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Remove improper use of cfg file by multiple imports #21

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Remove improper use of cfg file by multiple imports #21

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27 changes: 14 additions & 13 deletions quadruped_pympc/interfaces/srbd_batched_controller_interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,25 +4,26 @@

from gym_quadruped.utils.quadruped_utils import LegsAttr

from quadruped_pympc import config as cfg
# from quadruped_pympc import config as cfg

class SRBDBatchedControllerInterface:
"""This is an interface for a batched controller that uses the SRBD method to optimize the gait"""


def __init__(self, ):
def __init__(self, mpc_cfg):
""" Constructor for the SRBD batched controller interface """

self.type = cfg.mpc_params['type']
self.mpc_dt = cfg.mpc_params['dt']
self.horizon = cfg.mpc_params['horizon']
self.optimize_step_freq = cfg.mpc_params['optimize_step_freq']
self.num_parallel_computations = cfg.mpc_params['num_parallel_computations']
self.sampling_method = cfg.mpc_params['sampling_method']
self.control_parametrization = cfg.mpc_params['control_parametrization']
self.num_sampling_iterations = cfg.mpc_params['num_sampling_iterations']
self.sigma_cem_mppi = cfg.mpc_params['sigma_cem_mppi']
self.step_freq_available = cfg.mpc_params['step_freq_available']
self._mpc_cfg = mpc_cfg

self.type = self._mpc_cfg['type']
self.mpc_dt = self._mpc_cfg['dt']
self.horizon = self._mpc_cfg['horizon']
self.optimize_step_freq = self._mpc_cfg['optimize_step_freq']
self.num_parallel_computations = self._mpc_cfg['num_parallel_computations']
self.sampling_method = self._mpc_cfg['sampling_method']
self.control_parametrization = self._mpc_cfg['control_parametrization']
self.num_sampling_iterations = self._mpc_cfg['num_sampling_iterations']
self.sigma_cem_mppi = self._mpc_cfg['sigma_cem_mppi']
self.step_freq_available = self._mpc_cfg['step_freq_available']


from quadruped_pympc.controllers.gradient.nominal.centroidal_nmpc_gait_adaptive import \
Expand Down
21 changes: 10 additions & 11 deletions quadruped_pympc/interfaces/srbd_controller_interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,20 +2,19 @@

from gym_quadruped.utils.quadruped_utils import LegsAttr

from quadruped_pympc import config as cfg

class SRBDControllerInterface:
"""This is an interface for a controller that uses the SRBD method to optimize the gait"""


def __init__(self, ):
def __init__(self, mpc_cfg):
""" Constructor for the SRBD controller interface """

self.type = cfg.mpc_params['type']
self.mpc_dt = cfg.mpc_params['dt']
self.horizon = cfg.mpc_params['horizon']
self.optimize_step_freq = cfg.mpc_params['optimize_step_freq']
self.step_freq_available = cfg.mpc_params['step_freq_available']
self._mpc_cfg = mpc_cfg
self.type = self._mpc_cfg['type']
self.mpc_dt = self._mpc_cfg['dt']
self.horizon = self._mpc_cfg['horizon']
self.optimize_step_freq = self._mpc_cfg['optimize_step_freq']
self.step_freq_available = self._mpc_cfg['step_freq_available']


self.previous_contact_mpc = np.array([1, 1, 1, 1])
Expand Down Expand Up @@ -46,12 +45,12 @@ def __init__(self, ):

self.batched_controller = Acados_NMPC_GaitAdaptive()

elif(cfg.mpc_params['type'] == 'lyapunov'):
elif(self._mpc_cfg['type'] == 'lyapunov'):
from quadruped_pympc.controllers.gradient.lyapunov.centroidal_nmpc_lyapunov import Acados_NMPC_Lyapunov

self.controller = Acados_NMPC_Lyapunov()

if cfg.mpc_params['optimize_step_freq']:
if self._mpc_cfg['optimize_step_freq']:
from quadruped_pympc.controllers.gradient.nominal.centroidal_nmpc_gait_adaptive import Acados_NMPC_GaitAdaptive
self.batched_controller = Acados_NMPC_GaitAdaptive()

Expand Down Expand Up @@ -120,7 +119,7 @@ def compute_control(self,
self.controller = self.controller.with_newkey()
if (self.controller.sampling_method == 'cem_mppi'):
if (iter_sampling == 0):
self.controller = self.controller.with_newsigma(cfg.mpc_params['sigma_cem_mppi'])
self.controller = self.controller.with_newsigma(self._mpc_cfg['sigma_cem_mppi'])

nmpc_GRFs, \
nmpc_footholds, \
Expand Down
56 changes: 30 additions & 26 deletions quadruped_pympc/interfaces/wb_interface.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,12 @@
import time

from gym_quadruped.utils.quadruped_utils import LegsAttr
from quadruped_pympc import config as cfg

from quadruped_pympc.helpers.foothold_reference_generator import FootholdReferenceGenerator
from quadruped_pympc.helpers.periodic_gait_generator import PeriodicGaitGenerator
from quadruped_pympc.helpers.swing_trajectory_controller import SwingTrajectoryController
from quadruped_pympc.helpers.terrain_estimator import TerrainEstimator

if(cfg.simulation_params['visual_foothold_adaptation'] != 'blind'):
from quadruped_pympc.helpers.visual_foothold_adaptation import VisualFootholdAdaptation


class WBInterface:
Expand All @@ -21,6 +18,8 @@ class WBInterface:
"""

def __init__(self,
mpc_cfg,
sim_cfg,
initial_feet_pos: LegsAttr,
legs_order: tuple[str, str, str, str] = ('FL', 'FR', 'RL', 'RR')):
""" Constructor of the WBInterface class
Expand All @@ -30,14 +29,16 @@ def __init__(self,
legs_order (tuple[str, str, str, str], optional): order of the leg. Defaults to ('FL', 'FR', 'RL', 'RR').
"""

self._mpc_cfg = mpc_cfg
self._sim_cfg = sim_cfg

mpc_dt = cfg.mpc_params['dt']
horizon = cfg.mpc_params['horizon']
mpc_dt = self._mpc_cfg['dt']
horizon = self._mpc_cfg['horizon']
self.legs_order = legs_order

# Periodic gait generator --------------------------------------------------------------
gait_name = cfg.simulation_params['gait']
gait_params = cfg.simulation_params['gait_params'][gait_name]
gait_name = self._sim_cfg['gait']
gait_params = self._sim_cfg['gait_params'][gait_name]
gait_type, duty_factor, step_frequency = gait_params['type'], gait_params['duty_factor'], gait_params['step_freq']
# Given the possibility to use nonuniform discretization,
# we generate a contact sequence two times longer and with a dt half of the one of the mpc
Expand All @@ -46,25 +47,25 @@ def __init__(self,
gait_type=gait_type,
horizon=horizon)
# in the case of nonuniform discretization, we create a list of dts and horizons for each nonuniform discretization
if (cfg.mpc_params['use_nonuniform_discretization']):
self.contact_sequence_dts = [cfg.mpc_params['dt_fine_grained'], mpc_dt]
self.contact_sequence_lenghts = [cfg.mpc_params['horizon_fine_grained'], horizon]
if (self._mpc_cfg['use_nonuniform_discretization']):
self.contact_sequence_dts = [self._mpc_cfg['dt_fine_grained'], mpc_dt]
self.contact_sequence_lenghts = [self._mpc_cfg['horizon_fine_grained'], horizon]
else:
self.contact_sequence_dts = [mpc_dt]
self.contact_sequence_lenghts = [horizon]


# Create the foothold reference generator ------------------------------------------------
stance_time = (1 / self.pgg.step_freq) * self.pgg.duty_factor
self.frg = FootholdReferenceGenerator(stance_time=stance_time, hip_height=cfg.hip_height, lift_off_positions=initial_feet_pos)
self.frg = FootholdReferenceGenerator(stance_time=stance_time, hip_height=self._sim_cfg['ref_z'], lift_off_positions=initial_feet_pos)


# Create swing trajectory generator ------------------------------------------------------
self.step_height = cfg.simulation_params['step_height']
self.step_height = self._sim_cfg['step_height']
swing_period = (1 - self.pgg.duty_factor) * (1 / self.pgg.step_freq)
position_gain_fb = cfg.simulation_params['swing_position_gain_fb']
velocity_gain_fb = cfg.simulation_params['swing_velocity_gain_fb']
swing_generator = cfg.simulation_params['swing_generator']
position_gain_fb = self._sim_cfg['swing_position_gain_fb']
velocity_gain_fb = self._sim_cfg['swing_velocity_gain_fb']
swing_generator = self._sim_cfg['swing_generator']
self.stc = SwingTrajectoryController(step_height=self.step_height, swing_period=swing_period,
position_gain_fb=position_gain_fb, velocity_gain_fb=velocity_gain_fb,
generator=swing_generator)
Expand All @@ -73,9 +74,12 @@ def __init__(self,
# Terrain estimator -----------------------------------------------------------------------
self.terrain_computation = TerrainEstimator()

if(cfg.simulation_params['visual_foothold_adaptation'] != 'blind'):
# Visual foothold adaptation -------------------------------------------------------------
self.vfa = VisualFootholdAdaptation(legs_order=self.legs_order, adaptation_strategy=cfg.simulation_params['visual_foothold_adaptation'])
# Visual foothold adaptation -------------------------------------------------------------
if(self._sim_cfg['visual_foothold_adaptation'] != 'blind'):
from quadruped_pympc.helpers.visual_foothold_adaptation import VisualFootholdAdaptation
self.vfa = VisualFootholdAdaptation(
legs_order=self.legs_order, adaptation_strategy=self._sim_cfg['visual_foothold_adaptation']
)


self.current_contact = np.array([1, 1, 1, 1])
Expand Down Expand Up @@ -154,11 +158,11 @@ def update_state_and_reference(self,
base_xy_lin_vel=base_lin_vel[0:2],
ref_base_xy_lin_vel=ref_base_lin_vel[0:2],
hips_position=hip_pos,
com_height_nominal=cfg.simulation_params['ref_z'])
com_height_nominal=self._sim_cfg['ref_z'])


# Adjust the footholds given the terrain -----------------------------------------------------
if(cfg.simulation_params['visual_foothold_adaptation'] != 'blind'):
if(self._sim_cfg['visual_foothold_adaptation'] != 'blind'):

time_adaptation = time.time()
if(self.stc.check_apex_condition(self.current_contact, interval=0.01) and self.vfa.initialized == False):
Expand All @@ -177,12 +181,12 @@ def update_state_and_reference(self,
for _, leg_name in enumerate(legs_order):
#TODO this should be in the terrain frame
ref_feet_pos_height_diffence = ref_feet_pos[leg_name][2] - self.frg.lift_off_positions[leg_name][2]
if(ref_feet_pos_height_diffence > (cfg.simulation_params['step_height']) and ref_feet_pos_height_diffence > 0.0):
if(ref_feet_pos_height_diffence > (self._sim_cfg['step_height']) and ref_feet_pos_height_diffence > 0.0):
step_height = ref_feet_pos_height_diffence + 0.05
step_height_modification = True
self.stc.regenerate_swing_trajectory_generator(step_height=step_height, swing_period=self.stc.swing_period)
if(step_height_modification == False):
step_height = cfg.simulation_params['step_height']
step_height = self._sim_cfg['step_height']
self.stc.regenerate_swing_trajectory_generator(step_height=step_height, swing_period=self.stc.swing_period)"""

else:
Expand All @@ -198,8 +202,8 @@ def update_state_and_reference(self,
feet_pos=self.frg.lift_off_positions,
current_contact=self.current_contact)

ref_pos = np.array([0, 0, cfg.hip_height])
ref_pos[2] = cfg.simulation_params['ref_z'] + terrain_height
ref_pos = np.array([0, 0, self._sim_cfg['ref_z']])
ref_pos[2] = self._sim_cfg['ref_z'] + terrain_height


# Update state reference ------------------------------------------------------------------------
Expand All @@ -217,7 +221,7 @@ def update_state_and_reference(self,
# -------------------------------------------------------------------------------------------------


if(cfg.mpc_params['optimize_step_freq']):
if(self._mpc_cfg['optimize_step_freq']):
# we can always optimize the step freq, or just at the apex of the swing
# to avoid possible jittering in the solution
optimize_swing = self.stc.check_apex_condition(self.current_contact)
Expand Down Expand Up @@ -322,7 +326,7 @@ def reset(self,
#self.stc.reset()
#self.terrain_computation.reset()
self.frg.lift_off_positions = initial_feet_pos
if(cfg.simulation_params['visual_foothold_adaptation'] != 'blind'):
if(self._sim_cfg['visual_foothold_adaptation'] != 'blind'):
self.vfa.reset()
self.current_contact = np.array([1, 1, 1, 1])
return
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