| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/multibody/actions/contact-invdyn.cpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 45 | 45 | 100.0% |
| Branches: | 133 | 266 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include "crocoddyl/multibody/actions/contact-invdyn.hpp" | ||
| 10 | |||
| 11 | #include "python/crocoddyl/core/diff-action-base.hpp" | ||
| 12 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | template <typename Model> | ||
| 18 | struct DifferentialActionModelContactInvDynamicsVisitor | ||
| 19 | : public bp::def_visitor< | ||
| 20 | DifferentialActionModelContactInvDynamicsVisitor<Model>> { | ||
| 21 | typedef typename Model::DifferentialActionDataAbstract Data; | ||
| 22 | typedef typename Model::VectorXs VectorXs; | ||
| 23 | template <class PyClass> | ||
| 24 | 40 | void visit(PyClass& cl) const { | |
| 25 | 40 | cl.def("calc", | |
| 26 | static_cast<void (Model::*)( | ||
| 27 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 28 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 29 | bp::args("self", "data", "x", "u"), | ||
| 30 | "Compute the next state, cost value and constraints.\n\n" | ||
| 31 | ":param data: contact inverse-dynamics data\n" | ||
| 32 | ":param x: state point (dim. state.nx)\n" | ||
| 33 | ":param u: control input (dim. nu)") | ||
| 34 |
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80 | .def("calc", |
| 35 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 36 | const Eigen::Ref<const VectorXs>&)>( | ||
| 37 | &Model::calc), | ||
| 38 | bp::args("self", "data", "x")) | ||
| 39 |
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80 | .def( |
| 40 | "calcDiff", | ||
| 41 | static_cast<void (Model::*)( | ||
| 42 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 43 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 44 | bp::args("self", "data", "x", "u"), | ||
| 45 | "Compute the derivatives of the differential multibody system, and " | ||
| 46 | "its cost and constraint functions.\n\n" | ||
| 47 | "It computes the partial derivatives of the differential multibody " | ||
| 48 | "system, the cost and constraint functions. It assumes that calc " | ||
| 49 | "has been run first. This function builds a quadratic " | ||
| 50 | "approximation of the action model (i.e., dynamical system, cost " | ||
| 51 | "and constraint functions).\n" | ||
| 52 | ":param data: contact inverse-dynamics data\n" | ||
| 53 | ":param x: state point (dim. state.nx)\n" | ||
| 54 | ":param u: control input (dim. nu)") | ||
| 55 |
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80 | .def("calcDiff", |
| 56 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 57 | const Eigen::Ref<const VectorXs>&)>( | ||
| 58 | &Model::calcDiff), | ||
| 59 | bp::args("self", "data", "x")) | ||
| 60 |
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80 | .def("createData", &Model::createData, bp::args("self"), |
| 61 | "Create the contact inverse-dynamics differential action data.") | ||
| 62 |
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40 | .add_property( |
| 63 | "actuation", | ||
| 64 | bp::make_function(&Model::get_actuation, | ||
| 65 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 66 | "actuation model") | ||
| 67 |
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40 | .add_property( |
| 68 | "contacts", | ||
| 69 | bp::make_function(&Model::get_contacts, | ||
| 70 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 71 | "multiple contact model") | ||
| 72 |
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40 | .add_property( |
| 73 | "costs", | ||
| 74 | bp::make_function(&Model::get_costs, | ||
| 75 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 76 | "total cost model") | ||
| 77 |
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40 | .add_property( |
| 78 | "constraints", | ||
| 79 | bp::make_function(&Model::get_constraints, | ||
| 80 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 81 | "constraint model manager"); | ||
| 82 | 40 | } | |
| 83 | }; | ||
| 84 | |||
| 85 | template <typename Model> | ||
| 86 | struct DifferentialActionModelContactInvDynamicsResidualModelActuationVisitor | ||
| 87 | : public bp::def_visitor< | ||
| 88 | DifferentialActionModelContactInvDynamicsResidualModelActuationVisitor< | ||
| 89 | Model>> { | ||
| 90 | typedef typename Model::ResidualDataAbstract Data; | ||
| 91 | typedef typename Model::VectorXs VectorXs; | ||
| 92 | template <class PyClass> | ||
| 93 | 40 | void visit(PyClass& cl) const { | |
| 94 | 40 | cl.def("calc", | |
| 95 | static_cast<void (Model::*)( | ||
| 96 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 97 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 98 | bp::args("self", "data", "x", "u"), | ||
| 99 | "Compute the actuation residual.\n\n" | ||
| 100 | ":param data: residual data\n" | ||
| 101 | ":param x: state point (dim. state.nx)\n" | ||
| 102 | ":param u: control input (dim. nu)") | ||
| 103 |
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80 | .def("calc", |
| 104 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 105 | const Eigen::Ref<const VectorXs>&)>( | ||
| 106 | &Model::calc), | ||
| 107 | bp::args("self", "data", "x")) | ||
| 108 |
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80 | .def( |
| 109 | "calcDiff", | ||
| 110 | static_cast<void (Model::*)( | ||
| 111 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 112 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 113 | bp::args("self", "data", "x", "u"), | ||
| 114 | "Compute the Jacobians of the actuation residual.\n\n" | ||
| 115 | "It assumes that calc has been run first.\n" | ||
| 116 | ":param data: action data\n" | ||
| 117 | ":param x: state point (dim. state.nx)\n" | ||
| 118 | ":param u: control input (dim. nu)\n") | ||
| 119 |
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80 | .def("calcDiff", |
| 120 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 121 | const Eigen::Ref<const VectorXs>&)>( | ||
| 122 | &Model::calcDiff), | ||
| 123 | bp::args("self", "data", "x")) | ||
| 124 |
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80 | .def("createData", &Model::createData, |
| 125 | 40 | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 126 | bp::args("self", "data"), | ||
| 127 | "Create the actuation residual data.\n\n" | ||
| 128 | "Each residual model has its own data that needs to be allocated. " | ||
| 129 | "This function returns the allocated data for the actuation " | ||
| 130 | "residual.\n" | ||
| 131 | ":param data: shared data\n" | ||
| 132 | ":return residual data."); | ||
| 133 | 40 | } | |
| 134 | }; | ||
| 135 | |||
| 136 | template <typename Model> | ||
| 137 | struct DifferentialActionModelContactInvDynamicsResidualModelContactVisitor | ||
| 138 | : public bp::def_visitor< | ||
| 139 | DifferentialActionModelContactInvDynamicsResidualModelContactVisitor< | ||
| 140 | Model>> { | ||
| 141 | typedef typename Model::ResidualDataAbstract Data; | ||
| 142 | typedef typename Model::VectorXs VectorXs; | ||
| 143 | template <class PyClass> | ||
| 144 | 40 | void visit(PyClass& cl) const { | |
| 145 | 40 | cl.def("calc", | |
| 146 | static_cast<void (Model::*)( | ||
| 147 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 148 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 149 | bp::args("self", "data", "x", "u"), | ||
| 150 | "Compute the contact-acceleration residual.\n\n" | ||
| 151 | ":param data: residual data\n" | ||
| 152 | ":param x: state vector\n" | ||
| 153 | ":param u: control input") | ||
| 154 |
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80 | .def("calc", |
| 155 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 156 | const Eigen::Ref<const VectorXs>&)>( | ||
| 157 | &Model::calc), | ||
| 158 | bp::args("self", "data", "x")) | ||
| 159 |
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80 | .def( |
| 160 | "calcDiff", | ||
| 161 | static_cast<void (Model::*)( | ||
| 162 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 163 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 164 | bp::args("self", "data", "x", "u"), | ||
| 165 | "Compute the Jacobians of the contact-acceleration residual.\n\n" | ||
| 166 | "It assumes that calc has been run first.\n" | ||
| 167 | ":param data: action data\n" | ||
| 168 | ":param x: state vector\n" | ||
| 169 | ":param u: control input\n") | ||
| 170 |
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80 | .def("calcDiff", |
| 171 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 172 | const Eigen::Ref<const VectorXs>&)>( | ||
| 173 | &Model::calcDiff), | ||
| 174 | bp::args("self", "data", "x")) | ||
| 175 |
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80 | .def("createData", &Model::createData, |
| 176 | 40 | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 177 | bp::args("self", "data"), | ||
| 178 | "Create the contact-acceleration residual data.\n\n" | ||
| 179 | "Each residual model has its own data that needs to be allocated. " | ||
| 180 | "This function returns the allocated data for the " | ||
| 181 | "contact-acceleration residual.\n" | ||
| 182 | ":param data: shared data\n" | ||
| 183 | ":return residual data."); | ||
| 184 | 40 | } | |
| 185 | }; | ||
| 186 | |||
| 187 | template <typename Data> | ||
| 188 | struct DifferentialActionDataContactInvDynamicsVisitor | ||
| 189 | : public bp::def_visitor< | ||
| 190 | DifferentialActionDataContactInvDynamicsVisitor<Data>> { | ||
| 191 | template <class PyClass> | ||
| 192 | 40 | void visit(PyClass& cl) const { | |
| 193 |
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40 | cl.add_property( |
| 194 | "pinocchio", | ||
| 195 | 40 | bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), | |
| 196 | "pinocchio data") | ||
| 197 |
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40 | .add_property("multibody", |
| 198 | bp::make_getter(&Data::multibody, | ||
| 199 | 40 | bp::return_internal_reference<>()), | |
| 200 | "multibody data") | ||
| 201 |
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40 | .add_property( |
| 202 | "costs", | ||
| 203 | bp::make_getter(&Data::costs, | ||
| 204 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 205 | "total cost data") | ||
| 206 |
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40 | .add_property( |
| 207 | "constraints", | ||
| 208 | bp::make_getter(&Data::constraints, | ||
| 209 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 210 | "constraint data"); | ||
| 211 | 40 | } | |
| 212 | }; | ||
| 213 | |||
| 214 | #define CROCODDYL_ACTION_MODEL_CONTACT_INVDYN_PYTHON_BINDINGS(Scalar) \ | ||
| 215 | typedef DifferentialActionModelContactInvDynamicsTpl<Scalar> Model; \ | ||
| 216 | typedef DifferentialActionModelAbstractTpl<Scalar> ModelBase; \ | ||
| 217 | typedef typename Model::StateMultibody State; \ | ||
| 218 | typedef typename Model::ActuationModelAbstract Actuation; \ | ||
| 219 | typedef typename Model::ContactModelMultiple Contacts; \ | ||
| 220 | typedef typename Model::CostModelSum Costs; \ | ||
| 221 | typedef typename Model::ConstraintModelManager Constraints; \ | ||
| 222 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 223 | bp::scope model_outer = \ | ||
| 224 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 225 | "DifferentialActionModelContactInvDynamics", \ | ||
| 226 | "Differential action model for inverse dynamics in multibody " \ | ||
| 227 | "systems with contacts.\n\n" \ | ||
| 228 | "This class implements forward kinematic with holonomic contact " \ | ||
| 229 | "constraints (defined at the acceleration level) and " \ | ||
| 230 | "inverse-dynamics computation using the Recursive Newton Euler " \ | ||
| 231 | "Algorithm (RNEA). On the other hand, the stack of cost and " \ | ||
| 232 | "constraint functions are implemented in ConstraintModelManager() " \ | ||
| 233 | "and CostModelSum(), respectively.", \ | ||
| 234 | bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, \ | ||
| 235 | std::shared_ptr<Contacts>, std::shared_ptr<Costs>, \ | ||
| 236 | bp::optional<std::shared_ptr<Constraints>>>( \ | ||
| 237 | bp::args("self", "state", "actuation", "contacts", "costs", \ | ||
| 238 | "constraints"), \ | ||
| 239 | "Initialize the inverse-dynamics action model for system with " \ | ||
| 240 | "contact.\n\n" \ | ||
| 241 | "It describes the kinematic evolution of the multibody system " \ | ||
| 242 | "with contacts, and computes the needed torques using " \ | ||
| 243 | "inverse-dynamics.\n." \ | ||
| 244 | ":param state: multibody state\n" \ | ||
| 245 | ":param actuation: abstract actuation model\n" \ | ||
| 246 | ":param contacts: stack of contact model\n" \ | ||
| 247 | ":param costs: stack of cost functions\n" \ | ||
| 248 | ":param constraints: stack of constraint functions")) \ | ||
| 249 | .def(DifferentialActionModelContactInvDynamicsVisitor<Model>()) \ | ||
| 250 | .def(CastVisitor<Model>()) \ | ||
| 251 | .def(PrintableVisitor<Model>()) \ | ||
| 252 | .def(CopyableVisitor<Model>()); \ | ||
| 253 | typedef typename Model::ResidualModelActuation ResidualModelActuation; \ | ||
| 254 | typedef typename ResidualModelActuation::Base ResidualModelBase; \ | ||
| 255 | bp::register_ptr_to_python<std::shared_ptr<ResidualModelActuation>>(); \ | ||
| 256 | bp::class_<ResidualModelActuation, bp::bases<ResidualModelBase>>( \ | ||
| 257 | "ResidualModelActuation", \ | ||
| 258 | "This residual function enforces the torques of under-actuated joints " \ | ||
| 259 | "(e.g., floating-base joints) to be zero. We compute these torques and " \ | ||
| 260 | "their derivatives using RNEA inside " \ | ||
| 261 | "DifferentialActionModelContactInvDynamics.", \ | ||
| 262 | bp::init<std::shared_ptr<State>, std::size_t, std::size_t>( \ | ||
| 263 | bp::args("self", "state", "nu", "nc"), \ | ||
| 264 | "Initialize the actuation residual model.\n\n" \ | ||
| 265 | ":param nu: dimension of control vector\n" \ | ||
| 266 | ":param nc: number of the contacts")) \ | ||
| 267 | .def( \ | ||
| 268 | DifferentialActionModelContactInvDynamicsResidualModelActuationVisitor< \ | ||
| 269 | ResidualModelActuation>()) \ | ||
| 270 | .def(CopyableVisitor<ResidualModelActuation>()); \ | ||
| 271 | typedef typename Model::ResidualModelContact ResidualModelContact; \ | ||
| 272 | bp::register_ptr_to_python<std::shared_ptr<ResidualModelContact>>(); \ | ||
| 273 | bp::class_<ResidualModelContact, bp::bases<ResidualModelBase>>( \ | ||
| 274 | "ResidualModelContact", \ | ||
| 275 | "This residual function for the contact acceleration, i.e., r = a0, " \ | ||
| 276 | "where a0 is the desired contact acceleration which also considers the " \ | ||
| 277 | "Baumgarte stabilization.", \ | ||
| 278 | bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, std::size_t, \ | ||
| 279 | std::size_t>( \ | ||
| 280 | bp::args("self", "state", "id", "nr", "nc"), \ | ||
| 281 | "Initialize the contact-acceleration residual model.\n\n" \ | ||
| 282 | ":param id: contact id\n" \ | ||
| 283 | ":param nr: dimension of contact residual\n" \ | ||
| 284 | ":param nc: dimension of contact vector")) \ | ||
| 285 | .def( \ | ||
| 286 | DifferentialActionModelContactInvDynamicsResidualModelContactVisitor< \ | ||
| 287 | ResidualModelContact>()) \ | ||
| 288 | .def(CopyableVisitor<ResidualModelContact>()); | ||
| 289 | |||
| 290 | #define CROCODDYL_ACTION_DATA_CONTACT_INVDYN_PYTHON_BINDINGS(Scalar) \ | ||
| 291 | typedef DifferentialActionDataContactInvDynamicsTpl<Scalar> Data; \ | ||
| 292 | typedef DifferentialActionDataAbstractTpl<Scalar> DataBase; \ | ||
| 293 | typedef DifferentialActionModelContactInvDynamicsTpl<Scalar> Model; \ | ||
| 294 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 295 | bp::scope data_outer = \ | ||
| 296 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 297 | "DifferentialActionDataContactInvDynamics", \ | ||
| 298 | "Differential action data for the inverse-dynamics for system with " \ | ||
| 299 | "contact.", \ | ||
| 300 | bp::init<Model*>( \ | ||
| 301 | bp::args("self", "model"), \ | ||
| 302 | "Create inverse-dynamics action data for system with " \ | ||
| 303 | "contacts.\n\n" \ | ||
| 304 | ":param model: contact inverse-dynamics action model")) \ | ||
| 305 | .def(DifferentialActionDataContactInvDynamicsVisitor<Data>()) \ | ||
| 306 | .def(CopyableVisitor<Data>()); \ | ||
| 307 | typedef typename Model::ResidualModelActuation ResidualModelActuation; \ | ||
| 308 | typedef typename Data::ResidualDataActuation ResidualDataActuation; \ | ||
| 309 | typedef typename ResidualDataActuation::Base ResidualDataBase; \ | ||
| 310 | typedef \ | ||
| 311 | typename ResidualModelActuation::DataCollectorAbstract DataCollector; \ | ||
| 312 | bp::register_ptr_to_python<std::shared_ptr<ResidualDataActuation>>(); \ | ||
| 313 | bp::class_<ResidualDataActuation, bp::bases<ResidualDataBase>>( \ | ||
| 314 | "ResidualDataActuation", "Data for actuation residual.\n\n", \ | ||
| 315 | bp::init<ResidualModelActuation*, DataCollector*>( \ | ||
| 316 | bp::args("self", "model", "data"), \ | ||
| 317 | "Create actuation residual data.\n\n" \ | ||
| 318 | ":param model: actuation residual model\n" \ | ||
| 319 | ":param data: shared data")[bp::with_custodian_and_ward< \ | ||
| 320 | 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ | ||
| 321 | .def(CopyableVisitor<ResidualDataActuation>()); \ | ||
| 322 | typedef typename Model::ResidualModelContact ResidualModelContact; \ | ||
| 323 | typedef typename Data::ResidualDataContact ResidualDataContact; \ | ||
| 324 | bp::register_ptr_to_python<std::shared_ptr<ResidualDataContact>>(); \ | ||
| 325 | bp::class_<ResidualDataContact, bp::bases<ResidualDataBase>>( \ | ||
| 326 | "ResidualDataContact", "Data for contact acceleration residual.\n\n", \ | ||
| 327 | bp::init<ResidualModelContact*, DataCollector*, std::size_t>( \ | ||
| 328 | bp::args("self", "model", "data", "id"), \ | ||
| 329 | "Create contact-acceleration residual data.\n\n" \ | ||
| 330 | ":param model: contact-acceleration residual model\n" \ | ||
| 331 | ":param data: shared data\n" \ | ||
| 332 | ":param id: contact id")[bp::with_custodian_and_ward< \ | ||
| 333 | 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ | ||
| 334 | .add_property( \ | ||
| 335 | "contact", \ | ||
| 336 | bp::make_getter(&ResidualDataContact::contact, \ | ||
| 337 | bp::return_value_policy<bp::return_by_value>()), \ | ||
| 338 | "contact data associated with the current residual") \ | ||
| 339 | .def(CopyableVisitor<ResidualDataContact>()); | ||
| 340 | |||
| 341 | 10 | void exposeDifferentialActionContactInvDynamics() { | |
| 342 |
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20 | CROCODDYL_PYTHON_SCALARS( |
| 343 | CROCODDYL_ACTION_MODEL_CONTACT_INVDYN_PYTHON_BINDINGS) | ||
| 344 |
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20 | CROCODDYL_PYTHON_SCALARS(CROCODDYL_ACTION_DATA_CONTACT_INVDYN_PYTHON_BINDINGS) |
| 345 | 10 | } | |
| 346 | |||
| 347 | } // namespace python | ||
| 348 | } // namespace crocoddyl | ||
| 349 |