ae8e83988b
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
89 lines
2.8 KiB
Python
89 lines
2.8 KiB
Python
import numpy as np
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class PDControllerExplicitMultiDof(object):
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def __init__(self, pb):
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self._pb = pb
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def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds, maxForces, timeStep):
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numJoints = len(jointIndices)#self._pb.getNumJoints(bodyUniqueId)
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curPos,curOrn = self._pb.getBasePositionAndOrientation(bodyUniqueId)
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q1 = [curPos[0],curPos[1],curPos[2],curOrn[0],curOrn[1],curOrn[2],curOrn[3]]
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baseLinVel, baseAngVel = self._pb.getBaseVelocity(bodyUniqueId)
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qdot1 = [baseLinVel[0],baseLinVel[1],baseLinVel[2],baseAngVel[0],baseAngVel[1],baseAngVel[2],0]
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qError = [0,0,0, 0,0,0,0]
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qIndex=7
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qdotIndex=7
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zeroAccelerations=[0,0,0, 0,0,0,0]
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for i in range (numJoints):
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js = self._pb.getJointStateMultiDof(bodyUniqueId, jointIndices[i])
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jointPos=js[0]
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jointVel = js[1]
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q1+=jointPos
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if len(js[0])==1:
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desiredPos=desiredPositions[qIndex]
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qdiff=desiredPos - jointPos[0]
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qError.append(qdiff)
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zeroAccelerations.append(0.)
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qdot1+=jointVel
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qIndex+=1
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qdotIndex+=1
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if len(js[0])==4:
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desiredPos=[desiredPositions[qIndex],desiredPositions[qIndex+1],desiredPositions[qIndex+2],desiredPositions[qIndex+3]]
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axis = self._pb.getAxisDifferenceQuaternion(desiredPos,jointPos)
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jointVelNew = [jointVel[0],jointVel[1],jointVel[2],0]
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qdot1+=jointVelNew
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qError.append(axis[0])
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qError.append(axis[1])
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qError.append(axis[2])
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qError.append(0)
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desiredVel=[desiredVelocities[qdotIndex],desiredVelocities[qdotIndex+1],desiredVelocities[qdotIndex+2]]
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zeroAccelerations+=[0.,0.,0.,0.]
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qIndex+=4
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qdotIndex+=4
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q = np.array(q1)
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qdot=np.array(qdot1)
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qdotdesired = np.array(desiredVelocities)
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qdoterr = qdotdesired-qdot
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Kp = np.diagflat(kps)
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Kd = np.diagflat(kds)
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p = Kp.dot(qError)
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d = Kd.dot(qdoterr)
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forces = p + d
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maxF = np.array(maxForces)
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forces = np.clip(forces, -maxF , maxF )
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return forces
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class PDControllerExplicit(object):
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def __init__(self, pb):
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self._pb = pb
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def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds, maxForces, timeStep):
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numJoints = self._pb.getNumJoints(bodyUniqueId)
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jointStates = self._pb.getJointStates(bodyUniqueId, jointIndices)
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q1 = []
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qdot1 = []
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for i in range (numJoints):
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q1.append(jointStates[i][0])
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qdot1.append(jointStates[i][1])
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q = np.array(q1)
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qdot=np.array(qdot1)
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qdes = np.array(desiredPositions)
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qdotdes = np.array(desiredVelocities)
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qError = qdes - q
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qdotError = qdotdes - qdot
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Kp = np.diagflat(kps)
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Kd = np.diagflat(kds)
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forces = Kp.dot(qError) + Kd.dot(qdotError)
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maxF = np.array(maxForces)
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forces = np.clip(forces, -maxF , maxF )
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return forces
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