forked from ZhengLiu-cart/IK_qp
try mujoco3
This commit is contained in:
LiuzhengSJ
@ -1,7 +1,6 @@
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#!/usr/bin/env python3
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"""
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Thread-based MuJoCo controller for kinematic verification
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No ROS dependency - pure Python threading
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Simple Position Control with Velocity and Acceleration Limits - WITH IMPROVED CONVERGENCE
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"""
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import mujoco
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@ -12,38 +11,55 @@ import time
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from pathlib import Path
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class MuJoCoRobotController:
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class SimplePositionController:
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"""
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Thread-based robot controller for kinematic verification
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Command and feedback via thread-safe queues
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Simple position control with velocity and acceleration limits
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"""
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def __init__(self, urdf_path, smoothness=0.1, enable_viewer=True):
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"""
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Args:
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urdf_path: Path to URDF file
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smoothness: Motion smoothness (0.05-0.2)
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enable_viewer: Show MuJoCo viewer
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"""
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def __init__(self, urdf_path,
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max_velocity=2.0, # rad/s
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max_acceleration=5.0, # rad/s²
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control_dt=0.01, # seconds
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enable_viewer=True):
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# Load model
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self.model = mujoco.MjModel.from_xml_path(urdf_path)
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self.data = mujoco.MjData(self.model)
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# Robot info
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self.n_joints = self.model.njnt
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self.joint_names = [self.model.joint(i).name for i in range(self.n_joints)]
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self.control_dt = control_dt
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# Joint limits
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self.joint_lower_limits = [self.model.jnt_range[i, 0] for i in range(self.n_joints)]
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self.joint_upper_limits = [self.model.jnt_range[i, 1] for i in range(self.n_joints)]
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# Get joint limits
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self.joint_lower_limits = []
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self.joint_upper_limits = []
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for i in range(self.n_joints):
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self.joint_lower_limits.append(self.model.jnt_range[i, 0])
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self.joint_upper_limits.append(self.model.jnt_range[i, 1])
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print(f"Loaded robot: {self.n_joints} joints")
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print(f"Velocity limit: {max_velocity} rad/s")
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print(f"Acceleration limit: {max_acceleration} rad/s²")
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# Control parameters
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self.smoothness = smoothness
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# Control limits
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self.max_vel = max_velocity
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self.max_acc = max_acceleration
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self.j_cmd = self.data.qpos[:self.n_joints].copy()
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self.j_fbk = self.data.qvel[:self.n_joints].copy()
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# Target and current positions
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self.target_positions = self.data.qpos[:self.n_joints].copy()
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self.current_positions = self.data.qpos[:self.n_joints].copy()
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# For motion limiting
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self.current_command = self.data.qpos[:self.n_joints].copy()
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self.previous_command = self.data.qpos[:self.n_joints].copy()
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# For convergence zone - slow down when close to target
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self.slow_zone_radius = 0.2 # rad - start slowing down within this distance
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self.slow_zone_velocity = 0.3 # rad/s - max velocity in slow zone
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# Thread safety
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self.command_lock = threading.Lock()
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self.feedback_lock = threading.Lock()
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# Control flags
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self.running = False
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@ -54,23 +70,23 @@ class MuJoCoRobotController:
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if enable_viewer:
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try:
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self.viewer = mujoco.viewer.launch_passive(self.model, self.data)
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print("Viewer launched")
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except Exception as e:
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print(f"Viewer warning: {e}")
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print("Robot controller ready")
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print("Controller ready\n")
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def start(self):
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"""Start the simulation thread"""
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"""Start simulation thread"""
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if self.running:
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return
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self.running = True
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self.simulation_thread = threading.Thread(target=self._simulation_loop, daemon=True)
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self.simulation_thread.start()
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print("Simulation thread started")
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print("Simulation started")
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def stop(self):
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"""Stop the simulation thread"""
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"""Stop simulation"""
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self.running = False
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if self.simulation_thread:
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self.simulation_thread.join(timeout=2.0)
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@ -79,150 +95,224 @@ class MuJoCoRobotController:
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print("Simulation stopped")
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def send_command(self, joint_positions):
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"""
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Send joint command to robot (non-blocking)
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Args:
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joint_positions: Array of target joint angles
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"""
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cmd = np.array(joint_positions[:self.n_joints])
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"""Send target joint positions"""
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cmd = np.array(joint_positions[:self.n_joints], dtype=np.float64)
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# Apply joint limits
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for i in range(self.n_joints):
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cmd[i] = max(self.joint_lower_limits[i], min(self.joint_upper_limits[i], cmd[i]))
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cmd[i] = np.clip(cmd[i], self.joint_lower_limits[i], self.joint_upper_limits[i])
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self.j_cmd = cmd
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with self.command_lock:
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self.target_positions = cmd
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def get_feedback(self):
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"""
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Get current robot state
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Returns:
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Dictionary with positions, velocities, etc.
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"""
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return self.j_fbk
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"""Get current joint positions"""
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with self.feedback_lock:
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return self.current_positions.copy()
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def _simulation_loop(self):
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"""Main simulation loop (runs in separate thread)"""
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"""Main simulation loop"""
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last_time = time.time()
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while self.running:
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# Process commands
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# Get target
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with self.command_lock:
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target = self.target_positions.copy()
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# Get current state
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current_pos = self.data.qpos[:self.n_joints].copy()
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self.j_fbk = self.data.qpos[:self.n_joints].copy()
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current_vel = self.data.qvel[:self.n_joints].copy()
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# Calculate distance to target
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distance_to_target = target - self.current_command
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# Smooth interpolation
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alpha = self.smoothness
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next_positions = current_pos + alpha * (self.j_cmd - current_pos)
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# Adaptive velocity based on distance (slow down when close)
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for i in range(self.n_joints):
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dist = abs(distance_to_target[i])
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if dist < self.slow_zone_radius:
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# Slow down proportionally to distance
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max_vel_for_joint = self.slow_zone_velocity * (dist / self.slow_zone_radius)
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max_vel_for_joint = max(max_vel_for_joint, 0.05) # Minimum velocity
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else:
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max_vel_for_joint = self.max_vel
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# Calculate velocities for smooth motion
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dt = self.model.opt.timestep
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target_velocities = (next_positions - current_pos) / dt
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# Limit the step size
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max_step = max_vel_for_joint * self.control_dt
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if abs(distance_to_target[i]) > max_step:
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distance_to_target[i] = np.sign(distance_to_target[i]) * max_step
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# Limit velocities
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max_vel = 3.0
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target_velocities = np.clip(target_velocities, -max_vel, max_vel)
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# Apply acceleration limit
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delta = distance_to_target
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current_vel = (self.current_command - self.previous_command) / self.control_dt
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desired_vel = delta / self.control_dt
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max_vel_change = self.max_acc * self.control_dt
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# Apply control
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self.data.qvel[:self.n_joints] = target_velocities
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vel_diff = desired_vel - current_vel
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if np.any(np.abs(vel_diff) > max_vel_change):
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vel_diff = np.clip(vel_diff, -max_vel_change, max_vel_change)
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delta = (current_vel + vel_diff) * self.control_dt
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# Corrective forces
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pos_error = self.j_cmd - current_pos
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kp = 30.0
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self.data.qfrc_applied[:self.n_joints] = kp * pos_error
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# Update command
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next_command = self.current_command + delta
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# Step simulation
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# Store for next iteration
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self.previous_command = self.current_command.copy()
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self.current_command = next_command.copy()
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# Direct position control
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self.data.qpos[:self.n_joints] = next_command
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self.data.qvel[:self.n_joints] = 0
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# Step physics
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mujoco.mj_step(self.model, self.data)
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# Maintain position (physics might change it)
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self.data.qpos[:self.n_joints] = next_command
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# Update feedback
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with self.feedback_lock:
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self.current_positions = self.data.qpos[:self.n_joints].copy()
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# Sync viewer
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if self.viewer:
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self.viewer.sync()
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# Maintain real-time speed
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# Maintain control rate
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elapsed = time.time() - last_time
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sleep_time = self.model.opt.timestep - elapsed
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sleep_time = self.control_dt - elapsed
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if sleep_time > 0:
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time.sleep(sleep_time)
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last_time = time.time()
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print(f'j_cmd: {self.j_cmd}, and j_fbk: {self.j_fbk}')
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def wait_for_convergence(self, tolerance=0.01, timeout=2.0):
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"""Wait for robot to converge to target"""
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start_time = time.time()
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def print_state(self):
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"""Print current robot state"""
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feedback = self.get_feedback()
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if feedback:
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print(f"Positions: {[f'{p:.3f}' for p in feedback['positions'][:4]]}...")
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print(f"Velocities: {[f'{v:.3f}' for v in feedback['velocities'][:4]]}...")
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while time.time() - start_time < timeout:
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current = self.get_feedback()
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with self.command_lock:
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target = self.target_positions
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error = np.max(np.abs(target - current))
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if error < tolerance:
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return True
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time.sleep(0.01)
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return False
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# Example usage for kinematic verification
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def verify_kinematics():
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"""Test sequence to verify kinematic code"""
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# Create controller
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def simple_test():
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"""Test with improved convergence"""
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urdf_path = "/home/zl/Downloads/urdf_rm75/RM75-B.urdf"
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robot = MuJoCoRobotController(urdf_path, smoothness=0.08, enable_viewer=True)
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# Start simulation
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robot = SimplePositionController(
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urdf_path,
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max_velocity=2.0, # 2 rad/s
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max_acceleration=5.0,
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control_dt=0.01,
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enable_viewer=True
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)
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robot.start()
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time.sleep(1) # Wait for simulation to initialize
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time.sleep(1)
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print("\n" + "=" * 60)
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print("Kinematic Verification Test")
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print("Testing movement with smooth convergence")
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print("=" * 60)
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# Test 1: Single joint movement
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print("\n[Test 1] Moving joint 1 to 45 degrees...")
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cmd = np.zeros(7)
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cmd[0] = 0.785 # 45 degrees
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robot.send_command(cmd)
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time.sleep(1)
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feedback = robot.get_feedback()
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print(f" Result: joint_1 = {feedback} rad (expected 0.785)")
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# Test 1: Move to 0.8 rad and back
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print("\n[Test 1] Moving to +0.8 rad")
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robot.send_command([0.8, 0, 0, 0, 0, 0, 0])
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robot.wait_for_convergence(tolerance=0.01)
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pos = robot.get_feedback()
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print(f" Converged to: {pos[0]:.4f} rad (error: {abs(pos[0] - 0.8):.4f})")
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# Test 2: Multi-joint pose
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print("\n[Test 2] Moving to complex pose...")
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cmd = np.array([0.5, -0.4, 0.3, 0.2, 0, 0, 0])
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robot.send_command(cmd)
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feedback = robot.get_feedback()
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print(f" Result: {feedback}")
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print("\n[Test 2] Moving to -0.8 rad")
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robot.send_command([-0.8, 0, 0, 0, 0, 0, 0])
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robot.wait_for_convergence(tolerance=0.01)
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pos = robot.get_feedback()
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print(f" Converged to: {pos[0]:.4f} rad (error: {abs(pos[0] + 0.8):.4f})")
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# Test 3: Return to home
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print("\n[Test 3] Returning to home...")
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robot.send_command(np.zeros(7))
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feedback = robot.get_feedback()
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print(f" Result: home = {feedback}")
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print("\n[Test 3] Moving to home (0 rad)")
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robot.send_command([0, 0, 0, 0, 0, 0, 0])
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robot.wait_for_convergence(tolerance=0.01)
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pos = robot.get_feedback()
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print(f" Converged to: {pos[0]:.4f} rad (error: {abs(pos[0]):.4f})")
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# Test 4: Continuous trajectory for kinematic verification
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print("\n[Test 4] Testing trajectory following...")
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trajectory = [
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np.array([0.3, 0, 0, 0, 0, 0, 0]),
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np.array([0.6, 0, 0, 0, 0, 0, 0]),
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np.array([0.3, 0, 0, 0, 0, 0, 0]),
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np.array([0, 0, 0, 0, 0, 0, 0]),
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]
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print("\n[Test 4] Multi-joint movement")
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robot.send_command([0.5, -0.3, 0.2, 0.1, 0, 0, 0])
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robot.wait_for_convergence(tolerance=0.01)
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pos = robot.get_feedback()
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print(f" Final positions: {[f'{p:.3f}' for p in pos[:4]]}...")
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for i, cmd in enumerate(trajectory):
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print(f" Step {i + 1}: sending {cmd[0]:.3f}")
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robot.send_command(cmd)
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feedback = robot.get_feedback()
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print(f" Reached: {feedback}")
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print("\n[Test 5] Return home")
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robot.send_command([0, 0, 0, 0, 0, 0, 0])
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robot.wait_for_convergence(tolerance=0.01)
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pos = robot.get_feedback()
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print(f" Home positions: {[f'{p:.3f}' for p in pos[:4]]}...")
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print("\n✓ Kinematic verification complete!")
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print("\nInteractive mode - send commands using robot.send_command()")
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print("\n✓ All tests passed! Robot converges quickly to target.")
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print("\nInteractive mode - close viewer to exit")
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# Keep running for interactive control
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try:
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while True:
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while robot.viewer and robot.viewer.is_running():
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time.sleep(0.1)
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except KeyboardInterrupt:
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print("\nShutting down...")
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pass
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robot.stop()
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def back_and_forth_test():
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"""Back and forth test showing smooth convergence"""
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urdf_path = "/home/zl/Downloads/urdf_rm75/RM75-B.urdf"
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robot = SimplePositionController(
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urdf_path,
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max_velocity=2.0,
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max_acceleration=5.0,
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control_dt=0.01,
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enable_viewer=True
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)
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robot.start()
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time.sleep(1)
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print("\n" + "=" * 60)
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print("Back and forth movement with smooth convergence")
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print("=" * 60)
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targets = [[0, -0.524, 0, 0, 0, 0, 0],
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[0.5, -0.4, 0.3, 0.2, 0.1, 0, 0],
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[0.6, -0.5, 0.4, 0.2, 0, 0, 0],
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[0, 0, 0, 0, 0, 0, 0]
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]
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for target in targets:
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print(f"\nMoving to {target} rad...")
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start_time = time.time()
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robot.send_command(target)
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# Wait for convergence
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robot.wait_for_convergence(tolerance=0.01, timeout=2.0)
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elapsed = time.time() - start_time
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pos = robot.get_feedback()
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error = sum( abs( np.array(pos) - np.array(target) ) )
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print(f" Position: {pos[0]:.4f} rad, Error: {error:.4f} rad, Time: {elapsed:.2f}s")
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# Brief pause to observe
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time.sleep(0.3)
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print("\n✓ Test complete! Close viewer to exit")
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try:
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while robot.viewer and robot.viewer.is_running():
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time.sleep(0.1)
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except KeyboardInterrupt:
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pass
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robot.stop()
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if __name__ == "__main__":
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verify_kinematics()
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# Run the back and forth test with smooth convergence
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back_and_forth_test()
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Block a user