Simulating the controller performance¶
Note
The source code for this example can be found in [orca_root]/examples/basic/02-simulating_results.cc
, or alternatively on github at: https://github.com/syroco/orca/blob/dev/examples/basic/02-simulating_results.cc
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 | #include <orca/orca.h>
using namespace orca::all;
int main(int argc, char const *argv[])
{
if(argc < 2)
{
std::cerr << "Usage : " << argv[0] << " /path/to/robot-urdf.urdf (optionally -l debug/info/warning/error)" << "\n";
return -1;
}
std::string urdf_url(argv[1]);
orca::utils::Logger::parseArgv(argc, argv);
auto robot = std::make_shared<RobotDynTree>();
robot->loadModelFromFile(urdf_url);
robot->setBaseFrame("base_link");
robot->setGravity(Eigen::Vector3d(0,0,-9.81));
RobotState eigState;
eigState.resize(robot->getNrOfDegreesOfFreedom());
eigState.jointPos.setZero();
eigState.jointVel.setZero();
robot->setRobotState(eigState.jointPos,eigState.jointVel);
orca::optim::Controller controller(
"controller"
,robot
,orca::optim::ResolutionStrategy::OneLevelWeighted
,QPSolver::qpOASES
);
auto cart_task = std::make_shared<CartesianTask>("CartTask-EE");
controller.addTask(cart_task);
cart_task->setControlFrame("link_7"); //
Eigen::Affine3d cart_pos_ref;
cart_pos_ref.translation() = Eigen::Vector3d(1.,0.75,0.5); // x,y,z in meters
cart_pos_ref.linear() = Eigen::Quaterniond::Identity().toRotationMatrix();
Vector6d cart_vel_ref = Vector6d::Zero();
Vector6d cart_acc_ref = Vector6d::Zero();
Vector6d P;
P << 1000, 1000, 1000, 10, 10, 10;
cart_task->servoController()->pid()->setProportionalGain(P);
Vector6d D;
D << 100, 100, 100, 1, 1, 1;
cart_task->servoController()->pid()->setDerivativeGain(D);
cart_task->servoController()->setDesired(cart_pos_ref.matrix(),cart_vel_ref,cart_acc_ref);
const int ndof = robot->getNrOfDegreesOfFreedom();
auto jnt_trq_cstr = std::make_shared<JointTorqueLimitConstraint>("JointTorqueLimit");
controller.addConstraint(jnt_trq_cstr);
Eigen::VectorXd jntTrqMax(ndof);
jntTrqMax.setConstant(200.0);
jnt_trq_cstr->setLimits(-jntTrqMax,jntTrqMax);
auto jnt_pos_cstr = std::make_shared<JointPositionLimitConstraint>("JointPositionLimit");
controller.addConstraint(jnt_pos_cstr);
auto jnt_vel_cstr = std::make_shared<JointVelocityLimitConstraint>("JointVelocityLimit");
controller.addConstraint(jnt_vel_cstr);
Eigen::VectorXd jntVelMax(ndof);
jntVelMax.setConstant(2.0);
jnt_vel_cstr->setLimits(-jntVelMax,jntVelMax);
controller.activateTasksAndConstraints();
// for each task, it calls task->activate(), that can call onActivationCallback() if it is set.
// To set it :
// task->setOnActivationCallback([&]()
// {
// // Do some initialisation here
// });
// Note : you need to set it BEFORE calling
// controller.activateTasksAndConstraints();
double dt = 0.001;
double current_time = 0.0;
Eigen::VectorXd trq_cmd(ndof);
Eigen::VectorXd acc_new(ndof);
controller.update(current_time, dt);
std::cout << "\n\n\n" << '\n';
std::cout << "====================================" << '\n';
std::cout << "Initial State:\n" << cart_task->servoController()->getCurrentCartesianPose() << '\n';
std::cout << "Desired State:\n" << cart_pos_ref.matrix() << '\n';
std::cout << "====================================" << '\n';
std::cout << "\n\n\n" << '\n';
std::cout << "Begining Simulation..." << '\n';
for (; current_time < 2.0; current_time +=dt)
{
robot->setRobotState(eigState.jointPos,eigState.jointVel);
// if(current_time % 0.1 == 0.0)
// {
//
// }
std::cout << "Task position at t = " << current_time << "\t---\t" << cart_task->servoController()->getCurrentCartesianPose().block(0,3,3,1).transpose() << '\n';
controller.update(current_time, dt);
if(controller.solutionFound())
{
trq_cmd = controller.getJointTorqueCommand();
}
else
{
std::cout << "[warning] Didn't find a solution, using last valid solution." << '\n';
}
acc_new = robot->getMassMatrix().ldlt().solve(trq_cmd - robot->getJointGravityAndCoriolisTorques());
eigState.jointPos += eigState.jointVel * dt + ((acc_new*dt*dt)/2);
eigState.jointVel += acc_new * dt;
}
std::cout << "Simulation finished." << '\n';
std::cout << "\n\n\n" << '\n';
std::cout << "====================================" << '\n';
std::cout << "Final State:\n" << cart_task->servoController()->getCurrentCartesianPose() << '\n';
// std::cout << "Position error:\n" << cart_task->servoController()->getCurrentCartesianPose(). - cart_pos_ref.translation() << '\n';
// All objets will be destroyed here
return 0;
}
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