I'm working on a project that requires me to add a model through Parser (which requires the plant to be of the same type as the array used) before Setting the position of the model in said plant and taking distance queries. These queries only work when the query object generated from the scene graph is of type float.
I've run into a problem where setting the position doesn't work due to the array being used being of type AutoDiff. A possible solution would then be converting the plant of type float to Autodiff with plant.ToAutoDiff(), but this only creates a copy of the plant without coupling it to the scene graph (and in turn the query object) from which the queries are derived. Taking queries with a query object generated from the original plant would then fail to reflect the new position passed to the AutoDiff copy.
Is there a way to create a new scene graph from the already finalized symbolic copy of the original plant, so that I can perform the queries with it?
A couple of thoughts:
Don't just convert the plant to autodiff. Convert the whole diagram. That will give you a converted, connected network.
You're stuck with the current workflow. Presumably, your proximity geometries are specified in your parsed file (as <collision> tags). The parsing process is ephemeral. The declaration is consumed, passed through MultibodyPlant into SceneGraph. If there is no SceneGraph at parse time, all knowledge of the declared collision geometry is forgotten.
So, the typical workflow is:
Create a float-valued diagram.
Scalar convert it to an AutoDiff-valued diagram.
Keep both around to serve the different roles.
We don't have a tutorial that directly shows scalar converting an entire diagram, but it's akin to what is shown in this MultibodyPlant-specific tutorial. Just call ToScalarType() on the Diagram root.
Related
I'm trying to use Drake's inverse dyanmics controller on an arm with a floating base, and based on this discussion it seems like the most straightforward way to go about this is to use two separate plants since the controller only supports fully actuated systems.
Following Python bindings error when adding two plants to a scene graph in pyDrake, I attempted to create two plants using the following code:
def register_plant_with_scene_graph(scene_graph, plant):
plant.RegsterAsSourceForSceneGraph(scene_graph)
builder.Connect(
plant.get_geometry_poses_output_port(),
scene_graph.get_source_pose_port(plant.get_source_id()),
)
builder.Connect(
scene_graph.get_query_output_port(),
plant.get_geometry_query_input_port(),
)
builder = DiagramBuilder()
scene_graph = builder.AddSystem(SceneGraph())
plant_1 = builder.AddSystem(MultibodyPlant(time_step=0.0))
register_plant_with_scene_graph(scene_graph, plant_1)
plant_2 = builder.AddSystem(MultibodyPlant(time_step=0.0))
register_plant_with_scene_graph(scene_graph, plant_2)
which produced the error
AttributeError: 'MultibodyPlant_[float]' object has no attribute 'RegsterAsSourceForSceneGraph'
Which seems odd because according to the documentation, the function should exist.
Is this function available in the python bindings for drake? Also, more broadly, is this the correct way to approach using the inverse dynamics controller on a free-floating manipulator?
Inverse dynamics takes desired positions, velocities, and accelerations and computes the required torques. If your robot has a floating base, then you cannot accept arbitrary acceleration commands. For instance the total center of mass of your robot will be falling according to gravity; any acceleration that does not satisfy this requirement will not have a feasible solution to the inverse dynamics. I think there must be something more that we need to understand about your problem formulation.
Often when people ask this question, they are thinking of a robot that is relying on contact forces in addition to generalized force/torques in order to achieve the requested accelerations. In that case, the problem needs to include those contact forces as decision variables, too. Since contact forces have unilateral constraints (e.g. feet cannot pull on the ground), and friction cone constraints, this inverse dynamics problem is almost always formulated as a quadratic program. For instance, as in this paper. We don't currently provide that QP formulation in Drake, but it is not hard to write it against the MathematicalProgram interface. And we do have some older code that was removed from Drake (since it wasn't actively developed) that we can point you to if it helps.
This topic is difficult to Google, because of "node" (not node.js), and "graph" (no, I'm not trying to make charts).
Despite being a pretty well rounded and experienced developer, I can't piece together a mental model of how these sorts of editors get data in a sensible way, in a sensible order, from node to node. Especially in the Alteryx example, because a Sort module, for example, needs its entire upstream dataset before proceeding. And some nodes can send a single output to multiple downstream consumers.
I was able to understand trees and what not in my old data structures course back in the day, and successfully understand and adapt the basic graph concepts from https://www.python.org/doc/essays/graphs/ in a real project. But that was a static structure and data weren't being passed from node to node.
Where should I be starting and/or what concept am I missing that I could use implement something like this? Something to let users chain together some boxes to slice and dice text files or data records with some basic operations like sort and join? I'm using C#, but the answer ought to be language independent.
This paradigm is called Dataflow Programming, it works with stream of data which is passed from instruction to instruction to be processed.
Dataflow programs can be programmed in textual or visual form, and besides the software you have mentioned there are a lot of programs that include some sort of dataflow language.
To create your own dataflow language you have to:
Create program modules or objects that represent your processing nodes realizing different sort of data processing. Processing nodes usually have one or multiple data inputs and one or multiple data output and implement some data processing algorithm inside them. Nodes also may have control inputs that control how given node process data. A typical dataflow algorithm calculates output data sample from one or many input data stream values as for example FIR filters do. However processing algorithm also can have data values feedback (output values in some way are mixed with input values) as in IIR filters, or accumulate values in some way to calculate output value
Create standard API for passing data between processing nodes. It can be different for different kinds of data and controlling signals, but it must be standard because processing nodes should 'understand' each other. Data usually is passed as plain values. Controlling signals can be plain values, events, or more advanced controlling language - depending of your needs.
Create arrangement to link your nodes and to pass data between them. You can create your own program machinery or use some standard things like pipes, message queues, etc. For example this functional can be implemented as a tree-like structure whose nodes are your processing nodes, and have references to next nodes and its appropriate input that process data coming from the output of the current node.
Create some kind of nodes iterator that starts from begin of the dataflow graph and iterates over each processing node where it:
provides next data input values
invokes node data processing methods
updates data output value
pass updated data output values to inputs of downstream processing nodes
Create a tool for configuring nodes parameters and links between them. It can be just a simple text file edited with text editor or a sophisticated visual editor with GUI to draw dataflow graph.
Regarding your note about Sort module in Alteryx - perhaps data values are just accumulated inside this module and then sorted.
here you can find even more detailed description of Dataflow programming languages.
I tried to follow this tutorial on using ELKI with pre-computed distances for clustering.
http://elki.dbs.ifi.lmu.de/wiki/HowTo/PrecomputedDistances
I used the following set of command line options:
-dbc.filter FixedDBIDsFilter -dbc.startid 0 -algorithm clustering.OPTICS
-algorithm.distancefunction external.FileBasedDoubleDistanceFunction
-distance.matrix /path/to/matrix -optics.minpts 5 -resulthandler ResultWriter
ELkI fails with a configuration error saying db.in file is needed to make the computation.
The following configuration errors prevented execution:
No value given for parameter "dbc.in":
Expected: The name of the input file to be parsed.
No value given for parameter "parser.distancefunction":
Expected: Distance function used for parsing values.
My question is what is db.in file? Why should I provide it in addition to the distance matrix file since the pair-wise distance matrix file completely specifies all the information about the point cloud. (also I don't have access to any other information other than the pair-wise distance information).
What should I do about db.in? Should I override it, or specify some dummy information etc. Kindly help me understand.
thank you.
This is documented in the ELKI HowTos:
http://elki.dbs.ifi.lmu.de/wiki/HowTo/PrecomputedDistances
Using without primary data
-dbc DBIDRangeDatabaseConnection -idgen.count 100
However, there is a bug (patch is on the howto page, and will be in the next release) so you right now can't fully use this; as a workaround you can use a text file that enumerates the objects.
The reason for this is that ELKI is designed to work on multi-relational data. It's not just processing matrixes. But some algorithms may e.g. need a geographic representation of an object, some measurements for this object, and a label for evaluation. That is three relations.
What the DBIDRange data source essentially does is create a single "fake" relation that is just the DBIDs 0 to 99. On algorithms that don't need actual data, but only distances (e.g. LOF or DBSCAN or OPTICS), it is sufficient to have object IDs and a distance matrix.
I want to get the properly rendered projection result from a Stage3D framework that presents something of a 'gray box' interface via its API. It is gray rather than black because I can see this critical snippet of source code:
matrix3D.copyFrom (renderable.getRenderSceneTransform (camera));
matrix3D.append (viewProjection);
The projection rendering technique that perfectly suits my needs comes from a helpful tutorial that works directly with AGAL rather than any particular framework. Its comparable rendering logic snippet looks like this:
cube.mat.copyToMatrix3D (drawMatrix);
drawMatrix.prepend (worldToClip);
So, I believe the correct, general summary of what is going on here is that both pieces of code are setting up the proper combined matrix to be sent to the Vertex Shader where that matrix will be a parameter to the m44 AGAL operation. The general description is that the combined matrix will take us from Object Local Space through Camera View Space to Screen or Clipping Space.
My problem can be summarized as arising from my ignorance of proper matrix operations. I believe my failed attempt to merge the two environments arises precisely because the semantics of prepending one matrix to another is not, and is never intended to be, equivalent to appending that matrix to the other. My request, then, can be summarized in this way. Because I have no control over the calling sequence that the framework will issue, e.g., I must live with an append operation, I can only try to fix things on the side where I prepare the matrix which is to be appended. That code is not black-boxed, but it is too complex for me to know how to change it so that it would meet the interface requirements posed by the framework.
Is there some sequence of inversions, transformations or other manuevers which would let me modify a viewProjection matrix that was designed to be prepended, so that it will turn out right when it is, instead, appended to the Object's World Space coordinates?
I am providing an answer more out of desperation than sure understanding, and still hope I will receive a better answer from those more knowledgeable. From Dunn and Parberry's "3D Math Primer" I learned that "transposing the product of two matrices is the same as taking the product of their transposes in reverse order."
Without being able to understand how to enter text involving superscripts, I am not sure if I can reduce my approach to a helpful mathematical formulation, so I will invent a syntax using functional notation. The equivalency noted by Dunn and Parberry would be something like:
AB = transpose (B) x transpose (A)
That comes close to solving my problem, which problem, to restate, is really just a problem arising out of the fact that I cannot control the behavior of the internal matrix operations in the framework package. I can, however, perform appropriate matrix operations on either side of the workflow from local object coordinates to those required by the GPU Vertex Shader.
I have not completed the test of my solution, which requires the final step to be taken in the AGAL shader, but I have been able to confirm in AS3 that the last 'un-transform' does yield exactly the same combined raw data as the example from the author of the camera with the desired lens properties whose implementation involves prepending rather than appending.
BA = transpose (transpose (A) x transpose (B))
I have also not yet tested to see if these extra calculations are so processing intensive as to reduce my application frame rate beyond what is acceptable, but am pleased at least to be able to confirm that the computations yield the same result.
I am currently trying to do stream reasoning using Jena, so I want to be able to reason over a certain set of triples that have occurred in a particular window of time, also taking into account some background static knowledge.
My problem is that I have an ontology that I read from several files, however I wish for the triples I obtain to have time stamps for when I receive them, which I thought I could just do by applying labels to the triples (I am just giving them all random time stamps for the moment as this is only a test).
While I didn't think that this would be problem, I am struggling at the initial step of just applying a label to an existing triple and selecting it. I cannot not seem to be able to access triples from the ontModel without having to transform it into a Graph, and while I could then create quads with the extra value being some literal for time, I can't find a way to then reason over this graph.
Any light that people can shed on this issue would help. I hope I am being clear.
I'm not sure exactly how you're putting labels on your triples, but you can get Statements from an OntModel, and Statement implements FrontsTriple through which you can access a corresponding Triple.