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Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof.

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This commit is contained in:
erwincoumans
2019-02-27 09:54:12 -08:00
parent 09dbb8ba1b
commit 8e1c1448ab
6 changed files with 291 additions and 299 deletions
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3
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1047,6 +1047,7 @@ B3_SHARED_API int b3GetJointStateMultiDof(b3PhysicsClientHandle physClient, b3Sh
for (int i = 0; i < state->m_uDofSize; i++)
{
state->m_jointVelocity[i] = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex+i];
state->m_jointMotorTorqueMultiDof[i] = status->m_sendActualStateArgs.m_jointMotorForceMultiDof[info.m_uIndex + i];
}
}
else
@@ -1058,7 +1059,7 @@ B3_SHARED_API int b3GetJointStateMultiDof(b3PhysicsClientHandle physClient, b3Sh
{
state->m_jointReactionForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
}
state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
return 1;
}
}

26
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6425,6 +6425,32 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
}
for (int d = 0; d < mb->getLink(l).m_dofCount; d++)
{
serverCmd.m_sendActualStateArgs.m_jointMotorForce[totalDegreeOfFreedomU] = 0;
if (mb->getLink(l).m_jointType == btMultibodyLink::eSpherical)
{
btMultiBodySphericalJointMotor* motor = (btMultiBodySphericalJointMotor*)mb->getLink(l).m_userPtr;
if (motor)
{
btScalar impulse = motor->getAppliedImpulse(d);
btScalar force = impulse / m_data->m_physicsDeltaTime;
serverCmd.m_sendActualStateArgs.m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
}
}
else
{
if (supportsJointMotor(mb, l))
{
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)body->m_multiBody->getLink(l).m_userPtr;
if (motor && m_data->m_physicsDeltaTime > btScalar(0))
{
btScalar force = motor->getAppliedImpulse(0) / m_data->m_physicsDeltaTime;
serverCmd.m_sendActualStateArgs.m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
}
}
}
serverCmd.m_sendActualStateArgs.m_actualStateQdot[totalDegreeOfFreedomU++] = mb->getJointVelMultiDof(l)[d];
}

1
examples/SharedMemory/SharedMemoryCommands.h
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@@ -531,6 +531,7 @@ struct SendActualStateArgs
double m_jointReactionForces[6 * MAX_DEGREE_OF_FREEDOM];
double m_jointMotorForce[MAX_DEGREE_OF_FREEDOM];
double m_jointMotorForceMultiDof[MAX_DEGREE_OF_FREEDOM];
double m_linkState[7 * MAX_NUM_LINKS];
double m_linkWorldVelocities[6 * MAX_NUM_LINKS]; //linear velocity and angular velocity in world space (x/y/z each).

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -369,7 +369,7 @@ struct b3JointSensorState2
double m_jointPosition[4];
double m_jointVelocity[3];
double m_jointReactionForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
double m_jointMotorTorque;
double m_jointMotorTorqueMultiDof[3];
int m_qDofSize;
int m_uDofSize;
};

194
examples/pybullet/examples/humanoidMotionCapture.py
View File

@@ -14,10 +14,10 @@ useYUp = not useZUp
if useYUp:
p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP , 1)
from pdControllerExplicit import PDControllerExplicitMultiDof
from pdControllerStable import PDControllerStableMultiDof
explicitPD = PDControllerExplicitMultiDof(p)
stablePD = PDControllerStableMultiDof(p)
p.resetDebugVisualizerCamera(cameraDistance=7, cameraYaw=-94, cameraPitch=-14, cameraTargetPosition=[0.31,0.03,-1.16])
@@ -26,7 +26,7 @@ import pybullet_data
p.setTimeOut(10000)
useMotionCapture=False
useMotionCaptureReset=False#not useMotionCapture
useExplicitPD = True
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setPhysicsEngineParameter(numSolverIterations=30)
@@ -76,14 +76,8 @@ p.addUserDebugText("Explicit PD", [startLocations[2][0],startLocations[2][1]+1,s
p.addUserDebugText("Kinematic", [startLocations[3][0],startLocations[3][1]+1,startLocations[3][2]], [0,0,0])
humanoid = p.loadURDF("humanoid/humanoid.urdf", startLocations[0],globalScaling=0.25, useFixedBase=False, flags=p.URDF_MAINTAIN_LINK_ORDER)
humanoid2 = p.loadURDF("humanoid/humanoid.urdf", startLocations[1],globalScaling=0.25, useFixedBase=False, flags=p.URDF_MAINTAIN_LINK_ORDER)
humanoid3 = p.loadURDF("humanoid/humanoid.urdf", startLocations[2],globalScaling=0.25, useFixedBase=False, flags=p.URDF_MAINTAIN_LINK_ORDER)
humanoid4 = p.loadURDF("humanoid/humanoid.urdf", startLocations[3],globalScaling=0.25, useFixedBase=False, flags=p.URDF_MAINTAIN_LINK_ORDER)
humanoid_fix = p.createConstraint(humanoid,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],startLocations[0],[0,0,0,1])
humanoid2_fix = p.createConstraint(humanoid2,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],startLocations[1],[0,0,0,1])
humanoid3_fix = p.createConstraint(humanoid3,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],startLocations[2],[0,0,0,1])
humanoid3_fix = p.createConstraint(humanoid4,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],startLocations[3],[0,0,0,1])
startPose = [2,0.847532,0,0.9986781045,0.01410400148,-0.0006980000731,-0.04942300517,0.9988133229,0.009485003066,-0.04756001538,-0.004475001447,
@@ -96,10 +90,6 @@ startVel = [1.235314324,-0.008525509087,0.1515293946,-1.161516553,0.1866449799,-
-4.632454387,-0.9111172777,-1.300648184,-1.345694622,0,-1.084238535,0.1313680236,-0.7236998534,0,-0.5278312973]
p.resetBasePositionAndOrientation(humanoid, startLocations[0],[0,0,0,1])
p.resetBasePositionAndOrientation(humanoid2, startLocations[1],[0,0,0,1])
p.resetBasePositionAndOrientation(humanoid3, startLocations[2],[0,0,0,1])
p.resetBasePositionAndOrientation(humanoid4, startLocations[3],[0,0,0,1])
index0=7
@@ -114,7 +104,6 @@ for j in range (p.getNumJoints(humanoid)):
print("spherical position: ",targetPosition)
print("spherical velocity: ",targetVel)
p.resetJointStateMultiDof(humanoid,j,targetValue=targetPosition,targetVelocity=targetVel)
p.resetJointStateMultiDof(humanoid2,j,targetValue=targetPosition,targetVelocity=targetVel)
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
targetPosition=[startPose[index0]]
targetVel = [startVel[index0]]
@@ -122,9 +111,6 @@ for j in range (p.getNumJoints(humanoid)):
print("revolute:", targetPosition)
print("revolute velocity:", targetVel)
p.resetJointStateMultiDof(humanoid,j,targetValue=targetPosition,targetVelocity=targetVel)
p.resetJointStateMultiDof(humanoid2,j,targetValue=targetPosition,targetVelocity=targetVel)
for j in range (p.getNumJoints(humanoid)):
@@ -134,13 +120,9 @@ for j in range (p.getNumJoints(humanoid)):
if (jointType == p.JOINT_SPHERICAL):
targetPosition=[0,0,0,1]
p.setJointMotorControlMultiDof(humanoid,j,p.POSITION_CONTROL,targetPosition, targetVelocity=[0,0,0], positionGain=0,velocityGain=1,force=[0,0,0])
p.setJointMotorControlMultiDof(humanoid3,j,p.POSITION_CONTROL,targetPosition, targetVelocity=[0,0,0], positionGain=0,velocityGain=1,force=[31,31,31])
p.setJointMotorControlMultiDof(humanoid4,j,p.POSITION_CONTROL,targetPosition, targetVelocity=[0,0,0], positionGain=0,velocityGain=1,force=[1,1,1])
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
p.setJointMotorControl2(humanoid,j,p.VELOCITY_CONTROL,targetVelocity=0, force=0)
p.setJointMotorControl2(humanoid3,j,p.VELOCITY_CONTROL,targetVelocity=0, force=31)
p.setJointMotorControl2(humanoid4,j,p.VELOCITY_CONTROL,targetVelocity=0, force=10)
#print(ji)
print("joint[",j,"].type=",jointTypes[ji[2]])
@@ -199,7 +181,6 @@ p.getCameraImage(320,200)
while (p.isConnected()):
if useGUI:
@@ -221,11 +202,6 @@ while (p.isConnected()):
frameNext = frame
frameFraction = frameReal - frame
#print("frameFraction=",frameFraction)
#print("frame=",frame)
#print("frameNext=", frameNext)
#getQuaternionSlerp
frameData = motion_dict['Frames'][frame]
frameDataNext = motion_dict['Frames'][frameNext]
@@ -242,17 +218,41 @@ while (p.isConnected()):
baseOrn1Next = [frameDataNext[5],frameDataNext[6], frameDataNext[7],frameDataNext[4]]
baseOrn1 = p.getQuaternionSlerp(baseOrn1Start,baseOrn1Next,frameFraction)
#pre-rotate to make z-up
if (useZUp):
y2zPos=[0,0,0.0]
y2zOrn = p.getQuaternionFromEuler([1.57,0,0])
basePos,baseOrn = p.multiplyTransforms(y2zPos, y2zOrn,basePos1,baseOrn1)
p.resetBasePositionAndOrientation(humanoid, basePos,baseOrn)
y2zPos=[0,2,0.0]
once=False
#print("chestRot=",chestRot)
p.setGravity(0,0,0)
kp=kpMotor
basePos1Start = [frameData[1],frameData[2],frameData[3]]
basePos1End = [frameDataNext[1],frameDataNext[2],frameDataNext[3]]
basePos1 = [basePos1Start[0]+frameFraction*(basePos1End[0]-basePos1Start[0]),
basePos1Start[1]+frameFraction*(basePos1End[1]-basePos1Start[1]),
basePos1Start[2]+frameFraction*(basePos1End[2]-basePos1Start[2])]
baseOrn1Start = [frameData[5],frameData[6], frameData[7],frameData[4]]
baseOrn1Next = [frameDataNext[5],frameDataNext[6], frameDataNext[7],frameDataNext[4]]
baseOrn1 = p.getQuaternionSlerp(baseOrn1Start,baseOrn1Next,frameFraction)
#pre-rotate to make z-up
if (useZUp):
y2zPos=[0,0,0.0]
y2zOrn = p.getQuaternionFromEuler([1.57,0,0])
basePos,baseOrn = p.multiplyTransforms(y2zPos, y2zOrn,basePos1,baseOrn1)
p.resetBasePositionAndOrientation(humanoid2, basePos,baseOrn)
p.resetBasePositionAndOrientation(humanoid, basePos,baseOrn)
chestRotStart = [frameData[9],frameData[10],frameData[11],frameData[8]]
chestRotEnd = [frameDataNext[9],frameDataNext[10],frameDataNext[11],frameDataNext[8]]
@@ -301,45 +301,12 @@ while (p.isConnected()):
leftElbowRotEnd = [frameDataNext[43]]
leftElbowRot = [leftElbowRotStart[0]+frameFraction*(leftElbowRotEnd[0]-leftElbowRotStart[0])]
if (0):#if (once):
p.resetJointStateMultiDof(humanoid,chest,chestRot)
p.resetJointStateMultiDof(humanoid,neck,neckRot)
p.resetJointStateMultiDof(humanoid,rightHip,rightHipRot)
p.resetJointStateMultiDof(humanoid,rightKnee,rightKneeRot)
p.resetJointStateMultiDof(humanoid,rightAnkle,rightAnkleRot)
p.resetJointStateMultiDof(humanoid,rightShoulder,rightShoulderRot)
p.resetJointStateMultiDof(humanoid,rightElbow, rightElbowRot)
p.resetJointStateMultiDof(humanoid,leftHip, leftHipRot)
p.resetJointStateMultiDof(humanoid,leftKnee, leftKneeRot)
p.resetJointStateMultiDof(humanoid,leftAnkle, leftAnkleRot)
p.resetJointStateMultiDof(humanoid,leftShoulder, leftShoulderRot)
p.resetJointStateMultiDof(humanoid,leftElbow, leftElbowRot)
once=False
#print("chestRot=",chestRot)
p.setGravity(0,0,-10)
kp=kpMotor
if (useExplicitPD):
jointDofCounts=[4,4,4,1,4,4,1,4,1,4,4,1]
#[x,y,z] base position and [x,y,z,w] base orientation!
totalDofs =7
for dof in jointDofCounts:
totalDofs += dof
jointIndicesAll = [
chest,
neck,
rightHip,
rightKnee,
rightAnkle,
rightShoulder,
rightElbow,
leftHip,
leftKnee,
leftAnkle,
leftShoulder,
leftElbow
]
basePos,baseOrn = p.getBasePositionAndOrientation(humanoid)
pose = [ basePos[0],basePos[1],basePos[2],
baseOrn[0],baseOrn[1],baseOrn[2],baseOrn[3],
@@ -356,12 +323,27 @@ while (p.isConnected()):
leftShoulderRot[0],leftShoulderRot[1],leftShoulderRot[2],leftShoulderRot[3],
leftElbowRot[0] ]
jointIndicesAll = [
chest,
neck,
rightHip,
rightKnee,
rightAnkle,
rightShoulder,
rightElbow,
leftHip,
leftKnee,
leftAnkle,
leftShoulder,
leftElbow
]
dofIndex=7
jointDofCounts=[4,4,4,1,4,4,1,4,1,4,4,1]
totalDofs = sum(jointDofCounts)+7
print("total=",totalDofs)
#print("pose=")
#for po in pose:
# print(po)
useStablePD=False
if (useStablePD):
taus = stablePD.computePD(bodyUniqueId=humanoid,
jointIndices = jointIndicesAll,
desiredPositions = pose,
@@ -371,61 +353,39 @@ while (p.isConnected()):
maxForces = [maxForce]*totalDofs,
timeStep=timeStep)
taus3 = explicitPD.computePD(bodyUniqueId=humanoid3,
jointIndices = jointIndicesAll,
desiredPositions = pose,
desiredVelocities = [0]*totalDofs,
kps = kpOrg,
kds = kdOrg,
maxForces = [maxForce*0.05]*totalDofs,
timeStep=timeStep)
#taus=[0]*43
dofIndex=7
for index in range (len(jointIndicesAll)):
jointIndex = jointIndicesAll[index]
if jointDofCounts[index]==4:
p.setJointMotorControlMultiDof(humanoid,jointIndex,p.TORQUE_CONTROL,force=[taus[dofIndex+0],taus[dofIndex+1],taus[dofIndex+2]])
p.setJointMotorControlMultiDof(humanoid3,jointIndex,p.TORQUE_CONTROL,force=[taus3[dofIndex+0],taus3[dofIndex+1],taus3[dofIndex+2]])
if jointDofCounts[index]==1:
p.setJointMotorControlMultiDof(humanoid, jointIndex, controlMode=p.TORQUE_CONTROL, force=[taus[dofIndex]])
p.setJointMotorControlMultiDof(humanoid3, jointIndex, controlMode=p.TORQUE_CONTROL, force=[taus3[dofIndex]])
dofIndex+=jointDofCounts[index]
#print("len(taus)=",len(taus))
#print("taus=",taus)
p.setJointMotorControlMultiDof(humanoid2,chest,p.POSITION_CONTROL, targetPosition=chestRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,neck,p.POSITION_CONTROL,targetPosition=neckRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,rightHip,p.POSITION_CONTROL,targetPosition=rightHipRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,rightKnee,p.POSITION_CONTROL,targetPosition=rightKneeRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,rightAnkle,p.POSITION_CONTROL,targetPosition=rightAnkleRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,rightShoulder,p.POSITION_CONTROL,targetPosition=rightShoulderRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,rightElbow, p.POSITION_CONTROL,targetPosition=rightElbowRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,leftHip, p.POSITION_CONTROL,targetPosition=leftHipRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,leftKnee, p.POSITION_CONTROL,targetPosition=leftKneeRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,leftAnkle, p.POSITION_CONTROL,targetPosition=leftAnkleRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,leftShoulder, p.POSITION_CONTROL,targetPosition=leftShoulderRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,leftElbow, p.POSITION_CONTROL,targetPosition=leftElbowRot,positionGain=kp, force=[maxForce])
kinematicHumanoid4 = True
if (kinematicHumanoid4):
p.resetJointStateMultiDof(humanoid4,chest,chestRot)
p.resetJointStateMultiDof(humanoid4,neck,neckRot)
p.resetJointStateMultiDof(humanoid4,rightHip,rightHipRot)
p.resetJointStateMultiDof(humanoid4,rightKnee,rightKneeRot)
p.resetJointStateMultiDof(humanoid4,rightAnkle,rightAnkleRot)
p.resetJointStateMultiDof(humanoid4,rightShoulder,rightShoulderRot)
p.resetJointStateMultiDof(humanoid4,rightElbow, rightElbowRot)
p.resetJointStateMultiDof(humanoid4,leftHip, leftHipRot)
p.resetJointStateMultiDof(humanoid4,leftKnee, leftKneeRot)
p.resetJointStateMultiDof(humanoid4,leftAnkle, leftAnkleRot)
p.resetJointStateMultiDof(humanoid4,leftShoulder, leftShoulderRot)
p.resetJointStateMultiDof(humanoid4,leftElbow, leftElbowRot)
else:
p.setJointMotorControlMultiDof(humanoid,chest,p.POSITION_CONTROL, targetPosition=chestRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid,neck,p.POSITION_CONTROL,targetPosition=neckRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid,rightHip,p.POSITION_CONTROL,targetPosition=rightHipRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid,rightKnee,p.POSITION_CONTROL,targetPosition=rightKneeRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid,rightAnkle,p.POSITION_CONTROL,targetPosition=rightAnkleRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid,rightShoulder,p.POSITION_CONTROL,targetPosition=rightShoulderRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid,rightElbow, p.POSITION_CONTROL,targetPosition=rightElbowRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid,leftHip, p.POSITION_CONTROL,targetPosition=leftHipRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid,leftKnee, p.POSITION_CONTROL,targetPosition=leftKneeRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid,leftAnkle, p.POSITION_CONTROL,targetPosition=leftAnkleRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid,leftShoulder, p.POSITION_CONTROL,targetPosition=leftShoulderRot,positionGain=kp, force=[maxForce])
p.setJointMotorControlMultiDof(humanoid,leftElbow, p.POSITION_CONTROL,targetPosition=leftElbowRot,positionGain=kp, force=[maxForce])
p.stepSimulation()
for j in range(p.getNumJoints(humanoid)):
jointState = p.getJointStateMultiDof(humanoid,j)
print("jointStateMultiDof[",j,"].pos=",jointState[0])
print("jointStateMultiDof[",j,"].vel=",jointState[1])
print("jointStateMultiDof[",j,"].jointForces=",jointState[3])
#j=4
#jointState = p.getJointStateMultiDof(humanoid,j)
#print("jointStateMultiDof[",j,"].pos=",jointState[0])
#print("jointStateMultiDof[",j,"].vel=",jointState[1])
#print("jointStateMultiDof[",j,"].jointForces=",jointState[3])
time.sleep(timeStep)

10
examples/pybullet/pybullet.c
View File

@@ -4235,6 +4235,7 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
PyObject* pyListJointState;
PyObject* pyListPosition;
PyObject* pyListVelocity;
PyObject* pyListJointMotorTorque;
struct b3JointSensorState2 sensorState;
@@ -4296,7 +4297,7 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
int i = 0;
pyListPosition = PyTuple_New(sensorState.m_qDofSize);
pyListVelocity = PyTuple_New(sensorState.m_uDofSize);
pyListJointMotorTorque = PyTuple_New(sensorState.m_uDofSize);
PyTuple_SetItem(pyListJointState, 0, pyListPosition);
PyTuple_SetItem(pyListJointState, 1, pyListVelocity);
@@ -4310,6 +4311,9 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
{
PyTuple_SetItem(pyListVelocity, i,
PyFloat_FromDouble(sensorState.m_jointVelocity[i]));
PyTuple_SetItem(pyListJointMotorTorque, i,
PyFloat_FromDouble(sensorState.m_jointMotorTorqueMultiDof[i]));
}
for (j = 0; j < forceTorqueSize; j++)
@@ -4320,8 +4324,8 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
PyTuple_SetItem(pyListJointState, 2, pyListJointForceTorque);
PyTuple_SetItem(pyListJointState, 3,
PyFloat_FromDouble(sensorState.m_jointMotorTorque));
PyTuple_SetItem(pyListJointState, 3, pyListJointMotorTorque);
return pyListJointState;
}