SemiInfiniteOptimization

Kris Hauser, with contributor Mengchao Zheng

Latest update: 7/26/2020

kkhauser@illinois.edu

This package contains code accompanying the paper "Semi-Infinite Programming for Trajectory Optimization with Nonconvex Obstacles" by K. Hauser, in Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018.

File structure

├── data                      World, robot, and object files for running the example code
|   └─── ...
├── geomopt.py                A geometry - geometry collision optimization example program
├── README.md                 This file
├── resources                 Path files for running the trajectory optimization example code
|   └─── ...
├── robotplanopt.py           A robot motion planning + trajectory optimization example program
├── robotposeopt.py           A robot pose - geometry collision optimization example program
├── robottrajopt.py           A robot trajectory optimization example program
├── semiinfinite/             The core Python module
|   ├── geometryopt.py        SIP code for collision-free constraints between geometries, for objects, robot poses, and robot trajectories.
|   ├── __init__.py           Tells Python that this is a module
|   ├── objective.py          Generic objectives for optimization problems
|   ├── planopt.py            Runs a hybrid sampling-based + trajectory optimization motion planner
|   └── sip.py                Generic semi-infinite programming code
└── utils
    └─── SDF Plotting.ipynb   A helper to plot Signed Distance Functions dumped in .mat format (see flag DUMP_SDF=True)

Dependencies

This package requires

Numpy/Scipy
OSQP for quadratic program (QP) solving. OSQP can be installed using

pip install osqp

Other solvers might be supported in the future.

The Klampt 0.8.x Python API (https://klampt.org) to be installed. pip install klampt may work.

Basic usage:

Copy the semiinfinite folder to your desired project, or create a setup.py to install this into your Python site-packages, if you prefer. The following code optimizes the pose of a rigid objects so that it's collision free with respect to another object.

from __future_ import print_function
from klampt import *
from semiinfinite.geometryopt import PenetrationDepthGeometry,optimizeCollFree
from semiinfinite.sip import SemiInfiniteOptimizationSettings

# ... TODO: setup Klamp't Geometry3D or RigidObjectModel objects obj1 and obj2 here ...
# For example,
# obj1 = Geometry3D()
# obj1.loadFile("data/cube.off")
# obj2 = Geometry3D()
# obj2.loadFile("data/m797.off")

# Define a volumetric grid resolution
gridres = 0.05
# Define a point cloud resolution
pcres = 0.02

geom1 = PenetrationDepthGeometry(obj1,gridres,pcres)
geom2 = PenetrationDepthGeometry(obj2,gridres,pcres)

# ... TODO: setup appropriate object transforms

geom1.setTransform(obj1.getTransform())
geom2.setTransform(obj2.getTransform())

# The optimizer will optimize the transform of object 1 with object 2 fixed.
Tinit = obj1.getTransform()   # Initial transform
Tdes = None   # Desired transform.  This can be None, in which case the optimizer assumes Tdes=Tinit

# Run the optimizer with default settings.
# You can pass SemiInfiniteOptimizationSettings object into the settings argument if you want to
# configure the solver.
Tcollfree,trace,cps = optimizeCollFree(geom1,geom2,Tinit,Tdes,verbose=0,settings=None)

# Tcollfree is the solved rigid transform, in klampt.math.se3 format.
# You may want to test the soluiton for collision.
geom1.setTransform(Tcollfree)
if geom1.distance(geom2) < 0:
    print("Couldn't solve for a collision free configuration")

# If you want to update the Klamp't object, call this...
obj1.setTransform(*Tcollfree)

Running demos

The example files in data/*.xml assume the Klampt-examples folder is one level up from this folder. If your Klampt-examples folder is somewhere else, change the paths accordingly.

In geomopt.py and robotposeopt.py, you can drag around the object transform and observe the results of the optimization.

Basic geometry - geometry collision testing

python geomopt.py data/cube.off

python geomopt.py data/cube.off data/m797.off

python geomopt.py data/cube.off data/scene2_1.pcd

Robot pose optimization testing:

python robotposeopt.py data/tx90_geom_test.xml

python robotposeopt.py data/tx90_geom_test2.xml

python robotposeopt.py data/tx90_geom_test3.xml

Trajectory optimization testing

python robottrajopt.py data/tx90_geom_test2.xml

This example uses resources/robottrajopt_initial.path as the initial path. If this file doesn't exist, you can create your own path by editing the configurations as prompted.

Optimal motion planning testing

python robotplanopt.py data/tx90_geom_test2.xml

This example asks you to define a start and goal configuration, and then you may choose to run various optimizing motion planners from the Actions menu.

Version history

7/26/2020 - Updated for Python 2/3 compatibility. Added motion planning examples. Improved line search method, with better scoring function (courtesy of Mengchao Zheng.) Fixed occasional crash in trajectory optimizer.

10/30/2018 - First release

krishauser/SemiInfiniteOptimization