def createPseudoImpulseModel(self, supportFootIds, swingFootTask): """ Action model for pseudo-impulse models. A pseudo-impulse model consists of adding high-penalty cost for the contact velocities. :param swingFootTask: swinging foot task :return pseudo-impulse differential action model """ # Creating a 6D multi-contact model, and then including the supporting # foot contactModel = crocoddyl.ContactModelMultiple(self.state, self.actuation.nu) for i in supportFootIds: Mref = crocoddyl.FramePlacement(i, pinocchio.SE3.Identity()) supportContactModel = crocoddyl.ContactModel6D( self.state, Mref, self.actuation.nu, np.array([0., 0.])) contactModel.addContact(self.rmodel.frames[i].name + "_contact", supportContactModel) # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, self.actuation.nu) for i in supportFootIds: cone = crocoddyl.WrenchCone(np.identity(3), self.mu, np.array([0.1, 0.05])) wrenchCone = crocoddyl.CostModelContactWrenchCone( self.state, crocoddyl.ActivationModelQuadraticBarrier( crocoddyl.ActivationBounds(cone.lb, cone.ub)), crocoddyl.FrameWrenchCone(i, cone), self.actuation.nu) costModel.addCost(self.rmodel.frames[i].name + "_wrenchCone", wrenchCone, 1e1) if swingFootTask is not None: for i in swingFootTask: footTrack = crocoddyl.CostModelFramePlacement( self.state, i, self.actuation.nu) costModel.addCost(self.rmodel.frames[i.id].name + "_footTrack", footTrack, 1e8) footVel = crocoddyl.FrameMotion(i.id, pinocchio.Motion.Zero()) impulseFootVelCost = crocoddyl.CostModelFrameVelocity( self.state, footVel, self.actuation.nu) costModel.addCost( self.rmodel.frames[i.id].name + "_impulseVel", impulseFootVelCost, 1e6) stateWeights = np.array([0] * 3 + [500.] * 3 + [0.01] * (self.state.nv - 6) + [10] * self.state.nv) stateReg = crocoddyl.CostModelState( self.state, crocoddyl.ActivationModelWeightedQuad(stateWeights**2), self.rmodel.defaultState, self.actuation.nu) ctrlReg = crocoddyl.CostModelControl(self.state, self.actuation.nu) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-3) # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics( self.state, self.actuation, contactModel, costModel, 0., True) model = crocoddyl.IntegratedActionModelEuler(dmodel, 0.) return model
def createSwingFootModel(self, timeStep, supportFootIds, comTask=None, swingFootTask=None): """ Action model for a swing foot phase. :param timeStep: step duration of the action model :param supportFootIds: Ids of the constrained feet :param comTask: CoM task :param swingFootTask: swinging foot task :return action model for a swing foot phase """ # Creating a 6D multi-contact model, and then including the supporting # foot contactModel = crocoddyl.ContactModelMultiple(self.state, self.actuation.nu) for i in supportFootIds: Mref = crocoddyl.FramePlacement(i, pinocchio.SE3.Identity()) supportContactModel = \ crocoddyl.ContactModel6D(self.state, Mref, self.actuation.nu, np.array([0., 0.])) contactModel.addContact(self.rmodel.frames[i].name + "_contact", supportContactModel) # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, self.actuation.nu) if isinstance(comTask, np.ndarray): comTrack = crocoddyl.CostModelCoMPosition(self.state, comTask, self.actuation.nu) costModel.addCost("comTrack", comTrack, 1e6) for i in supportFootIds: cone = crocoddyl.WrenchCone(np.identity(3), self.mu, np.array([0.1, 0.05])) wrenchCone = crocoddyl.CostModelContactWrenchCone( self.state, crocoddyl.ActivationModelQuadraticBarrier( crocoddyl.ActivationBounds(cone.lb, cone.ub)), crocoddyl.FrameWrenchCone(i, cone), self.actuation.nu) costModel.addCost(self.rmodel.frames[i].name + "_wrenchCone", wrenchCone, 1e1) if swingFootTask is not None: for i in swingFootTask: footTrack = crocoddyl.CostModelFramePlacement( self.state, i, self.actuation.nu) costModel.addCost(self.rmodel.frames[i.id].name + "_footTrack", footTrack, 1e6) stateWeights = np.array([0] * 3 + [500.] * 3 + [0.01] * (self.state.nv - 6) + [10] * self.state.nv) stateReg = crocoddyl.CostModelState( self.state, crocoddyl.ActivationModelWeightedQuad(stateWeights**2), self.rmodel.defaultState, self.actuation.nu) ctrlReg = crocoddyl.CostModelControl(self.state, self.actuation.nu) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-1) # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics( self.state, self.actuation, contactModel, costModel, 0., True) model = crocoddyl.IntegratedActionModelEuler(dmodel, timeStep) return model
def createPseudoImpulseModel(self, supportFootIds, swingFootTask): """ Action model for pseudo-impulse models. A pseudo-impulse model consists of adding high-penalty cost for the contact velocities. :param swingFootTask: swinging foot task :return pseudo-impulse differential action model """ # Creating a 6D multi-contact model, and then including the supporting # foot nu = self.actuation.nu contactModel = crocoddyl.ContactModelMultiple(self.state, nu) for i in supportFootIds: supportContactModel = crocoddyl.ContactModel6D( self.state, i, pinocchio.SE3.Identity(), nu, np.array([0., 50.])) contactModel.addContact(self.rmodel.frames[i].name + "_contact", supportContactModel) # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, nu) for i in supportFootIds: cone = crocoddyl.WrenchCone(self.Rsurf, self.mu, np.array([0.1, 0.05])) wrenchResidual = crocoddyl.ResidualModelContactWrenchCone( self.state, i, cone, nu) wrenchActivation = crocoddyl.ActivationModelQuadraticBarrier( crocoddyl.ActivationBounds(cone.lb, cone.ub)) wrenchCone = crocoddyl.CostModelResidual(self.state, wrenchActivation, wrenchResidual) costModel.addCost(self.rmodel.frames[i].name + "_wrenchCone", wrenchCone, 1e1) if swingFootTask is not None: for i in swingFootTask: framePlacementResidual = crocoddyl.ResidualModelFramePlacement( self.state, i[0], i[1], nu) frameVelocityResidual = crocoddyl.ResidualModelFrameVelocity( self.state, i[0], pinocchio.Motion.Zero(), pinocchio.LOCAL, nu) footTrack = crocoddyl.CostModelResidual( self.state, framePlacementResidual) impulseFootVelCost = crocoddyl.CostModelResidual( self.state, frameVelocityResidual) costModel.addCost(self.rmodel.frames[i[0]].name + "_footTrack", footTrack, 1e8) costModel.addCost( self.rmodel.frames[i[0]].name + "_impulseVel", impulseFootVelCost, 1e6) stateWeights = np.array([0.] * 3 + [500.] * 3 + [0.01] * (self.state.nv - 6) + [10] * self.state.nv) stateResidual = crocoddyl.ResidualModelState(self.state, self.rmodel.defaultState, nu) stateActivation = crocoddyl.ActivationModelWeightedQuad( stateWeights**2) ctrlResidual = crocoddyl.ResidualModelControl(self.state, nu) stateReg = crocoddyl.CostModelResidual(self.state, stateActivation, stateResidual) ctrlReg = crocoddyl.CostModelResidual(self.state, ctrlResidual) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-3) # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics( self.state, self.actuation, contactModel, costModel, 0., True) if self.integrator == 'euler': model = crocoddyl.IntegratedActionModelEuler(dmodel, 0.) elif self.integrator == 'rk4': model = crocoddyl.IntegratedActionModelRK(dmodel, crocoddyl.RKType.four, 0.) elif self.integrator == 'rk3': model = crocoddyl.IntegratedActionModelRK(dmodel, crocoddyl.RKType.three, 0.) elif self.integrator == 'rk2': model = crocoddyl.IntegratedActionModelRK(dmodel, crocoddyl.RKType.two, 0.) else: model = crocoddyl.IntegratedActionModelEuler(dmodel, 0.) return model
import crocoddyl import pinocchio import example_robot_data import numpy as np from test_utils import NUMDIFF_MODIFIER, assertNumDiff # Create robot model, data, state and actuation ROBOT_MODEL = example_robot_data.loadICub().model ROBOT_DATA = ROBOT_MODEL.createData() ROBOT_STATE = crocoddyl.StateMultibody(ROBOT_MODEL) ACTUATION = crocoddyl.ActuationModelFloatingBase(ROBOT_STATE) # Create wrench cone and its activation wrenchCone = crocoddyl.WrenchCone(np.identity(3), 0.7, np.array([0.1, 0.05])) activation = crocoddyl.ActivationModelQuadraticBarrier( crocoddyl.ActivationBounds(wrenchCone.lb, wrenchCone.ub)) # Contact wrench-cone cost unittest CONTACTS = crocoddyl.ContactModelMultiple(ROBOT_STATE, ACTUATION.nu) CONTACT_6D_r = crocoddyl.ContactModel6D( ROBOT_STATE, crocoddyl.FramePlacement(ROBOT_MODEL.getFrameId('r_sole'), pinocchio.SE3.Random()), ACTUATION.nu, pinocchio.utils.rand(2)) CONTACT_6D_l = crocoddyl.ContactModel6D( ROBOT_STATE, crocoddyl.FramePlacement(ROBOT_MODEL.getFrameId('l_sole'), pinocchio.SE3.Random()), ACTUATION.nu, pinocchio.utils.rand(2))
def createSwingFootModel(self, timeStep, supportFootIds, comTask=None, swingFootTask=None): """ Action model for a swing foot phase. :param timeStep: step duration of the action model :param supportFootIds: Ids of the constrained feet :param comTask: CoM task :param swingFootTask: swinging foot task :return action model for a swing foot phase """ # Creating a 6D multi-contact model, and then including the supporting # foot nu = self.actuation.nu contactModel = crocoddyl.ContactModelMultiple(self.state, nu) for i in supportFootIds: supportContactModel = \ crocoddyl.ContactModel6D(self.state, i, pinocchio.SE3.Identity(), nu, np.array([0., 50.])) contactModel.addContact(self.rmodel.frames[i].name + "_contact", supportContactModel) # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, nu) if isinstance(comTask, np.ndarray): comResidual = crocoddyl.ResidualModelCoMPosition( self.state, comTask, nu) comTrack = crocoddyl.CostModelResidual(self.state, comResidual) costModel.addCost("comTrack", comTrack, 1e6) for i in supportFootIds: cone = crocoddyl.WrenchCone(self.Rsurf, self.mu, np.array([0.1, 0.05])) wrenchResidual = crocoddyl.ResidualModelContactWrenchCone( self.state, i, cone, nu) wrenchActivation = crocoddyl.ActivationModelQuadraticBarrier( crocoddyl.ActivationBounds(cone.lb, cone.ub)) wrenchCone = crocoddyl.CostModelResidual(self.state, wrenchActivation, wrenchResidual) costModel.addCost(self.rmodel.frames[i].name + "_wrenchCone", wrenchCone, 1e1) if swingFootTask is not None: for i in swingFootTask: framePlacementResidual = crocoddyl.ResidualModelFramePlacement( self.state, i[0], i[1], nu) footTrack = crocoddyl.CostModelResidual( self.state, framePlacementResidual) costModel.addCost(self.rmodel.frames[i[0]].name + "_footTrack", footTrack, 1e6) stateWeights = np.array([0] * 3 + [500.] * 3 + [0.01] * (self.state.nv - 6) + [10] * self.state.nv) stateResidual = crocoddyl.ResidualModelState(self.state, self.rmodel.defaultState, nu) stateActivation = crocoddyl.ActivationModelWeightedQuad( stateWeights**2) ctrlResidual = crocoddyl.ResidualModelControl(self.state, nu) stateReg = crocoddyl.CostModelResidual(self.state, stateActivation, stateResidual) ctrlReg = crocoddyl.CostModelResidual(self.state, ctrlResidual) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-1) # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics( self.state, self.actuation, contactModel, costModel, 0., True) if self.integrator == 'euler': model = crocoddyl.IntegratedActionModelEuler( dmodel, self.control, timeStep) elif self.integrator == 'rk4': model = crocoddyl.IntegratedActionModelRK(dmodel, self.control, crocoddyl.RKType.four, timeStep) elif self.integrator == 'rk3': model = crocoddyl.IntegratedActionModelRK(dmodel, self.control, crocoddyl.RKType.three, timeStep) elif self.integrator == 'rk2': model = crocoddyl.IntegratedActionModelRK(dmodel, self.control, crocoddyl.RKType.two, timeStep) else: model = crocoddyl.IntegratedActionModelEuler( dmodel, self.control, timeStep) return model