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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, University of Edinburgh, LAAS-CNRS, |
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// Heriot-Watt University |
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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_LEGGED_ROBOTS_FACTORY_HPP_ |
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#define CROCODDYL_LEGGED_ROBOTS_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/contact-fwddyn.hpp" |
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#include "crocoddyl/multibody/actuations/floating-base.hpp" |
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#include "crocoddyl/multibody/contacts/contact-3d.hpp" |
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#include "crocoddyl/multibody/contacts/contact-6d.hpp" |
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#include "crocoddyl/multibody/contacts/multiple-contacts.hpp" |
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#include "crocoddyl/multibody/residuals/com-position.hpp" |
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#include "crocoddyl/multibody/residuals/frame-placement.hpp" |
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#include "crocoddyl/multibody/residuals/frame-translation.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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#include "robot-ee-names.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_contact_action_models( |
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RobotEENames robotNames, |
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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 |
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typename crocoddyl::DifferentialActionModelContactFwdDynamicsTpl<Scalar> |
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DifferentialActionModelContactFwdDynamics; |
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typedef typename crocoddyl::IntegratedActionModelEulerTpl<Scalar> |
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IntegratedActionModelEuler; |
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typedef typename crocoddyl::ActuationModelFloatingBaseTpl<Scalar> |
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ActuationModelFloatingBase; |
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typedef typename crocoddyl::CostModelSumTpl<Scalar> CostModelSum; |
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typedef typename crocoddyl::ContactModelMultipleTpl<Scalar> |
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ContactModelMultiple; |
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typedef typename crocoddyl::CostModelAbstractTpl<Scalar> CostModelAbstract; |
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typedef typename crocoddyl::ContactModelAbstractTpl<Scalar> |
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ContactModelAbstract; |
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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::ResidualModelCoMPositionTpl<Scalar> |
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ResidualModelCoMPosition; |
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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::ContactModel6DTpl<Scalar> ContactModel6D; |
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typedef typename crocoddyl::ContactModel3DTpl<Scalar> ContactModel3D; |
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typedef typename crocoddyl::MathBaseTpl<Scalar>::Vector2s Vector2s; |
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typedef typename crocoddyl::MathBaseTpl<Scalar>::Vector3s Vector3s; |
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typedef typename crocoddyl::MathBaseTpl<Scalar>::VectorXs VectorXs; |
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typedef typename crocoddyl::MathBaseTpl<Scalar>::Matrix3s Matrix3s; |
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pinocchio::ModelTpl<double> modeld; |
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pinocchio::urdf::buildModel(robotNames.urdf_path, |
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pinocchio::JointModelFreeFlyer(), modeld); |
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modeld.lowerPositionLimit.head<7>().array() = -1; |
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modeld.upperPositionLimit.head<7>().array() = 1.; |
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pinocchio::srdf::loadReferenceConfigurations(modeld, robotNames.srdf_path, |
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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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VectorXs default_state(model.nq + model.nv); |
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default_state << model.referenceConfigurations[robotNames.reference_conf], |
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VectorXs::Zero(model.nv); |
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boost::shared_ptr<ActuationModelFloatingBase> actuation = |
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boost::make_shared<ActuationModelFloatingBase>(state); |
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boost::shared_ptr<CostModelAbstract> comCost = |
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boost::make_shared<CostModelResidual>( |
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state, boost::make_shared<ResidualModelCoMPosition>( |
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state, Vector3s::Zero(), actuation->get_nu())); |
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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(robotNames.ee_name), |
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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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actuation->get_nu())); |
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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, default_state, |
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actuation->get_nu())); |
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boost::shared_ptr<CostModelAbstract> uRegCost = |
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boost::make_shared<CostModelResidual>( |
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state, |
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boost::make_shared<ResidualModelControl>(state, actuation->get_nu())); |
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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, actuation->get_nu()); |
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boost::shared_ptr<CostModelSum> terminalCostModel = |
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boost::make_shared<CostModelSum>(state, actuation->get_nu()); |
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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("comPos", comCost, Scalar(1e-7)); |
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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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boost::shared_ptr<ContactModelMultiple> contact_models = |
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boost::make_shared<ContactModelMultiple>(state, actuation->get_nu()); |
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for (std::size_t i = 0; i < robotNames.contact_names.size(); ++i) { |
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switch (robotNames.contact_types[i]) { |
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case Contact3D: { |
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boost::shared_ptr<ContactModelAbstract> support_contact = |
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boost::make_shared<ContactModel3D>( |
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state, model.getFrameId(robotNames.contact_names[i]), |
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Eigen::Vector3d::Zero(), pinocchio::LOCAL_WORLD_ALIGNED, |
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actuation->get_nu(), Vector2s(Scalar(0.), Scalar(50.))); |
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contact_models->addContact( |
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model.frames[model.getFrameId(robotNames.contact_names[i])].name, |
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support_contact); |
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break; |
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} |
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case Contact6D: { |
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boost::shared_ptr<ContactModelAbstract> support_contact = |
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boost::make_shared<ContactModel6D>( |
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state, model.getFrameId(robotNames.contact_names[i]), |
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pinocchio::SE3Tpl<Scalar>::Identity(), |
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pinocchio::LOCAL_WORLD_ALIGNED, actuation->get_nu(), |
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Vector2s(Scalar(0.), Scalar(50.))); |
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contact_models->addContact( |
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model.frames[model.getFrameId(robotNames.contact_names[i])].name, |
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support_contact); |
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break; |
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} |
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default: { |
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break; |
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} |
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} |
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} |
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// Next, we need to create an action model for running and terminal nodes |
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boost::shared_ptr<DifferentialActionModelContactFwdDynamics> runningDAM = |
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boost::make_shared<DifferentialActionModelContactFwdDynamics>( |
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state, actuation, contact_models, runningCostModel); |
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boost::shared_ptr<DifferentialActionModelContactFwdDynamics> terminalDAM = |
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boost::make_shared<DifferentialActionModelContactFwdDynamics>( |
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state, actuation, contact_models, terminalCostModel); |
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runningModel = |
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boost::make_shared<IntegratedActionModelEuler>(runningDAM, Scalar(5e-3)); |
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terminalModel = |
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boost::make_shared<IntegratedActionModelEuler>(terminalDAM, Scalar(5e-3)); |
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} |
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} // namespace benchmark |
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} // namespace crocoddyl |
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#endif // CROCODDYL_BIPED_FACTORY_HPP_ |