Actuation interface for the Bullet simulator. More...

#include <BulletInterface.h>

Classes
struct	Parameters
	Interface parameters. More...

Public Member Functions
	BulletInterface (const ServoLayout &layout, const Parameters &params)
	Initialize interface. More...

	~BulletInterface ()
	Disconnect interface. More...

void	reset (const Dictionary &config) override
	Reset interface. More...

void	cycle (const moteus::Data &data, std::function< void(const moteus::Output &)> callback) final
	Spin a new communication cycle. More...

void	observe (Dictionary &observation) const override
	Write actuation-interface observations to dictionary. More...

Eigen::Matrix4d	transform_base_to_world () const noexcept
	Get the groundtruth floating base transform. More...

Eigen::Vector3d	linear_velocity_base_to_world_in_world () const noexcept
	Get the groundtruth floating base linear velocity. More...

Eigen::Vector3d	angular_velocity_base_in_base () const noexcept
	Get the groundtruth floating base angular velocity. More...

void	reset_contact_data ()
	Reset contact data. More...

void	reset_joint_angles ()
	Reset joint angles to zero. More...

void	reset_joint_properties ()
	Reset joint properties to defaults. More...

void	reset_base_state (const Eigen::Vector3d &position_base_in_world, const Eigen::Quaterniond &orientation_base_in_world, const Eigen::Vector3d &linear_velocity_base_to_world_in_world, const Eigen::Vector3d &angular_velocity_base_in_base)
	Reset the pose and velocity of the floating base in the world frame. More...

const std::map< std::string, BulletJointProperties > &	joint_properties ()
	Joint properties (accessor used for testing) More...

const std::map< std::string, moteus::ServoReply > &	servo_reply ()
	Internal map of servo replies (accessor used for testing) More...

double	compute_joint_torque (const std::string &joint_name, const double feedforward_torque, const double target_position, const double target_velocity, const double kp_scale, const double kd_scale, const double maximum_torque)
	Reproduce the moteus position controller in Bullet. More...

Public Member Functions inherited from vulp::actuation::Interface
	Interface (const ServoLayout &servo_layout)
	Initialize actuation interface for a given servo layout. More...

virtual	~Interface ()=default
	Virtual destructor so that derived destructors are called properly. More...

const ServoLayout &	servo_layout () const noexcept
	Get servo layout. More...

const std::map< int, int > &	servo_bus_map () const noexcept
	Map from servo ID to the CAN bus the servo is connected to. More...

const std::map< int, std::string > &	servo_joint_map () const noexcept
	Map from servo ID to joint name. More...

std::vector< moteus::ServoCommand > &	commands ()
	Get servo commands. More...

const std::vector< moteus::ServoReply > &	replies () const
	Get servo replies. More...

moteus::Data &	data ()
	Get joint command-reply data. More...

void	initialize_action (Dictionary &action)
	Initialize action dictionary with keys corresponding to the servo layout. More...

void	write_position_commands (const Dictionary &action)
	Write position commands from an action dictionary. More...

void	write_stop_commands () noexcept
	Stop all servos. More...

Detailed Description

Actuation interface for the Bullet simulator.

Definition at line 25 of file BulletInterface.h.

Constructor & Destructor Documentation

◆ BulletInterface()

vulp::actuation::BulletInterface::BulletInterface	(	const ServoLayout &	layout,
		const Parameters &	params
	)

Initialize interface.

Parameters

[in]	layout	Servo layout.
[in]	params	Interface parameters.

Exceptions

std::runtime_error If the simulator did not start properly.

Definition at line 27 of file BulletInterface.cpp.

◆ ~BulletInterface()

vulp::actuation::BulletInterface::~BulletInterface ( )

Disconnect interface.

Definition at line 108 of file BulletInterface.cpp.

Member Function Documentation

◆ angular_velocity_base_in_base()

Eigen::Vector3d vulp::actuation::BulletInterface::angular_velocity_base_in_base ( ) const

noexcept

Get the groundtruth floating base angular velocity.

Note: This function is only used for testing and does not need to be optimized.

Definition at line 334 of file BulletInterface.cpp.

◆ compute_joint_torque()

double vulp::actuation::BulletInterface::compute_joint_torque	(	const std::string &	joint_name,
		const double	feedforward_torque,
		const double	target_position,
		const double	target_velocity,
		const double	kp_scale,
		const double	kd_scale,
		const double	maximum_torque
	)

Reproduce the moteus position controller in Bullet.

Parameters

[in]	joint_name	Name of the joint.
[in]	feedforward_torque	Feedforward torque command in [N] * [m].
[in]	target_position	Target angular position in [rad].
[in]	target_velocity	Target angular velocity in [rad] / [s].
[in]	kp_scale	Multiplicative factor applied to the proportional gain in torque control.
[in]	kd_scale	Multiplicative factor applied to the derivative gain in torque control.
[in]	maximum_torque	Maximum torque in [N] * [m] from the command.

Definition at line 289 of file BulletInterface.cpp.

◆ cycle()

void vulp::actuation::BulletInterface::cycle	(	const moteus::Data &	data,
		std::function< void(const moteus::Output &)>	callback
	)

finalvirtual

Spin a new communication cycle.

Parameters

data	Buffer to read commands from and write replies to.
callback	Function to call when the cycle is over.

The callback will be invoked from an arbitrary thread when the communication cycle has completed. All memory pointed to by data must remain valid until the callback is invoked.

Implements vulp::actuation::Interface.

Definition at line 186 of file BulletInterface.cpp.

◆ joint_properties()

const std::map<std::string, BulletJointProperties>& vulp::actuation::BulletInterface::joint_properties ( )

inline

Joint properties (accessor used for testing)

Definition at line 243 of file BulletInterface.h.

◆ linear_velocity_base_to_world_in_world()

Eigen::Vector3d vulp::actuation::BulletInterface::linear_velocity_base_to_world_in_world ( ) const

noexcept

Get the groundtruth floating base linear velocity.

Note: This function is only used for testing and does not need to be optimized.

Definition at line 326 of file BulletInterface.cpp.

◆ observe()

void vulp::actuation::BulletInterface::observe ( Dictionary & observation ) const

overridevirtual

Write actuation-interface observations to dictionary.

Parameters

[out] observation Dictionary to write ot.

Implements vulp::actuation::Interface.

Definition at line 170 of file BulletInterface.cpp.

◆ reset()

void vulp::actuation::BulletInterface::reset ( const Dictionary & config )

overridevirtual

Reset interface.

Parameters

[in] config Additional configuration dictionary.

Implements vulp::actuation::Interface.

Definition at line 110 of file BulletInterface.cpp.

◆ reset_base_state()

void vulp::actuation::BulletInterface::reset_base_state	(	const Eigen::Vector3d &	position_base_in_world,
		const Eigen::Quaterniond &	orientation_base_in_world,
		const Eigen::Vector3d &	linear_velocity_base_to_world_in_world,
		const Eigen::Vector3d &	angular_velocity_base_in_base
	)

Reset the pose and velocity of the floating base in the world frame.

Parameters

[in]	position_base_in_world	Position of the base in the world frame.
[in]	orientation_base_in_world	Orientation of the base in the world frame.
[in]	linear_velocity_base_to_world_in_world	Linear velocity of the base in the world frame.
[in]	angular_velocity_base_in_base	Body angular velocity of the base (in the base frame).

Definition at line 122 of file BulletInterface.cpp.

◆ reset_contact_data()

void vulp::actuation::BulletInterface::reset_contact_data ( )

Reset contact data.

Definition at line 140 of file BulletInterface.cpp.

◆ reset_joint_angles()

void vulp::actuation::BulletInterface::reset_joint_angles ( )

Reset joint angles to zero.

Definition at line 146 of file BulletInterface.cpp.

◆ reset_joint_properties()

void vulp::actuation::BulletInterface::reset_joint_properties ( )

Reset joint properties to defaults.

Definition at line 153 of file BulletInterface.cpp.

◆ servo_reply()

const std::map<std::string, moteus::ServoReply>& vulp::actuation::BulletInterface::servo_reply ( )

inline

Internal map of servo replies (accessor used for testing)

Definition at line 248 of file BulletInterface.h.

◆ transform_base_to_world()

Eigen::Matrix4d vulp::actuation::BulletInterface::transform_base_to_world ( ) const

noexcept

Get the groundtruth floating base transform.

Definition at line 314 of file BulletInterface.cpp.

The documentation for this class was generated from the following files:

vulp/actuation/BulletInterface.h
vulp/actuation/BulletInterface.cpp

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ BulletInterface()

◆ ~BulletInterface()

Member Function Documentation

◆ angular_velocity_base_in_base()

◆ compute_joint_torque()

◆ cycle()

◆ joint_properties()

◆ linear_velocity_base_to_world_in_world()

◆ observe()

◆ reset()

◆ reset_base_state()

◆ reset_contact_data()

◆ reset_joint_angles()

◆ reset_joint_properties()

◆ servo_reply()

◆ transform_base_to_world()