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Remove unused imports and fix f-strings
1 parent 376e3f8 commit e68b68a

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-156
lines changed

‎docs/conf.py

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@@ -59,7 +59,7 @@
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templates_path = ["_templates"]
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exclude_patterns = []
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html_title = f"adam"
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html_title = "adam"
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# -- Options for HTML output -------------------------------------------------

‎examples/mpc-ik.ipynb

Lines changed: 104 additions & 97 deletions
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@@ -66,20 +66,17 @@
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"import mediapy as media\n",
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"from adam.casadi import KinDynComputations\n",
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"import numpy as np\n",
69-
"import casadi as cs\n",
70-
"import distutils.util\n",
71-
"import os\n",
72-
"import subprocess"
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"import casadi as cs"
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]
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},
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{
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"cell_type": "markdown",
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"source": [
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"## Import the panda scene in mujoco"
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],
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"metadata": {
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"id": "2zw4FO-IGxdR"
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}
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},
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"source": [
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"## Import the panda scene in mujoco"
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]
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},
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{
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"cell_type": "code",
@@ -90,22 +87,22 @@
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"outputs": [],
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"source": [
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"# load scene from xml\n",
93-
"model = mujoco.MjModel.from_xml_path(\"mujoco_menagerie/franka_emika_panda/scene.xml\")\n"
90+
"model = mujoco.MjModel.from_xml_path(\"mujoco_menagerie/franka_emika_panda/scene.xml\")"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {
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"id": "CZMO7PsmKUB6"
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},
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"source": [
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"## Import urdf in adam\n",
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"\n",
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"Set the commanded joint list and impor the urdf in adam.\n",
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"\n",
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"For now I have to use a separate urdf for adam.\n",
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"An importer for a mujoco model could be an idea for the future!"
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],
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"metadata": {
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"id": "CZMO7PsmKUB6"
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}
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]
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},
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{
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"cell_type": "code",
@@ -115,19 +112,28 @@
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},
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"outputs": [],
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"source": [
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"joints_name_list = ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_joint8']\n",
115+
"joints_name_list = [\n",
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" \"panda_joint1\",\n",
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" \"panda_joint2\",\n",
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" \"panda_joint3\",\n",
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" \"panda_joint4\",\n",
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" \"panda_joint5\",\n",
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" \"panda_joint6\",\n",
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" \"panda_joint7\",\n",
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" \"panda_joint8\",\n",
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"]\n",
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"\n",
120-
"kindyn = KinDynComputations(urdfstring=\"panda.urdf\", joints_name_list=joints_name_list)\n"
126+
"kindyn = KinDynComputations(urdfstring=\"panda.urdf\", joints_name_list=joints_name_list)"
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]
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},
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{
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"cell_type": "markdown",
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"source": [
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"## A wrapper interface with mujoco"
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],
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"metadata": {
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"id": "g5LX5kQAKwaM"
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}
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},
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"source": [
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"## A wrapper interface with mujoco"
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]
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},
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{
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"cell_type": "code",
@@ -138,50 +144,51 @@
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"outputs": [],
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"source": [
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"class MujocoWrapper:\n",
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" # a simple wrapper to use mujoco as a simulator\n",
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" def __init__(self, model, joints_list=None):\n",
143-
" self.model = model\n",
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" self.data = mujoco.MjData(model)\n",
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" self.renderer = mujoco.Renderer(self.model)\n",
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" # a simple wrapper to use mujoco as a simulator\n",
148+
" def __init__(self, model, joints_list=None):\n",
149+
" self.model = model\n",
150+
" self.data = mujoco.MjData(model)\n",
151+
" self.renderer = mujoco.Renderer(self.model)\n",
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"\n",
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" def set_qpos(self, qpos):\n",
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" # set the joint positions\n",
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" self.data.qpos[:] = qpos\n",
156+
" mujoco.mj_forward(self.model, self.data)\n",
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"\n",
147-
" def set_qpos(self, qpos):\n",
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" # set the joint positions\n",
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" self.data.qpos[:] = qpos\n",
150-
" mujoco.mj_forward(self.model, self.data)\n",
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" def get_qpos(self):\n",
159+
" # get the joint positions\n",
160+
" return self.data.qpos[:]\n",
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"\n",
152-
" def get_qpos(self):\n",
153-
" # get the joint positions\n",
154-
" return self.data.qpos[:]\n",
162+
" def render(self):\n",
163+
" # render the scene and return the frame\n",
164+
" mujoco.mj_forward(self.model, self.data)\n",
165+
" self.renderer.update_scene(self.data)\n",
166+
" return self.renderer.render()\n",
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"\n",
156-
" def render(self):\n",
157-
" # render the scene and return the frame\n",
158-
" mujoco.mj_forward(self.model, self.data)\n",
159-
" self.renderer.update_scene(self.data)\n",
160-
" return self.renderer.render()\n",
168+
" def step(self):\n",
169+
" # step the simulation\n",
170+
" mujoco.mj_step(self.model, self.data)\n",
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"\n",
162-
" def step(self):\n",
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" # step the simulation\n",
164-
" mujoco.mj_step(self.model, self.data)\n",
172+
" def set_qvel(self, qvel):\n",
173+
" # set the joint velocities\n",
174+
" self.data.qvel[:] = qvel\n",
175+
" mujoco.mj_forward(self.model, self.data)\n",
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"\n",
166-
" def set_qvel(self, qvel):\n",
167-
" # set the joint velocities\n",
168-
" self.data.qvel[:] = qvel\n",
169-
" mujoco.mj_forward(self.model, self.data)\n",
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"\n",
171-
"wrapper = MujocoWrapper(model)\n"
178+
"wrapper = MujocoWrapper(model)"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {
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"id": "wuY9hqdlD3Vo"
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},
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"source": [
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"# Model Inverse Kinematics as an MPC\n",
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"\n",
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"An MPC is maybe not the best way to solve an IK problem.\n",
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"I just want to show how to use the casadi interface."
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],
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"metadata": {
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"id": "wuY9hqdlD3Vo"
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}
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]
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},
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{
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"cell_type": "code",
@@ -197,13 +204,13 @@
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"# casadi opti stack\n",
198205
"opti = cs.Opti()\n",
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"\n",
200-
"N = 10 # number of control intervals\n",
201-
"dt = 0.05 # time step\n",
207+
"N = 10 # number of control intervals\n",
208+
"dt = 0.05 # time step\n",
202209
"\n",
203210
"# joints variables\n",
204-
"q = opti.variable(8, N+1)\n",
211+
"q = opti.variable(8, N + 1)\n",
205212
"q_dot = opti.variable(8, N)\n",
206-
"w_H_b = np.eye(4) # base of the manipulator as identity matrix\n",
213+
"w_H_b = np.eye(4) # base of the manipulator as identity matrix\n",
207214
"\n",
208215
"# set the desidered end-effector position as a parameter\n",
209216
"# it will be set later when the mpc is solved at each iteration\n",
@@ -217,7 +224,7 @@
217224
"\n",
218225
"for i in range(N):\n",
219226
" # integration - forward euler\n",
220-
" opti.subject_to(q[:, i+1] == q[:, i] + q_dot[:, i] * dt)\n",
227+
" opti.subject_to(q[:, i + 1] == q[:, i] + q_dot[:, i] * dt)\n",
221228
" # bounds on the joint velocities\n",
222229
" opti.subject_to(opti.bounded(-5, q_dot[:, i], 5))\n",
223230
" # running cost\n",
@@ -232,13 +239,16 @@
232239
"opti.minimize(target_cost + velocities_cost)\n",
233240
"\n",
234241
"# set the solver\n",
235-
"p_opts = {\"expand\": True, 'ipopt.print_level': 0, 'print_time': 0, 'ipopt.sb': 'yes'}\n",
242+
"p_opts = {\"expand\": True, \"ipopt.print_level\": 0, \"print_time\": 0, \"ipopt.sb\": \"yes\"}\n",
236243
"s_opts = {\"max_iter\": 100, \"print_level\": 0}\n",
237-
"opti.solver(\"ipopt\", p_opts, s_opts)\n"
244+
"opti.solver(\"ipopt\", p_opts, s_opts)"
238245
]
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},
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{
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"cell_type": "markdown",
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"metadata": {
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"id": "Hf-Uq8PWFy6v"
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},
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"source": [
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"# Simulation loop\n",
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"\n",
@@ -247,10 +257,7 @@
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"\n",
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"On the notebook it is a bit slow.\n",
249259
"To run it real time set OMP_NUM_THREADS=1 on your laptop!"
250-
],
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"metadata": {
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"id": "Hf-Uq8PWFy6v"
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}
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]
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},
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{
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"cell_type": "code",
@@ -275,45 +282,49 @@
275282
"mujoco.mj_resetData(wrapper.model, wrapper.data)\n",
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"i = 0\n",
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"while wrapper.data.time < duration:\n",
278-
" wrapper.step()\n",
279-
" if len(frames) < wrapper.data.time * framerate:\n",
280-
" # you do not need to set the desired ee position every time step\n",
281-
" # you can set it only when you want to change it\n",
282-
" opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
283-
" q0_numeric = wrapper.get_qpos()\n",
284-
" # remove the last joint since they are not controlled\n",
285-
" q0_numeric = q0_numeric[:-1]\n",
286-
" # set the initial condition\n",
287-
" opti.set_value(q0, q0_numeric)\n",
288-
" sol = opti.solve()\n",
289-
" # take the q_dot solution at the first time step and extend with the last joint to 0\n",
290-
" sol_q_dot = sol.value(q_dot)[:, 0]\n",
291-
" sol_q_dot = np.concatenate((sol_q_dot, np.zeros(1)))\n",
292-
" wrapper.set_qvel(sol_q_dot)\n",
293-
" pixels = wrapper.render()\n",
294-
" frames.append(pixels)\n",
295-
" # set the solution as the initial condition for the next time step\n",
296-
" opti.set_initial(q, sol.value(q))\n",
297-
" opti.set_initial(q_dot, sol.value(q_dot))\n",
298-
" i += 1\n",
299-
" if wrapper.data.time > 2:\n",
300-
" # change the desired ee position\n",
301-
" des_ee_pos_numeric = np.array([2.0, 0.0, 0.2])\n",
302-
" opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
303-
" if wrapper.data.time > 4:\n",
304-
" # change the desired ee position\n",
305-
" des_ee_pos_numeric = np.array([0.0, 0.5, 0.4])\n",
306-
" opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
307-
" if wrapper.data.time > 6:\n",
308-
" # change the desired ee position\n",
309-
" des_ee_pos_numeric = np.array([0.0, -0.6, 0.6])\n",
310-
" opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
285+
" wrapper.step()\n",
286+
" if len(frames) < wrapper.data.time * framerate:\n",
287+
" # you do not need to set the desired ee position every time step\n",
288+
" # you can set it only when you want to change it\n",
289+
" opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
290+
" q0_numeric = wrapper.get_qpos()\n",
291+
" # remove the last joint since they are not controlled\n",
292+
" q0_numeric = q0_numeric[:-1]\n",
293+
" # set the initial condition\n",
294+
" opti.set_value(q0, q0_numeric)\n",
295+
" sol = opti.solve()\n",
296+
" # take the q_dot solution at the first time step and extend with the last joint to 0\n",
297+
" sol_q_dot = sol.value(q_dot)[:, 0]\n",
298+
" sol_q_dot = np.concatenate((sol_q_dot, np.zeros(1)))\n",
299+
" wrapper.set_qvel(sol_q_dot)\n",
300+
" pixels = wrapper.render()\n",
301+
" frames.append(pixels)\n",
302+
" # set the solution as the initial condition for the next time step\n",
303+
" opti.set_initial(q, sol.value(q))\n",
304+
" opti.set_initial(q_dot, sol.value(q_dot))\n",
305+
" i += 1\n",
306+
" if wrapper.data.time > 2:\n",
307+
" # change the desired ee position\n",
308+
" des_ee_pos_numeric = np.array([2.0, 0.0, 0.2])\n",
309+
" opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
310+
" if wrapper.data.time > 4:\n",
311+
" # change the desired ee position\n",
312+
" des_ee_pos_numeric = np.array([0.0, 0.5, 0.4])\n",
313+
" opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
314+
" if wrapper.data.time > 6:\n",
315+
" # change the desired ee position\n",
316+
" des_ee_pos_numeric = np.array([0.0, -0.6, 0.6])\n",
317+
" opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
311318
"\n",
312-
"media.show_video(frames, fps=framerate)\n"
319+
"media.show_video(frames, fps=framerate)"
313320
]
314321
}
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],
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"metadata": {
324+
"colab": {
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"include_colab_link": true,
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"provenance": []
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},
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"kernelspec": {
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"display_name": "adam_env",
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"language": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.10.11"
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},
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"colab": {
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"provenance": [],
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"include_colab_link": true
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}
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},
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"nbformat": 4,

‎src/adam/casadi/computations.py

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# This software may be modified and distributed under the terms of the
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# GNU Lesser General Public License v2.1 or any later version.
44

5+
from typing import Union
6+
57
import casadi as cs
68
import numpy as np
7-
from typing import Union
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from adam.casadi.casadi_like import SpatialMath
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from adam.core import RBDAlgorithms

‎src/adam/model/__init__.py

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@@ -1,4 +1,4 @@
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from .abc_factories import Joint, Link, ModelFactory, Inertial, Pose
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from .abc_factories import Inertial, Joint, Link, ModelFactory, Pose
22
from .model import Model
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from .std_factories.std_joint import StdJoint
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from .std_factories.std_link import StdLink

‎src/adam/model/conversions/idyntree.py

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@@ -1,11 +1,11 @@
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from typing import List
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import idyntree.bindings
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import numpy as np
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import urdf_parser_py.urdf
4-
from typing import List
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66

7+
from adam.model.abc_factories import Joint, Link
78
from adam.model.model import Model
8-
from adam.model.abc_factories import Link, Joint
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def to_idyntree_solid_shape(

‎src/adam/model/std_factories/std_link.py

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@@ -2,7 +2,7 @@
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import urdf_parser_py.urdf
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from adam.core.spatial_math import SpatialMath
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from adam.model import Link, Inertial, Pose
5+
from adam.model import Inertial, Link, Pose
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class StdLink(Link):

‎src/adam/model/std_factories/std_model.py

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import os
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import pathlib
2-
from typing import List
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import xml.etree.ElementTree as ET
4-
import os
4+
from typing import List
5+
56
import urdf_parser_py.urdf
67

78
from adam.core.spatial_math import SpatialMath

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