From f3e7ed0a84c232b741efdeba10ff3168db026456 Mon Sep 17 00:00:00 2001 From: mcarfagno Date: Wed, 8 Apr 2020 11:43:38 +0100 Subject: [PATCH] added pybullet simulation --- README.md | 18 +- img/Turtlebot.png | Bin 0 -> 175471 bytes mpc_demo/__pycache__/cvxpy_mpc.cpython-36.pyc | Bin 3787 -> 3787 bytes mpc_demo/data/checker_blue.png | Bin 0 -> 6379 bytes mpc_demo/data/plane.mtl | 15 + mpc_demo/data/plane.obj | 18 + mpc_demo/data/plane.urdf | 29 + mpc_demo/data/turtlebot.urdf | 827 ++++++++++++++++++ .../meshes/images/main_body.jpg | Bin 0 -> 572845 bytes .../meshes/images/wheel.jpg | Bin 0 -> 94668 bytes .../kobuki_description/meshes/main_body.dae | 164 ++++ .../kobuki_description/meshes/wheel.dae | 164 ++++ .../meshes/sensors/asus_xtion_pro_live.dae | 137 +++ .../meshes/sensors/asus_xtion_pro_live.png | Bin 0 -> 14044 bytes .../meshes/sensors/kinect.dae | 165 ++++ .../meshes/sensors/kinect.jpg | Bin 0 -> 45027 bytes .../meshes/sensors/kinect.tga | Bin 0 -> 47572 bytes 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.../meshes/stacks/hexagons/pole_top.dae | 165 ++++ mpc_demo/{main.py => mpc_demo_nosim.py} | 0 mpc_demo/mpc_demo_pybullet.py | 102 +++ requirements.txt | 1 + 37 files changed, 2792 insertions(+), 3 deletions(-) create mode 100644 img/Turtlebot.png create mode 100644 mpc_demo/data/checker_blue.png create mode 100644 mpc_demo/data/plane.mtl create mode 100644 mpc_demo/data/plane.obj create mode 100644 mpc_demo/data/plane.urdf create mode 100755 mpc_demo/data/turtlebot.urdf create mode 100755 mpc_demo/data/turtlebot/kobuki_description/meshes/images/main_body.jpg create mode 100755 mpc_demo/data/turtlebot/kobuki_description/meshes/images/wheel.jpg create mode 100755 mpc_demo/data/turtlebot/kobuki_description/meshes/main_body.dae create mode 100755 mpc_demo/data/turtlebot/kobuki_description/meshes/wheel.dae create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/sensors/asus_xtion_pro_live.dae create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/sensors/asus_xtion_pro_live.png create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/sensors/kinect.dae create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/sensors/kinect.jpg create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/sensors/kinect.tga create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/_DS_Store create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/1f_pole.jpg create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/1f_stack.jpg create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/2f_pole.jpg create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/2f_stack.jpg create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_pole.jpg create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_stack.jpg create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_stack1.jpg create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/kinect_pole.jpg create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/kinect_pole_old.jpg create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.dae create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.dae create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.dae create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae create mode 100755 mpc_demo/data/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae rename mpc_demo/{main.py => mpc_demo_nosim.py} (100%) create mode 100644 mpc_demo/mpc_demo_pybullet.py diff --git a/README.md b/README.md index 217e39a..2559e33 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ # mpc_python -Python implementation of mpc controller for path tracking. +Python implementation of a mpc controller for path tracking using **[CVXPY](https://www.cvxpy.org/)**. ## About @@ -25,12 +25,24 @@ The inputs of the model are: ## Demo +The MPC implementation is tested using **[bullet](https://pybullet.org/wordpress/)** physics simulator. + +![](img/Turtlebot.png) + +Results: + ![](img/demo.gif) -To run the demo: +To run the pybullet demo: ```bash -python3 mpc_demo/main.py +python3 mpc_demo/mpc_demo_pybullet.py +``` + +To run the simulation-less demo: + +```bash +python3 mpc_demo/mpc_demo_pybullet.py ``` ## Requirements diff --git a/img/Turtlebot.png b/img/Turtlebot.png new file mode 100644 index 0000000000000000000000000000000000000000..48f9dbb2d7458d4ae86ed2b4636e1113444b05a9 GIT binary patch literal 175471 zcmeEu1y`KCwlEAs8Kih|AKcyD9SUu6_u?*t7kBqUixenc+}*9XLxBN`JA;;w_ndR@ zJy*Ve@XlJ#TA5^flD&8GBu}Kes@!W7A{00{xYr8u(i(7ZK<1Z+5%lV%CPwKb77h-L z-bPAFT|r8ULfysD(#FmL4o*HYH67_)@-SZD9$P7Ooj9;CWL=tJx+n}!LR@eWq(Jet zF9Y-4(NI3XR-!-n4O9N_D8P@!YNlx8Qw&tbk(QF^*QtC8a0Vi$?UyG4m(NBgtIe*b zXyF95^lg-_DVP`pLS=k_L*h6;gYc`N7v@QUzkh?^EY6Pi(j-K(D}Dio!b>)& zJB3Aw;O2bW0u`y~qY=9>!kH7LGmXQE8(`rx#izqRm8460;9km@4yh#gc}udAUsw%+ zU0l9N&Q}N7CEt9`iwU?@CcYTnu|%t3#4k$tB+aS7>$&@^6Zgy_uyoNaFlJJKTx7x# zmGj1ZG>fRxm`qM*i3j$nH^aR z2EV%M*w4pAH`j)6tEP-bYR1akO_y>Y{Fx#I=r|owxE75xc>yTcE=zOrd4IGd5r4(}cDa#oDwh!&u6|GQ7%Jdy?hD@9tJKLBN z{gyPklXN9Jt1=H>_SiO~+03ULh6EZJw1HuKAY$1?4+?PWHt4p7Q^CP_Ebz%g!Q(1W zWS)8m{r&H8ipG%(Q>4KgXixvQ5qzYi)!+Q@?V40+J?-ikU#+4`!|{Ru%oO1)uayxq 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+ + + + + + + + + 0 0 0 + + + + + + + ./images/3f_pole.jpg + + + + + + + + + 1 0 0 0 0 -4.37114e-8 1 9.31323e-10 0 -1 -4.37114e-8 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/mpc_demo/main.py b/mpc_demo/mpc_demo_nosim.py similarity index 100% rename from mpc_demo/main.py rename to mpc_demo/mpc_demo_nosim.py diff --git a/mpc_demo/mpc_demo_pybullet.py b/mpc_demo/mpc_demo_pybullet.py new file mode 100644 index 0000000..e60c417 --- /dev/null +++ b/mpc_demo/mpc_demo_pybullet.py @@ -0,0 +1,102 @@ +import numpy as np +import matplotlib.pyplot as plt +from matplotlib import animation + +from utils import compute_path_from_wp +from cvxpy_mpc import optimize + +import sys +import time + +import pybullet as p +import time + +def get_state(robotId): + """ + """ + robPos, robOrn = p.getBasePositionAndOrientation(robotId) + linVel,angVel = p.getBaseVelocity(robotId) + + return[robPos[0], robPos[1], p.getEulerFromQuaternion(robOrn)[2]] + +def set_ctrl(robotId,v,w): + """ + """ + L= 0.354 + R= 0.076/2 + + rightWheelVelocity= (2*v+w*L)/(2*R) + leftWheelVelocity = (2*v-w*L)/(2*R) + + p.setJointMotorControl2(robotId,0,p.VELOCITY_CONTROL,targetVelocity=leftWheelVelocity,force=1000) + p.setJointMotorControl2(robotId,1,p.VELOCITY_CONTROL,targetVelocity=rightWheelVelocity,force=1000) + +def plot(path,x_history,y_history): + plt.style.use("ggplot") + plt.figure() + plt.title("MPC Tracking Results") + + plt.plot(path[0,:],path[1,:], c='tab:orange',marker=".",label="reference track") + plt.plot(x_history, y_history, c='tab:blue',marker=".",alpha=0.5,label="vehicle trajectory") + + plt.legend() + plt.show() + +def do_sim(): + p.connect(p.GUI) + + start_offset = [0,2,0] + start_orientation = p.getQuaternionFromEuler([0,0,0]) + turtle = p.loadURDF("turtlebot.urdf",start_offset, start_orientation) + + plane = p.loadURDF("plane.urdf") + p.setRealTimeSimulation(1) + p.setGravity(0,0,-10) + + state = get_state(turtle) + + # MPC step + dt = 0.25 + + # starting guess output + N = 5 #number of state variables + M = 2 #number of control variables + T = 20 #Prediction Horizon + + opt_u = np.zeros((M,T)) + opt_u[0,:] = 1 #m/s + opt_u[1,:] = np.radians(0) #rad/s + + # Interpolated Path to follow given waypoints + path = compute_path_from_wp([0,10,12,2,4,14],[0,0,2,10,12,12]) + x_history=[] + y_history=[] + + while (1): + state = get_state(turtle) + x_history.append(state[0]) + y_history.append(state[1]) + + #track path in bullet + p.addUserDebugLine([state[0],state[1],0],[state[0],state[1],0.5],[1,0,0]) + + if np.sqrt((state[0]-path[0,-1])**2+(state[1]-path[1,-1])**2)<1: + print("Success! Goal Reached") + set_ctrl(turtle,0,0) + plot(path,x_history,y_history) + p.disconnect() + return + + #optimization loop + start=time.time() + opt_u = optimize(state,opt_u,path) + elapsed=time.time()-start + print("CVXPY Optimization Time: {:.4f}s".format(elapsed)) + + set_ctrl(turtle,opt_u[0,1],opt_u[1,1]) + + if dt-elapsed>0: + time.sleep(dt-elapsed) + +if __name__ == '__main__': + do_sim() diff --git a/requirements.txt b/requirements.txt index 72694ba..acc79de 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,3 +1,4 @@ +pybullet==2.7.2 cvxpy==1.0.28 numpy==1.18.1 osqp==0.6.1

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