Merge pull request #404 from IMRCLab/feature_sim_dynobench

sim - backend - dynobench: cleanup

crazyflie_sim/crazyflie_sim/backend/data/dynobench/crazyflie2.yaml

@@ -0,0 +1,15 @@
+# distance_weights: [1. , .5, .2, .2 ]
+distance_weights: [1., .5, .1, .05]
+max_vel: 4
+max_angular_vel: 8
+max_acc: 25 # used for bounds on time
+max_angular_acc: 20 # used for bounds on time
+motor_control: true # True = controls are forces in the motors (False is NOT implemented)
+m: 0.034
+max_f: 1.3
+arm_length: 0.046
+t2t: 0.006 # thrust-to-torque ratio
+J_v: [16.571710e-6, 16.655602e-6, 29.261652e-6] # inertia matrix
+dt: .01
+size: [.25]
+dynamics: quad3d

crazyflie_sim/crazyflie_sim/backend/dynobench.py

@@ -0,0 +1,106 @@
+from pathlib import Path
+
+import numpy as np
+from rclpy.node import Node
+from rclpy.time import Time
+import robot_python
+from rosgraph_msgs.msg import Clock
+
+# import sys
+# sys.path.append("/home/whoenig/projects/dynobench/build")
+
+from ..sim_data_types import Action, State
+
+
+class Backend:
+    """Backend that uses newton-euler rigid-body dynamics implemented in numpy."""
+
+    def __init__(self, node: Node, names: list[str], states: list[State]):
+        self.node = node
+        self.names = names
+        self.clock_publisher = node.create_publisher(Clock, 'clock', 10)
+        self.t = 0
+        self.dt = 0.0005
+
+        self.uavs = []
+        for state in states:
+            uav = Quadrotor(state)
+            self.uavs.append(uav)
+
+    def time(self) -> float:
+        return self.t
+
+    def step(self, states_desired: list[State], actions: list[Action]) -> list[State]:
+        # advance the time
+        self.t += self.dt
+
+        next_states = []
+
+        for uav, action in zip(self.uavs, actions):
+            uav.step(action, self.dt)
+            next_states.append(uav.state)
+
+        # print(states_desired, actions, next_states)
+        # publish the current clock
+        clock_message = Clock()
+        clock_message.clock = Time(seconds=self.time()).to_msg()
+        self.clock_publisher.publish(clock_message)
+
+        return next_states
+
+    def shutdown(self):
+        pass
+
+
+# convert RPM -> Force
+def rpm_to_force(rpm):
+    # polyfit using data and scripts from https://github.com/IMRCLab/crazyflie-system-id
+    p = [2.55077341e-08, -4.92422570e-05, -1.51910248e-01]
+    force_in_grams = np.polyval(p, rpm)
+    force_in_newton = force_in_grams * 9.81 / 1000.0
+    return np.maximum(force_in_newton, 0)
+
+
+def sim_state2dynobench_state(state):
+    result = np.empty(13)
+    result[0:3] = state.pos
+    result[3:6] = state.quat[1:]
+    result[6] = state.quat[0]
+    result[7:10] = state.vel
+    result[10:13] = state.omega
+    return result
+
+
+def dynobench_state2sim_state(state):
+    result = State()
+    result.pos = state[0:3]
+    result.quat = np.concatenate((state[6:7], state[3:6]))
+    result.vel = state[7:10]
+    result.omega = state[10:13]
+    return result
+
+
+class Quadrotor:
+    """Basic rigid body quadrotor model (no drag) using numpy and rowan."""
+
+    def __init__(self, state):
+        self.uav = robot_python.robot_factory(
+            str((Path(__file__).parent / 'data/dynobench/crazyflie2.yaml').resolve()), [], [])
+        self.state = state
+
+    def step(self, action, dt):
+
+        # m: 0.034
+        # max_f: 1.3
+        force_in_newton = rpm_to_force(action.rpm)
+        normalized_force = force_in_newton / (1.3 * (0.034 / 4) * 9.81)
+
+        xnext = np.zeros(13)
+        self.uav.step(xnext, sim_state2dynobench_state(self.state), normalized_force, dt)
+        self.state = dynobench_state2sim_state(xnext)
+
+        # if we fall below the ground, set velocities to 0
+        if self.state.pos[2] < 0:
+            self.state.pos[2] = 0
+            self.state.vel = [0, 0, 0]
+            self.state.omega = [0, 0, 0]