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40 changes: 31 additions & 9 deletions bindings/pydairlib/systems/robot_lcm_systems_py.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,6 @@
#include "drake/multibody/plant/multibody_plant.h"

namespace py = pybind11;
using py_rvp = py::return_value_policy;

namespace dairlib {
namespace pydairlib {
Expand All @@ -18,31 +17,54 @@ PYBIND11_MODULE(robot_lcm_systems, m) {

using drake::multibody::MultibodyPlant;
using systems::RobotOutputSender;
using py_rvp = py::return_value_policy;

py::class_<systems::RobotOutputReceiver, drake::systems::LeafSystem<double>>(
m, "RobotOutputReceiver")
.def(py::init<const MultibodyPlant<double>&>());
.def(py::init<const MultibodyPlant<double>&>())
.def(py::init<const MultibodyPlant<double>&,
drake::multibody::ModelInstanceIndex>());
py::class_<systems::RobotInputReceiver, drake::systems::LeafSystem<double>>(
m, "RobotInputReceiver")
.def(py::init<const MultibodyPlant<double>&>());
py::class_<RobotOutputSender, drake::systems::LeafSystem<double>>(
m, "RobotOutputSender")
.def(py::init<const MultibodyPlant<double>&, bool>())
.def(py::init<const MultibodyPlant<double>&, bool, bool>())
.def(py::init<const MultibodyPlant<double>&,
drake::multibody::ModelInstanceIndex,
bool, bool>())
.def("get_input_port_state", &RobotOutputSender::get_input_port_state,
py_rvp::reference_internal)
py_rvp::reference_internal)
.def("get_input_port_effort", &RobotOutputSender::get_input_port_effort,
py_rvp::reference_internal)
py_rvp::reference_internal)
.def("get_input_port_imu", &RobotOutputSender::get_input_port_imu,
py_rvp::reference_internal);
py_rvp::reference_internal);
py::class_<systems::ObjectStateSender, drake::systems::LeafSystem<double>>(
m, "ObjectStateSender")
.def(py::init<const MultibodyPlant<double>&,
drake::multibody::ModelInstanceIndex>())
.def("get_input_port_state", &systems::ObjectStateSender::get_input_port_state,
py_rvp::reference_internal);
py::class_<systems::ObjectStateReceiver, drake::systems::LeafSystem<double>>(
m, "ObjectStateReceiver")
.def(py::init<const MultibodyPlant<double>&>())
.def(py::init<const MultibodyPlant<double>&,
drake::multibody::ModelInstanceIndex>());

py::class_<systems::RobotCommandSender, drake::systems::LeafSystem<double>>(
m, "RobotCommandSender")
.def(py::init<const MultibodyPlant<double>&>());
m.def("AddActuationRecieverAndStateSenderLcm",
&dairlib::systems::AddActuationRecieverAndStateSenderLcm,
py::overload_cast<drake::systems::DiagramBuilder<double>*,
const MultibodyPlant<double>&,
drake::systems::lcm::LcmInterfaceSystem*, std::string,
std::string, double,
drake::multibody::ModelInstanceIndex, bool, double>(
&dairlib::systems::AddActuationRecieverAndStateSenderLcm),
py::arg("builder"), py::arg("plant"), py::arg("lcm"),
py::arg("actuator_channel"), py::arg("state_channel"),
py::arg("publish_rate"), py::arg("publish_efforts"),
py::arg("actuator_delay"));
py::arg("publish_rate"), py::arg("model_instance"),
py::arg("publish_efforts"), py::arg("actuator_delay"));

}

Expand Down
11 changes: 6 additions & 5 deletions examples/Cassie/systems/cassie_encoder.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
namespace dairlib {

using Eigen::VectorXd;
using drake::systems::BasicVector;

CassieEncoder::CassieEncoder(
const drake::multibody::MultibodyPlant<double>& plant)
Expand Down Expand Up @@ -37,17 +38,17 @@ CassieEncoder::CassieEncoder(
}
this->DeclareVectorInputPort(
"robot_state",
systems::BasicVector<double>(num_positions_ + num_velocities_));
BasicVector<double>(num_positions_ + num_velocities_));
this->DeclareVectorOutputPort(
"filtered_state",
systems::BasicVector<double>(num_positions_ + num_velocities_),
BasicVector<double>(num_positions_ + num_velocities_),
&CassieEncoder::UpdateFilter);
}

void CassieEncoder::UpdateFilter(const drake::systems::Context<double>& context,
systems::BasicVector<double>* output) const {
const systems::BasicVector<double>& x =
*this->template EvalVectorInput<systems::BasicVector>(context, 0);
BasicVector<double>* output) const {
const BasicVector<double>& x =
*this->template EvalVectorInput<BasicVector>(context, 0);

VectorXd q = x.value().head(num_positions_);
VectorXd v = x.value().tail(num_velocities_);
Expand Down
2 changes: 1 addition & 1 deletion examples/Cassie/systems/cassie_encoder.h
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ class CassieEncoder final : public drake::systems::LeafSystem<double> {

protected:
void UpdateFilter(const drake::systems::Context<double>& context,
systems::BasicVector<double>* output) const;
drake::systems::BasicVector<double>* output) const;

private:
struct DriveFilter {
Expand Down
1 change: 1 addition & 0 deletions examples/Cassie/systems/sim_cassie_sensor_aggregator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@ namespace systems {

using std::string;
using drake::systems::Context;
using drake::systems::BasicVector;
using drake::AbstractValue;
using dairlib::systems::TimestampedVector;
using Eigen::VectorXd;
Expand Down
211 changes: 211 additions & 0 deletions examples/franka/BUILD.bazel
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Original file line number Diff line number Diff line change
@@ -0,0 +1,211 @@
# -*- mode: python -*-
# vi: set ft=python :

package(default_visibility = ["//visibility:public"])

cc_library(
name = "urdfs",
data = glob([
"urdf/**",
]),
)

cc_binary(
name = "franka_sim",
srcs = ["franka_sim.cc"],
data = [
":urdfs",
"@drake_models//:franka_description",
],
deps = [
":parameters",
"//common",
"//examples/franka/systems:franka_systems",
"//systems:robot_lcm_systems",
"//systems:system_utils",
"//systems/controllers",
"//systems/framework:lcm_driven_loop",
"//systems/primitives:radio_parser",
"@drake//:drake_shared_library",
"@gflags",
],
)

cc_binary(
name = "franka_osc_controller",
srcs = ["franka_osc_controller.cc"],
data = [
":urdfs",
"@drake_models//:franka_description",
],
deps = [
":parameters",
"//common",
"//examples/franka/systems:franka_systems",
"//lcm:lcm_trajectory_saver",
"//systems:robot_lcm_systems",
"//systems:system_utils",
"//systems/controllers:controllers_all",
"//systems/controllers/osc:operational_space_control",
"//systems/framework:lcm_driven_loop",
"//systems/primitives:radio_parser",
"//systems/trajectory_optimization:lcm_trajectory_systems",
"@drake//:drake_shared_library",
"@gflags",
],
)

cc_binary(
name = "franka_c3_controller",
srcs = ["franka_c3_controller.cc"],
data = [
":urdfs",
"@drake_models//:franka_description",
],
deps = [
":parameters",
"//common",
"//examples/franka/systems:franka_systems",
"//lcm:lcm_trajectory_saver",
"//systems:robot_lcm_systems",
"//systems:system_utils",
"//systems/controllers",
"//systems/controllers:c3_controller",
"//systems/controllers:lcs_factory_system",
"//systems/controllers/osc:operational_space_control",
"//systems/framework:lcm_driven_loop",
"//systems/primitives:radio_parser",
"//systems/trajectory_optimization:c3_output_systems",
"@drake//:drake_shared_library",
"@gflags",
],
)

cc_binary(
name = "franka_visualizer",
srcs = ["franka_visualizer.cc"],
data = [
":urdfs",
"@drake_models//:franka_description",
],
deps = [
":parameters",
"//common",
"//multibody:utils",
"//multibody:visualization_utils",
"//systems:robot_lcm_systems",
"//systems:system_utils",
"//systems/primitives",
"//systems/trajectory_optimization:lcm_trajectory_systems",
"//systems/visualization:lcm_visualization_systems",
"@drake//:drake_shared_library",
"@gflags",
],
)

cc_binary(
name = "franka_bridge_driver_out",
srcs = ["franka_bridge_driver_out.cc"],
data = [
":urdfs",
"@drake_models//:franka_description",
],
deps = [
":parameters",
"//common",
"//examples/franka/systems:franka_state_translator",
"//multibody:utils",
"//systems:robot_lcm_systems",
"//systems:system_utils",
"//systems/framework:lcm_driven_loop",
"//systems/primitives",
"@drake//:drake_shared_library",
"@gflags",
],
)

cc_binary(
name = "franka_bridge_driver_in",
srcs = ["franka_bridge_driver_in.cc"],
data = [
":urdfs",
"@drake_models//:franka_description",
],
deps = [
":parameters",
"//common",
"//examples/franka/systems:franka_state_translator",
"//multibody:utils",
"//systems:robot_lcm_systems",
"//systems:system_utils",
"//systems/framework:lcm_driven_loop",
"//systems/primitives",
"@drake//:drake_shared_library",
"@gflags",
],
)

cc_binary(
name = "franka_ros_lcm_bridge",
srcs = ["franka_ros_lcm_bridge.cc"],
data = [
":urdfs",
"@drake_models//:franka_description",
],
tags = ["ros"],
deps = [
":parameters",
"//common",
"//systems:robot_lcm_systems",
"//systems:system_utils",
"//systems/primitives",
"//systems/ros:franka_ros_channels",
"//systems/ros:franka_ros_lcm_conversions",
"//systems/ros:ros_pubsub_systems",
"@drake//:drake_shared_library",
"@gflags",
"@ros",
],
)

cc_binary(
name = "franka_lcm_ros_bridge",
srcs = ["franka_lcm_ros_bridge.cc"],
data = [
":urdfs",
"@drake_models//:franka_description",
],
tags = ["ros"],
deps = [
":parameters",
"//common",
"//systems:robot_lcm_systems",
"//systems:system_utils",
"//systems/framework:lcm_driven_loop",
"//systems/ros:franka_ros_channels",
"//systems/ros:franka_ros_lcm_conversions",
"//systems/ros:ros_pubsub_systems",
"@drake//:drake_shared_library",
"@gflags",
"@ros",
],
)

cc_library(
name = "parameters",
hdrs = [
"parameters/franka_c3_controller_params.h",
"parameters/franka_c3_scene_params.h",
"parameters/franka_drake_lcm_driver_channels.h",
"parameters/franka_lcm_channels.h",
"parameters/franka_osc_controller_params.h",
"parameters/franka_sim_params.h",
"parameters/franka_sim_scene_params.h",
],
data = glob([
"*yaml",
]),
deps = [
"@drake//:drake_shared_library",
],
)
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