From 96b497ded88e3b1ad40ead5728d4bd9acb6b4b7a Mon Sep 17 00:00:00 2001 From: Brian Delhaisse Date: Tue, 16 Jul 2019 03:20:58 +0200 Subject: [PATCH] update robots, states, actions, costs, and envs --- pyrobolearn/actions/__init__.py | 4 +- pyrobolearn/actions/robot_actions/__init__.py | 10 +- .../actions/robot_actions/joint_actions.py | 175 +++- .../actions/robot_actions/link_actions.py | 195 +++- pyrobolearn/envs/control/README.rst | 0 pyrobolearn/envs/control/__init__.py | 0 pyrobolearn/envs/control/control.py | 51 + pyrobolearn/envs/control/pendulum.py | 97 ++ pyrobolearn/envs/env.py | 7 +- pyrobolearn/envs/manipulation/README.rst | 0 pyrobolearn/envs/manipulation/__init__.py | 0 pyrobolearn/envs/manipulation/manipulation.py | 51 + pyrobolearn/envs/manipulation/reaching.py | 130 +++ pyrobolearn/models/promp/promp.py | 2 +- pyrobolearn/rewards/cost.py | 144 ++- pyrobolearn/robots/README.md | 1 + pyrobolearn/robots/__init__.py | 5 + pyrobolearn/robots/acrobot.py | 79 ++ pyrobolearn/robots/gripper.py | 23 +- pyrobolearn/robots/hand.py | 112 ++ pyrobolearn/robots/pendulum.py | 79 ++ pyrobolearn/robots/robot.py | 30 +- pyrobolearn/robots/rrbot.py | 5 +- pyrobolearn/robots/ur.py | 153 +++ pyrobolearn/robots/urdfs/references | 1 + pyrobolearn/robots/urdfs/rrbot/acrobot.urdf | 169 ++++ pyrobolearn/robots/urdfs/rrbot/pendulum.urdf | 125 +++ pyrobolearn/robots/urdfs/ur/LICENSE | 27 + .../urdfs/ur/meshes/ur10/collision/base.stl | Bin 0 -> 18384 bytes .../ur/meshes/ur10/collision/forearm.stl | Bin 0 -> 53784 bytes .../ur/meshes/ur10/collision/shoulder.stl | Bin 0 -> 49384 bytes .../ur/meshes/ur10/collision/upperarm.stl | Bin 0 -> 61284 bytes .../urdfs/ur/meshes/ur10/collision/wrist1.stl | Bin 0 -> 44384 bytes .../urdfs/ur/meshes/ur10/collision/wrist2.stl | Bin 0 -> 42084 bytes .../urdfs/ur/meshes/ur10/collision/wrist3.stl | Bin 0 -> 24384 bytes .../urdfs/ur/meshes/ur10/visual/base.dae | 160 +++ .../urdfs/ur/meshes/ur10/visual/forearm.dae | 597 +++++++++++ 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.../urdfs/ur/meshes/ur5/visual/wrist3.dae | 233 +++++ pyrobolearn/robots/urdfs/ur/ur10.urdf | 338 +++++++ pyrobolearn/robots/urdfs/ur/ur3.urdf | 337 +++++++ pyrobolearn/robots/urdfs/ur/ur5.urdf | 347 +++++++ pyrobolearn/states/robot_states/__init__.py | 11 +- .../states/robot_states/joint_states.py | 42 + 75 files changed, 11023 insertions(+), 73 deletions(-) create mode 100644 pyrobolearn/envs/control/README.rst create mode 100644 pyrobolearn/envs/control/__init__.py create mode 100644 pyrobolearn/envs/control/control.py create mode 100644 pyrobolearn/envs/control/pendulum.py create mode 100644 pyrobolearn/envs/manipulation/README.rst create mode 100644 pyrobolearn/envs/manipulation/__init__.py create mode 100644 pyrobolearn/envs/manipulation/manipulation.py create mode 100644 pyrobolearn/envs/manipulation/reaching.py create mode 100644 pyrobolearn/robots/acrobot.py create mode 100644 pyrobolearn/robots/pendulum.py create mode 100644 pyrobolearn/robots/ur.py create mode 100644 pyrobolearn/robots/urdfs/rrbot/acrobot.urdf create mode 100644 pyrobolearn/robots/urdfs/rrbot/pendulum.urdf create mode 100644 pyrobolearn/robots/urdfs/ur/LICENSE create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/collision/base.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/collision/forearm.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/collision/shoulder.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/collision/upperarm.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/collision/wrist1.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/collision/wrist2.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/collision/wrist3.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/visual/base.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/visual/forearm.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/visual/shoulder.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/visual/upperarm.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/visual/wrist1.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/visual/wrist2.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur10/visual/wrist3.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/collision/base.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/collision/forearm.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/collision/shoulder.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/collision/upperarm.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/collision/wrist1.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/collision/wrist2.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/collision/wrist3.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/visual/base.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/visual/forearm.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/visual/shoulder.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/visual/upperarm.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/visual/wrist1.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/visual/wrist2.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur3/visual/wrist3.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/collision/base.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/collision/forearm.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/collision/shoulder.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/collision/upperarm.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/collision/wrist1.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/collision/wrist2.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/collision/wrist3.stl create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/visual/base.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/visual/forearm.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/visual/shoulder.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/visual/upperarm.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/visual/wrist1.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/visual/wrist2.dae create mode 100644 pyrobolearn/robots/urdfs/ur/meshes/ur5/visual/wrist3.dae create mode 100644 pyrobolearn/robots/urdfs/ur/ur10.urdf create mode 100644 pyrobolearn/robots/urdfs/ur/ur3.urdf create mode 100644 pyrobolearn/robots/urdfs/ur/ur5.urdf diff --git a/pyrobolearn/actions/__init__.py b/pyrobolearn/actions/__init__.py index 5bc7155..64590ee 100644 --- a/pyrobolearn/actions/__init__.py +++ b/pyrobolearn/actions/__init__.py @@ -3,10 +3,10 @@ from .action import Action # import basic actions -from .basic_actions import * +from .basic_actions import FixedAction, FunctionalAction # import robot actions from .robot_actions import * # import gym actions -from .gym_actions import * +from .gym_actions import GymAction diff --git a/pyrobolearn/actions/robot_actions/__init__.py b/pyrobolearn/actions/robot_actions/__init__.py index 3a13c7b..8a0a894 100644 --- a/pyrobolearn/actions/robot_actions/__init__.py +++ b/pyrobolearn/actions/robot_actions/__init__.py @@ -1,9 +1,13 @@ # import the basic robot actions -from .robot_actions import * +from .robot_actions import RobotAction # import the joint actions -from .joint_actions import * +from .joint_actions import JointAction, JointPositionAction, JointPositionChangeAction, JointVelocityAction, \ + JointVelocityChangeAction, JointPositionAndVelocityAction, JointPositionAndVelocityChangeAction, \ + JointTorqueAction, JointForceAction, JointTorqueGravityCompensationAction, JointTorqueChangeAction, \ + JointAccelerationAction # import the link / end-effector actions -from .link_actions import * +from .link_actions import LinkAction, LinkPositionAction, LinkPositionChangeAction, LinkVelocityAction, \ + LinkVelocityChangeAction, LinkForceAction diff --git a/pyrobolearn/actions/robot_actions/joint_actions.py b/pyrobolearn/actions/robot_actions/joint_actions.py index e06db43..a3763db 100644 --- a/pyrobolearn/actions/robot_actions/joint_actions.py +++ b/pyrobolearn/actions/robot_actions/joint_actions.py @@ -77,6 +77,17 @@ class JointPositionAction(JointAction): """ def __init__(self, robot, joint_ids=None, kp=None, kd=None, max_force=None): + """ + Initialize the joint position action. + + Args: + robot (Robot): robot instance. + joint_ids (int, list of int, None): joint id(s). If None, it will take all the actuated joints. + kp (float, np.array[N], None): position gain(s) + kd (float, np.array[N], None): velocity gain(s) + max_force (float, np.array[N], None, bool): maximum motor torques / forces. If True, it will apply the + default maximum force values. + """ self.kp, self.kd, self.max_force = kp, kd, max_force super(JointPositionAction, self).__init__(robot, joint_ids) self.data = robot.get_joint_positions(self.joints) @@ -107,6 +118,36 @@ class JointPositionAction(JointAction): return action +class JointPositionChangeAction(JointPositionAction): + r"""Joint Position Change Action + + Set the joint positions using position control; this class expect to receive a change in the joint positions + (i.e. instantaneous joint velocities). That is, the current joint positions are added to the given joint position + changes. If none are provided, it will stay at the current configuration. + """ + + def __init__(self, robot, joint_ids=None, kp=None, kd=None, max_force=None): + """ + Initialize the joint position change action. + + Args: + robot (Robot): robot instance. + joint_ids (int, list of int, None): joint id(s). If None, it will take all the actuated joints. + kp (float, np.array[N], None): position gain(s) + kd (float, np.array[N], None): velocity gain(s) + max_force (float, np.array[N], None, bool): maximum motor torques / forces. If True, it will apply the + default maximum force values. + """ + super(JointPositionChangeAction, self).__init__(robot, joint_ids, kp=kp, kd=kd, max_force=max_force) + self.data = np.zeros(len(self.joints)) + + def _write(self, data): + """apply the action data on the robot.""" + # add the original joint positions + data += self.robot.get_joint_positions(self.joints) + super(JointPositionChangeAction, self)._write(data) + + class JointVelocityAction(JointAction): r"""Joint Velocity Action @@ -114,6 +155,13 @@ class JointVelocityAction(JointAction): """ def __init__(self, robot, joint_ids=None): + """ + Initialize the joint velocity action. + + Args: + robot (Robot): robot instance. + joint_ids (int, list of int, None): joint id, or list of joint ids. If None, get all the actuated joints. + """ super(JointVelocityAction, self).__init__(robot, joint_ids) self.data = robot.get_joint_velocities(self.joints) @@ -122,14 +170,50 @@ class JointVelocityAction(JointAction): self.robot.set_joint_velocities(data, self.joints) +class JointVelocityChangeAction(JointAction): + r"""Joint Velocity Change Action + + Set the joint velocities using velocity control; this class expect to receive a change in the joint velocities + (i.e. instantaneous joint accelerations). That is, the current joint velocities are added to the given joint + velocity changes. If none are provided, it will keep the current joint velocities. + """ + + def __init__(self, robot, joint_ids=None): + """ + Initialize the joint velocity change action. + + Args: + robot (Robot): robot instance. + joint_ids (int, list of int, None): joint id, or list of joint ids. If None, get all the actuated joints. + """ + super(JointVelocityChangeAction, self).__init__(robot, joint_ids) + self.data = np.zeros(len(self.joints)) + + def _write(self, data): + """apply the action data on the robot.""" + data += self.robot.get_joint_velocities(self.joints) + super(JointVelocityChangeAction, self)._write(data) + + class JointPositionAndVelocityAction(JointAction): r"""Joint position and velocity action - Set the joint position using position control using PD control, where the contraint error to be minimized is + Set the joint position using position control using PD control, where the constraint error to be minimized is given by: :math:`error = kp * (q^* - q) - kd * (\dot{q}^* - \dot{q})`. """ def __init__(self, robot, joint_ids=None, kp=None, kd=None, max_force=None): + """ + Initialize the joint position and velocity action. + + Args: + robot (Robot): robot instance. + joint_ids (int, list of int, None): joint id(s). If None, it will take all the actuated joints. + kp (float, np.array[N], None): position gain(s) + kd (float, np.array[N], None): velocity gain(s) + max_force (float, np.array[N], None, bool): maximum motor torques / forces. If True, it will apply the + default maximum force values. + """ super(JointPositionAndVelocityAction, self).__init__(robot, joint_ids) self.kp, self.kd, self.max_force = kp, kd, max_force pos, vel = robot.get_joint_positions(self.joints), robot.get_joint_velocities(self.joints) @@ -163,6 +247,35 @@ class JointPositionAndVelocityAction(JointAction): return action +class JointPositionAndVelocityChangeAction(JointPositionAndVelocityAction): + r"""Joint position and velocity action + + Set the joint position using position control using PD control, where the constraint error to be minimized is + given by: :math:`error = kp * (q^* - q) - kd * (\dot{q}^* - \dot{q})`. + """ + + def __init__(self, robot, joint_ids=None, kp=None, kd=None, max_force=None): + """ + Initialize the joint position and velocity change action. + + Args: + robot (Robot): robot instance. + joint_ids (int, list of int, None): joint id(s). If None, it will take all the actuated joints. + kp (float, np.array[N], None): position gain(s) + kd (float, np.array[N], None): velocity gain(s) + max_force (float, np.array[N], None, bool): maximum motor torques / forces. If True, it will apply the + default maximum force values. + """ + super(JointPositionAndVelocityChangeAction, self).__init__(robot, joint_ids, kp=kp, kd=kd, max_force=max_force) + self.data = np.zeros(2*len(self.joints)) + + def _write(self, data): + """apply the action data on the robot.""" + pos, vel = self.robot.get_joint_positions(self.joints), self.robot.get_joint_velocities(self.joints) + data += np.concatenate((pos, vel)) + super(JointPositionAndVelocityChangeAction, self)._write(data) + + # class JointPositionVelocityAccelerationAction(JointAction): # r"""Set the joint positions, velocities, and accelerations. # @@ -172,14 +285,23 @@ class JointPositionAndVelocityAction(JointAction): # pass -class JointForceAction(JointAction): - r"""Joint Force Action +class JointTorqueAction(JointAction): + r"""Joint Torque/Force Action Set the joint force/torque using force/torque control. """ def __init__(self, robot, joint_ids=None, f_min=-np.infty, f_max=np.infty): - super(JointForceAction, self).__init__(robot, joint_ids) + """ + Initialize the joint torque/force action. + + Args: + robot (Robot): robot instance. + joint_ids (int, list of int, None): joint id, or list of joint ids. If None, get all the actuated joints. + f_min (float, np.array[N], None): minimum torques/forces. + f_max (float, np.array[N], None): maximum torques/forces. + """ + super(JointTorqueAction, self).__init__(robot, joint_ids) self.data = robot.get_joint_torques(self.joints) self.f_min = f_min self.f_max = f_max @@ -210,6 +332,42 @@ class JointForceAction(JointAction): return action +# alias +JointForceAction = JointTorqueAction + + +class JointTorqueGravityCompensationAction(JointTorqueAction): + r"""Joint torque action with gravity compensation enabled. + + This adds the given torques to the gravity compensation torques. That is, if a torque of 0 is provided, the robot + will be in a gravity compensation mode. + """ + def __init__(self, robot, joint_ids=None, f_min=-np.infty, f_max=np.infty): + """ + Initialize the joint torque/force action with gravity compensation. + + Args: + robot (Robot): robot instance. + joint_ids (int, list of int, None): joint id, or list of joint ids. If None, get all the actuated joints. + f_min (float, np.array[N], None): minimum torques/forces. + f_max (float, np.array[N], None): maximum torques/forces. + """ + super(JointTorqueGravityCompensationAction, self).__init__(robot, joint_ids, f_min=f_min, f_max=f_max) + self.q_indices = self.robot.get_q_indices(joint_ids=self.joints) + self.data = np.zeros(len(self.joints)) + + def _write(self, data): + """apply the action data on the robot.""" + # add gravity compensation torques + data += self.robot.get_gravity_compensation_torques(q_idx=self.q_indices) + super(JointTorqueGravityCompensationAction, self)._write(data) + + +# alias +# JointForceGravityCompensationAction = JointTorqueGravityCompensationAction +JointTorqueChangeAction = JointTorqueGravityCompensationAction + + class JointAccelerationAction(JointAction): r"""Joint Acceleration Action @@ -219,6 +377,15 @@ class JointAccelerationAction(JointAction): """ def __init__(self, robot, joint_ids=None, a_min=-np.infty, a_max=np.infty): + """ + Initialize the joint acceleration action. + + Args: + robot (Robot): robot instance. + joint_ids (int, list of int, None): joint id, or list of joint ids. If None, get all the actuated joints. + a_min (float, np.array[N], None): minimum accelerations. + a_max (float, np.array[N], None): maximum accelerations. + """ super(JointAccelerationAction, self).__init__(robot, joint_ids) self.data = robot.get_joint_accelerations(self.joints) self.a_min = a_min diff --git a/pyrobolearn/actions/robot_actions/link_actions.py b/pyrobolearn/actions/robot_actions/link_actions.py index 00a7838..b17b459 100644 --- a/pyrobolearn/actions/robot_actions/link_actions.py +++ b/pyrobolearn/actions/robot_actions/link_actions.py @@ -6,9 +6,10 @@ This includes notably the link positions, velocities, and force/torque actions. import copy from abc import ABCMeta +import numpy as np from pyrobolearn.actions.robot_actions.robot_actions import RobotAction - +from pyrobolearn.utils.transformation import get_rpy_from_quaternion, get_quaternion_from_rpy __author__ = "Brian Delhaisse" __copyright__ = "Copyright 2018, PyRoboLearn" @@ -60,46 +61,216 @@ class LinkAction(RobotAction): class LinkPositionAction(LinkAction): - r"""Link position action + r"""Link world position action - Set the position using IK for the specified robot link(s). + Set the world position using IK for the specified robot link(s). """ def __init__(self, robot, link_ids=None): """ - Initialize the link position action. + Initialize the link world position action. Args: robot (Robot): robot instance link_ids (int, int[N]): link id or list of link ids """ super(LinkPositionAction, self).__init__(robot, link_ids) + self.data = self.robot.get_link_world_positions(link_ids=self.links, flatten=True) # (N*3,) def _write(self, data): """apply the action data on the robot.""" - self.robot.set_link_positions(self.links, data) + self.robot.set_link_positions(link_ids=self.links, positions=data.reshape(-1, 3)) -class LinkVelocityAction(LinkAction): - r"""Link velocity action +class LinkPositionChangeAction(LinkPositionAction): + r"""Link world position change action - Set the cartesian velocity(ies) for the specified robot link(s). + Set the world position using IK for the specified robot link(s). Instead of specifying directly the desired + cartesian position(s), the amount of change in the current positions is provided. """ def __init__(self, robot, link_ids=None): """ - Initialize the link position action. + Initialize the link world position change action. + + Args: + robot (Robot): robot instance + link_ids (int, int[N]): link id or list of link ids + """ + super(LinkPositionChangeAction, self).__init__(robot, link_ids) + self.data = np.zeros(len(self.links) * 3) + + def _write(self, data): + """apply the action data on the robot.""" + data += self.robot.get_link_world_positions(link_ids=self.links) + super(LinkPositionChangeAction, self)._write(data) + + +class LinkOrientationAction(LinkAction): + r"""Link world orientation action + + Set the world orientation using IK for the specified robot link(s). + """ + + def __init__(self, robot, link_ids=None): + """ + Initialize the link world orientation action. + + Args: + robot (Robot): robot instance + link_ids (int, int[N]): link id or list of link ids + """ + super(LinkOrientationAction, self).__init__(robot, link_ids) + self.data = self.robot.get_link_world_orientations(link_ids=self.links, flatten=True) # (N*4,) + + def _write(self, data): + """apply the action data on the robot.""" + self.robot.set_link_positions(link_ids=self.links, orientations=data.reshape(-1, 4)) + + +class LinkOrientationChangeAction(LinkOrientationAction): + r"""Link world orientation change action + + Set the world orientation using IK for the specified robot link(s). Instead of specifying directly the desired + cartesian orientation(s), the amount of change in the current orientations is provided. + + Warnings: the difference in orientations should be provided as a change in roll-pitch-yaw angles (in radians), and + not as quaternions. + """ + + def __init__(self, robot, link_ids=None): + """ + Initialize the link world orientation change action. + + Args: + robot (Robot): robot instance + link_ids (int, int[N]): link id or list of link ids + """ + super(LinkOrientationChangeAction, self).__init__(robot, link_ids) + self.data = np.zeros(len(self.links) * 4) + + def _write(self, data): + """apply the action data on the robot.""" + # get current orientations and convert them to RPY angles + orientations = self.robot.get_link_world_orientations(link_ids=self.links).reshape(-1, 4) # (N,4) + orientations = get_rpy_from_quaternion(orientations) # (N,3) + + # add change in orientations + data = data.reshape(-1, 3) # (N,3) + data += orientations + + # convert them back to quaternions + data = get_quaternion_from_rpy(data) # (N,4) + super(LinkOrientationChangeAction, self)._write(data) + + +class LinkPoseAction(LinkAction): + r"""Link world pose action + + Set the world pose using IK for the specified robot link(s). + """ + + def __init__(self, robot, link_ids=None): + """ + Initialize the link world pose action. + + Args: + robot (Robot): robot instance + link_ids (int, int[N]): link id or list of link ids + """ + super(LinkPoseAction, self).__init__(robot, link_ids) + self.data = self.robot.get_link_world_poses(link_ids=self.links, flatten=True) + + def _write(self, data): + """apply the action data on the robot.""" + data = data.reshape(-1, 7) + self.robot.set_link_positions(link_ids=self.links, positions=data[:, :3], orientations=data[:, 3:]) + + +class LinkPoseChangeAction(LinkPoseAction): + r"""Link world change pose action + + Set the world pose using IK for the specified robot link(s). Instead of specifying directly the desired + cartesian pose(s), the amount of change in the current poses is provided. + + Warnings: the difference in orientations should be provided as a change in roll-pitch-yaw angles (in radians), and + not as quaternions. + """ + + def __init__(self, robot, link_ids=None): + """ + Initialize the link world pose change action. + + Args: + robot (Robot): robot instance + link_ids (int, int[N]): link id or list of link ids + """ + super(LinkPoseChangeAction, self).__init__(robot, link_ids) + self.data = np.zeros(len(self.links) * 6) + + def _write(self, data): + """apply the action data on the robot.""" + # get current poses + positions = self.robot.get_link_world_poses(link_ids=self.links, flatten=False).reshape(-1, 3) # (N,3) + orientations = self.robot.get_link_world_orientations(link_ids=self.links, flatten=False).reshape(-1, 4) # (N,4) + orientations = get_rpy_from_quaternion(orientations) # (N,3) + + # add changes + data = data.reshape(-1, 6) # (N,6) + data[:, :3] += positions + data[:, 3:] += orientations + + # convert back orientations to quaternions + data = np.hstack((data[:, :3], get_quaternion_from_rpy(data[:, 3:]))) + + # write poses + super(LinkPoseChangeAction, self)._write(data) + + +class LinkVelocityAction(LinkAction): + r"""Link world velocity action + + Set the cartesian world velocity(ies) for the specified robot link(s). + """ + + def __init__(self, robot, link_ids=None): + """ + Initialize the link world velocity action. Args: robot (Robot): robot instance link_ids (int, int[N]): link id or list of link ids """ super(LinkVelocityAction, self).__init__(robot, link_ids) + self.data = self.robot.get_link_world_velocities(link_ids=self.links) def _write(self, data): """apply the action data on the robot.""" - # self.robot - pass + self.robot.set_link_velocities(link_ids=self.links, positions=data.reshape(-1, 6)) + + +class LinkVelocityChangeAction(LinkVelocityAction): + r"""Link world velocity change action + + Set the cartesian world velocity(ies) for the specified robot link(s). Instead of specifying directly the desired + cartesian velocity(ies), the amount of change in the current velocities is provided. + """ + + def __init__(self, robot, link_ids=None): + """ + Initialize the link world velocity change action. + + Args: + robot (Robot): robot instance + link_ids (int, int[N]): link id or list of link ids + """ + super(LinkVelocityAction, self).__init__(robot, link_ids) + self.data = np.zeros(len(self.links) * 6) + + def _write(self, data): + """apply the action data on the robot.""" + data += self.robot.get_link_world_velocities(link_ids=self.links) + super(LinkVelocityChangeAction, self)._write(data) class LinkForceAction(LinkAction): @@ -109,7 +280,7 @@ class LinkForceAction(LinkAction): """ def __init__(self, robot, link_ids=None): """ - Initialize the link position action. + Initialize the link force action. Args: robot (Robot): robot instance diff --git a/pyrobolearn/envs/control/README.rst b/pyrobolearn/envs/control/README.rst new file mode 100644 index 0000000..e69de29 diff --git a/pyrobolearn/envs/control/__init__.py b/pyrobolearn/envs/control/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/pyrobolearn/envs/control/control.py b/pyrobolearn/envs/control/control.py new file mode 100644 index 0000000..69b3e64 --- /dev/null +++ b/pyrobolearn/envs/control/control.py @@ -0,0 +1,51 @@ +#!/usr/bin/env python +"""Provide the abstract control environment from which all the other control environments inherit from. +""" + +from pyrobolearn.envs.env import Env + + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2019, PyRoboLearn" +__credits__ = ["Brian Delhaisse"] +__license__ = "GNU GPLv3" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +class ControlEnv(Env): + r"""Control Environment (abstract) + + This is the abstract control environment from which all control environments inherit from. + """ + + def __init__(self, world, states, rewards=None, terminal_conditions=None, initial_state_generators=None, + physics_randomizers=None, extra_info=None, actions=None): + """ + Initialize the control environment. + + Args: + world (World): world of the environment. The world contains all the objects (including robots), and has + access to the simulator. + states ((list of) State): states that are returned by the environment at each time step. + rewards (None, Reward): The rewards can be None when for instance we are in an imitation learning setting, + instead of a reinforcement learning one. If None, only the state is returned by the environment. + terminal_conditions (None, callable, TerminalCondition, list of TerminalCondition): A callable function or + object that check if the policy has failed or succeeded the task. + initial_state_generators (None, StateGenerator, list of StateGenerator): state generators which are used + when resetting the environment to generate the initial states. + physics_randomizers (None, PhysicsRandomizer, list of PhysicsRandomizer): physics randomizers. This will be + called each time you reset the environment. + extra_info (None, callable): Extra info returned by the environment at each time step. + actions ((list of) Action): actions that are given to the environment. Note that this is not used here in + the current environment as it should be the policy that performs the action. This is useful when + creating policies after the environment (that is, the policy can uses the environment's states and + actions). + """ + super(ControlEnv, self).__init__(world=world, states=states, rewards=rewards, + terminal_conditions=terminal_conditions, + initial_state_generators=initial_state_generators, + physics_randomizers=physics_randomizers, extra_info=extra_info, + actions=actions) diff --git a/pyrobolearn/envs/control/pendulum.py b/pyrobolearn/envs/control/pendulum.py new file mode 100644 index 0000000..c276585 --- /dev/null +++ b/pyrobolearn/envs/control/pendulum.py @@ -0,0 +1,97 @@ +#!/usr/bin/env python +"""Provide the inverted pendulum swing-up environment. + +This is based on the control problem proposed in OpenAI Gym: +"The inverted pendulum swingup problem is a classic problem in the control literature. In this version of the problem, +the pendulum starts in a random position, and the goal is to swing it up so it stays upright." [1] + +References: + - [1] Pendulum environment in OpenAI Gym: https://gym.openai.com/envs/Pendulum-v0/ +""" + +import os +import numpy as np + +import pyrobolearn as prl +from pyrobolearn.envs.control.control import ControlEnv + + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2019, PyRoboLearn" +__credits__ = ["OpenAI", "Brian Delhaisse"] +__license__ = "GNU GPLv3" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +class InvertedPendulumSwingUpEnv(ControlEnv): + r"""Inverted Pendulum Swing-up Environment + + This is based on the control problem proposed in OpenAI Gym: + "The inverted pendulum swingup problem is a classic problem in the control literature. In this version of the + problem, the pendulum starts in a random position, and the goal is to swing it up so it stays upright." [1] + + Here are the various environment features: + + - world: basic world with gravity, a basic floor, and the pendulum. + - state: the state is given by :math:`[np.cos(q_1), np.sin(q_1), dq_1]` + - action: the action is the joint torque :math:`\tau_1` + - reward: + + References: + - [1] Pendulum environment in OpenAI Gym: https://gym.openai.com/envs/Pendulum-v0/ + """ + + def __init__(self, simulator=None, verbose=False): + """ + Initialize the inverted pendulum swing-up environment. + + Args: + simulator (Simulator): simulator instance. + verbose (bool): if True, it will print information when creating the environment + """ + # create basic world + world = prl.worlds.BasicWorld(simulator) + robot = world.load_robot('pendulum') + robot.disable_motor() + # robot.print_info() + + # create state + position_state = prl.states.JointTrigonometricPositionState(robot=robot) + velocity_state = prl.states.JointVelocityState(robot=robot) + state = position_state + velocity_state + + # create action + action = prl.actions.JointTorqueAction(robot, f_min=-2., f_max=2.) + + # create reward + position_cost = prl.rewards.JointPositionCost(prl.states.JointPositionState(robot), + np.zeros(len(robot.joints))) + velocity_cost = prl.rewards.JointVelocityCost(velocity_state) + torque_cost = prl.rewards.JointTorqueCost(prl.states.JointForceTorqueState(robot=robot)) + reward = position_cost + 0.1 * velocity_cost + 0.001 * torque_cost + + # create initial state generator + initial_state_generator = None + + # create environment using composition + super(InvertedPendulumSwingUpEnv, self).__init__(world=world, states=state, rewards=reward, actions=action, + initial_state_generators=initial_state_generator) + + +# Test +if __name__ == "__main__": + from itertools import count + import pyrobolearn as prl + + # create simulator + sim = prl.simulators.Bullet() + + # create environment + env = InvertedPendulumSwingUpEnv(sim) + + # run simulation + for _ in count(): + env.step(sleep_dt=1./240) diff --git a/pyrobolearn/envs/env.py b/pyrobolearn/envs/env.py index 1a15d33..0e79991 100644 --- a/pyrobolearn/envs/env.py +++ b/pyrobolearn/envs/env.py @@ -27,7 +27,7 @@ from pyrobolearn.states.generators import StateGenerator __author__ = "Brian Delhaisse" __copyright__ = "Copyright 2018, PyRoboLearn" __credits__ = ["Brian Delhaisse"] -__license__ = "GNU GPLv3" +__license__ = "MIT" __version__ = "1.0.0" __maintainer__ = "Brian Delhaisse" __email__ = "briandelhaisse@gmail.com" @@ -299,7 +299,7 @@ class Env(object): # gym.Env): # TODO: make it inheriting the gym.Env states = [state.reset() for state in self.states] return self._convert_state_to_data(states) - def step(self, actions=None): + def step(self, actions=None, sleep_dt=None): """ Run one timestep of the environment's dynamics. When end of episode is reached, you are responsible for calling `reset()` to reset this environment's state. Accepts an action and returns a tuple (observation, @@ -312,6 +312,7 @@ class Env(object): # gym.Env): # TODO: make it inheriting the gym.Env can appear by providing the actions in the environment instead of letting the policy executes them. For instance, think about when there are multiple policies, when using multiprocessing, or when the environment runs in real-time. + sleep_dt (float): Returns: observation (object): agent's observation of the current environment @@ -335,7 +336,7 @@ class Env(object): # gym.Env): # TODO: make it inheriting the gym.Env # actions() # perform a step forward in the simulation which computes all the dynamics - self.world.step() + self.world.step(sleep_dt=sleep_dt) # compute reward # rewards = [reward.compute() for reward in self.rewards] diff --git a/pyrobolearn/envs/manipulation/README.rst b/pyrobolearn/envs/manipulation/README.rst new file mode 100644 index 0000000..e69de29 diff --git a/pyrobolearn/envs/manipulation/__init__.py b/pyrobolearn/envs/manipulation/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/pyrobolearn/envs/manipulation/manipulation.py b/pyrobolearn/envs/manipulation/manipulation.py new file mode 100644 index 0000000..87db631 --- /dev/null +++ b/pyrobolearn/envs/manipulation/manipulation.py @@ -0,0 +1,51 @@ +#!/usr/bin/env python +"""Provide the abstract manipulation environment from which all the other manipulation environments inherit from. +""" + +from pyrobolearn.envs.env import Env + + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2019, PyRoboLearn" +__credits__ = ["Brian Delhaisse"] +__license__ = "GNU GPLv3" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +class ManipulationEnv(Env): + r"""Manipulation Environment (abstract) + + This is the abstract manipulation environment from which all manipulation environments inherit from. + """ + + def __init__(self, world, states, rewards=None, terminal_conditions=None, initial_state_generators=None, + physics_randomizers=None, extra_info=None, actions=None): + """ + Initialize the manipulation environment. + + Args: + world (World): world of the environment. The world contains all the objects (including robots), and has + access to the simulator. + states ((list of) State): states that are returned by the environment at each time step. + rewards (None, Reward): The rewards can be None when for instance we are in an imitation learning setting, + instead of a reinforcement learning one. If None, only the state is returned by the environment. + terminal_conditions (None, callable, TerminalCondition, list of TerminalCondition): A callable function or + object that check if the policy has failed or succeeded the task. + initial_state_generators (None, StateGenerator, list of StateGenerator): state generators which are used + when resetting the environment to generate the initial states. + physics_randomizers (None, PhysicsRandomizer, list of PhysicsRandomizer): physics randomizers. This will be + called each time you reset the environment. + extra_info (None, callable): Extra info returned by the environment at each time step. + actions ((list of) Action): actions that are given to the environment. Note that this is not used here in + the current environment as it should be the policy that performs the action. This is useful when + creating policies after the environment (that is, the policy can uses the environment's states and + actions). + """ + super(ManipulationEnv, self).__init__(world=world, states=states, rewards=rewards, + terminal_conditions=terminal_conditions, + initial_state_generators=initial_state_generators, + physics_randomizers=physics_randomizers, extra_info=extra_info, + actions=actions) diff --git a/pyrobolearn/envs/manipulation/reaching.py b/pyrobolearn/envs/manipulation/reaching.py new file mode 100644 index 0000000..9a479ca --- /dev/null +++ b/pyrobolearn/envs/manipulation/reaching.py @@ -0,0 +1,130 @@ +#!/usr/bin/env python +"""Provide the reaching manipulation environment. + +The goal is to reach a certain 3D (fixed or movable) target with the end-effector of a robot. +""" + +import re +import numpy as np + +import pyrobolearn as prl +from pyrobolearn.envs.manipulation.manipulation import ManipulationEnv + + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2019, PyRoboLearn" +__credits__ = ["Brian Delhaisse"] +__license__ = "GNU GPLv3" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +class ReachingManipulationEnv(ManipulationEnv): + r"""Reaching Manipulation Env + + The goal is to reach a certain 3D (fixed or movable) target with the end-effector of a robot. + """ + + def __init__(self, world, target=(0.5, 0., 0.5), robot='kuka_iiwa', end_effector_id=None, control_mode='position', + *args, **kwargs): + """ + Initialize the reaching manipulation environment. + + Args: + world (World, Simulator): world/simulator instance. + target (list/tuple of 3 floats, np.array[3], Body): target to reach. If a list, tuple, or array is + provided, it will load a visual sphere at the specified target location. + robot (str, Robot): robot instance, or robot name to load in the world. + end_effector_id (int, None): end effector link id that has to reach the target. If None, it will check in + the end_ + control_mode (str): joint action control mode, select between {'position', 'position change', 'velocity', + 'velocity change', 'torque', 'torque with gravity compensation'/'torque change'}. Note that 'torque + change' and 'torque with gravity compensation' are the same (they are synonyms). + args (list): list of arguments that are given to the `world.load_robot` method. + kwargs (dict): dict of arguments that are given to the `world.load_robot` method. + """ + # create basic world if not already created + if isinstance(world, prl.simulators.Simulator): + world = prl.worlds.BasicWorld(world) + elif not isinstance(world, prl.worlds.World): + raise TypeError("Expecting the world to be an instance of `World` or `Simulator`, instead got: " + "{}".format(type(world))) + + # load robot + if isinstance(robot, str): + robot = world.load_robot(robot, *args, **kwargs) + elif isinstance(robot, prl.robots.Robot): + # check if robot already loaded + if robot.id not in world.bodies: + world.load_robot(robot) + else: + raise TypeError("Expecting the given robot to be a string or an instance of `Robot`, instead got: " + "{}".format(type(robot))) + self.robot = robot + + # load target + if not isinstance(target, prl.robots.Body): + if not isinstance(target, (list, tuple, np.ndarray)): + raise TypeError("Expecting the target to be list/tuple/array of 3 floats representing the target " + "position, or an instance of `Body`, but got instead: {}".format(type(target))) + target = world.load_visual_sphere(position=target, radius=0.05, color=(1, 0, 0, 0.5), return_body=True) + # save target body such that the user can use it (to change its position for instance) + self.target = target + + # check end effector id + if end_effector_id is None: + if not hasattr(robot, 'end_effectors'): + raise ValueError("We could not find any end effectors for the given robot... Please specify one by " + "setting the 'end_effector_id' parameter.") + end_effector_id = robot.end_effectors[0] + if not isinstance(end_effector_id, int): + raise TypeError("Expecting the 'end_effector_id' to be None or an integer, but got instead: " + "{}".format(type(end_effector_id))) + + # create state + state = prl.states.LinkWorldPositionState(robot, link_ids=end_effector_id) + + # create action based on the specified joint action control mode + control_mode = control_mode.lower() + control_mode = ' '.join(re.findall(r"[a-z]*[^\-\_]", control_mode)) + if control_mode == 'position': + action = prl.actions.JointPositionAction(robot) + elif control_mode == 'position change': + action = prl.actions.JointPositionChangeAction(robot) + elif control_mode == 'velocity': + action = prl.actions.JointVelocityAction(robot) + elif control_mode == 'velocity change': + action = prl.actions.JointVelocityChangeAction(robot) + elif control_mode == 'torque': + action = prl.actions.JointTorqueAction(robot) + elif control_mode == 'torque with gravity compensation' or control_mode == 'torque change': + action = prl.actions.JointTorqueGravityCompensationAction(robot) + else: + raise ValueError("Please select the `control_mode` to be between ['position', 'position change', " + "'velocity', 'velocity change', 'torque', " + "'torque with gravity compensation'/'torque change'], and not: " + "{}".format(control_mode)) + + # create distance cost + reward = prl.rewards.DistanceCost(state, target) + + # create environment using composition + super(ReachingManipulationEnv, self).__init__(world=world, states=state, rewards=reward, actions=action) + + +# Test +if __name__ == "__main__": + from itertools import count + import pyrobolearn as prl + + # create simulator + sim = prl.simulators.Bullet() + + # create environment + env = ReachingManipulationEnv(sim) + + # run simulation + for _ in count(): + env.step(sleep_dt=1./240) diff --git a/pyrobolearn/models/promp/promp.py b/pyrobolearn/models/promp/promp.py index 84673f2..b3928a4 100755 --- a/pyrobolearn/models/promp/promp.py +++ b/pyrobolearn/models/promp/promp.py @@ -259,7 +259,7 @@ class ProMP(object): # Model @property def total_num_basis(self): """Return the total number of basis functions""" - return self.Phi.shape[0] / self.num_dofs + return int(self.Phi.shape[0] / self.num_dofs) @property def basis_matrix(self): diff --git a/pyrobolearn/rewards/cost.py b/pyrobolearn/rewards/cost.py index 3bcb8bf..9e400dc 100644 --- a/pyrobolearn/rewards/cost.py +++ b/pyrobolearn/rewards/cost.py @@ -62,13 +62,16 @@ def min_angle_difference(q1, q2): Return the minimum angle difference between two angles. Args: - q1 (Cost, float): first angle - q2 (Cost, float): second angle + q1 (float, np.array[N]): first angle(s) + q2 (float, np.array[N]): second angle(s) Returns: - callable, float: minimum angle difference + float, np.array[N]: minimum angle difference(s) """ - return + diff = np.maximum(q1, q2) - np.minimum(q1, q2) + if diff > np.pi: + diff = 2 * np.pi - diff + return diff class AngularVelocityErrorCost(Cost): @@ -80,7 +83,7 @@ class AngularVelocityErrorCost(Cost): the sensitivity factor, and :math:`\hat{\omega}` and :math:`\omega` being the target and current angular velocity. References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 """ def __init__(self, angular_velocity_state, target_angular_velocity_state, sensitivity): @@ -89,7 +92,7 @@ class AngularVelocityErrorCost(Cost): self.target_state = target_angular_velocity_state self.sensitivity = sensitivity - def compute(self): + def _compute(self): error = np.linalg.norm(self.target_state.data - self.state.data) return - logistic_kernel_function(error, self.sensitivity) @@ -103,7 +106,7 @@ class LinearVelocityErrorCost(Cost): the sensitivity factor, and :math:`\hat{v}` and :math:`v` being the target and current linear velocity. References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 """ def __init__(self, velocity_state, velocity_target_state, sensitivity): @@ -112,7 +115,7 @@ class LinearVelocityErrorCost(Cost): self.target_state = velocity_target_state self.sensitivity = sensitivity - def compute(self): + def _compute(self): error = np.linalg.norm(self.target_state.data - self.state.data) return - logistic_kernel_function(error, self.sensitivity) @@ -123,7 +126,7 @@ class HeightCost(Cost): Height cost defined in [1] as :math:`cost = 1.0` if height < threshold, otherwise 0. References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 """ def __init__(self, height_state, threshold): @@ -131,7 +134,7 @@ class HeightCost(Cost): self.height = height_state self.threshold = threshold - def compute(self): + def _compute(self): if self.height.data < self.threshold: return -1. return 0 @@ -145,7 +148,7 @@ class JointPositionErrorCost(Cost): current angles. References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 """ def __init__(self, joint_state, target_joint_state): @@ -153,15 +156,15 @@ class JointPositionErrorCost(Cost): self.state = joint_state self.target_state = target_joint_state - def compute(self): - return - min_angle_difference(self.state.data, self.target_state.data) + def _compute(self): + return - min_angle_difference(self.state.data[0], self.target_state.data[0]) class OrientationGravityCost(Cost): r"""Orientation Gravity Cost References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 """ def __init__(self, gravity_state, gravity_vector=[0., 0., -1.]): @@ -169,23 +172,82 @@ class OrientationGravityCost(Cost): self.gravity_state = gravity_state self.gravity = np.array(gravity_vector) - def compute(self): + def _compute(self): return np.linalg.norm(self.gravity_state.data - self.gravity) -class TorqueCost(Cost): +class JointPositionCost(Cost): + r"""Joint Position Cost + + Return the cost such that measures the L2 norm between the current joint positions and the target joint positions: + :math:`||d(q_{target},q)||^2` where :math:`d(\cdot, \cdot) \in [-\pi, \pi]` is the minimum distance between two + angles. + """ + + def __init__(self, joint_position_state, target_joint_position): + r""" + Initialize the joint position cost. + + Args: + joint_position_state (JointPositionState): joint position state. + target_joint_position (np.array[N]): target joint positions. + """ + super(JointPositionCost, self).__init__() + if not isinstance(joint_position_state, prl.states.JointPositionState): + raise TypeError("Expecting the given 'joint_position_state' to be an instance of `JointPositionState`, " + "but instead got: {}".format(type(joint_position_state))) + self.q = joint_position_state + self.target_q = target_joint_position + + def _compute(self): + """Compute and return the cost value.""" + return - np.sum(min_angle_difference(self.q.data[0], self.target_q)**2) + + +class JointVelocityCost(Cost): + r"""Joint Velocity Cost + + Return the cost due to the joint velocities: :math:`|| \dot{q} ||^2` + """ + def __init__(self, joint_velocity_state): + """ + Initialize the joint velocity cost. + + Args: + joint_velocity_state (JointVelocityState): joint velocity state. + """ + super(JointVelocityCost, self).__init__() + if not isinstance(joint_velocity_state, prl.states.JointVelocityState): + raise TypeError("Expecting the given 'joint_velocity_state' to be an instance of `JointVelocityState`, " + "but instead got: {}".format(type(joint_velocity_state))) + self.dq = joint_velocity_state + + def _compute(self): + """Compute and return the cost value.""" + return - np.sum(self.dq.data[0] ** 2) + + +class JointTorqueCost(Cost): r"""Torque Cost - Return the cost due to the torques; :math:`cost = ||\tau||^2`. - - References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + Return the cost due to the joint torques; :math:`|| \tau ||^2`. """ - def __init__(self, torque_state): - super(TorqueCost, self).__init__() - self.tau = torque_state - def compute(self): + def __init__(self, joint_torque_state): + """ + Initialize the joint torque cost. + + Args: + joint_torque_state (JointForceTorqueState): joint torque state. + """ + super(JointTorqueCost, self).__init__() + if not isinstance(joint_torque_state, prl.states.JointForceTorqueState): + raise TypeError("Expecting the given 'joint_torque_state' to be an instance of `JointForceTorqueState`, " + "but instead got: {}".format(type(joint_torque_state))) + self.tau = joint_torque_state + + def _compute(self): + """Compute and return the cost value.""" return - np.sum(self.tau.data[0]**2) @@ -195,7 +257,7 @@ class PowerCost(Cost): Return the power consumption cost, where the power is computed as the torque times the velocity. References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 """ def __init__(self, torque_state, velocity_state): super(PowerCost, self).__init__() @@ -256,7 +318,7 @@ class JointAccelerationCost(Cost): Return the joint acceleration cost defined notably in [1] as :math:`cost = ||\ddot{q}||^2` References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 """ def __init__(self, joint_acceleration_state): super(JointAccelerationCost, self).__init__() @@ -272,7 +334,7 @@ class JointSpeedCost(Cost): Return the joint speed cost as computed in [1]. References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 """ def __init__(self, joint_velocity_state, max_joint_speed=None): super(JointSpeedCost, self).__init__() @@ -291,21 +353,21 @@ class BodyImpulseCost(Cost): Return the body impulse cost as computed in [1]. References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 """ def __init__(self, robot): super(BodyImpulseCost, self).__init__() self.robot = robot def compute(self): - return + pass class BodySlippageCost(Cost): r"""Body Slippage Cost References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 """ def __init__(self): super(BodySlippageCost, self).__init__() @@ -322,8 +384,8 @@ class FootSlippageCost(Cost): measures the distance between the two bodies and a contact force' [2] References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 - [2] Unilateral Contact (Wikipedia): https://en.wikipedia.org/wiki/Unilateral_contact + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [2] Unilateral Contact (Wikipedia): https://en.wikipedia.org/wiki/Unilateral_contact """ def __init__(self): super(FootSlippageCost, self).__init__() @@ -340,8 +402,8 @@ class FootClearanceCost(Cost): measures the distance between the two bodies and a contact force' [2] References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 - [2] Unilateral Contact (Wikipedia): https://en.wikipedia.org/wiki/Unilateral_contact + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [2] Unilateral Contact (Wikipedia): https://en.wikipedia.org/wiki/Unilateral_contact """ def __init__(self): super(FootClearanceCost, self).__init__() @@ -354,7 +416,7 @@ class SelfCollisionCost(Cost): r"""Self Collision Cost References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 """ def __init__(self): super(SelfCollisionCost, self).__init__() @@ -367,7 +429,7 @@ class ActionDifferenceCost(Cost): r"""Action Difference Cost References: - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 + - [1] "Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning", Lee et al., 2019 """ def __init__(self, action): super(ActionDifferenceCost, self).__init__() @@ -383,7 +445,8 @@ class PhysicsViolationCost(Cost): This cost defines ... It was formally defined in [1]. It accepts two arguments. - [1] 'Automated Discovery and Learning of Complex Movement Behaviors' (PhD thesis), Mordatch, 2015 + References: + - [1] 'Automated Discovery and Learning of Complex Movement Behaviors' (PhD thesis), Mordatch, 2015 .. seealso: `cio.py` in 'pyrobolearn/optim' which uses this cost. """ @@ -421,7 +484,7 @@ class DistanceCost(Cost): second body. The distance function used is the Euclidean distance (=L2 norm). """ - def __init__(self, body1, body2, link_id1=-1, link_id2=-1): + def __init__(self, body1, body2, link_id1=-1, link_id2=-1, offset=None): r""" Initialize the distance cost. @@ -436,6 +499,7 @@ class DistanceCost(Cost): the given :attr:`body1` is not a state. link_id2 (int): link id associated with the second body that we are interested in. This is only used if the given :attr:`body2` is not a state. + offset (None, np.array[3]): 3d offset between body1 and body2. """ super(DistanceCost, self).__init__() @@ -466,8 +530,8 @@ class DistanceCost(Cost): self.body2() p1 = self.body1.data[0] p2 = self.body2.data[0] - print("P1: {}".format(p1)) - print("P2: {}".format(p2)) + # print("P1: {}".format(p1)) + # print("P2: {}".format(p2)) return - np.linalg.norm(p1 - p2) diff --git a/pyrobolearn/robots/README.md b/pyrobolearn/robots/README.md index 1e797ef..00c7499 100644 --- a/pyrobolearn/robots/README.md +++ b/pyrobolearn/robots/README.md @@ -74,6 +74,7 @@ The folder contains different kind of robots including manipulators, legged robo - [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) +- [UR](https://github.com/ros-industrial/universal_robot) - [Valkyrie](https://github.com/openhumanoids/val_description) - [Walker 2D](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf) - [Walk-man](https://github.com/ADVRHumanoids/iit-walkman-ros-pkg) diff --git a/pyrobolearn/robots/__init__.py b/pyrobolearn/robots/__init__.py index f5e2610..245b201 100644 --- a/pyrobolearn/robots/__init__.py +++ b/pyrobolearn/robots/__init__.py @@ -62,6 +62,10 @@ from .phantomx import PhantomX from .morphex import Morphex from .rhex import Rhex +# Control +from .acrobot import Acrobot +from .pendulum import Pendulum + # Manipulators from .rrbot import RRBot from .wam import WAM, BarrettHand @@ -73,6 +77,7 @@ from .sawyer import Sawyer from .edo import Edo from .kr5 import KR5 from .manipulator2d import Manipulator2D +from .ur import UR3, UR5, UR10 # Bi-Manipulators from .baxter import Baxter, BaxterGripper diff --git a/pyrobolearn/robots/acrobot.py b/pyrobolearn/robots/acrobot.py new file mode 100644 index 0000000..c82f0c8 --- /dev/null +++ b/pyrobolearn/robots/acrobot.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python +"""Provide the acrobot robotic platform. +""" + +import os +import numpy as np + +from pyrobolearn.robots.robot import Robot + + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2019, PyRoboLearn" +__license__ = "GNU GPLv3" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +class Acrobot(Robot): # TODO: create the acrobot dynamically instead of loading from the URDF + r"""Acrobot + + Note that in the URDF, the continuous joints were replace by revolute joints. Be careful, that the limit values + for these joints are probably not correct. + """ + + def __init__(self, simulator, position=(0, 0, 0), orientation=(0, 0, 0, 1), fixed_base=True, scale=1, + urdf=os.path.dirname(__file__) + '/urdfs/rrbot/acrobot.urdf'): + """ + Initialize the acrobot robot. + + Args: + simulator (Simulator): simulator instance. + position (np.array[3]): Cartesian world position. + orientation (np.array[4]): Cartesian world orientation expressed as a quaternion [x,y,z,w]. + fixed_base (bool): if True, the robot base will be fixed in the world. + scale (float): scaling factor that is used to scale the robot. + urdf (str): path to the urdf. Do not change it unless you know what you are doing. + """ + # check parameters + if position is None: + position = (0., 0., 0.) + if len(position) == 2: # assume x, y are given + position = tuple(position) + (0.,) + if orientation is None: + orientation = (0, 0, 0, 1) + if fixed_base is None: + fixed_base = True + + super(Acrobot, self).__init__(simulator, urdf, position, orientation, fixed_base, scale) + self.name = 'acrobot' + + # set initial joint positions + self.reset_joint_states(q=[np.pi, 0.], joint_ids=self.joints) + + def get_force_torque_sensor(self, idx=0): + return np.array(self.sim.getJointState(self.id, 2)[2]) + + +# Test +if __name__ == "__main__": + from itertools import count + import pyrobolearn as prl + + # create simulator + sim = prl.simulators.Bullet() + + # create world + world = prl.worlds.BasicWorld(sim) + + # load robot + robot = Acrobot(sim) + robot.disable_motor() + robot.print_info() + # robot.add_joint_slider() + + # run simulation + for _ in count(): + world.step(sleep_dt=1./240) diff --git a/pyrobolearn/robots/gripper.py b/pyrobolearn/robots/gripper.py index 383ea16..d11f172 100644 --- a/pyrobolearn/robots/gripper.py +++ b/pyrobolearn/robots/gripper.py @@ -2,8 +2,10 @@ """Provide the Gripper abstract classes. """ +from pyrobolearn.simulators.simulator import Simulator from pyrobolearn.robots.robot import Robot + __author__ = "Brian Delhaisse" __copyright__ = "Copyright 2019, PyRoboLearn" __credits__ = ["Brian Delhaisse"] @@ -59,7 +61,26 @@ class Gripper(Robot): Close the gripper. This has to be implemented in the child class. Args: - factor (float): float representing how much the gripper is closed (1=completely close, 0=clompletely open). + factor (float): float representing how much the gripper is closed (1=completely close, 0=completely open). + """ + pass + + def grasp(self, strength, point=None, frame=Simulator.LINK_FRAME): + """ + Grasp an object. Compared to :func:`~open` or :func:`~close` which uses position control, this uses force + (impedance) control using attractor points. The strength factor increases the stiffness of the grasping; i.e. + it increases the applied torques in the gripper joints. + + Args: + strength (float): scalar describing how much to increases the stiffness (the torques that are applied on + the joint fingers). If positive, it closes the gripper fingers. If negative, it opens the gripper + fingers. + point (np.array[3], list of np.array[3], None): attractor point(s) described in the specified frame. + If multiple points are specified, they have to match the number of fingers and will be used in the + same order. If None, it will grasp in a "natural" way (which is let to the user that has implemented + this method). + frame (int): integer describing if the above given point is described in the world frame + (``Simulator.WORLD_FRAME``), or in the link frame of the gripper base (``Simulator.LINK_FRAME``). """ pass diff --git a/pyrobolearn/robots/hand.py b/pyrobolearn/robots/hand.py index 0139c07..9f068a4 100644 --- a/pyrobolearn/robots/hand.py +++ b/pyrobolearn/robots/hand.py @@ -33,6 +33,118 @@ class Hand(AngularGripper): """ super(Hand, self).__init__(simulator, urdf, position, orientation, fixed_base, scale) + def get_fist_configuration(self): + """Return the joint configuration for the hand (and fingers) to form a fist.""" + pass + + def get_open_configuration(self): + """Return the joint configuration for the hand (and fingers) to form an open hand (where the fingers are + attached/close to each other).""" + pass + + def get_fully_open_configuration(self): + """Return the joint configuration for the hand (and fingers) to form a fully open hand (where the distance + between the fingers is maximal).""" + pass + + def get_thumb_up_configuration(self, factor=1.): + """ + Return the joint configuration for the fingers to have the thumb up. + + Args: + factor (float): 1 = completely up, 0 = completely down + """ + pass + + def get_thumb_down_configuration(self, factor=1.): + """ + Return the joint configuration for the fingers to have the thumb up. + + Args: + factor (float): 1 = completely down, 0 = completely up + """ + return self.get_thumb_up_configuration(factor=1.-factor) + + def get_index_up_configuration(self, factor=1.): + """ + Return the joint configuration for the fingers to have the index finger up. + + Args: + factor (float): 1 = completely up, 0 = completely down + """ + pass + + def get_index_down_configuration(self, factor=1.): + """ + Return the joint configuration for the fingers to have the index finger up. + + Args: + factor (float): 1 = completely down, 0 = completely up + """ + return self.get_index_up_configuration(factor=1.-factor) + + def get_middle_up_configuration(self, factor=1.): + """ + Return the joint configuration for the fingers to have the middle finger up. + + Args: + factor (float): 1 = completely up, 0 = completely down + """ + pass + + def get_middle_down_configuration(self, factor=1.): + """ + Return the joint configuration for the fingers to have the middle finger up. + + Args: + factor (float): 1 = completely down, 0 = completely up + """ + return self.get_middle_up_configuration(factor=1.-factor) + + def get_ring_up_configuration(self, factor=1.): + """ + Return the joint configuration for the fingers to have the ring finger up. + + Args: + factor (float): 1 = completely up, 0 = completely down + """ + pass + + def get_ring_down_configuration(self, factor=1.): + """ + Return the joint configuration for the fingers to have the ring finger up. + + Args: + factor (float): 1 = completely down, 0 = completely up + """ + return self.get_ring_up_configuration(factor=1.-factor) + + def get_pinky_up_configuration(self, factor=1.): + """ + Return the joint configuration for the fingers to have the pinky finger up. + + Args: + factor (float): 1 = completely up, 0 = completely down + """ + pass + + def get_pinky_down_configuration(self, factor=1.): + """ + Return the joint configuration for the fingers to have the pinky finger up. + + Args: + factor (float): 1 = completely down, 0 = completely up + """ + return self.get_pinky_up_configuration(factor=1.-factor) + + def get_ok_configuration(self): + """Return the joint configuration for the fingers to perform the OK or ring gesture. + + References: + - https://en.wikipedia.org/wiki/OK_gesture + """ + pass + class TwoHand(Hand): r"""Two hand end-effectors diff --git a/pyrobolearn/robots/pendulum.py b/pyrobolearn/robots/pendulum.py new file mode 100644 index 0000000..30075b9 --- /dev/null +++ b/pyrobolearn/robots/pendulum.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python +"""Provide the pendulum robotic platform. +""" + +import os +import numpy as np + +from pyrobolearn.robots.robot import Robot + + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2019, PyRoboLearn" +__license__ = "GNU GPLv3" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +class Pendulum(Robot): # TODO: create the pendulum dynamically instead of loading from the URDF + r"""Pendulum + + Note that in the URDF, the continuous joints were replace by revolute joints. Be careful, that the limit values + for these joints are probably not correct. + """ + + def __init__(self, simulator, position=(0, 0, 0), orientation=(0, 0, 0, 1), fixed_base=True, scale=1, + urdf=os.path.dirname(__file__) + '/urdfs/rrbot/pendulum.urdf'): + """ + Initialize the pendulum robot. + + Args: + simulator (Simulator): simulator instance. + position (np.array[3]): Cartesian world position. + orientation (np.array[4]): Cartesian world orientation expressed as a quaternion [x,y,z,w]. + fixed_base (bool): if True, the robot base will be fixed in the world. + scale (float): scaling factor that is used to scale the robot. + urdf (str): path to the urdf. Do not change it unless you know what you are doing. + """ + # check parameters + if position is None: + position = (0., 0., 0.) + if len(position) == 2: # assume x, y are given + position = tuple(position) + (0.,) + if orientation is None: + orientation = (0, 0, 0, 1) + if fixed_base is None: + fixed_base = True + + super(Pendulum, self).__init__(simulator, urdf, position, orientation, fixed_base, scale) + self.name = 'pendulum' + + # set initial joint positions + self.reset_joint_states(q=[np.pi / 4], joint_ids=self.joints) + + def get_force_torque_sensor(self, idx=0): + return np.array(self.sim.getJointState(self.id, 2)[2]) + + +# Test +if __name__ == "__main__": + from itertools import count + import pyrobolearn as prl + + # create simulator + sim = prl.simulators.Bullet() + + # create world + world = prl.worlds.BasicWorld(sim) + + # load robot + robot = Pendulum(sim) + robot.disable_motor() + robot.print_info() + # robot.add_joint_slider() + + # run simulation + for _ in count(): + world.step(sleep_dt=1./240) diff --git a/pyrobolearn/robots/robot.py b/pyrobolearn/robots/robot.py index e88ad9b..e893596 100644 --- a/pyrobolearn/robots/robot.py +++ b/pyrobolearn/robots/robot.py @@ -1089,8 +1089,8 @@ class Robot(ControllableBody): Set the velocity of the given joint(s) (using velocity control). Args: - joint_ids (int, int[N], None): joint id, or list of joint ids. If None, get all the actuated joints. velocities (float, np.array[N]): desired velocity, or list of desired velocities [rad/s] + joint_ids (int, int[N], None): joint id, or list of joint ids. If None, get all the actuated joints. forces (float, np.array[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 @@ -1684,6 +1684,34 @@ class Robot(ControllableBody): q.reshape(-1) return q + def get_link_world_poses(self, link_ids=None, flatten=True): + r""" + Return the CoM pose (position and orientation (expressed as a quaternion [x,y,z,w] in the Cartesian world + space) of the given link(s). + + Args: + link_ids (int, int[N], None): link id, or list of desired link ids. If None, get the pose of all links + associated to actuated joints. + flatten (bool): if True, it will return a 1D array of float numbers instead of a 2D array of shape [N,7]. + + Returns: + if 1 link: + np.array[7]: Cartesian pose of the link CoM + if multiple links: + np.array[N*7], np.array[N,7]: CoM pose of each link + """ + # get positions and orientations + positions = self.get_link_world_positions(link_ids=link_ids, flatten=False) # (N,3) + orientations = self.get_link_world_orientations(link_ids=link_ids, flatten=False) # (N,4) + + # concatenate to form the pose + poses = np.hstack((positions, orientations)) # (N,7) + + # check if we need to flatten the 2D array + if flatten: + return poses.reshape(-1) # (N*7,) + return poses # (N,7) + def get_link_world_linear_velocities(self, link_ids=None, flatten=True): r""" Return the linear velocity of the link(s) expressed in the Cartesian world space coordinates. diff --git a/pyrobolearn/robots/rrbot.py b/pyrobolearn/robots/rrbot.py index 3c3e5b0..3a4ab23 100644 --- a/pyrobolearn/robots/rrbot.py +++ b/pyrobolearn/robots/rrbot.py @@ -5,7 +5,8 @@ import os import numpy as np -from pyrobolearn.robots.manipulator import Manipulator +from pyrobolearn.robots.robot import Robot + __author__ = "Brian Delhaisse" __copyright__ = "Copyright 2018, PyRoboLearn" @@ -16,7 +17,7 @@ __email__ = "briandelhaisse@gmail.com" __status__ = "Development" -class RRBot(Manipulator): +class RRBot(Robot): r"""RRBot Note that in the URDF, the continuous joints were replace by revolute joints. Be careful, that the limit values diff --git a/pyrobolearn/robots/ur.py b/pyrobolearn/robots/ur.py new file mode 100644 index 0000000..8f31dac --- /dev/null +++ b/pyrobolearn/robots/ur.py @@ -0,0 +1,153 @@ +#!/usr/bin/env python +"""Provide the universal robot platforms. + +Specifically, it provides the classes for UR3, UR5, and UR10. + +References: + - [1] Universal robots: https://www.universal-robots.com/ + - [2] UR description: https://github.com/ros-industrial/universal_robot +""" + +import os + +from pyrobolearn.robots.manipulator import Manipulator + +__author__ = "Brian Delhaisse" +__copyright__ = "Copyright 2019, PyRoboLearn" +__license__ = "GNU GPLv3" +__version__ = "1.0.0" +__maintainer__ = "Brian Delhaisse" +__email__ = "briandelhaisse@gmail.com" +__status__ = "Development" + + +class UR3(Manipulator): + r"""UR3 manipulator + + References: + - [1] Universal robots: https://www.universal-robots.com/ + - [2] UR description: https://github.com/ros-industrial/universal_robot + """ + + def __init__(self, simulator, position=(0, 0, 0), orientation=(0, 0, 0, 1), fixed_base=True, scale=1., + urdf=os.path.dirname(__file__) + '/urdfs/ur/ur3.urdf'): + """ + Initialize the UR3 manipulator. + + Args: + simulator (Simulator): simulator instance. + position (np.array[3]): Cartesian world position. + orientation (np.array[4]): Cartesian world orientation expressed as a quaternion [x,y,z,w]. + fixed_base (bool): if True, the robot base will be fixed in the world. + scale (float): scaling factor that is used to scale the robot. + urdf (str): path to the urdf. Do not change it unless you know what you are doing. + """ + # check parameters + if position is None: + position = (0., 0., 0.) + if len(position) == 2: # assume x, y are given + position = tuple(position) + (0.,) + if orientation is None: + orientation = (0, 0, 0, 1) + if fixed_base is None: + fixed_base = True + + super(UR3, self).__init__(simulator, urdf, position, orientation, fixed_base, scale) + self.name = 'ur3' + + +class UR5(Manipulator): + r"""UR5 manipulator + + References: + - [1] Universal robots: https://www.universal-robots.com/ + - [2] UR description: https://github.com/ros-industrial/universal_robot + """ + + def __init__(self, simulator, position=(0, 0, 0), orientation=(0, 0, 0, 1), fixed_base=True, scale=1., + urdf=os.path.dirname(__file__) + '/urdfs/ur/ur5.urdf'): + """ + Initialize the UR3 manipulator. + + Args: + simulator (Simulator): simulator instance. + position (np.array[3]): Cartesian world position. + orientation (np.array[4]): Cartesian world orientation expressed as a quaternion [x,y,z,w]. + fixed_base (bool): if True, the robot base will be fixed in the world. + scale (float): scaling factor that is used to scale the robot. + urdf (str): path to the urdf. Do not change it unless you know what you are doing. + """ + # check parameters + if position is None: + position = (0., 0., 0.) + if len(position) == 2: # assume x, y are given + position = tuple(position) + (0.,) + if orientation is None: + orientation = (0, 0, 0, 1) + if fixed_base is None: + fixed_base = True + + super(UR5, self).__init__(simulator, urdf, position, orientation, fixed_base, scale) + self.name = 'ur5' + + +class UR10(Manipulator): + r"""UR10 manipulator + + References: + - [1] Universal robots: https://www.universal-robots.com/ + - [2] UR description: https://github.com/ros-industrial/universal_robot + """ + + def __init__(self, simulator, position=(0, 0, 0), orientation=(0, 0, 0, 1), fixed_base=True, scale=1., + urdf=os.path.dirname(__file__) + '/urdfs/ur/ur10.urdf'): + """ + Initialize the UR3 manipulator. + + Args: + simulator (Simulator): simulator instance. + position (np.array[3]): Cartesian world position. + orientation (np.array[4]): Cartesian world orientation expressed as a quaternion [x,y,z,w]. + fixed_base (bool): if True, the robot base will be fixed in the world. + scale (float): scaling factor that is used to scale the robot. + urdf (str): path to the urdf. Do not change it unless you know what you are doing. + """ + # check parameters + if position is None: + position = (0., 0., 0.) + if len(position) == 2: # assume x, y are given + position = tuple(position) + (0.,) + if orientation is None: + orientation = (0, 0, 0, 1) + if fixed_base is None: + fixed_base = True + + super(UR10, self).__init__(simulator, urdf, position, orientation, fixed_base, scale) + self.name = 'ur10' + + +# 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 + ur3 = UR3(sim, position=[0., -1., 0.]) + ur5 = UR5(sim, position=[0., 0., 0.]) + ur10 = UR10(sim, position=[0., 1., 0.]) + + # print information about the robot + ur3.print_info() + # H = ur3.get_mass_matrix() + # print("Inertia matrix: H(q) = {}".format(H)) + + for i in count(): + # step in simulation + world.step(sleep_dt=1./240) diff --git a/pyrobolearn/robots/urdfs/references b/pyrobolearn/robots/urdfs/references index 4601bd2..2d86319 100644 --- a/pyrobolearn/robots/urdfs/references +++ b/pyrobolearn/robots/urdfs/references @@ -38,6 +38,7 @@ Here is the list of repos where you can find the original URDF/meshes of each ro * Baxter: https://github.com/RethinkRobotics/baxter_common * Jaco: https://github.com/JenniferBuehler/jaco-arm-pkgs * e.DO: https://github.com/Comau/eDO_description + * UR: https://github.com/ros-industrial/universal_robot * Hexapod * phantomx: https://github.com/HumaRobotics/phantomx_description diff --git a/pyrobolearn/robots/urdfs/rrbot/acrobot.urdf b/pyrobolearn/robots/urdfs/rrbot/acrobot.urdf new file mode 100644 index 0000000..216e812 --- /dev/null +++ b/pyrobolearn/robots/urdfs/rrbot/acrobot.urdf @@ -0,0 +1,169 @@ + + + + + + + + + + + + /rrbot + gazebo_ros_control/DefaultRobotHWSim + + + + + Gazebo/Orange + + + + 0.2 + 0.2 + Gazebo/Black + + + + 0.2 + 0.2 + Gazebo/Orange + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + diff --git a/pyrobolearn/robots/urdfs/rrbot/pendulum.urdf b/pyrobolearn/robots/urdfs/rrbot/pendulum.urdf new file mode 100644 index 0000000..89427b1 --- /dev/null +++ b/pyrobolearn/robots/urdfs/rrbot/pendulum.urdf @@ -0,0 +1,125 @@ + + + + + + + + + + + + /rrbot + gazebo_ros_control/DefaultRobotHWSim + + + + + Gazebo/Orange + + + + 0.2 + 0.2 + Gazebo/Black + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + diff --git a/pyrobolearn/robots/urdfs/ur/LICENSE b/pyrobolearn/robots/urdfs/ur/LICENSE new file mode 100644 index 0000000..ae9e434 --- /dev/null +++ b/pyrobolearn/robots/urdfs/ur/LICENSE @@ -0,0 +1,27 @@ +Copyright (c) 2012, Wim Meeussen, Kelsey Hawkins, Mathias Ludtke, Felix Messmer +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: +1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. +2. 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. +3. All advertising materials mentioning features or use of this software + must display the following acknowledgement: + This product includes software developed by the . +4. Neither the name of the nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY ''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. 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6134 3450 5055 2768 2483 3138 5609 3142 6120 3451 6120 3451 5609 3142 2216 3000 5055 2768 5056 3452 6047 2769 6120 3451 2216 3000 2488 3453 6047 2769 5056 3452 5651 3454 2488 3453 2216 3000 2489 2999 6047 2769 5651 3454 5287 2758 5287 2758 5651 3454 5267 2752 2489 2999 6197 3005 4630 3015 5267 2752 2490 3455 5309 2753 5309 2753 2490 3455 5210 3456 2491 3457 2202 3457 2493 3457 5309 2753 5210 3456 5308 3458 5308 3458 5210 3456 5209 3459 5308 3458 5209 3459 5404 3460 4672 3021 2227 3025 2208 3461 5404 3460 5209 3459 5259 3462 5404 3460 5259 3462 2101 2729 2208 3461 2227 3025 2494 3463 2208 3461 2494 3463 2211 3464 2101 2729 5259 3462 5286 2725 2211 3464 2494 3463 2232 3465 2211 3464 2232 3465 2496 3466 5286 2725 5965 3467 5376 2717 2496 3466 2232 3465 2233 3468 2496 3466 2233 3468 2498 3469 5376 2717 5965 3467 5880 2706 2498 3469 2233 3468 2234 3470 2498 3469 2234 3470 2499 3471 2507 3472 2508 3473 4620 3080 2499 3471 2234 3470 6019 3069 2499 3471 6019 3069 2501 3068 4620 3080 2508 3473 2500 3081 4588 3079 2500 3081 2209 3474 4588 3079 2209 3474 2245 3062 2245 3062 2209 3474 2207 3475 2245 3062 2207 3475 6203 3056 6149 3476 2506 3477 6148 3478 5433 3479 6149 3476 6082 3480 5882 3481 5605 2980 5958 2981 5433 3479 2506 3477 6149 3476 6081 3482 5433 3479 6082 3480 5277 3483 5605 2980 5882 3481 2509 3484 5433 3479 6081 3482 5881 3485 5277 3483 5882 3481 2468 3486 2509 3484 6081 3482 2510 3487 5881 3485 2497 3488 5290 3489 2468 3486 2511 3490 2510 3487 5277 3483 5881 3485 5290 3489 2509 3484 2468 3486 4523 3491 5290 3489 2511 3490 2495 3492 2510 3487 2497 3488 5315 3493 5290 3489 4523 3491 2512 3494 2510 3487 2495 3492 2513 3495 2512 3494 2495 3492 6111 3496 5315 3493 4523 3491 5250 3497 2512 3494 2513 3495 2514 3498 6111 3496 2458 3499 2492 3500 5250 3497 2513 3495 2514 3498 5315 3493 6111 3496 2515 3501 5250 3497 2492 3500 2456 3502 2514 3498 2458 3499 2516 3503 5250 3497 2515 3501 2517 3504 2514 3498 2456 3502 2518 3505 2517 3504 2456 3502 5246 3506 2516 3503 2515 3501 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3919 2913 3889 2815 3888 4369 2775 2818 3898 2904 3900 2901 2859 2809 3891 2810 3906 2830 3920 2910 3895 2902 2468 4565 3921 2802 3922 2812 3923 4062 3924 2798 3896 2910 3895 2822 3925 2902 2468 2811 2471 2170 2895 2839 2897 2798 3896 4066 3893 2801 2531 4067 2535 2862 3926 2805 3890 2814 3913 2862 3926 2815 3888 2805 3890 2813 3927 2914 3927 2816 3927 2834 2521 2825 3883 1896 2517 2828 3919 2806 3904 2913 3889 4302 2635 4301 3928 4531 2459 2159 2862 4924 2864 2809 3891 2826 2899 2006 2693 3621 2694 2837 3918 4565 3921 2812 3923 2878 3929 2825 3883 2834 2521 4666 3930 2831 3912 2818 3898 2838 2743 2818 3898 4369 2775 2830 3920 4062 3924 2910 3895 2822 3925 2830 3920 2902 2468 2828 3919 2833 3902 2806 3904 3611 218 3727 218 3136 218 2820 3931 2846 3909 2890 3932 2820 3931 2158 3914 2846 3909 4713 3933 2824 3886 2819 3885 4713 3933 2819 3885 2831 3912 2846 3909 2829 3911 2833 3902 2858 3934 2814 3913 2825 3883 4062 3924 2170 2895 2798 3896 3725 3935 2802 3922 4565 3921 3725 3935 2890 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4091 1843 4091 2970 4092 2971 4092 2972 4092 2970 4093 1838 4093 2971 4093 2970 4094 1839 4094 1838 4094 2970 4095 2973 4095 1839 4095 2970 4096 2975 4096 2973 4096 2970 4097 2974 4097 2975 4097 2970 4098 1873 4098 2974 4098 2970 4099 2977 4099 1873 4099 2970 4100 2976 4100 2977 4100 2970 4101 3861 4101 2976 4101 2970 4102 4502 4102 3861 4102 2970 4103 4536 4103 4502 4103 2970 4104 1860 4104 4536 4104 2970 4105 2978 4105 1860 4105 2970 4106 3437 4106 2978 4106 2970 4107 2979 4107 3437 4107 2970 4108 3341 4108 2979 4108 2970 4109 1850 4109 3341 4109 2970 4110 5009 4110 1850 4110 2970 4111 1848 4111 5009 4111 2970 4112 5012 4112 1848 4112 2970 4113 2982 4113 5012 4113 2970 4114 2984 4114 2982 4114 2970 4115 2983 4115 2984 4115 2970 4116 1901 4116 2983 4116 4836 4117 1941 2642 3860 4118 3003 2626 3848 3812 2985 2627 1952 2640 1941 2642 4836 4117 2731 3824 3848 3812 3003 2626 1993 2666 4836 4117 2919 4119 1993 2666 1952 2640 4836 4117 2951 4120 3979 3797 2726 3799 2951 4120 2726 3799 2753 3851 2009 2681 1993 2666 2919 4119 2759 3858 2951 4120 2753 3851 2988 4121 2009 2681 2919 4119 4454 4122 2951 4120 2759 3858 2014 2703 2009 2681 2988 4121 2989 4123 2014 2703 2988 4121 4453 4124 4454 4122 2789 3778 2031 2711 2014 2703 2989 4123 3955 4125 2031 2711 2989 4123 2949 4126 4453 4124 2695 3780 1910 2538 2031 2711 3955 4125 2922 4127 1910 2538 3955 4125 3004 4128 2949 4126 2702 3795 1913 2554 1910 2538 2922 4127 2921 4129 1913 2554 2922 4127 1923 2561 1913 2554 2921 4129 2990 4130 3004 4128 2712 3808 4821 4131 1923 2561 2921 4129 2991 2607 1923 2561 4821 4131 4436 4132 2990 4130 2734 3827 1957 2612 2991 2607 4821 4131 1957 2612 4821 4131 4149 4133 2947 4134 4436 4132 2739 3833 1949 2637 1957 2612 4149 4133 4150 4135 1949 2637 4149 4133 3005 4136 2947 4134 2762 3847 3001 2650 1949 2637 4150 4135 3002 4137 3001 2650 4150 4135 2944 4138 3005 4136 3006 3866 2993 4139 1973 2656 3002 4137 4215 4140 2944 4138 2783 3873 2994 4141 4215 4140 3007 3876 2925 4142 1984 2671 2993 4139 2996 4143 2994 4141 2787 3772 2997 4144 1998 2677 2925 4142 2995 4145 2996 4143 2686 4146 4303 4147 1999 2684 2997 4144 3711 4148 4303 4147 2997 4144 2998 4149 2995 4145 2693 4150 4767 4151 2028 4152 3711 4148 3000 4153 2998 4149 2716 4154 4300 2616 2033 2615 4767 4151 3212 3854 3000 4153 2706 3855 2033 2615 2028 4152 4767 4151 2028 4152 4303 4147 3711 4148 1999 2684 1998 2677 2997 4144 1998 2677 1984 2671 2925 4142 1984 2671 1973 2656 2993 4139 1973 2656 3001 2650 3002 4137 2722 2639 2731 3824 3003 2626 2759 3858 2789 3778 4454 4122 2789 3778 2695 3780 4453 4124 2695 3780 2702 3795 2949 4126 2702 3795 2712 3808 3004 4128 2712 3808 2734 3827 2990 4130 2734 3827 2739 3833 4436 4132 2739 3833 2762 3847 2947 4134 2762 3847 3006 3866 3005 4136 3006 3866 2783 3873 2944 4138 2783 3873 3007 3876 4215 4140 3007 3876 2787 3772 2994 4141 2787 3772 2686 4146 2996 4143 2686 4146 2693 4150 2995 4145 2693 4150 2716 4154 2998 4149 2716 4154 2706 3855 3000 4153

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2476 1994 6000 4629 1498 4631 2435 1993 6000 4629 2328 4577 2448 4576 4480 4632 803 1991 2435 1993 1498 4631 4872 4575 4879 4574 2328 4577 909 1989 803 1991 1465 4633 3500 4634 909 1989 1465 4633 6164 4573 1984 4572 4872 4575 2478 1987 3500 4634 1454 4635 2478 1987 909 1989 3500 4634 6516 4571 4574 4570 6164 4573 6025 4636 2478 1987 1454 4635 2437 1985 2478 1987 6025 4636 6113 4569 2515 4568 6516 4571 6347 4637 2437 1985 6025 4636 911 1978 2437 1985 6347 4637 2352 4407 1919 4567 6113 4569 4699 4638 911 1978 6347 4637 800 1974 911 1978 4699 4638 5585 4406 4202 4566 2352 4407 4764 4639 800 1974 4699 4638 5582 4565 3134 4564 5585 4406 801 1971 800 1974 4764 4639 2484 4640 801 1971 4764 4639 5303 4563 3133 4562 5582 4565 2483 1967 801 1971 2484 4640 4624 4641 2483 1967 2484 4640 4940 4561 4412 4560 5303 4563 2438 1963 2483 1967 4624 4641 4623 4642 2438 1963 4624 4641 5309 4559 6238 4558 4940 4561 2486 1959 4623 4642 2488 4643 2486 1959 2438 1963 4623 4642 3447 4557 2487 4556 5309 4559 2439 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1061 2184 8252 2319 8058 2185 2737 2201 2724 2317 1105 2299 1103 2320 1088 2243 1095 2280 10183 2275 6957 1942 1059 2200 9192 2322 1096 2285 8730 2291 916 2325 887 2240 1037 2239 1103 2320 1095 2280 1102 2210 8873 2209 1103 2320 1102 2210 4248 2321 1089 1848 7309 2191 1099 2206 1076 2198 1036 2197 1094 2288 9074 2187 1079 2194 2737 2201 1105 2299 1041 2202 9192 2322 8730 2291 1107 2230 9683 2229 9192 2322 1107 2230 1098 2313 6677 2293 7717 2326 5959 2327 5958 2328 8960 2329 1112 2330 5620 2331 2307 2332 1113 2333 9797 1887 8152 2334 958 1846 8439 1845 7752 2335 2325 2336 9703 2337 1114 2338 8152 2334 4205 1907 9717 2339 4131 2340 1188 2341 1116 2342 4131 2340 1116 2342 1131 2343 1111 2344 6824 2345 1169 2346 1180 2347 1119 2348 1125 2349 1192 2350 1180 2347 1125 2349 1113 2333 8152 2334 8039 2351 1119 2348 1180 2347 8171 2352 4206 2353 9052 2354 7676 2355 8796 2356 958 1846 6432 2357 6873 2080 8892 2079 1130 2358 1130 2358 8892 2079 1167 2359 8892 2079 8686 2360 1156 2361 1167 2359 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4322 2451 1154 2364 1170 2377 1128 2366 6826 2425 6824 2345 1186 2412 9797 1887 9688 1889 8152 2334 4128 2450 1175 2413 1169 2346 1112 2330 6569 2375 5620 2331 1190 2452 8818 2444 2340 2386 1186 2412 6824 2345 1111 2344 1182 2454 7060 2453 8171 2352 8450 2449 1182 2454 8171 2352 1163 2441 6826 2425 1186 2412 2344 2448 1179 2362 1178 2408 4128 2450 1169 2346 1188 2341 4131 2340 4128 2450 1188 2341 2463 2445 9797 1887 1113 2333 2344 2448 1178 2408 1189 2416 1180 2347 8450 2449 8171 2352 2340 2386 4322 2451 1190 2452 8152 2334 9688 1889 4205 1907 1114 2338 1184 2404 2325 2336 1131 2343 1155 2426 1160 2401 1189 2416 5959 2327 8960 2329 1169 2346 6824 2345 10216 2367 9703 2337 10407 2379 1114 2338 10407 2379 1184 2404 1114 2338 1128 2366 1170 2377 1118 2371 7314 2455 905 2455 1139 2455 1193 2456 7776 1923 7444 1927 6222 2457 5501 2038 7311 2040 6651 2458 7975 2459 5696 2460 7975 2459 3950 2461 5696 2460 5729 2462 6651 2458 5696 2460 7975 2459 5505 2463 3950 2461 7976 2464 5499 2465 5503 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2777 2620 2895 2685 2859 2474 2716 2620 2895 2622 2828 1701 1549 2621 2833 2607 2878 2623 2862 2629 2896 2637 2889 2607 2878 2629 2896 2685 2859 2620 2895 2720 2897 2629 2896 2623 2862 2636 2898 2392 2773 2777 2883 2912 2774 2627 2887 2613 2874 2646 2899 2613 2874 2626 2888 2646 2899 2625 2866 3177 2893 3179 2900 2624 2794 2536 2793 2730 2901 2728 2902 2624 2794 2730 2901 2626 2888 2625 2866 2648 2903 2646 2899 2626 2888 2648 2903 214 347 2964 2622 2785 350 2467 1538 2715 1537 2656 2644 2536 2793 2546 2808 2730 2901 2616 2880 2617 2892 2649 2904 2696 2854 2569 2749 2703 2905 2650 2885 2616 2880 2649 2904 2887 2869 2378 2595 2747 2691 2601 2870 2627 2887 2628 2906 2525 2545 2695 2724 2899 2800 2617 2892 2600 2858 2628 2906 2600 2858 2601 2870 2628 2906 2605 2877 2618 2894 2774 2907 2646 2899 2648 2903 2647 2908 2565 2809 2544 2806 2664 2909 3051 2725 2885 2811 2695 2724 2623 2862 2606 2881 2636 2898 2594 2821 2696 2854 2718 2910 2665 2841 2594 2821 2718 2910 2524 2791 3144 2790 2638 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2887 2646 2899 2671 2933 2646 2899 2647 2908 2671 2933 2648 2903 2625 2866 3178 2934 2611 2765 2426 2597 2887 2869 2647 2908 2648 2903 3178 2934 2625 2866 3179 2900 3178 2934 2650 2885 2649 2904 2672 2935 2639 2926 2650 2885 2672 2935 2691 2928 2639 2926 2672 2935 3440 2936 3439 2890 2651 2937 3439 2890 2652 2925 2651 2937 2651 2937 2652 2925 2667 2938 2652 2925 2629 2896 2667 2938 2629 2896 2635 2924 2667 2938 2369 2608 2715 1537 2775 2939 2654 2840 2621 2833 2660 2850 1701 1549 2655 1548 2660 2850 2612 2886 2657 2803 2873 2940 2621 2833 1701 1549 2660 2850 2647 2908 3178 2934 2688 2941 2585 2839 2693 2882 2664 2909 2660 2850 2655 1548 2658 2942 2659 2852 2660 2850 2658 2942 2655 1548 2713 1547 2658 2942 2677 2872 2659 2852 2658 2942 2661 2923 2671 2933 2663 2943 2546 2808 2598 2842 2666 2921 2662 2932 2661 2923 2663 2943 2671 2933 2647 2908 2689 2944 2645 2918 2665 2841 2803 2945 2672 2935 2649 2904 2687 2946 2649 2904 2633 2917 2687 2946 2633 2917 2662 2932 2687 2946 2651 2937 2667 2938 2702 2947 2675 2596 2800 2700 2743 2948 2667 2938 2635 2924 2686 2949 2669 2820 2605 2877 2707 2950 2702 2947 2667 2938 2686 2949 2765 2927 2641 2871 2707 2950 2641 2871 2669 2820 2707 2950 2774 2907 2682 2930 2681 2951 2663 2943 2671 2933 2670 2952 2671 2933 2689 2944 2670 2952 2598 2842 2609 2879 2711 2953 2635 2924 2691 2928 2686 2949 2666 2921 2598 2842 2711 2953 2666 2921 2711 2953 2673 2954 2674 2922 2634 2920 2698 2955 2668 2956 2674 2922 2698 2955 2651 2937 2702 2947 3440 2936 2675 2596 2743 2948 2676 2830 2687 2946 2662 2932 2697 2957 2658 2942 2713 1547 2679 2958 2677 2872 2658 2942 2679 2958 2643 2690 2802 2929 2825 1512 2680 2931 2677 2872 2679 2958 3176 2959 2668 2956 2709 2960 2668 2956 2698 2955 2709 2960 2746 2756 2643 2690 2825 1512 2686 2949 2691 2928 2701 2961 2765 2927 2707 2950 2788 2962 2644 2913 2678 2876 2692 2963 2678 2876 2680 2931 2692 2963 2679 2958 2713 1547 2680 2931 2653 368 2816 366 2991 2875 2702 2947 2686 2949 2723 2964 2631 2805 2612 2886 2638 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2969 2670 2952 2699 2981 2701 2961 2672 2935 2712 2982 2687 2946 2697 2957 2712 2982 2672 2935 2687 2946 2712 2982 2723 2964 2701 2961 2738 2983 2707 2950 2605 2877 2735 2984 2702 2947 2723 2964 2719 2985 2704 2972 2702 2947 2719 2985 2714 2975 2704 2972 2729 2986 2681 2951 2684 2966 2805 2987 2704 2972 2719 2985 2729 2986 2746 2756 2825 1512 2744 2988 2707 2950 2735 2984 2706 2989 2708 2969 2699 2981 2740 2990 2788 2962 2707 2950 2706 2989 3176 2959 2709 2960 2773 2991 2369 2608 2775 2939 2395 2609 2712 2982 2697 2957 2724 2992 2701 2961 2712 2982 2749 2993 2738 2983 2701 2961 2749 2993 2680 2931 2713 1547 2716 2994 2726 2965 2692 2963 2716 2994 2692 2963 2680 2931 2716 2994 3176 2959 2773 2991 2766 2995 3183 2996 2705 2997 2766 2995 2609 2879 2765 2927 2711 2953 2705 2997 3176 2959 2766 2995 2714 2975 2729 2986 2733 2998 2694 2976 2714 2975 2733 2998 2719 2985 2723 2964 2732 2999 2726 2965 2716 2994 2757 1546 2698 2955 2726 2965 2727 3000 2713 1547 2757 1546 2716 2994 2864 3001 2638 2911 2612 2886 2803 2945 2665 2841 2856 3002 2665 2841 2718 2910 2856 3002 2717 2660 2866 2970 2964 2622 2729 2986 2719 2985 2764 3003 2698 2955 2727 3000 2731 2977 2703 2905 2872 2967 2722 2978 2719 2985 2732 2999 2764 3003 2684 2966 2720 2897 2742 3004 2720 2897 2721 2980 2742 3004 2805 2987 2684 2966 2742 3004 2709 2960 2731 2977 2773 2991 2723 2964 2738 2983 2732 2999 2724 2992 2697 2957 2725 3005 2697 2957 2708 2969 2725 3005 2708 2969 2740 2990 2725 3005 2712 2982 2724 2992 2741 3006 2749 2993 2712 2982 2741 3006 2699 2981 2670 2952 2737 3007 2693 2882 2645 2918 2860 3008 2690 2971 2693 2882 2860 3008 2670 2952 3187 2979 2737 3007 2726 2965 2757 1546 2727 3000 2729 2986 2764 3003 2733 2998 2694 2976 2733 2998 2734 3009 2771 3010 2694 2976 2734 3009 2645 2918 2803 2945 2860 3008 2605 2877 2774 2907 2784 3011 2735 2984 2605 2877 2784 3011 2740 2990 2699 2981 2736 3012 2699 2981 2737 3007 2736 3012 2732 2999 2738 2983 2739 3013 2738 2983 2749 2993 2739 3013 2725 3005 2740 2990 2780 3014 2741 3006 2724 2992 2758 3015 2724 2992 2725 3005 2758 3015 2805 2987 2742 3004 2834 3016 2766 2995 2773 2991 2790 3017 2611 2765 2887 2869 2888 3018 2764 3003 2732 2999 2778 3019 2706 2989 2735 2984 2783 3020 2733 2998 2764 3003 2761 3021 2735 2984 2784 3011 2783 3020 2734 3009 2733 2998 2760 3022 2792 3023 2728 2902 2806 3024 2733 2998 2761 3021 2760 3022 2730 2901 2666 2921 2755 3025 3183 2996 2766 2995 2769 3026 2728 2902 2730 2901 2755 3025 2739 3013 2749 2993 2748 3027 2749 2993 2741 3006 2748 3027 3147 2914 3151 2915 2855 3028 2750 3029 3147 2914 2855 3028 2725 3005 2780 3014 2751 3030 2758 3015 2725 3005 2751 3030 2750 3029 2855 3028 3158 3031 2771 3010 2734 3009 2776 3032 2711 2953 2765 2927 2767 3033 2734 3009 2760 3022 2776 3032 2664 2909 2700 2973 2754 2912 2727 3000 2757 1546 2753 3034 2731 2977 2727 3000 2753 3034 2761 3021 2764 3003 2795 3035 2732 2999 2739 3013 2778 3019 2855 3028 3151 2915 2859 3036 2752 3037 2756 3038 2793 3039 3183 2996 2769 3026 2793 3039 2756 3038 3183 2996 2793 3039 2731 2977 2753 3034 2762 1545 2728 2902 2755 3025 2806 3024 2757 1546 2762 1545 2753 3034 2748 3027 2741 3006 2759 3040 2772 2760 2746 2756 2882 3041 2741 3006 2758 3015 2759 3040 2746 2756 2744 2988 2882 3041 2760 3022 2761 3021 2787 3042 1395 1533 2958 1532 2866 2970 2731 2977 2762 1545 2773 2991 2780 3014 2740 2990 2763 3043 2740 2990 2736 3012 2763 3043 2764 3003 2778 3019 2795 3035 2767 3033 2765 2927 2768 3044 2765 2927 2788 2962 2768 3044 2766 2995 2790 3017 2769 3026 2761 3021 2795 3035 2787 3042 2739 3013 2748 3027 2770 3045 2778 3019 2739 3013 2770 3045 2755 3025 2666 2921 2673 2954 2760 3022 2787 3042 2776 3032 2796 3046 2771 3010 2782 3047 2774 2907 2681 2951 2812 3048 2784 3011 2774 2907 2812 3048 2771 3010 2776 3032 2782 3047 2715 1537 2798 1536 2775 2939 2787 3042 2795 3035 2786 3049 2759 3040 2758 3015 2779 3050 2758 3015 2751 3030 2779 3050 2755 3025 2673 2954 2806 3024 2795 3035 2778 3019 2794 3051 2778 3019 2770 3045 2794 3051 2779 3050 2751 3030 2781 3052 2780 3014 2763 3043 2781 3052 2751 3030 2780 3014 2781 3052 2695 2724 2885 2811 2930 3053 2856 3002 2718 2910 2857 3054 2770 3045 2748 3027 2791 3055 2748 3027 2759 3040 2791 3055 2718 2910 2722 2978 2857 3054 2796 3046 2782 3047 2789 3056 2710 2868 2395 2609 2942 3057 2776 3032 2787 3042 2807 3058 2860 3008 2803 2945 2861 3059 2783 3020 2784 3011 2896 3060 2784 3011 2812 3048 2896 3060 2695 2724 2930 3053 2909 3061 2638 2911 2864 3001 2859 3036 2752 3037 2793 3039 2841 3062 2821 3063 2752 3037 2841 3062 2787 3042 2786 3049 2807 3058 2806 3024 2673 2954 2832 3064 2782 3047 2776 3032 2804 3065 2811 2891 2772 2760 2882 3041 2794 3051 2770 3045 2809 3066 2768 3044 2788 2962 2895 3067 2788 2962 2706 2989 2895 3067 2782 3047 2804 3065 2789 3056 2887 2869 2747 2691 2899 2800 2790 3017 2773 2991 2801 3068 2773 2991 2762 1545 2801 3068 2722 2978 2872 2967 2956 3069 2759 3040 2779 3050 2797 3070 2791 3055 2759 3040 2797 3070 2792 3023 2806 3024 2832 3064 2849 3071 2792 3023 2832 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3073 2867 3109 2829 3073 2847 1544 2867 3109 2883 3082 2856 3002 2922 3110 2695 2724 2909 3061 2899 2800 2572 2836 2992 3086 2970 2562 2673 2954 2853 3097 2863 3108 2799 3076 2870 3093 2869 3111 2849 3071 2832 3064 2831 3112 2846 3089 2799 3076 2869 3111 2710 2868 2942 3057 2800 2700 3196 3113 2820 3104 2881 3114 2820 3104 2851 3103 2881 3114 2832 3064 2863 3108 2854 3115 2840 3078 2867 3109 1398 1543 2833 3085 2805 2987 2836 3116 2834 3016 2835 3099 2836 3116 2805 2987 2834 3016 2836 3116 2892 3092 2860 3008 2901 3117 2886 3118 2810 3088 2837 3119 2815 3120 2849 3071 2831 3112 2838 3121 2815 3120 2831 3112 2817 3072 2841 3062 2884 3122 2840 3078 1398 1543 2841 3062 2810 3088 2839 3096 2837 3119 2842 3100 2880 3095 2879 3123 2870 3093 2797 3070 2844 2520 2797 3070 2843 3098 2844 2520 2813 3091 2833 3085 2845 3124 2833 3085 2836 3116 2845 3124 2846 3089 2869 3111 2876 3107 2706 2989 2783 3020 2874 3125 2848 3094 2706 2989 2874 3125 2745 1511 1390 1510 2744 2988 2832 3064 2854 3115 2831 3112 3154 3126 3158 3031 2850 3127 2744 2988 1390 1510 1388 1509 2852 3087 2826 3079 2865 3128 2826 3079 2842 3100 2865 3128 2839 3096 2852 3087 2865 3128 2711 2953 2767 3033 2877 3129 2853 3097 2711 2953 2877 3129 2630 2884 2828 2864 2964 2622 2926 3130 3154 3126 3002 3131 3154 3126 2850 3127 3002 3131 2831 3112 2854 3115 2936 3132 2847 1544 1398 1543 2867 3109 2850 3127 3158 3031 2937 3133 3158 3031 2855 3028 2937 3133 2767 3033 2768 3044 2877 3129 2922 3110 2856 3002 2923 3134 2857 3054 2862 3080 2923 3134 2856 3002 2857 3054 2923 3134 2937 3133 2855 3028 2859 3036 2864 3001 2612 2886 2873 2940 2824 3084 2876 3107 2890 3135 2880 3095 2824 3084 2890 3135 2901 3117 2860 3008 2902 3136 2860 3008 2861 3059 2902 3136 2862 3080 2722 2978 3016 3137 2611 2765 2888 3018 2950 1524 2722 2978 2956 3069 3016 3137 2611 2765 2950 1524 2957 3090 2876 3107 2869 3111 2928 3138 2823 3102 2700 2973 2889 3139 2853 3097 2877 3129 2868 3140 2863 3108 2853 3097 2868 3140 2882 3041 2744 2988 1388 1509 2864 3001 2873 2940 2945 3141 2839 3096 2865 3128 2878 3142 2927 3143 2823 3102 2889 3139 2842 3100 2879 3123 2865 3128 2863 3108 2868 3140 2854 3115 2964 2622 2866 2970 2958 1532 2868 3140 2877 3129 2924 3144 2630 2884 2964 2622 2802 2929 2869 3111 2870 3093 2871 2516 2870 3093 2844 2520 2871 2516 2872 2967 2811 2891 2994 3145 2811 2891 2891 3083 2994 3145 2874 3125 2783 3020 2875 3146 2783 3020 2896 3060 2875 3146 2874 3125 2875 3146 2915 3147 2859 3036 2864 3001 2948 3148 3196 3113 2881 3114 2949 3149 2768 3044 2895 3067 2905 3150 2877 3129 2768 3044 2905 3150 2878 3142 2865 3128 2908 3151 2879 3123 2880 3095 2893 3152 2880 3095 2890 3135 2893 3152 2923 3134 2862 3080 3006 3153 2888 3018 2887 2869 2900 1526 2884 3122 2841 3062 2921 3154 2841 3062 1398 1543 2921 3154 2837 3119 2839 3096 2919 3155 2838 3121 2831 3112 2906 3156 3444 3157 2838 3121 2906 3156 2883 3082 2922 3110 2951 3158 2902 3136 2861 3059 2951 3158 2851 3103 2817 3072 2944 3159 2817 3072 2884 3122 2944 3159 2861 3059 2883 3082 2951 3158 2839 3096 2878 3142 2919 3155 2828 2864 2827 2768 2717 2660 3470 3160 2886 3118 2940 3161 3196 3113 2949 3149 3070 3162 2935 3163 3196 3113 3070 3162 2872 2967 2994 3145 2904 3164 2877 3129 2905 3150 2924 3144 2886 3118 2837 3119 2940 3161 2889 3139 2700 2973 2903 3165 2964 2622 2958 1532 2785 350 2700 2973 2892 3092 2903 3165 2890 3135 2876 3107 2966 3166 2876 3107 2928 3138 2966 3166 2937 3133 2859 3036 2985 3167 2864 3001 2945 3141 2948 3148 2892 3092 2901 3117 2903 3165 2836 3116 2835 3099 2898 3168 2572 2836 2970 2562 2827 2768 2936 3132 2854 3115 2918 3169 2879 3123 2893 3152 2932 3170 2854 3115 2868 3140 2918 3169 2865 3128 2879 3123 2932 3170 2908 3151 2865 3128 2932 3170 2980 1528 2894 1527 2909 3061 2905 3150 2895 3067 2925 3171 2895 3067 2848 3094 2925 3171 2896 3060 2813 3091 2971 3172 2875 3146 2896 3060 2971 3172 2831 3112 2936 3132 2906 3156 2869 3111 2871 2516 2897 2515 2928 3138 2869 3111 2897 2515 2900 1526 2920 1525 2888 3018 2915 3147 2875 3146 2971 3172 2828 2864 2717 2660 2964 2622 2845 3124 2836 3116 3036 3173 2836 3116 2898 3168 3036 3173 2851 3103 2944 3159 2881 3114 2830 3106 2823 3102 2927 3143 2951 3158 2922 3110 2931 3174 2887 2869 2899 2800 2900 1526 2868 3140 2924 3144 2918 3169 2777 2883 2991 2875 2910 1530 2903 3165 2901 3117 2987 3175 2894 1527 2900 1526 2899 2800 2901 3117 2902 3136 2987 3175 2905 3150 2925 3171 2924 3144 2939 3176 2907 3177 2997 3178 2884 3122 2921 3154 2914 1542 2891 3083 2882 3041 2614 2527 2878 3142 2908 3151 2919 3155 2777 2883 2910 1530 2912 2774 2894 1527 2899 2800 2909 3061 2837 3119 2919 3155 2940 3161 2893 3152 2890 3135 2911 3179 2890 3135 2966 3166 2911 3179 1398 1543 2914 1542 2921 3154 2918 3169 2924 3144 2961 3180 2798 1536 3020 1535 2942 3057 3444 3157 2906 3156 2993 3181 2959 3182 3444 3157 2993 3181 2848 3094 2874 3125 2952 3183 2874 3125 2915 3147 2952 3183 2925 3171 2848 3094 2952 3183 2971 3172 2813 3091 2916 3184 2813 3091 2845 3124 2916 3184 3038 1507 2882 3041 2917 1508 2882 3041 1388 1509 2917 1508 2918 3169 2961 3180 2972 3185 2936 3132 2918 3169 2972 3185 3470 3160 2940 3161 2907 3177 2971 3172 2916 3184 3025 3186 2919 3155 2908 3151 3001 3187 2981 1529 2912 2774 3011 3188 2912 2774 2910 1530 3011 3188 2873 2940 2957 3090 2945 3141 2987 3175 2902 3136 2929 3189 2931 3174 2922 3110 2955 3190 2908 3151 2932 3170 3026 3191 2923 3134 3006 3153 2955 3190 2922 3110 2923 3134 2955 3190 2925 3171 2952 3183 2960 3192 2924 3144 2925 3171 2960 3192 2926 3130 3002 3131 3206 3193 2928 3138 2897 2515 2965 2534 2966 3166 2928 3138 2965 2534 2850 3127 2937 3133 2943 3194 2932 3170 2893 3152 2933 3195 2980 1528 2909 3061 2930 3053 2893 3152 2911 3179 2933 3195 3026 3191 2932 3170 2933 3195 2995 3196 3206 3193 2996 3197 2934 3198 2935 3163 2941 3199 2935 3163 3070 3162 2941 3199 2936 3132 2972 3185 2906 3156 2862 3080 3016 3137 3200 3200 3006 3153 2862 3080 3200 3200 2907 3177 2940 3161 3081 3201 2907 3177 3081 3201 2997 3178 2889 3139 2903 3165 2938 3202 2927 3143 2889 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3134 3329 2763 3043 2736 3012 3193 3330 2935 3163 2934 3198 3193 3330 3066 3254 3200 3200 3135 3331 3078 3297 2358 2526 2352 2554 3202 2528 2357 2594 3135 3331 3138 3288 3066 3254 3137 3332 3135 3331 2357 2594 3137 3332 2357 2594 2423 2673 3137 3332 3066 3254 3135 3331 3137 3332 3145 2569 3138 3288 3142 3333 3138 3288 3137 3332 3142 3333 3137 3332 2423 2673 3142 3333 2423 2673 3139 2678 3142 3333 3139 2678 2533 2802 3142 3333 3140 2571 2346 2570 3141 3334 3142 3333 2533 2802 3141 3334 2533 2802 3144 2790 3141 3334 3144 2790 2523 2789 3141 3334 3145 2569 3142 3333 3141 3334 2346 2570 3145 2569 3141 3334 3140 2571 3141 3334 3146 3335 2465 2627 3140 2571 3146 3335 3149 2521 3062 3230 2349 2522 2523 2789 3147 2914 3146 3335 3141 3334 2523 2789 3146 3335 3146 3335 3147 2914 3150 3336 3147 2914 2750 3029 3150 3336 2465 2627 3146 3335 3150 3336 3153 2722 2465 2627 3150 3336 2859 3036 3151 2915 3152 3337 2638 2911 2859 3036 3152 3337 3151 2915 2524 2791 3152 3337 2524 2791 2638 2911 3152 3337 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81 173 1227 28 107 196 89 172 81 173 96 197 12419 186 104 195 113 193 82 185 1202 15 92 198 84 92 83 136 92 198 242 145 84 92 87 199 41 125 1214 126 85 200 86 192 79 189 87 199 119 148 41 125 202 201 71 169 63 159 87 199 1214 126 28 106 202 201 63 159 109 183 91 202 86 192 85 200 91 202 12419 186 88 188 91 202 88 188 86 192 101 203 85 200 79 189 101 203 79 189 99 190 68 171 69 114 60 153 142 204 87 199 28 106 142 204 28 106 27 103 235 177 1168 161 90 163 120 205 25 102 54 139 120 205 54 139 123 140 103 206 91 202 85 200 125 207 83 136 62 141 125 207 92 198 83 136 105 208 109 183 1197 184 104 195 12460 194 115 209 138 210 118 191 1205 179 105 208 1197 184 1 1 95 211 94 117 1210 118 95 211 1210 118 14541 212 95 211 14541 212 14565 213 102 214 104 195 96 197 102 214 91 202 103 206 97 215 62 141 1229 158 102 214 12419 186 91 202 102 214 96 197 12419 186 236 216 66 165 167 164 236 216 12281 217 66 165 117 218 99 190 98 219 105 208 1 1 1216 17 117 218 101 203 99 190 138 210 1205 179 1225 13 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