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articulation.py
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import unittest
import sapien.core as sapien
import numpy as np
import os
class TestArticulation(unittest.TestCase):
def test_drive(self):
engine = sapien.Engine()
renderer = sapien.SapienRenderer(True)
engine.set_renderer(renderer)
scene = engine.create_scene()
loader = scene.create_urdf_loader()
robot = loader.load(os.path.join(os.path.dirname(__file__), "movo_simple.urdf"))
q = [
-0.3283431,
0.39793425,
-0.81116733,
0.14926876,
-0.67020133,
-0.17215485,
-0.6565735,
0.84940983,
0.40675576,
0.73837611,
-0.93073463,
-0.7414073,
0.71490287,
]
for j, v in zip(robot.get_active_joints(), q):
j.set_drive_velocity_target(v)
self.assertTrue(np.allclose(robot.get_drive_velocity_target(), q))
for j, v in zip(robot.get_active_joints(), q):
j.set_drive_target(v)
self.assertTrue(np.allclose(robot.get_drive_target(), q))
q = [
-0.40973236,
-0.98915534,
0.26142718,
0.06049832,
-0.09558783,
0.95664137,
-0.54178463,
-0.31803418,
-0.71099538,
-0.21318428,
0.93574955,
0.22036707,
-0.87040736,
]
robot.set_drive_velocity_target(q)
for j, v in zip(robot.get_active_joints(), q):
self.assertTrue(np.allclose(j.get_drive_velocity_target(), v))
robot.set_drive_target(q)
for j, v in zip(robot.get_active_joints(), q):
self.assertTrue(np.allclose(j.get_drive_target(), v))
def test_urdf_loader(self):
engine = sapien.Engine()
renderer = sapien.SapienRenderer(True)
engine.set_renderer(renderer)
scene = engine.create_scene()
loader = scene.create_urdf_loader()
robot = loader.load(os.path.join(os.path.dirname(__file__), "movo_simple.urdf"))
q = [0.1, 0.1, 0.1, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.3, 0.4, 0.5]
robot.set_qpos(q)
self.assertTrue(np.allclose(robot.get_qpos(), q))
q = [0.1, 0.1, 0.1, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.3, 0.4, 0.5]
robot.set_qvel(q)
self.assertTrue(np.allclose(robot.get_qvel(), q))
q = [0.1, 0.1, 0.1, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.3, 0.4, 0.5]
robot.set_qf(q)
self.assertTrue(np.allclose(robot.get_qf(), q))
q = [0.1, 0.1, 0.1, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.3, 0.4, 0.5]
robot.set_qacc(q)
self.assertTrue(np.allclose(robot.get_qacc(), q))
self.assertTrue(
np.allclose(
robot.compute_manipulator_inertia_matrix(),
[
[
2.13219414e01,
3.67040442e-08,
9.74289048e-03,
-3.43876570e-01,
-4.54296529e-01,
1.08981401e-01,
3.41559112e-01,
-4.22767736e-02,
-1.32470354e-01,
-3.21516022e-03,
6.97029522e-04,
-5.18424727e-04,
-7.64620607e-04,
],
[
3.67040442e-08,
8.73159338e-03,
-2.73814658e-05,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
9.74289048e-03,
-2.73814658e-05,
2.99629290e-03,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
-3.43876570e-01,
0.00000000e00,
0.00000000e00,
1.08403504e-01,
3.78202498e-02,
2.94058379e-02,
-3.64184529e-02,
7.09759817e-03,
1.53715732e-02,
1.40866137e-03,
-9.14853372e-05,
9.63233542e-05,
9.72625203e-05,
],
[
-4.54296529e-01,
0.00000000e00,
0.00000000e00,
3.78202498e-02,
1.70213950e00,
3.64931859e-02,
-7.26177394e-01,
-1.33946287e-02,
2.02413693e-01,
3.67099955e-03,
3.40937986e-04,
-6.18315476e-04,
-3.54414224e-04,
],
[
1.08981401e-01,
0.00000000e00,
0.00000000e00,
2.94058379e-02,
3.64931859e-02,
4.94609140e-02,
-7.07467645e-03,
-1.35799812e-03,
-1.46510056e-03,
9.85472347e-04,
6.59426732e-05,
-3.23815875e-05,
-7.24548081e-05,
],
[
3.41559112e-01,
0.00000000e00,
0.00000000e00,
-3.64184529e-02,
-7.26177394e-01,
-7.07467645e-03,
3.83329660e-01,
2.72206287e-03,
-1.19588256e-01,
-2.21482548e-03,
-1.18377386e-04,
2.76969309e-04,
9.99884069e-05,
],
[
-4.22767736e-02,
0.00000000e00,
0.00000000e00,
7.09759817e-03,
-1.33946287e-02,
-1.35799812e-03,
2.72206287e-03,
3.61110992e-03,
6.78215525e-04,
1.07274228e-03,
-3.64163643e-05,
6.14650780e-05,
3.61214625e-05,
],
[
-1.32470354e-01,
0.00000000e00,
0.00000000e00,
1.53715732e-02,
2.02413693e-01,
-1.46510056e-03,
-1.19588256e-01,
6.78215525e-04,
4.95701768e-02,
8.59104912e-04,
-3.19920218e-07,
-1.00495192e-04,
-5.38870154e-07,
],
[
-3.21516022e-03,
0.00000000e00,
0.00000000e00,
1.40866137e-03,
3.67099955e-03,
9.85472347e-04,
-2.21482548e-03,
1.07274228e-03,
8.59104912e-04,
1.06953701e-03,
1.37026072e-05,
1.50693577e-05,
-1.54880636e-05,
],
[
6.97029522e-04,
0.00000000e00,
0.00000000e00,
-9.14853372e-05,
3.40937986e-04,
6.59426732e-05,
-1.18377386e-04,
-3.64163643e-05,
-3.19920218e-07,
1.37026072e-05,
5.18100715e-05,
0.00000000e00,
0.00000000e00,
],
[
-5.18424727e-04,
0.00000000e00,
0.00000000e00,
9.63233542e-05,
-6.18315476e-04,
-3.23815875e-05,
2.76969309e-04,
6.14650780e-05,
-1.00495192e-04,
1.50693577e-05,
0.00000000e00,
5.18100678e-05,
0.00000000e00,
],
[
-7.64620607e-04,
0.00000000e00,
0.00000000e00,
9.72625203e-05,
-3.54414224e-04,
-7.24548081e-05,
9.99884069e-05,
3.61214625e-05,
-5.38870154e-07,
-1.54880636e-05,
0.00000000e00,
0.00000000e00,
5.18100060e-05,
],
],
)
)
f = [
[2.40809838e-01, -1.27080749e00, -1.77562312e00],
[-4.38911207e-01, 9.43095596e-01, -9.11722890e-01],
[6.20552183e-01, 1.52278153e00, -7.90552624e-01],
[1.49977122e00, -8.96391612e-02, 7.98046583e-01],
[1.13336505e00, 1.89907311e00, 5.16222036e-01],
[5.74213711e-01, -9.01869173e-02, -7.46771811e-02],
[1.54342375e00, -1.44373435e00, 7.82156703e-01],
[3.06387819e-04, -1.52952161e-01, 1.26169614e-01],
[8.52181661e-01, 9.05031992e-01, 1.63512052e00],
[8.53931969e-01, -2.96663288e-01, 1.18634936e00],
[-1.21430250e-01, -1.35070970e00, 6.81850962e-01],
[1.37365221e00, -9.09914999e-01, 4.26579938e-01],
[8.91900774e-01, -2.11413901e00, 1.79657418e00],
[2.08195022e-01, 6.38473273e-01, 5.63669687e-01],
[8.13201042e-01, -4.10565287e-01, 5.22897977e-01],
[1.21131725e00, 1.85050340e00, 4.75914900e-02],
[9.42463769e-01, 1.36011852e00, 6.54628804e-01],
[-9.22803006e-01, -3.25638629e-01, -1.42794398e-01],
[1.56342777e00, 6.39829340e-01, 1.33727695e00],
[-3.60266371e-01, -1.60787529e00, -1.56503756e-01],
[1.45990479e00, 6.36596312e-01, -1.14414754e00],
[-7.86564555e-01, 3.99831320e-01, -5.44801400e-01],
[-1.50011163e00, -3.00799521e-01, 1.11865496e00],
[-2.12617913e-02, -6.67192613e-01, 2.51085763e-01],
[-3.10029603e-01, -1.16625872e-01, 3.36898031e-01],
[-3.14490379e-01, 1.37908705e-01, -4.80656396e-02],
[-8.35944401e-01, 9.82457711e-01, 2.33055543e-01],
[6.98234153e-01, 1.26325864e00, -1.06479442e00],
[7.24007768e-01, -2.31350831e00, 2.14362715e00],
[4.43017589e-01, 3.86475830e-02, 3.39316511e-01],
]
t = [
[1.31190719e00, 1.94337279e-03, -8.65924610e-01],
[7.61989828e-01, 2.14203938e-01, 1.01474107e00],
[2.76356598e00, 1.54777849e00, -1.08670875e-01],
[6.72617530e-01, -8.93289804e-01, -9.67865194e-01],
[-2.14009514e00, -4.91241009e-01, 6.77608900e-01],
[-1.56602672e00, 1.90339712e00, -8.61731181e-01],
[-8.00712600e-01, 6.31551232e-01, -1.10588615e00],
[-5.81801184e-02, 1.65732518e-01, 1.17905693e00],
[2.30159411e00, 6.22379857e-01, 1.02176271e00],
[-1.39258587e-01, 3.14663880e-01, -7.41235485e-01],
[-4.27929241e-01, 8.69664277e-01, 6.60818182e-02],
[-6.02179487e-01, 3.67542212e-01, 1.82004605e00],
[-1.30413070e00, -1.86434796e-01, -1.59053634e-01],
[1.20929486e00, 1.14176650e00, 1.46168028e-02],
[9.05097711e-01, 4.91921947e-01, 7.66216116e-01],
[1.33636748e-01, 6.02718978e-01, -2.29024427e00],
[-4.76238060e-01, -7.99181335e-01, -1.48154004e00],
[-5.35005454e-01, 4.07986297e-01, -1.27607139e00],
[-1.57766524e00, -2.29439097e-01, -8.96790625e-01],
[1.53282255e-01, 1.09402785e-01, -2.16260373e00],
[1.09107316e-01, -3.01131551e-01, -6.27670543e-01],
[8.60340781e-02, 7.78950920e-01, 2.09813126e00],
[-6.74808613e-01, 2.65354386e-01, -4.01326465e-01],
[2.97437455e-01, 2.44785627e-01, -8.90826131e-02],
[2.10397841e-01, 5.66256583e-03, 3.96848333e-01],
[-8.09947058e-01, -3.41270553e-01, -1.09255889e-01],
[-1.76905067e00, 6.47424217e-01, 1.21158433e-01],
[6.61212054e-02, -6.57234323e-01, 1.27417797e00],
[1.87796580e-01, 8.98765811e-01, 1.61891350e00],
[5.91448963e-01, -2.23083494e-01, 5.92870225e-01],
]
self.assertTrue(
np.allclose(
robot.compute_generalized_external_force(f, t),
[
-1.1007722e01,
-3.7494483e00,
2.2152548e00,
-6.1211593e-02,
-4.5349520e-01,
-2.4116299e00,
1.9647040e00,
-1.8868941e00,
-3.3799500e00,
-1.8173212e00,
2.8745458e-04,
8.0742544e-01,
1.5127425e00,
],
)
)
self.assertTrue(
np.allclose(
robot.compute_passive_force(True, True, False),
[
2.0907001e02,
-1.5471378e-05,
9.5583990e-02,
-3.3650081e00,
-4.4632564e00,
1.0651003e00,
3.3511910e00,
-4.1289598e-01,
-1.2980678e00,
-3.1564910e-02,
6.8144458e-03,
-5.0333105e-03,
-7.4413787e-03,
],
)
)
robot.set_qvel([0] * 13)
robot.set_qf([0] * 13)
robot.set_qacc([0] * 13)
q = [
0.83170422,
0.9494129,
0.71178931,
0.91870579,
0.97788645,
0.88407323,
0.09205724,
0.18836123,
0.2239152,
0.41625334,
0.6471714,
0.55311586,
0.45466085,
]
self.assertTrue(
np.allclose(
robot.compute_forward_dynamics(q),
[
-9.9593401e00,
1.0948268e02,
2.3904277e02,
1.1556545e01,
8.1699972e00,
1.1605679e00,
4.2850945e01,
-2.8134174e02,
8.8633606e01,
4.6513660e02,
1.2236089e04,
1.0892414e04,
9.0625742e03,
],
)
)
self.assertTrue(
np.allclose(
robot.compute_inverse_dynamics(q),
[
1.7068953e01,
8.2704294e-03,
1.0209938e-02,
-1.2138097e-01,
1.3308632e00,
1.9623576e-01,
-4.5753181e-01,
-4.1384127e-02,
1.0110803e-01,
3.7270328e-03,
9.0877619e-04,
-9.2645141e-04,
-9.2421798e-04,
],
)
)
self.assertTrue(
np.allclose(
robot.compute_spatial_twist_jacobian(),
[
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
4.70317900e-08,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
1.04308128e-07,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
1.00000024e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
4.70317900e-08,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
1.04308128e-07,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
1.00000024e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
4.70317900e-08,
7.25305527e-02,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
1.04308128e-07,
4.87542510e-01,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
1.00000024e00,
-1.32628065e-06,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
1.19209290e-07,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
-2.74181366e-06,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
-1.00000024e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
4.70317900e-08,
4.10566330e-02,
8.11562181e-01,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
1.04308128e-07,
9.03080463e-01,
-8.14287513e-02,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
1.00000024e00,
-2.46935974e-06,
-9.02667463e-01,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
1.19209290e-07,
-9.98321176e-02,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
-2.74181366e-06,
-9.95004654e-01,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[
0.00000000e00,
-1.00000024e00,
2.23889947e-06,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
],
[