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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,129 +1,127 @@ | ||
| import dataclasses | ||
| import pathlib | ||
| from typing import List, Optional, Union | ||
|
|
||
| import idyntree.bindings as idt | ||
| import jax | ||
| import jax.numpy as jnp | ||
| import numpy as np | ||
| import numpy.typing as npt | ||
| import pytest | ||
| from pytest import param as p | ||
|
|
||
| from jaxsim import high_level | ||
| from jaxsim import high_level, logging | ||
| from jaxsim.high_level.common import VelRepr | ||
| from jaxsim.high_level.model import Model, ModelData | ||
| from jaxsim.physics.algos.aba import aba | ||
| from jaxsim.physics.algos.soft_contacts import SoftContactsParams | ||
| from jaxsim.simulation.ode_integration import IntegratorType | ||
| from jaxsim.simulation.simulator import JaxSim, SimulatorData | ||
|
|
||
| sdf_path = ( | ||
| pathlib.Path.home() | ||
| / "git" | ||
| / "element_rl-for-codesign" | ||
| / "assets" | ||
| / "model" | ||
| / "Stickbot.urdf" | ||
| from .utils_models import Robot | ||
| from . import utils_models, utils_rng | ||
| from .utils_idyntree import KinDynComputations | ||
|
|
||
|
|
||
| @pytest.mark.parametrize( | ||
| "robot, vel_repr", | ||
| [ | ||
| p(*[Robot.DoublePendulum, VelRepr.Inertial], id="DoublePendulum-Inertial"), | ||
| p(*[Robot.DoublePendulum, VelRepr.Body], id="DoublePendulum-Body"), | ||
| p(*[Robot.DoublePendulum, VelRepr.Mixed], id="DoublePendulum-Mixed"), | ||
| p(*[Robot.Ur10, VelRepr.Inertial], id="Ur10-Inertial"), | ||
| p(*[Robot.Ur10, VelRepr.Body], id="Ur10-Body"), | ||
| p(*[Robot.Ur10, VelRepr.Mixed], id="Ur10-Mixed"), | ||
| p(*[Robot.AnymalC, VelRepr.Inertial], id="AnymalC-Inertial"), | ||
| p(*[Robot.AnymalC, VelRepr.Body], id="AnymalC-Body"), | ||
| p(*[Robot.AnymalC, VelRepr.Mixed], id="AnymalC-Mixed"), | ||
| p(*[Robot.Cassie, VelRepr.Inertial], id="Cassie-Inertial"), | ||
| p(*[Robot.Cassie, VelRepr.Body], id="Cassie-Body"), | ||
| p(*[Robot.Cassie, VelRepr.Mixed], id="Cassie-Mixed"), | ||
| ], | ||
| ) | ||
| def test_motor_dynamics(robot: utils_models.Robot, vel_repr: VelRepr) -> None: | ||
| """ | ||
| Unit test of the ABA algorithm against forward dynamics computed from the EoM considering motor dynamics. | ||
| """ | ||
|
|
||
| simulator = JaxSim.build( | ||
| step_size=1e-3, | ||
| steps_per_run=1, | ||
| velocity_representation=high_level.model.VelRepr.Body, | ||
| integrator_type=IntegratorType.EulerSemiImplicit, | ||
| simulator_data=SimulatorData( | ||
| contact_parameters=SoftContactsParams(K=1e6, D=1.5e4, mu=0.5), | ||
| ), | ||
| ).mutable(validate=False) | ||
|
|
||
| # Insert model into the simulator | ||
| model = simulator.insert_model_from_description(model_description=sdf_path).mutable( | ||
| validate=True | ||
| ) | ||
| model.reduce( | ||
| considered_joints=[ | ||
| "r_shoulder_pitch", | ||
| "r_shoulder_roll", | ||
| "r_shoulder_yaw", | ||
| "r_elbow", | ||
| "l_shoulder_pitch", | ||
| "l_shoulder_roll", | ||
| "l_shoulder_yaw", | ||
| "l_elbow", | ||
| "r_hip_pitch", | ||
| "r_hip_roll", | ||
| "r_hip_yaw", | ||
| "r_knee", | ||
| "r_ankle_pitch", | ||
| "r_ankle_roll", | ||
| "l_hip_pitch", | ||
| "l_hip_roll", | ||
| "l_hip_yaw", | ||
| "l_knee", | ||
| "l_ankle_pitch", | ||
| "l_ankle_roll", | ||
| "torso_roll", | ||
| "torso_yaw", | ||
| ] | ||
| ) | ||
| urdf_file_path = utils_models.ModelFactory.get_model_description(robot=robot) | ||
|
|
||
| # Insert model into the simulator | ||
| model = Model.build_from_model_description( | ||
| model_description=urdf_file_path, | ||
| vel_repr=VelRepr.Body, | ||
| is_urdf=True, | ||
| ).mutable(mutable=True, validate=True) | ||
|
|
||
| # Initialize the model with a random state | ||
| model.data.model_state = utils_rng.random_physics_model_state( | ||
| physics_model=model.physics_model | ||
| ) | ||
|
|
||
| # Initialize the model with a random input | ||
| model.data.model_input = utils_rng.random_physics_model_input( | ||
| physics_model=model.physics_model | ||
| ) | ||
|
|
||
| # Get the joint torques | ||
| tau = model.joint_generalized_forces_targets() | ||
|
|
||
| print("Model links: ", model.link_names()) | ||
| tau = jnp.array([1.0] * model.dofs()) | ||
| with jax.disable_jit(True): | ||
| print("=====================================================") | ||
| print("============ Test without motor dynamics ============") | ||
| print("=====================================================") | ||
|
|
||
| with jax.disable_jit(): | ||
| print("=====================================================") | ||
| print("============ Test without motor dynamics ============") | ||
| print("=====================================================") | ||
| C_v̇_WB, crb = model.forward_dynamics_crb(tau=tau) | ||
|
|
||
| C_v̇_WB, crb = model.forward_dynamics_crb(tau=tau) | ||
| print("C_v̇_WB: ", C_v̇_WB) | ||
| print("CRB: ", crb) | ||
|
|
||
| print("C_v̇_WB: ", C_v̇_WB) | ||
| print("CRB: ", crb) | ||
| a_WB, aba = model.forward_dynamics_aba(tau=tau) | ||
| print("a_WB: ", a_WB) | ||
| print("ABA: ", aba) | ||
|
|
||
| a_WB, aba = model.forward_dynamics_aba(tau=tau) | ||
| print("a_WB: ", a_WB) | ||
| print("ABA: ", aba) | ||
| assert C_v̇_WB == pytest.approx(v̇_WB, abs=1e-3) | ||
| assert crb == pytest.approx(s̈, abs=1e-3) | ||
| assert a_WB == pytest.approx(C_v̇_WB, abs=1e-3) | ||
| assert aba == pytest.approx(crb, abs=1e-3) | ||
|
|
||
| try: | ||
| np.testing.assert_allclose(crb, aba, rtol=0.5) | ||
| np.testing.assert_allclose(C_v̇_WB, a_WB, rtol=0.5) | ||
| except Exception as e: | ||
| print(e) | ||
| print("=====================================================") | ||
| print("============ Test with motor dynamics ===============") | ||
| print("=====================================================") | ||
|
|
||
| print("=====================================================") | ||
| print("============ Test with motor dynamics ===============") | ||
| print("=====================================================") | ||
| IM = jnp.array([5e-4] * model.dofs()) | ||
| GR = jnp.array([100.0] * model.dofs()) | ||
| KV = jnp.array([0.0003] * model.dofs()) | ||
|
|
||
| # Set motor parameters | ||
| model.set_motor_gear_ratios(jnp.array([1 / 100.0] * model.dofs())) | ||
| model.set_motor_inertias(jnp.array([5e-4] * model.dofs())) | ||
| model.set_motor_viscous_frictions(jnp.array([0.0003] * model.dofs())) | ||
| # Set motor parameters | ||
| model.set_motor_gear_ratios(GR) | ||
| model.set_motor_inertias(IM) | ||
| # TODO: model.set_motor_viscous_frictions(KV) | ||
|
|
||
| C_v̇_WB, crb = model.forward_dynamics_crb(tau=tau) | ||
| print("C_v̇_WB: ", C_v̇_WB) | ||
| print("CRB: ", crb) | ||
| C_v̇_WB, crb = model.forward_dynamics_crb(tau=tau) | ||
| print("C_v̇_WB: ", C_v̇_WB) | ||
| print("CRB: ", crb) | ||
|
|
||
| a_WB, aba = model.forward_dynamics_aba(tau=tau) | ||
| print("a_WB: ", a_WB) | ||
| print("ABA: ", aba) | ||
| a_WB, aba = model.forward_dynamics_aba(tau=tau) | ||
| print("a_WB: ", a_WB) | ||
| print("ABA: ", aba) | ||
|
|
||
| try: | ||
| np.testing.assert_allclose(crb, aba, rtol=0.5) | ||
| np.testing.assert_allclose(C_v̇_WB, a_WB, rtol=0.5) | ||
| except Exception as e: | ||
| print(e) | ||
| assert C_v̇_WB == pytest.approx(a_WB, abs=1e-3) | ||
| assert crb == pytest.approx(aba, abs=1e-3) | ||
|
|
||
| print("=====================================================") | ||
| print("================ Inertia set to zero ================") | ||
| print("=====================================================") | ||
| print("=====================================================") | ||
| print("================ Inertia set to zero ================") | ||
| print("=====================================================") | ||
|
|
||
| # Set motor inertia to zero and perform FD with CRB and ABA | ||
| model.set_motor_inertias(jnp.array([0.0] * model.dofs())) | ||
| model.set_motor_inertias(jnp.array([0.0] * model.dofs())) | ||
|
|
||
| C_v̇_WB, crb = model.forward_dynamics_crb(tau=tau) | ||
| print("C_v̇_WB: ", C_v̇_WB) | ||
| print("CRB: ", crb) | ||
| C_v̇_WB, crb = model.forward_dynamics_crb(tau=tau) | ||
| print("C_v̇_WB: ", C_v̇_WB) | ||
| print("CRB: ", crb) | ||
|
|
||
| a_WB, aba = model.forward_dynamics_aba(tau=tau) | ||
| print("a_WB: ", a_WB) | ||
| print("ABA: ", aba) | ||
| a_WB, aba = model.forward_dynamics_aba(tau=tau) | ||
| print("a_WB: ", a_WB) | ||
| print("ABA: ", aba) | ||
|
|
||
| try: | ||
| np.testing.assert_allclose(crb, aba, rtol=0.5) | ||
| np.testing.assert_allclose(C_v̇_WB, a_WB, rtol=0.5) | ||
| except Exception as e: | ||
| print(e) | ||
| assert C_v̇_WB == pytest.approx(a_WB, abs=1e-3) | ||
| assert crb == pytest.approx(aba, abs=1e-3) |