| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, University of Edinburgh, LAAS-CNRS, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_ARM_FACTORY_HPP_ | ||
| 11 | #define CROCODDYL_ARM_FACTORY_HPP_ | ||
| 12 | |||
| 13 | #include <example-robot-data/path.hpp> | ||
| 14 | #include <pinocchio/parsers/srdf.hpp> | ||
| 15 | #include <pinocchio/parsers/urdf.hpp> | ||
| 16 | |||
| 17 | #include "crocoddyl/core/costs/cost-sum.hpp" | ||
| 18 | #include "crocoddyl/core/costs/residual.hpp" | ||
| 19 | #include "crocoddyl/core/integrator/euler.hpp" | ||
| 20 | #include "crocoddyl/core/residuals/control.hpp" | ||
| 21 | #include "crocoddyl/multibody/actions/free-fwddyn.hpp" | ||
| 22 | #include "crocoddyl/multibody/actuations/full.hpp" | ||
| 23 | #include "crocoddyl/multibody/residuals/frame-placement.hpp" | ||
| 24 | #include "crocoddyl/multibody/residuals/state.hpp" | ||
| 25 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 26 | |||
| 27 | namespace crocoddyl { | ||
| 28 | namespace benchmark { | ||
| 29 | |||
| 30 | template <typename Scalar> | ||
| 31 | ✗ | void build_arm_action_models( | |
| 32 | std::shared_ptr<crocoddyl::ActionModelAbstractTpl<Scalar> >& runningModel, | ||
| 33 | std::shared_ptr<crocoddyl::ActionModelAbstractTpl<Scalar> >& | ||
| 34 | terminalModel) { | ||
| 35 | typedef typename crocoddyl::DifferentialActionModelFreeFwdDynamicsTpl<Scalar> | ||
| 36 | DifferentialActionModelFreeFwdDynamics; | ||
| 37 | typedef typename crocoddyl::IntegratedActionModelEulerTpl<Scalar> | ||
| 38 | IntegratedActionModelEuler; | ||
| 39 | typedef typename crocoddyl::ActuationModelFullTpl<Scalar> ActuationModelFull; | ||
| 40 | typedef typename crocoddyl::CostModelSumTpl<Scalar> CostModelSum; | ||
| 41 | typedef typename crocoddyl::CostModelAbstractTpl<Scalar> CostModelAbstract; | ||
| 42 | typedef typename crocoddyl::CostModelResidualTpl<Scalar> CostModelResidual; | ||
| 43 | typedef typename crocoddyl::ResidualModelStateTpl<Scalar> ResidualModelState; | ||
| 44 | typedef typename crocoddyl::ResidualModelFramePlacementTpl<Scalar> | ||
| 45 | ResidualModelFramePlacement; | ||
| 46 | typedef typename crocoddyl::ResidualModelControlTpl<Scalar> | ||
| 47 | ResidualModelControl; | ||
| 48 | typedef typename crocoddyl::MathBaseTpl<Scalar>::Vector3s Vector3s; | ||
| 49 | typedef typename crocoddyl::MathBaseTpl<Scalar>::Matrix3s Matrix3s; | ||
| 50 | |||
| 51 | // because urdf is not supported with all scalar types. | ||
| 52 | ✗ | pinocchio::ModelTpl<double> modeld; | |
| 53 | ✗ | pinocchio::urdf::buildModel(EXAMPLE_ROBOT_DATA_MODEL_DIR | |
| 54 | "/talos_data/robots/talos_left_arm.urdf", | ||
| 55 | modeld); | ||
| 56 | ✗ | pinocchio::srdf::loadReferenceConfigurations( | |
| 57 | modeld, EXAMPLE_ROBOT_DATA_MODEL_DIR "/talos_data/srdf/talos.srdf", | ||
| 58 | false); | ||
| 59 | |||
| 60 | ✗ | pinocchio::ModelTpl<Scalar> model(modeld.cast<Scalar>()); | |
| 61 | |||
| 62 | ✗ | std::shared_ptr<crocoddyl::StateMultibodyTpl<Scalar> > state = | |
| 63 | std::make_shared<crocoddyl::StateMultibodyTpl<Scalar> >( | ||
| 64 | std::make_shared<pinocchio::ModelTpl<Scalar> >(model)); | ||
| 65 | |||
| 66 | ✗ | std::shared_ptr<CostModelAbstract> goalTrackingCost = | |
| 67 | std::make_shared<CostModelResidual>( | ||
| 68 | state, std::make_shared<ResidualModelFramePlacement>( | ||
| 69 | ✗ | state, model.getFrameId("gripper_left_joint"), | |
| 70 | ✗ | pinocchio::SE3Tpl<Scalar>( | |
| 71 | Matrix3s::Identity(), | ||
| 72 | ✗ | Vector3s(Scalar(0.), Scalar(0.), Scalar(0.4))))); | |
| 73 | ✗ | std::shared_ptr<CostModelAbstract> xRegCost = | |
| 74 | std::make_shared<CostModelResidual>( | ||
| 75 | state, std::make_shared<ResidualModelState>(state)); | ||
| 76 | ✗ | std::shared_ptr<CostModelAbstract> uRegCost = | |
| 77 | std::make_shared<CostModelResidual>( | ||
| 78 | state, std::make_shared<ResidualModelControl>(state)); | ||
| 79 | |||
| 80 | // Create a cost model per the running and terminal action model. | ||
| 81 | ✗ | std::shared_ptr<CostModelSum> runningCostModel = | |
| 82 | std::make_shared<CostModelSum>(state); | ||
| 83 | ✗ | std::shared_ptr<CostModelSum> terminalCostModel = | |
| 84 | std::make_shared<CostModelSum>(state); | ||
| 85 | |||
| 86 | // Then let's added the running and terminal cost functions | ||
| 87 | ✗ | runningCostModel->addCost("gripperPose", goalTrackingCost, Scalar(1)); | |
| 88 | ✗ | runningCostModel->addCost("xReg", xRegCost, Scalar(1e-1)); | |
| 89 | ✗ | runningCostModel->addCost("uReg", uRegCost, Scalar(1e-1)); | |
| 90 | ✗ | terminalCostModel->addCost("gripperPose", goalTrackingCost, Scalar(1e3)); | |
| 91 | |||
| 92 | // We define an actuation model | ||
| 93 | ✗ | std::shared_ptr<ActuationModelFull> actuation = | |
| 94 | std::make_shared<ActuationModelFull>(state); | ||
| 95 | |||
| 96 | // Next, we need to create an action model for running and terminal knots. The | ||
| 97 | // forward dynamics (computed using ABA) are implemented | ||
| 98 | // inside DifferentialActionModelFullyActuated. | ||
| 99 | ✗ | std::shared_ptr<DifferentialActionModelFreeFwdDynamics> runningDAM = | |
| 100 | std::make_shared<DifferentialActionModelFreeFwdDynamics>( | ||
| 101 | state, actuation, runningCostModel); | ||
| 102 | |||
| 103 | ✗ | runningModel = | |
| 104 | ✗ | std::make_shared<IntegratedActionModelEuler>(runningDAM, Scalar(1e-2)); | |
| 105 | ✗ | terminalModel = | |
| 106 | ✗ | std::make_shared<IntegratedActionModelEuler>(runningDAM, Scalar(0.)); | |
| 107 | ✗ | } | |
| 108 | |||
| 109 | } // namespace benchmark | ||
| 110 | } // namespace crocoddyl | ||
| 111 | |||
| 112 | #endif // CROCODDYL_ARM_FACTORY_HPP_ | ||
| 113 |