Implement python bindings for ML component

bindings/python/CMakeLists.txt

@@ -16,6 +16,7 @@ add_subdirectory(TextLogging)
 add_subdirectory(Conversions)
 add_subdirectory(YarpUtilities)
 add_subdirectory(ContinuousDynamicalSystem)
+add_subdirectory(ML)
 
 include(ConfigureFileWithCMakeIf)
 

bindings/python/ML/CMakeLists.txt

@@ -0,0 +1,16 @@
+# Copyright (C) 2023 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# BSD-3-Clause license.
+
+if(FRAMEWORK_COMPILE_ML)
+
+ set(H_PREFIX include/BipedalLocomotion/bindings/ML)
+
+ add_bipedal_locomotion_python_module(
+ NAME MLBindings
+ SOURCES src/Module.cpp src/MANN.cpp src/MANNAutoregressive.cpp
+ HEADERS ${H_PREFIX}/Module.h ${H_PREFIX}/MANN.h ${H_PREFIX}/MANNAutoregressive.h
+ LINK_LIBRARIES BipedalLocomotion::ML
+ )
+
+endif()

bindings/python/ML/include/BipedalLocomotion/bindings/ML/MANN.h

@@ -0,0 +1,26 @@
+/**
+ * @file MANN.h
+ * @authors Giulio Romualdi
+ * @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the BSD-3-Clause license.
+ */
+
+#ifndef BIPEDAL_LOCOMOTION_BINDINGS_ML_MANN_H
+#define BIPEDAL_LOCOMOTION_BINDINGS_ML_MANN_H
+
+#include <pybind11/pybind11.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace ML
+{
+
+void CreateMANN(pybind11::module& module);
+
+} // namespace ML
+} // namespace bindings
+} // namespace BipedalLocomotion
+
+#endif // BIPEDAL_LOCOMOTION_BINDINGS_ML_MANN_H

bindings/python/ML/include/BipedalLocomotion/bindings/ML/MANNAutoregressive.h

@@ -0,0 +1,26 @@
+/**
+ * @file MANNAutoregressive.h
+ * @authors Giulio Romualdi
+ * @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the BSD-3-Clause license.
+ */
+
+#ifndef BIPEDAL_LOCOMOTION_BINDINGS_ML_MANN_TRAJECTORY_GENERATION_H
+#define BIPEDAL_LOCOMOTION_BINDINGS_ML_MANN_TRAJECTORY_GENERATION_H
+
+#include <pybind11/pybind11.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace ML
+{
+
+void CreateMANNAutoregressive(pybind11::module& module);
+
+} // namespace ML
+} // namespace bindings
+} // namespace BipedalLocomotion
+
+#endif // BIPEDAL_LOCOMOTION_BINDINGS_ML_MANN_TRAJECTORY_GENERATION_H

bindings/python/ML/include/BipedalLocomotion/bindings/ML/Module.h

@@ -0,0 +1,26 @@
+/**
+ * @file Module.h
+ * @authors Giulio Romualdi
+ * @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the BSD-3-Clause license.
+ */
+
+#ifndef BIPEDAL_LOCOMOTION_BINDINGS_ML_MODULE_H
+#define BIPEDAL_LOCOMOTION_BINDINGS_ML_MODULE_H
+
+#include <pybind11/pybind11.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace ML
+{
+
+void CreateModule(pybind11::module& module);
+
+} // namespace ML
+} // namespace bindings
+} // namespace BipedalLocomotion
+
+#endif // BIPEDAL_LOCOMOTION_BINDINGS_ML_MODULE_H

bindings/python/ML/src/MANN.cpp

@@ -0,0 +1,58 @@
+/**
+ * @file MANN.cpp
+ * @authors Giulio Romualdi
+ * @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the BSD-3-Clause license.
+ */
+
+#include <pybind11/eigen.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include <BipedalLocomotion/ML/MANN.h>
+
+#include <BipedalLocomotion/bindings/ML/MANN.h>
+#include <BipedalLocomotion/bindings/System/Advanceable.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace ML
+{
+
+void CreateMANN(pybind11::module& module)
+{
+ namespace py = ::pybind11;
+ namespace ML = BipedalLocomotion::ML;
+ namespace System = BipedalLocomotion::System;
+
+ py::class_<ML::MANNInput>(module, "MANNInput")
+ .def(py::init())
+ .def_readwrite("base_position_trajectory", &ML::MANNInput::basePositionTrajectory)
+ .def_readwrite("facing_direction_trajectory", &ML::MANNInput::facingDirectionTrajectory)
+ .def_readwrite("base_velocity_trajectory", &ML::MANNInput::baseVelocitiesTrajectory)
+ .def_readwrite("joint_positions", &ML::MANNInput::jointPositions)
+ .def_readwrite("joint_velocities", &ML::MANNInput::jointVelocities);
+
+ py::class_<ML::MANNOutput>(module, "MANNOutput")
+ .def(py::init())
+ .def_readwrite("future_base_position_trajectory",
+ &ML::MANNOutput::futureBasePositionTrajectory)
+ .def_readwrite("future_facing_direction_trajectory",
+ &ML::MANNOutput::futureFacingDirectionTrajectory)
+ .def_readwrite("future_base_velocities_trajectory",
+ &ML::MANNOutput::futureBaseVelocitiesTrajectory)
+ .def_readwrite("joint_positions", &ML::MANNOutput::jointPositions)
+ .def_readwrite("joint_velocities", &ML::MANNOutput::jointVelocities)
+ .def_readwrite("projected_base_velocity", &ML::MANNOutput::projectedBaseVelocity);
+
+ BipedalLocomotion::bindings::System::CreateAdvanceable<ML::MANNInput, //
+ ML::MANNOutput>(module, "MANN");
+ py::class_<ML::MANN, System::Advanceable<ML::MANNInput, ML::MANNOutput>>(module, "MANN")
+ .def(py::init());
+}
+
+} // namespace ML
+} // namespace bindings
+} // namespace BipedalLocomotion

bindings/python/ML/src/MANNAutoregressive.cpp

@@ -0,0 +1,73 @@
+/**
+ * @file MannAutoregressive.cpp
+ * @authors Giulio Romualdi
+ * @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the BSD-3-Clause license.
+ */
+
+#include <iDynTree/Model/Model.h>
+#include <pybind11/eigen.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include <BipedalLocomotion/ML/MANNAutoregressive.h>
+#include <BipedalLocomotion/bindings/ML/MANNAutoregressive.h>
+#include <BipedalLocomotion/bindings/System/Advanceable.h>
+#include <BipedalLocomotion/bindings/type_caster/swig.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace ML
+{
+
+void CreateMANNAutoregressive(pybind11::module& module)
+{
+ namespace py = ::pybind11;
+ namespace ML = BipedalLocomotion::ML;
+ namespace System = BipedalLocomotion::System;
+
+ py::class_<ML::MANNAutoregressiveInput>(module, "MANNAutoregressiveInput")
+ .def(py::init())
+ .def_readwrite("desired_future_base_trajectory",
+ &ML::MANNAutoregressiveInput::desiredFutureBaseTrajectory)
+ .def_readwrite("desired_future_base_velocities",
+ &ML::MANNAutoregressiveInput::desiredFutureBaseVelocities)
+ .def_readwrite("desired_future_facing_directions",
+ &ML::MANNAutoregressiveInput::desiredFutureFacingDirections);
+
+ py::class_<ML::MANNAutoregressiveOutput>(module, "MANNAutoregressiveOutput")
+ .def(py::init())
+ .def_readwrite("joint_positions", &ML::MANNAutoregressiveOutput::jointsPosition)
+ .def_readwrite("base_pose", &ML::MANNAutoregressiveOutput::basePose)
+ .def_readwrite("left_foot", &ML::MANNAutoregressiveOutput::leftFoot)
+ .def_readwrite("right_foot", &ML::MANNAutoregressiveOutput::rightFoot);
+
+ BipedalLocomotion::bindings::System::CreateAdvanceable<ML::MANNAutoregressiveInput, //
+ ML::MANNAutoregressiveOutput> //
+ (module, "MANNAutoregressive");
+ py::class_<ML::MANNAutoregressive,
+ System::Advanceable<ML::MANNAutoregressiveInput, //
+ ML::MANNAutoregressiveOutput>>(module,
+ "MANNAutoregressive")
+ .def(py::init())
+ .def("reset", py::overload_cast<const ML::MANNInput&, const Contacts::EstimatedContact&,
+ const Contacts::EstimatedContact&,
+ const manif::SE3d&,
+ const manif::SE3Tangentd&>(&ML::MANNAutoregressive::reset))
+ .def("set_robot_model", [](ML::MANNAutoregressive& impl, ::pybind11::object& obj) {
+ iDynTree::Model* cls = py::detail::swig_wrapped_pointer_to_pybind<iDynTree::Model>(obj);
+
+ if (cls == nullptr)
+ {
+ throw ::pybind11::value_error("Invalid input for the function. Please provide "
+ "an iDynTree::Model object.");
+ }
+ return impl.setRobotModel(*cls);
+ });
+}
+
+} // namespace ML
+} // namespace bindings
+} // namespace BipedalLocomotion

bindings/python/ML/src/Module.cpp

@@ -0,0 +1,28 @@
+/**
+ * @file Module.cpp
+ * @authors Giulio Romualdi
+ * @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the BSD-3-Clause license.
+ */
+
+#include <pybind11/pybind11.h>
+
+#include <BipedalLocomotion/bindings/ML/MANN.h>
+#include <BipedalLocomotion/bindings/ML/MANNAutoregressive.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace ML
+{
+void CreateModule(pybind11::module& module)
+{
+ module.doc() = "ML module.";
+
+ CreateMANN(module);
+ CreateMANNAutoregressive(module);
+}
+} // namespace ML
+} // namespace bindings
+} // namespace BipedalLocomotion

bindings/python/bipedal_locomotion_framework.cpp.in

@@ -82,6 +82,10 @@
 #include <BipedalLocomotion/bindings/ContinuousDynamicalSystem/Module.h>
 @endcmakeif FRAMEWORK_COMPILE_ContinuousDynamicalSystem
 
+@cmakeif FRAMEWORK_COMPILE_ML
+#include <BipedalLocomotion/bindings/ML/Module.h>
+@endcmakeif FRAMEWORK_COMPILE_ML
+
 // Create the Python module
 PYBIND11_MODULE(bindings, m)
 {
@@ -182,4 +186,9 @@ PYBIND11_MODULE(bindings, m)
  py::module continuousDynamicalSystemModule = m.def_submodule("continuous_dynamical_system");
  bindings::ContinuousDynamicalSystem::CreateModule(continuousDynamicalSystemModule);
  @endcmakeif FRAMEWORK_COMPILE_ContinuousDynamicalSystem
+
+ @cmakeif FRAMEWORK_COMPILE_ML
+ py::module mlModule = m.def_submodule("ml");
+ bindings::ML::CreateModule(mlModule);
+ @endcmakeif FRAMEWORK_COMPILE_ML
 }