mirror of
https://github.com/wassname/pyrobolearn.git
synced 2026-09-09 11:31:38 +08:00
minor update in robot
This commit is contained in:
Brian Delhaisse
@@ -25,5 +25,5 @@ robot.print_info()
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# run simulator
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for _ in count():
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# robot.update_joint_slider()
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robot.move_joint_home_positions()
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robot.move_home_joint_positions()
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world.step(sleep_dt=1./240)
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@@ -25,5 +25,5 @@ robot.print_info()
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# run simulator
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for _ in count():
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# robot.update_joint_slider()
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robot.move_joint_home_positions()
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robot.move_home_joint_positions()
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world.step(sleep_dt=1./240)
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@@ -70,7 +70,7 @@ class Blackbird(BipedRobot):
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# self.feet = [self.get_link_ids(link) for link in ['left_toe', 'right_toe'] if link in self.link_names]
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#
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# # set joint angles to home position
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# self.set_joint_home_positions()
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# self.set_home_joint_positions()
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def get_home_joint_positions(self):
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"""Return the joint positions for the home position"""
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@@ -100,5 +100,5 @@ if __name__ == "__main__":
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# run simulator
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for _ in count():
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# robot.update_joint_slider()
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# robot.move_joint_home_positions()
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# robot.move_home_joint_positions()
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world.step(sleep_dt=1./240)
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@@ -70,7 +70,7 @@ class Cassie(BipedRobot):
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self.feet = [self.get_link_ids(link) for link in ['left_toe', 'right_toe'] if link in self.link_names]
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# set joint angles to home position
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self.set_joint_home_positions()
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self.set_home_joint_positions()
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def get_home_joint_positions(self):
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"""Return the joint positions for the home position"""
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@@ -100,5 +100,5 @@ if __name__ == "__main__":
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# run simulator
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for _ in count():
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# robot.update_joint_slider()
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robot.move_joint_home_positions()
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robot.move_home_joint_positions()
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world.step(sleep_dt=1./240)
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@@ -45,6 +45,24 @@ class Gripper(Robot):
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return self.fingers[finger_id]
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return self.fingers
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def open(self, factor):
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"""
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Open the gripper.
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Args:
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factor (float): float representing how much the gripper is open (1=completely open, 0=completely close).
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"""
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self.close(factor=1.-factor)
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def close(self, factor):
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"""
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Close the gripper. This has to be implemented in the child class.
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Args:
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factor (float): float representing how much the gripper is closed (1=completely close, 0=clompletely open).
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"""
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pass
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class ParallelGripper(Gripper):
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r"""Parallel Gripper
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@@ -2,7 +2,8 @@
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"""Provide the Hand abstract classes.
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"""
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from pyrobolearn.robots.robot import Robot
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from pyrobolearn.robots.gripper import AngularGripper
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__author__ = "Brian Delhaisse"
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__copyright__ = "Copyright 2018, PyRoboLearn"
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@@ -14,7 +15,7 @@ __email__ = "briandelhaisse@gmail.com"
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__status__ = "Development"
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class Hand(Robot):
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class Hand(AngularGripper):
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r"""Hand end-effector
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"""
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@@ -32,19 +33,6 @@ class Hand(Robot):
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"""
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super(Hand, self).__init__(simulator, urdf, position, orientation, fixed_base, scale)
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self.fingers = [] # list of fingers where each finger is a list of links/joints
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@property
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def num_fingers(self):
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"""Return the number of fingers on the hand"""
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return len(self.fingers)
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def get_finger(self, finger_id=None):
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"""Return the list of joint/link ids for the specified finger"""
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if finger_id:
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return self.fingers[finger_id]
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return self.fingers
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class TwoHand(Hand):
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r"""Two hand end-effectors
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@@ -88,5 +88,5 @@ if __name__ == "__main__":
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# run simulator
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for _ in count():
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# robot.update_joint_slider()
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robot.move_joint_home_positions()
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robot.move_home_joint_positions()
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world.step(sleep_dt=1./240)
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@@ -111,7 +111,7 @@ class Minitaur(QuadrupedRobot):
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self.set_foot_friction(frictions=foot_friction, feet_ids=self.feet)
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# set joint angles to home position
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self.set_joint_home_positions()
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self.set_home_joint_positions()
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##############
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# Properties #
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+66
-32
@@ -224,11 +224,25 @@ class Robot(ControllableBody):
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def step(self):
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"""Perform a step."""
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# update previous and current states
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self._prev_state = self._state
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self._prev_jacobian = self._jacobian
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self._state = {}
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self._jacobian = {}
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# sense
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self.sense()
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def sense(self):
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"""Run all the sensors."""
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for sensor in self.sensors:
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sensor()
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def act(self):
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"""Run all the actuators."""
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for actuator in self.actuators:
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actuator()
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########
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# Base #
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########
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@@ -493,7 +507,7 @@ class Robot(ControllableBody):
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########################
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def get_joint_ids(self, joint=None):
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"""
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r"""
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Return the joint id(s) from the name(s) or q index(ices).
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Note that the joint id is unique and goes from 0 to the total number of joints (including fixed joints),
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@@ -529,7 +543,7 @@ class Robot(ControllableBody):
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return get_index(joint)
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def get_joint_info(self, joint_ids=None):
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"""
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r"""
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Get information about the given joint(s).
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Note that this method returns a lot of information, so specific methods have been implemented that return
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@@ -572,7 +586,7 @@ class Robot(ControllableBody):
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return [self.sim.get_joint_info(self.id, joint_id) for joint_id in joint_ids]
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def get_joint_axes(self, joint_ids=None):
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"""
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r"""
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Get information about the given joint(s).
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Note that this method returns a lot of information, so specific methods have been implemented that return
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@@ -593,7 +607,7 @@ class Robot(ControllableBody):
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return self.sim.get_joint_axes(self.id, joint_ids)
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def get_q_indices(self, joint_ids=None):
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"""
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r"""
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Get the corresponding q index of the given joint(s).
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Args:
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@@ -611,7 +625,7 @@ class Robot(ControllableBody):
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return self.sim.get_q_indices(self.id, joint_ids)
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def get_joint_types(self, joint_ids=None, to_string=True):
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"""
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r"""
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Get the joint type as a string or integer.
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Args:
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@@ -631,7 +645,7 @@ class Robot(ControllableBody):
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return self.sim.get_joint_type_ids(self.id, joint_ids)
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def get_joint_limits(self, joint_ids=None):
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"""
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r"""
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Get the joint limits of the given joint(s).
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Args:
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@@ -649,7 +663,7 @@ class Robot(ControllableBody):
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return self.sim.get_joint_limits(self.id, joint_ids)
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def get_joint_dampings(self, joint_ids=None):
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"""
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r"""
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Get the damping coefficient of the given joint(s).
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Args:
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@@ -667,7 +681,7 @@ class Robot(ControllableBody):
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return self.sim.get_joint_dampings(self.id, joint_ids)
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def get_joint_frictions(self, joint_ids=None):
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"""
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r"""
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Get the friction coefficient of the given joint(s).
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Args:
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@@ -685,7 +699,7 @@ class Robot(ControllableBody):
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return self.sim.get_joint_frictions(self.id, joint_ids)
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def get_joint_max_forces(self, joint_ids=None):
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"""
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r"""
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Get the maximum force that can be applied on the given joint(s).
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Warning: Note that this is not automatically used in position, velocity, or torque control.
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@@ -705,7 +719,7 @@ class Robot(ControllableBody):
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return self.sim.get_joint_max_forces(self.id, joint_ids)
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def get_joint_max_velocities(self, joint_ids=None):
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"""
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r"""
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Get the maximum velocity that can be applied on the given joint(s).
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Warning: Note that this is not automatically used in position, velocity, or torque control.
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@@ -725,7 +739,7 @@ class Robot(ControllableBody):
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return self.sim.get_joint_max_velocities(self.id, joint_ids)
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def get_joint_names(self, joint_ids=None):
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"""
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r"""
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Return the name of the given joint(s).
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Args:
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@@ -742,7 +756,7 @@ class Robot(ControllableBody):
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return self.sim.get_joint_names(self.id, joint_ids)
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def get_joint_states(self, joint_ids=None):
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"""
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r"""
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Get the state of the given joint(s).
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Args:
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@@ -764,7 +778,7 @@ class Robot(ControllableBody):
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return self.sim.get_joint_states(self.id, joint_ids)
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def get_joint_positions(self, joint_ids=None):
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"""
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r"""
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Get the position of the given joint(s).
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See Also: :func:`~Robot.get_augmented_joint_positions`.
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@@ -794,7 +808,7 @@ class Robot(ControllableBody):
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return q[self.get_q_indices(joint_ids)]
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def get_augmented_joint_positions(self, joint_ids=None):
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"""
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r"""
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Get the augmented joint position vector of the specified joint(s). If the robot has a floating base, the first
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6 joints are the 3D world position and orientation (expressed as roll-pitch-yaw angles) of the robot base.
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If the robot has a fixed base, this is the same as calling :func:`~Robot.get_joint_positions`.
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@@ -817,7 +831,7 @@ class Robot(ControllableBody):
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return np.concatenate((np.concatenate((pos, rpy)), np.asarray(q).reshape(-1)))
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def get_joint_velocities(self, joint_ids=None):
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"""
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r"""
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Get the velocity of the given joint(s).
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See Also: :func:`~Robot.get_augmented_joint_velocities`.
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@@ -847,7 +861,7 @@ class Robot(ControllableBody):
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return dq[self.get_q_indices(joint_ids)]
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def get_augmented_joint_velocities(self, joint_ids=None):
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"""
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r"""
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Get the augmented joint velocity vector of the specified joint(s). If the robot has a floating base, the first
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6 joints are the 3D world linear and angular velocities of the robot base. If the robot has a fixed base, this
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is the same as calling :func:`~Robot.get_joint_velocities`.
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@@ -904,7 +918,7 @@ class Robot(ControllableBody):
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# return accelerations[q_idx]
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def get_joint_accelerations(self, joint_ids=None): # TODO: fix this!!
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"""
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r"""
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Get the acceleration of the specified joint(s). If the simulator doesn't provide the joint accelerations, this
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is computed using finite difference :math:`\ddot{q}(t) = \frac{\dot{q}(t) - \dot{q}(t-dt)}{dt}`.
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@@ -974,7 +988,7 @@ class Robot(ControllableBody):
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return ddq[q_idx]
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def get_augmented_joint_accelerations(self, joint_ids=None):
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"""
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r"""
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Get the augmented joint acceleration vector of the specified joint(s). If the robot has a floating base, the
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first 6 joints are the 3D world linear and angular accelerations of the robot base. If the robot has a fixed
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base, this is the same as calling :func:`~Robot.get_joint_accelerations`.
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@@ -996,7 +1010,7 @@ class Robot(ControllableBody):
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return np.concatenate((acceleration, np.asarray(ddq).reshape(-1)))
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def get_joint_reaction_forces(self, joint_ids=None):
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"""
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r"""
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Return the joint reaction forces at the given joint. Note that the torque sensor must be enabled, otherwise
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it will always return [0,0,0,0,0,0].
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@@ -1015,7 +1029,7 @@ class Robot(ControllableBody):
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return self.sim.get_joint_reaction_forces(self.id, joint_ids)
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def get_joint_torques(self, joint_ids=None):
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"""
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r"""
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Get the applied torque on the given joint(s).
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Args:
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@@ -1033,7 +1047,7 @@ class Robot(ControllableBody):
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return self.sim.get_joint_torques(self.id, joint_ids)
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def get_joint_powers(self, joint_ids=None):
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"""
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r"""
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Return the applied power at the given joint(s). Power = torque * velocity.
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Args:
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@@ -1052,7 +1066,7 @@ class Robot(ControllableBody):
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# TODO: max_velocities and forces
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def set_joint_positions(self, positions, joint_ids=None, kp=None, kd=None, velocities=None, forces=None):
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"""
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r"""
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Set the position of the given joint(s) (using position control).
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Args:
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@@ -1071,7 +1085,7 @@ class Robot(ControllableBody):
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# TODO: max_velocities and forces
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def set_joint_velocities(self, velocities, joint_ids=None, forces=None, max_velocity=None):
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"""
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r"""
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Set the velocity of the given joint(s) (using velocity control).
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Args:
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@@ -1089,7 +1103,7 @@ class Robot(ControllableBody):
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# TODO: max_acceleration
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def set_joint_accelerations(self, accelerations, joint_ids=None, max_acceleration=True):
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"""
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r"""
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Set the acceleration of the given joint(s) (using force control). This is achieved by performing inverse
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dynamic which given the joint accelerations compute the joint torques to be applied.
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@@ -1133,7 +1147,7 @@ class Robot(ControllableBody):
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self.set_joint_torques(torques, joint_ids)
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def set_joint_torques(self, torques=None, joint_ids=None):
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"""
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r"""
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Set the torque to the given joint(s) (using force/torque control).
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Args:
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@@ -1186,7 +1200,7 @@ class Robot(ControllableBody):
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self.sim.set_joint_motor_control(self.id, joint_ids, control_mode, **kwargs)
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def disable_motor(self, joint_ids=None):
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"""
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r"""
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Disable the motor associated with the given joint(s).
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Args:
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@@ -1198,7 +1212,7 @@ class Robot(ControllableBody):
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self.sim.set_joint_motor_control(self.id, joint_ids, self.sim.VELOCITY_CONTROL, forces=[0] * len(joint_ids))
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def reset_joint_states(self, q=None, dq=None, joint_ids=None):
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"""
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r"""
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Reset the state of the robot.
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Warnings: This is only valid in the simulator, and note that calling this method overrides all physics
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@@ -1233,22 +1247,22 @@ class Robot(ControllableBody):
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self.sim.reset_joint_state(self.id, joint_id, position, velocity)
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def get_home_joint_positions(self):
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"""
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r"""
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Return the joint positions for the home position defined by the user. This method has to be overwritten in
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the child class.
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"""
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return np.zeros(self.num_actuated_joints)
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def set_joint_home_positions(self):
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"""
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def set_home_joint_positions(self):
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r"""
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Set the joints to their home position defined by the user.
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"""
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joint_positions = self.get_home_joint_positions()
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if joint_positions is not None:
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self.reset_joint_states(joint_positions)
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def move_joint_home_positions(self):
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"""
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def move_home_joint_positions(self):
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r"""
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Move the joints to their home position defined by the user. This method can be overwritten in the child
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class.
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@@ -1262,6 +1276,26 @@ class Robot(ControllableBody):
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def set_joint_init_positions(self):
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self.set_joint_positions(self.init_joint_positions)
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def get_joint_configurations(self, name=None):
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"""
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If no name is specified, return the list of possible joint configurations. If a name is specified, it returns
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the corresponding joint ids and positions to move the robot to.
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This method has to be implemented in the child class.
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Args:
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name (str, None): name of the joint configuration to move the robot to.
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Returns:
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if name is None:
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list:
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str: name of each joint configuration.
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else:
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np.array[M]: joint ids to move.
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np.array[M]: joint positions.
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"""
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pass
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##################################
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# Links (task/operational space) #
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##################################
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