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util.py
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util.py
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import sys
import pathlib
import random
import numpy as np
np.set_printoptions(precision=4, suppress=True, linewidth = 100)
def printUsage(NO_ARG_OPTION = False):
print("Usage is: script.py PATH_TO_URDF (FILE_NAMESPACE_NAME) (-D)")
print(" where -D indicates full debug mode")
if NO_ARG_OPTION:
print("Alternative usage assuming grid.cuh is already generated: script.py")
def fileExists(FILE_PATH):
return pathlib.Path(FILE_PATH).is_file()
def validateFile(FILE_PATH, NO_ARG_OPTION = False):
if not fileExists(FILE_PATH):
print("[!Error] grid.cuh does not exist")
printUsage(NO_ARG_OPTION)
exit()
def parseInputs(NO_ARG_OPTION = False):
args = sys.argv[1:]
if len(args) == 0:
if NO_ARG_OPTION:
validateFile("grid.cuh", NO_ARG_OPTION)
print("Using generated grid.cuh")
return None
print("[!Error] No URDF filepath specified")
printUsage(NO_ARG_OPTION)
exit()
URDF_PATH = args[0]
validateFile(URDF_PATH, NO_ARG_OPTION)
DEBUG_MODE_1 = True if len(args) > 1 and ((args[1] == "-D") or (args[1] == "-d")) else False
DEBUG_MODE_2 = True if len(args) > 2 and ((args[2] == "-D") or (args[2] == "-d")) else False
DEBUG_MODE = DEBUG_MODE_1 or DEBUG_MODE_2
if len(args) > 2:
FILE_NAMESPACE_NAME = args[1] if DEBUG_MODE_2 else args[2]
elif len(args) > 1 and not DEBUG_MODE_1:
FILE_NAMESPACE_NAME = args[1]
else:
FILE_NAMESPACE_NAME = "grid"
print("Running with: DEBUG_MODE = " + str(DEBUG_MODE))
print(" URDF = " + URDF_PATH)
print(" NAME = " + FILE_NAMESPACE_NAME)
return (URDF_PATH, DEBUG_MODE, FILE_NAMESPACE_NAME)
def validateRobot(robot, NO_ARG_OPTION = False):
if robot == None:
print("[!Error] URDF parsing failed. Please make sure you input a valid URDF file.")
printUsage(NO_ARG_OPTION)
exit()
def printErr(a, b, FULL_DEBUG = False, TOLERANCE = 1e-10):
err = a - b
err = abs(err) > TOLERANCE
if err.any():
print(err)
if (FULL_DEBUG):
print("Inputs were:")
print(a)
print(b)
else:
print(" passed")
def initializeValues(robot, MATCH_CPP_RANDOM = False):
# allocate memory
n = robot.get_num_pos()
q = np.zeros((n))
qd = np.zeros((n))
u = np.zeros((n))
if (MATCH_CPP_RANDOM):
# load CPP rand point
if n > 0:
q[0] = -0.336899
qd[0] = 0.43302
u[0] = 0.741788
if n > 1:
q[1] = 1.29662
qd[1] = -0.421561
u[1] = 1.92844
if n > 2:
q[2] = -0.677475
qd[2] = -0.645439
u[2] = -0.903882
if n > 3:
q[3] = -1.42182
qd[3] = -1.86055
u[3] = 0.0333959
if n > 4:
q[4] = -0.706676
qd[4] = -0.0130938
u[4] = 1.17986
if n > 5:
q[5] = -0.134981
qd[5] = -0.458284
u[5] = -1.94599
if n > 6:
q[6] = -1.14953
qd[6] = 0.741174
u[6] = 0.32869
if n > 7:
q[7] = -0.296646
qd[7] = 1.76642
u[7] = -0.139457
if n > 8:
q[8] = 2.13845
qd[8] = 0.898011
u[8] = 2.00667
if n > 9:
q[9] = 2.00956
qd[9] = -1.85675
u[9] = -0.519292
if n > 10:
q[10] = 1.55163
qd[10] = 1.62223
u[10] = -0.711198
if n > 11:
q[11] = 2.2893
qd[11] = 0.709379
u[11] = 0.376638
if n > 12:
q[12] = 0.0418005
qd[12] = -0.382885
u[12] = -0.209225
if n > 13:
q[13] = -0.125271
qd[13] = -0.239602
u[13] = -0.816928
if n > 14:
q[14] = -1.35512
qd[14] = 1.88499
u[14] = -0.943019
if n > 15:
q[15] = -0.606463
qd[15] = -2.20784
u[15] = -2.16433
if n > 16:
q[16] = -2.13552
qd[16] = -0.921183
u[16] = 1.37954
if n > 17:
q[17] = 0.229695
qd[17] = -0.110463
u[17] = 0.456738
if n > 18:
q[18] = 0.229592
qd[18] = -1.64542
u[18] = -0.702506
if n > 19:
q[19] = -0.197398
qd[19] = -1.7481
u[19] = 0.159814
if n > 20:
q[20] = -0.221438
qd[20] = -0.562579
u[20] = 0.944469
if n > 21:
q[21] = 1.02441
qd[21] = 1.02289
u[21] = 0.100297
if n > 22:
q[22] = -0.9309
qd[22] = 0.21233
u[22] = -0.1311
if n > 23:
q[23] = 1.12961
qd[23] = 1.30624
u[23] = 0.750389
if n > 24:
q[24] = 0.864741
qd[24] = 1.31059
u[24] = -0.666778
if n > 25:
q[25] = 0.705222
qd[25] = -0.0383565
u[25] = 0.486885
if n > 26:
q[26] = 0.0810176
qd[26] = 0.317353
u[26] = 0.513445
if n > 27:
q[27] = 0.541962
qd[27] = 0.479234
u[27] = 0.0573834
if n > 28:
q[28] = 1.01213
qd[28] = 0.55686
u[28] = 0.425883
if n > 29:
q[29] = 2.213
qd[29] = 0.541122
u[29] = 0.293804
if n > 30:
print("[!ERROR] CPP Random Match only implemented up to n = 30. Please use a lower dof URDF.")
exit()
else:
for i in range(n):
q[i] = random.random()
qd[i] = random.random()
u[i] = random.random()
return q, qd, u, n