# Compute Command
if SimConfig.PRINT_TIME:
start_time = time.time()
command = interface.get_command(copy.deepcopy(sensor_data))
# print("count :", count)
# print(command['joint_trq'])
# if count == 3:
# exit()
if SimConfig.PRINT_TIME:
end_time = time.time()
print("ctrl computation time: ", end_time - start_time)
# Apply Command
pybullet_util.set_motor_trq(robot, joint_id, command['joint_trq'])
# Save Image
if (SimConfig.VIDEO_RECORD) and (count % SimConfig.RECORD_FREQ == 0):
frame = pybullet_util.get_camera_image([1., 0.5, 1.], 1.0, 120,
-15, 0, 60., 1920, 1080,
0.1, 100.)
frame = frame[:, :, [2, 1, 0]] # << RGB to BGR
filename = video_dir + '/step%06d.jpg' % count
cv2.imwrite(filename, frame)
p.stepSimulation()
time.sleep(dt)
t += dt
count += 1
def run_sim(inp):
goal_pos = np.copy(inp)
angle = 0.
if not p.isConnected():
if not B_VISUALIZE:
p.connect(p.DIRECT)
else:
p.connect(p.GUI)
p.resetDebugVisualizerCamera(cameraDistance=2.0,
cameraYaw=180 + 45,
cameraPitch=-15,
cameraTargetPosition=[0.5, 0.5, 0.6])
p.resetSimulation()
p.setGravity(0, 0, -9.8)
p.setPhysicsEngineParameter(fixedTimeStep=SimConfig.CONTROLLER_DT,
numSubSteps=SimConfig.N_SUBSTEP)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
robot = p.loadURDF(
cwd + "/robot_model/draco3/draco3_gripper_mesh_updated.urdf",
SimConfig.INITIAL_POS_WORLD_TO_BASEJOINT,
SimConfig.INITIAL_QUAT_WORLD_TO_BASEJOINT)
p.loadURDF(cwd + "/robot_model/ground/plane.urdf", [0, 0, 0])
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
nq, nv, na, joint_id, link_id, pos_basejoint_to_basecom, rot_basejoint_to_basecom = pybullet_util.get_robot_config(
robot, SimConfig.INITIAL_POS_WORLD_TO_BASEJOINT,
SimConfig.INITIAL_QUAT_WORLD_TO_BASEJOINT, False)
if B_VISUALIZE:
lh_target_frame = p.loadURDF(cwd + "/robot_model/etc/ball.urdf",
[0., 0, 0.], [0, 0, 0, 1])
lh_target_pos = np.array([0., 0., 0.])
lh_target_quat = np.array([0., 0., 0., 1.])
lh_waypoint_frame = p.loadURDF(cwd + "/robot_model/etc/ball.urdf",
[0., 0, 0.], [0, 0, 0, 1])
lh_waypoint_pos = np.array([0., 0., 0.])
lh_waypoint_quat = np.array([0., 0., 0., 1.])
# Add Gear constraint
c = p.createConstraint(robot,
link_id['l_knee_fe_lp'],
robot,
link_id['l_knee_fe_ld'],
jointType=p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(c, gearRatio=-1, maxForce=500, erp=10)
c = p.createConstraint(robot,
link_id['r_knee_fe_lp'],
robot,
link_id['r_knee_fe_ld'],
jointType=p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(c, gearRatio=-1, maxForce=500, erp=10)
# Initial Config
set_initial_config(robot, joint_id)
# Link Damping
pybullet_util.set_link_damping(robot, link_id.values(), 0., 0.)
# Joint Friction
pybullet_util.set_joint_friction(robot, joint_id, 0.)
gripper_attached_joint_id = OrderedDict()
gripper_attached_joint_id["l_wrist_pitch"] = joint_id["l_wrist_pitch"]
gripper_attached_joint_id["r_wrist_pitch"] = joint_id["r_wrist_pitch"]
pybullet_util.set_joint_friction(robot, gripper_attached_joint_id, 0.1)
# Construct Interface
interface = DracoManipulationInterface()
# Run Sim
t = 0
dt = SimConfig.CONTROLLER_DT
count = 0
nominal_sensor_data = pybullet_util.get_sensor_data(
robot, joint_id, link_id, pos_basejoint_to_basecom,
rot_basejoint_to_basecom)
if B_VISUALIZE:
pybullet_util.draw_link_frame(robot,
link_id['l_hand_contact'],
text="lh")
pybullet_util.draw_link_frame(lh_target_frame, -1, text="lh_target")
pybullet_util.draw_link_frame(lh_waypoint_frame, -1)
gripper_command = dict()
for gripper_joint in GRIPPER_JOINTS:
gripper_command[gripper_joint] = nominal_sensor_data['joint_pos'][
gripper_joint]
waiting_command = True
time_command_recved = 0.
while (1):
# Get SensorData
sensor_data = pybullet_util.get_sensor_data(robot, joint_id, link_id,
pos_basejoint_to_basecom,
rot_basejoint_to_basecom)
for gripper_joint in GRIPPER_JOINTS:
del sensor_data['joint_pos'][gripper_joint]
del sensor_data['joint_vel'][gripper_joint]
rf_height = pybullet_util.get_link_iso(robot,
link_id['r_foot_contact'])[2, 3]
lf_height = pybullet_util.get_link_iso(robot,
link_id['l_foot_contact'])[2, 3]
sensor_data['b_rf_contact'] = True if rf_height <= 0.01 else False
sensor_data['b_lf_contact'] = True if lf_height <= 0.01 else False
if t >= WalkingConfig.INIT_STAND_DUR + 0.1 and waiting_command:
global_goal_pos = np.copy(goal_pos)
global_goal_pos[0] += sensor_data['base_com_pos'][0]
global_goal_pos[1] += sensor_data['base_com_pos'][1]
lh_target_pos = np.copy(global_goal_pos)
lh_target_rot = np.dot(RIGHTUP_GRIPPER, x_rot(angle))
lh_target_quat = util.rot_to_quat(lh_target_rot)
lh_target_iso = liegroup.RpToTrans(lh_target_rot, lh_target_pos)
lh_waypoint_pos = generate_keypoint(lh_target_iso)[0:3, 3]
interface.interrupt_logic.lh_target_pos = lh_target_pos
interface.interrupt_logic.lh_waypoint_pos = lh_waypoint_pos
interface.interrupt_logic.lh_target_quat = lh_target_quat
interface.interrupt_logic.b_interrupt_button_one = True
waiting_command = False
time_command_recved = t
command = interface.get_command(copy.deepcopy(sensor_data))
if B_VISUALIZE:
p.resetBasePositionAndOrientation(lh_target_frame, lh_target_pos,
lh_target_quat)
p.resetBasePositionAndOrientation(lh_waypoint_frame,
lh_waypoint_pos, lh_target_quat)
# Exclude Knee Proximal Joints Command
del command['joint_pos']['l_knee_fe_jp']
del command['joint_pos']['r_knee_fe_jp']
del command['joint_vel']['l_knee_fe_jp']
del command['joint_vel']['r_knee_fe_jp']
del command['joint_trq']['l_knee_fe_jp']
del command['joint_trq']['r_knee_fe_jp']
# Apply Command
pybullet_util.set_motor_trq(robot, joint_id, command['joint_trq'])
pybullet_util.set_motor_pos(robot, joint_id, gripper_command)
p.stepSimulation()
t += dt
count += 1
## Safety On the run
safe_list = is_safe(robot, link_id, sensor_data)
if all(safe_list):
pass
else:
safe_list.append(False)
del interface
break
## Safety at the end
if t >= time_command_recved + ManipulationConfig.T_REACHING_DURATION + 0.2:
if is_tracking_error_safe(global_goal_pos, angle, robot, link_id):
safe_list.append(True)
else:
safe_list.append(False)
del interface
break
return safe_list
interface.interrupt_logic.b_interrupt_button_four = True
elif pybullet_util.is_key_triggered(keys, '2'):
interface.interrupt_logic.b_interrupt_button_two = True
elif pybullet_util.is_key_triggered(keys, '6'):
interface.interrupt_logic.b_interrupt_button_six = True
elif pybullet_util.is_key_triggered(keys, '7'):
interface.interrupt_logic.b_interrupt_button_seven = True
elif pybullet_util.is_key_triggered(keys, '9'):
interface.interrupt_logic.b_interrupt_button_nine = True
command = interface.get_command(copy.deepcopy(sensor_data))
# Set motor cmd
# pybullet_util.set_motor_pos(quadruped, joint_id,
# nominal_sensor_data['joint_pos'])
pybullet_util.set_motor_trq(quadruped, joint_id, command['joint_trq'])
# pybullet_util.set_motor_pos(quadruped, joint_id, command['joint_pos'])
p.stepSimulation()
t += SimConfig.CONTROLLER_DT
count += 1
time.sleep(SimConfig.CONTROLLER_DT)
print("toeFL")
print(pybullet_util.get_link_iso(quadruped, link_id['toeFL']))
print("toeRR")
print(pybullet_util.get_link_iso(quadruped, link_id['toeRR']))
print("toeRL")
print(pybullet_util.get_link_iso(quadruped, link_id['toeRL']))
print("base pos")
print(sensor_data["base_com_pos"])
# Get SensorData
sensor_data = pybullet_util.get_sensor_data(robot, joint_id, link_id,
pos_basejoint_to_basecom,
rot_basejoint_to_basecom)
q = np.array([
sensor_data["joint_pos"]["jb00"],
sensor_data["joint_pos"]["jb0"],
sensor_data["joint_pos"]["jb1"],
sensor_data["joint_pos"]["jp"],
sensor_data["joint_pos"]["jd"],
sensor_data["joint_pos"]["ja1"],
sensor_data["joint_pos"]["ja2"],
])
tau = PnCPjInvDyn(pin_robot, q, np.zeros(7), np.zeros(7))
trq_cmd = dict()
trq_cmd["jb00"] = tau[0]
trq_cmd["jb0"] = tau[1]
trq_cmd["jb1"] = tau[2]
trq_cmd["jd"] = tau[3]
trq_cmd["ja1"] = tau[4]
trq_cmd["ja2"] = tau[5]
pybullet_util.set_motor_trq(robot, joint_id, trq_cmd)
p.stepSimulation()
# time.sleep(DT)
t += DT
count += 1
q /= 3.
jpos_dict = pin_robot.create_cmd_ordered_dict(q, q, q)["joint_pos"]
pybullet_util.set_config(robot, joint_id, link_id,
sensor_data["base_com_pos"],
sensor_data["base_com_quat"], jpos_dict)
# print(jpos_dict)
# Get SensorData
sensor_data = pybullet_util.get_sensor_data(robot, joint_id, link_id,
pos_basejoint_to_basecom,
rot_basejoint_to_basecom)
# if count % 5000 == 0:
# print(sensor_data["joint_pos"])
# print(sensor_data["joint_vel"])
# __import__('ipdb').set_trace()
cmd = PnCPjGrav(pin_robot, sensor_data["joint_pos"])
del cmd['joint_pos']['l_knee_fe_jd']
del cmd['joint_pos']['r_knee_fe_jd']
del cmd['joint_vel']['l_knee_fe_jd']
del cmd['joint_vel']['r_knee_fe_jd']
del cmd['joint_trq']['l_knee_fe_jd']
del cmd['joint_trq']['r_knee_fe_jd']
pybullet_util.set_motor_trq(robot, joint_id, cmd["joint_trq"])
p.stepSimulation()
# time.sleep(DT)
t += DT
count += 1
