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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2021, University of Edinburgh, LAAS-CNRS |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_ARM_KINOVA_FACTORY_HPP_ |
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#define CROCODDYL_ARM_KINOVA_FACTORY_HPP_ |
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#include <example-robot-data/path.hpp> |
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#include <pinocchio/algorithm/model.hpp> |
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#include <pinocchio/parsers/srdf.hpp> |
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#include <pinocchio/parsers/urdf.hpp> |
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#include "crocoddyl/core/costs/cost-sum.hpp" |
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#include "crocoddyl/core/costs/residual.hpp" |
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#include "crocoddyl/core/integrator/euler.hpp" |
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#include "crocoddyl/core/mathbase.hpp" |
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#include "crocoddyl/core/residuals/control.hpp" |
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#include "crocoddyl/multibody/actions/free-fwddyn.hpp" |
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#include "crocoddyl/multibody/actuations/full.hpp" |
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#include "crocoddyl/multibody/residuals/frame-placement.hpp" |
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#include "crocoddyl/multibody/residuals/state.hpp" |
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#include "crocoddyl/multibody/states/multibody.hpp" |
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namespace crocoddyl { |
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namespace benchmark { |
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template <typename Scalar> |
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void build_arm_kinova_action_models( |
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boost::shared_ptr<crocoddyl::ActionModelAbstractTpl<Scalar> >& runningModel, |
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boost::shared_ptr<crocoddyl::ActionModelAbstractTpl<Scalar> >& |
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terminalModel) { |
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typedef typename crocoddyl::DifferentialActionModelFreeFwdDynamicsTpl<Scalar> |
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DifferentialActionModelFreeFwdDynamics; |
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typedef typename crocoddyl::IntegratedActionModelEulerTpl<Scalar> |
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IntegratedActionModelEuler; |
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typedef typename crocoddyl::CostModelSumTpl<Scalar> CostModelSum; |
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typedef typename crocoddyl::ActuationModelFullTpl<Scalar> ActuationModelFull; |
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typedef typename crocoddyl::CostModelAbstractTpl<Scalar> CostModelAbstract; |
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typedef typename crocoddyl::CostModelResidualTpl<Scalar> CostModelResidual; |
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typedef typename crocoddyl::ResidualModelFramePlacementTpl<Scalar> |
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ResidualModelFramePlacement; |
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typedef typename crocoddyl::ResidualModelStateTpl<Scalar> ResidualModelState; |
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typedef typename crocoddyl::ResidualModelControlTpl<Scalar> |
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ResidualModelControl; |
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typedef typename crocoddyl::MathBaseTpl<Scalar>::Vector3s Vector3s; |
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typedef typename crocoddyl::MathBaseTpl<Scalar>::Matrix3s Matrix3s; |
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// because urdf is not supported with all scalar types. |
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pinocchio::ModelTpl<double> modeld; |
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pinocchio::urdf::buildModel(EXAMPLE_ROBOT_DATA_MODEL_DIR |
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"/kinova_description/robots/kinova.urdf", |
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modeld); |
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pinocchio::srdf::loadReferenceConfigurations( |
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modeld, |
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EXAMPLE_ROBOT_DATA_MODEL_DIR "/kinova_description/srdf/kinova.srdf", |
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false); |
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pinocchio::ModelTpl<Scalar> model(modeld.cast<Scalar>()); |
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boost::shared_ptr<crocoddyl::StateMultibodyTpl<Scalar> > state = |
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boost::make_shared<crocoddyl::StateMultibodyTpl<Scalar> >( |
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boost::make_shared<pinocchio::ModelTpl<Scalar> >(model)); |
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boost::shared_ptr<CostModelAbstract> goalTrackingCost = |
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boost::make_shared<CostModelResidual>( |
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state, boost::make_shared<ResidualModelFramePlacement>( |
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state, model.getFrameId("j2s6s200_end_effector"), |
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pinocchio::SE3Tpl<Scalar>( |
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Matrix3s::Identity(), |
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Vector3s(Scalar(0), Scalar(0), Scalar(.4))))); |
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boost::shared_ptr<CostModelAbstract> xRegCost = |
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boost::make_shared<CostModelResidual>( |
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state, boost::make_shared<ResidualModelState>(state)); |
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boost::shared_ptr<CostModelAbstract> uRegCost = |
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boost::make_shared<CostModelResidual>( |
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state, boost::make_shared<ResidualModelControl>(state)); |
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// Create a cost model per the running and terminal action model. |
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boost::shared_ptr<CostModelSum> runningCostModel = |
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boost::make_shared<CostModelSum>(state); |
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boost::shared_ptr<CostModelSum> terminalCostModel = |
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boost::make_shared<CostModelSum>(state); |
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// Then let's added the running and terminal cost functions |
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runningCostModel->addCost("gripperPose", goalTrackingCost, Scalar(1)); |
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runningCostModel->addCost("xReg", xRegCost, Scalar(1e-4)); |
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runningCostModel->addCost("uReg", uRegCost, Scalar(1e-4)); |
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terminalCostModel->addCost("gripperPose", goalTrackingCost, Scalar(1)); |
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// We define an actuation model |
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boost::shared_ptr<ActuationModelFull> actuation = |
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boost::make_shared<ActuationModelFull>(state); |
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// Next, we need to create an action model for running and terminal knots. The |
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// forward dynamics (computed using ABA) are implemented |
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// inside DifferentialActionModelFullyActuated. |
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boost::shared_ptr<DifferentialActionModelFreeFwdDynamics> runningDAM = |
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boost::make_shared<DifferentialActionModelFreeFwdDynamics>( |
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state, actuation, runningCostModel); |
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// VectorXs armature(state->get_nq()); |
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// armature << 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.; |
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// runningDAM->set_armature(armature); |
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// terminalDAM->set_armature(armature); |
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runningModel = |
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boost::make_shared<IntegratedActionModelEuler>(runningDAM, Scalar(1e-3)); |
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terminalModel = |
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boost::make_shared<IntegratedActionModelEuler>(runningDAM, Scalar(0.)); |
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} |
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} // namespace benchmark |
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} // namespace crocoddyl |
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#endif // CROCODDYL_ARM_FACTORY_HPP_ |