def test_signal_logger(self):
# Log the output of a simple diagram containing a constant
# source and an integrator.
builder = DiagramBuilder()
kValue = 2.4
source = builder.AddSystem(ConstantVectorSource([kValue]))
kSize = 1
integrator = builder.AddSystem(Integrator(kSize))
logger = builder.AddSystem(SignalLogger(kSize))
builder.Connect(source.get_output_port(0),
integrator.get_input_port(0))
builder.Connect(integrator.get_output_port(0),
logger.get_input_port(0))
# Add a redundant logger via the helper method.
logger2 = LogOutput(integrator.get_output_port(0), builder)
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.StepTo(1)
t = logger.sample_times()
x = logger.data()
self.assertTrue(t.shape[0] > 2)
self.assertTrue(t.shape[0] == x.shape[1])
self.assertAlmostEqual(x[0, -1], t[-1]*kValue, places=2)
np.testing.assert_array_equal(x, logger2.data())
logger.reset()
def test_signal_logger(self):
# Log the output of a simple diagram containing a constant
# source and an integrator.
builder = DiagramBuilder()
kValue = 2.4
source = builder.AddSystem(ConstantVectorSource([kValue]))
kSize = 1
integrator = builder.AddSystem(Integrator(kSize))
logger = builder.AddSystem(SignalLogger(kSize))
builder.Connect(source.get_output_port(0),
integrator.get_input_port(0))
builder.Connect(integrator.get_output_port(0),
logger.get_input_port(0))
# Add a redundant logger via the helper method.
logger2 = LogOutput(integrator.get_output_port(0), builder)
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.StepTo(1)
t = logger.sample_times()
x = logger.data()
self.assertTrue(t.shape[0] > 2)
self.assertTrue(t.shape[0] == x.shape[1])
self.assertAlmostEqual(x[0, -1], t[-1] * kValue, places=2)
np.testing.assert_array_equal(x, logger2.data())
logger.reset()
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_signal_logger(self):
# Log the output of a simple diagram containing a constant
# source and an integrator.
builder = DiagramBuilder()
kValue = 2.4
source = builder.AddSystem(ConstantVectorSource([kValue]))
kSize = 1
integrator = builder.AddSystem(Integrator(kSize))
logger_per_step = builder.AddSystem(SignalLogger(kSize))
builder.Connect(source.get_output_port(0),
integrator.get_input_port(0))
builder.Connect(integrator.get_output_port(0),
logger_per_step.get_input_port(0))
# Add a redundant logger via the helper method.
logger_per_step_2 = LogOutput(integrator.get_output_port(0), builder)
# Add a periodic logger
logger_periodic = builder.AddSystem(SignalLogger(kSize))
kPeriod = 0.1
logger_periodic.set_publish_period(kPeriod)
builder.Connect(integrator.get_output_port(0),
logger_periodic.get_input_port(0))
diagram = builder.Build()
simulator = Simulator(diagram)
kTime = 1.
simulator.AdvanceTo(kTime)
# Verify outputs of the every-step logger
t = logger_per_step.sample_times()
x = logger_per_step.data()
self.assertTrue(t.shape[0] > 2)
self.assertTrue(t.shape[0] == x.shape[1])
self.assertAlmostEqual(x[0, -1], t[-1] * kValue, places=2)
np.testing.assert_array_equal(x, logger_per_step_2.data())
# Verify outputs of the periodic logger
t = logger_periodic.sample_times()
x = logger_periodic.data()
# Should log exactly once every kPeriod, up to and including kTime.
self.assertTrue(t.shape[0] == np.floor(kTime / kPeriod) + 1.)
logger_per_step.reset()
# Verify that t and x retain their values after systems are deleted.
t_copy = t.copy()
x_copy = x.copy()
del builder
del integrator
del logger_periodic
del logger_per_step
del logger_per_step_2
del diagram
del simulator
del source
gc.collect()
self.assertTrue((t == t_copy).all())
self.assertTrue((x == x_copy).all())
def test_signal_logger(self):
# Log the output of a simple diagram containing a constant
# source and an integrator.
builder = DiagramBuilder()
kValue = 2.4
source = builder.AddSystem(ConstantVectorSource([kValue]))
kSize = 1
integrator = builder.AddSystem(Integrator(kSize))
logger_per_step = builder.AddSystem(SignalLogger(kSize))
builder.Connect(source.get_output_port(0),
integrator.get_input_port(0))
builder.Connect(integrator.get_output_port(0),
logger_per_step.get_input_port(0))
# Add a redundant logger via the helper method.
logger_per_step_2 = LogOutput(integrator.get_output_port(0), builder)
# Add a periodic logger
logger_periodic = builder.AddSystem(SignalLogger(kSize))
kPeriod = 0.1
logger_periodic.set_publish_period(kPeriod)
builder.Connect(integrator.get_output_port(0),
logger_periodic.get_input_port(0))
diagram = builder.Build()
simulator = Simulator(diagram)
kTime = 1.
simulator.StepTo(kTime)
# Verify outputs of the every-step logger
t = logger_per_step.sample_times()
x = logger_per_step.data()
self.assertTrue(t.shape[0] > 2)
self.assertTrue(t.shape[0] == x.shape[1])
self.assertAlmostEqual(x[0, -1], t[-1]*kValue, places=2)
np.testing.assert_array_equal(x, logger_per_step_2.data())
# Verify outputs of the periodic logger
t = logger_periodic.sample_times()
x = logger_periodic.data()
# Should log exactly once every kPeriod, up to and including kTime.
self.assertTrue(t.shape[0] == np.floor(kTime / kPeriod) + 1.)
logger_per_step.reset()
def simulate():
# Animate the resulting policy.
builder = DiagramBuilder()
plant = builder.AddSystem(DoubleIntegrator())
vi_policy = builder.AddSystem(policy)
builder.Connect(plant.get_output_port(0), vi_policy.get_input_port(0))
builder.Connect(vi_policy.get_output_port(0), plant.get_input_port(0))
diagram = builder.Build()
simulator = Simulator(diagram)
logger = LogOutput(plant.get_output_port(0), builder)
logger.set_name("logger")
simulator.get_mutable_context().SetContinuousState(env.reset())
simulator.AdvanceTo(10. if get_ipython() is not None else 5.)
return logger
def build_manipulation_station(station):
from underactuated.meshcat_visualizer import MeshcatVisualizer
from .manipulation_station.manipulation_station_plan_runner import ManipStationPlanRunner
builder = DiagramBuilder()
builder.AddSystem(station)
# Add plan runner.
plan_runner = ManipStationPlanRunner(station=station)
builder.AddSystem(plan_runner)
builder.Connect(plan_runner.hand_setpoint_output_port,
station.GetInputPort("wsg_position"))
builder.Connect(plan_runner.gripper_force_limit_output_port,
station.GetInputPort("wsg_force_limit"))
demux = builder.AddSystem(Demultiplexer(14, 7))
builder.Connect(
plan_runner.GetOutputPort("iiwa_position_and_torque_command"),
demux.get_input_port(0))
builder.Connect(demux.get_output_port(0),
station.GetInputPort("iiwa_position"))
builder.Connect(demux.get_output_port(1),
station.GetInputPort("iiwa_feedforward_torque"))
builder.Connect(station.GetOutputPort("iiwa_position_measured"),
plan_runner.iiwa_position_input_port)
builder.Connect(station.GetOutputPort("iiwa_velocity_estimated"),
plan_runner.iiwa_velocity_input_port)
# Add meshcat visualizer
plant = station.get_mutable_multibody_plant()
scene_graph = station.get_mutable_scene_graph()
viz = MeshcatVisualizer(scene_graph,
is_drawing_contact_force=True,
plant=plant)
builder.AddSystem(viz)
builder.Connect(station.GetOutputPort("pose_bundle"),
viz.GetInputPort("lcm_visualization"))
builder.Connect(station.GetOutputPort("contact_results"),
viz.GetInputPort("contact_results"))
# Add logger
iiwa_position_command_log = LogOutput(demux.get_output_port(0), builder)
iiwa_position_command_log._DeclarePeriodicPublish(0.005)
iiwa_external_torque_log = LogOutput(
station.GetOutputPort("iiwa_torque_external"), builder)
iiwa_external_torque_log._DeclarePeriodicPublish(0.005)
iiwa_position_measured_log = LogOutput(
station.GetOutputPort("iiwa_position_measured"), builder)
iiwa_position_measured_log._DeclarePeriodicPublish(0.005)
wsg_state_log = LogOutput(station.GetOutputPort("wsg_state_measured"),
builder)
wsg_state_log._DeclarePeriodicPublish(0.1)
wsg_command_log = LogOutput(plan_runner.hand_setpoint_output_port, builder)
wsg_command_log._DeclarePeriodicPublish(0.1)
# build diagram
diagram = builder.Build()
viz.load()
#time.sleep(2.0)
#RenderSystemWithGraphviz(diagram)
return diagram, plan_runner
def test_lcm_driven_loop(self):
"""Duplicates the test logic in `lcm_driven_loop_test.cc`."""
lcm_url = "udpm://239.255.76.67:7669"
t_start = 3.
t_end = 10.
def publish_loop():
# Publishes a set of messages for the driven loop. This should be
# run from a separate process.
# N.B. Because of this, care should be taken not to share C++
# objects between process boundaries.
t = t_start
while t <= t_end:
message = header_t()
message.utime = int(1e6 * t)
lcm.Publish("TEST_LOOP", message.encode())
time.sleep(0.1)
t += 1
class DummySys(LeafSystem):
# Converts message to time in seconds.
def __init__(self):
LeafSystem.__init__(self)
self.DeclareAbstractInputPort(
"header_t", AbstractValue.Make(header_t))
self.DeclareVectorOutputPort(
BasicVector(1), self._calc_output)
def _calc_output(self, context, output):
message = self.EvalAbstractInput(context, 0).get_value()
y = output.get_mutable_value()
y[:] = message.utime / 1e6
# Construct diagram for LcmDrivenLoop.
lcm = DrakeLcm(lcm_url)
utime = mut.PyUtimeMessageToSeconds(header_t)
sub = mut.LcmSubscriberSystem.Make("TEST_LOOP", header_t, lcm)
builder = DiagramBuilder()
builder.AddSystem(sub)
dummy = builder.AddSystem(DummySys())
builder.Connect(sub.get_output_port(0), dummy.get_input_port(0))
logger = LogOutput(dummy.get_output_port(0), builder)
logger.set_forced_publish_only()
diagram = builder.Build()
dut = mut.LcmDrivenLoop(diagram, sub, None, lcm, utime)
dut.set_publish_on_every_received_message(True)
# N.B. Use `multiprocessing` instead of `threading` so that we may
# avoid issues with GIL deadlocks.
publish_proc = Process(target=publish_loop)
publish_proc.start()
# Initialize to first message.
first_msg = dut.WaitForMessage()
dut.get_mutable_context().SetTime(utime.GetTimeInSeconds(first_msg))
# Run to desired amount. (Anything more will cause interpreter to
# "freeze".)
dut.RunToSecondsAssumingInitialized(t_end)
publish_proc.join()
# Check expected values.
log_t_expected = np.array([4, 5, 6, 7, 8, 9])
log_t = logger.sample_times()
self.assertTrue(np.allclose(log_t_expected, log_t))
log_y = logger.data()
self.assertTrue(np.allclose(log_t_expected, log_y))
def connect_plan_runner(builder, station, plan):
from plan_runner.manipulation_station_plan_runner import ManipStationPlanRunner
plan_list, gripper_setpoints = plan
# Add plan runner.
plan_runner = ManipStationPlanRunner(station, plan_list, gripper_setpoints)
builder.AddSystem(plan_runner)
builder.Connect(plan_runner.hand_setpoint_output_port,
station.GetInputPort("wsg_position"))
builder.Connect(plan_runner.gripper_force_limit_output_port,
station.GetInputPort("wsg_force_limit"))
demux = builder.AddSystem(Demultiplexer(14, 7))
builder.Connect(
plan_runner.GetOutputPort("iiwa_position_and_torque_command"),
demux.get_input_port(0))
builder.Connect(demux.get_output_port(0),
station.GetInputPort("iiwa_position"))
builder.Connect(demux.get_output_port(1),
station.GetInputPort("iiwa_feedforward_torque"))
builder.Connect(station.GetOutputPort("iiwa_position_measured"),
plan_runner.iiwa_position_input_port)
builder.Connect(station.GetOutputPort("iiwa_velocity_estimated"),
plan_runner.iiwa_velocity_input_port)
# Add logger
iiwa_position_command_log = LogOutput(demux.get_output_port(0), builder)
iiwa_position_command_log._DeclarePeriodicPublish(0.005)
iiwa_external_torque_log = LogOutput(
station.GetOutputPort("iiwa_torque_external"), builder)
iiwa_external_torque_log._DeclarePeriodicPublish(0.005)
iiwa_position_measured_log = LogOutput(
station.GetOutputPort("iiwa_position_measured"), builder)
iiwa_position_measured_log._DeclarePeriodicPublish(0.005)
wsg_state_log = LogOutput(station.GetOutputPort("wsg_state_measured"),
builder)
wsg_state_log._DeclarePeriodicPublish(0.1)
wsg_command_log = LogOutput(plan_runner.hand_setpoint_output_port, builder)
wsg_command_log._DeclarePeriodicPublish(0.1)
return plan_runner
# Parameters from Geyer05, Figure 2.4
# Note: Geyer uses angle of attack = 90 - touchdown_angle
touchdown_angle = np.deg2rad(30)
Etilde = 1.61
s = SLIPState(np.zeros(8))
s.z = 0.9
s.theta = touchdown_angle
s.r = 1
s.xdot = plant.apex_velocity_from_dimensionless_system_energy(Etilde, s.z)
viz = builder.AddSystem(SLIPVisualizer())
builder.Connect(plant.get_output_port(0), viz.get_input_port(0))
log = LogOutput(plant.get_output_port(0), builder)
command = builder.AddSystem(ConstantVectorSource([touchdown_angle]))
builder.Connect(command.get_output_port(0), plant.get_input_port(0))
diagram = builder.Build()
simulator = Simulator(diagram)
context = simulator.get_mutable_context()
context.SetAccuracy(1e-10)
context.get_mutable_continuous_state_vector().SetFromVector(s[:])
simulator.set_target_realtime_rate(1.0)
simulator.AdvanceTo(0.6)
print("apex: " + str(plant.last_apex))
def RunSimulation(self,
plans_list,
gripper_setpoint_list,
extra_time=0,
real_time_rate=1.0,
q0_kuka=np.zeros(7)):
'''
Constructs a Diagram that sends commands to ManipulationStation.
:param plans_list:
:param gripper_setpoint_list:
:param extra_time:
:param real_time_rate:
:param q0_kuka:
:return:
'''
builder = DiagramBuilder()
builder.AddSystem(self.station)
# Add plan runner.
plan_runner = ManipStationPlanRunner(
station=self.station,
kuka_plans=plans_list,
gripper_setpoint_list=gripper_setpoint_list)
builder.AddSystem(plan_runner)
builder.Connect(plan_runner.hand_setpoint_output_port,
self.station.GetInputPort("wsg_position"))
builder.Connect(plan_runner.gripper_force_limit_output_port,
self.station.GetInputPort("wsg_force_limit"))
demux = builder.AddSystem(Demultiplexer(14, 7))
builder.Connect(
plan_runner.GetOutputPort("iiwa_position_and_torque_command"),
demux.get_input_port(0))
builder.Connect(demux.get_output_port(0),
self.station.GetInputPort("iiwa_position"))
builder.Connect(demux.get_output_port(1),
self.station.GetInputPort("iiwa_feedforward_torque"))
builder.Connect(self.station.GetOutputPort("iiwa_position_measured"),
plan_runner.iiwa_position_input_port)
builder.Connect(self.station.GetOutputPort("iiwa_velocity_estimated"),
plan_runner.iiwa_velocity_input_port)
# Add meshcat visualizer
scene_graph = self.station.get_mutable_scene_graph()
viz = MeshcatVisualizer(scene_graph,
is_drawing_contact_force=True,
plant=self.plant)
self.viz = viz
builder.AddSystem(viz)
builder.Connect(self.station.GetOutputPort("pose_bundle"),
viz.GetInputPort("lcm_visualization"))
builder.Connect(self.station.GetOutputPort("contact_results"),
viz.GetInputPort("contact_results"))
# Add logger
iiwa_position_command_log = LogOutput(demux.get_output_port(0),
builder)
iiwa_position_command_log._DeclarePeriodicPublish(0.005)
iiwa_external_torque_log = LogOutput(
self.station.GetOutputPort("iiwa_torque_external"), builder)
iiwa_external_torque_log._DeclarePeriodicPublish(0.005)
iiwa_position_measured_log = LogOutput(
self.station.GetOutputPort("iiwa_position_measured"), builder)
iiwa_position_measured_log._DeclarePeriodicPublish(0.005)
wsg_state_log = LogOutput(
self.station.GetOutputPort("wsg_state_measured"), builder)
wsg_state_log._DeclarePeriodicPublish(0.1)
wsg_command_log = LogOutput(plan_runner.hand_setpoint_output_port,
builder)
wsg_command_log._DeclarePeriodicPublish(0.1)
# build diagram
diagram = builder.Build()
viz.load()
time.sleep(2.0)
RenderSystemWithGraphviz(diagram)
# construct simulator
simulator = Simulator(diagram)
context = diagram.GetMutableSubsystemContext(
self.station, simulator.get_mutable_context())
# set initial state of the robot
self.station.SetIiwaPosition(q0_kuka, context)
self.station.SetIiwaVelocity(np.zeros(7), context)
self.station.SetWsgPosition(0.05, context)
self.station.SetWsgVelocity(0, context)
# set initial hinge angles of the cupboard.
# setting hinge angle to exactly 0 or 90 degrees will result in intermittent contact
# with small contact forces between the door and the cupboard body.
left_hinge_joint = self.plant.GetJointByName("left_door_hinge")
left_hinge_joint.set_angle(
context=self.station.GetMutableSubsystemContext(
self.plant, context),
angle=-0.001)
right_hinge_joint = self.plant.GetJointByName("right_door_hinge")
right_hinge_joint.set_angle(
context=self.station.GetMutableSubsystemContext(
self.plant, context),
angle=0.001)
# set initial pose of the object
self.plant.tree().SetFreeBodyPoseOrThrow(
self.plant.GetBodyByName(self.object_base_link_name, self.object),
self.X_WObject,
self.station.GetMutableSubsystemContext(self.plant, context))
simulator.set_publish_every_time_step(False)
simulator.set_target_realtime_rate(real_time_rate)
simulator.Initialize()
sim_duration = 0.
for plan in plans_list:
sim_duration += plan.get_duration() * 1.1
sim_duration += extra_time
print "simulation duration", sim_duration
simulator.StepTo(sim_duration)
return iiwa_position_command_log, \
iiwa_position_measured_log, \
iiwa_external_torque_log, \
wsg_state_log, \
wsg_command_log
builder.Connect(hand_comms.get_output_port(), arm_hand_mux.get_input_port(1))
# builder.Connect(s_interp.get_output_port(), arm_hand_mux.get_input_port(0))
# builder.Connect(h_interp.get_output_port(), arm_hand_mux.get_input_port(1))
# arm_hand_mux.get_input_port(1).FixValue(np.array([0.0, 0.0, 0.0, 0.0]))
# Connect result of integrator to a derivative getter
s_interp = builder.AddSystem(StateInterpolatorWithDiscreteDerivative(9, time_step, True))
s_interp.set_name("s_interp")
builder.Connect(arm_hand_mux.get_output_port(), s_interp.get_input_port())
builder.Connect(s_interp.get_output_port(), inv_d_controller.GetInputPort("desired_state"))
# Connect inverse dynamics control into desired actuation of panda
builder.Connect(inv_d_controller.get_output_port_control(), plant.get_actuation_input_port())
logger = LogOutput(diff_inv_controller.get_output_port(), builder)
diagram = builder.Build()
diagram.set_name("pick_and_place")
simulator = Simulator(diagram)
sim_context = simulator.get_mutable_context()
plant_context = plant.GetMyMutableContextFromRoot(sim_context)
plant.SetPositions(plant_context, panda, desired_initial_state)
plant.SetFreeBodyPose(plant_context, plant.GetBodyByName("base_link", brick), X_O["initial"])
# integrator.GetMyContextFromRoot(simulator.get_mutable_context()) \
# .get_mutable_continuous_state_vector() \
# .SetFromVector(plant.GetPositions(plant_context, panda)[:7])
diff_inv_controller.SetPositions(
def __init__(self):
#import pdb; pdb.set_trace()
# Create a block diagram containing our system.
builder = DiagramBuilder()
# add the two decoupled plants (x(s)=u/s^2; y(s)=u/s^2)
plant_x = builder.AddSystem(DoubleIntegrator())
plant_y = builder.AddSystem(DoubleIntegrator())
plant_x.set_name("double_integrator_x")
plant_y.set_name("double_integrator_y")
# add the controller, lead compensator for now just to stablize it
controller_x = builder.AddSystem(
Controller(tau_num=2., tau_den=.2, k=1.))
controller_y = builder.AddSystem(
Controller(tau_num=2., tau_den=.2, k=1.))
controller_x.set_name("controller_x")
controller_y.set_name("controller_y")
# the perception's "Beam" model with the four sources of noise
x_meas_fb = builder.AddSystem(Adder(num_inputs=4, size=1))
x_meas_fb.set_name("x_fb")
y_meas_fb = builder.AddSystem(Adder(num_inputs=4, size=1))
y_meas_fb.set_name("y_fb")
y_perception = builder.AddSystem(Adder(num_inputs=2, size=1))
y_perception.set_name("range_measurment_y")
neg_y_meas = builder.AddSystem(Gain(k=-1., size=1))
neg_y_meas.set_name("neg_y_meas")
wall_position = builder.AddSystem(ConstantVectorSource([Y_wall]))
p_hit = builder.AddSystem(RandomSource(distribution=RandomDistribution.kGaussian, num_outputs=2,\
sampling_interval_sec=0.01))
p_hit.set_name("GaussionNoise(0,1)")
p_short = builder.AddSystem(RandomSource(distribution=RandomDistribution.kExponential, num_outputs=2,\
sampling_interval_sec=0.01))
p_short.set_name("ExponentialNoise(1)")
#p_max = builder.AddSystem(RandomSource(distribution=RandomDistribution.kUniform, num_outputs=1,\
# sampling_interval_sec=0.01))
p_rand = builder.AddSystem(RandomSource(distribution=RandomDistribution.kUniform, num_outputs=2,\
sampling_interval_sec=0.01))
p_rand.set_name("UniformNoise(0,1)")
#import pdb; pdb.set_trace()
p_hit_Dx = builder.AddSystem(Demultiplexer(size=2))
p_hit_Dx.set_name('Dmux1')
p_short_Dx = builder.AddSystem(Demultiplexer(size=2))
p_short_Dx.set_name('Dmux2')
p_rand_Dx = builder.AddSystem(Demultiplexer(size=2))
p_rand_Dx.set_name('Dmux3')
normgain_x = builder.AddSystem(Gain(k=normal_coeff, size=1))
normgain_x.set_name("Sigma_x")
normgain_y = builder.AddSystem(Gain(k=normal_coeff, size=1))
normgain_y.set_name("Sigma_y")
expgain_x = builder.AddSystem(Gain(k=exp_coeff, size=1))
expgain_x.set_name("Exp_x")
expgain_y = builder.AddSystem(Gain(k=exp_coeff, size=1))
expgain_y.set_name("Exp_y")
randgain_x = builder.AddSystem(Gain(k=rand_coeff, size=1))
randgain_x.set_name("Rand_x")
randgain_y = builder.AddSystem(Gain(k=rand_coeff, size=1))
randgain_y.set_name("Rand_y")
#maxgain_x = builder.AddSystem(Adder(num_inputs=2, size=1))
#maxgain_x.set_name("Max_x")
#maxgain_y = builder.AddSystem(Adder(num_inputs=2, size=1))
#maxgain_y.set_name("Max_y")
# the summation to get the error (closing the loop)
summ_x = builder.AddSystem(Adder(num_inputs=2, size=1))
summ_y = builder.AddSystem(Adder(num_inputs=2, size=1))
summ_x.set_name("summation_x")
summ_y.set_name("summation_y")
neg_x = builder.AddSystem(Gain(k=-1., size=1))
neg_y = builder.AddSystem(Gain(k=-1., size=1))
neg_uy = builder.AddSystem(Gain(k=-1., size=1))
neg_x.set_name("neg_x")
neg_y.set_name("neg_y")
neg_uy.set_name("neg_uy")
# wire up all the blocks (summation to the controller to the plant ...)
builder.Connect(summ_x.get_output_port(0),
controller_x.get_input_port(0)) # e_x
builder.Connect(summ_y.get_output_port(0),
controller_y.get_input_port(0)) # e_y
builder.Connect(controller_x.get_output_port(0),
plant_x.get_input_port(0)) # u_x
builder.Connect(
controller_y.get_output_port(0),
neg_uy.get_input_port(0)) # u_y (to deal with directions)
builder.Connect(neg_uy.get_output_port(0),
plant_y.get_input_port(0)) # u_y
builder.Connect(
plant_x.get_output_port(0),
x_meas_fb.get_input_port(0)) # perception, nominal state meas
builder.Connect(wall_position.get_output_port(0),
y_perception.get_input_port(0)) # perception
builder.Connect(plant_y.get_output_port(0),
neg_y_meas.get_input_port(0)) # perception
builder.Connect(neg_y_meas.get_output_port(0),
y_perception.get_input_port(1)) # perception, z meas
builder.Connect(
y_perception.get_output_port(0),
y_meas_fb.get_input_port(0)) # perception, nominal state meas
builder.Connect(p_hit.get_output_port(0),
p_hit_Dx.get_input_port(0)) # demux the noise
builder.Connect(p_hit_Dx.get_output_port(0),
normgain_x.get_input_port(0)) # normalize Normal dist
builder.Connect(normgain_x.get_output_port(0),
x_meas_fb.get_input_port(1)) # Normal dist
builder.Connect(p_hit_Dx.get_output_port(1),
normgain_y.get_input_port(0)) # normalize Normal dist
builder.Connect(normgain_y.get_output_port(0),
y_meas_fb.get_input_port(1)) # Normal dist
builder.Connect(p_short.get_output_port(0),
p_short_Dx.get_input_port(0)) # demux the noise
builder.Connect(p_short_Dx.get_output_port(0),
expgain_x.get_input_port(0)) # normalize Exp dist
builder.Connect(expgain_x.get_output_port(0),
x_meas_fb.get_input_port(2)) # Exp dist
builder.Connect(p_short_Dx.get_output_port(1),
expgain_y.get_input_port(0)) # normalize Exp dist
builder.Connect(expgain_y.get_output_port(0),
y_meas_fb.get_input_port(2)) # Exp dist
#builder.Connect(p_max.get_output_port(0), x_meas_fb.get_input_port(3)) # Uniform dist
#builder.Connect(p_max.get_output_port(0), y_meas_fb.get_input_port(3)) # Uniform dist
builder.Connect(p_rand.get_output_port(0),
p_rand_Dx.get_input_port(0)) # normalize Uniform dist
builder.Connect(p_rand_Dx.get_output_port(0),
randgain_x.get_input_port(0)) # normalize Uniform dist
builder.Connect(randgain_x.get_output_port(0),
x_meas_fb.get_input_port(3)) # Uniform dist
builder.Connect(p_rand_Dx.get_output_port(1),
randgain_y.get_input_port(0)) # normalize Uniform dist
builder.Connect(randgain_y.get_output_port(0),
y_meas_fb.get_input_port(3)) # Uniform dist
builder.Connect(x_meas_fb.get_output_port(0),
neg_x.get_input_port(0)) # -x
builder.Connect(y_meas_fb.get_output_port(0),
neg_y.get_input_port(0)) # -y
builder.Connect(neg_x.get_output_port(0),
summ_x.get_input_port(1)) # r-x
builder.Connect(neg_y.get_output_port(0),
summ_y.get_input_port(1)) # r-y
# Make the desired_state input of the controller, an input to the diagram.
builder.ExportInput(summ_x.get_input_port(0))
builder.ExportInput(summ_y.get_input_port(0))
# get telemetry
logger_x = LogOutput(plant_x.get_output_port(0), builder)
logger_noise_x = LogOutput(x_meas_fb.get_output_port(0), builder)
logger_y = LogOutput(plant_y.get_output_port(0), builder)
logger_noise_y = LogOutput(y_meas_fb.get_output_port(0), builder)
logger_x.set_name("logger_x_state")
logger_y.set_name("logger_y_state")
logger_noise_x.set_name("x_state_meas")
logger_noise_y.set_name("y_meas")
# compile the system
diagram = builder.Build()
diagram.set_name("diagram")
# Create the simulator, and simulate for 10 seconds.
simulator = Simulator(diagram)
context = simulator.get_mutable_context()
# First we extract the subsystem context for the plant
plant_context_x = diagram.GetMutableSubsystemContext(plant_x, context)
plant_context_y = diagram.GetMutableSubsystemContext(plant_y, context)
# Then we can set the pendulum state, which is (x, y).
z0 = X_0
plant_context_x.get_mutable_continuous_state_vector().SetFromVector(z0)
z0 = Y_0
plant_context_y.get_mutable_continuous_state_vector().SetFromVector(z0)
# The diagram has a single input port (port index 0), which is the desired_state.
context.FixInputPort(
0,
[X_d]) # here we assume no perception, closing feedback on state X
context.FixInputPort(
1, [Z_d]) #Z_y, keep 3m away, basically we want to be at Y=0
# run the simulation
simulator.AdvanceTo(10)
t = logger_x.sample_times()
#import pdb; pdb.set_trace()
# Plot the results.
plt.figure()
plot_system_graphviz(diagram, max_depth=2)
plt.figure()
plt.plot(t, logger_noise_x.data().transpose(), label='x_state_meas')
plt.plot(t, logger_noise_y.data().transpose(), label='y_meas (z(y))')
plt.plot(t, logger_x.data().transpose(), label='x_state')
plt.plot(t, logger_y.data().transpose(), label='y_state')
plt.xlabel('t')
plt.ylabel('x(t),y(t)')
plt.legend()
plt.show(block=True)
# y = x
def CopyStateOut(self, context, output):
x = context.get_continuous_state_vector().CopyToVector()
output.SetFromVector(x)
continuous_system = SimpleContinuousTimeSystem()
# Simulation
# Create a simple block diagram containig our system
builder = DiagramBuilder()
# system = builder.AddSystem(SimpleContinuousTimeSystem())
system = builder.AddSystem(continuous_vector_system)
logger = LogOutput(system.get_output_port(0), builder)
diagram = builder.Build()
# Set the initial conditions, x(0)
context = diagram.CreateDefaultContext()
context.SetContinuousState([0.9])
# Create the simulator, and simulate for 10 seconds
simulator = Simulator(diagram, context)
simulator.AdvanceTo(10)
# Plot the results
plt.figure()
plt.plot(logger.sample_times(), logger.data().transpose())
plt.xlabel('t')
plt.ylabel('y(t)')
def RunRealRobot(self, plans_list, gripper_setpoint_list):
'''
Constructs a Diagram that sends commands to ManipulationStationHardwareInterface.
:param plans_list:
:param gripper_setpoint_list:
:param extra_time:
:param real_time_rate:
:param q0_kuka:
:return:
'''
builder = DiagramBuilder()
camera_ids = ["805212060544"]
station_hardware = ManipulationStationHardwareInterface(camera_ids)
station_hardware.Connect(wait_for_cameras=False)
builder.AddSystem(station_hardware)
# Add plan runner
# Add plan runner.
plan_runner = ManipStationPlanRunner(
station=self.station,
kuka_plans=plans_list,
gripper_setpoint_list=gripper_setpoint_list)
builder.AddSystem(plan_runner)
builder.Connect(plan_runner.hand_setpoint_output_port,
station_hardware.GetInputPort("wsg_position"))
builder.Connect(plan_runner.gripper_force_limit_output_port,
station_hardware.GetInputPort("wsg_force_limit"))
demux = builder.AddSystem(Demultiplexer(14, 7))
builder.Connect(
plan_runner.GetOutputPort("iiwa_position_and_torque_command"),
demux.get_input_port(0))
builder.Connect(demux.get_output_port(0),
station_hardware.GetInputPort("iiwa_position"))
builder.Connect(
demux.get_output_port(1),
station_hardware.GetInputPort("iiwa_feedforward_torque"))
builder.Connect(
station_hardware.GetOutputPort("iiwa_position_measured"),
plan_runner.iiwa_position_input_port)
builder.Connect(
station_hardware.GetOutputPort("iiwa_velocity_estimated"),
plan_runner.iiwa_velocity_input_port)
# Add logger
iiwa_position_measured_log = LogOutput(
station_hardware.GetOutputPort("iiwa_position_measured"), builder)
iiwa_position_measured_log._DeclarePeriodicPublish(0.005)
iiwa_external_torque_log = LogOutput(
station_hardware.GetOutputPort("iiwa_torque_external"), builder)
iiwa_external_torque_log._DeclarePeriodicPublish(0.005)
wsg_state_log = LogOutput(
station_hardware.GetOutputPort("wsg_state_measured"), builder)
wsg_state_log._DecalrePeriodicPublish(0.1)
wsg_command_log = LogOutput(plan_runner.hand_setpoint_output_port,
builder)
wsg_command_log._DeclarePeriodicPublish(0.1)
# build diagram
diagram = builder.Build()
RenderSystemWithGraphviz(diagram)
# construct simulator
simulator = Simulator(diagram)
simulator.set_target_realtime_rate(1.0)
simulator.set_publish_every_time_step(False)
sim_duration = 0.
for plan in plans_list:
sim_duration += plan.get_duration() * 1.1
print "sending trajectories in 2 seconds..."
time.sleep(1.0)
print "sending trajectories in 1 second..."
time.sleep(1.0)
print "sending trajectories now!"
simulator.StepTo(sim_duration)
return iiwa_position_measured_log, iiwa_external_torque_log, wsg_state_log, wsg_command_log
def test_lcm_driven_loop(self):
"""Duplicates the test logic in `lcm_driven_loop_test.cc`."""
lcm_url = "udpm://239.255.76.67:7669"
t_start = 3.
t_end = 10.
def publish_loop():
# Publishes a set of messages for the driven loop. This should be
# run from a separate process.
# N.B. Because of this, care should be taken not to share C++
# objects between process boundaries.
t = t_start
while t <= t_end:
message = header_t()
message.utime = int(1e6 * t)
lcm.Publish("TEST_LOOP", message.encode())
time.sleep(0.1)
t += 1
class DummySys(LeafSystem):
# Converts message to time in seconds.
def __init__(self):
LeafSystem.__init__(self)
self.DeclareAbstractInputPort("header_t",
AbstractValue.Make(header_t))
self.DeclareVectorOutputPort(BasicVector(1), self._calc_output)
def _calc_output(self, context, output):
message = self.EvalAbstractInput(context, 0).get_value()
y = output.get_mutable_value()
y[:] = message.utime / 1e6
# Construct diagram for LcmDrivenLoop.
lcm = DrakeLcm(lcm_url)
utime = mut.PyUtimeMessageToSeconds(header_t)
sub = mut.LcmSubscriberSystem.Make("TEST_LOOP", header_t, lcm)
builder = DiagramBuilder()
builder.AddSystem(sub)
dummy = builder.AddSystem(DummySys())
builder.Connect(sub.get_output_port(0), dummy.get_input_port(0))
logger = LogOutput(dummy.get_output_port(0), builder)
logger.set_forced_publish_only()
diagram = builder.Build()
dut = mut.LcmDrivenLoop(diagram, sub, None, lcm, utime)
dut.set_publish_on_every_received_message(True)
# N.B. Use `multiprocessing` instead of `threading` so that we may
# avoid issues with GIL deadlocks.
publish_proc = Process(target=publish_loop)
publish_proc.start()
# Initialize to first message.
first_msg = dut.WaitForMessage()
dut.get_mutable_context().SetTime(utime.GetTimeInSeconds(first_msg))
# Run to desired amount. (Anything more will cause interpreter to
# "freeze".)
dut.RunToSecondsAssumingInitialized(t_end)
publish_proc.join()
# Check expected values.
log_t_expected = np.array([4, 5, 6, 7, 8, 9])
log_t = logger.sample_times()
self.assertTrue(np.allclose(log_t_expected, log_t))
log_y = logger.data()
self.assertTrue(np.allclose(log_t_expected, log_y))
def simulate(builder, plant, position, regulator, x0, duration):
""""Actually run simulation and return data."""
# Set up plant and position
builder.Connect(plant.get_output_port(0), position.get_input_port(0))
controller = builder.AddSystem(regulator)
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 logging
plant_logger = LogOutput(plant.get_output_port(0), builder)
position_logger = LogOutput(position.get_output_port(0), builder)
diagram = builder.Build()
context = diagram.CreateDefaultContext()
context.SetContinuousState(x0)
# Create the simulator and simulate
simulator = Simulator(diagram, context)
simulator.Initialize()
print("Simulating...")
simulator.AdvanceTo(duration)
print("Simulation complete!")
# Return data
assert len(plant_logger.sample_times()) == len(
position_logger.sample_times())
for t1, t2 in zip(plant_logger.sample_times(),
position_logger.sample_times()):
assert t1 == t2
t = plant_logger.sample_times()
r_data = plant_logger.data()[0, :]
r_dot_data = plant_logger.data()[1, :]
theta_dot_data = plant_logger.data()[2, :]
phi_data = plant_logger.data()[3, :]
phi_dot_data = plant_logger.data()[4, :]
theta_data = position_logger.data()[0, :]
return t, r_data, r_dot_data, theta_dot_data, phi_data, phi_dot_data, theta_data
def RunSimulation(self, q0_iiwa, door_angles, plan_list,
gripper_setpoint_list,
extra_time=0, real_time_rate=1.0,
is_visualizing=True,
gripper_setpoint_initial=0.025):
"""
Constructs a Diagram that sends commands to ManipulationStation.
@param plan_list: A list of Plans to be executed.
@param gripper_setpoint_list: A list of gripper setpoints. Each setpoint corresponds to a Plan.
@param extra_time: the amount of time for which commands are sent,
in addition to the sum of the durations of all plans.
@param real_time_rate: 1.0 means realtime; 0 means as fast as possible.
@param q0_iiwa: initial configuration of the robot.
@param is_visualizing: if true, adds MeshcatVisualizer to the Diagram. It should be set to False
when running tests.
@param sim_duration: the duration of simulation in seconds. If unset, it is set to the sum of the durations of all
plans in plan_list plus extra_time.
@return: logs of robot configuration and MultibodyPlant, generated by simulation.
Logs are SignalLogger systems, whose data can be accessed by SignalLogger.data().
"""
builder = DiagramBuilder()
builder.AddSystem(self.station)
# Add plan runner.
if is_visualizing:
print_period=1.0
else:
print_period=np.inf
plan_runner = IiwaPlanRunner(
iiwa_plans=plan_list,
gripper_setpoint_list=gripper_setpoint_list,
print_period=print_period,
gripper_setpoint_initial=gripper_setpoint_initial)
self.plan_runner = plan_runner
iiwa_position_command_log, iiwa_position_measured_log, \
iiwa_external_torque_log, iiwa_velocity_estimated_log = \
self.ConnectPortsAndAddLoggers(builder, self.station, plan_runner)
plant_state_log = LogOutput(
self.station.GetOutputPort("plant_continuous_state"), builder)
plant_state_log.set_publish_period(0.01)
if is_visualizing:
# Add meshcat visualizer
scene_graph = self.station.get_mutable_scene_graph()
viz = MeshcatVisualizer(scene_graph,
zmq_url="tcp://127.0.0.1:6000",
frames_to_draw=self.frames_to_draw,
frames_opacity=0.8)
self.meshcat_vis = viz
builder.AddSystem(viz)
builder.Connect(self.station.GetOutputPort("pose_bundle"),
viz.GetInputPort("lcm_visualization"))
contact_viz = MeshcatContactVisualizer(
meshcat_viz=viz, plant=self.plant)
builder.AddSystem(contact_viz)
builder.Connect(
self.station.GetOutputPort("pose_bundle"),
contact_viz.GetInputPort("pose_bundle"))
builder.Connect(
self.station.GetOutputPort("contact_results"),
contact_viz.GetInputPort("contact_results"))
# build diagram
diagram = builder.Build()
self.diagram = diagram
# RenderSystemWithGraphviz(diagram)
# construct simulator
simulator = Simulator(diagram)
self.simulator = simulator
context = diagram.GetMutableSubsystemContext(
self.station, simulator.get_mutable_context())
# set initial state of the robot
self.station.SetIiwaPosition(context, q0_iiwa)
self.station.SetIiwaVelocity(context, np.zeros(7))
self.station.SetWsgPosition(context, 0.03)
self.station.SetWsgVelocity(context, 0)
# set initial hinge angles of the cupboard.
# setting hinge angle to exactly 0 or 90 degrees will result in
# intermittent contact with small contact forces between the door and
# the cupboard body.
left_hinge_joint = self.plant.GetJointByName("left_door_hinge")
left_hinge_joint.set_angle(
context=self.station.GetMutableSubsystemContext(
self.plant, context),
angle=door_angles[0])
right_hinge_joint = self.plant.GetJointByName("right_door_hinge")
right_hinge_joint.set_angle(
context=self.station.GetMutableSubsystemContext(self.plant,
context),
angle=door_angles[1])
simulator.set_publish_every_time_step(False)
simulator.set_target_realtime_rate(real_time_rate)
# calculate starting time for all plans.
t_plan = GetPlanStartingTimes(plan_list)
sim_duration = t_plan[-1] + extra_time
if is_visualizing:
print("simulation duration", sim_duration)
print("plan starting times\n", t_plan)
self.SetInitialPlanRunnerState(plan_runner, simulator, diagram)
simulator.Initialize()
simulator.AdvanceTo(sim_duration)
return (iiwa_position_command_log, iiwa_position_measured_log,
iiwa_external_torque_log, iiwa_velocity_estimated_log,
plant_state_log, t_plan)
def ConnectPortsAndAddLoggers(builder, station, plan_runner):
builder.AddSystem(plan_runner)
builder.Connect(plan_runner.GetOutputPort("gripper_setpoint"),
station.GetInputPort("wsg_position"))
builder.Connect(plan_runner.GetOutputPort("force_limit"),
station.GetInputPort("wsg_force_limit"))
builder.Connect(plan_runner.GetOutputPort("iiwa_position_command"),
station.GetInputPort("iiwa_position"))
builder.Connect(plan_runner.GetOutputPort("iiwa_torque_command"),
station.GetInputPort("iiwa_feedforward_torque"))
builder.Connect(station.GetOutputPort("iiwa_position_measured"),
plan_runner.GetInputPort("iiwa_position"))
builder.Connect(station.GetOutputPort("iiwa_position_commanded"),
plan_runner.GetInputPort("iiwa_position_cmd"))
builder.Connect(station.GetOutputPort("iiwa_velocity_estimated"),
plan_runner.GetInputPort("iiwa_velocity"))
builder.Connect(station.GetOutputPort("iiwa_torque_external"),
plan_runner.GetInputPort("iiwa_torque_external"))
# Add loggers
iiwa_position_command_log = LogOutput(
plan_runner.GetOutputPort("iiwa_position_command"), builder)
iiwa_position_command_log.set_publish_period(0.01)
iiwa_external_torque_log = LogOutput(
station.GetOutputPort("iiwa_torque_external"), builder)
iiwa_external_torque_log.set_publish_period(0.01)
iiwa_position_measured_log = LogOutput(
station.GetOutputPort("iiwa_position_measured"), builder)
iiwa_position_measured_log.set_publish_period(0.01)
iiwa_velocity_estimated_log = LogOutput(
station.GetOutputPort("iiwa_velocity_estimated"), builder)
iiwa_velocity_estimated_log.set_publish_period(0.01)
return (iiwa_position_command_log, iiwa_position_measured_log,
iiwa_external_torque_log, iiwa_velocity_estimated_log)
def RunRealRobot(self, plans_list, gripper_setpoint_list):
"""
Constructs a Diagram that sends commands to ManipulationStationHardwareInterface.
@param plans_list: A list of Plans to be executed.
@param gripper_setpoint_list: A list of gripper setpoints. Each setpoint corresponds to a Plan.
@return: logs of robot configuration and torque, decoded from LCM messges sent by the robot's driver.
Logs are SignalLogger systems, whose data can be accessed by SignalLogger.data().
"""
builder = DiagramBuilder()
camera_ids = ["805212060544"]
station_hardware = ManipulationStationHardwareInterface(camera_ids)
station_hardware.Connect(wait_for_cameras=False)
builder.AddSystem(station_hardware)
# Add plan runner
# Add plan runner.
plan_runner = ManipStationPlanRunner(
station=self.station,
kuka_plans=plans_list,
gripper_setpoint_list=gripper_setpoint_list)
builder.AddSystem(plan_runner)
builder.Connect(plan_runner.hand_setpoint_output_port,
station_hardware.GetInputPort("wsg_position"))
builder.Connect(plan_runner.gripper_force_limit_output_port,
station_hardware.GetInputPort("wsg_force_limit"))
demux = builder.AddSystem(Demultiplexer(14, 7))
builder.Connect(
plan_runner.GetOutputPort("iiwa_position_and_torque_command"),
demux.get_input_port(0))
builder.Connect(demux.get_output_port(0),
station_hardware.GetInputPort("iiwa_position"))
builder.Connect(
demux.get_output_port(1),
station_hardware.GetInputPort("iiwa_feedforward_torque"))
builder.Connect(
station_hardware.GetOutputPort("iiwa_position_measured"),
plan_runner.iiwa_position_input_port)
builder.Connect(
station_hardware.GetOutputPort("iiwa_velocity_estimated"),
plan_runner.iiwa_velocity_input_port)
# Add logger
iiwa_position_command_log = LogOutput(demux.get_output_port(0),
builder)
iiwa_position_command_log._DeclarePeriodicPublish(0.005)
iiwa_position_measured_log = LogOutput(
station_hardware.GetOutputPort("iiwa_position_measured"), builder)
iiwa_position_measured_log._DeclarePeriodicPublish(0.005)
iiwa_external_torque_log = LogOutput(
station_hardware.GetOutputPort("iiwa_torque_external"), builder)
iiwa_external_torque_log._DeclarePeriodicPublish(0.005)
# build diagram
diagram = builder.Build()
# RenderSystemWithGraphviz(diagram)
# construct simulator
simulator = Simulator(diagram)
simulator.set_target_realtime_rate(1.0)
simulator.set_publish_every_time_step(False)
sim_duration = 0.
for plan in plans_list:
sim_duration += plan.get_duration() * 1.1
print "sending trajectories in 2 seconds..."
time.sleep(1.0)
print "sending trajectories in 1 second..."
time.sleep(1.0)
print "sending trajectories now!"
simulator.StepTo(sim_duration)
return iiwa_position_command_log, \
iiwa_position_measured_log, iiwa_external_torque_log
def RunRealRobot(
self,
plan_list,
gripper_setpoint_list,
sim_duration=None,
extra_time=2.0,
is_plan_runner_diagram=False,
):
"""
Constructs a Diagram that sends commands to ManipulationStationHardwareInterface.
@param plan_list: A list of Plans to be executed.
@param gripper_setpoint_list: A list of gripper setpoints. Each setpoint corresponds to a Plan.
@param sim_duration: the duration of simulation in seconds. If unset, it is set to the sum of the durations of
all plans in plan_list plus extra_time.
@param extra_time: the amount of time for which commands are sent, in addition to the duration of all plans.
@param is_plan_runner_diagram: True: use the diagram version of PlanRunner; False: use the leaf version
of PlanRunner.
@return: logs of robot configuration and torque, decoded from LCM messges sent by the robot's driver.
Logs are SignalLogger systems, whose data can be accessed by SignalLogger.data().
"""
builder = DiagramBuilder()
camera_ids = ["805212060544"]
station_hardware = ManipulationStationHardwareInterface(camera_ids)
station_hardware.Connect(wait_for_cameras=False)
builder.AddSystem(station_hardware)
# Add plan runner.
if is_plan_runner_diagram:
plan_runner, duration_multiplier = CreateManipStationPlanRunnerDiagram(
kuka_plans=plan_list,
gripper_setpoint_list=gripper_setpoint_list,
print_period=0,
)
else:
plan_runner = ManipStationPlanRunner(
kuka_plans=plan_list,
gripper_setpoint_list=gripper_setpoint_list,
print_period=0,
)
duration_multiplier = plan_runner.kPlanDurationMultiplier
builder.AddSystem(plan_runner)
builder.Connect(plan_runner.GetOutputPort("gripper_setpoint"),
station_hardware.GetInputPort("wsg_position"))
builder.Connect(plan_runner.GetOutputPort("force_limit"),
station_hardware.GetInputPort("wsg_force_limit"))
builder.Connect(plan_runner.GetOutputPort("iiwa_position_command"),
station_hardware.GetInputPort("iiwa_position"))
builder.Connect(
plan_runner.GetOutputPort("iiwa_torque_command"),
station_hardware.GetInputPort("iiwa_feedforward_torque"))
builder.Connect(
station_hardware.GetOutputPort("iiwa_position_measured"),
plan_runner.GetInputPort("iiwa_position"))
builder.Connect(
station_hardware.GetOutputPort("iiwa_velocity_estimated"),
plan_runner.GetInputPort("iiwa_velocity"))
builder.Connect(station_hardware.GetOutputPort("iiwa_torque_external"),
plan_runner.GetInputPort("iiwa_torque_external"))
# Add logger
iiwa_position_command_log = LogOutput(
plan_runner.GetOutputPort("iiwa_position_command"), builder)
iiwa_position_command_log._DeclarePeriodicPublish(0.005)
iiwa_position_measured_log = LogOutput(
station_hardware.GetOutputPort("iiwa_position_measured"), builder)
iiwa_position_measured_log._DeclarePeriodicPublish(0.005)
iiwa_velocity_estimated_log = LogOutput(
station_hardware.GetOutputPort("iiwa_velocity_estimated"), builder)
iiwa_velocity_estimated_log._DeclarePeriodicPublish(0.005)
iiwa_external_torque_log = LogOutput(
station_hardware.GetOutputPort("iiwa_torque_external"), builder)
iiwa_external_torque_log._DeclarePeriodicPublish(0.005)
# build diagram
diagram = builder.Build()
# RenderSystemWithGraphviz(diagram)
# construct simulator
simulator = Simulator(diagram)
self.simulator = simulator
simulator.set_target_realtime_rate(1.0)
simulator.set_publish_every_time_step(False)
t_plan = GetPlanStartingTimes(plan_list, duration_multiplier)
if sim_duration is None:
sim_duration = t_plan[-1] + extra_time
print "simulation duration", sim_duration
print "plan starting times\n", t_plan
print "sending trajectories in 2 seconds..."
time.sleep(1.0)
print "sending trajectories in 1 second..."
time.sleep(1.0)
print "sending trajectories now!"
simulator.Initialize()
self.SetInitialPlanRunnerState(plan_runner, simulator, diagram)
simulator.StepTo(sim_duration)
return iiwa_position_command_log, iiwa_position_measured_log, \
iiwa_velocity_estimated_log, iiwa_external_torque_log, t_plan
def RunSimulation(self,
plan_list,
gripper_setpoint_list,
extra_time=0,
real_time_rate=1.0,
q0_kuka=np.zeros(7),
is_visualizing=True,
sim_duration=None,
is_plan_runner_diagram=False):
"""
Constructs a Diagram that sends commands to ManipulationStation.
@param plan_list: A list of Plans to be executed.
@param gripper_setpoint_list: A list of gripper setpoints. Each setpoint corresponds to a Plan.
@param extra_time: the amount of time for which commands are sent,
in addition to the sum of the durations of all plans.
@param real_time_rate: 1.0 means realtime; 0 means as fast as possible.
@param q0_kuka: initial configuration of the robot.
@param is_visualizing: if true, adds MeshcatVisualizer to the Diagram. It should be set to False
when running tests.
@param sim_duration: the duration of simulation in seconds. If unset, it is set to the sum of the durations of all
plans in plan_list plus extra_time.
@param is_plan_runner_diagram: True: use the diagram version of PlanRunner; False: use the leaf version
of PlanRunner.
@return: logs of robot configuration and MultibodyPlant, generated by simulation.
Logs are SignalLogger systems, whose data can be accessed by SignalLogger.data().
"""
builder = DiagramBuilder()
builder.AddSystem(self.station)
# Add plan runner.
if is_plan_runner_diagram:
plan_runner, duration_multiplier = CreateManipStationPlanRunnerDiagram(
kuka_plans=plan_list,
gripper_setpoint_list=gripper_setpoint_list)
else:
plan_runner = ManipStationPlanRunner(
kuka_plans=plan_list,
gripper_setpoint_list=gripper_setpoint_list)
duration_multiplier = plan_runner.kPlanDurationMultiplier
self.plan_runner = plan_runner
builder.AddSystem(plan_runner)
builder.Connect(plan_runner.GetOutputPort("gripper_setpoint"),
self.station.GetInputPort("wsg_position"))
builder.Connect(plan_runner.GetOutputPort("force_limit"),
self.station.GetInputPort("wsg_force_limit"))
builder.Connect(plan_runner.GetOutputPort("iiwa_position_command"),
self.station.GetInputPort("iiwa_position"))
builder.Connect(plan_runner.GetOutputPort("iiwa_torque_command"),
self.station.GetInputPort("iiwa_feedforward_torque"))
builder.Connect(self.station.GetOutputPort("iiwa_position_measured"),
plan_runner.GetInputPort("iiwa_position"))
builder.Connect(self.station.GetOutputPort("iiwa_velocity_estimated"),
plan_runner.GetInputPort("iiwa_velocity"))
builder.Connect(self.station.GetOutputPort("iiwa_torque_external"),
plan_runner.GetInputPort("iiwa_torque_external"))
# Add meshcat visualizer
if is_visualizing:
scene_graph = self.station.get_mutable_scene_graph()
viz = MeshcatVisualizer(scene_graph,
is_drawing_contact_force=True,
plant=self.plant)
builder.AddSystem(viz)
builder.Connect(self.station.GetOutputPort("pose_bundle"),
viz.GetInputPort("lcm_visualization"))
builder.Connect(self.station.GetOutputPort("contact_results"),
viz.GetInputPort("contact_results"))
# Add logger
iiwa_position_command_log = LogOutput(
plan_runner.GetOutputPort("iiwa_position_command"), builder)
iiwa_position_command_log._DeclarePeriodicPublish(0.005)
iiwa_external_torque_log = LogOutput(
self.station.GetOutputPort("iiwa_torque_external"), builder)
iiwa_external_torque_log._DeclarePeriodicPublish(0.005)
iiwa_position_measured_log = LogOutput(
self.station.GetOutputPort("iiwa_position_measured"), builder)
iiwa_position_measured_log._DeclarePeriodicPublish(0.005)
plant_state_log = LogOutput(
self.station.GetOutputPort("plant_continuous_state"), builder)
plant_state_log._DeclarePeriodicPublish(0.005)
# build diagram
diagram = builder.Build()
if is_visualizing:
viz.load()
time.sleep(2.0)
RenderSystemWithGraphviz(diagram)
# construct simulator
simulator = Simulator(diagram)
self.simulator = simulator
context = diagram.GetMutableSubsystemContext(
self.station, simulator.get_mutable_context())
# set initial state of the robot
self.station.SetIiwaPosition(q0_kuka, context)
self.station.SetIiwaVelocity(np.zeros(7), context)
self.station.SetWsgPosition(0.05, context)
self.station.SetWsgVelocity(0, context)
# set initial hinge angles of the cupboard.
# setting hinge angle to exactly 0 or 90 degrees will result in intermittent contact
# with small contact forces between the door and the cupboard body.
left_hinge_joint = self.plant.GetJointByName("left_door_hinge")
left_hinge_joint.set_angle(
context=self.station.GetMutableSubsystemContext(
self.plant, context),
angle=-0.001)
right_hinge_joint = self.plant.GetJointByName("right_door_hinge")
right_hinge_joint.set_angle(
context=self.station.GetMutableSubsystemContext(
self.plant, context),
angle=0.001)
# set initial pose of the object
if self.object_base_link_name is not None:
self.plant.tree().SetFreeBodyPoseOrThrow(
self.plant.GetBodyByName(self.object_base_link_name,
self.object), self.X_WObject,
self.station.GetMutableSubsystemContext(self.plant, context))
simulator.set_publish_every_time_step(False)
simulator.set_target_realtime_rate(real_time_rate)
# calculate starting time for all plans.
t_plan = GetPlanStartingTimes(plan_list, duration_multiplier)
if sim_duration is None:
sim_duration = t_plan[-1] + extra_time
print "simulation duration", sim_duration
print "plan starting times\n", t_plan
simulator.Initialize()
self.SetInitialPlanRunnerState(plan_runner, simulator, diagram)
simulator.StepTo(sim_duration)
return iiwa_position_command_log, iiwa_position_measured_log, \
iiwa_external_torque_log, plant_state_log, t_plan
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)
# Parameters from Geyer05, Figure 2.4
# Note: Geyer uses angle of attack = 90 - touchdown_angle
touchdown_angle = np.deg2rad(30)
Etilde = 1.61
s = SLIPState(np.zeros(8))
s.z = 0.9
s.theta = touchdown_angle
s.r = 1
s.xdot = plant.apex_velocity_from_dimensionless_system_energy(Etilde, s.z)
viz = builder.AddSystem(SLIPVisualizer())
builder.Connect(plant.get_output_port(0), viz.get_input_port(0))
log = LogOutput(plant.get_output_port(0), builder)
command = builder.AddSystem(ConstantVectorSource([touchdown_angle]))
builder.Connect(command.get_output_port(0), plant.get_input_port(0))
diagram = builder.Build()
simulator = Simulator(diagram)
context = simulator.get_mutable_context()
context.SetAccuracy(1e-10)
context.get_mutable_continuous_state_vector().SetFromVector(s[:])
simulator.set_target_realtime_rate(1.0)
simulator.StepTo(0.6)
print("apex: " + str(plant.last_apex))