MuJoCo Lec8 Hybrid系统的建模与控制
如果要定义3D的floating base 模型的头6个dof:
<worldbody>
<geom name='floor' pos='0.001 0 0' size='100 10 .125' type='plane' material='plane' condim='3' conaffinity='15'/>
<light mode='trackcom' pos='0 0 5' dir='0 0 -1'/>
<light directional='true' pos='0 0 3' dir='0 0 -1' diffuse='0.2 0.2 0.2' specular='0 0 0'/>
<body name='pelvis' pos='0 0 1.01'>
<joint type='slide' axis='1 0 0' limited='false'/>
<joint type='slide' axis='0 1 0' limited='false'/>
<joint type='slide' axis='0 0 1' limited='false' ref='1.01'/>
<joint type='ball' limited='false'/>
<!--上面是头6个的dof的定义,需要在所有dof之前-->
</body>
</worldbody>
</mujoco>
在模拟程序中显示世界坐标,体坐标,COM的方法
opt.frame = mjFRAME_WORLD; //mjFRAME_BODY
opt.flags[mjVIS_COM] = 1 ; //mjVIS_JOINT;
opt.flags[mjVIS_JOINT] = 1 ;
f是科里奥利力,D+C+G=u的G为什么不需要了?
因为我们有约束x,z是不动的,所以还要加上一个约束力输入
contact="enable"的作用是物体掉下去的时候,会被地板接住
<mujoco>
<option timestep="0.001" integrator="RK4" gravity="0 0 -9.81">
<flag sensornoise="disable" contact="enable" energy="enable"/>
</option>
<worldbody>
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<geom type="plane" size="5 5 0.1" rgba=".9 0 0 1"/>
<body name="pole" pos="0 0 2" euler="0 0 0">
<joint name="x" type="slide" pos="0 0 0.5" axis="1 0 0" />
<joint name="z" type="slide" pos="0 0 0.5" axis="0 0 1" />
<joint name="pin" type="hinge" pos="0 0 0.5" axis="0 -1 0" />
<geom type="cylinder" size=".05 .5" rgba="0 .9 0 0.1" mass="1"/>
</body>
<body name="pole2" pos="0 -1 2" euler="0 0 0">
<joint name="x2" type="slide" pos="0 0 0.5" axis="1 0 0" />
<joint name="z2" type="slide" pos="0 0 0.5" axis="0 0 1" />
<joint name="pin2" type="hinge" pos="0 0 0.5" axis="0 -1 0" />
<geom type="cylinder" size=".05 .5" rgba=".9 .9 .9 1" mass="1"/>
</body>
</worldbody>
<equality>
<connect body1="pole" body2="world" anchor="0 0 0.5" />
</equality>
<actuator>
<motor name="torque" joint="pin" gear="1" ctrlrange="-100 100" ctrllimited="true"/>
<position name="position_servo" joint="pin" kp="0"/>
<velocity name="velocity_servo" joint="pin" kv="0"/>
</actuator>
</mujoco>
#include<stdbool.h> //for bool
//#include<unistd.h> //for usleep
//#include <math.h>
#include "mujoco.h"
#include "glfw3.h"
#include "stdio.h"
#include "stdlib.h"
#include "string.h"
//simulation end time
double simend = 5;
int fsm;
#define fsm_swing 0
#define fsm_free 1
//related to writing data to a file
FILE *fid;
int loop_index = 0;
const int data_frequency = 10; //frequency at which data is written to a file
// char xmlpath[] = "../myproject/template_writeData/pendulum.xml";
// char datapath[] = "../myproject/template_writeData/data.csv";
//Change the path <template_writeData>
//Change the xml file
char path[] = "../myproject/hybrid_pendulum/";
char xmlfile[] = "pendulum.xml";
char datafile[] = "data.csv";
// MuJoCo data structures
mjModel* m = NULL; // MuJoCo model
mjData* d = NULL; // MuJoCo data
mjvCamera cam; // abstract camera
mjvOption opt; // visualization options
mjvScene scn; // abstract scene
mjrContext con; // custom GPU context
// mouse interaction
bool button_left = false;
bool button_middle = false;
bool button_right = false;
double lastx = 0;
double lasty = 0;
// holders of one step history of time and position to calculate dertivatives
mjtNum position_history = 0;
mjtNum previous_time = 0;
// controller related variables
float_t ctrl_update_freq = 100;
mjtNum last_update = 0.0;
mjtNum ctrl;
// keyboard callback
void keyboard(GLFWwindow* window, int key, int scancode, int act, int mods)
{
// backspace: reset simulation
if( act==GLFW_PRESS && key==GLFW_KEY_BACKSPACE )
{
mj_resetData(m, d);
mj_forward(m, d);
}
}
// mouse button callback
void mouse_button(GLFWwindow* window, int button, int act, int mods)
{
// update button state
button_left = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);
button_middle = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);
button_right = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);
// update mouse position
glfwGetCursorPos(window, &lastx, &lasty);
}
// mouse move callback
void mouse_move(GLFWwindow* window, double xpos, double ypos)
{
// no buttons down: nothing to do
if( !button_left && !button_middle && !button_right )
return;
// compute mouse displacement, save
double dx = xpos - lastx;
double dy = ypos - lasty;
lastx = xpos;
lasty = ypos;
// get current window size
int width, height;
glfwGetWindowSize(window, &width, &height);
// get shift key state
bool mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||
glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);
// determine action based on mouse button
mjtMouse action;
if( button_right )
action = mod_shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
else if( button_left )
action = mod_shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
else
action = mjMOUSE_ZOOM;
// move camera
mjv_moveCamera(m, action, dx/height, dy/height, &scn, &cam);
}
// scroll callback
void scroll(GLFWwindow* window, double xoffset, double yoffset)
{
// emulate vertical mouse motion = 5% of window height
mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &scn, &cam);
}
//****************************
//This function is called once and is used to get the headers
void init_save_data()
{
//write name of the variable here (header)
fprintf(fid,"t, ");
//Don't remove the newline
fprintf(fid,"\n");
}
//***************************
//This function is called at a set frequency, put data here
void save_data(const mjModel* m, mjData* d)
{
//data here should correspond to headers in init_save_data()
//seperate data by a space %f followed by space
fprintf(fid,"%f ",d->time);
//Don't remove the newline
fprintf(fid,"\n");
}
/******************************/
void set_torque_control(const mjModel* m,int actuator_no,int flag)
{
if (flag==0)
m->actuator_gainprm[10*actuator_no+0]=0;
else
m->actuator_gainprm[10*actuator_no+0]=1;
}
/******************************/
/******************************/
void set_position_servo(const mjModel* m,int actuator_no,double kp)
{
m->actuator_gainprm[10*actuator_no+0]=kp;
m->actuator_biasprm[10*actuator_no+1]=-kp;
}
/******************************/
/******************************/
void set_velocity_servo(const mjModel* m,int actuator_no,double kv)
{
m->actuator_gainprm[10*actuator_no+0]=kv;
m->actuator_biasprm[10*actuator_no+2]=-kv;
}
/******************************/
//**************************
void init_controller(const mjModel* m, mjData* d)
{
fsm = fsm_swing;
}
//**************************
void mycontroller(const mjModel* m, mjData* d)
{
//write control here
const int nv = 6;
const int nv1 = 3;
double M[nv*nv]={0};
mj_fullM(m,M,d->qM);
//original system
// M0 M1 M2
// M3 M4 M5
// M6 M7 M8
//two pendulums
// M0 M1 M2 M3 M4 M5
// M6 M7 M8 M9 M10 M11
// M12 M13 M14 M15 M16 M17
// ...
// ..
// ...
// printf("%f %f %f \n",M[0],M[1],M[2]);
// printf("%f %f %f \n",M[3],M[4],M[5]);
// printf("%f %f %f \n",M[6],M[7],M[8]);
double M1[nv1*nv1]={0};
M1[0] = M[0]; M1[1] = M[1]; M1[2] = M[2];
M1[3] = M[6]; M1[4] = M[7]; M1[5] = M[8];
M1[6] = M[12]; M1[7] = M[13]; M1[8] = M[14];
double qddot[nv]={0};
qddot[0] = d->qacc[0];
qddot[1] = d->qacc[1];
qddot[2] = d->qacc[2];
double f[nv]={0};
f[0] = d->qfrc_bias[0];
f[1] = d->qfrc_bias[1];
f[2] = d->qfrc_bias[2];
double lhs[3]={0};
double M_qddot[3]={0}; //=M*qddot
mju_mulMatVec(M_qddot,M1,qddot,3,3);
//lhs = M*qddot + f
lhs[0]=M_qddot[0]+f[0];
lhs[1]=M_qddot[1]+f[1];
lhs[2]=M_qddot[2]+f[2];
//Fx, Fy, tau_y
double tau[nv] = {0};
tau[0] = d->qfrc_applied[0]; //Fx
tau[1] = d->qfrc_applied[1]; //Fz
tau[2] = d->qfrc_applied[2]; //tau_y
int i;
double J0[3*nv]={0};
for (i=0;i<3*nv;i++)
J0[i] = d->efc_J[i];
double JT_F[3]={0};
double J1[nv1*nv1]={0};
J1[0] = J0[0]; J1[1] = J0[1]; J1[2] = J0[2];
J1[3] = J0[6]; J1[4] = J0[7]; J1[5] = J0[8];
J1[6] = J0[12]; J1[7] = J0[13]; J1[8] = J0[14];
//J[3*nv] = J[3x6]
// J0 J1 J2 J3 J4 J5
// J6 J7 J8 J9 J10 J11
// J12 J13 J14 J15 J16 J17
double F0[3]={0};
F0[0] = d->efc_force[0];
F0[1] = d->efc_force[1];
F0[2] = d->efc_force[2];
mju_mulMatTVec(JT_F,J1,F0,3,3);
// mju_mulMatTVec(JT_F,J0,F0,3,3);
// double F0[3]={0};
// F0[0] = d->efc_force[0];
// F0[1] = d->efc_force[1];
// F0[2] = d->efc_force[2];
// mju_mulMatTVec(JT_F,J1,F0,3,3);
// double rhs[3] = {0};
// rhs[0] = tau[0] + JT_F[0];
// rhs[1] = tau[1] + JT_F[1];
// rhs[2] = tau[2] + JT_F[2];
//verify equations
// printf("eqn1: %f %f \n",lhs[0],rhs[0]);
// printf("eqn2: %f %f \n",lhs[1],rhs[1]);
// printf("eqn3: %f %f \n",lhs[2],rhs[2]);
//transitions
if (fsm==fsm_swing && d->qpos[5]>1)
{
fsm = fsm_free;
}
//actions
if (fsm==fsm_swing)
{
d->qfrc_applied[2] = -1*(d->qvel[2]-5);
d->qfrc_applied[3] = JT_F[0];
d->qfrc_applied[4] = JT_F[1];
d->qfrc_applied[5] = JT_F[2] + d->qfrc_applied[2];
}
if (fsm==fsm_free)
{
d->qfrc_applied[3] = 0;
d->qfrc_applied[4] = 0;
d->qfrc_applied[5] = 0;
}
//printf("*****\n");
//write data here (dont change/dete this function call; instead write what you need to save in save_data)
if ( loop_index%data_frequency==0)
{
save_data(m,d);
}
loop_index = loop_index + 1;
}
//************************
// main function
int main(int argc, const char** argv)
{
// activate software
mj_activate("mjkey.txt");
char xmlpath[100]={};
char datapath[100]={};
strcat(xmlpath,path);
strcat(xmlpath,xmlfile);
strcat(datapath,path);
strcat(datapath,datafile);
// load and compile model
char error[1000] = "Could not load binary model";
// check command-line arguments
if( argc<2 )
m = mj_loadXML(xmlpath, 0, error, 1000);
else
if( strlen(argv[1])>4 && !strcmp(argv[1]+strlen(argv[1])-4, ".mjb") )
m = mj_loadModel(argv[1], 0);
else
m = mj_loadXML(argv[1], 0, error, 1000);
if( !m )
mju_error_s("Load model error: %s", error);
// make data
d = mj_makeData(m);
// init GLFW
if( !glfwInit() )
mju_error("Could not initialize GLFW");
// create window, make OpenGL context current, request v-sync
GLFWwindow* window = glfwCreateWindow(1244, 700, "Demo", NULL, NULL);
glfwMakeContextCurrent(window);
glfwSwapInterval(1);
// initialize visualization data structures
mjv_defaultCamera(&cam);
mjv_defaultOption(&opt);
mjv_defaultScene(&scn);
mjr_defaultContext(&con);
mjv_makeScene(m, &scn, 2000); // space for 2000 objects
mjr_makeContext(m, &con, mjFONTSCALE_150); // model-specific context
// install GLFW mouse and keyboard callbacks
glfwSetKeyCallback(window, keyboard);
glfwSetCursorPosCallback(window, mouse_move);
glfwSetMouseButtonCallback(window, mouse_button);
glfwSetScrollCallback(window, scroll);
double arr_view[] = {89.608063, -11.588379, 7, 0.000000, 0.000000, 2.000000}; //view the left side (for ll, lh, left_side)
cam.azimuth = arr_view[0];
cam.elevation = arr_view[1];
cam.distance = arr_view[2];
cam.lookat[0] = arr_view[3];
cam.lookat[1] = arr_view[4];
cam.lookat[2] = arr_view[5];
// install control callback
mjcb_control = mycontroller;
fid = fopen(datapath,"w");
init_save_data();
init_controller(m,d);
d->qpos[2] = -1.57;
d->qpos[5] = d->qpos[2];
// use the first while condition if you want to simulate for a period.
while( !glfwWindowShouldClose(window))
{
// advance interactive simulation for 1/60 sec
// Assuming MuJoCo can simulate faster than real-time, which it usually can,
// this loop will finish on time for the next frame to be rendered at 60 fps.
// Otherwise add a cpu timer and exit this loop when it is time to render.
mjtNum simstart = d->time;
while( d->time - simstart < 1.0/60.0 )
{
mj_step(m, d);
}
if (d->time>=simend)
{
fclose(fid);
break;
}
// get framebuffer viewport
mjrRect viewport = {0, 0, 0, 0};
glfwGetFramebufferSize(window, &viewport.width, &viewport.height);
//opt.frame = mjFRAME_WORLD; //mjFRAME_BODY
//opt.flags[mjVIS_COM] = 1 ; //mjVIS_JOINT;
opt.flags[mjVIS_JOINT] = 1 ;
// update scene and render
mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
mjr_render(viewport, &scn, &con);
//printf("{%f, %f, %f, %f, %f, %f};\n",cam.azimuth,cam.elevation, cam.distance,cam.lookat[0],cam.lookat[1],cam.lookat[2]);
// swap OpenGL buffers (blocking call due to v-sync)
glfwSwapBuffers(window);
// process pending GUI events, call GLFW callbacks
glfwPollEvents();
}
// free visualization storage
mjv_freeScene(&scn);
mjr_freeContext(&con);
// free MuJoCo model and data, deactivate
mj_deleteData(d);
mj_deleteModel(m);
mj_deactivate();
// terminate GLFW (crashes with Linux NVidia drivers)
#if defined(__APPLE__) || defined(_WIN32)
glfwTerminate();
#endif
return 1;
}