def test_cart_pole(self):
"""Cart-Pole with simple geometry."""
file_name = FindResourceOrThrow(
"drake/examples/multibody/cart_pole/cart_pole.sdf")
builder = DiagramBuilder()
cart_pole, scene_graph = AddMultibodyPlantSceneGraph(builder)
Parser(plant=cart_pole).AddModelFromFile(file_name)
cart_pole.AddForceElement(UniformGravityFieldElement())
cart_pole.Finalize()
assert cart_pole.geometry_source_is_registered()
visualizer = builder.AddSystem(
MeshcatVisualizer(scene_graph, zmq_url=None, open_browser=False))
builder.Connect(scene_graph.get_pose_bundle_output_port(),
visualizer.get_input_port(0))
diagram = builder.Build()
diagram_context = diagram.CreateDefaultContext()
cart_pole_context = diagram.GetMutableSubsystemContext(
cart_pole, diagram_context)
cart_pole_context.FixInputPort(
cart_pole.get_actuation_input_port().get_index(), [0])
cart_slider = cart_pole.GetJointByName("CartSlider")
pole_pin = cart_pole.GetJointByName("PolePin")
cart_slider.set_translation(context=cart_pole_context, translation=0.)
pole_pin.set_angle(context=cart_pole_context, angle=2.)
simulator = Simulator(diagram, diagram_context)
simulator.set_publish_every_time_step(False)
simulator.StepTo(.1)
def test_kuka(self):
"""Kuka IIWA with mesh geometry."""
file_name = FindResourceOrThrow(
"drake/manipulation/models/iiwa_description/sdf/"
"iiwa14_no_collision.sdf")
builder = DiagramBuilder()
kuka, scene_graph = AddMultibodyPlantSceneGraph(builder)
Parser(plant=kuka).AddModelFromFile(file_name)
kuka.AddForceElement(UniformGravityFieldElement())
kuka.Finalize()
visualizer = builder.AddSystem(
MeshcatVisualizer(scene_graph, zmq_url=None, open_browser=False))
builder.Connect(scene_graph.get_pose_bundle_output_port(),
visualizer.get_input_port(0))
diagram = builder.Build()
diagram_context = diagram.CreateDefaultContext()
kuka_context = diagram.GetMutableSubsystemContext(
kuka, diagram_context)
kuka_context.FixInputPort(
kuka.get_actuation_input_port().get_index(),
np.zeros(kuka.get_actuation_input_port().size()))
simulator = Simulator(diagram, diagram_context)
simulator.set_publish_every_time_step(False)
simulator.StepTo(.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("--simulation_time",
type=float,
default=10.0,
help="Desired duration of the simulation in seconds.")
parser.add_argument(
"--time_step",
type=float,
default=0.,
help="If greater than zero, the plant is modeled as a system with "
"discrete updates and period equal to this time_step. "
"If 0, the plant is modeled as a continuous system.")
args = parser.parse_args()
file_name = FindResourceOrThrow(
"drake/examples/multibody/cart_pole/cart_pole.sdf")
builder = DiagramBuilder()
scene_graph = builder.AddSystem(SceneGraph())
cart_pole = builder.AddSystem(MultibodyPlant(time_step=args.time_step))
AddModelFromSdfFile(file_name=file_name,
plant=cart_pole,
scene_graph=scene_graph)
cart_pole.AddForceElement(UniformGravityFieldElement([0, 0, -9.81]))
cart_pole.Finalize(scene_graph)
assert cart_pole.geometry_source_is_registered()
builder.Connect(
cart_pole.get_geometry_poses_output_port(),
scene_graph.get_source_pose_port(cart_pole.get_source_id()))
lcm = DrakeLcm()
ConnectVisualization(scene_graph=scene_graph, builder=builder, lcm=lcm)
diagram = builder.Build()
DispatchLoadMessage(scene_graph=scene_graph, lcm=lcm)
diagram_context = diagram.CreateDefaultContext()
cart_pole_context = diagram.GetMutableSubsystemContext(
cart_pole, diagram_context)
cart_pole_context.FixInputPort(
cart_pole.get_actuation_input_port().get_index(), [0])
cart_slider = cart_pole.GetJointByName("CartSlider")
pole_pin = cart_pole.GetJointByName("PolePin")
cart_slider.set_translation(context=cart_pole_context, translation=0.)
pole_pin.set_angle(context=cart_pole_context, angle=2.)
simulator = Simulator(diagram, diagram_context)
simulator.set_publish_every_time_step(False)
simulator.set_target_realtime_rate(args.target_realtime_rate)
simulator.Initialize()
simulator.StepTo(args.simulation_time)
def cartPoleTest(self):
file_name = FindResourceOrThrow(
"drake/examples/multibody/cart_pole/cart_pole.sdf")
builder = DiagramBuilder()
scene_graph = builder.AddSystem(SceneGraph())
cart_pole = builder.AddSystem(MultibodyPlant())
AddModelFromSdfFile(file_name=file_name,
plant=cart_pole,
scene_graph=scene_graph)
cart_pole.AddForceElement(UniformGravityFieldElement([0, 0, -9.81]))
cart_pole.Finalize(scene_graph)
assert cart_pole.geometry_source_is_registered()
builder.Connect(
cart_pole.get_geometry_poses_output_port(),
scene_graph.get_source_pose_port(cart_pole.get_source_id()))
visualizer = builder.AddSystem(
MeshcatVisualizer(scene_graph, zmq_url=None))
builder.Connect(scene_graph.get_pose_bundle_output_port(),
visualizer.get_input_port(0))
diagram = builder.Build()
visualizer.load()
diagram_context = diagram.CreateDefaultContext()
cart_pole_context = diagram.GetMutableSubsystemContext(
cart_pole, diagram_context)
cart_pole_context.FixInputPort(
cart_pole.get_actuation_input_port().get_index(), [0])
cart_slider = cart_pole.GetJointByName("CartSlider")
pole_pin = cart_pole.GetJointByName("PolePin")
cart_slider.set_translation(context=cart_pole_context, translation=0.)
pole_pin.set_angle(context=cart_pole_context, angle=2.)
simulator = Simulator(diagram, diagram_context)
simulator.set_publish_every_time_step(False)
simulator.set_target_realtime_rate(args.target_realtime_rate)
simulator.Initialize()
simulator.StepTo(args.duration)
def kukaTest(args):
file_name = FindResourceOrThrow(
"drake/manipulation/models/iiwa_description/sdf/"
"iiwa14_no_collision.sdf")
builder = DiagramBuilder()
scene_graph = builder.AddSystem(SceneGraph())
kuka = builder.AddSystem(MultibodyPlant())
AddModelFromSdfFile(file_name=file_name,
plant=kuka,
scene_graph=scene_graph)
kuka.AddForceElement(UniformGravityFieldElement([0, 0, -9.81]))
kuka.Finalize(scene_graph)
assert kuka.geometry_source_is_registered()
builder.Connect(kuka.get_geometry_poses_output_port(),
scene_graph.get_source_pose_port(kuka.get_source_id()))
visualizer = builder.AddSystem(
MeshcatVisualizer(scene_graph, zmq_url=None))
builder.Connect(scene_graph.get_pose_bundle_output_port(),
visualizer.get_input_port(0))
diagram = builder.Build()
visualizer.load()
diagram_context = diagram.CreateDefaultContext()
kuka_context = diagram.GetMutableSubsystemContext(
kuka, diagram_context)
kuka_context.FixInputPort(
kuka.get_actuation_input_port().get_index(),
np.zeros(kuka.get_actuation_input_port().size()))
simulator = Simulator(diagram, diagram_context)
simulator.set_publish_every_time_step(False)
simulator.set_target_realtime_rate(args.target_realtime_rate)
simulator.Initialize()
simulator.StepTo(args.duration)
parser = argparse.ArgumentParser()
parser.add_argument("--test",
action='store_true',
help="Causes the script to run without blocking for "
"user input.",
default=False)
args = parser.parse_args()
file_name = FindResourceOrThrow(
"drake/examples/multibody/cart_pole/cart_pole.sdf")
builder = DiagramBuilder()
scene_graph = builder.AddSystem(SceneGraph())
cart_pole = builder.AddSystem(MultibodyPlant())
cart_pole.RegisterAsSourceForSceneGraph(scene_graph)
AddModelFromSdfFile(file_name=file_name, plant=cart_pole)
cart_pole.AddForceElement(UniformGravityFieldElement([0, 0, -9.81]))
cart_pole.Finalize()
assert cart_pole.geometry_source_is_registered()
builder.Connect(scene_graph.get_query_output_port(),
cart_pole.get_geometry_query_input_port())
builder.Connect(cart_pole.get_geometry_poses_output_port(),
scene_graph.get_source_pose_port(cart_pole.get_source_id()))
builder.ExportInput(cart_pole.get_actuation_input_port())
ConnectDrakeVisualizer(builder=builder, scene_graph=scene_graph)
diagram = builder.Build()
diagram.set_name("graphviz_example")
plot_system_graphviz(diagram, max_depth=2)
parser = argparse.ArgumentParser()
parser.add_argument("--test",
action='store_true',
help="Causes the script to run without blocking for "
"user input.",
default=False)
args = parser.parse_args()
file_name = FindResourceOrThrow(
"drake/examples/multibody/cart_pole/cart_pole.sdf")
builder = DiagramBuilder()
scene_graph = builder.AddSystem(SceneGraph())
cart_pole = builder.AddSystem(MultibodyPlant())
cart_pole.RegisterAsSourceForSceneGraph(scene_graph)
Parser(plant=cart_pole).AddModelFromFile(file_name)
cart_pole.AddForceElement(UniformGravityFieldElement())
cart_pole.Finalize()
assert cart_pole.geometry_source_is_registered()
builder.Connect(scene_graph.get_query_output_port(),
cart_pole.get_geometry_query_input_port())
builder.Connect(cart_pole.get_geometry_poses_output_port(),
scene_graph.get_source_pose_port(cart_pole.get_source_id()))
builder.ExportInput(cart_pole.get_actuation_input_port())
ConnectDrakeVisualizer(builder=builder, scene_graph=scene_graph)
diagram = builder.Build()
diagram.set_name("graphviz_example")
plot_system_graphviz(diagram, max_depth=2)
def test_multibody_gravity_vector(self):
plant = MultibodyPlant()
plant.AddForceElement(UniformGravityFieldElement([0.0, -9.81, 0.0]))
plant.Finalize()
def test_multibody_gravity_default(self):
plant = MultibodyPlant()
plant.AddForceElement(UniformGravityFieldElement())
plant.Finalize()
def LittleDogSimulationDiagram2(lcm, rb_tree, dt, drake_visualizer):
builder = DiagramBuilder()
num_pos = rb_tree.get_num_positions()
num_actuators = rb_tree.get_num_actuators()
zero_config = np.zeros(
(rb_tree.get_num_actuators() * 2, 1)) # just for test
# zero_config = np.concatenate((np.array([0, 1, 1, 1, 1.7, 0.5, 0, 0, 0]),np.zeros(9)), axis=0)
# zero_config = np.concatenate((rb_tree.getZeroConfiguration(),np.zeros(9)), axis=0)
zero_config = np.concatenate(
(np.array([1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), np.zeros(12)), axis=0)
# zero_config[0] = 1.7
# zero_config[1] = 1.7
# zero_config[2] = 1.7
# zero_config[3] = 1.7
# 1.SceneGraph system
scene_graph = builder.AddSystem(SceneGraph())
scene_graph.RegisterSource('scene_graph_n')
plant = builder.AddSystem(MultibodyPlant())
plant_parser = Parser(plant, scene_graph)
plant_parser.AddModelFromFile(file_name=model_path, model_name="littledog")
plant.WeldFrames(plant.world_frame(), plant.GetFrameByName("body"))
# Add gravity to the model.
plant.AddForceElement(UniformGravityFieldElement([0, 0, -9.81]))
# Model is completed
plant.Finalize()
builder.Connect(scene_graph.get_query_output_port(),
plant.get_geometry_query_input_port())
builder.Connect(plant.get_geometry_poses_output_port(),
scene_graph.get_source_pose_port(plant.get_source_id()))
ConnectDrakeVisualizer(builder=builder, scene_graph=scene_graph)
# Robot State Encoder
robot_state_encoder = builder.AddSystem(
RobotStateEncoder(rb_tree)) # force_sensor_info
robot_state_encoder.set_name('robot_state_encoder')
builder.Connect(plant.get_continuous_state_output_port(),
robot_state_encoder.joint_state_results_input_port())
# Robot command to Plant Converter
robot_command_to_rigidbodyplant_converter = builder.AddSystem(
RobotCommandToRigidBodyPlantConverter(
rb_tree.actuators,
motor_gain=None)) # input argu: rigidbody actuators
robot_command_to_rigidbodyplant_converter.set_name(
'robot_command_to_rigidbodyplant_converter')
builder.Connect(
robot_command_to_rigidbodyplant_converter.desired_effort_output_port(),
plant.get_actuation_input_port())
# PID controller
kp, ki, kd = joints_PID_params(rb_tree)
# PIDcontroller = builder.AddSystem(RobotPDAndFeedForwardController(rb_tree, kp, ki, kd))
# PIDcontroller.set_name('PID_controller')
rb = RigidBodyTree()
robot_frame = RigidBodyFrame("robot_frame", rb_tree.world(), [0, 0, 0],
[0, 0, 0])
# insert a robot from urdf files
pmap = PackageMap()
pmap.PopulateFromFolder(os.path.dirname(model_path))
AddModelInstanceFromUrdfStringSearchingInRosPackages(
open(model_path, 'r').read(),
pmap,
os.path.dirname(model_path),
FloatingBaseType.kFixed, # FloatingBaseType.kRollPitchYaw,
robot_frame,
rb)
PIDcontroller = builder.AddSystem(
RbtInverseDynamicsController(rb, kp, ki, kd, False))
PIDcontroller.set_name('PID_controller')
builder.Connect(robot_state_encoder.joint_state_outport_port(),
PIDcontroller.get_input_port(0))
builder.Connect(
PIDcontroller.get_output_port(0),
robot_command_to_rigidbodyplant_converter.robot_command_input_port())
# Ref trajectory
traj_src = builder.AddSystem(ConstantVectorSource(zero_config))
builder.Connect(traj_src.get_output_port(0),
PIDcontroller.get_input_port(1))
# Signal logger
logger = builder.AddSystem(SignalLogger(num_pos * 2))
builder.Connect(plant.get_continuous_state_output_port(),
logger.get_input_port(0))
return builder.Build(), logger, plant
builder = DiagramBuilder()
# 1.SceneGraph system
scene_graph = builder.AddSystem(SceneGraph())
scene_graph.RegisterSource('scene_graph_n')
# 2.Kuka robot system
robot_plant = builder.AddSystem(MultibodyPlant())
AddModelFromSdfFile(file_name=FindResourceOrThrow(kSdfPath),
plant = robot_plant,
scene_graph= scene_graph )
robot_plant.WeldFrames(robot_plant.world_frame(),
robot_plant.GetFrameByName("iiwa_link_0"))
# Add gravity to the model.
robot_plant.AddForceElement(UniformGravityFieldElement([0, 0, -9.81]))
# Model is completed
robot_plant.Finalize()
# Sanity check on the availability of the optional source id before using it.
assert robot_plant.geometry_source_is_registered()
assert robot_plant.num_positions() == 7
print('get_source_id : ', robot_plant.get_source_id())
# Boilerplate used to connect the plant to a SceneGraph for visualization.
lcm = DrakeLcm
builder.Connect(scene_graph.get_query_output_port(),
robot_plant.get_geometry_query_input_port())
builder.Connect(robot_plant.get_geometry_poses_output_port(),
scene_graph.get_source_pose_port(robot_plant.get_source_id()))