From 68912abfdf680940d831e41a45d9fd958d2d08aa Mon Sep 17 00:00:00 2001 From: JustaGist Date: Wed, 11 Sep 2024 11:10:41 +0100 Subject: [PATCH] refactor pbik from ik reference planner --- .../05_additional_features_and_components.py | 21 +- pixi.lock | 1402 +++++++++++++---- pyproject.toml | 16 +- pyrcf/components/controllers/README.md | 4 +- pyrcf/components/local_planners/__init__.py | 2 +- ...tor.py => pb_ik_reference_interpolator.py} | 41 +- ...polator_position_controller_manipulator.py | 25 +- 7 files changed, 1157 insertions(+), 354 deletions(-) rename pyrcf/components/local_planners/{ik_reference_interpolator.py => pb_ik_reference_interpolator.py} (75%) diff --git a/examples/tutorials/05_additional_features_and_components.py b/examples/tutorials/05_additional_features_and_components.py index f3b6549..1dc2984 100644 --- a/examples/tutorials/05_additional_features_and_components.py +++ b/examples/tutorials/05_additional_features_and_components.py @@ -25,7 +25,7 @@ ** Loop debuggers ** Control Loop Debuggers are components that can intercept and read data passed by the components in the control loop. These components read data (WILL/SHOULD NOT modify) -and can be used for visualising/debugging etc. +and can be used for visualising/debugging etc. 6. There are two debuggers used in this example: the `PlotjugglerLoopDebugger` @@ -52,7 +52,7 @@ from pyrcf.components.robot_interfaces.simulation import PybulletRobot from pyrcf.control_loop import MinimalCtrlLoop -from pyrcf.components.local_planners import IKReferenceInterpolator +from pyrcf.components.local_planners import PybulletIKReferenceInterpolator from pyrcf.components.global_planners.ui_reference_generators import ( PybulletGUIGlobalPlannerInterface, ) @@ -97,16 +97,13 @@ # This planner uses the PybulletIKInterface to solve inverse kinematics for # the target pose, and interpolates the joint targets from current to desired # values using a second order filter. - local_planner = IKReferenceInterpolator( - # create `PybulletIKInterface` object for this robot for solving its IK. - pybullet_ik_interface=PybulletIKInterface( - urdf_path=robot._sim_robot.urdf_path, - floating_base=False, - starting_base_position=state.state_estimates.pose.position, - starting_base_orientation=state.state_estimates.pose.orientation, - starting_joint_positions=state.joint_states.joint_positions, - joint_names_order=state.joint_states.joint_names, - ), + local_planner = PybulletIKReferenceInterpolator( + urdf_path=robot._sim_robot.urdf_path, + floating_base=False, + starting_base_position=state.state_estimates.pose.position, + starting_base_orientation=state.state_estimates.pose.orientation, + starting_joint_positions=state.joint_states.joint_positions, + joint_names_order=state.joint_states.joint_names, filter_gain=0.03, blind_mode=True, ) diff --git a/pixi.lock b/pixi.lock index 9841196..157e240 100644 --- a/pixi.lock +++ b/pixi.lock @@ -1,5 +1,95 @@ version: 5 environments: + crocoddyl: + channels: + - url: https://conda.anaconda.org/conda-forge/ + indexes: + - https://pypi.org/simple + packages: + linux-64: + - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2 + - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2 + - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda + - 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libgcc-ng >=12 + license: LGPL-2.1 and GPL-2.0 + size: 418368 + timestamp: 1660346797927 - kind: pypi name: yourdfpy version: 0.0.56 @@ -2970,10 +3747,3 @@ packages: sha256: 6b1a1de53338646e8c8405803cffb659e8eb7bb02fff4c9be62a7acfac8370c9 requires_dist: - pyzmq -- kind: pypi - name: zmq - version: 0.0.0 - url: https://files.pythonhosted.org/packages/6e/78/833b2808793c1619835edb1a4e17a023d5d625f4f97ff25ffff986d1f472/zmq-0.0.0.tar.gz - sha256: 6b1a1de53338646e8c8405803cffb659e8eb7bb02fff4c9be62a7acfac8370c9 - requires_dist: - - pyzmq diff --git a/pyproject.toml b/pyproject.toml index 71461bb..e7cbe3a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -4,6 +4,13 @@ version = "0.0.6" authors = [{ name = "Saif Sidhik", email = "mail@saifsidhik.page" }] description = "A Python Robot Control Framework for quickly prototyping control algorithms for different robot embodiments." readme = "README.md" +keywords = [ + "python robot control framework", + "robotics", + "control framework", + "legged robot", + "motion planner", +] requires-python = ">= 3.10" dependencies = [ "pybullet>=3.2.6,<4", @@ -15,7 +22,8 @@ dependencies = [ "numpy>=1.26", "inputs>=0.5", "numpy-quaternion>=2023.0.4", - "zmq>=0.0.0", "tk", + "zmq>=0.0.0", + "tk", ] [build-system] @@ -59,6 +67,10 @@ test = [ "coverage>=7.2.7,<=7.6.0", ] docs = ["sphinxcontrib-napoleon", "sphinx-rtd-theme", "sphinx-autoapi"] +torch = [ + "torch", +] # If cuda required, install torch manually instead of using this optional dependency +crocoddyl = ["crocoddyl"] [project.urls] Source = "https://github.com/justagist/pyrcf" @@ -71,6 +83,8 @@ py310 = ["py310", "test"] py311 = ["py311", "test"] py312 = ["py312", "test"] docs = ["py312", "docs"] +torch = ["py312", "torch"] +crocoddyl = ["py312", "crocoddyl"] devenv = { features = [ "devenv", ], solve-group = "devenv", no-default-feature = true } diff --git a/pyrcf/components/controllers/README.md b/pyrcf/components/controllers/README.md index 050646c..f688026 100644 --- a/pyrcf/components/controllers/README.md +++ b/pyrcf/components/controllers/README.md @@ -25,7 +25,7 @@ Joint PD controller for joint position and velocity tracking. - Compatible LocalPlanner Classes: - `JointReferenceInterpolator` - - `IKReferenceInterpolator` + - `PybulletIKReferenceInterpolator` - `BlindForwardingPlanner` (if applicable) ### `GravityCompensatedPDController` @@ -50,5 +50,5 @@ Joint PD controller for joint position and velocity tracking with active gravity - Compatible LocalPlanner Classes: - `JointReferenceInterpolator` - - `IKReferenceInterpolator` + - `PybulletIKReferenceInterpolator` - `BlindForwardingPlanner` (if applicable) diff --git a/pyrcf/components/local_planners/__init__.py b/pyrcf/components/local_planners/__init__.py index dd7d016..b69d806 100644 --- a/pyrcf/components/local_planners/__init__.py +++ b/pyrcf/components/local_planners/__init__.py @@ -4,4 +4,4 @@ from .local_planner_base import LocalPlannerBase, DummyLocalPlanner from .blind_forwarding_planner import BlindForwardingPlanner from .joint_reference_interpolator import JointReferenceInterpolator -from .ik_reference_interpolator import IKReferenceInterpolator +from .pb_ik_reference_interpolator import PybulletIKReferenceInterpolator diff --git a/pyrcf/components/local_planners/ik_reference_interpolator.py b/pyrcf/components/local_planners/pb_ik_reference_interpolator.py similarity index 75% rename from pyrcf/components/local_planners/ik_reference_interpolator.py rename to pyrcf/components/local_planners/pb_ik_reference_interpolator.py index 5991843..5c45b09 100644 --- a/pyrcf/components/local_planners/ik_reference_interpolator.py +++ b/pyrcf/components/local_planners/pb_ik_reference_interpolator.py @@ -16,24 +16,41 @@ ) -class IKReferenceInterpolator(LocalPlannerBase): - """Solves IK for given end-effector reference and interpolates joint references.""" +class PybulletIKReferenceInterpolator(LocalPlannerBase): + """Solves IK using PybulletIKInterface for given end-effector reference and interpolates joint references.""" def __init__( self, - pybullet_ik_interface: PybulletIKInterface, + urdf_path: str, + floating_base: bool = False, + starting_base_position: Vector3D = np.zeros(3), + starting_base_orientation: QuatType = np.array([0, 0, 0, 1]), + starting_joint_positions: List[float] = None, + joint_names_order: List[str] = None, filter_gain=0.05, blind_mode: bool = True, ee_names: List[str] = None, max_constraint_force: float = 10000, solver_erp: float = None, + **pb_ik_kwargs, ): """A "local planner" that simply solves IK for given end-effector reference - and interpolates joint references to achieve the target EE pose. + and interpolates joint references to achieve the target EE pose. Uses + PybulletIKInterface from pybullet_robot package to solve IK. Args: - pybullet_ik_interface (PybulletIKInterface): Pre-defined PybulletIKInterface - object that can be used for solving IK for this robot. + urdf_path (str): Path to urdf of the robot. + floating_base (bool, optional): Whether the robot has fixed base or floating base. + Defaults to False. + starting_base_position (Vector3D, optional): Starting base position of the robot. + Defaults to np.zeros(3). + starting_base_orientation (QuatType, optional): Starting base orientation of the robot. + Defaults to np.array([0, 0, 0, 1]). + starting_joint_positions (List[float], optional): Starting joint positions of the + robot. Defaults to None. + joint_names_order (List[str], optional): Order of joint names to be used. This will be + the order of the output of the IK as well. Defaults to None (use default order from + BulletRobot instance when loading this urdf). filter_gain (float, optional): Smoothing gain for second-order filter interpolator. Defaults to 0.05. blind_mode (bool, optional): If set to False, will not use joint state @@ -46,8 +63,18 @@ def __init__( to pull the link. Defaults to 10000 (setting `None` will use pybullet default). solver_erp (float, optional): Error reduction parameter for this constraint. Defaults to None (use pybullet default). + **pb_ik_kwargs (optional): Additional keywork arguments to be used while creating the + PybulletIKInterface object. """ - self._pb_ik = pybullet_ik_interface + self._pb_ik = PybulletIKInterface( + urdf_path=urdf_path, + floating_base=floating_base, + starting_base_position=starting_base_position, + starting_base_orientation=starting_base_orientation, + starting_joint_positions=starting_joint_positions, + joint_names_order=joint_names_order, + **pb_ik_kwargs, + ) self._alpha = filter_gain self._blind_mode = blind_mode self._max_force = max_constraint_force diff --git a/test_scripts/ik_interpolator_position_controller_manipulator.py b/test_scripts/ik_interpolator_position_controller_manipulator.py index 566c3c1..245cdd0 100644 --- a/test_scripts/ik_interpolator_position_controller_manipulator.py +++ b/test_scripts/ik_interpolator_position_controller_manipulator.py @@ -9,9 +9,9 @@ 2. This demo uses a pybullet GUI interface to set end-effector targets. This is implemented as a `GlobalPlanner` (`UIBase`) called `PybulletGUIGlobalPlannerInterface`. -3. The local planner is `IKReferenceInterpolator` which uses a second order filter +3. The local planner is `PybulletIKReferenceInterpolator` which uses a second order filter to smoothly reach the joint positions for reaching the end-effector target set using -the GUI sliders. IK is solved using the `PybulletIKInterface`. +the GUI sliders. 4. The controller is a joint position (and velocity) tracking controller. @@ -22,11 +22,9 @@ that shows the actual output from the planner (useful for controller tuning/debugging). """ -from pybullet_robot import PybulletIKInterface - from pyrcf.components.robot_interfaces.simulation import PybulletRobot from pyrcf.control_loop import MinimalCtrlLoop -from pyrcf.components.local_planners import IKReferenceInterpolator +from pyrcf.components.local_planners import PybulletIKReferenceInterpolator from pyrcf.components.global_planners.ui_reference_generators import ( PybulletGUIGlobalPlannerInterface, ) @@ -68,16 +66,13 @@ # create a local planner that interpolates joint positions (using second-order # filter) to reach the end-effector targets from global planner (GUI sliders) - local_planner = IKReferenceInterpolator( - # create `PybulletIKInterface` object for this robot for solving its IK. - pybullet_ik_interface=PybulletIKInterface( - urdf_path=robot._sim_robot.urdf_path, - floating_base=False, - starting_base_position=state.state_estimates.pose.position, - starting_base_orientation=state.state_estimates.pose.orientation, - starting_joint_positions=state.joint_states.joint_positions, - joint_names_order=state.joint_states.joint_names, - ), + local_planner = PybulletIKReferenceInterpolator( + urdf_path=robot._sim_robot.urdf_path, + floating_base=False, + starting_base_position=state.state_estimates.pose.position, + starting_base_orientation=state.state_estimates.pose.orientation, + starting_joint_positions=state.joint_states.joint_positions, + joint_names_order=state.joint_states.joint_names, filter_gain=0.03, blind_mode=True, )