From 8eac2c7bea09add82ca2d6e6fda6d0184de1f496 Mon Sep 17 00:00:00 2001 From: Brian Delhaisse Date: Sun, 28 Apr 2019 01:26:49 +0200 Subject: [PATCH] update robots + add shadow hand + units converter --- examples/robots/quadcopter.py | 6 +- examples/robots/rrbot.py | 7 +- pyrobolearn/algos/ella.py | 10 +- pyrobolearn/robots/README.md | 4 +- pyrobolearn/robots/__init__.py | 1 + pyrobolearn/robots/aibo.py | 15 +- pyrobolearn/robots/allegrohand.py | 12 +- pyrobolearn/robots/ant.py | 17 +- pyrobolearn/robots/anymal.py | 91 + pyrobolearn/robots/atlas.py | 10 +- pyrobolearn/robots/ballbot.py | 8 + pyrobolearn/robots/baxter.py | 11 +- pyrobolearn/robots/bb8.py | 8 + pyrobolearn/robots/blackbird.py | 8 + pyrobolearn/robots/cartpole.py | 36 +- pyrobolearn/robots/cassie.py | 8 + pyrobolearn/robots/centauro.py | 21 +- pyrobolearn/robots/cogimon.py | 19 +- pyrobolearn/robots/coman.py | 10 + pyrobolearn/robots/crab.py | 8 + pyrobolearn/robots/cubli.py | 15 +- pyrobolearn/robots/darwin.py | 8 + pyrobolearn/robots/edo.py | 8 + pyrobolearn/robots/epuck.py | 8 + pyrobolearn/robots/f10_racecar.py | 10 +- pyrobolearn/robots/fetch.py | 11 + pyrobolearn/robots/franka.py | 8 + pyrobolearn/robots/half_cheetah.py | 11 + pyrobolearn/robots/hand.py | 40 +- pyrobolearn/robots/hopper.py | 11 + pyrobolearn/robots/hubo.py | 8 + pyrobolearn/robots/humanoid.py | 11 + pyrobolearn/robots/husky.py | 10 +- pyrobolearn/robots/hyq.py | 13 +- pyrobolearn/robots/hyq2max.py | 10 + pyrobolearn/robots/icub.py | 13 +- pyrobolearn/robots/jaco.py | 8 + pyrobolearn/robots/kr5.py | 8 + pyrobolearn/robots/kuka_iiwa.py | 12 +- pyrobolearn/robots/kuka_lwr.py | 8 + pyrobolearn/robots/laikago.py | 8 + pyrobolearn/robots/legged_robot.py | 18 +- pyrobolearn/robots/littledog.py | 12 + pyrobolearn/robots/manipulator.py | 9 + pyrobolearn/robots/manipulator2d.py | 8 + pyrobolearn/robots/minitaur.py | 10 +- pyrobolearn/robots/mkz.py | 8 + pyrobolearn/robots/morphex.py | 8 + pyrobolearn/robots/nao.py | 8 + pyrobolearn/robots/opendog.py | 10 +- pyrobolearn/robots/pepper.py | 10 +- pyrobolearn/robots/phantomx.py | 8 + pyrobolearn/robots/pleurobot.py | 8 + pyrobolearn/robots/pr2.py | 11 + pyrobolearn/robots/quadcopter.py | 63 +- pyrobolearn/robots/rhex.py | 8 + pyrobolearn/robots/robot.py | 8 +- pyrobolearn/robots/rrbot.py | 33 +- pyrobolearn/robots/sawyer.py | 9 + pyrobolearn/robots/sea_hexapod.py | 8 + pyrobolearn/robots/sea_snake.py | 8 + pyrobolearn/robots/shadowhand.py | 87 + pyrobolearn/robots/softhand.py | 16 +- pyrobolearn/robots/swimmer.py | 11 + pyrobolearn/robots/uav.py | 9 + pyrobolearn/robots/urdfs/references | 16 +- pyrobolearn/robots/urdfs/shadowhand/LICENSE | 25 + .../robots/urdfs/shadowhand/left_hand.urdf | 1709 +++++++++++++++++ .../robots/urdfs/shadowhand/meshes/F1.dae | 115 ++ .../robots/urdfs/shadowhand/meshes/F2.dae | 115 ++ .../robots/urdfs/shadowhand/meshes/F3.dae | 115 ++ .../robots/urdfs/shadowhand/meshes/TH1_z.dae | 115 ++ .../robots/urdfs/shadowhand/meshes/TH2_z.dae | 115 ++ .../robots/urdfs/shadowhand/meshes/TH3_z.dae | 115 ++ .../urdfs/shadowhand/meshes/forearm.dae | 178 ++ .../urdfs/shadowhand/meshes/knuckle.dae | 109 ++ .../urdfs/shadowhand/meshes/lfmetacarpal.dae | 115 ++ .../robots/urdfs/shadowhand/meshes/palm.dae | 119 ++ .../shadowhand/meshes/palm_very_small.png | Bin 0 -> 25929 bytes .../robots/urdfs/shadowhand/meshes/wrist.dae | 109 ++ .../robots/urdfs/shadowhand/right_hand.urdf | 1709 +++++++++++++++++ pyrobolearn/robots/usv.py | 9 + pyrobolearn/robots/uuv.py | 9 + pyrobolearn/robots/walker2d.py | 11 + pyrobolearn/robots/walkman.py | 22 +- pyrobolearn/robots/wam.py | 10 +- pyrobolearn/robots/wheeled_robot.py | 9 + pyrobolearn/robots/youbot.py | 8 + pyrobolearn/simulators/bullet.py | 12 +- pyrobolearn/utils/torch_utils.py | 80 + pyrobolearn/utils/units.py | 66 + 91 files changed, 5812 insertions(+), 140 deletions(-) create mode 100644 pyrobolearn/robots/anymal.py create mode 100644 pyrobolearn/robots/shadowhand.py create mode 100644 pyrobolearn/robots/urdfs/shadowhand/LICENSE create mode 100644 pyrobolearn/robots/urdfs/shadowhand/left_hand.urdf create mode 100644 pyrobolearn/robots/urdfs/shadowhand/meshes/F1.dae create mode 100644 pyrobolearn/robots/urdfs/shadowhand/meshes/F2.dae create mode 100644 pyrobolearn/robots/urdfs/shadowhand/meshes/F3.dae create mode 100644 pyrobolearn/robots/urdfs/shadowhand/meshes/TH1_z.dae create mode 100644 pyrobolearn/robots/urdfs/shadowhand/meshes/TH2_z.dae create mode 100644 pyrobolearn/robots/urdfs/shadowhand/meshes/TH3_z.dae create mode 100644 pyrobolearn/robots/urdfs/shadowhand/meshes/forearm.dae create mode 100644 pyrobolearn/robots/urdfs/shadowhand/meshes/knuckle.dae create mode 100644 pyrobolearn/robots/urdfs/shadowhand/meshes/lfmetacarpal.dae create mode 100644 pyrobolearn/robots/urdfs/shadowhand/meshes/palm.dae create mode 100644 pyrobolearn/robots/urdfs/shadowhand/meshes/palm_very_small.png create mode 100644 pyrobolearn/robots/urdfs/shadowhand/meshes/wrist.dae create mode 100644 pyrobolearn/robots/urdfs/shadowhand/right_hand.urdf create mode 100644 pyrobolearn/utils/torch_utils.py create mode 100644 pyrobolearn/utils/units.py diff --git a/examples/robots/quadcopter.py b/examples/robots/quadcopter.py index 5f67540..1e03960 100644 --- a/examples/robots/quadcopter.py +++ b/examples/robots/quadcopter.py @@ -7,6 +7,8 @@ from itertools import count from pyrobolearn.simulators import BulletSim from pyrobolearn.worlds import BasicWorld from pyrobolearn.robots import Quadcopter +from pyrobolearn.utils.units import rpm_to_rad_per_second + # Create simulator sim = BulletSim() @@ -20,9 +22,9 @@ robot = Quadcopter(sim) # print information about the robot robot.print_info() -rpm = robot.getStationaryRPM() +rpm = robot.get_stationary_rpm() print("Stationary RPM: {}".format(rpm)) -v = robot.rpmToRadPerSecond(rpm+20) +v = rpm_to_rad_per_second(rpm+20) v = [v, -v, v, -v] # run simulation diff --git a/examples/robots/rrbot.py b/examples/robots/rrbot.py index 27095ec..a0047d3 100644 --- a/examples/robots/rrbot.py +++ b/examples/robots/rrbot.py @@ -2,6 +2,7 @@ """Load the RRBot robotic platform. """ +import numpy as np from itertools import count from pyrobolearn.simulators import BulletSim from pyrobolearn.worlds import BasicWorld @@ -93,7 +94,7 @@ raw_input('press enter') print(robot.get_link_names()) force = np.array([1., 0., 0.]) pos = np.array([0., 0., 0.]) -sim.apply_external_force(robot.id, 1, force, pos, flags=p.LINK_FRAME) # link_frame = 1 +sim.apply_external_force(robot.id, 1, force, pos, frame=1) # link_frame = 1, world_frame = 2 slider = sim.add_user_debug_parameter('force', -1000., 1000., 0) @@ -102,7 +103,7 @@ J = sim.calculate_jacobian(robot.id, 1, [0., 0., 0.]) print(np.array(J[0])) a = robot.get_joint_positions() -# print(robot.getJacobianMatrix(1, np.array([0.,0.]))) # TODO: need to convert numpy array to list +# print(robot.get_jacobian(1, np.array([0.,0.]))) # TODO: need to convert numpy array to list linkId = 2 com_frame = robot.get_link_states(linkId)[2] @@ -144,7 +145,7 @@ for i in range(10000): force = np.array([0., 0., 1.]) else: force = np.array([0., 0., 0.]) - sim.apply_external_force(robot.id, linkId, force, pos, flags=p.LINK_FRAME) # p.LINK_FRAME = 1 + sim.apply_external_force(robot.id, linkId, force, pos, frame=1) # p.LINK_FRAME = 1, p.WORLD_FRAME = 2 # robot.update_joint_slider() world.step(sleep_dt=1./240) diff --git a/pyrobolearn/algos/ella.py b/pyrobolearn/algos/ella.py index adcc8a3..d6c334e 100644 --- a/pyrobolearn/algos/ella.py +++ b/pyrobolearn/algos/ella.py @@ -83,7 +83,6 @@ class ELLA(object): it has been observed that the choice of only updating the current :math:`s^{(t)}` does not affect the quality of the model as the number of tasks grows large. - ... Warnings: @@ -91,7 +90,11 @@ class ELLA(object): the Hessian matrix of the loss function with respect to the parameters evaluated at the best found above parameters. Depending on the number of parameters that matrix can be big and expensive to compute. - The ELLA assumes that the input and output dimension of the model as well as its number of parameters is - constant between the various tasks. + constant between the various tasks. For different state and action spaces between the tasks, see inter-task + mappings [6], or ELLA using task groups where tasks in the same group share a common state and action space, + such that :math:`\theta^{(t)} = B^{(g)}s^{(t)}` with :math:`B^{(g)} = \Phi^{(g)} L` where :math:`g` denotes + the task group, :math:`B^{(g)}` is the latent model components shared withing :math:`g`, :math:`L` is the + global latent model components, and :math:`\Phi^{(g)}` is the mapping from :math:`L` to :math:`B^{(g)}` [7]. - The complexity of each ELLA update is :math:`O(k^2 d^3, \xi(d, n_t))` where :math:`k` is the number of latent components, :math:`d` is the dimensionality of the parameters, :math:`n_t` is the number of data instances (in SL) or trajectories (in RL), and :math:`\xi` is the function that computes the complexity to compute the @@ -115,6 +118,9 @@ class ELLA(object): [3] "Online Multi-Task Learning for Policy Gradient Methods", Ammar et al., 2014 [4] Implementation of ELLA on Github (by Paul Ruvolo): https://github.com/paulruvolo/ELLA [5] Implementation of PG-ELLA on Github (by ): https://github.com/cdcsai/Online_Multi_Task_Learning + [6] "Transfer learning via inter-task mappings for temporal difference learning", Taylor et al., 2007 + [7] "Autonomous cross-domain knowledge transfer in lifelong policy gradient reinforcement learning", Ammar et + al., 2015 """ def __init__(self, num_parameters, num_latent_component, l1_sparsity_coefficient=1., l2_library_coefficient=1.): diff --git a/pyrobolearn/robots/README.md b/pyrobolearn/robots/README.md index fe82655..18fee13 100644 --- a/pyrobolearn/robots/README.md +++ b/pyrobolearn/robots/README.md @@ -37,7 +37,7 @@ The folder contains different kind of robots including manipulators, legged robo - [Cubli](https://github.com/xinsongyan/cubli) - [Darwin](https://github.com/HumaRobotics/darwin_description) - [e.Do](https://github.com/Comau/eDO_description) -- [epuck](https://github.com/gctronic/epuck_driver_cpp) +- [E-puck](https://github.com/gctronic/epuck_driver_cpp) - [F10 racecar](https://github.com/erwincoumans/pybullet_robots/tree/master/data/f10_racecar) - [Fetch](https://github.com/fetchrobotics/fetch_ros) - [Franka Emika](https://github.com/frankaemika/franka_ros) @@ -71,6 +71,7 @@ The folder contains different kind of robots including manipulators, legged robo - Sawyer: [1](https://github.com/RethinkRobotics/sawyer_robot), [2](https://github.com/erwincoumans/pybullet_robots) - [SEA hexapod](https://github.com/alexansari101/snake_ws) - [SEA snake]( https://github.com/alexansari101/snake_ws) +- [Shadow hand](https://github.com/shadow-robot/sr_common) - [Soft hand](https://github.com/CentroEPiaggio/pisa-iit-soft-hand) - [Swimmer](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf) - [Valkyrie](https://github.com/openhumanoids/val_description) @@ -83,6 +84,7 @@ The folder contains different kind of robots including manipulators, legged robo Here is a list of robots that I plan to add at one point (some of them require to simulate some fluid dynamics, as done in the `quadcopter` class) but can interest already some people: - [ ] [ANYmal](https://www.anymal-research.org/): I am currently not sure if I can release the URDF of this robot, and thus I will not do it until it is officially released by ETH. - [ ] [ROS robots](https://robots.ros.org/): I plan to provide soon the robots listed on this website (I am currently cleaning the URDFs of some of them) +- [ ] [Universal robots](https://github.com/ros-industrial/universal_robot) - [ ] [rotors-simulator](https://github.com/ethz-asl/rotors_simulator) - [ ] [uuv-simulator](https://github.com/uuvsimulator/uuv_simulator) - [ ] [usv-simulator](https://github.com/OUXT-Polaris/ros_ship_packages) diff --git a/pyrobolearn/robots/__init__.py b/pyrobolearn/robots/__init__.py index 5b018d8..ab80194 100644 --- a/pyrobolearn/robots/__init__.py +++ b/pyrobolearn/robots/__init__.py @@ -76,6 +76,7 @@ from .baxter import Baxter # Hands from .allegrohand import AllegroHand from .softhand import SoftHand +from .shadowhand import ShadowHand # Wheeled from .epuck import Epuck diff --git a/pyrobolearn/robots/aibo.py b/pyrobolearn/robots/aibo.py index f99f046..8f47751 100644 --- a/pyrobolearn/robots/aibo.py +++ b/pyrobolearn/robots/aibo.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.legged_robot import QuadrupedRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Aibo(QuadrupedRobot): r"""Aibo @@ -13,6 +21,9 @@ class Aibo(QuadrupedRobot): This is the Aibo quadruped dog robot developed by Sony. WARNINGS: THE INERTIA MATRICES AND THE POSITION OF COLLISIONS MESHES IN THE URDF NEED TO BE CORRECTED!! + + References: + [1] https://github.com/dkotfis/aibo_ros """ def __init__(self, @@ -58,13 +69,13 @@ if __name__ == "__main__": world = BasicWorld(sim) # create robot - robot = Aibo(sim) # , useFixedBase=True) + robot = Aibo(sim) # , fixed_base=True) # print information about the robot robot.print_info() # # Position control using sliders - # robot.add_joint_slider(robot.getLeftFrontLegIds() + robot.getRightFrontLegIds()) + robot.add_joint_slider(robot.left_front_leg + robot.right_front_leg) # run simulator for _ in count(): diff --git a/pyrobolearn/robots/allegrohand.py b/pyrobolearn/robots/allegrohand.py index b221d8b..fcb47d9 100644 --- a/pyrobolearn/robots/allegrohand.py +++ b/pyrobolearn/robots/allegrohand.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.hand import Hand +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + # TODO: correct the inertia matrices and masses; they are too big! class AllegroHand(Hand): @@ -55,7 +63,7 @@ if __name__ == "__main__": world = BasicWorld(sim) # create robot - right_hand = AllegroHand(sim) # , init_pos=(0.,0.,0.), init_orient=(0,0,1,0)) + right_hand = AllegroHand(sim) # , position=(0.,0.,0.), orientation=(0,0,1,0)) # print information about the robot right_hand.print_info() @@ -67,7 +75,7 @@ if __name__ == "__main__": for i in count(): right_hand.update_joint_slider() - # right_hand.set_joint_positions([0.] * right_hand.getNumberOfDoFs()) + # right_hand.set_joint_positions([0.] * right_hand.num_dofs) # step in simulation world.step(sleep_dt=1./240) diff --git a/pyrobolearn/robots/ant.py b/pyrobolearn/robots/ant.py index fb6ce13..d0cac62 100644 --- a/pyrobolearn/robots/ant.py +++ b/pyrobolearn/robots/ant.py @@ -6,9 +6,20 @@ import os from pyrobolearn.robots.legged_robot import QuadrupedRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Ant(QuadrupedRobot): r"""Ant Mujoco Model + + References: + [1] description: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf """ def __init__(self, @@ -38,7 +49,7 @@ class Ant(QuadrupedRobot): ['link0_8', 'link0_10']]] self.feet = [self.get_link_ids(link) for link in ['front_left_foot', 'front_right_foot', - 'left_back_foot', 'right_back_foot'] + 'left_back_foot', 'right_back_foot'] if link in self.link_names] @@ -55,13 +66,13 @@ if __name__ == "__main__": world = BasicWorld(sim) # create robot - robot = Ant(sim) # , useFixedBase=True) + robot = Ant(sim) # , fixed_base=True) # print information about the robot robot.print_info() # Position control using sliders - # robot.add_joint_slider(robot.getLeftFrontLegIds() + robot.getRightFrontLegIds()) + # robot.add_joint_slider(robot.left_front_leg + robot.right_front_leg) # run simulator for _ in count(): diff --git a/pyrobolearn/robots/anymal.py b/pyrobolearn/robots/anymal.py new file mode 100644 index 0000000..6cfea52 --- /dev/null +++ b/pyrobolearn/robots/anymal.py @@ -0,0 +1,91 @@ +#!/usr/bin/env python +"""Provide the ANYmal robotic platform. +""" + +import os +import numpy as np + +from legged_robot import QuadrupedRobot + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +class ANYmal(QuadrupedRobot): + r"""ANYmal robot + + 'ANYmal is a dog-sized quadrupedal robot weighing about 32 kg. Each leg is about 55 cm long and has three actuated + degrees of freedom, namely, hip abduction/adduction, hip flexion/extension, and knee flexion/extension. + ANYmal is equipped with 12 SEAs' + + References: + [1] "ANYmal - a Highly Mobile and Dynamic Quadrupedal Robot", Hutter et al., 2016 + [2] "Learning agile and dynamic motor skills for legged robots", Hwangbo et al., 2019 + [3] www.rsl.ethz.ch/robots-media/anymal.html + [4] www.anybotics.com/anymal + """ + + def __init__(self, + simulator, + position=(0, 0, .6), + orientation=(0, 0, 0, 1), + fixed_base=False, + scaling=1., + urdf=os.path.dirname(__file__) + '/urdfs/anymal/anymal.urdf'): + # check parameters + if position is None: + position = (0., 0., 0.6) + if len(position) == 2: # assume x, y are given + position = tuple(position) + (0.6,) + if orientation is None: + orientation = (0, 0, 0, 1) + if fixed_base is None: + fixed_base = False + + super(ANYmal, self).__init__(simulator, urdf, position, orientation, fixed_base, scaling) + self.name = 'anymal' + + self.legs = [[self.get_link_ids(link) for link in links if link in self.link_names] + for links in [['LF_HIP', 'LF_THIGH', 'LF_SHANK'], + ['RF_HIP', 'RF_THIGH', 'RF_SHANK'], + ['LH_HIP', 'LH_THIGH', 'LH_SHANK'], + ['RH_HIP', 'RH_THIGH', 'RH_SHANK']]] + + self.feet = [self.get_link_ids(link) for link in ['LF_FOOT_MOUNT', 'RF_FOOT_MOUNT', 'LH_FOOT_MOUNT', + 'RH_FOOT_MOUNT'] if link in self.link_names] + + # taken from "Learning agile and dynamic motor skills for legged robots", Hwangbo et al., 2019 + self.kp = 50. * np.ones(12) + self.kd = 0.1 * np.ones(12) + + +# Test +if __name__ == "__main__": + from itertools import count + from pyrobolearn.simulators import BulletSim + from pyrobolearn.worlds import BasicWorld + + # Create simulator + sim = BulletSim() + + # create world + world = BasicWorld(sim) + + # create robot + robot = ANYmal(sim) + + # print information about the robot + robot.print_info() + + # Position control using sliders + # robot.add_joint_slider(robot.left_front_leg) + + # run simulator + for _ in count(): + # robot.update_joint_slider() + world.step(sleep_dt=1./240) diff --git a/pyrobolearn/robots/atlas.py b/pyrobolearn/robots/atlas.py index e8e7a61..f96ce76 100644 --- a/pyrobolearn/robots/atlas.py +++ b/pyrobolearn/robots/atlas.py @@ -7,6 +7,14 @@ import os from pyrobolearn.robots.legged_robot import BipedRobot from pyrobolearn.robots.manipulator import BiManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Atlas(BipedRobot, BiManipulatorRobot): r"""Atlas robot @@ -74,7 +82,7 @@ if __name__ == "__main__": robot.print_info() # position control using sliders - robot.add_joint_slider(robot.getLeftLegIds()) + robot.add_joint_slider(robot.left_leg) # run simulator for _ in count(): diff --git a/pyrobolearn/robots/ballbot.py b/pyrobolearn/robots/ballbot.py index 956edbc..4f98f22 100644 --- a/pyrobolearn/robots/ballbot.py +++ b/pyrobolearn/robots/ballbot.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + # TODO inertia are not corrects class Ballbot(Robot): diff --git a/pyrobolearn/robots/baxter.py b/pyrobolearn/robots/baxter.py index fb32187..61e45af 100644 --- a/pyrobolearn/robots/baxter.py +++ b/pyrobolearn/robots/baxter.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.manipulator import BiManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Baxter(BiManipulatorRobot): r"""Baxter robot @@ -13,7 +21,8 @@ class Baxter(BiManipulatorRobot): Baxter robot built by Rethink Robotics. References: - [1] Rethink Robotics + [1] Rethink Robotics: https://www.rethinkrobotics.com/ + [2] https://github.com/RethinkRobotics/baxter_common """ def __init__(self, diff --git a/pyrobolearn/robots/bb8.py b/pyrobolearn/robots/bb8.py index cab87d4..3e1d260 100644 --- a/pyrobolearn/robots/bb8.py +++ b/pyrobolearn/robots/bb8.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class BB8(Robot): r"""BB8 robot diff --git a/pyrobolearn/robots/blackbird.py b/pyrobolearn/robots/blackbird.py index 09598aa..1ac0b55 100644 --- a/pyrobolearn/robots/blackbird.py +++ b/pyrobolearn/robots/blackbird.py @@ -7,6 +7,14 @@ import numpy as np from pyrobolearn.robots.legged_robot import BipedRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Blackbird(BipedRobot): r"""Blackbird biped robot diff --git a/pyrobolearn/robots/cartpole.py b/pyrobolearn/robots/cartpole.py index fbca817..66396a1 100644 --- a/pyrobolearn/robots/cartpole.py +++ b/pyrobolearn/robots/cartpole.py @@ -11,6 +11,14 @@ import sympy.physics.mechanics as mechanics from pyrobolearn.robots.robot import Robot from pyrobolearn.utils.orientation import get_symbolic_matrix_from_axis_angle, get_matrix_from_quaternion +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class CartPole(Robot): r"""CartPole robot @@ -392,7 +400,7 @@ class CartPole(Robot): return M, f def linearize_equations_of_motion(self, point=None, verbose=False): - """ + r""" Linearize the equation of motions around the given point (=state). That is, instead of having :math:`\dot{x} = f(x,u)` where :math:`f` is in general a non-linear function, it linearizes it around a certain point. @@ -473,30 +481,32 @@ class LQR(object): """ def __init__(self, A, B, Q=None, R=None, N=None): - if not self.isControllable(A, B): + if not self.is_controllable(A, B): raise ValueError("The system is not controllable") self.A = A self.B = B - if Q is None: Q = np.identity(A.shape[1]) + if Q is None: + Q = np.identity(A.shape[1]) self.Q = Q - if R is None: R = np.identity(B.shape[1]) + if R is None: + R = np.identity(B.shape[1]) self.R = R self.N = N self.K = None @staticmethod - def isControllable(A, B): + def is_controllable(A, B): return np.linalg.matrix_rank(control.ctrb(A, B)) == A.shape[0] - def getRiccatiSolution(self): + def get_riccati_solution(self): S = solve_continuous_are(self.A, self.B, self.Q, self.R, s=self.N) return S - def getGainK(self): - #S = self.getRiccatiSolution() - #S1 = self.B.T.dot(S) - #if self.N is not None: S1 += self.N.T - #K = np.linalg.inv(self.R).dot(S1) + def get_gain_k(self): + # S = self.get_riccati_solution() + # S1 = self.B.T.dot(S) + # if self.N is not None: S1 += self.N.T + # K = np.linalg.inv(self.R).dot(S1) if self.N is None: K, S, E = control.lqr(self.A, self.B, self.Q, self.R) @@ -508,7 +518,7 @@ class LQR(object): """Return the u.""" if self.K is None: - self.K = self.getGainK() + self.K = self.get_gain_k() if xd is None: return self.K.dot(x) @@ -543,7 +553,7 @@ if __name__ == "__main__": # LQR controller lqr = LQR(A, B) - K = lqr.getGainK() + K = lqr.get_gain_k() for i in count(): # control diff --git a/pyrobolearn/robots/cassie.py b/pyrobolearn/robots/cassie.py index bceb7ec..c69b3c0 100644 --- a/pyrobolearn/robots/cassie.py +++ b/pyrobolearn/robots/cassie.py @@ -7,6 +7,14 @@ import numpy as np from pyrobolearn.robots.legged_robot import BipedRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Cassie(BipedRobot): r"""Cassie robot diff --git a/pyrobolearn/robots/centauro.py b/pyrobolearn/robots/centauro.py index ab96ee6..998666b 100644 --- a/pyrobolearn/robots/centauro.py +++ b/pyrobolearn/robots/centauro.py @@ -9,8 +9,21 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot from pyrobolearn.robots.wheeled_robot import WheeledRobot from pyrobolearn.robots.manipulator import BiManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Centauro(WheeledRobot, QuadrupedRobot, BiManipulatorRobot): + r"""Centauro robot + + References: + [1] https://github.com/ADVRHumanoids/centauro-simulator + """ def __init__(self, simulator, @@ -32,7 +45,7 @@ class Centauro(WheeledRobot, QuadrupedRobot, BiManipulatorRobot): if fixed_base is None: fixed_base = False - super(Centauro, self).__init__(simulator, urdf, position, orientation, fixed_base) + super(Centauro, self).__init__(simulator, urdf, position, orientation, fixed_base, scaling=scaling) self.name = 'centauro' self.necks = [self.get_link_ids(link) for link in ['neck_' + str(i) for i in range(1, 4)]] @@ -75,10 +88,10 @@ if __name__ == "__main__": # print information about the robot robot.print_info() - print("Number of Legs: {}".format(robot.getNumberOfLegs())) - print("Number of Arms: {}".format(robot.getNumberOfArms())) + print("Number of Legs: {}".format(robot.num_legs)) + print("Number of Arms: {}".format(robot.num_arms)) - # robot.add_joint_slider(robot.getRightFrontLegIds()) + robot.add_joint_slider(robot.right_front_leg) robot.drive(speed=3) # run simulator diff --git a/pyrobolearn/robots/cogimon.py b/pyrobolearn/robots/cogimon.py index 8859b5a..c5068cb 100644 --- a/pyrobolearn/robots/cogimon.py +++ b/pyrobolearn/robots/cogimon.py @@ -7,10 +7,20 @@ import os from pyrobolearn.robots.legged_robot import BipedRobot from pyrobolearn.robots.manipulator import BiManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Cogimon(BipedRobot, BiManipulatorRobot): r"""Cogimon humanoid robot. + References: + [1] https://github.com/ADVRHumanoids/iit-cogimon-ros-pkg """ def __init__(self, @@ -53,13 +63,6 @@ class Cogimon(BipedRobot, BiManipulatorRobot): self.hands = [self.get_link_ids(link) for link in ['LSoftHand', 'RSoftHand'] if link in self.link_names] -def CogimonLowerBody(simulator, init_pos=(0, 0, 1.), init_orient=(0, 0, 0, 1), useFixedBase=False, scaling=1., - urdf_path=os.path.dirname(__file__) + '/urdfs/cogimon/cogimon_lower_body.urdf'): - """Load Cogimon Lower Body""" - return Cogimon(simulator=simulator, position=init_pos, orientation=init_orient, fixed_base=useFixedBase, - scaling=scaling, urdf=urdf_path) - - # Test if __name__ == "__main__": from itertools import count @@ -73,7 +76,7 @@ if __name__ == "__main__": world = BasicWorld(sim) # create robot - robot = Cogimon(sim, lower_body=False) + robot = Cogimon(sim, lower_body=True) # print information about the robot robot.print_info() diff --git a/pyrobolearn/robots/coman.py b/pyrobolearn/robots/coman.py index 21fe811..554672c 100644 --- a/pyrobolearn/robots/coman.py +++ b/pyrobolearn/robots/coman.py @@ -8,10 +8,20 @@ import numpy as np from pyrobolearn.robots.legged_robot import BipedRobot from pyrobolearn.robots.manipulator import BiManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Coman(BipedRobot, BiManipulatorRobot): r"""Coman robot + References: + [1] https://github.com/ADVRHumanoids/iit-coman-ros-pkg """ def __init__(self, diff --git a/pyrobolearn/robots/crab.py b/pyrobolearn/robots/crab.py index 6df80ac..aeedf4f 100644 --- a/pyrobolearn/robots/crab.py +++ b/pyrobolearn/robots/crab.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.legged_robot import HexapodRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Crab(HexapodRobot): r"""Crab Hexapod robot diff --git a/pyrobolearn/robots/cubli.py b/pyrobolearn/robots/cubli.py index 5121bc2..8c36d0b 100644 --- a/pyrobolearn/robots/cubli.py +++ b/pyrobolearn/robots/cubli.py @@ -5,6 +5,15 @@ import os from pyrobolearn.robots.robot import Robot +from pyrobolearn.utils.orientation import get_rpy_from_quaternion + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" class Cubli(Robot): @@ -50,7 +59,7 @@ class Cubli(Robot): if __name__ == "__main__": import numpy as np from itertools import count - from pyrobolearn.simulators import BulletSim, pybullet + from pyrobolearn.simulators import BulletSim from pyrobolearn.worlds import BasicWorld # Create simulator @@ -77,9 +86,9 @@ if __name__ == "__main__": for i in count(): # get state - quaternion = robot.get_base_orientation(False) + quaternion = robot.get_base_orientation() w = robot.get_base_angular_velocity() - euler = pybullet.getEulerFromQuaternion(quaternion.tolist()) + euler = get_rpy_from_quaternion(quaternion) # PD control torques = [-Kp * (desired_roll - euler[0]) + Kd * w[0], 0., 0.] diff --git a/pyrobolearn/robots/darwin.py b/pyrobolearn/robots/darwin.py index b113a30..1a1975b 100644 --- a/pyrobolearn/robots/darwin.py +++ b/pyrobolearn/robots/darwin.py @@ -8,6 +8,14 @@ import numpy as np from pyrobolearn.robots.legged_robot import BipedRobot from pyrobolearn.robots.manipulator import BiManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Darwin(BipedRobot, BiManipulatorRobot): r"""Darwin robot diff --git a/pyrobolearn/robots/edo.py b/pyrobolearn/robots/edo.py index b8df219..d1f5cf1 100644 --- a/pyrobolearn/robots/edo.py +++ b/pyrobolearn/robots/edo.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.manipulator import ManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Edo(ManipulatorRobot): r"""Edo robot diff --git a/pyrobolearn/robots/epuck.py b/pyrobolearn/robots/epuck.py index 67a5dc9..1c5cb8f 100644 --- a/pyrobolearn/robots/epuck.py +++ b/pyrobolearn/robots/epuck.py @@ -7,6 +7,14 @@ import numpy as np from pyrobolearn.robots.wheeled_robot import DifferentialWheeledRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Epuck(DifferentialWheeledRobot): r"""Epuck robot diff --git a/pyrobolearn/robots/f10_racecar.py b/pyrobolearn/robots/f10_racecar.py index 98833f7..963183d 100644 --- a/pyrobolearn/robots/f10_racecar.py +++ b/pyrobolearn/robots/f10_racecar.py @@ -7,6 +7,14 @@ import numpy as np from pyrobolearn.robots.wheeled_robot import AckermannWheeledRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class F10Racecar(AckermannWheeledRobot): r"""F10Racecar robot @@ -36,7 +44,7 @@ class F10Racecar(AckermannWheeledRobot): self.name = 'racecar' self.wheels = [self.get_link_ids(link) for link in ['left_front_wheel', 'right_front_wheel', - 'left_rear_wheel', 'right_rear_wheel'] + 'left_rear_wheel', 'right_rear_wheel'] if link in self.link_names] self.wheel_directions = np.ones(len(self.wheels)) diff --git a/pyrobolearn/robots/fetch.py b/pyrobolearn/robots/fetch.py index ff5e47c..db5f4da 100644 --- a/pyrobolearn/robots/fetch.py +++ b/pyrobolearn/robots/fetch.py @@ -7,10 +7,21 @@ import os from pyrobolearn.robots.wheeled_robot import WheeledRobot from pyrobolearn.robots.manipulator import ManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Fetch(WheeledRobot, ManipulatorRobot): r"""Fetch robot + References: + [1] Fetch robotics: https://fetchrobotics.com/ + [2] Fetch description: https://github.com/fetchrobotics/fetch_ros """ def __init__(self, diff --git a/pyrobolearn/robots/franka.py b/pyrobolearn/robots/franka.py index f768fd9..069aa53 100644 --- a/pyrobolearn/robots/franka.py +++ b/pyrobolearn/robots/franka.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.manipulator import ManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Franka(ManipulatorRobot): r"""Franka Emika robot diff --git a/pyrobolearn/robots/half_cheetah.py b/pyrobolearn/robots/half_cheetah.py index bb4f842..6e08633 100644 --- a/pyrobolearn/robots/half_cheetah.py +++ b/pyrobolearn/robots/half_cheetah.py @@ -6,9 +6,20 @@ import os from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class HalfCheetah(Robot): r"""Half Cheetah Mujoco Model + + References: + [1] description: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf """ def __init__(self, diff --git a/pyrobolearn/robots/hand.py b/pyrobolearn/robots/hand.py index 03b8e00..da0360d 100644 --- a/pyrobolearn/robots/hand.py +++ b/pyrobolearn/robots/hand.py @@ -4,6 +4,15 @@ from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__credits__ = ["Brian Delhaisse"] +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Hand(Robot): r"""Hand end-effector @@ -26,10 +35,10 @@ class Hand(Robot): """Return the number of fingers on the hand""" return len(self.fingers) - def getFinger(self, fingerId=None): + def get_finger(self, finger_id=None): """Return the list of joint/link ids for the specified finger""" - if fingerId: - return self.fingers[fingerId] + if finger_id: + return self.fingers[finger_id] return self.fingers @@ -37,6 +46,7 @@ class TwoHand(Hand): r"""Two hand end-effectors """ + def __init__(self, simulator, urdf, @@ -59,20 +69,20 @@ class TwoHand(Hand): """Return the number of fingers on the right hand""" return len(self.right_fingers) - def getLeftFingers(self, fingerId=None): + def get_left_fingers(self, finger_id=None): """Return the specified left fingers""" - if fingerId: - if isinstance(fingerId, int): - return self.fingers[self.left_fingers[fingerId]] - elif isinstance(fingerId, (tuple, list)): - return [self.fingers[self.left_fingers[finger]] for finger in fingerId] + if finger_id: + if isinstance(finger_id, int): + return self.fingers[self.left_fingers[finger_id]] + elif isinstance(finger_id, (tuple, list)): + return [self.fingers[self.left_fingers[finger]] for finger in finger_id] return [self.fingers[finger] for finger in self.left_fingers] - def getRightFingers(self, fingerId=None): + def get_right_fingers(self, finger_id=None): """Return the specified right fingers""" - if fingerId: - if isinstance(fingerId, int): - return self.fingers[self.right_fingers[fingerId]] - elif isinstance(fingerId, (tuple, list)): - return [self.fingers[self.right_fingers[finger]] for finger in fingerId] + if finger_id: + if isinstance(finger_id, int): + return self.fingers[self.right_fingers[finger_id]] + elif isinstance(finger_id, (tuple, list)): + return [self.fingers[self.right_fingers[finger]] for finger in finger_id] return [self.fingers[finger] for finger in self.right_fingers] diff --git a/pyrobolearn/robots/hopper.py b/pyrobolearn/robots/hopper.py index b08ff0d..c7e0633 100644 --- a/pyrobolearn/robots/hopper.py +++ b/pyrobolearn/robots/hopper.py @@ -6,9 +6,20 @@ import os from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Hopper(Robot): r"""Hopper Mujoco Model + + References: + [1] description: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf """ def __init__(self, diff --git a/pyrobolearn/robots/hubo.py b/pyrobolearn/robots/hubo.py index 485c6ed..d328206 100644 --- a/pyrobolearn/robots/hubo.py +++ b/pyrobolearn/robots/hubo.py @@ -8,6 +8,14 @@ from pyrobolearn.robots.legged_robot import BipedRobot from pyrobolearn.robots.manipulator import BiManipulatorRobot from pyrobolearn.robots.hand import TwoHand +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Hubo(BipedRobot, BiManipulatorRobot, TwoHand): r"""Hubo robot diff --git a/pyrobolearn/robots/humanoid.py b/pyrobolearn/robots/humanoid.py index 0e0ac2b..4c8edee 100644 --- a/pyrobolearn/robots/humanoid.py +++ b/pyrobolearn/robots/humanoid.py @@ -7,9 +7,20 @@ import os from pyrobolearn.robots.legged_robot import BipedRobot from pyrobolearn.robots.manipulator import BiManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Humanoid(BipedRobot, BiManipulatorRobot): r"""Humanoid Mujoco Model + + References: + [1] description: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf """ def __init__(self, diff --git a/pyrobolearn/robots/husky.py b/pyrobolearn/robots/husky.py index 9a1ba6f..46758a3 100644 --- a/pyrobolearn/robots/husky.py +++ b/pyrobolearn/robots/husky.py @@ -7,6 +7,14 @@ import numpy as np from pyrobolearn.robots.wheeled_robot import DifferentialWheeledRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Husky(DifferentialWheeledRobot): r"""Husky robot @@ -40,7 +48,7 @@ class Husky(DifferentialWheeledRobot): self.name = 'husky' self.wheels = [self.get_link_ids(link) for link in ['front_left_wheel_link', 'front_right_wheel_link', - 'rear_left_wheel_link', 'rear_right_wheel_link'] + 'rear_left_wheel_link', 'rear_right_wheel_link'] if link in self.link_names] self.wheel_directions = np.ones(len(self.wheels)) diff --git a/pyrobolearn/robots/hyq.py b/pyrobolearn/robots/hyq.py index 63a2ac4..52af7cb 100644 --- a/pyrobolearn/robots/hyq.py +++ b/pyrobolearn/robots/hyq.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.legged_robot import QuadrupedRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class HyQ(QuadrupedRobot): r"""HyQ robot @@ -13,7 +21,8 @@ class HyQ(QuadrupedRobot): HyQ robot created by IIT. References: - [1] + [1] https://dls.iit.it/robots/hyq-robot + [2] https://github.com/iit-DLSLab/hyq-description """ def __init__(self, @@ -65,7 +74,7 @@ if __name__ == "__main__": robot.print_info() # # Position control using sliders - robot.add_joint_slider(robot.getLeftFrontLegIds()) + robot.add_joint_slider(robot.left_front_leg) # run simulator for _ in count(): diff --git a/pyrobolearn/robots/hyq2max.py b/pyrobolearn/robots/hyq2max.py index 9159ee0..fabf08e 100644 --- a/pyrobolearn/robots/hyq2max.py +++ b/pyrobolearn/robots/hyq2max.py @@ -7,6 +7,14 @@ import numpy as np from pyrobolearn.robots.legged_robot import QuadrupedRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class HyQ2Max(QuadrupedRobot): r"""HyQ2Max @@ -15,6 +23,8 @@ class HyQ2Max(QuadrupedRobot): References: [1] "Design of the Hydraulically-Actuated,Torque-Controlled Quadruped Robot HyQ2Max", Semini et al., 2016 + [2] https://dls.iit.it/robots/hyq2max + [3] https://github.com/iit-DLSLab/hyq2max-description """ def __init__(self, diff --git a/pyrobolearn/robots/icub.py b/pyrobolearn/robots/icub.py index c98b6f1..79cbee2 100644 --- a/pyrobolearn/robots/icub.py +++ b/pyrobolearn/robots/icub.py @@ -7,11 +7,22 @@ import os from pyrobolearn.robots.legged_robot import BipedRobot from pyrobolearn.robots.manipulator import BiManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class ICub(BipedRobot, BiManipulatorRobot): r"""ICub robot References: + [1] http://www.icub.org/ + [2] https://github.com/robotology-playground/icub-models + [3] https://github.com/robotology-playground/icub-model-generator """ def __init__(self, @@ -31,7 +42,7 @@ class ICub(BipedRobot, BiManipulatorRobot): if fixed_base is None: fixed_base = False - super(ICub, self).__init__(simulator, urdf, position, orientation, fixed_base) + super(ICub, self).__init__(simulator, urdf, position, orientation, fixed_base, scaling=scaling) self.name = 'icub' self.head = self.get_link_ids('head') if 'head' in self.link_names else None diff --git a/pyrobolearn/robots/jaco.py b/pyrobolearn/robots/jaco.py index 9e2ef07..e29f8f2 100644 --- a/pyrobolearn/robots/jaco.py +++ b/pyrobolearn/robots/jaco.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.manipulator import ManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Jaco(ManipulatorRobot): r"""Jaco (manipulator) robot diff --git a/pyrobolearn/robots/kr5.py b/pyrobolearn/robots/kr5.py index 2797cfe..d2713a9 100644 --- a/pyrobolearn/robots/kr5.py +++ b/pyrobolearn/robots/kr5.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.manipulator import ManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class KR5(ManipulatorRobot): r"""Kuka KR5 sixx R650 robot diff --git a/pyrobolearn/robots/kuka_iiwa.py b/pyrobolearn/robots/kuka_iiwa.py index 43c612d..3e77f1b 100644 --- a/pyrobolearn/robots/kuka_iiwa.py +++ b/pyrobolearn/robots/kuka_iiwa.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.manipulator import ManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class KukaIIWA(ManipulatorRobot): r"""Kuka IIWA robot @@ -83,7 +91,7 @@ if __name__ == "__main__": dx = robot.get_link_world_linear_velocities(linkId) # get (linear) jacobian - J = robot.getLinearJacobian(linkId, q) + J = robot.get_linear_jacobian(linkId, q) # get coriolis, gravity compensation torques torques = robot.get_coriolis_and_gravity_compensation_torques(q, dq) @@ -92,7 +100,7 @@ if __name__ == "__main__": F = K.dot(x_des - x) - D.dot(dx) # F = -D.dot(dx) tau = J.T.dot(F) - print(tau) + print("Torques: {}".format(tau)) torques += tau robot.set_joint_torques(torques) diff --git a/pyrobolearn/robots/kuka_lwr.py b/pyrobolearn/robots/kuka_lwr.py index bad62bf..60c1abb 100644 --- a/pyrobolearn/robots/kuka_lwr.py +++ b/pyrobolearn/robots/kuka_lwr.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.manipulator import ManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class KukaLWR(ManipulatorRobot): r"""Kuka LWR robot diff --git a/pyrobolearn/robots/laikago.py b/pyrobolearn/robots/laikago.py index c2f7112..2e24555 100644 --- a/pyrobolearn/robots/laikago.py +++ b/pyrobolearn/robots/laikago.py @@ -7,6 +7,14 @@ import numpy as np from pyrobolearn.robots.legged_robot import QuadrupedRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Laikago(QuadrupedRobot): r"""Laikago robot diff --git a/pyrobolearn/robots/legged_robot.py b/pyrobolearn/robots/legged_robot.py index 23e051f..64581c7 100644 --- a/pyrobolearn/robots/legged_robot.py +++ b/pyrobolearn/robots/legged_robot.py @@ -5,10 +5,20 @@ Classes that are defined here: LeggedRobot, BipedRobot, QuadrupedRobot, HexapodR """ import collections +import itertools import numpy as np from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__credits__ = ["Brian Delhaisse"] +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class LeggedRobot(Robot): r"""Legged robot @@ -17,12 +27,18 @@ class LeggedRobot(Robot): in the standard regime are rhythmic movements. """ - def __init__(self, simulator, urdf, position=None, orientation=None, fixed_base=False, scaling=1.): + def __init__(self, simulator, urdf, position=None, orientation=None, fixed_base=False, scaling=1., + foot_frictions=None): super(LeggedRobot, self).__init__(simulator, urdf, position, orientation, fixed_base, scaling=scaling) + # leg and feet ids self.legs = [] # list of legs where a leg is a list of links self.feet = [] # list of feet ids + # set the foot frictions + if foot_frictions is not None: + self.set_foot_friction(foot_frictions) + ############## # Properties # ############## diff --git a/pyrobolearn/robots/littledog.py b/pyrobolearn/robots/littledog.py index 5e9a0a4..5b144ac 100644 --- a/pyrobolearn/robots/littledog.py +++ b/pyrobolearn/robots/littledog.py @@ -7,10 +7,22 @@ import numpy as np from pyrobolearn.robots.legged_robot import QuadrupedRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class LittleDog(QuadrupedRobot): r"""Little Dog + References: + [1] "The LittleDog Robot", Murphy et al., 2010 + https://journals.sagepub.com/doi/abs/10.1177/0278364910387457?journalCode=ijra + [2] https://github.com/RobotLocomotion/LittleDog """ def __init__(self, diff --git a/pyrobolearn/robots/manipulator.py b/pyrobolearn/robots/manipulator.py index 0d8a21d..214ac41 100644 --- a/pyrobolearn/robots/manipulator.py +++ b/pyrobolearn/robots/manipulator.py @@ -4,6 +4,15 @@ from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__credits__ = ["Brian Delhaisse"] +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class ManipulatorRobot(Robot): r"""Manipulator robot diff --git a/pyrobolearn/robots/manipulator2d.py b/pyrobolearn/robots/manipulator2d.py index 1d2d8ed..acefd2a 100644 --- a/pyrobolearn/robots/manipulator2d.py +++ b/pyrobolearn/robots/manipulator2d.py @@ -7,6 +7,14 @@ import numpy as np from pyrobolearn.robots.manipulator import ManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Manipulator2D(ManipulatorRobot): r"""2D manipulator robot diff --git a/pyrobolearn/robots/minitaur.py b/pyrobolearn/robots/minitaur.py index c0fac67..655395e 100644 --- a/pyrobolearn/robots/minitaur.py +++ b/pyrobolearn/robots/minitaur.py @@ -8,6 +8,14 @@ import numpy as np from pyrobolearn.robots.legged_robot import QuadrupedRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Minitaur(QuadrupedRobot): r"""Minitaur robot @@ -229,7 +237,7 @@ if __name__ == "__main__": # print("Robot feet ids: {}".format(robot.feet)) # Position control using sliders - # robot.add_joint_slider(robot.getLeftFrontLegIds()) + # robot.add_joint_slider(robot.left_front_leg) t = 0 # run simulator diff --git a/pyrobolearn/robots/mkz.py b/pyrobolearn/robots/mkz.py index 3e0411f..e0c5ae0 100644 --- a/pyrobolearn/robots/mkz.py +++ b/pyrobolearn/robots/mkz.py @@ -7,6 +7,14 @@ import numpy as np from pyrobolearn.robots.wheeled_robot import AckermannWheeledRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class MKZ(AckermannWheeledRobot): r"""Lincoln MKZ car diff --git a/pyrobolearn/robots/morphex.py b/pyrobolearn/robots/morphex.py index 5ee4b16..0260290 100644 --- a/pyrobolearn/robots/morphex.py +++ b/pyrobolearn/robots/morphex.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.legged_robot import HexapodRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Morphex(HexapodRobot): r"""Morphex Hexapod robot diff --git a/pyrobolearn/robots/nao.py b/pyrobolearn/robots/nao.py index 0268d42..10b67c4 100644 --- a/pyrobolearn/robots/nao.py +++ b/pyrobolearn/robots/nao.py @@ -8,6 +8,14 @@ from pyrobolearn.robots.legged_robot import BipedRobot from pyrobolearn.robots.manipulator import BiManipulatorRobot from pyrobolearn.robots.hand import TwoHand +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Nao(BipedRobot, BiManipulatorRobot, TwoHand): r"""Nao robot diff --git a/pyrobolearn/robots/opendog.py b/pyrobolearn/robots/opendog.py index fee6661..bf1db8a 100644 --- a/pyrobolearn/robots/opendog.py +++ b/pyrobolearn/robots/opendog.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.legged_robot import QuadrupedRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class OpenDog(QuadrupedRobot): r""" OpenDog robot @@ -64,7 +72,7 @@ if __name__ == "__main__": robot.print_info() # Position control using sliders - # robot.add_joint_slider(robot.getLeftFrontLegIds()) + # robot.add_joint_slider(robot.left_front_leg) # run simulator for _ in count(): diff --git a/pyrobolearn/robots/pepper.py b/pyrobolearn/robots/pepper.py index c5c45c8..6c6cdbf 100644 --- a/pyrobolearn/robots/pepper.py +++ b/pyrobolearn/robots/pepper.py @@ -8,6 +8,14 @@ from pyrobolearn.robots.wheeled_robot import WheeledRobot from pyrobolearn.robots.manipulator import BiManipulatorRobot from pyrobolearn.robots.sensors.camera import CameraSensor +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Pepper(WheeledRobot, BiManipulatorRobot): r"""Pepper robot. @@ -38,7 +46,7 @@ class Pepper(WheeledRobot, BiManipulatorRobot): if fixed_base is None: fixed_base = False - super(Pepper, self).__init__(simulator, urdf, position, orientation, fixed_base) + super(Pepper, self).__init__(simulator, urdf, position, orientation, fixed_base, scaling=scaling) self.name = 'pepper' # 2D Camera sensor diff --git a/pyrobolearn/robots/phantomx.py b/pyrobolearn/robots/phantomx.py index 17974a6..f4f3cbe 100644 --- a/pyrobolearn/robots/phantomx.py +++ b/pyrobolearn/robots/phantomx.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.legged_robot import HexapodRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class PhantomX(HexapodRobot): r"""Phantom X Hexapod robot diff --git a/pyrobolearn/robots/pleurobot.py b/pyrobolearn/robots/pleurobot.py index 351ae4e..c515467 100644 --- a/pyrobolearn/robots/pleurobot.py +++ b/pyrobolearn/robots/pleurobot.py @@ -8,6 +8,14 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot from pyrobolearn.robots.uuv import UUVRobot from pyrobolearn.robots.usv import USVRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Pleurobot(QuadrupedRobot, UUVRobot, USVRobot): r"""Pleurobot Salamander robot diff --git a/pyrobolearn/robots/pr2.py b/pyrobolearn/robots/pr2.py index ef8ce47..e5520d2 100644 --- a/pyrobolearn/robots/pr2.py +++ b/pyrobolearn/robots/pr2.py @@ -7,10 +7,21 @@ import os from pyrobolearn.robots.wheeled_robot import WheeledRobot from pyrobolearn.robots.manipulator import BiManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class PR2(WheeledRobot, BiManipulatorRobot): r"""PR2 robot + References: + [1] http://www.willowgarage.com/pages/pr2/overview + [2] https://github.com/pr2/pr2_common """ def __init__(self, diff --git a/pyrobolearn/robots/quadcopter.py b/pyrobolearn/robots/quadcopter.py index 309b95a..085b950 100644 --- a/pyrobolearn/robots/quadcopter.py +++ b/pyrobolearn/robots/quadcopter.py @@ -6,6 +6,16 @@ import os import numpy as np from pyrobolearn.robots.uav import RotaryWingUAV +from pyrobolearn.utils.orientation import get_matrix_from_quaternion +from pyrobolearn.utils.units import inches_to_meters, rpm_to_rad_per_second + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" class Quadcopter(RotaryWingUAV): @@ -81,7 +91,7 @@ class Quadcopter(RotaryWingUAV): self.diameter = 2. * self.radius self.area = np.pi * self.radius**2 - self.max_velocity = 770 # rad/sec + self.max_velocity = 770 # rad/sec # joints 1 and 3 are CCW, and joints 2 and 4 are CW # CCW = +1, CW = -1 @@ -95,26 +105,14 @@ class Quadcopter(RotaryWingUAV): # (in inches) and `P` is the propeller pitch (also in inches). # 1 inch = 0.0254m --> 0.28m = 11 inches # The value of the pitch below has been set by looking online for quadcopter props with 11 inches of length - self.propeller_pitch = self.inchesToMeters(4.7) # self.inchesToMeters(5.) + self.propeller_pitch = inches_to_meters(4.7) # inches_to_meters(5.) # some constants self.k1 = 1./3.29546 self.k2 = 1.5 - def inchesToMeters(self, inch): - return inch * 0.0254 - - def metersToInches(self, meter): - return meter / 0.0254 - - def rpmToRadPerSecond(self, rpm): - return rpm * 2 * np.pi/60 - - def radPerSecondToRPM(self, omega): - return omega * 60 / (2*np.pi) - - def calculateThrustForce(self, angular_speed, area, propeller_pitch, v0=0, air_density=1.225): - """ + def calculate_thrust_force(self, angular_speed, area, propeller_pitch, v0=0, air_density=1.225): + r""" Calculate the thrust force generated by the propeller (based on [6]). Args: @@ -123,6 +121,7 @@ class Quadcopter(RotaryWingUAV): area (float): area of the propeller [m^2] propeller_pitch (float): "distance a propeller would move in 1 revolution if it were moving through a soft solid" [m] + v0 (float): initial velocity air_density (float): density of air [kg/m^3]. By default, it is the density of the air at sea level and at 15 degrees Celsius. Note that this varies with the temperature, humidity, and pressure. It decreases with increasing altitude. @@ -134,7 +133,7 @@ class Quadcopter(RotaryWingUAV): diameter = (4. * area / np.pi)**0.5 return air_density * area * (tmp**2 - tmp*v0) * (self.k1 * diameter / propeller_pitch)**self.k2 - def set_joint_velocities(self, velocities, joint_ids=None, maxVelocity=True, maxTorque=True): + def set_joint_velocities(self, velocities, joint_ids=None, max_velocity=True, forces=True): """ Set the joint velocities and apply the thrust force on the propeller link corresponding to the given joint id(s). @@ -142,8 +141,11 @@ class Quadcopter(RotaryWingUAV): Args: velocities (float[4]): velocity of each propeller joint_ids (int[4], None): Not used here - maxVelocity (bool): - maxTorque (bool): + forces (float, np.float[N], None, bool): maximum motor torques / forces. If True, it will apply the + default maximum force values. + max_velocity (float, bool, None): if True, it will make sure that the given velocity(ies) are below their + authorized maximum value(s) (inferred from the URDF, or set previously by the user). If you already + did the check outside the method or if you don't want limits, set this variable to False. Returns: None @@ -154,34 +156,34 @@ class Quadcopter(RotaryWingUAV): joint_ids = self.joints # call parent method - super(Quadcopter, self).set_joint_velocities(velocities, joint_ids, maxVelocity, maxTorque) + super(Quadcopter, self).set_joint_velocities(velocities, joint_ids, max_velocity, forces) # calculate thrust force of the given joints, and apply it on the link for jnt, d, v in zip(joint_ids, self.turning_directions, velocities): - if maxVelocity and v > self.max_velocity: + if max_velocity and v > self.max_velocity: v = self.max_velocity # compute propeller speed v0 - state = self.sim.getLinkState(self.id, jnt, computeLinkVelocity=True) #, computeForwardKinematics=True) - R = np.array(self.sim.getMatrixFromQuaternion(state[1])).reshape(3, 3) + state = self.sim.get_link_state(self.id, jnt, compute_velocity=True) # , compute_forward_kinematics=True) + R = np.array(get_matrix_from_quaternion(state[1])) linear_velocity = np.array(state[-2]) - propeller_upVec = R.dot(np.array([0.,0.,1.])) - v0 = linear_velocity.dot(propeller_upVec) + propeller_up_vec = R.dot(np.array([0., 0., 1.])) + v0 = linear_velocity.dot(propeller_up_vec) # v0 = 0 # static thrust # compute thrust - f = self.calculateThrustForce(v*d, self.area, self.propeller_pitch, v0) + f = self.calculate_thrust_force(v * d, self.area, self.propeller_pitch, v0) # f = self.mass * self.gravity / 4. # apply force in the simulation self.apply_external_force([0, 0, f], jnt, position=(0., 0., 0.)) - def getStationaryJointVelocity(self): + def get_stationary_joint_velocity(self): fg = self.mass * self.gravity / 4. p = self.propeller_pitch return (2*np.pi / p) * (fg / (self.air_density * self.area) * (p / (self.k1 * self.diameter))**self.k2)**0.5 - def getStationaryRPM(self): + def get_stationary_rpm(self): fg = self.mass * self.gravity / 4. p = self.propeller_pitch return (60 / p) * (fg / (self.air_density * self.area) * (p / (self.k1 * self.diameter))**self.k2)**0.5 @@ -192,7 +194,6 @@ class Quadcopter(RotaryWingUAV): # Test if __name__ == "__main__": - import numpy as np from itertools import count from pyrobolearn.simulators import BulletSim from pyrobolearn.worlds import BasicWorld @@ -209,9 +210,9 @@ if __name__ == "__main__": # print information about the robot robot.print_info() - rpm = robot.getStationaryRPM() + rpm = robot.get_stationary_rpm() print("Stationary RPM: {}".format(rpm)) - v = robot.rpmToRadPerSecond(rpm+20) + v = rpm_to_rad_per_second(rpm + 20) v = [v, -v, v, -v] # run simulation diff --git a/pyrobolearn/robots/rhex.py b/pyrobolearn/robots/rhex.py index b74f7a8..de39ec7 100644 --- a/pyrobolearn/robots/rhex.py +++ b/pyrobolearn/robots/rhex.py @@ -7,6 +7,14 @@ import numpy as np from pyrobolearn.robots.legged_robot import HexapodRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + # TODO add inertial tags class Rhex(HexapodRobot): diff --git a/pyrobolearn/robots/robot.py b/pyrobolearn/robots/robot.py index 7e2785b..73a83bf 100644 --- a/pyrobolearn/robots/robot.py +++ b/pyrobolearn/robots/robot.py @@ -1650,10 +1650,10 @@ class Robot(ControllableBody): Args: link_id (int): link id. - q (np.float[N]): joint positions of size N, where N is the number of DoFs. If None, it will compute q based - on the current joint positions. - local_position: the point on the specified link to compute the Jacobian (in link local coordinates around - its center of mass). If None, it will use the CoM position (in the link frame). + q (np.float[N], None): joint positions of size N, where N is the number of DoFs. If None, it will compute q + based on the current joint positions. + local_position (None, np.array[3]): the point on the specified link to compute the Jacobian (in link local + coordinates around its center of mass). If None, it will use the CoM position (in the link frame). Returns: np.float[6,N], np.float[6,(6+N)]: full geometric (linear and angular) Jacobian matrix. The number of columns diff --git a/pyrobolearn/robots/rrbot.py b/pyrobolearn/robots/rrbot.py index d563ecd..caa58f8 100644 --- a/pyrobolearn/robots/rrbot.py +++ b/pyrobolearn/robots/rrbot.py @@ -7,6 +7,14 @@ import numpy as np from pyrobolearn.robots.manipulator import ManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class RRBot(ManipulatorRobot): r"""RRBot @@ -147,19 +155,19 @@ if __name__ == "__main__": print(robot.get_link_names()) force = np.array([1., 0., 0.]) pos = np.array([0., 0., 0.]) - sim.applyExternalForce(robot.id, 1, force, pos, flags=p.LINK_FRAME) # link_frame = 1 + sim.apply_external_force(robot.id, 1, force, pos, frame=1) # link_frame = 1, world_frame = 2 - slider = sim.addUserDebugParameter('force', -1000., 1000., 0) + slider = sim.add_user_debug_parameter('force', -1000., 1000., 0) dq, ddq = [0., 0.], [0., 0.] - J = sim.get_jacobian(robot.id, 1, [0., 0., 0.]) + J = sim.calculate_jacobian(robot.id, 1, [0., 0., 0.]) print(np.array(J[0])) a = robot.get_joint_positions() - # print(robot.getJacobianMatrix(1, np.array([0.,0.]))) # TODO: need to convert numpy array to list + # print(robot.get_jacobian(1, np.array([0.,0.]))) # TODO: need to convert numpy array to list linkId = 2 - com_frame = robot.getLinkStates(linkId)[2] + com_frame = robot.get_link_states(linkId)[2] xdes = np.array(robot.get_link_world_positions(linkId)) K = 100*np.identity(3) D = 2*np.sqrt(K) # critically damped @@ -176,11 +184,11 @@ if __name__ == "__main__": # dq = robot.get_joint_velocities().tolist() x = np.array(robot.get_link_world_positions(linkId)) dx = np.array(robot.get_link_world_linear_velocities(linkId)) - tau = robot.calculateID(q, dq, ddq) # Coriolis, centrifugal and gravity compensation - Jlin = np.array(sim.get_jacobian(robot.id, linkId, com_frame)[0]) - F = K.dot(xdes - x) - D.dot(dx) # compute cartesian forces + tau = robot.calculate_inverse_dynamics(ddq, dq, q) # Coriolis, centrifugal and gravity compensation + Jlin = np.array(sim.calculate_jacobian(robot.id, linkId, com_frame)[0]) + F = K.dot(xdes - x) - D.dot(dx) # compute cartesian forces # print("force: {}".format(F)) - tau += Jlin.T.dot(F) # cartesian PD with gravity compensation + tau += Jlin.T.dot(F) # cartesian PD with gravity compensation # tau += Jlin.T.dot(- D.dot(dx)) # active compliance # tau = Jlin.T.dot(F) @@ -191,14 +199,13 @@ if __name__ == "__main__": # print("manipulability: {}".format(w)) # Impedance/Torque control - sim.setJointMotorControlArray(robot.id, robot.joint_indices, sim.TORQUE_CONTROL, forces=tau) - - force = sim.readUserDebugParameter(slider) + sim.set_joint_motor_control(robot.id, robot.joints, sim.TORQUE_CONTROL, forces=tau) + force = sim.read_user_debug_parameter(slider) if force > 0: force = np.array([0., 0., 1.]) else: force = np.array([0., 0., 0.]) - sim.applyExternalForce(robot.id, linkId, force, pos, flags=p.LINK_FRAME) # p.LINK_FRAME = 1 + sim.apply_external_force(robot.id, linkId, force, pos, frame=1) # p.LINK_FRAME = 1, p.WORLD_FRAME = 2 # robot.update_joint_slider() world.step(sleep_dt=1./240) diff --git a/pyrobolearn/robots/sawyer.py b/pyrobolearn/robots/sawyer.py index 8ec0311..468bf97 100644 --- a/pyrobolearn/robots/sawyer.py +++ b/pyrobolearn/robots/sawyer.py @@ -7,6 +7,14 @@ import os from pyrobolearn.robots.wheeled_robot import WheeledRobot from pyrobolearn.robots.manipulator import ManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Sawyer(ManipulatorRobot, WheeledRobot): r"""Sawyer robot @@ -15,6 +23,7 @@ class Sawyer(ManipulatorRobot, WheeledRobot): References: [1] Rethink Robotics + [2] https://github.com/RethinkRobotics/sawyer_robot """ def __init__(self, diff --git a/pyrobolearn/robots/sea_hexapod.py b/pyrobolearn/robots/sea_hexapod.py index fffbdbf..c27ebab 100644 --- a/pyrobolearn/robots/sea_hexapod.py +++ b/pyrobolearn/robots/sea_hexapod.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.legged_robot import HexapodRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class SEAHexapod(HexapodRobot): r"""SEA Hexapod robot (from CMU Biorobotics Lab) diff --git a/pyrobolearn/robots/sea_snake.py b/pyrobolearn/robots/sea_snake.py index 07fc87f..8451e4e 100644 --- a/pyrobolearn/robots/sea_snake.py +++ b/pyrobolearn/robots/sea_snake.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class SEASnake(Robot): r"""SEA snake robot (from CMU Biorobotics Lab) diff --git a/pyrobolearn/robots/shadowhand.py b/pyrobolearn/robots/shadowhand.py new file mode 100644 index 0000000..9ddfeaf --- /dev/null +++ b/pyrobolearn/robots/shadowhand.py @@ -0,0 +1,87 @@ +#!/usr/bin/env python +"""Provide the Shadow Hand robotic platform. +""" + +import os + +from pyrobolearn.robots.hand import Hand + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +class ShadowHand(Hand): + r"""Shadow Hand + + References: + [1] https://www.shadowrobot.com/products/dexterous-hand/ + [2] Shadow hand description: https://github.com/shadow-robot/sr_common + [3] Documentation: https://dexterous-hand.readthedocs.io/en/latest/index.html + """ + + def __init__(self, + simulator, + position=(0, 0, 0), + orientation=(0, 0, 0.707, 0.707), + scaling=1., + left=True, + fixed_base=True): + # check parameters + if position is None: + position = (0., 0., 0.) + if len(position) == 2: # assume x, y are given + position = tuple(position) + (0.,) + if fixed_base is None: + fixed_base = True + + if left: + if orientation is None: + orientation = (0, 0, 0.707, 0.707) + urdf_path = os.path.dirname(__file__) + '/urdfs/shadowhand/left_hand.urdf' + else: + if orientation is None: + orientation = (0, 0, 1, 0) + urdf_path = os.path.dirname(__file__) + '/urdfs/shadowhand/right_hand.urdf' + + super(ShadowHand, self).__init__(simulator, urdf_path, position, orientation, fixed_base, scaling) + self.name = 'shadow_hand' + + +# Test +if __name__ == "__main__": + from itertools import count + from pyrobolearn.simulators import BulletSim + from pyrobolearn.worlds import BasicWorld + + # Create simulator + sim = BulletSim() + + # create world + world = BasicWorld(sim) + + # create robot + left_hand = ShadowHand(sim, position=(-0.15, 0, 0), left=True) + right_hand = ShadowHand(sim, position=(0.15, 0., 0.), orientation=(0, 0, 0.707, -0.707), left=False) + + # print information about the robot + left_hand.print_info() + # H = left_hand.get_mass_matrix() + # print("Inertia matrix: H(q) = {}".format(H)) + + # Position control using sliders + # left_hand.add_joint_slider() + + left_hand.set_joint_positions([0.] * left_hand.num_dofs) + right_hand.set_joint_positions([0.] * right_hand.num_dofs) + + for i in count(): + # left_hand.update_joint_slider() + # left_hand.set_joint_positions([0.] * left_hand.num_dofs) + # right_hand.set_joint_positions([0.] * right_hand.num_dofs) + + world.step(sleep_dt=1./240) diff --git a/pyrobolearn/robots/softhand.py b/pyrobolearn/robots/softhand.py index 7f892e4..22e6b68 100644 --- a/pyrobolearn/robots/softhand.py +++ b/pyrobolearn/robots/softhand.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.hand import Hand +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + # TODO: correct the inertia matrices and masses; they are too big! class SoftHand(Hand): @@ -68,12 +76,12 @@ if __name__ == "__main__": # Position control using sliders # left_hand.add_joint_slider() - left_hand.set_joint_positions([0.] * left_hand.getNumberOfDoFs()) - right_hand.set_joint_positions([0.] * right_hand.getNumberOfDoFs()) + left_hand.set_joint_positions([0.] * left_hand.num_dofs) + right_hand.set_joint_positions([0.] * right_hand.num_dofs) for i in count(): # left_hand.update_joint_slider() - # left_hand.set_joint_positions([0.] * left_hand.getNumberOfDoFs()) - # right_hand.set_joint_positions([0.] * right_hand.getNumberOfDoFs()) + # left_hand.set_joint_positions([0.] * left_hand.num_dofs) + # right_hand.set_joint_positions([0.] * right_hand.num_dofs) world.step(sleep_dt=1./240) diff --git a/pyrobolearn/robots/swimmer.py b/pyrobolearn/robots/swimmer.py index 271a03b..38313ec 100644 --- a/pyrobolearn/robots/swimmer.py +++ b/pyrobolearn/robots/swimmer.py @@ -6,9 +6,20 @@ import os from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Swimmer(Robot): r"""Swimmer Mujoco Model + + References: + [1] description: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf """ def __init__(self, diff --git a/pyrobolearn/robots/uav.py b/pyrobolearn/robots/uav.py index 639410f..1ecc2dc 100644 --- a/pyrobolearn/robots/uav.py +++ b/pyrobolearn/robots/uav.py @@ -4,6 +4,15 @@ from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__credits__ = ["Brian Delhaisse"] +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class UAVRobot(Robot): r"""Unmanned Aerial Vehicle Robot diff --git a/pyrobolearn/robots/urdfs/references b/pyrobolearn/robots/urdfs/references index dc59804..3e7b802 100644 --- a/pyrobolearn/robots/urdfs/references +++ b/pyrobolearn/robots/urdfs/references @@ -6,6 +6,10 @@ Here is the list of repos where you can find the original URDF/meshes of each ro * Pepper: https://github.com/ros-naoqi/pepper_robot * PR2: https://github.com/pr2/pr2_common * Fetch: https://github.com/fetchrobotics/fetch_ros + * Youbot: https://github.com/youbot/youbot_description + * Epuck: https://github.com/gctronic/epuck_driver_cpp + * F10 racecar: https://github.com/erwincoumans/pybullet_robots/tree/master/data/f10_racecar + * Lincoln MKZ car: https://bitbucket.org/DataspeedInc/dbw_mkz_ros * Quadruped * Aibo: https://github.com/dkotfis/aibo_ros @@ -23,6 +27,8 @@ Here is the list of repos where you can find the original URDF/meshes of each ro * Atlas: https://github.com/openai/roboschool * Valkyrie: https://github.com/openhumanoids/val_description * Cassie: https://github.com/UMich-BipedLab/Cassie_Model and https://github.com/agilityrobotics/cassie-gazebo-sim + * Darwin: https://github.com/HumaRobotics/darwin_description + * Blackbird: https://hackaday.io/project/160882-blackbird-bipedal-robot * Manipulator * rrbot: https://github.com/ros-simulation/gazebo_ros_demos @@ -31,11 +37,18 @@ Here is the list of repos where you can find the original URDF/meshes of each ro * franka-emika: https://github.com/frankaemika/franka_ros * Baxter: https://github.com/RethinkRobotics/baxter_common * Jaco: https://github.com/JenniferBuehler/jaco-arm-pkgs + * e.DO: https://github.com/Comau/eDO_description * Hexapod * phantomx: https://github.com/HumaRobotics/phantomx_description * crab: https://github.com/tuuzdu/crab_project * SEA (Series Elastic Actuators) hexapod (CMU): https://github.com/alexansari101/snake_ws + * Rhex: https://github.com/grafoteka/rhex + +* Hand + * allegrohand: https://github.com/simlabrobotics/allegro_hand_ros + * softhand: https://github.com/CentroEPiaggio/pisa-iit-soft-hand + * shadowhand: https://github.com/shadow-robot/sr_common and https://github.com/shadow-robot/sr_ur_arm * UVA * quadcopter: https://github.com/wilselby/ROS_quadrotor_simulator @@ -52,7 +65,8 @@ Here is the list of repos where you can find the original URDF/meshes of each ro * SEA (Series Elastic Actuators) snake (CMU): https://github.com/alexansari101/snake_ws * Others - * cubli: modeled by Songyan Xin + * cubli: modeled by Songyan Xin + * ballbot: https://github.com/CesMak/bb **Notes**: diff --git a/pyrobolearn/robots/urdfs/shadowhand/LICENSE b/pyrobolearn/robots/urdfs/shadowhand/LICENSE new file mode 100644 index 0000000..5812fea --- /dev/null +++ b/pyrobolearn/robots/urdfs/shadowhand/LICENSE @@ -0,0 +1,25 @@ +BSD 2-Clause License + +Copyright (c) 2019, The Shadow Robot Company +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/pyrobolearn/robots/urdfs/shadowhand/left_hand.urdf b/pyrobolearn/robots/urdfs/shadowhand/left_hand.urdf new file mode 100644 index 0000000..80b794d --- /dev/null +++ b/pyrobolearn/robots/urdfs/shadowhand/left_hand.urdf @@ -0,0 +1,1709 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + sr_gazebo_sim/SrGazeboHWSim + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/White + false + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + + + + + + + + + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + lh_palm_collision + lh_palm_collision + + + true + lh_palm + 100.0 + contacts/lh_palm + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + lh_ffknuckle_collision + lh_ffknuckle_collision + + + true + lh_ffknuckle + 100.0 + contacts/lh_ff/knuckle + + + Gazebo/Grey + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + lh_ffproximal_collision + lh_ffproximal_collision + + + true + lh_ffproximal + 100.0 + contacts/lh_ff/proximal + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/J0Transmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + + 1 + 1000.0 + + lh_ffmiddle_collision + lh_ffmiddle_collision + + + true + lh_ffmiddle + 100.0 + contacts/lh_ff/middle + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + + + + + + + + + + + + + + 1 + 1000.0 + + lh_ffdistal_collision + lh_ffdistal_collision + + + true + lh_ffdistal + 100.0 + contacts/lh_ff/distal + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + lh_mfknuckle_collision + lh_mfknuckle_collision + + + true + lh_mfknuckle + 100.0 + contacts/lh_mf/knuckle + + + Gazebo/Grey + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + lh_mfproximal_collision + lh_mfproximal_collision + + + true + lh_mfproximal + 100.0 + contacts/lh_mf/proximal + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/J0Transmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + + 1 + 1000.0 + + lh_mfmiddle_collision + lh_mfmiddle_collision + + + true + lh_mfmiddle + 100.0 + contacts/lh_mf/middle + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + + + + + + + + + + + + + + 1 + 1000.0 + + lh_mfdistal_collision + lh_mfdistal_collision + + + true + lh_mfdistal + 100.0 + contacts/lh_mf/distal + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + lh_rfknuckle_collision + lh_rfknuckle_collision + + + true + lh_rfknuckle + 100.0 + contacts/lh_rf/knuckle + + + Gazebo/Grey + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + lh_rfproximal_collision + lh_rfproximal_collision + + + true + lh_rfproximal + 100.0 + contacts/lh_rf/proximal + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/J0Transmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + + 1 + 1000.0 + + lh_rfmiddle_collision + lh_rfmiddle_collision + + + true + lh_rfmiddle + 100.0 + 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+ + + sr_mechanism_model/J0Transmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + + 1 + 1000.0 + + rh_ffmiddle_collision + rh_ffmiddle_collision + + + true + rh_ffmiddle + 100.0 + contacts/rh_ff/middle + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + + + + + + + + + + + + + + 1 + 1000.0 + + rh_ffdistal_collision + rh_ffdistal_collision + + + true + rh_ffdistal + 100.0 + contacts/rh_ff/distal + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + rh_mfknuckle_collision + rh_mfknuckle_collision + + + true + rh_mfknuckle + 100.0 + contacts/rh_mf/knuckle + + + Gazebo/Grey + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + rh_mfproximal_collision + rh_mfproximal_collision + + + true + rh_mfproximal + 100.0 + contacts/rh_mf/proximal + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/J0Transmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + + 1 + 1000.0 + + rh_mfmiddle_collision + rh_mfmiddle_collision + + + true + rh_mfmiddle + 100.0 + contacts/rh_mf/middle + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + + + + + + + + + + + + + + 1 + 1000.0 + + rh_mfdistal_collision + rh_mfdistal_collision + + + true + rh_mfdistal + 100.0 + contacts/rh_mf/distal + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + rh_rfknuckle_collision + rh_rfknuckle_collision + + + true + rh_rfknuckle + 100.0 + contacts/rh_rf/knuckle + + + Gazebo/Grey + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + rh_rfproximal_collision + rh_rfproximal_collision + + + true + rh_rfproximal + 100.0 + contacts/rh_rf/proximal + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/J0Transmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + + 1 + 1000.0 + + rh_rfmiddle_collision + rh_rfmiddle_collision + + + true + rh_rfmiddle + 100.0 + contacts/rh_rf/middle + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + + + + + + + + + + + + + + 1 + 1000.0 + + rh_rfdistal_collision + rh_rfdistal_collision + + + true + rh_rfdistal + 100.0 + contacts/rh_rf/distal + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + rh_lfmetacarpal_collision + rh_lfmetacarpal_collision + + + true + rh_lfmetacarpal + 100.0 + contacts/rh_lf/metacarpal + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + rh_lfknuckle_collision + rh_lfknuckle_collision + + + true + rh_lfknuckle + 100.0 + contacts/rh_lf/knuckle + + + Gazebo/Grey + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + rh_lfproximal_collision + rh_lfproximal_collision + + + true + rh_lfproximal + 100.0 + contacts/rh_lf/proximal + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/J0Transmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + + 1 + 1000.0 + + rh_lfmiddle_collision + rh_lfmiddle_collision + + + true + rh_lfmiddle + 100.0 + contacts/rh_lf/middle + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + + + + + + + + + + + + + + 1 + 1000.0 + + rh_lfdistal_collision + rh_lfdistal_collision + + + true + rh_lfdistal + 100.0 + contacts/rh_lf/distal + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + rh_thbase_collision + rh_thbase_collision + + + true + rh_thbase + 100.0 + contacts/rh_th/base + + + false + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + rh_thproximal_collision + rh_thproximal_collision + + + true + rh_thproximal + 100.0 + contacts/rh_th/proximal + + + false + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + rh_thhub_collision + rh_thhub_collision + + + true + rh_thhub + 100.0 + contacts/rh_th/hub + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + + + 1 + 1000.0 + + rh_thmiddle_collision + rh_thmiddle_collision + + + true + rh_thmiddle + 100.0 + contacts/rh_th/middle + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + + + + + + + + + + + + + + 1 + 1000.0 + + rh_thdistal_collision + rh_thdistal_collision + + + true + rh_thdistal + 100.0 + contacts/rh_th/distal + + + + + + + true + + + sr_mechanism_model/SimpleTransmission + + 1 + + + EffortJointInterface + PositionJointInterface + + + + diff --git a/pyrobolearn/robots/usv.py b/pyrobolearn/robots/usv.py index 75831bc..5e009b8 100644 --- a/pyrobolearn/robots/usv.py +++ b/pyrobolearn/robots/usv.py @@ -4,6 +4,15 @@ from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__credits__ = ["Brian Delhaisse"] +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class USVRobot(Robot): r"""Unmanned Surface Vehicle Robot diff --git a/pyrobolearn/robots/uuv.py b/pyrobolearn/robots/uuv.py index dc3a9f3..3a75375 100644 --- a/pyrobolearn/robots/uuv.py +++ b/pyrobolearn/robots/uuv.py @@ -4,6 +4,15 @@ from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__credits__ = ["Brian Delhaisse"] +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class UUVRobot(Robot): r"""Unmanned Underwater Vehicle Robot diff --git a/pyrobolearn/robots/walker2d.py b/pyrobolearn/robots/walker2d.py index 49863fc..6022dc1 100644 --- a/pyrobolearn/robots/walker2d.py +++ b/pyrobolearn/robots/walker2d.py @@ -6,9 +6,20 @@ import os from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Walker2D(Robot): r"""Walker 2D Mujoco Model + + References: + [1] description: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf """ def __init__(self, diff --git a/pyrobolearn/robots/walkman.py b/pyrobolearn/robots/walkman.py index 2ace4a5..1a34032 100644 --- a/pyrobolearn/robots/walkman.py +++ b/pyrobolearn/robots/walkman.py @@ -8,6 +8,14 @@ from pyrobolearn.robots.legged_robot import BipedRobot from pyrobolearn.robots.manipulator import BiManipulatorRobot from pyrobolearn.robots.sensors import CameraSensor +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class Walkman(BipedRobot, BiManipulatorRobot): r"""Walk-man robot @@ -18,6 +26,7 @@ class Walkman(BipedRobot, BiManipulatorRobot): References: [1] "WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments", Tsagarakis et al., 2017 + [2] https://github.com/ADVRHumanoids/iit-walkman-ros-pkg """ def __init__(self, @@ -50,7 +59,7 @@ class Walkman(BipedRobot, BiManipulatorRobot): self.left_camera = CameraSensor(self.sim, self.id, 11, width=800, height=800, fovy=80, near=0.02, far=300, refresh_rate=30) # 11 self.right_camera = CameraSensor(self.sim, self.id, 13, width=800, height=800, fovy=80, near=0.02, far=300, - refresh_rate=30) # 13 + refresh_rate=30) # 13 # Laser (depth) sensor: Hokuyo sensor # link: "head_hokuyo_frame" @@ -82,13 +91,6 @@ class Walkman(BipedRobot, BiManipulatorRobot): self.hands = [self.get_link_ids(link) for link in ['LSoftHand', 'RSoftHand'] if link in self.link_names] -def WalkmanLowerBody(simulator, init_pos=(0, 0, 1.5), init_orient=(0, 0, 0, 1), useFixedBase=False, scaling=1., - urdf_path=os.path.dirname(__file__) + '/urdfs/walkman/walkman_lower_body.urdf'): - """Load Walkman Lower Body""" - return Walkman(simulator=simulator, position=init_pos, orientation=init_orient, fixed_base=useFixedBase, - scaling=scaling, urdf=urdf_path) - - # Test if __name__ == "__main__": # Imports @@ -101,8 +103,8 @@ if __name__ == "__main__": # Create world world = BasicWorld(sim) - world.loadSphere([2., 0, 2.], mass=0., color=(1, 0, 0, 1)) - world.loadSphere([2., 1., 2.], mass=0., color=(0, 0, 1, 1)) + world.load_sphere([2., 0, 2.], mass=0., color=(1, 0, 0, 1)) + world.load_sphere([2., 1., 2.], mass=0., color=(0, 0, 1, 1)) # load robot robot = Walkman(sim, fixed_base=False, lower_body=False) diff --git a/pyrobolearn/robots/wam.py b/pyrobolearn/robots/wam.py index 2d4d625..9d5db38 100644 --- a/pyrobolearn/robots/wam.py +++ b/pyrobolearn/robots/wam.py @@ -6,6 +6,14 @@ import os from pyrobolearn.robots.manipulator import ManipulatorRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class WAM(ManipulatorRobot): r"""Wam robot @@ -58,7 +66,7 @@ if __name__ == "__main__": # H = robot.get_mass_matrix() # print("Inertia matrix: H(q) = {}".format(H)) - robot.set_joint_positions([np.pi / 4, np.pi / 2], joint_ids=[0, 1]) #2, 4]) + robot.set_joint_positions([np.pi / 4, np.pi / 2], joint_ids=[0, 1]) # 2, 4]) Jlin = robot.get_jacobian(6)[:3] robot.draw_velocity_manipulability_ellipsoid(6, Jlin, color=(1, 0, 0, 0.7)) diff --git a/pyrobolearn/robots/wheeled_robot.py b/pyrobolearn/robots/wheeled_robot.py index c92d3cd..d6ac54e 100644 --- a/pyrobolearn/robots/wheeled_robot.py +++ b/pyrobolearn/robots/wheeled_robot.py @@ -6,6 +6,15 @@ import numpy as np from pyrobolearn.robots.robot import Robot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__credits__ = ["Brian Delhaisse"] +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class WheeledRobot(Robot): r"""Wheeled robot diff --git a/pyrobolearn/robots/youbot.py b/pyrobolearn/robots/youbot.py index 92d4679..7486b98 100644 --- a/pyrobolearn/robots/youbot.py +++ b/pyrobolearn/robots/youbot.py @@ -10,6 +10,14 @@ import numpy as np from pyrobolearn.robots.manipulator import ManipulatorRobot, BiManipulatorRobot from pyrobolearn.robots.wheeled_robot import DifferentialWheeledRobot +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + class YoubotBase(DifferentialWheeledRobot): r"""Youbot Base robot diff --git a/pyrobolearn/simulators/bullet.py b/pyrobolearn/simulators/bullet.py index cba3251..de00a89 100644 --- a/pyrobolearn/simulators/bullet.py +++ b/pyrobolearn/simulators/bullet.py @@ -1272,7 +1272,7 @@ class Bullet(Simulator): def set_joint_motor_control(self, body_id, joint_ids, control_mode=pybullet.POSITION_CONTROL, positions=None, velocities=None, forces=None, kp=None, kd=None, max_velocity=None): - """ + r""" Set the joint motor control. In position control: @@ -1294,7 +1294,7 @@ class Bullet(Simulator): Args: body_id (int): body unique id. - joint_ids (int): joint/link id, or list of joint ids. + joint_ids ((list of) int): joint/link id, or list of joint ids. control_mode (int): POSITION_CONTROL (=2) (which is in fact CONTROL_MODE_POSITION_VELOCITY_PD), VELOCITY_CONTROL (=0), TORQUE_CONTROL (=1) and PD_CONTROL (=3). positions (float, np.float[N]): target joint position(s) (used in POSITION_CONTROL). @@ -1865,6 +1865,8 @@ class Bullet(Simulator): joint_ids (int, list of int): joint id, or list of joint ids. accelerations (float, np.float[N]): desired joint acceleration, or list of desired joint accelerations [rad/s^2] + q (None, list of float, float): current joint positions. + dq (None, list of float, float): current joint velocities. """ # check joint ids if isinstance(joint_ids, int): @@ -2935,7 +2937,7 @@ class Bullet(Simulator): self.sim.changeDynamics(body_id, link_id, **kwargs) def calculate_jacobian(self, body_id, link_id, local_position, q, dq, des_ddq): - """ + r""" Return the full geometric Jacobian matrix :math:`J(q) = [J_{lin}(q), J_{ang}(q)]^T`, such that: .. math:: v = [\dot{p}, \omega]^T = J(q) \dot{q} @@ -2975,7 +2977,7 @@ class Bullet(Simulator): return np.vstack((lin_jac, ang_jac)) def calculate_mass_matrix(self, body_id, q): - """ + r""" Return the mass/inertia matrix :math:`H(q)`, which is used in the rigid-body equation of motion (EoM) in joint space given by (see [1]): @@ -3002,7 +3004,7 @@ class Bullet(Simulator): def calculate_inverse_kinematics(self, body_id, link_id, position, orientation=None, lower_limits=None, upper_limits=None, joint_ranges=None, rest_poses=None, joint_dampings=None, solver=None, q_curr=None, max_iters=None, threshold=None): - """ + r""" Compute the FULL Inverse kinematics; it will return a position for all the actuated joints. "You can compute the joint angles that makes the end-effector reach a given target position in Cartesian world diff --git a/pyrobolearn/utils/torch_utils.py b/pyrobolearn/utils/torch_utils.py new file mode 100644 index 0000000..45859b2 --- /dev/null +++ b/pyrobolearn/utils/torch_utils.py @@ -0,0 +1,80 @@ +#!/usr/bin/env python +"""Provide few PyTorch utils methods. + +For instance, it can evaluate the Hessian matrix of a scalar function. + +References: + [1] https://pytorch.org/ + [2] https://github.com/mariogeiger/hessian + [3] https://github.com/Ageliss/For_shared_codes/blob/master/Second_order_gradients.py +""" + +import torch +from torch.autograd import grad + +# import hessian + + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__credits__ = ["Brian Delhaisse"] +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +def kronecker(A, B): + """ + Return the kronecker product between two matrices [1]. + + Args: + A (torch.Tensor): 1st matrix. + B (torch.Tensor): 2nd matrix. + + Returns: + torch.Tensor: kronecker product between two matrices + + References: + [1] Kronecker product (Wikipedia): https://discuss.pytorch.org/t/kronecker-product/3919/7 + [2] https://discuss.pytorch.org/t/kronecker-product/3919/7 + [3] Another implementation: + https://github.com/cornellius-gp/gpytorch/blob/master/gpytorch/lazy/kronecker_product_lazy_tensor.py + """ + return torch.einsum("ab,cd->acbd", A, B).view(A.size(0)*B.size(0), A.size(1)*B.size(1)) + + +def hessian(f, model): + r""" + Get the Hessian matrix of the model. + + Args: + f: + model: + + Returns: + torch.Tensor: Hessian matrix (which is a square symmetric and positive-definite real matrix) + + References: + [1] https://github.com/mariogeiger/hessian + [2] https://github.com/Ageliss/For_shared_codes/blob/master/Second_order_gradients.py + """ + pass + + +def hessian_vector(f, model): + r""" + Get the Hessian-vector product. + + Args: + f: + model: + + Returns: + torch.Tensor: vector + + References: + [1] https://github.com/pytorch/pytorch/releases/tag/v0.2.0 + """ + pass diff --git a/pyrobolearn/utils/units.py b/pyrobolearn/utils/units.py new file mode 100644 index 0000000..3763ce6 --- /dev/null +++ b/pyrobolearn/utils/units.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python +"""Convert units from one system to another one. +""" + +import numpy as np + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2018, PyRoboLearn" +__credits__ = ["Brian Delhaisse"] +__license__ = "MIT" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +def inches_to_meters(inch): + """ + Convert the inches to meters. + + Args: + inch (float): inches. + + Returns: + float: meters + """ + return inch * 0.0254 + + +def meters_to_inches(meter): + """ + Convert the meters to inches. + + Args: + meter (float): meters. + + Returns: + float: inches + """ + return meter / 0.0254 + + +def rpm_to_rad_per_second(rpm): + """ + Convert the revolutions per minute to rad/sec. + + Args: + rpm (float): revolutions per minute. + + Returns: + float: rad/sec + """ + return rpm * 2 * np.pi/60 + + +def rad_per_second_to_rpm(omega): + """ + Convert rad/sec to revolutions/minute. + + Args: + omega (float): angular velocity (rad/sec) + + Returns: + float: revolutions/minute + """ + return omega * 60 / (2*np.pi)