutableSubsystemContext(
station, simulator.get_mutable_context())
station.GetInputPort("iiwa_position").FixValue(
station_context, station.GetIiwaPosition(station_context))
station.GetInputPort("iiwa_feedforward_torque").FixValue(
station_context, np.zeros(7))
station.GetInputPort("wsg_position").FixValue(
station_context, np.zeros(1))
station.GetInputPort("wsg_force_limit").FixValue(
station_context, [40.0])
simulator.AdvanceTo(args.duration)
def test_simple_car(self):
simple_car = SimpleCar()
simulator = Simulator(simple_car)
context = simulator.get_mutable_context()
output = simple_car.AllocateOutput()
# Fix the input.
command = DrivingCommand()
command.set_steering_angle(0.5)
command.set_acceleration(1.)
context.FixInputPort(0, command)
# Verify the inputs.
command_eval = simple_car.EvalVectorInput(context, 0)
self.assertTrue(np.allclose(
command.get_value(), command_eval.get_value()))
# Initialize all the states to zero and take a simulation step.
state = context.get_mutable_continuous_state_vector()
state.SetFromVector([0.] * state.size())
simulator.StepTo(1.0)
# Verify the outputs.
simple_car.CalcOutput(context, output)
state_index = simple_car.state_output().get_index()
state_value = output.get_vector_data(state_index)
self.assertIsInstance(state_value, SimpleCarState)
self.assertTrue(
np.allclose(state.CopyToVector(), state_value.get_value()))
pose_index = simple_car.pose_output().get_index()
pose_value = output.get_vector_data(pose_index)
self.assertIsInstance(pose_value, PoseVector)
self.assertTrue(pose_value.get_translation()[0] > 0.)
velocity_index = simple_car.velocity_output().get_index()
velocity_value = output.get_vector_data(velocity_index)
self.assertIsInstance(velocity_value, FrameVelocity)
self.assertTrue(velocity_value.get_velocity().translational()[0] > 0.)
def test_simple_car(self):
simple_car = SimpleCar()
simulator = Simulator(simple_car)
context = simulator.get_mutable_context()
output = simple_car.AllocateOutput()
# Fix the input.
command = DrivingCommand()
command.set_steering_angle(0.5)
command.set_acceleration(1.)
context.FixInputPort(0, command)
# Verify the inputs.
command_eval = simple_car.EvalVectorInput(context, 0)
self.assertTrue(np.allclose(
command.get_value(), command_eval.get_value()))
# Initialize all the states to zero and take a simulation step.
state = context.get_mutable_continuous_state_vector()
state.SetFromVector([0.] * state.size())
simulator.StepTo(1.0)
# Verify the outputs.
simple_car.CalcOutput(context, output)
state_index = simple_car.state_output().get_index()
state_value = output.get_vector_data(state_index)
self.assertIsInstance(state_value, SimpleCarState)
self.assertTrue(
np.allclose(state.CopyToVector(), state_value.get_value()))
pose_index = simple_car.pose_output().get_index()
pose_value = output.get_vector_data(pose_index)
self.assertIsInstance(pose_value, PoseVector)
self.assertTrue(pose_value.get_translation()[0] > 0.)
velocity_index = simple_car.velocity_output().get_index()
velocity_value = output.get_vector_data(velocity_index)
self.assertIsInstance(velocity_value, FrameVelocity)
self.assertTrue(velocity_value.get_velocity().translational()[0] > 0.)
def test_simulation(self):
# Basic constant-torque pendulum simulation.
builder = framework.DiagramBuilder()
pendulum = builder.AddSystem(PendulumPlant())
source = builder.AddSystem(ConstantVectorSource([1.0]))
builder.Connect(source.get_output_port(0), pendulum.get_input_port(0))
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.Initialize()
# TODO(russt): Clean up state vector access below.
state = simulator.get_mutable_context().get_mutable_state()\
.get_mutable_continuous_state().get_mutable_vector()
initial_state = np.array([1.0, 0.0])
state.SetFromVector(initial_state)
simulator.StepTo(1.0)
self.assertFalse((state.CopyToVector() == initial_state).all())
def test_leaf_system_overrides(self):
test = self
class TrivialSystem(LeafSystem):
def __init__(self):
LeafSystem.__init__(self)
self.called_publish = False
self.called_feedthrough = False
self.called_continuous = False
self.called_discrete = False
self.called_initialize = False
self.called_per_step = False
self.called_periodic = False
self.called_getwitness = False
self.called_witness = False
self.called_guard = False
self.called_reset = False
# Ensure we have desired overloads.
self.DeclarePeriodicPublish(1.0)
self.DeclarePeriodicPublish(1.0, 0)
self.DeclarePeriodicPublish(period_sec=1.0, offset_sec=0.)
self.DeclarePeriodicDiscreteUpdate(
period_sec=1.0, offset_sec=0.)
self.DeclareInitializationEvent(
event=PublishEvent(
trigger_type=TriggerType.kInitialization,
callback=self._on_initialize))
self.DeclarePerStepEvent(
event=PublishEvent(
trigger_type=TriggerType.kPerStep,
callback=self._on_per_step))
self.DeclarePeriodicEvent(
period_sec=1.0,
offset_sec=0.0,
event=PublishEvent(
trigger_type=TriggerType.kPeriodic,
callback=self._on_periodic))
self.DeclareContinuousState(2)
self.DeclareDiscreteState(1)
# Ensure that we have inputs / outputs to call direct
# feedthrough.
self.DeclareInputPort(PortDataType.kVectorValued, 1)
self.DeclareVectorInputPort(
name="test_input", model_vector=BasicVector(1),
random_type=None)
self.DeclareVectorOutputPort(
"noop", BasicVector(1), noop,
prerequisites_of_calc=set([self.nothing_ticket()]))
self.witness = self.MakeWitnessFunction(
"witness", WitnessFunctionDirection.kCrossesZero,
self._witness)
self.reset_witness = self.MakeWitnessFunction(
"reset", WitnessFunctionDirection.kCrossesZero,
self._guard, UnrestrictedUpdateEvent(self._reset))
def DoPublish(self, context, events):
# Call base method to ensure we do not get recursion.
LeafSystem.DoPublish(self, context, events)
# N.B. We do not test for a singular call to `DoPublish`
# (checking `assertFalse(self.called_publish)` first) because
# the above `_DeclareInitializationEvent` will call both its
# callback and this event when invoked via
# `Simulator::Initialize` from `call_leaf_system_overrides`,
# even when we explicitly say not to publish at initialize.
self.called_publish = True
def DoHasDirectFeedthrough(self, input_port, output_port):
# Test inputs.
test.assertIn(input_port, [0, 1])
test.assertEqual(output_port, 0)
# Call base method to ensure we do not get recursion.
with catch_drake_warnings(expected_count=1):
base_return = LeafSystem.DoHasDirectFeedthrough(
self, input_port, output_port)
test.assertTrue(base_return is None)
# Return custom methods.
self.called_feedthrough = True
return False
def DoCalcTimeDerivatives(self, context, derivatives):
# Note: Don't call base method here; it would abort because
# derivatives.size() != 0.
test.assertEqual(derivatives.get_vector().size(), 2)
self.called_continuous = True
def DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state):
# Call base method to ensure we do not get recursion.
LeafSystem.DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state)
self.called_discrete = True
def DoGetWitnessFunctions(self, context):
self.called_getwitness = True
return [self.witness, self.reset_witness]
def _on_initialize(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
test.assertFalse(self.called_initialize)
self.called_initialize = True
def _on_per_step(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
self.called_per_step = True
def _on_periodic(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
test.assertFalse(self.called_periodic)
self.called_periodic = True
def _witness(self, context):
test.assertIsInstance(context, Context)
self.called_witness = True
return 1.0
def _guard(self, context):
test.assertIsInstance(context, Context)
self.called_guard = True
return context.get_time() - 0.5
def _reset(self, context, event, state):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, UnrestrictedUpdateEvent)
test.assertIsInstance(state, State)
self.called_reset = True
system = TrivialSystem()
self.assertFalse(system.called_publish)
self.assertFalse(system.called_feedthrough)
self.assertFalse(system.called_continuous)
self.assertFalse(system.called_discrete)
self.assertFalse(system.called_initialize)
results = call_leaf_system_overrides(system)
self.assertTrue(system.called_publish)
self.assertTrue(system.called_feedthrough)
self.assertFalse(results["has_direct_feedthrough"])
self.assertTrue(system.called_continuous)
self.assertTrue(system.called_discrete)
self.assertTrue(system.called_initialize)
self.assertEqual(results["discrete_next_t"], 1.0)
self.assertFalse(system.HasAnyDirectFeedthrough())
self.assertFalse(system.HasDirectFeedthrough(output_port=0))
self.assertFalse(
system.HasDirectFeedthrough(input_port=0, output_port=0))
# Test explicit calls.
system = TrivialSystem()
context = system.CreateDefaultContext()
system.Publish(context)
self.assertTrue(system.called_publish)
context_update = context.Clone()
system.CalcTimeDerivatives(
context=context,
derivatives=context_update.get_mutable_continuous_state())
self.assertTrue(system.called_continuous)
witnesses = system.GetWitnessFunctions(context)
self.assertEqual(len(witnesses), 2)
system.CalcDiscreteVariableUpdates(
context=context,
discrete_state=context_update.get_mutable_discrete_state())
self.assertTrue(system.called_discrete)
# Test per-step, periodic, and witness call backs
system = TrivialSystem()
simulator = Simulator(system)
simulator.get_mutable_context().SetAccuracy(0.1)
# Stepping to 0.99 so that we get exactly one periodic event.
simulator.AdvanceTo(0.99)
self.assertTrue(system.called_per_step)
self.assertTrue(system.called_periodic)
self.assertTrue(system.called_getwitness)
self.assertTrue(system.called_witness)
self.assertTrue(system.called_guard)
self.assertTrue(system.called_reset)
def test_diagram_simulation(self):
# Similar to: //systems/framework:diagram_test, ExampleDiagram
size = 3
builder = DiagramBuilder()
adder0 = builder.AddSystem(Adder(2, size))
adder0.set_name("adder0")
adder1 = builder.AddSystem(Adder(2, size))
adder1.set_name("adder1")
integrator = builder.AddSystem(Integrator(size))
integrator.set_name("integrator")
builder.Connect(adder0.get_output_port(0), adder1.get_input_port(0))
builder.Connect(adder1.get_output_port(0),
integrator.get_input_port(0))
builder.ExportInput(adder0.get_input_port(0))
builder.ExportInput(adder0.get_input_port(1))
builder.ExportInput(adder1.get_input_port(1))
builder.ExportOutput(integrator.get_output_port(0))
diagram = builder.Build()
# TODO(eric.cousineau): Figure out unicode handling if needed.
# See //systems/framework/test/diagram_test.cc:349 (sha: bc84e73)
# for an example name.
diagram.set_name("test_diagram")
simulator = Simulator(diagram)
context = simulator.get_mutable_context()
# Create and attach inputs.
# TODO(eric.cousineau): Not seeing any assertions being printed if no
# inputs are connected. Need to check this behavior.
input0 = np.array([0.1, 0.2, 0.3])
context.FixInputPort(0, input0)
input1 = np.array([0.02, 0.03, 0.04])
context.FixInputPort(1, input1)
input2 = BasicVector([0.003, 0.004, 0.005])
context.FixInputPort(2, input2) # Test the BasicVector overload.
# Initialize integrator states.
integrator_xc = (
diagram.GetMutableSubsystemState(integrator, context)
.get_mutable_continuous_state().get_vector())
integrator_xc.SetFromVector([0, 1, 2])
simulator.Initialize()
# Simulate briefly, and take full-context snapshots at intermediate
# points.
n = 6
times = np.linspace(0, 1, n)
context_log = []
for t in times:
simulator.StepTo(t)
# Record snapshot of *entire* context.
context_log.append(context.Clone())
xc_initial = np.array([0, 1, 2])
xc_final = np.array([0.123, 1.234, 2.345])
for i, context_i in enumerate(context_log):
t = times[i]
self.assertEqual(context_i.get_time(), t)
xc = context_i.get_continuous_state_vector().CopyToVector()
xc_expected = (float(i) / (n - 1) * (xc_final - xc_initial) +
xc_initial)
print("xc[t = {}] = {}".format(t, xc))
self.assertTrue(np.allclose(xc, xc_expected))
teleop.window.withdraw() # Don't display the window when testing.
builder.Connect(teleop.get_output_port(0),
station.GetInputPort("iiwa_position"))
wsg_buttons = builder.AddSystem(SchunkWsgButtons(teleop.window))
builder.Connect(wsg_buttons.GetOutputPort("position"),
station.GetInputPort("wsg_position"))
builder.Connect(wsg_buttons.GetOutputPort("force_limit"),
station.GetInputPort("wsg_force_limit"))
diagram = builder.Build()
simulator = Simulator(diagram)
station_context = diagram.GetMutableSubsystemContext(
station, simulator.get_mutable_context())
station_context.FixInputPort(
station.GetInputPort("iiwa_feedforward_torque").get_index(), np.zeros(7))
if not args.hardware:
# Set the initial positions of the IIWA to a comfortable configuration
# inside the workspace of the station.
q0 = [0, 0.6, 0, -1.75, 0, 1.0, 0]
station.SetIiwaPosition(q0, station_context)
station.SetIiwaVelocity(np.zeros(7), station_context)
# Set the initial configuration of the gripper to open.
station.SetWsgPosition(0.1, station_context)
station.SetWsgVelocity(0, station_context)
def main():
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument(
"--target_realtime_rate",
type=float,
default=1.0,
help="Desired rate relative to real time. See documentation for "
"Simulator::set_target_realtime_rate() for details.")
parser.add_argument("--duration",
type=float,
default=np.inf,
help="Desired duration of the simulation in seconds.")
parser.add_argument(
"--hardware",
action='store_true',
help="Use the ManipulationStationHardwareInterface instead of an "
"in-process simulation.")
parser.add_argument("--test",
action='store_true',
help="Disable opening the gui window for testing.")
parser.add_argument(
'--setup',
type=str,
default='manipulation_class',
help="The manipulation station setup to simulate. ",
choices=['manipulation_class', 'clutter_clearing', 'planar'])
parser.add_argument(
"-w",
"--open-window",
dest="browser_new",
action="store_const",
const=1,
default=None,
help="Open the MeshCat display in a new browser window.")
args = parser.parse_args()
builder = DiagramBuilder()
# NOTE: the meshcat instance is always created in order to create the
# teleop controls (joint sliders and open/close gripper button). When
# args.hardware is True, the meshcat server will *not* display robot
# geometry, but it will contain the joint sliders and open/close gripper
# button in the "Open Controls" tab in the top-right of the viewing server.
meshcat = Meshcat()
if args.hardware:
# TODO(russt): Replace this hard-coded camera serial number with a
# config file.
camera_ids = ["805212060544"]
station = builder.AddSystem(
ManipulationStationHardwareInterface(camera_ids))
station.Connect(wait_for_cameras=False)
else:
station = builder.AddSystem(ManipulationStation())
# Initializes the chosen station type.
if args.setup == 'manipulation_class':
station.SetupManipulationClassStation()
station.AddManipulandFromFile(
"drake/examples/manipulation_station/models/" +
"061_foam_brick.sdf",
RigidTransform(RotationMatrix.Identity(), [0.6, 0, 0]))
elif args.setup == 'clutter_clearing':
station.SetupClutterClearingStation()
ycb_objects = CreateClutterClearingYcbObjectList()
for model_file, X_WObject in ycb_objects:
station.AddManipulandFromFile(model_file, X_WObject)
elif args.setup == 'planar':
station.SetupPlanarIiwaStation()
station.AddManipulandFromFile(
"drake/examples/manipulation_station/models/" +
"061_foam_brick.sdf",
RigidTransform(RotationMatrix.Identity(), [0.6, 0, 0]))
station.Finalize()
geometry_query_port = station.GetOutputPort("geometry_query")
DrakeVisualizer.AddToBuilder(builder, geometry_query_port)
meshcat_visualizer = MeshcatVisualizerCpp.AddToBuilder(
builder=builder,
query_object_port=geometry_query_port,
meshcat=meshcat)
if args.setup == 'planar':
meshcat.Set2dRenderMode()
pyplot_visualizer = ConnectPlanarSceneGraphVisualizer(
builder, station.get_scene_graph(), geometry_query_port)
if args.browser_new is not None:
url = meshcat.web_url()
webbrowser.open(url=url, new=args.browser_new)
teleop = builder.AddSystem(
JointSliders(meshcat=meshcat, plant=station.get_controller_plant()))
num_iiwa_joints = station.num_iiwa_joints()
filter = builder.AddSystem(
FirstOrderLowPassFilter(time_constant=2.0, size=num_iiwa_joints))
builder.Connect(teleop.get_output_port(0), filter.get_input_port(0))
builder.Connect(filter.get_output_port(0),
station.GetInputPort("iiwa_position"))
wsg_buttons = builder.AddSystem(SchunkWsgButtons(meshcat=meshcat))
builder.Connect(wsg_buttons.GetOutputPort("position"),
station.GetInputPort("wsg_position"))
builder.Connect(wsg_buttons.GetOutputPort("force_limit"),
station.GetInputPort("wsg_force_limit"))
# When in regression test mode, log our joint velocities to later check
# that they were sufficiently quiet.
if args.test:
iiwa_velocities = builder.AddSystem(VectorLogSink(num_iiwa_joints))
builder.Connect(station.GetOutputPort("iiwa_velocity_estimated"),
iiwa_velocities.get_input_port(0))
else:
iiwa_velocities = None
diagram = builder.Build()
simulator = Simulator(diagram)
# This is important to avoid duplicate publishes to the hardware interface:
simulator.set_publish_every_time_step(False)
station_context = diagram.GetMutableSubsystemContext(
station, simulator.get_mutable_context())
station.GetInputPort("iiwa_feedforward_torque").FixValue(
station_context, np.zeros(num_iiwa_joints))
# If the diagram is only the hardware interface, then we must advance it a
# little bit so that first LCM messages get processed. A simulated plant is
# already publishing correct positions even without advancing, and indeed
# we must not advance a simulated plant until the sliders and filters have
# been initialized to match the plant.
if args.hardware:
simulator.AdvanceTo(1e-6)
# Eval the output port once to read the initial positions of the IIWA.
q0 = station.GetOutputPort("iiwa_position_measured").Eval(station_context)
teleop.SetPositions(q0)
filter.set_initial_output_value(
diagram.GetMutableSubsystemContext(filter,
simulator.get_mutable_context()),
q0)
simulator.set_target_realtime_rate(args.target_realtime_rate)
simulator.AdvanceTo(args.duration)
# Ensure that our initialization logic was correct, by inspecting our
# logged joint velocities.
if args.test:
iiwa_velocities_log = iiwa_velocities.FindLog(simulator.get_context())
for time, qdot in zip(iiwa_velocities_log.sample_times(),
iiwa_velocities_log.data().transpose()):
# TODO(jwnimmer-tri) We should be able to do better than a 40
# rad/sec limit, but that's the best we can enforce for now.
if qdot.max() > 0.1:
print(f"ERROR: large qdot {qdot} at time {time}")
sys.exit(1)
FirstOrderLowPassFilter(time_constant=args.filter_time_const, size=6))
builder.Connect(teleop.get_output_port(0), filter.get_input_port(0))
builder.Connect(filter.get_output_port(0),
differential_ik.GetInputPort("rpy_xyz_desired"))
builder.Connect(teleop.GetOutputPort("position"), station.GetInputPort(
"wsg_position"))
builder.Connect(teleop.GetOutputPort("force_limit"),
station.GetInputPort("wsg_force_limit"))
diagram = builder.Build()
simulator = Simulator(diagram)
station_context = diagram.GetMutableSubsystemContext(
station, simulator.get_mutable_context())
station_context.FixInputPort(station.GetInputPort(
"iiwa_feedforward_torque").get_index(), np.zeros(7))
q0 = station.GetOutputPort("iiwa_position_measured").Eval(station_context)
differential_ik.parameters.set_nominal_joint_position(q0)
teleop.SetPose(differential_ik.ForwardKinematics(q0))
filter.set_initial_output_value(
diagram.GetMutableSubsystemContext(
filter, simulator.get_mutable_context()),
teleop.get_output_port(0).Eval(diagram.GetMutableSubsystemContext(
teleop, simulator.get_mutable_context())))
differential_ik.SetPositions(diagram.GetMutableSubsystemContext(
differential_ik, simulator.get_mutable_context()), q0)
np.array([1, 1, 1, 1]), scene_graph)
env_plant.Finalize()
plant.RegisterGeometry(scene_graph)
builder.Connect(plant.get_geometry_pose_output_port(),
scene_graph.get_source_pose_port(plant.source_id()))
meshcat = builder.AddSystem(
MeshcatVisualizer(scene_graph, zmq_url=None, open_browser=None))
builder.Connect(scene_graph.get_pose_bundle_output_port(),
meshcat.get_input_port(0))
# end setup for visualization
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.set_target_realtime_rate(1.0)
context = simulator.get_mutable_context()
# Run simulation
context.set_time(0.)
mutable_state_vector = context.get_continuous_state_vector().CopyToVector()
mutable_state_vector[:12] = START_STATE
context.SetContinuousState(mutable_state_vector)
simulator.Initialize()
import pdb
pdb.set_trace()
from time import sleep
sleep(3)
simulator.StepTo(DURATION)
import pdb
pdb.set_trace()
builder = DiagramBuilder()
plant = builder.AddSystem(QuadrotorPlant())
controller = builder.AddSystem(StabilizingLQRController(plant, [0, 0, 1]))
builder.Connect(controller.get_output_port(0), plant.get_input_port(0))
builder.Connect(plant.get_output_port(0), controller.get_input_port(0))
# Set up visualization in MeshCat
scene_graph = builder.AddSystem(SceneGraph())
QuadrotorGeometry.AddToBuilder(builder, plant.get_output_port(0), scene_graph)
meshcat = builder.AddSystem(MeshcatVisualizer(
scene_graph, zmq_url=args.meshcat,
open_browser=args.open_browser))
builder.Connect(scene_graph.get_pose_bundle_output_port(),
meshcat.get_input_port(0))
# end setup for visualization
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.set_target_realtime_rate(1.0)
context = simulator.get_mutable_context()
for i in range(args.trials):
context.SetTime(0.)
context.SetContinuousState(np.random.randn(12,))
simulator.Initialize()
simulator.StepTo(args.duration)
options.visualization_callback = draw
policy, cost_to_go = FittedValueIteration(simulator, cost_function, state_grid,
input_grid, timestep, options)
J = np.reshape(cost_to_go, Q.shape)
surf = ax.plot_surface(Q, Qdot, J, rstride=1, cstride=1, cmap=cm.jet)
Pi = np.reshape(policy.get_output_values(), Q.shape)
surf = ax2.plot_surface(Q, Qdot, Pi, rstride=1, cstride=1, cmap=cm.jet)
# animate the resulting policy.
builder = DiagramBuilder()
plant = builder.AddSystem(DoubleIntegrator())
logger = LogOutput(plant.get_output_port(0), builder)
vi_policy = builder.AddSystem(policy)
builder.Connect(vi_policy.get_output_port(0), plant.get_input_port(0))
builder.Connect(plant.get_output_port(0), vi_policy.get_input_port(0))
diagram = builder.Build()
simulator = Simulator(diagram)
state = simulator.get_mutable_context().SetContinuousState([-10.0, 0.0])
simulator.AdvanceTo(10.)
# Visualize the result as a video.
vis = DoubleIntegratorVisualizer()
ani = vis.animate(logger, repeat=True)
plt.show()
state_grid, input_grid,
timestep, options)
J = np.reshape(cost_to_go, Q.shape)
surf = ax.plot_surface(Q, Qdot, J, rstride=1, cstride=1,
cmap=cm.jet)
Pi = np.reshape(policy.get_output_values(), Q.shape)
surf = ax2.plot_surface(Q, Qdot, Pi, rstride=1, cstride=1,
cmap=cm.jet)
# animate the resulting policy.
builder = DiagramBuilder()
plant = builder.AddSystem(DoubleIntegrator())
logger = LogOutput(plant.get_output_port(0), builder)
vi_policy = builder.AddSystem(policy)
builder.Connect(vi_policy.get_output_port(0), plant.get_input_port(0))
builder.Connect(plant.get_output_port(0), vi_policy.get_input_port(0))
diagram = builder.Build()
simulator = Simulator(diagram)
state = simulator.get_mutable_context().SetContinuousState([-10.0, 0.0])
simulator.StepTo(10.)
# Visualize the result as a video.
vis = DoubleIntegratorVisualizer()
ani = vis.animate(logger, repeat=True)
plt.show()
size=7))
builder.Connect(teleop.get_output_port(0), filter.get_input_port(0))
builder.Connect(filter.get_output_port(0),
station.GetInputPort("iiwa_position"))
wsg_buttons = builder.AddSystem(SchunkWsgButtons(teleop.window))
builder.Connect(wsg_buttons.GetOutputPort("position"), station.GetInputPort(
"wsg_position"))
builder.Connect(wsg_buttons.GetOutputPort("force_limit"),
station.GetInputPort("wsg_force_limit"))
diagram = builder.Build()
simulator = Simulator(diagram)
station_context = diagram.GetMutableSubsystemContext(
station, simulator.get_mutable_context())
station_context.FixInputPort(station.GetInputPort(
"iiwa_feedforward_torque").get_index(), np.zeros(7))
# Eval the output port once to read the initial positions of the IIWA.
q0 = station.GetOutputPort("iiwa_position_measured").Eval(
station_context).get_value()
teleop.set_position(q0)
filter.set_initial_output_value(diagram.GetMutableSubsystemContext(
filter, simulator.get_mutable_context()), q0)
# This is important to avoid duplicate publishes to the hardware interface:
simulator.set_publish_every_time_step(False)
simulator.set_target_realtime_rate(args.target_realtime_rate)
def main():
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument(
"--target_realtime_rate", type=float, default=1.0,
help="Desired rate relative to real time. See documentation for "
"Simulator::set_target_realtime_rate() for details.")
parser.add_argument(
"--duration", type=float, default=np.inf,
help="Desired duration of the simulation in seconds.")
parser.add_argument(
"--hardware", action='store_true',
help="Use the ManipulationStationHardwareInterface instead of an "
"in-process simulation.")
parser.add_argument(
"--test", action='store_true',
help="Disable opening the gui window for testing.")
parser.add_argument(
"--filter_time_const", type=float, default=0.005,
help="Time constant for the first order low pass filter applied to"
"the teleop commands")
parser.add_argument(
"--velocity_limit_factor", type=float, default=1.0,
help="This value, typically between 0 and 1, further limits the "
"iiwa14 joint velocities. It multiplies each of the seven "
"pre-defined joint velocity limits. "
"Note: The pre-defined velocity limits are specified by "
"iiwa14_velocity_limits, found in this python file.")
parser.add_argument(
'--setup', type=str, default='default',
help="The manipulation station setup to simulate. ",
choices=['default', 'clutter_clearing'])
MeshcatVisualizer.add_argparse_argument(parser)
args = parser.parse_args()
if args.test:
# Don't grab mouse focus during testing.
grab_focus = False
# See: https://stackoverflow.com/a/52528832/7829525
os.environ["SDL_VIDEODRIVER"] = "dummy"
else:
grab_focus = True
builder = DiagramBuilder()
if args.hardware:
station = builder.AddSystem(ManipulationStationHardwareInterface())
station.Connect(wait_for_cameras=False)
else:
station = builder.AddSystem(ManipulationStation())
# Initializes the chosen station type.
if args.setup == 'default':
station.SetupDefaultStation()
elif args.setup == 'clutter_clearing':
station.SetupClutterClearingStation()
ycb_objects = CreateDefaultYcbObjectList()
for model_file, X_WObject in ycb_objects:
station.AddManipulandFromFile(model_file, X_WObject)
station.Finalize()
ConnectDrakeVisualizer(builder, station.get_scene_graph(),
station.GetOutputPort("pose_bundle"))
if args.meshcat:
meshcat = builder.AddSystem(MeshcatVisualizer(
station.get_scene_graph(), zmq_url=args.meshcat))
builder.Connect(station.GetOutputPort("pose_bundle"),
meshcat.get_input_port(0))
robot = station.get_controller_plant()
params = DifferentialInverseKinematicsParameters(robot.num_positions(),
robot.num_velocities())
time_step = 0.005
params.set_timestep(time_step)
# True velocity limits for the IIWA14 (in rad, rounded down to the first
# decimal)
iiwa14_velocity_limits = np.array([1.4, 1.4, 1.7, 1.3, 2.2, 2.3, 2.3])
# Stay within a small fraction of those limits for this teleop demo.
factor = args.velocity_limit_factor
params.set_joint_velocity_limits((-factor*iiwa14_velocity_limits,
factor*iiwa14_velocity_limits))
differential_ik = builder.AddSystem(DifferentialIK(
robot, robot.GetFrameByName("iiwa_link_7"), params, time_step))
builder.Connect(differential_ik.GetOutputPort("joint_position_desired"),
station.GetInputPort("iiwa_position"))
teleop = builder.AddSystem(MouseKeyboardTeleop(grab_focus=grab_focus))
filter_ = builder.AddSystem(
FirstOrderLowPassFilter(time_constant=args.filter_time_const, size=6))
builder.Connect(teleop.get_output_port(0), filter_.get_input_port(0))
builder.Connect(filter_.get_output_port(0),
differential_ik.GetInputPort("rpy_xyz_desired"))
builder.Connect(teleop.GetOutputPort("position"), station.GetInputPort(
"wsg_position"))
builder.Connect(teleop.GetOutputPort("force_limit"),
station.GetInputPort("wsg_force_limit"))
diagram = builder.Build()
simulator = Simulator(diagram)
# This is important to avoid duplicate publishes to the hardware interface:
simulator.set_publish_every_time_step(False)
station_context = diagram.GetMutableSubsystemContext(
station, simulator.get_mutable_context())
station.GetInputPort("iiwa_feedforward_torque").FixValue(
station_context, np.zeros(7))
simulator.AdvanceTo(1e-6)
q0 = station.GetOutputPort("iiwa_position_measured").Eval(station_context)
differential_ik.parameters.set_nominal_joint_position(q0)
teleop.SetPose(differential_ik.ForwardKinematics(q0))
filter_.set_initial_output_value(
diagram.GetMutableSubsystemContext(
filter_, simulator.get_mutable_context()),
teleop.get_output_port(0).Eval(diagram.GetMutableSubsystemContext(
teleop, simulator.get_mutable_context())))
differential_ik.SetPositions(diagram.GetMutableSubsystemContext(
differential_ik, simulator.get_mutable_context()), q0)
simulator.set_target_realtime_rate(args.target_realtime_rate)
print_instructions()
simulator.AdvanceTo(args.duration)
def test_all_leaf_system_overrides(self):
test = self
class TrivialSystem(LeafSystem):
def __init__(self):
LeafSystem.__init__(self)
self.called_publish = False
self.called_feedthrough = False
self.called_continuous = False
self.called_discrete = False
self.called_initialize = False
self.called_per_step = False
self.called_periodic = False
self.called_getwitness = False
self.called_witness = False
self.called_guard = False
self.called_reset = False
# Ensure we have desired overloads.
self.DeclarePeriodicPublish(1.0)
self.DeclarePeriodicPublish(1.0, 0)
self.DeclarePeriodicPublish(period_sec=1.0, offset_sec=0.)
self.DeclarePeriodicDiscreteUpdate(period_sec=1.0,
offset_sec=0.)
self.DeclareInitializationEvent(event=PublishEvent(
trigger_type=TriggerType.kInitialization,
callback=self._on_initialize))
self.DeclarePerStepEvent(
event=PublishEvent(trigger_type=TriggerType.kPerStep,
callback=self._on_per_step))
self.DeclarePeriodicEvent(
period_sec=1.0,
offset_sec=0.0,
event=PublishEvent(trigger_type=TriggerType.kPeriodic,
callback=self._on_periodic))
self.DeclareContinuousState(2)
self.DeclareDiscreteState(1)
# Ensure that we have inputs / outputs to call direct
# feedthrough.
self.DeclareInputPort(PortDataType.kVectorValued, 1)
self.DeclareVectorInputPort(name="test_input",
model_vector=BasicVector(1),
random_type=None)
self.DeclareVectorOutputPort("noop",
BasicVector(1),
noop,
prerequisites_of_calc=set(
[self.nothing_ticket()]))
self.witness = self.MakeWitnessFunction(
"witness", WitnessFunctionDirection.kCrossesZero,
self._witness)
self.reset_witness = self.MakeWitnessFunction(
"reset", WitnessFunctionDirection.kCrossesZero,
self._guard, UnrestrictedUpdateEvent(self._reset))
def DoPublish(self, context, events):
# Call base method to ensure we do not get recursion.
LeafSystem.DoPublish(self, context, events)
# N.B. We do not test for a singular call to `DoPublish`
# (checking `assertFalse(self.called_publish)` first) because
# the above `_DeclareInitializationEvent` will call both its
# callback and this event when invoked via
# `Simulator::Initialize` from `call_leaf_system_overrides`,
# even when we explicitly say not to publish at initialize.
self.called_publish = True
def DoHasDirectFeedthrough(self, input_port, output_port):
# Test inputs.
test.assertIn(input_port, [0, 1])
test.assertEqual(output_port, 0)
# Call base method to ensure we do not get recursion.
with catch_drake_warnings(expected_count=1):
base_return = LeafSystem.DoHasDirectFeedthrough(
self, input_port, output_port)
test.assertTrue(base_return is None)
# Return custom methods.
self.called_feedthrough = True
return False
def DoCalcTimeDerivatives(self, context, derivatives):
# Note: Don't call base method here; it would abort because
# derivatives.size() != 0.
test.assertEqual(derivatives.get_vector().size(), 2)
self.called_continuous = True
def DoCalcDiscreteVariableUpdates(self, context, events,
discrete_state):
# Call base method to ensure we do not get recursion.
LeafSystem.DoCalcDiscreteVariableUpdates(
self, context, events, discrete_state)
self.called_discrete = True
def DoGetWitnessFunctions(self, context):
self.called_getwitness = True
return [self.witness, self.reset_witness]
def _on_initialize(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
test.assertFalse(self.called_initialize)
self.called_initialize = True
def _on_per_step(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
self.called_per_step = True
def _on_periodic(self, context, event):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, PublishEvent)
test.assertFalse(self.called_periodic)
self.called_periodic = True
def _witness(self, context):
test.assertIsInstance(context, Context)
self.called_witness = True
return 1.0
def _guard(self, context):
test.assertIsInstance(context, Context)
self.called_guard = True
return context.get_time() - 0.5
def _reset(self, context, event, state):
test.assertIsInstance(context, Context)
test.assertIsInstance(event, UnrestrictedUpdateEvent)
test.assertIsInstance(state, State)
self.called_reset = True
system = TrivialSystem()
self.assertFalse(system.called_publish)
self.assertFalse(system.called_feedthrough)
self.assertFalse(system.called_continuous)
self.assertFalse(system.called_discrete)
self.assertFalse(system.called_initialize)
results = call_leaf_system_overrides(system)
self.assertTrue(system.called_publish)
self.assertTrue(system.called_feedthrough)
self.assertFalse(results["has_direct_feedthrough"])
self.assertTrue(system.called_continuous)
self.assertTrue(system.called_discrete)
self.assertTrue(system.called_initialize)
self.assertEqual(results["discrete_next_t"], 1.0)
self.assertFalse(system.HasAnyDirectFeedthrough())
self.assertFalse(system.HasDirectFeedthrough(output_port=0))
self.assertFalse(
system.HasDirectFeedthrough(input_port=0, output_port=0))
# Test explicit calls.
system = TrivialSystem()
context = system.CreateDefaultContext()
system.Publish(context)
self.assertTrue(system.called_publish)
context_update = context.Clone()
system.CalcTimeDerivatives(
context=context,
derivatives=context_update.get_mutable_continuous_state())
self.assertTrue(system.called_continuous)
witnesses = system.GetWitnessFunctions(context)
self.assertEqual(len(witnesses), 2)
system.CalcDiscreteVariableUpdates(
context=context,
discrete_state=context_update.get_mutable_discrete_state())
self.assertTrue(system.called_discrete)
# Test per-step, periodic, and witness call backs
system = TrivialSystem()
simulator = Simulator(system)
simulator.get_mutable_context().SetAccuracy(0.1)
# Stepping to 0.99 so that we get exactly one periodic event.
simulator.AdvanceTo(0.99)
self.assertTrue(system.called_per_step)
self.assertTrue(system.called_periodic)
self.assertTrue(system.called_getwitness)
self.assertTrue(system.called_witness)
self.assertTrue(system.called_guard)
self.assertTrue(system.called_reset)
def test_diagram_simulation(self):
# Similar to: //systems/framework:diagram_test, ExampleDiagram
size = 3
builder = DiagramBuilder()
adder0 = builder.AddSystem(Adder(2, size))
adder0.set_name("adder0")
adder1 = builder.AddSystem(Adder(2, size))
adder1.set_name("adder1")
integrator = builder.AddSystem(Integrator(size))
integrator.set_name("integrator")
builder.Connect(adder0.get_output_port(0), adder1.get_input_port(0))
builder.Connect(adder1.get_output_port(0),
integrator.get_input_port(0))
builder.ExportInput(adder0.get_input_port(0))
builder.ExportInput(adder0.get_input_port(1))
builder.ExportInput(adder1.get_input_port(1))
builder.ExportOutput(integrator.get_output_port(0))
diagram = builder.Build()
# TODO(eric.cousineau): Figure out unicode handling if needed.
# See //systems/framework/test/diagram_test.cc:349 (sha: bc84e73)
# for an example name.
diagram.set_name("test_diagram")
simulator = Simulator(diagram)
context = simulator.get_mutable_context()
# Create and attach inputs.
# TODO(eric.cousineau): Not seeing any assertions being printed if no
# inputs are connected. Need to check this behavior.
input0 = BasicVector([0.1, 0.2, 0.3])
context.FixInputPort(0, input0)
input1 = BasicVector([0.02, 0.03, 0.04])
context.FixInputPort(1, input1)
input2 = BasicVector([0.003, 0.004, 0.005])
context.FixInputPort(2, input2)
# Initialize integrator states.
integrator_xc = (
diagram.GetMutableSubsystemState(integrator, context)
.get_mutable_continuous_state().get_vector())
integrator_xc.SetFromVector([0, 1, 2])
simulator.Initialize()
# Simulate briefly, and take full-context snapshots at intermediate
# points.
n = 6
times = np.linspace(0, 1, n)
context_log = []
for t in times:
simulator.StepTo(t)
# Record snapshot of *entire* context.
context_log.append(context.Clone())
xc_initial = np.array([0, 1, 2])
xc_final = np.array([0.123, 1.234, 2.345])
for i, context_i in enumerate(context_log):
t = times[i]
self.assertEqual(context_i.get_time(), t)
xc = context_i.get_continuous_state_vector().CopyToVector()
xc_expected = (float(i) / (n - 1) * (xc_final - xc_initial) +
xc_initial)
print("xc[t = {}] = {}".format(t, xc))
self.assertTrue(np.allclose(xc, xc_expected))