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Αdd easy limits access and reset in Robot class #90

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Aug 17, 2020
Merged

Αdd easy limits access and reset in Robot class #90

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4 changes: 2 additions & 2 deletions src/examples/dof_maps.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,8 @@ int main()
{
std::srand(std::time(NULL));

std::vector<std::pair<std::string, std::string>> packages = {{"iiwa14", "iiwa/meshes"}};
auto global_robot = std::make_shared<robot_dart::Robot>("iiwa/iiwa14.urdf", packages);
std::vector<std::pair<std::string, std::string>> packages = {{"iiwa_description", "iiwa/iiwa_description"}};
auto global_robot = std::make_shared<robot_dart::Robot>("iiwa/iiwa.urdf", packages);

global_robot->fix_to_world();
global_robot->set_position_enforced(true);
Expand Down
64 changes: 61 additions & 3 deletions src/python/robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,9 +14,21 @@ namespace robot_dart {
using namespace robot_dart;
// Robot class
py::class_<Robot, std::shared_ptr<Robot>>(m, "Robot")
.def(py::init<const std::string&, const std::vector<std::pair<std::string, std::string>>&, const std::string&, bool>())
.def(py::init<const std::string&, const std::string&, bool>())
.def(py::init<dart::dynamics::SkeletonPtr, const std::string&>())
.def(py::init<const std::string&, const std::vector<std::pair<std::string, std::string>>&, const std::string&, bool, bool>(),
py::arg("model_file"),
py::arg("packages"),
py::arg("robot_name") = "robot",
py::arg("is_urdf_string") = false,
py::arg("cast_shadows") = true)
.def(py::init<const std::string&, const std::string&, bool, bool>(),
py::arg("model_file"),
py::arg("robot_name") = "robot",
py::arg("is_urdf_string") = false,
py::arg("cast_shadows") = true)
.def(py::init<dart::dynamics::SkeletonPtr, const std::string&, bool>(),
py::arg("skeleton"),
py::arg("robot_name") = "robot",
py::arg("cast_shadows") = true)

.def("clone", &Robot::clone)
.def("clone_ghost", &Robot::clone_ghost,
Expand Down Expand Up @@ -48,6 +60,8 @@ namespace robot_dart {
.def("fixed", &Robot::fixed)
.def("free", &Robot::free)

.def("reset", &Robot::reset)

.def("set_actuator_types", &Robot::set_actuator_types,
py::arg("type"),
py::arg("joint_names") = std::vector<std::string>(),
Expand Down Expand Up @@ -111,24 +125,68 @@ namespace robot_dart {
py::arg("positions"),
py::arg("dof_names") = std::vector<std::string>())

.def("position_lower_limits", &Robot::position_lower_limits,
py::arg("dof_names") = std::vector<std::string>())
.def("set_position_lower_limits", &Robot::set_position_lower_limits,
py::arg("positions"),
py::arg("dof_names") = std::vector<std::string>())
.def("position_upper_limits", &Robot::position_upper_limits,
py::arg("dof_names") = std::vector<std::string>())
.def("set_position_upper_limits", &Robot::set_position_upper_limits,
py::arg("positions"),
py::arg("dof_names") = std::vector<std::string>())

.def("velocities", &Robot::velocities,
py::arg("dof_names") = std::vector<std::string>())
.def("set_velocities", &Robot::set_velocities,
py::arg("velocities"),
py::arg("dof_names") = std::vector<std::string>())

.def("velocity_lower_limits", &Robot::velocity_lower_limits,
py::arg("dof_names") = std::vector<std::string>())
.def("set_velocity_lower_limits", &Robot::set_velocity_lower_limits,
py::arg("velocities"),
py::arg("dof_names") = std::vector<std::string>())
.def("velocity_upper_limits", &Robot::velocity_upper_limits,
py::arg("dof_names") = std::vector<std::string>())
.def("set_velocity_upper_limits", &Robot::set_velocity_upper_limits,
py::arg("velocities"),
py::arg("dof_names") = std::vector<std::string>())

.def("accelerations", &Robot::accelerations,
py::arg("dof_names") = std::vector<std::string>())
.def("set_accelerations", &Robot::set_accelerations,
py::arg("accelerations"),
py::arg("dof_names") = std::vector<std::string>())

.def("acceleration_lower_limits", &Robot::acceleration_lower_limits,
py::arg("dof_names") = std::vector<std::string>())
.def("set_acceleration_lower_limits", &Robot::set_acceleration_lower_limits,
py::arg("accelerations"),
py::arg("dof_names") = std::vector<std::string>())
.def("acceleration_upper_limits", &Robot::acceleration_upper_limits,
py::arg("dof_names") = std::vector<std::string>())
.def("set_acceleration_upper_limits", &Robot::set_acceleration_upper_limits,
py::arg("accelerations"),
py::arg("dof_names") = std::vector<std::string>())

.def("forces", &Robot::forces,
py::arg("dof_names") = std::vector<std::string>())
.def("set_forces", &Robot::set_forces,
py::arg("forces"),
py::arg("dof_names") = std::vector<std::string>())

.def("force_lower_limits", &Robot::force_lower_limits,
py::arg("dof_names") = std::vector<std::string>())
.def("set_force_lower_limits", &Robot::set_force_lower_limits,
py::arg("forces"),
py::arg("dof_names") = std::vector<std::string>())
.def("force_upper_limits", &Robot::force_upper_limits,
py::arg("dof_names") = std::vector<std::string>())
.def("set_force_upper_limits", &Robot::set_force_upper_limits,
py::arg("forces"),
py::arg("dof_names") = std::vector<std::string>())

.def("commands", &Robot::commands,
py::arg("dof_names") = std::vector<std::string>())
.def("set_commands", &Robot::set_commands,
Expand Down
194 changes: 189 additions & 5 deletions src/robot_dart/robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,22 @@ namespace robot_dart {
return skeleton->getForces();
else if (content == 4)
return skeleton->getCommands();
else if (content == 5)
return skeleton->getPositionLowerLimits();
else if (content == 6)
return skeleton->getPositionUpperLimits();
else if (content == 7)
return skeleton->getVelocityLowerLimits();
else if (content == 8)
return skeleton->getVelocityUpperLimits();
else if (content == 9)
return skeleton->getAccelerationLowerLimits();
else if (content == 10)
return skeleton->getAccelerationUpperLimits();
else if (content == 11)
return skeleton->getForceLowerLimits();
else if (content == 12)
return skeleton->getForceUpperLimits();
ROBOT_DART_EXCEPTION_ASSERT(false, "Unknown type of data!");
}

Expand All @@ -66,6 +82,22 @@ namespace robot_dart {
data(i) = dof->getForce();
else if (content == 4)
data(i) = dof->getCommand();
else if (content == 5)
data(i) = dof->getPositionLowerLimit();
else if (content == 6)
data(i) = dof->getPositionUpperLimit();
else if (content == 7)
data(i) = dof->getVelocityLowerLimit();
else if (content == 8)
data(i) = dof->getVelocityUpperLimit();
else if (content == 9)
data(i) = dof->getAccelerationLowerLimit();
else if (content == 10)
data(i) = dof->getAccelerationUpperLimit();
else if (content == 11)
data(i) = dof->getForceLowerLimit();
else if (content == 12)
data(i) = dof->getForceUpperLimit();
else
ROBOT_DART_EXCEPTION_ASSERT(false, "Unknown type of data!");
}
Expand All @@ -89,6 +121,22 @@ namespace robot_dart {
return skeleton->setForces(data);
else if (content == 4)
return skeleton->setCommands(data);
else if (content == 5)
return skeleton->setPositionLowerLimits(data);
else if (content == 6)
return skeleton->setPositionUpperLimits(data);
else if (content == 7)
return skeleton->setVelocityLowerLimits(data);
else if (content == 8)
return skeleton->setVelocityUpperLimits(data);
else if (content == 9)
return skeleton->setAccelerationLowerLimits(data);
else if (content == 10)
return skeleton->setAccelerationUpperLimits(data);
else if (content == 11)
return skeleton->setForceLowerLimits(data);
else if (content == 12)
return skeleton->setForceUpperLimits(data);
ROBOT_DART_EXCEPTION_ASSERT(false, "Unknown type of data!");
}

Expand All @@ -109,6 +157,22 @@ namespace robot_dart {
dof->setForce(data(i));
else if (content == 4)
dof->setCommand(data(i));
else if (content == 5)
dof->setPositionLowerLimit(data(i));
else if (content == 6)
dof->setPositionUpperLimit(data(i));
else if (content == 7)
dof->setVelocityLowerLimit(data(i));
else if (content == 8)
dof->setVelocityUpperLimit(data(i));
else if (content == 9)
dof->setAccelerationLowerLimit(data(i));
else if (content == 10)
dof->setAccelerationUpperLimit(data(i));
else if (content == 11)
dof->setForceLowerLimit(data(i));
else if (content == 12)
dof->setForceUpperLimit(data(i));
else
ROBOT_DART_EXCEPTION_ASSERT(false, "Unknown type of data!");
}
Expand All @@ -131,6 +195,22 @@ namespace robot_dart {
return skeleton->setForces(skeleton->getForces() + data);
else if (content == 4)
return skeleton->setCommands(skeleton->getCommands() + data);
else if (content == 5)
return skeleton->setPositionLowerLimits(skeleton->getPositionLowerLimits() + data);
else if (content == 6)
return skeleton->setPositionUpperLimits(skeleton->getPositionUpperLimits() + data);
else if (content == 7)
return skeleton->setVelocityLowerLimits(skeleton->getVelocityLowerLimits() + data);
else if (content == 8)
return skeleton->setVelocityUpperLimits(skeleton->getVelocityUpperLimits() + data);
else if (content == 9)
return skeleton->setAccelerationLowerLimits(skeleton->getAccelerationLowerLimits() + data);
else if (content == 10)
return skeleton->setAccelerationUpperLimits(skeleton->getAccelerationUpperLimits() + data);
else if (content == 11)
return skeleton->setForceLowerLimits(skeleton->getForceLowerLimits() + data);
else if (content == 12)
return skeleton->setForceUpperLimits(skeleton->getForceUpperLimits() + data);
ROBOT_DART_EXCEPTION_ASSERT(false, "Unknown type of data!");
}

Expand All @@ -151,6 +231,22 @@ namespace robot_dart {
dof->setForce(dof->getForce() + data(i));
else if (content == 4)
dof->setCommand(dof->getCommand() + data(i));
else if (content == 5)
dof->setPositionLowerLimit(dof->getPositionLowerLimit() + data(i));
else if (content == 6)
dof->setPositionUpperLimit(dof->getPositionUpperLimit() + data(i));
else if (content == 7)
dof->setVelocityLowerLimit(dof->getVelocityLowerLimit() + data(i));
else if (content == 8)
dof->setVelocityUpperLimit(dof->getVelocityUpperLimit() + data(i));
else if (content == 9)
dof->setAccelerationLowerLimit(dof->getAccelerationLowerLimit() + data(i));
else if (content == 10)
dof->setAccelerationUpperLimit(dof->getAccelerationUpperLimit() + data(i));
else if (content == 11)
dof->setForceLowerLimit(dof->getForceLowerLimit() + data(i));
else if (content == 12)
dof->setForceUpperLimit(dof->getForceUpperLimit() + data(i));
else
ROBOT_DART_EXCEPTION_ASSERT(false, "Unknown type of data!");
}
Expand Down Expand Up @@ -370,6 +466,14 @@ namespace robot_dart {
return parent_jt->getType() == dart::dynamics::FreeJoint::getStaticType();
}

void Robot::reset()
{
_skeleton->resetPositions();
_skeleton->resetVelocities();
_skeleton->resetAccelerations();
this->clear_external_forces();
}

void Robot::set_actuator_types(const std::string& type, const std::vector<std::string>& joint_names, bool override_mimic, bool override_base)
{
// Set all dofs to same actuator type
Expand Down Expand Up @@ -662,7 +766,7 @@ namespace robot_dart {
return _skeleton->getCOMSpatialAcceleration();
}

Eigen::VectorXd Robot::positions(const std::vector<std::string>& dof_names)
Eigen::VectorXd Robot::positions(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<0>(_skeleton, dof_names, _dof_map);
}
Expand All @@ -672,7 +776,27 @@ namespace robot_dart {
detail::set_dof_data<0>(positions, _skeleton, dof_names, _dof_map);
}

Eigen::VectorXd Robot::velocities(const std::vector<std::string>& dof_names)
Eigen::VectorXd Robot::position_lower_limits(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<5>(_skeleton, dof_names, _dof_map);
}

void Robot::set_position_lower_limits(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names)
{
detail::set_dof_data<5>(positions, _skeleton, dof_names, _dof_map);
}

Eigen::VectorXd Robot::position_upper_limits(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<6>(_skeleton, dof_names, _dof_map);
}

void Robot::set_position_upper_limits(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names)
{
detail::set_dof_data<6>(positions, _skeleton, dof_names, _dof_map);
}

Eigen::VectorXd Robot::velocities(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<1>(_skeleton, dof_names, _dof_map);
}
Expand All @@ -682,7 +806,27 @@ namespace robot_dart {
detail::set_dof_data<1>(velocities, _skeleton, dof_names, _dof_map);
}

Eigen::VectorXd Robot::accelerations(const std::vector<std::string>& dof_names)
Eigen::VectorXd Robot::velocity_lower_limits(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<7>(_skeleton, dof_names, _dof_map);
}

void Robot::set_velocity_lower_limits(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names)
{
detail::set_dof_data<7>(velocities, _skeleton, dof_names, _dof_map);
}

Eigen::VectorXd Robot::velocity_upper_limits(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<8>(_skeleton, dof_names, _dof_map);
}

void Robot::set_velocity_upper_limits(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names)
{
detail::set_dof_data<8>(velocities, _skeleton, dof_names, _dof_map);
}

Eigen::VectorXd Robot::accelerations(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<2>(_skeleton, dof_names, _dof_map);
}
Expand All @@ -692,7 +836,27 @@ namespace robot_dart {
detail::set_dof_data<2>(accelerations, _skeleton, dof_names, _dof_map);
}

Eigen::VectorXd Robot::forces(const std::vector<std::string>& dof_names)
Eigen::VectorXd Robot::acceleration_lower_limits(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<9>(_skeleton, dof_names, _dof_map);
}

void Robot::set_acceleration_lower_limits(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names)
{
detail::set_dof_data<9>(accelerations, _skeleton, dof_names, _dof_map);
}

Eigen::VectorXd Robot::acceleration_upper_limits(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<10>(_skeleton, dof_names, _dof_map);
}

void Robot::set_acceleration_upper_limits(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names)
{
detail::set_dof_data<10>(accelerations, _skeleton, dof_names, _dof_map);
}

Eigen::VectorXd Robot::forces(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<3>(_skeleton, dof_names, _dof_map);
}
Expand All @@ -702,7 +866,27 @@ namespace robot_dart {
detail::set_dof_data<3>(forces, _skeleton, dof_names, _dof_map);
}

Eigen::VectorXd Robot::commands(const std::vector<std::string>& dof_names)
Eigen::VectorXd Robot::force_lower_limits(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<11>(_skeleton, dof_names, _dof_map);
}

void Robot::set_force_lower_limits(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names)
{
detail::set_dof_data<11>(forces, _skeleton, dof_names, _dof_map);
}

Eigen::VectorXd Robot::force_upper_limits(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<12>(_skeleton, dof_names, _dof_map);
}

void Robot::set_force_upper_limits(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names)
{
detail::set_dof_data<12>(forces, _skeleton, dof_names, _dof_map);
}

Eigen::VectorXd Robot::commands(const std::vector<std::string>& dof_names) const
{
return detail::dof_data<4>(_skeleton, dof_names, _dof_map);
}
Expand Down
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