def __init__(self, file_name , Is_fixed = True ):
rb_tree = RigidBodyTree()
world_frame = RigidBodyFrame("world_frame", rb_tree.world(), [0, 0, 0], [0, 0, 0])
AddFlatTerrainToWorld(rb_tree, 1000, 10)
robot_frame = RigidBodyFrame("robot_frame", rb_tree.world(), [0, 0, 0.2], [0, 0, 0])
if Is_fixed is True:
self.fixed_type = FloatingBaseType.kFixed
else:
self.fixed_type = FloatingBaseType.kRollPitchYaw
# insert a robot from urdf files
pmap = PackageMap()
pmap.PopulateFromFolder(os.path.dirname(file_name))
AddModelInstanceFromUrdfStringSearchingInRosPackages(
open(file_name, 'r').read(),
pmap,
os.path.dirname(file_name),
self.fixed_type, # FloatingBaseType.kRollPitchYaw,
robot_frame,
rb_tree)
self.rb_tree = rb_tree
self.joint_limit_max = self.rb_tree.joint_limit_max
self.joint_limit_min = self.rb_tree.joint_limit_min
print(self.joint_limit_max)
print(self.joint_limit_min)
def test_rgbd_camera(self):
sdf_path = FindResourceOrThrow(
"drake/systems/sensors/test/models/nothing.sdf")
tree = RigidBodyTree()
with open(sdf_path) as f:
sdf_string = f.read()
AddModelInstancesFromSdfString(sdf_string, FloatingBaseType.kFixed,
None, tree)
frame = RigidBodyFrame("rgbd camera frame", tree.FindBody("link"))
tree.addFrame(frame)
# Use HDTV size.
width = 1280
height = 720
camera = mut.RgbdCamera(name="camera",
tree=tree,
frame=frame,
z_near=0.5,
z_far=5.0,
fov_y=np.pi / 4,
show_window=False,
width=width,
height=height)
def check_info(camera_info):
self.assertIsInstance(camera_info, mut.CameraInfo)
self.assertEqual(camera_info.width(), width)
self.assertEqual(camera_info.height(), height)
check_info(camera.color_camera_info())
check_info(camera.depth_camera_info())
self.assertIsInstance(camera.color_camera_optical_pose(), Isometry3)
self.assertIsInstance(camera.depth_camera_optical_pose(), Isometry3)
self.assertTrue(camera.tree() is tree)
# N.B. `RgbdCamera` copies the input frame.
self.assertEqual(camera.frame().get_name(), frame.get_name())
self._check_ports(camera)
# Test discrete camera.
period = mut.RgbdCameraDiscrete.kDefaultPeriod
discrete = mut.RgbdCameraDiscrete(camera=camera,
period=period,
render_label_image=True)
self.assertTrue(discrete.camera() is camera)
self.assertTrue(discrete.mutable_camera() is camera)
self.assertEqual(discrete.period(), period)
self._check_ports(discrete)
# That we can access the state as images.
context = discrete.CreateDefaultContext()
values = context.get_abstract_state()
self.assertIsInstance(values.get_value(0), Value[mut.ImageRgba8U])
self.assertIsInstance(values.get_value(1), Value[mut.ImageDepth32F])
self.assertIsInstance(values.get_value(2), Value[mut.ImageLabel16I])
def test_rgbd_camera(self):
sdf_path = FindResourceOrThrow(
"drake/systems/sensors/test/models/nothing.sdf")
tree = RigidBodyTree()
with open(sdf_path) as f:
sdf_string = f.read()
AddModelInstancesFromSdfString(
sdf_string, FloatingBaseType.kFixed, None, tree)
frame = RigidBodyFrame("rgbd camera frame", tree.FindBody("link"))
tree.addFrame(frame)
# Use HDTV size.
width = 1280
height = 720
camera = mut.RgbdCamera(
name="camera", tree=tree, frame=frame,
z_near=0.5, z_far=5.0,
fov_y=np.pi / 4, show_window=False,
width=width, height=height)
def check_info(camera_info):
self.assertIsInstance(camera_info, mut.CameraInfo)
self.assertEqual(camera_info.width(), width)
self.assertEqual(camera_info.height(), height)
check_info(camera.color_camera_info())
check_info(camera.depth_camera_info())
self.assertIsInstance(camera.color_camera_optical_pose(), Isometry3)
self.assertIsInstance(camera.depth_camera_optical_pose(), Isometry3)
self.assertTrue(camera.tree() is tree)
# N.B. `RgbdCamera` copies the input frame.
self.assertEqual(camera.frame().get_name(), frame.get_name())
self._check_ports(camera)
# Test discrete camera.
period = mut.RgbdCameraDiscrete.kDefaultPeriod
discrete = mut.RgbdCameraDiscrete(
camera=camera, period=period, render_label_image=True)
self.assertTrue(discrete.camera() is camera)
self.assertTrue(discrete.mutable_camera() is camera)
self.assertEqual(discrete.period(), period)
self._check_ports(discrete)
# That we can access the state as images.
context = discrete.CreateDefaultContext()
values = context.get_abstract_state()
self.assertIsInstance(values.get_value(0), Value[mut.ImageRgba8U])
self.assertIsInstance(values.get_value(1), Value[mut.ImageDepth32F])
self.assertIsInstance(values.get_value(2), Value[mut.ImageLabel16I])
def SetupLittleDog():
# Build up your Robot World
rb_tree = RigidBodyTree()
world_frame = RigidBodyFrame("world_frame", rb_tree.world(), [0, 0, 0], [0, 0, 0])
AddFlatTerrainToWorld(rb_tree, 1000, 10)
robot_frame = RigidBodyFrame("robot_frame", rb_tree.world(), [0, 0, 0.2], [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_tree)
return rb_tree
def add_fixed_model(tree, filename, xyz=np.zeros(3), rpy=np.zeros(3)):
with open(filename) as f:
urdf_string = f.read()
base_dir = os.path.dirname(filename)
package_map = PackageMap()
floating_base_type = FloatingBaseType.kFixed
weld_frame = RigidBodyFrame("weld_frame", tree.FindBody("world"), xyz, rpy)
AddModelInstanceFromUrdfStringSearchingInRosPackages(
urdf_string, package_map, base_dir, floating_base_type, weld_frame,
tree)
def SetupKinova():
# Build up your Robot World
rb_tree = RigidBodyTree()
world_frame = RigidBodyFrame("world_frame", rb_tree.world(), [0, 0, 0],
[0, 0, 0])
AddFlatTerrainToWorld(rb_tree, 1000, 10)
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_tree)
print("Num of Joints : {}, \n Num of Actuators: {}".format(
rb_tree.get_num_positions(), rb_tree.get_num_actuators()))
return rb_tree
def test_frame_api(self):
tree = RigidBodyTree(FindResourceOrThrow(
"drake/examples/pendulum/Pendulum.urdf"))
# xyz + rpy
frame = RigidBodyFrame(
name="frame_1", body=tree.world(),
xyz=[0, 0, 0], rpy=[0, 0, 0])
self.assertEqual(frame.get_name(), "frame_1")
tree.addFrame(frame)
self.assertTrue(frame.get_frame_index() < 0, frame.get_frame_index())
self.assertTrue(frame.get_rigid_body() is tree.world())
self.assertIsInstance(frame.get_transform_to_body(), Isometry3)
self.assertTrue(tree.findFrame(frame_name="frame_1") is frame)
robot)
return robot
urdf_file = os.path.join(
pydrake.getDrakePath(),
"examples/pr2/models/pr2_description/urdf/pr2_simplified.urdf")
# Load our model from URDF
robot = load_robot_from_urdf(urdf_file)
# Add a convenient frame, positioned 0.1m away from the r_gripper_palm_link
# along that link's x axis
robot.addFrame(
RigidBodyFrame("r_hand_frame", robot.FindBody("r_gripper_palm_link"),
np.array([0.1, 0, 0]), np.array([0., 0, 0])))
# Make sure attribute access works on bodies
assert robot.world().get_name() == "world"
hand_frame_id = robot.findFrame("r_hand_frame").get_frame_index()
base_body_id = robot.FindBody('base_footprint').get_body_index()
constraints = [
# These three constraints ensure that the base of the robot is
# at z = 0 and has no pitch or roll. Instead of directly
# constraining orientation, we just require that the points at
# [0, 0, 0], [1, 0, 0], and [0, 1, 0] in the robot's base's
# frame must all be at z = 0 in world frame.
# We don't care about the x or y position of the robot's base,
# so we use NaN values to tell the IK solver not to apply a
def LittleDogSimulationDiagram(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([0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5
]), 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
# RigidBodyPlant
plant = builder.AddSystem(RigidBodyPlant(rb_tree, dt))
plant.set_name('plant')
# Visualizer
visualizer_publisher = builder.AddSystem(drake_visualizer)
visualizer_publisher.set_name('visualizer_publisher')
visualizer_publisher.set_publish_period(0.02)
builder.Connect(plant.state_output_port(),
visualizer_publisher.get_input_port(0))
# 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.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_input_port(0))
# 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))
# Robot State handle
robot_state_handle = builder.AddSystem(
RobotStateHandle(rb_tree)) # force_sensor_info
robot_state_handle.set_name('robot_state_handle')
builder.Connect(plant.state_output_port(),
robot_state_handle.joint_state_results_input_port())
logger_N = 4
logger = []
for i in range(logger_N):
logger.append([])
# Signal logger
signalLogRate = 100
logger[0] = builder.AddSystem(SignalLogger(num_pos * 2))
logger[0]._DeclarePeriodicPublish(1. / signalLogRate, 0.0)
builder.Connect(plant.get_output_port(0), logger[0].get_input_port(0))
# cotroller command
logger[1] = builder.AddSystem(SignalLogger(num_actuators))
logger[1]._DeclarePeriodicPublish(1. / signalLogRate, 0.0)
builder.Connect(PIDcontroller.get_output_port(0),
logger[1].get_input_port(0))
# torque
# other
logger[2] = builder.AddSystem(SignalLogger(3))
builder.Connect(robot_state_handle.com_outport_port(),
logger[2].get_input_port(0))
logger[2]._DeclarePeriodicPublish(1. / signalLogRate, 0.0)
logger[3] = builder.AddSystem(SignalLogger(num_actuators))
builder.Connect(plant.torque_output_port(), logger[3].get_input_port(0))
logger[3]._DeclarePeriodicPublish(1. / signalLogRate, 0.0)
return builder.Build(), logger, plant
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
)
from pydrake.systems.sensors import (
CameraInfo,
RgbdCamera,
)
# Create tree describing scene.
urdf_path = FindResourceOrThrow(
"drake/multibody/models/box.urdf")
tree = RigidBodyTree()
AddModelInstanceFromUrdfFile(
urdf_path, FloatingBaseType.kFixed, None, tree)
# - Add frame for camera fixture.
frame = RigidBodyFrame(
name="rgbd camera frame",
body=tree.world(),
xyz=[-2, 0, 2], # Ensure that the box is within range.
rpy=[0, np.pi / 4, 0])
tree.addFrame(frame)
# Create camera.
camera = RgbdCamera(
name="camera", tree=tree, frame=frame,
z_near=0.5, z_far=5.0,
fov_y=np.pi / 4, show_window=True)
# - Describe state.
x = np.zeros(tree.get_num_positions() + tree.get_num_velocities())
# Allocate context and render.
context = camera.CreateDefaultContext()
# 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_input_port(0))
# PID controller
kp, ki, kd = joints_PID_params(rb_tree)
rb = rigid_body_tree = 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(RobotPDAndFeedForwardController(rb_tree, kp, ki, kd))
controller = RbtInverseDynamicsController(rb, kp, ki, kd, False)
PIDcontroller = builder.AddSystem(controller)
PIDcontroller.set_name('PID_controller')