v3.0.0: Control barrier functions

[stephane-caron]

This major release adds Control Barrier Functions developed by @domrachev03 and @simeon-ned 👍 Examples of what we can do with barriers include:

• Arm: UR5: with joints and end effector limits
• Humanoid: G1: G1 humanoid squatting via a CoM task
• Quadruped: Go2: Go 2 squatting with floating base position limits
• Dual Arms: Yumi: self-collision avoidance with spheres
• Dual Arms: Iiwa: whole-body self-collision avoidance

Screencast.from.06-25-2024.01.20.45.PM.webm

Another API-breaking change to the library is that limits are now optional and can be extended (for instance with the new acceleration limit) or disabled. New limits and tasks include:

• Limit: AccelerationLimit
• Task: ComTask for center-of-mass tracking (thanks to @simeon-ned)
• Task: LowAccelerationTask for smoother velocities.

Check out the full changelog below for other changes and fixes. May the Motion be with you!

Added

• Breaking: Updated the logic for handling the joint limits:
  • Add a limits argument to build_ik and solve_ik
  • The check_limits method now includes an optional safety_break argument to control whether execution should stop on exception.
  • The solve_ik function now includes the safety_break that is forwarded to check_limits.
• Control Barrier Functions, namely: (thanks to @domrachev03 and @simeon-ned)
  • Abstract Barrier Barrier
  • Frame Position Barrier PositionBarrier
  • Body Spherical Barrier BodySphericalBarrier
  • Whole-body Self-Collision Avoidance Barrier SelfCollisionBarrier
• Example: UR5 manipulator and GO2 quadruped robot with PositionBarrier
• Example: YUMI two-armed manipulator with BodySphericalBarrier
• Example: G1 humanoid squatting through regulating CoM.
• Limit: AccelerationLimit
• Task: ComTask for center-of-mass tracking (thanks to @simeon-ned)
• Task: LowAccelerationTask for smoother velocities.

Changed

• Breaking: remove lm_damping parameter from DampingTask where it wasn't used
• CICD: Update ruff to 0.4.3
• Configuration accepts list of Control Barrier Functions
• DampingTask: Simplify implementation
• Update to Pinocchio 3 with 2.7 backward compatibility

Fixed

• PostureTask: Match implementation and documentation formula
• Fix broken documentation links

Removed

• CICD: Disable macOS checks until upstream PyPI package is fixed

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This discussion was created from the release v3.0.0.

[BolunDai0216]

@stephane-caron Awesome work! Wonder if you are interested in integrating CBFs for primitives more than spheres, e.g., cylinders, capsules, ellipsoids (like in here).

[kassasin]

I think this example: "pink/barriers/self_collision_barrier.py" will work.We always need to get the most closest collision pair and compute jacobian.

[simeon-ned]

@BolunDai0216 If I'm not mistaken, this functionality should already work out of the box. The hpp-fcl library can parse capsules, ellipsoids, and other geometries from the Pinocchio model, as long as these geometries are included in the model. I remember we tested capsules without making specific code modifications; we simply provided an MJCF model, as Pinocchio 3 supports these. If you need, I can create a minimal example for you.

[BolunDai0216]

@simeon-ned Thanks for the quick response! If you can provide an example that would be great!