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66c9c8a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 | # Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved.
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
import math
import unittest
import warp as wp
import warp.sim
from warp.tests.unittest_utils import *
wp.init()
def build_ant(num_envs):
builder = wp.sim.ModelBuilder()
for i in range(num_envs):
wp.sim.parse_mjcf(
os.path.join(os.path.dirname(__file__), "../../examples/assets/nv_ant.xml"),
builder,
up_axis="y",
)
coord_count = 15
dof_count = 14
coord_start = i * coord_count
dof_start = i * dof_count
# base
builder.joint_q[coord_start : coord_start + 3] = [i * 2.0, 0.70, 0.0]
builder.joint_q[coord_start + 3 : coord_start + 7] = wp.quat_from_axis_angle((1.0, 0.0, 0.0), -math.pi * 0.5)
# joints
builder.joint_q[coord_start + 7 : coord_start + coord_count] = [0.0, 1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 1.0]
builder.joint_qd[dof_start + 6 : dof_start + dof_count] = [1.0, 1.0, 1.0, -1.0, 1.0, -1.0, 1.0, 1.0]
return builder
def build_complex_joint_mechanism(chain_length):
builder = wp.sim.ModelBuilder()
com0 = wp.vec3(1.0, 2.0, 3.0)
com1 = wp.vec3(4.0, 5.0, 6.0)
com2 = wp.vec3(7.0, 8.0, 9.0)
ax0 = wp.normalize(wp.vec3(-1.0, 2.0, 3.0))
ax1 = wp.normalize(wp.vec3(4.0, -1.0, 2.0))
ax2 = wp.normalize(wp.vec3(-3.0, 4.0, -1.0))
# declare some transforms with nonzero translation and orientation
tf0 = wp.transform(wp.vec3(1.0, 2.0, 3.0), wp.quat_from_axis_angle((1.0, 0.0, 0.0), math.pi * 0.25))
tf1 = wp.transform(wp.vec3(4.0, 5.0, 6.0), wp.quat_from_axis_angle((0.0, 1.0, 0.0), math.pi * 0.5))
tf2 = wp.transform(wp.vec3(7.0, 8.0, 9.0), wp.quat_from_axis_angle((0.0, 0.0, 1.0), math.pi * 0.75))
parent = -1
for i in range(chain_length):
b0 = builder.add_body(com=com0)
builder.add_joint_fixed(parent=parent, child=b0, parent_xform=tf1, child_xform=tf0)
assert builder.articulation_count == 1
b1 = builder.add_body(com=com1)
builder.add_joint_revolute(parent=b0, child=b1, parent_xform=tf1, child_xform=tf2, axis=ax1)
builder.joint_q[-1] = 0.3
builder.joint_qd[-1] = 1.0
b2 = builder.add_body(com=com2)
builder.add_joint_universal(parent=b1, child=b2, parent_xform=tf2, child_xform=tf0, axis_0=ax0, axis_1=ax1)
builder.joint_q[-2:] = [0.3, 0.5]
builder.joint_qd[-2:] = [1.0, -1.0]
b3 = builder.add_body(com=com0)
builder.add_joint_ball(parent=b2, child=b3, parent_xform=tf0, child_xform=tf1)
builder.joint_q[-4:] = list(wp.quat_from_axis_angle(ax0, 0.7))
builder.joint_qd[-3:] = [1.0, -0.6, 1.5]
b4 = builder.add_body(com=com1)
builder.add_joint_compound(
parent=b3,
child=b4,
parent_xform=tf2,
child_xform=tf1,
axis_0=(0, 0, 1),
axis_1=(1, 0, 0),
axis_2=(0, 1, 0),
)
builder.joint_q[-3:] = [0.3, 0.5, 0.27]
builder.joint_qd[-3:] = [1.23, -1.0, 0.5]
b5 = builder.add_body(com=com2)
builder.add_joint_prismatic(
parent=b4,
child=b5,
parent_xform=tf2,
child_xform=tf0,
axis=ax0,
)
builder.joint_q[-1] = 0.92
builder.joint_qd[-1] = -0.63
b6 = builder.add_body(com=com0)
builder.add_joint_d6(
parent=b5,
child=b6,
parent_xform=tf0,
child_xform=tf2,
linear_axes=[ax0, ax1, wp.cross(ax0, ax1)],
angular_axes=[ax1, ax2, wp.cross(ax1, ax2)],
)
builder.joint_q[-6:] = [0.3, 0.5, 0.7, 0.9, 1.1, 1.3]
builder.joint_qd[-6:] = [1.0, -1.0, 0.5, 0.8, -0.3, 0.1]
b7 = builder.add_body(com=com1)
builder.add_joint_free(
parent=b6,
child=b7,
parent_xform=tf1,
child_xform=tf2,
)
builder.joint_q[-7:] = [0.5, -0.9, 1.4] + list(wp.quat_rpy(0.3, -0.5, 0.7))
builder.joint_qd[-6:] = [1.0, -1.0, 0.5, 0.8, -0.3, 0.1]
b8 = builder.add_body(com=com2)
builder.add_joint_distance(
parent=b7,
child=b8,
parent_xform=tf1,
child_xform=tf2,
)
builder.joint_q[-7:] = [-0.3, -0.7, 0.2] + list(wp.quat_rpy(0.1, 0.1, 0.4))
builder.joint_qd[-6:] = [-0.34, 0.5, -0.6, -0.4, 0.2, 0.1]
# D6 joint that behaves like a fixed joint
b9 = builder.add_body(com=com0)
builder.add_joint_d6(
parent=b8,
child=b9,
parent_xform=tf0,
child_xform=tf2,
linear_axes=[],
angular_axes=[],
)
b10 = builder.add_body(com=com0)
builder.add_joint_d6(
parent=b9,
child=b10,
parent_xform=tf1,
child_xform=tf2,
linear_axes=[ax1],
angular_axes=[ax2, ax0],
)
builder.joint_q[-3:] = [0.3, 0.5, 0.7]
builder.joint_qd[-3:] = [1.0, -1.0, 0.5]
b11 = builder.add_body(com=com1)
builder.add_joint_d6(
parent=b10,
child=b11,
parent_xform=tf1,
child_xform=tf2,
linear_axes=[ax1, ax0, wp.cross(ax1, ax0)],
angular_axes=[],
)
builder.joint_q[-3:] = [0.3, 0.5, 0.7]
builder.joint_qd[-3:] = [1.0, -1.0, 0.5]
b12 = builder.add_body(com=com2)
builder.add_joint_d6(
parent=b11,
child=b12,
parent_xform=tf1,
child_xform=tf2,
linear_axes=[],
angular_axes=[ax1, ax2, wp.cross(ax1, ax2)],
)
builder.joint_q[-3:] = [0.3, 0.5, 0.7]
builder.joint_qd[-3:] = [1.0, -1.0, 0.5]
parent = b12
return builder
def check_fk_ik(builder, device):
model = builder.finalize(device)
state = model.state()
q_fk = model.joint_q.numpy()
qd_fk = model.joint_qd.numpy()
wp.sim.eval_fk(model, model.joint_q, model.joint_qd, None, state)
q_ik = wp.zeros_like(model.joint_q)
qd_ik = wp.zeros_like(model.joint_qd)
wp.sim.eval_ik(model, state, q_ik, qd_ik)
# adjust numpy print settings
# np.set_printoptions(precision=4, floatmode="fixed", suppress=True)
# print("q:")
# print(np.array(q_fk))
# print(q_ik.numpy())
# print("qd:")
# print(np.array(qd_fk))
# print(qd_ik.numpy())
assert_np_equal(q_ik.numpy(), q_fk, tol=1e-4)
assert_np_equal(qd_ik.numpy(), qd_fk, tol=1e-4)
def test_fk_ik_ant(test, device):
builder = build_ant(3)
check_fk_ik(builder, device)
def test_fk_ik_complex_joint_mechanism(test, device):
builder = build_complex_joint_mechanism(2)
check_fk_ik(builder, device)
devices = get_test_devices()
class TestKinematics(unittest.TestCase):
pass
add_function_test(TestKinematics, "test_fk_ik_ant", test_fk_ik_ant, devices=devices)
add_function_test(
TestKinematics, "test_fk_ik_complex_joint_mechanism", test_fk_ik_complex_joint_mechanism, devices=devices
)
if __name__ == "__main__":
wp.build.clear_kernel_cache()
unittest.main(verbosity=2, failfast=False)
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