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import numpy as np
class PDControllerStableMultiDof(object):
def __init__(self, pb):
self._pb = pb
def computeAngVel(self,ornStart, ornEnd, deltaTime, bullet_client):
dorn = bullet_client.getDifferenceQuaternion(ornStart,ornEnd)
axis,angle = bullet_client.getAxisAngleFromQuaternion(dorn)
angVel = [(axis[0]*angle)/deltaTime,(axis[1]*angle)/deltaTime,(axis[2]*angle)/deltaTime]
return angVel
def quatMul(self, q1, q2):
return [ q1[3] * q2[0] + q1[0] * q2[3] + q1[1] * q2[2] - q1[2] * q2[1],
q1[3] * q2[1] + q1[1] * q2[3] + q1[2] * q2[0] - q1[0] * q2[2],
q1[3] * q2[2] + q1[2] * q2[3] + q1[0] * q2[1] - q1[1] * q2[0],
q1[3] * q2[3] - q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2]]
def computeAngVelRel(self,ornStart, ornEnd, deltaTime, bullet_client):
ornStartConjugate = [-ornStart[0],-ornStart[1],-ornStart[2],ornStart[3]]
q_diff = self.quatMul(ornStartConjugate, ornEnd)#bullet_client.multiplyTransforms([0,0,0], ornStartConjugate, [0,0,0], ornEnd)
axis,angle = bullet_client.getAxisAngleFromQuaternion(q_diff)
angVel = [(axis[0]*angle)/deltaTime,(axis[1]*angle)/deltaTime,(axis[2]*angle)/deltaTime]
return angVel
def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds, maxForces, timeStep):
numJoints = len(jointIndices)#self._pb.getNumJoints(bodyUniqueId)
curPos,curOrn = self._pb.getBasePositionAndOrientation(bodyUniqueId)
q1 = [curPos[0],curPos[1],curPos[2],curOrn[0],curOrn[1],curOrn[2],curOrn[3]]
#print("q1=",q1)
#qdot1 = [0,0,0, 0,0,0,0]
baseLinVel, baseAngVel = self._pb.getBaseVelocity(bodyUniqueId)
#print("baseLinVel=",baseLinVel)
qdot1 = [baseLinVel[0],baseLinVel[1],baseLinVel[2],baseAngVel[0],baseAngVel[1],baseAngVel[2],0]
#qError = [0,0,0, 0,0,0,0]
desiredOrn = [desiredPositions[3],desiredPositions[4],desiredPositions[5],desiredPositions[6]]
axis1 = self._pb.getAxisDifferenceQuaternion(desiredOrn,curOrn)
angDiff = [0,0,0]#self.computeAngVel(curOrn, desiredOrn, 1, self._pb)
qError=[ desiredPositions[0]-curPos[0], desiredPositions[1]-curPos[1], desiredPositions[2]-curPos[2],angDiff[0],angDiff[1],angDiff[2],0]
target_pos = np.array(desiredPositions)
#np.savetxt("pb_target_pos.csv", target_pos, delimiter=",")
qIndex=7
qdotIndex=7
zeroAccelerations=[0,0,0, 0,0,0,0]
for i in range (numJoints):
js = self._pb.getJointStateMultiDof(bodyUniqueId, jointIndices[i])
jointPos=js[0]
jointVel = js[1]
q1+=jointPos
if len(js[0])==1:
desiredPos=desiredPositions[qIndex]
qdiff=desiredPos - jointPos[0]
qError.append(qdiff)
zeroAccelerations.append(0.)
qdot1+=jointVel
qIndex+=1
qdotIndex+=1
if len(js[0])==4:
desiredPos=[desiredPositions[qIndex],desiredPositions[qIndex+1],desiredPositions[qIndex+2],desiredPositions[qIndex+3]]
#axis = self._pb.getAxisDifferenceQuaternion(desiredPos,jointPos)
angDiff = self.computeAngVelRel(jointPos, desiredPos, 1, self._pb)
#angDiff = self._pb.computeAngVelRel(jointPos, desiredPos, 1)
jointVelNew = [jointVel[0],jointVel[1],jointVel[2],0]
qdot1+=jointVelNew
qError.append(angDiff[0])
qError.append(angDiff[1])
qError.append(angDiff[2])
qError.append(0)
desiredVel=[desiredVelocities[qdotIndex],desiredVelocities[qdotIndex+1],desiredVelocities[qdotIndex+2]]
zeroAccelerations+=[0.,0.,0.,0.]
qIndex+=4
qdotIndex+=4
q = np.array(q1)
qerr = np.array(qError)
#np.savetxt("pb_qerro.csv",qerr,delimiter=",")
#np.savetxt("pb_q.csv", q, delimiter=",")
qdot=np.array(qdot1)
#np.savetxt("qdot.csv", qdot, delimiter=",")
qdotdesired = np.array(desiredVelocities)
qdoterr = qdotdesired-qdot
Kp = np.diagflat(kps)
Kd = np.diagflat(kds)
p = Kp.dot(qError)
#np.savetxt("pb_qError.csv", qError, delimiter=",")
#np.savetxt("pb_p.csv", p, delimiter=",")
d = Kd.dot(qdoterr)
#np.savetxt("pb_d.csv", d, delimiter=",")
#np.savetxt("pbqdoterr.csv", qdoterr, delimiter=",")
M1 = self._pb.calculateMassMatrix(bodyUniqueId,q1, flags=1)
M2 = np.array(M1)
#np.savetxt("M2.csv", M2, delimiter=",")
M = (M2 + Kd * timeStep)
#np.savetxt("pbM_tKd.csv",M, delimiter=",")
c1 = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations, flags=1)
c = np.array(c1)
#np.savetxt("pb_C.csv",c, delimiter=",")
A = M
#p = [0]*43
#np.savetxt("pb_kp_dot_qError.csv", p)
#np.savetxt("pb_kd_dot_vError.csv", d)
b = p + d -c
#np.savetxt("pb_b_acc.csv",b, delimiter=",")
useNumpySolver = True
if useNumpySolver:
qddot = np.linalg.solve(A, b)
else:
dofCount = len(b)
print(dofCount)
qddot = self._pb.ldltSolve(bodyUniqueId, jointPositions=q1, b=b.tolist(), kd=kds, t=timeStep)
tau = p + d - Kd.dot(qddot) * timeStep
#print("len(tau)=",len(tau))
#np.savetxt("pb_tau_not_clamped.csv", tau, delimiter=",")
maxF = np.array(maxForces)
#print("maxF",maxF)
forces = np.clip(tau, -maxF , maxF )
#np.savetxt("pb_tau_clamped.csv", tau, delimiter=",")
return forces
class PDControllerStable(object):
def __init__(self, pb):
self._pb = pb
def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds, maxForces, timeStep):
numBaseDofs = 0
numPosBaseDofs=0
baseMass = self._pb.getDynamicsInfo(bodyUniqueId,-1)[0]
curPos,curOrn = self._pb.getBasePositionAndOrientation(bodyUniqueId)
q1 = []
qdot1 = []
zeroAccelerations = []
qError=[]
if (baseMass>0):
numBaseDofs=6
numPosBaseDofs=7
q1 = [curPos[0],curPos[1],curPos[2],curOrn[0],curOrn[1],curOrn[2],curOrn[3]]
qdot1=[0]*numBaseDofs
zeroAccelerations = [0]*numBaseDofs
angDiff=[0,0,0]
qError=[ desiredPositions[0]-curPos[0], desiredPositions[1]-curPos[1], desiredPositions[2]-curPos[2],angDiff[0],angDiff[1],angDiff[2]]
numJoints = self._pb.getNumJoints(bodyUniqueId)
jointStates = self._pb.getJointStates(bodyUniqueId, jointIndices)
for i in range (numJoints):
q1.append(jointStates[i][0])
qdot1.append(jointStates[i][1])
zeroAccelerations.append(0)
q = np.array(q1)
qdot=np.array(qdot1)
qdes = np.array(desiredPositions)
qdotdes = np.array(desiredVelocities)
#qError = qdes - q
for j in range(numJoints):
qError.append(desiredPositions[j+numPosBaseDofs]-q1[j+numPosBaseDofs])
#print("qError=",qError)
qdotError = qdotdes - qdot
Kp = np.diagflat(kps)
Kd = np.diagflat(kds)
p = Kp.dot(qError)
d = Kd.dot(qdotError)
forces = p + d
M1 = self._pb.calculateMassMatrix(bodyUniqueId,q1)
M2 = np.array(M1)
M = (M2 + Kd * timeStep)
c1 = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations)
c = np.array(c1)
A = M
b = -c + p + d
qddot = np.linalg.solve(A, b)
tau = p + d - Kd.dot(qddot) * timeStep
maxF = np.array(maxForces)
forces = np.clip(tau, -maxF , maxF )
#print("c=",c)
return tau
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