def main():
# Simulate with doubles.
builder = DiagramBuilder()
source = builder.AddSystem(ConstantVectorSource([10.]))
adder = builder.AddSystem(SimpleAdder(100.))
builder.Connect(source.get_output_port(0), adder.get_input_port(0))
logger = builder.AddSystem(VectorLogSink(1))
builder.Connect(adder.get_output_port(0), logger.get_input_port(0))
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.AdvanceTo(1)
x = logger.FindLog(simulator.get_context()).data()
print("Output values: {}".format(x))
assert np.allclose(x, 110.)
# Compute outputs with AutoDiff and Symbolic.
for T in (AutoDiffXd, Expression):
adder_T = SimpleAdder_[T](100.)
context = adder_T.CreateDefaultContext()
adder_T.get_input_port().FixValue(context, [10.])
output = adder_T.AllocateOutput()
adder_T.CalcOutput(context, output)
# N.B. At present, you cannot get a reference to existing AutoDiffXd
# or Expression numpy arrays, so we will explictly copy the vector:
# https://github.com/RobotLocomotion/drake/issues/8116
value, = output.get_vector_data(0).CopyToVector()
assert isinstance(value, T)
print("Output from {}: {}".format(type(adder_T), repr(value)))
def main():
builder = DiagramBuilder()
source = builder.AddSystem(ConstantVectorSource([10.]))
logger = builder.AddSystem(VectorLogSink(1))
builder.Connect(source.get_output_port(0), logger.get_input_port(0))
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.AdvanceTo(1)
x = logger.FindLog(simulator.get_context()).data()
print("Output values: {}".format(x))
assert np.allclose(x, 10.)
def create_log(self, vector_system):
builder = DiagramBuilder()
system = builder.AddSystem(vector_system)
logger = builder.AddSystem(VectorLogSink(vector_system.output_size))
builder.Connect(system.get_output_port(0), logger.get_input_port(0))
diagram = builder.Build()
context = diagram.CreateDefaultContext()
simulator = Simulator(diagram, context)
# Get the log and make sure its original values are as expected.
log = logger.FindLog(context)
return simulator, log, context
def test_simple_visualizer(self):
builder = DiagramBuilder()
system = builder.AddSystem(SimpleContinuousTimeSystem())
logger = builder.AddSystem(VectorLogSink(1))
builder.Connect(system.get_output_port(0), logger.get_input_port(0))
visualizer = builder.AddSystem(TestVisualizer(1))
builder.Connect(system.get_output_port(0),
visualizer.get_input_port(0))
diagram = builder.Build()
context = diagram.CreateDefaultContext()
context.SetContinuousState([0.9])
simulator = Simulator(diagram, context)
simulator.AdvanceTo(.1)
ani = visualizer.animate(logger.FindLog(context), repeat=True)
self.assertIsInstance(ani, animation.FuncAnimation)
def make_ball_paddle(contact_model, contact_surface_representation, time_step):
multibody_plant_config = \
MultibodyPlantConfig(
time_step=time_step,
contact_model=contact_model,
contact_surface_representation=contact_surface_representation)
# We pose the paddle, so that its top surface is on World's X-Y plane.
# Intuitively we push it down 1 cm because the box is 2 cm thick.
p_WPaddle_fixed = RigidTransform(RollPitchYaw(0, 0, 0),
np.array([0, 0, -0.01]))
builder = DiagramBuilder()
plant, scene_graph = AddMultibodyPlant(multibody_plant_config, builder)
parser = Parser(plant)
paddle_sdf_file_name = \
FindResourceOrThrow("drake/examples/hydroelastic/python_ball_paddle"
"/paddle.sdf")
paddle = parser.AddModelFromFile(paddle_sdf_file_name, model_name="paddle")
plant.WeldFrames(frame_on_parent_F=plant.world_frame(),
frame_on_child_M=plant.GetFrameByName("paddle", paddle),
X_FM=p_WPaddle_fixed)
ball_sdf_file_name = \
FindResourceOrThrow("drake/examples/hydroelastic/python_ball_paddle"
"/ball.sdf")
parser.AddModelFromFile(ball_sdf_file_name)
# TODO(DamrongGuoy): Let users override hydroelastic modulus, dissipation,
# and resolution hint from the two SDF files above.
plant.Finalize()
DrakeVisualizer.AddToBuilder(builder=builder, scene_graph=scene_graph)
ConnectContactResultsToDrakeVisualizer(builder=builder,
plant=plant,
scene_graph=scene_graph)
nx = plant.num_positions() + plant.num_velocities()
state_logger = builder.AddSystem(VectorLogSink(nx))
builder.Connect(plant.get_state_output_port(),
state_logger.get_input_port())
diagram = builder.Build()
return diagram, plant, state_logger
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)
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=0.1,
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='manipulation_class',
help="The manipulation station setup to simulate. ",
choices=['manipulation_class', 'clutter_clearing', 'planar'])
parser.add_argument(
'--schunk_collision_model', type=str, default='box',
help="The Schunk collision model to use for simulation. ",
choices=['box', 'box_plus_fingertip_spheres'])
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. NOTE: the "
"slider controls are available in the meshcat viewer by clicking "
"'Open Controls' in the top-right corner."))
args = parser.parse_args()
builder = DiagramBuilder()
# NOTE: the meshcat instance is always created in order to create the
# teleop controls (orientation 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:
station = builder.AddSystem(ManipulationStationHardwareInterface())
station.Connect(wait_for_cameras=False)
else:
station = builder.AddSystem(ManipulationStation())
if args.schunk_collision_model == "box":
schunk_model = SchunkCollisionModel.kBox
elif args.schunk_collision_model == "box_plus_fingertip_spheres":
schunk_model = SchunkCollisionModel.kBoxPlusFingertipSpheres
# Initializes the chosen station type.
if args.setup == 'manipulation_class':
station.SetupManipulationClassStation(
schunk_model=schunk_model)
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(
schunk_model=schunk_model)
ycb_objects = CreateClutterClearingYcbObjectList()
for model_file, X_WObject in ycb_objects:
station.AddManipulandFromFile(model_file, X_WObject)
elif args.setup == 'planar':
station.SetupPlanarIiwaStation(
schunk_model=schunk_model)
station.AddManipulandFromFile(
"drake/examples/manipulation_station/models/"
+ "061_foam_brick.sdf",
RigidTransform(RotationMatrix.Identity(), [0.6, 0, 0]))
station.Finalize()
# If using meshcat, don't render the cameras, since RgbdCamera
# rendering only works with drake-visualizer. Without this check,
# running this code in a docker container produces libGL errors.
geometry_query_port = station.GetOutputPort("geometry_query")
# Connect the meshcat visualizer.
meshcat_visualizer = MeshcatVisualizer.AddToBuilder(
builder=builder,
query_object_port=geometry_query_port,
meshcat=meshcat)
# Configure the planar visualization.
if args.setup == 'planar':
meshcat.Set2dRenderMode()
# Connect and publish to drake visualizer.
DrakeVisualizer.AddToBuilder(builder, geometry_query_port)
image_to_lcm_image_array = builder.AddSystem(
ImageToLcmImageArrayT())
image_to_lcm_image_array.set_name("converter")
for name in station.get_camera_names():
cam_port = (
image_to_lcm_image_array
.DeclareImageInputPort[PixelType.kRgba8U](
"camera_" + name))
builder.Connect(
station.GetOutputPort("camera_" + name + "_rgb_image"),
cam_port)
image_array_lcm_publisher = builder.AddSystem(
LcmPublisherSystem.Make(
channel="DRAKE_RGBD_CAMERA_IMAGES",
lcm_type=lcmt_image_array,
lcm=None,
publish_period=0.1,
use_cpp_serializer=True))
image_array_lcm_publisher.set_name("rgbd_publisher")
builder.Connect(
image_to_lcm_image_array.image_array_t_msg_output_port(),
image_array_lcm_publisher.get_input_port(0))
if args.browser_new is not None:
url = meshcat.web_url()
webbrowser.open(url=url, new=args.browser_new)
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])
if args.setup == 'planar':
# Extract the 3 joints that are not welded in the planar version.
iiwa14_velocity_limits = iiwa14_velocity_limits[1:6:2]
# The below constant is in body frame.
params.set_end_effector_velocity_gain([1, 0, 0, 0, 1, 1])
# 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(EndEffectorTeleop(
meshcat, args.setup == 'planar'))
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"))
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.
num_iiwa_joints = station.num_iiwa_joints()
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)
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)
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)