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Implement faster array versions of PyBullet: getJointStatesMultiDof, getLinkStates, setJointMotorControlMultiDofArray, resetJointStatesMultiDof,

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Implement StablePD in C++ through setJointMotorControlMultiDofArray method for pybullet_envs.deep_mimic, see testHumanoid.py and examples/pybullet/examples/humanoidMotionCapture.py
Minor fix in ChromeTraceUtil in case startTime>endTime (why would it happen?)
This commit is contained in:
Erwin Coumans
2019-07-21 13:08:22 -07:00
parent dff277ad7b
commit 39a4e8dcd9
12 changed files with 1503 additions and 171 deletions
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10
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -856,7 +856,17 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2Internal(b3S
for (int i = 0; i < MAX_DEGREE_OF_FREEDOM; i++)
{
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[i] = 0;
}
for (int i = 0; i < 7; i++)
{
command->m_sendDesiredStateCommandArgument.m_desiredStateQ[i] = 0;
command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[i] = 0;
command->m_sendDesiredStateCommandArgument.m_Kp[i] = 0;
command->m_sendDesiredStateCommandArgument.m_Kd[i] = 0;
command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 0;
}
command->m_sendDesiredStateCommandArgument.m_desiredStateQ[3] = 1;
return (b3SharedMemoryCommandHandle)command;
}

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -472,6 +472,7 @@ extern "C"
///Only use when controlMode is CONTROL_MODE_VELOCITY
B3_SHARED_API int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); /* find a better name for dof/q/u indices, point to b3JointInfo */
B3_SHARED_API int b3JointControlSetDesiredVelocityMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, const double* velocity, int dofCount);
B3_SHARED_API int b3JointControlSetDesiredVelocityMultiDof2(b3SharedMemoryCommandHandle commandHandle, int dofIndex, const double* velocity, int dofCount);
B3_SHARED_API int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
B3_SHARED_API int b3JointControlSetDesiredForceTorqueMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* forces, int dofCount);

311
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1788,32 +1788,11 @@ struct PhysicsServerCommandProcessorInternalData
#ifdef STATIC_LINK_SPD_PLUGIN
b3HashMap<btHashPtr, cRBDModel*> m_rbdModels;
cRBDModel* findOrCreateRBDModel(btMultiBody* multiBody, const double* jointPositionsQ, const double* jointVelocitiesQdot)
static void convertPose(const btMultiBody* multiBody, const double* jointPositionsQ, const double* jointVelocitiesQdot, Eigen::VectorXd& pose, Eigen::VectorXd&vel)
{
cRBDModel* rbdModel = 0;
cRBDModel** rbdModelPtr = m_rbdModels.find(multiBody);
if (rbdModelPtr)
{
rbdModel = *rbdModelPtr;
}
else
{
rbdModel = new cRBDModel();
Eigen::MatrixXd bodyDefs;
Eigen::MatrixXd jointMat;
btExtractJointBodyFromBullet(multiBody, bodyDefs, jointMat);
btVector3 grav = m_dynamicsWorld->getGravity();
tVector3 gravity(grav[0], grav[1], grav[2], 0);
rbdModel->Init(jointMat, bodyDefs, gravity);
m_rbdModels.insert(multiBody, rbdModel);
}
//sync pose and vel
int baseDofQ = multiBody->hasFixedBase() ? 0 : 7;
int baseDofQdot = multiBody->hasFixedBase() ? 0 : 6;
Eigen::VectorXd pose, vel;
pose.resize(7 + multiBody->getNumPosVars());
vel.resize(7 + multiBody->getNumPosVars()); //??
@@ -1875,46 +1854,75 @@ struct PhysicsServerCommandProcessorInternalData
{
switch (multiBody->getLink(l).m_jointType)
{
case btMultibodyLink::eRevolute:
case btMultibodyLink::ePrismatic:
{
pose[dof++] = jointPositionsQ[dofsrc++];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
break;
}
case btMultibodyLink::eSpherical:
{
double quatXYZW[4];
quatXYZW[0] = jointPositionsQ[dofsrc++];
quatXYZW[1] = jointPositionsQ[dofsrc++];
quatXYZW[2] = jointPositionsQ[dofsrc++];
quatXYZW[3] = jointPositionsQ[dofsrc++];
case btMultibodyLink::eRevolute:
case btMultibodyLink::ePrismatic:
{
pose[dof++] = jointPositionsQ[dofsrc++];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
break;
}
case btMultibodyLink::eSpherical:
{
double quatXYZW[4];
quatXYZW[0] = jointPositionsQ[dofsrc++];
quatXYZW[1] = jointPositionsQ[dofsrc++];
quatXYZW[2] = jointPositionsQ[dofsrc++];
quatXYZW[3] = jointPositionsQ[dofsrc++];
pose[dof++] = quatXYZW[3];
pose[dof++] = quatXYZW[0];
pose[dof++] = quatXYZW[1];
pose[dof++] = quatXYZW[2];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
break;
}
case btMultibodyLink::eFixed:
{
break;
}
default:
{
assert(0);
}
pose[dof++] = quatXYZW[3];
pose[dof++] = quatXYZW[0];
pose[dof++] = quatXYZW[1];
pose[dof++] = quatXYZW[2];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
break;
}
case btMultibodyLink::eFixed:
{
break;
}
default:
{
assert(0);
}
}
}
}
cRBDModel* findOrCreateRBDModel(btMultiBody* multiBody, const double* jointPositionsQ, const double* jointVelocitiesQdot)
{
cRBDModel* rbdModel = 0;
cRBDModel** rbdModelPtr = m_rbdModels.find(multiBody);
if (rbdModelPtr)
{
rbdModel = *rbdModelPtr;
}
else
{
rbdModel = new cRBDModel();
Eigen::MatrixXd bodyDefs;
Eigen::MatrixXd jointMat;
btExtractJointBodyFromBullet(multiBody, bodyDefs, jointMat);
btVector3 grav = m_dynamicsWorld->getGravity();
tVector3 gravity(grav[0], grav[1], grav[2], 0);
rbdModel->Init(jointMat, bodyDefs, gravity);
m_rbdModels.insert(multiBody, rbdModel);
}
//sync pose and vel
Eigen::VectorXd pose, vel;
PhysicsServerCommandProcessorInternalData::convertPose(multiBody, jointPositionsQ, jointVelocitiesQdot, pose, vel);
btVector3 gravOrg = m_dynamicsWorld->getGravity();
tVector grav(gravOrg[0], gravOrg[1], gravOrg[2], 0);
rbdModel->SetGravity(grav);
rbdModel->Update(pose, vel);
{
BT_PROFILE("rbdModel::Update");
rbdModel->Update(pose, vel);
}
return rbdModel;
}
@@ -6168,6 +6176,189 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
break;
}
#ifdef STATIC_LINK_SPD_PLUGIN
case CONTROL_MODE_STABLE_PD:
{
int posVal = body->m_multiBody->getNumPosVars();
btAlignedObjectArray<double> zeroVel;
int dof = 7 + posVal;
zeroVel.resize(dof);
//clientCmd.m_sendDesiredStateCommandArgument.
//current positions and velocities
btAlignedObjectArray<double> jointPositionsQ;
btAlignedObjectArray<double> jointVelocitiesQdot;
btTransform baseTr = body->m_multiBody->getBaseWorldTransform();
#if 1
jointPositionsQ.push_back(baseTr.getOrigin()[0]);
jointPositionsQ.push_back(baseTr.getOrigin()[1]);
jointPositionsQ.push_back(baseTr.getOrigin()[2]);
jointPositionsQ.push_back(baseTr.getRotation()[0]);
jointPositionsQ.push_back(baseTr.getRotation()[1]);
jointPositionsQ.push_back(baseTr.getRotation()[2]);
jointPositionsQ.push_back(baseTr.getRotation()[3]);
jointVelocitiesQdot.push_back(body->m_multiBody->getBaseVel()[0]);
jointVelocitiesQdot.push_back(body->m_multiBody->getBaseVel()[1]);
jointVelocitiesQdot.push_back(body->m_multiBody->getBaseVel()[2]);
jointVelocitiesQdot.push_back(body->m_multiBody->getBaseOmega()[0]);
jointVelocitiesQdot.push_back(body->m_multiBody->getBaseOmega()[1]);
jointVelocitiesQdot.push_back(body->m_multiBody->getBaseOmega()[2]);
jointVelocitiesQdot.push_back(0);
#else
for (int i = 0; i < 7; i++)
{
jointPositionsQ.push_back(0);
jointVelocitiesQdot.push_back(0);
}
jointPositionsQ[6] = 1;
#endif
for (int i = 0; i < body->m_multiBody->getNumLinks(); i++)
{
switch (body->m_multiBody->getLink(i).m_jointType)
{
case btMultibodyLink::eSpherical:
{
btScalar* jointPos = body->m_multiBody->getJointPosMultiDof(i);
jointPositionsQ.push_back(jointPos[0]);
jointPositionsQ.push_back(jointPos[1]);
jointPositionsQ.push_back(jointPos[2]);
jointPositionsQ.push_back(jointPos[3]);
btScalar* jointVel = body->m_multiBody->getJointVelMultiDof(i);
jointVelocitiesQdot.push_back(jointVel[0]);
jointVelocitiesQdot.push_back(jointVel[1]);
jointVelocitiesQdot.push_back(jointVel[2]);
jointVelocitiesQdot.push_back(0);
break;
}
case btMultibodyLink::ePrismatic:
case btMultibodyLink::eRevolute:
{
btScalar* jointPos = body->m_multiBody->getJointPosMultiDof(i);
jointPositionsQ.push_back(jointPos[0]);
btScalar* jointVel = body->m_multiBody->getJointVelMultiDof(i);
jointVelocitiesQdot.push_back(jointVel[0]);
break;
}
case btMultibodyLink::eFixed:
{
//skip
break;
}
default:
{
b3Error("Unsupported joint type");
btAssert(0);
}
}
}
cRBDModel* rbdModel = 0;
{
BT_PROFILE("findOrCreateRBDModel");
rbdModel = m_data->findOrCreateRBDModel(body->m_multiBody, &jointPositionsQ[0], &jointVelocitiesQdot[0]);
}
if (rbdModel)
{
int num_dof = jointPositionsQ.size();
const Eigen::VectorXd& pose = rbdModel->GetPose();
const Eigen::VectorXd& vel = rbdModel->GetVel();
Eigen::Map<Eigen::VectorXd> mKp((double*)clientCmd.m_sendDesiredStateCommandArgument.m_Kp, num_dof);
Eigen::Map<Eigen::VectorXd> mKd((double*)clientCmd.m_sendDesiredStateCommandArgument.m_Kd, num_dof);
Eigen::Map<Eigen::VectorXd> maxForce((double*)clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque, num_dof);
Eigen::DiagonalMatrix<double, Eigen::Dynamic> Kp_mat = mKp.asDiagonal();
Eigen::DiagonalMatrix<double, Eigen::Dynamic> Kd_mat = mKd.asDiagonal();
Eigen::MatrixXd M = rbdModel->GetMassMat();
//rbdModel->UpdateBiasForce();
const Eigen::VectorXd& C = rbdModel->GetBiasForce();
M.diagonal() += m_data->m_physicsDeltaTime * mKd;
Eigen::VectorXd pose_inc;
const Eigen::MatrixXd& joint_mat = rbdModel->GetJointMat();
{
BT_PROFILE("cKinTree::VelToPoseDiff");
cKinTree::VelToPoseDiff(joint_mat, rbdModel->GetPose(), rbdModel->GetVel(), pose_inc);
}
//tar_pose needs to be reshuffled?
Eigen::VectorXd tar_pose, tar_vel;
{
BT_PROFILE("convertPose");
PhysicsServerCommandProcessorInternalData::convertPose(body->m_multiBody,
(double*)clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ,
(double*)clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot,
tar_pose, tar_vel);
}
pose_inc = pose+m_data->m_physicsDeltaTime * pose_inc;
{
BT_PROFILE("cKinTree::PostProcessPose");
cKinTree::PostProcessPose(joint_mat, pose_inc);
}
Eigen::VectorXd pose_err;
{
BT_PROFILE("cKinTree::CalcVel");
cKinTree::CalcVel(joint_mat, pose_inc, tar_pose, 1, pose_err);
}
for (int i = 0; i < 7; i++)
{
pose_err[i] = 0;
}
Eigen::VectorXd vel_err = tar_vel - vel;
Eigen::VectorXd acc;
{
BT_PROFILE("acc");
acc = Kp_mat * pose_err + Kd_mat * vel_err - C;
}
{
BT_PROFILE("M.ldlt().solve");
acc = M.ldlt().solve(acc);
}
Eigen::VectorXd out_tau = Eigen::VectorXd::Zero(num_dof);
out_tau += Kp_mat * pose_err + Kd_mat * (vel_err - m_data->m_physicsDeltaTime * acc);
//clamp the forces
out_tau = out_tau.cwiseMax(-maxForce);
out_tau = out_tau.cwiseMin(maxForce);
//apply the forces
int torqueIndex = 7;
for (int link = 0; link < mb->getNumLinks(); link++)
{
int dofCount = mb->getLink(link).m_dofCount;
int dofOffset = mb->getLink(link).m_dofOffset;
if (dofCount == 3)
{
for (int dof = 0; dof < 3; dof++)
{
double torque = out_tau[torqueIndex+ dof];
mb->addJointTorqueMultiDof(link, dof, torque);
}
torqueIndex += 4;
}
if (dofCount == 1)
{
double torque = out_tau[torqueIndex];
mb->addJointTorqueMultiDof(link, 0, torque);
torqueIndex++;
}
}
}
break;
}
#endif
default:
{
b3Warning("m_controlMode not implemented yet");
@@ -9127,6 +9318,7 @@ bool PhysicsServerCommandProcessor::processConfigureOpenGLVisualizerCommand(cons
return hasStatus;
}
bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
@@ -9352,7 +9544,7 @@ bool PhysicsServerCommandProcessor::processCalculateMassMatrixCommand(const stru
{
bool hasStatus = true;
BT_PROFILE("CMD_CALCULATE_MASS_MATRIX");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_FAILED;
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateMassMatrixArguments.m_bodyUniqueId);
@@ -9370,8 +9562,9 @@ bool PhysicsServerCommandProcessor::processCalculateMassMatrixCommand(const stru
&zeroVel[0]);
if (rbdModel)
{
Eigen::MatrixXd out_mass;
cRBDUtil::BuildMassMat(*rbdModel, out_mass);
//Eigen::MatrixXd out_mass;
//cRBDUtil::BuildMassMat(*rbdModel, out_mass);
const Eigen::MatrixXd& out_mass = rbdModel->GetMassMat();
int skipDofs = 0;// 7 - baseDofQ;
int totDofs = dof;
serverCmd.m_massMatrixResultArgs.m_dofCount = totDofs-skipDofs;

1
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -772,6 +772,7 @@ enum
CONTROL_MODE_TORQUE,
CONTROL_MODE_POSITION_VELOCITY_PD,
CONTROL_MODE_PD, // The standard PD control implemented as soft constraint.
CONTROL_MODE_STABLE_PD,
};
///flags for b3ApplyExternalTorque and b3ApplyExternalForce

27
examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
View File

@@ -1,7 +1,7 @@
#include "RBDModel.h"
#include "RBDUtil.h"
#include "KinTree.h"
#include "LinearMath/btQuickprof.h"
cRBDModel::cRBDModel()
{
}
@@ -38,11 +38,26 @@ void cRBDModel::Update(const Eigen::VectorXd& pose, const Eigen::VectorXd& vel)
SetPose(pose);
SetVel(vel);
UpdateJointSubspaceArr();
UpdateChildParentMatArr();
UpdateSpWorldTrans();
UpdateMassMat();
UpdateBiasForce();
{
BT_PROFILE("rbdModel::UpdateJointSubspaceArr");
UpdateJointSubspaceArr();
}
{
BT_PROFILE("rbdModel::UpdateChildParentMatArr");
UpdateChildParentMatArr();
}
{
BT_PROFILE("rbdModel::UpdateSpWorldTrans");
UpdateSpWorldTrans();
}
{
BT_PROFILE("UpdateMassMat");
UpdateMassMat();
}
{
BT_PROFILE("UpdateBiasForce");
UpdateBiasForce();
}
}
int cRBDModel::GetNumDof() const