From 35d18d2d76d059e706bfd39424cd7524059dad36 Mon Sep 17 00:00:00 2001 From: Carlos Mastalli Date: Thu, 14 Mar 2024 00:39:00 +0000 Subject: [PATCH 1/2] [display] Fixed Rviz display --- bindings/python/crocoddyl/__init__.py | 152 +++++++++++++++++++------- 1 file changed, 111 insertions(+), 41 deletions(-) diff --git a/bindings/python/crocoddyl/__init__.py b/bindings/python/crocoddyl/__init__.py index 1654bdc54a..aca408062b 100644 --- a/bindings/python/crocoddyl/__init__.py +++ b/bindings/python/crocoddyl/__init__.py @@ -29,6 +29,7 @@ def rotationMatrixFromTwoVectors(a, b): class DisplayAbstract(ABC): def __init__(self, robot, rate=-1, freq=1): self.robot = robot + self._nv_root = 0.0 self.rate = rate self.freq = freq # Visual properties @@ -57,12 +58,13 @@ def __init__(self, robot, rate=-1, freq=1): def displayFromSolver(self, solver, factor=1.0): if not self._init: self.init(solver) + dts = self.getDurationSequenceFromSolver(solver) fs = self.getForceTrajectoryFromSolver(solver) ps = self.getFrameTrajectoryFromSolver(solver) rs = self.getThrustTrajectoryFromSolver(solver) models = [*solver.problem.runningModels.tolist(), solver.problem.terminalModel] dts = [m.dt if hasattr(m, "differential") else 0.0 for m in models] - self.display(solver.xs, [], rs, ps, [], fs, [], dts, factor) + self.display(solver.xs, dts, rs, ps, [], fs, [], dts, factor) def display( self, xs, us=[], rs=[], ps=[], pds=[], fs=[], ss=[], dts=[], factor=1.0 @@ -165,6 +167,32 @@ def displayThrustForce(self, r): """Display the thrust force""" raise NotImplementedError("Not implemented yet.") + def getTimeSequenceFromSolver(self, solver): + dts = self.getDurationSequenceFromSolver(solver) + return self._getTimeSequence(dts) + + def getDurationSequenceFromSolver(self, solver): + return [ + m.dt if hasattr(m, "differential") else 0.0 + for m in solver.problem.runningModels + ] + + def getJointTorquesTrajectoryFromSolver(self, solver): + us = [] + for i in range(solver.problem.T): + data = solver.problem.runningDatas[i] + if hasattr(data, "differential"): + us.append(data.differential.multibody.actuation.tau[self._nv_root :]) + elif isinstance(data, ActionDataImpulseFwdDynamics): + us.append( + np.zeros(solver.problem.runningModels[i].state.nv - self._nv_root) + ) + else: + us.append(solver.us[i][self._nv_root :]) + nu = solver.problem.runningModels[i].state.nv - self._nv_root + us.append(np.zeros(nu + 1)[1:]) # TODO: temporal patch to fix bug in pybind11 + return us + def getForceTrajectoryFromSolver(self, solver): if len(self.frameTrajNames) == 0: return None @@ -249,6 +277,13 @@ def getFrameTrajectoryFromSolver(self, solver): p.append(np.asarray(pose.translation.T).reshape(-1).tolist()) return ps + def _getTimeSequence(self, dts): + t, ts = 0.0, [0.0] + for dt in dts: + t += dt + ts.append(t) + return ts + def _hasContacts(self, data): if hasattr(data, "differential"): if isinstance( @@ -668,6 +703,10 @@ def __init__( freq=1, ): DisplayAbstract.__init__(self, robot, rate, freq) + # Disable garbage collection for better timings. + import gc + + gc.disable() # Import ROS modules self.ROS_VERSION = int(os.environ["ROS_VERSION"]) if self.ROS_VERSION == 2: @@ -691,7 +730,7 @@ def __init__( rospy.set_param("use_sim_time", True) rospy.set_param( "robot_description", URDF.from_xml_file(robot.urdf).to_xml_string() - ) + ) # TODO: hard code robot.urdf because we cannot convert a Pinocchio model into an URDF filename = os.path.join( os.path.dirname( os.path.abspath(inspect.getfile(inspect.currentframe())) @@ -725,7 +764,11 @@ def __init__( robot.model, "whole_body_trajectory", "map" ) root_id = crocoddyl_ros.getRootJointId(self.robot.model) - self._nv_root = self.robot.model.joints[root_id].nv + self._nv_root = ( + self.robot.model.joints[root_id].nv + if self.robot.model.frames[root_id].name != "universe" + else 0 + ) def __del__(self): if self.ROS_VERSION == 1: @@ -733,27 +776,30 @@ def __del__(self): self.rviz.shutdown() def displayFromSolver(self, solver, factor=1.0): + if not self._init: + self.init(solver) xs = solver.xs - us = [] - for i in range(solver.problem.T): - us.append(solver.us[i][self._nv_root :]) - us.append(np.zeros(0)) + us = self.getJointTorquesTrajectoryFromSolver(solver) + dts = self.getDurationSequenceFromSolver(solver) models = [*solver.problem.runningModels.tolist(), solver.problem.terminalModel] dts = [m.dt if hasattr(m, "differential") else 0.0 for m in models] ps, pds = self.getFrameTrajectoryFromSolver(solver) fs, ss = self.getForceTrajectoryFromSolver(solver) - self.display(xs, us, [], ps, pds, fs, ss, dts, factor) + self.display(xs, us, dts, ps, pds, fs, ss, dts, factor) def display( self, xs, us=[], rs=[], ps=[], pds=[], fs=[], ss=[], dts=[], factor=1.0 ): nq = self.robot.model.nq - ts = [i * dt for i, dt in enumerate(dts)] + if not dts: + dts = [0.01] * len(xs) + ts = self._getTimeSequence(dts)[:-1] + if len(ps) != 0: + self._wtPublisher.publish(ts, xs, us, ps, pds, fs, ss) + else: + self._wtPublisher.publish(ts, xs, us) for i in range(len(xs)): - if i < len(xs) - 1: - t, x, u = ts[i], xs[i], us[i] - else: - t, x, u = ts[i], xs[i], np.zeros_like(us[0]) + t, x, u = ts[i], xs[i], us[i] if len(ps) != 0: p, pd = ps[i], pds[i] f, s = fs[i], ss[i] @@ -761,12 +807,24 @@ def display( else: self._wsPublisher.publish(t, x[:nq], x[nq:], u) time.sleep(dts[i] * factor) - self._wtPublisher.publish(ts, xs, us, ps, pds, fs, ss) + + def getFrameTrajectoryFromSolver(self, solver): + ps, pds = [], [] + datas = [*solver.problem.runningDatas.tolist(), solver.problem.runningDatas[-1]] + for i, data in enumerate(datas): + if self._hasContacts(data): + pinocchio_data = self._getPinocchioData(data) + ps.append(self._get_pc(pinocchio_data)) + pds.append(self._get_pdc(pinocchio_data)) + return ps, pds def getForceTrajectoryFromSolver(self, solver): fs, ss = [], [] - models = [*solver.problem.runningModels.tolist(), solver.problem.terminalModel] - datas = [*solver.problem.runningDatas.tolist(), solver.problem.terminalData] + models = [ + *solver.problem.runningModels.tolist(), + solver.problem.runningModels[-1], + ] + datas = [*solver.problem.runningDatas.tolist(), solver.problem.runningDatas[-1]] for i, data in enumerate(datas): model = models[i] if self._hasContacts(data): @@ -799,19 +857,6 @@ def _addFrameCurves(self): def _addFrictionCones(self): pass - def getFrameTrajectoryFromSolver(self, solver): - ps, pds = [], [] - models = [*solver.problem.runningModels.tolist(), solver.problem.terminalModel] - datas = [*solver.problem.runningDatas.tolist(), solver.problem.terminalData] - for i, data in enumerate(datas): - model = models[i] - if self._hasContacts(data): - pinocchio_data = self._getPinocchioData(data) - _, contact_data = self._getContactModelAndData(model, data) - ps.append(self._get_pc(pinocchio_data, contact_data)) - pds.append(self._get_dpc(pinocchio_data, contact_data)) - return ps, pds - def _getPinocchioData(self, data): if hasattr(data, "differential"): if hasattr(data.differential, "multibody"): @@ -822,19 +867,24 @@ def _getPinocchioData(self, data): elif isinstance(data, ActionDataImpulseFwdDynamics): return data.multibody.pinocchio - def get_pc(self, pinocchio_data, contact_data): + def _get_pc(self, pinocchio_data): + if len(self.frameTrajNames) == 0: + return None popt = dict() - for contact in contact_data: - name = contact.key() - frame_id = self._state.pinocchio.getFrameId(name) + for frame in self.frameTrajNames: + frame_id = int(frame) + name = self.robot.model.frames[frame_id].name + pinocchio.updateFramePlacement(self.robot.model, pinocchio_data, frame_id) popt[name] = pinocchio_data.oMf[frame_id] return popt - def get_pdc(self, pinocchio_data, contact_data): + def _get_pdc(self, pinocchio_data): + if len(self.frameTrajNames) == 0: + return None pdopt = dict() - for contact in contact_data: - name = contact.key() - frame_id = self._state.pinocchio.getFrameId(name) + for frame in self.frameTrajNames: + frame_id = int(frame) + name = self.robot.model.frames[frame_id].name v = pinocchio.getFrameVelocity( self.robot.model, pinocchio_data, @@ -845,16 +895,36 @@ def get_pdc(self, pinocchio_data, contact_data): return pdopt def _get_fc(self, contact_data): + import crocoddyl_ros + + if len(self.frameTrajNames) == 0: + return None fc = dict() - for force in contact_data.todict().items(): - name, f = force[0], force[1].f - fc[name] = [f, 0, 2] + for frame in self.frameTrajNames: + frame_id = int(frame) + name = self.robot.model.frames[frame_id].name + fc[name] = [ + pinocchio.Force.Zero(), + crocoddyl_ros.ContactType.LOCOMOTION, + crocoddyl_ros.ContactStatus.SEPARATION, + ] + for contact in contact_data: + force = contact.data().f + frame_id = contact.data().frame + name = self.robot.model.frames[frame_id].name + fc[name] = [ + force, + crocoddyl_ros.ContactType.LOCOMOTION, + crocoddyl_ros.ContactStatus.STICKING, + ] return fc def _get_sc(self, contact_data): sc = dict() self.mu = 0.7 - for name in contact_data.todict().keys(): + for frame in self.frameTrajNames: + frame_id = int(frame) + name = self.robot.model.frames[frame_id].name sc[name] = [np.array([0.0, 0.0, 1.0]), self.mu] return sc From 262a3786f3e650ee748d817a0324d641bc2e879c Mon Sep 17 00:00:00 2001 From: Carlos Mastalli Date: Thu, 14 Mar 2024 09:50:23 +0000 Subject: [PATCH 2/2] [changelog] Fixed Rviz display --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 992d592b17..1b288bf0fa 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). ## [Unreleased] +* Fixed Rviz display in https://github.com/loco-3d/crocoddyl/pull/1227 * Improved CI, updated cmake and fixed launch file in https://github.com/loco-3d/crocoddyl/pull/1220 * Introduced a Rviz display in https://github.com/loco-3d/crocoddyl/pull/1216 * Enabled display of thrust and simplied displayers code in https://github.com/loco-3d/crocoddyl/pull/1215