def get_kinematics_config(robot, joint_id, link_id, open_chain_joints,
base_link, ee_link):
joint_screws_in_ee = np.zeros((6, len(open_chain_joints)))
ee_link_state = p.getLinkState(robot, link_id[ee_link], 1, 1)
if link_id[base_link] == -1:
base_pos, base_quat = p.getBasePositionAndOrientation(robot)
else:
base_link_state = p.getLinkState(robot, link_id[base_link], 1, 1)
base_pos, base_quat = base_link_state[0], base_link_state[1]
T_w_b = liegroup.RpToTrans(util.quat_to_rot(np.array(base_quat)),
np.array(base_pos))
T_w_ee = liegroup.RpToTrans(util.quat_to_rot(np.array(ee_link_state[1])),
np.array(ee_link_state[0]))
T_b_ee = np.dot(liegroup.TransInv(T_w_b), T_w_ee)
for i, joint_name in enumerate(open_chain_joints):
joint_info = p.getJointInfo(robot, joint_id[joint_name])
link_name = joint_info[12].decode("utf-8")
joint_type = joint_info[2]
joint_axis = joint_info[13]
screw_at_joint = np.zeros(6)
link_state = p.getLinkState(robot, link_id[link_name], 1, 1)
T_w_j = liegroup.RpToTrans(util.quat_to_rot(np.array(link_state[5])),
np.array(link_state[4]))
T_ee_j = np.dot(liegroup.TransInv(T_w_ee), T_w_j)
Adj_ee_j = liegroup.Adjoint(T_ee_j)
if joint_type == p.JOINT_REVOLUTE:
screw_at_joint[0:3] = np.array(joint_axis)
elif joint_type == p.JOINT_PRISMATIC:
screw_at_joint[3:6] = np.array(joint_axis)
else:
raise ValueError
joint_screws_in_ee[:, i] = np.dot(Adj_ee_j, screw_at_joint)
return joint_screws_in_ee, T_b_ee
def ik_feet(base_pos, base_quat, lf_pos, lf_quat, rf_pos, rf_quat,
nominal_sensor_data, joint_screws_in_ee_at_home, ee_SE3_at_home,
open_chain_joints):
joint_pos = copy.deepcopy(nominal_sensor_data['joint_pos'])
T_w_base = liegroup.RpToTrans(util.quat_to_rot(base_quat), base_pos)
# left foot
lf_q_guess = np.array([
nominal_sensor_data['joint_pos'][j_name]
for j_name in open_chain_joints[0]
])
T_w_lf = liegroup.RpToTrans(util.quat_to_rot(lf_quat), lf_pos)
T_base_lf = np.dot(liegroup.TransInv(T_w_base), T_w_lf)
lf_q_sol, lf_done = robot_kinematics.IKinBody(
joint_screws_in_ee_at_home[0], ee_SE3_at_home[0], T_base_lf,
lf_q_guess)
for j_id, j_name in enumerate(open_chain_joints[0]):
joint_pos[j_name] = lf_q_sol[j_id]
# right foot
rf_q_guess = np.array([
nominal_sensor_data['joint_pos'][j_name]
for j_name in open_chain_joints[1]
])
T_w_rf = liegroup.RpToTrans(util.quat_to_rot(rf_quat), rf_pos)
T_base_rf = np.dot(liegroup.TransInv(T_w_base), T_w_rf)
rf_q_sol, rf_done = robot_kinematics.IKinBody(
joint_screws_in_ee_at_home[1], ee_SE3_at_home[1], T_base_rf,
rf_q_guess)
for j_id, j_name in enumerate(open_chain_joints[1]):
joint_pos[j_name] = rf_q_sol[j_id]
return joint_pos, lf_done, rf_done
def iso_interpolate(T1, T2, alpha):
p1 = T1[0:3, 3]
R1 = T1[0:3, 0:3]
p2 = T2[0:3, 3]
R2 = T2[0:3, 0:3]
slerp = Slerp([0, 1], R.from_matrix([R1, R2]))
p_ret = alpha * (p1 + p2)
R_ret = slerp(alpha).as_matrix()
return liegroup.RpToTrans(R_ret, p_ret)
for ee in range(2):
vis_ee_motion_lin_pos[ee] = vis_ee_motion_lin[ee][vis_idx, 0:3]
vis_ee_motion_ang_pos[ee] = vis_ee_motion_ang[ee][vis_idx, 0:3]
vis_ee_wrench_lin_pos[ee] = vis_ee_wrench_lin[ee][vis_idx, 0:3]
vis_ee_wrench_ang_pos[ee] = vis_ee_wrench_ang[ee][vis_idx, 0:3]
# Solve Inverse Kinematics
base_pos = np.copy(vis_base_lin_pos)
base_quat = np.copy(
util.rot_to_quat(util.euler_to_rot(vis_base_ang_pos)))
for ee in range(2):
q_guess = np.array([
nominal_sensor_data['joint_pos'][j_name]
for j_name in open_chain_joints[ee]
])
T_w_base = liegroup.RpToTrans(util.euler_to_rot(vis_base_ang_pos),
vis_base_lin_pos)
T_w_ee = liegroup.RpToTrans(
util.euler_to_rot(vis_ee_motion_ang_pos[ee]),
vis_ee_motion_lin_pos[ee])
des_T = np.dot(liegroup.TransInv(T_w_base), T_w_ee) # << T_base_ee
q_sol, done = robot_kinematics.IKinBody(
joint_screws_in_ee_at_home[ee], ee_SE3_at_home[ee], des_T,
q_guess)
for j_id, j_name in enumerate(open_chain_joints[ee]):
joint_pos[j_name] = q_sol[j_id]
if not done:
print("====================================")
print("Sovling inverse kinematics for ee-{} at time {}".format(
ee, vis_t))
print("success: {}".format(done))
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
def get_link_iso(robot, link_idx):
info = p.getLinkState(robot, link_idx, 1, 1)
pos = np.array(info[0])
rot = util.quat_to_rot(np.array(info[1]))
return liegroup.RpToTrans(rot, pos)
def get_sensor_data(robot, joint_id, link_id, pos_basejoint_to_basecom,
rot_basejoint_to_basecom):
"""
Parameters
----------
joint_id (dict):
Joint ID Dict
link_id (dict):
Link ID Dict
pos_basejoint_to_basecom (np.ndarray):
3d vector from base joint frame to base com frame
rot_basejoint_to_basecom (np.ndarray):
SO(3) from base joint frame to base com frame
b_fixed_Base (bool);
Whether the robot is floating or fixed
Returns
-------
sensor_data (dict):
base_com_pos (np.array):
base com pos in world
base_com_quat (np.array):
base com quat in world
base_com_lin_vel (np.array):
base com lin vel in world
base_com_ang_vel (np.array):
base com ang vel in world
base_joint_pos (np.array):
base pos in world
base_joint_quat (np.array):
base quat in world
base_joint_lin_vel (np.array):
base lin vel in world
base_joint_ang_vel (np.array):
base ang vel in world
joint_pos (dict):
Joint pos
joint_vel (dict):
Joint vel
b_rf_contact (bool):
Right Foot Contact Switch
b_lf_contact (bool):
Left Foot Contact Switch
"""
sensor_data = OrderedDict()
# Handle Base Frame Quantities
base_com_pos, base_com_quat = p.getBasePositionAndOrientation(robot)
sensor_data['base_com_pos'] = np.asarray(base_com_pos)
sensor_data['base_com_quat'] = np.asarray(base_com_quat)
base_com_lin_vel, base_com_ang_vel = p.getBaseVelocity(robot)
sensor_data['base_com_lin_vel'] = np.asarray(base_com_lin_vel)
sensor_data['base_com_ang_vel'] = np.asarray(base_com_ang_vel)
rot_world_com = util.quat_to_rot(np.copy(sensor_data['base_com_quat']))
rot_world_joint = np.dot(rot_world_com,
rot_basejoint_to_basecom.transpose())
sensor_data['base_joint_pos'] = sensor_data['base_com_pos'] - np.dot(
rot_world_joint, pos_basejoint_to_basecom)
sensor_data['base_joint_quat'] = util.rot_to_quat(rot_world_joint)
trans_joint_com = liegroup.RpToTrans(rot_basejoint_to_basecom,
pos_basejoint_to_basecom)
adT_joint_com = liegroup.Adjoint(trans_joint_com)
twist_com_in_world = np.zeros(6)
twist_com_in_world[0:3] = np.copy(sensor_data['base_com_ang_vel'])
twist_com_in_world[3:6] = np.copy(sensor_data['base_com_lin_vel'])
augrot_com_world = np.zeros((6, 6))
augrot_com_world[0:3, 0:3] = rot_world_com.transpose()
augrot_com_world[3:6, 3:6] = rot_world_com.transpose()
twist_com_in_com = np.dot(augrot_com_world, twist_com_in_world)
twist_joint_in_joint = np.dot(adT_joint_com, twist_com_in_com)
rot_world_joint = np.dot(rot_world_com,
rot_basejoint_to_basecom.transpose())
augrot_world_joint = np.zeros((6, 6))
augrot_world_joint[0:3, 0:3] = rot_world_joint
augrot_world_joint[3:6, 3:6] = rot_world_joint
twist_joint_in_world = np.dot(augrot_world_joint, twist_joint_in_joint)
sensor_data['base_joint_lin_vel'] = np.copy(twist_joint_in_world[3:6])
sensor_data['base_joint_ang_vel'] = np.copy(twist_joint_in_world[0:3])
# Joint Quantities
sensor_data['joint_pos'] = OrderedDict()
sensor_data['joint_vel'] = OrderedDict()
for k, v in joint_id.items():
js = p.getJointState(robot, v)
sensor_data['joint_pos'][k] = js[0]
sensor_data['joint_vel'][k] = js[1]
return sensor_data
def sample_swing_config(nominal_lf_iso, nominal_rf_iso, side):
swing_time = np.random.uniform(SWING_TIME_LB, SWING_TIME_UB)
if side == "left":
# Sample rfoot config
rfoot_ini_iso = np.copy(nominal_rf_iso)
rfoot_mid_iso = np.copy(nominal_rf_iso)
rfoot_fin_iso = np.copy(nominal_rf_iso)
rfoot_mid_vel = (rfoot_ini_iso[0:3, 3] -
rfoot_ini_iso[0:3, 3]) / swing_time
rfoot_mid_vel[2] = 0.
# Sample lfoot config
lfoot_ini_pos = np.copy(nominal_lf_iso)[0:3, 3] + np.random.uniform(
LFOOT_POS_LB, LFOOT_POS_UB)
lfoot_ini_ea = np.random.uniform(FOOT_EA_LB, FOOT_EA_UB)
lfoot_ini_rot = util.euler_to_rot(lfoot_ini_ea)
lfoot_ini_iso = liegroup.RpToTrans(lfoot_ini_rot, lfoot_ini_pos)
lfoot_fin_pos = np.copy(nominal_lf_iso)[0:3, 3] + np.random.uniform(
LFOOT_POS_LB, LFOOT_POS_UB)
lfoot_fin_ea = np.random.uniform(FOOT_EA_LB, FOOT_EA_UB)
lfoot_fin_rot = util.euler_to_rot(lfoot_fin_ea)
lfoot_fin_iso = liegroup.RpToTrans(lfoot_fin_rot, lfoot_fin_pos)
lfoot_mid_iso = interpolation.iso_interpolate(lfoot_ini_iso,
lfoot_fin_iso, 0.5)
lfoot_mid_iso[2, 3] = (lfoot_ini_pos[2] +
lfoot_fin_pos[2]) / 2.0 + np.random.uniform(
SWING_HEIGHT_LB, SWING_HEIGHT_UB)
lfoot_mid_vel = (lfoot_fin_pos - lfoot_ini_pos) / swing_time
lfoot_mid_vel[2] = 0.
# Sample base config
base_ini_pos = (rfoot_ini_iso[0:3, 3] + lfoot_ini_iso[0:3, 3]) / 2.0
base_ini_pos[2] = np.random.uniform(BASE_HEIGHT_LB, BASE_HEIGHT_UB)
base_ini_rot = util.euler_to_rot(
np.array([0., 0., lfoot_ini_ea[2] / 2.]))
base_ini_iso = liegroup.RpToTrans(base_ini_rot, base_ini_pos)
base_fin_pos = (rfoot_fin_iso[0:3, 3] + lfoot_fin_iso[0:3, 3]) / 2.0
base_fin_pos[2] = np.random.uniform(BASE_HEIGHT_LB, BASE_HEIGHT_UB)
base_fin_rot = util.euler_to_rot(
np.array([0., 0., lfoot_fin_ea[2] / 2.]))
base_fin_iso = liegroup.RpToTrans(base_fin_rot, base_fin_pos)
elif side == "right":
# Sample lfoot config
lfoot_ini_iso = np.copy(nominal_lf_iso)
lfoot_mid_iso = np.copy(nominal_lf_iso)
lfoot_fin_iso = np.copy(nominal_lf_iso)
lfoot_mid_vel = (lfoot_ini_iso[0:3, 3] -
lfoot_ini_iso[0:3, 3]) / swing_time
lfoot_mid_vel[2] = 0.
# Sample rfoot config
rfoot_ini_pos = np.copy(nominal_rf_iso)[0:3, 3] + np.random.uniform(
RFOOT_POS_LB, RFOOT_POS_UB)
rfoot_ini_ea = np.random.uniform(FOOT_EA_LB, FOOT_EA_UB)
rfoot_ini_rot = util.euler_to_rot(rfoot_ini_ea)
rfoot_ini_iso = liegroup.RpToTrans(rfoot_ini_rot, rfoot_ini_pos)
rfoot_fin_pos = np.copy(nominal_rf_iso)[0:3, 3] + np.random.uniform(
RFOOT_POS_LB, RFOOT_POS_UB)
rfoot_fin_ea = np.random.uniform(FOOT_EA_LB, FOOT_EA_UB)
rfoot_fin_rot = util.euler_to_rot(rfoot_fin_ea)
rfoot_fin_iso = liegroup.RpToTrans(rfoot_fin_rot, rfoot_fin_pos)
rfoot_mid_iso = interpolation.iso_interpolate(rfoot_ini_iso,
rfoot_fin_iso, 0.5)
rfoot_mid_iso[2, 3] = (rfoot_ini_pos[2] +
rfoot_fin_pos[2]) / 2.0 + np.random.uniform(
SWING_HEIGHT_LB, SWING_HEIGHT_UB)
rfoot_mid_vel = (rfoot_fin_pos - rfoot_ini_pos) / swing_time
rfoot_mid_vel[2] = 0.
# Sample base config
base_ini_pos = (rfoot_ini_iso[0:3, 3] + lfoot_ini_iso[0:3, 3]) / 2.0
base_ini_pos[2] = np.random.uniform(BASE_HEIGHT_LB, BASE_HEIGHT_UB)
base_ini_rot = util.euler_to_rot(
np.array([0., 0., rfoot_ini_ea[2] / 2.]))
base_ini_iso = liegroup.RpToTrans(base_ini_rot, base_ini_pos)
base_fin_pos = (rfoot_fin_iso[0:3, 3] + lfoot_fin_iso[0:3, 3]) / 2.0
base_fin_pos[2] = np.random.uniform(BASE_HEIGHT_LB, BASE_HEIGHT_UB)
base_fin_rot = util.euler_to_rot(
np.array([0., 0., rfoot_fin_ea[2] / 2.]))
base_fin_iso = liegroup.RpToTrans(base_fin_rot, base_fin_pos)
else:
raise ValueError
return swing_time, lfoot_ini_iso, lfoot_mid_iso, lfoot_fin_iso, lfoot_mid_vel, rfoot_ini_iso, rfoot_mid_iso, rfoot_fin_iso, rfoot_mid_vel, base_ini_iso, base_fin_iso
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
elif pybullet_util.is_key_triggered(keys, '0'):
interface.interrupt_logic.b_interrupt_button_zero = True
elif pybullet_util.is_key_triggered(keys, '1'):
## Update target pos and quat here
lh_target_pos = np.array([0.6, 0.02, 0.83])
lh_target_rot = np.dot(RIGHTUP_GRIPPER, x_rot(0.))
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]
print("lh reachability: ",
is_lh_reachable(sensor_data, lh_target_pos))
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
elif pybullet_util.is_key_triggered(keys, '3'):
## Update target pos and quat here
rh_target_pos = np.array([0.4, 0., 0.83])
rh_target_rot = np.dot(RIGHTUP_GRIPPER, x_rot(0.))
rh_target_quat = util.rot_to_quat(rh_target_rot)
rh_target_iso = liegroup.RpToTrans(rh_target_rot, rh_target_pos)
