Using the internal plotting tools¶
Note
The source code for this example can be found in [orca_root]/examples/plotting/01-plotting_torques.cc
, or alternatively on github at: https://github.com/syroco/orca/blob/dev/examples/plotting/01-plotting_torques.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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 | #include <orca/orca.h>
#include <matplotlibcpp/matplotlibcpp.h>
using namespace orca::all;
namespace plt = matplotlibcpp;
int main(int argc, char const *argv[])
{
// Get the urdf file from the command line
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]);
// Parse logger level as --log_level (or -l) debug/warning etc
orca::utils::Logger::parseArgv(argc, argv);
// Create the kinematic model that is shared by everybody
auto robot = std::make_shared<RobotDynTree>(); // Here you can pass a robot name
robot->loadModelFromFile(urdf_url); // If you don't pass a robot name, it is extracted from the urdf
robot->setBaseFrame("base_link"); // All the transformations (end effector pose for example) will be expressed wrt this base frame
robot->setGravity(Eigen::Vector3d(0,0,-9.81)); // Sets the world gravity (Optional)
// This is an helper function to store the whole state of the robot as eigen vectors/matrices
// This class is totally optional, it is just meant to keep consistency for the sizes of all the vectors/matrices
// You can use it to fill data from either real robot and simulated robot
RobotState eigState;
eigState.resize(robot->getNrOfDegreesOfFreedom()); // resize all the vectors/matrices to match the robot configuration
// Set the initial state to zero (arbitrary)
// NOTE : here we only set q,qot because this example asserts we have a fixed base robot
eigState.jointPos.setZero();
eigState.jointVel.setZero();
// Set the first state to the robot
robot->setRobotState(eigState.jointPos,eigState.jointVel); // Now is the robot is considered 'initialized'
// Instanciate an ORCA Controller
orca::optim::Controller controller(
"controller"
,robot
,orca::optim::ResolutionStrategy::OneLevelWeighted // MultiLevelWeighted, Generalized
,QPSolver::qpOASES
);
// Cartesian Task
auto cart_task = std::make_shared<CartesianTask>("CartTask-EE");
controller.addTask(cart_task); // Add the task to the controller to initialize it
// Set the frame you want to control
cart_task->setControlFrame("link_7"); // We want to control the link_7
// Set the pose desired for the link_7
Eigen::Affine3d cart_pos_ref;
// Translation
cart_pos_ref.translation() = Eigen::Vector3d(1.,0.75,0.5); // x,y,z in meters
// Rotation is done with a Matrix3x3
Eigen::Quaterniond quat;
// Example 1 : create a quaternion from Euler anglers ZYZ convention
quat = Eigen::AngleAxisd(0, Eigen::Vector3d::UnitZ())
* Eigen::AngleAxisd(0, Eigen::Vector3d::UnitY())
* Eigen::AngleAxisd(0, Eigen::Vector3d::UnitZ());
// Example 2 : create a quaternion from RPY convention
cart_pos_ref.linear() = quatFromRPY(0,0,0).toRotationMatrix();
// Example 3 : create a quaternion from Kuka Convention
cart_pos_ref.linear() = quatFromKukaConvention(0,0,0).toRotationMatrix();
// Set the desired cartesian velocity to zero
Vector6d cart_vel_ref;
cart_vel_ref.setZero();
// Set the desired cartesian velocity to zero
Vector6d cart_acc_ref;
cart_acc_ref.setZero();
// Now set the servoing PID
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);
// The desired values are set on the servo controller
// Because cart_task->setDesired expects a cartesian acceleration
// Which is computed automatically by the servo controller
cart_task->servoController()->setDesired(cart_pos_ref.matrix(),cart_vel_ref,cart_acc_ref);
// Get the number of actuated joints
const int ndof = robot->getNrOfDegreesOfFreedom();
// Joint torque limit is usually given by the robot manufacturer
auto jnt_trq_cstr = std::make_shared<JointTorqueLimitConstraint>("JointTorqueLimit");
controller.addConstraint(jnt_trq_cstr); // Add the constraint to the controller to initialize it
Eigen::VectorXd jntTrqMax(ndof);
jntTrqMax.setConstant(200.0);
jnt_trq_cstr->setLimits(-jntTrqMax,jntTrqMax); // because not read in the URDF for now
// Joint position limits are automatically extracted from the URDF model
// Note that you can set them if you want
// by simply doing jnt_pos_cstr->setLimits(jntPosMin,jntPosMax);
auto jnt_pos_cstr = std::make_shared<JointPositionLimitConstraint>("JointPositionLimit");
controller.addConstraint(jnt_pos_cstr); // Add the constraint to the controller to initialize it
// Joint velocity limits are usually given by the robot manufacturer
auto jnt_vel_cstr = std::make_shared<JointVelocityLimitConstraint>("JointVelocityLimit");
controller.addConstraint(jnt_vel_cstr); // Add the constraint to the controller to initialize it
Eigen::VectorXd jntVelMax(ndof);
jntVelMax.setConstant(2.0);
jnt_vel_cstr->setLimits(-jntVelMax,jntVelMax); // because not read in the URDF for now
double dt = 0.001;
double total_time = 1.0;
double current_time = 0;
// Shortcut : activate all tasks
controller.activateTasksAndConstraints();
// Now you can run the control loop
std::vector<double> time_log;
int ncols = std::ceil(total_time/dt);
Eigen::MatrixXd torqueMat(ndof,ncols);
torqueMat.setZero();
for (int count = 0; current_time < total_time; current_time +=dt)
{
time_log.push_back(current_time);
// Here you can get the data from you REAL robot (API might vary)
// Some thing like :
// eigState.jointPos = myRealRobot.getJointPositions();
// eigState.jointVel = myRealRobot.getJointVelocities();
// Now update the internal kinematic model with data from REAL robot
robot->setRobotState(eigState.jointPos,eigState.jointVel);
// Step the controller
if(controller.update(current_time,dt))
{
// Get the controller output
const Eigen::VectorXd& full_solution = controller.getSolution();
torqueMat.col(count) = controller.getJointTorqueCommand();
const Eigen::VectorXd& trq_acc = controller.getJointAccelerationCommand();
// Here you can send the commands to you REAL robot
// Something like :
// myRealRobot.setTorqueCommand(trq_cmd);
}
else
{
// Controller could not get the optimal torque
// Now you have to save your robot
// You can get the return code with controller.getReturnCode();
}
count++;
std::cout << "current_time " << current_time << '\n';
std::cout << "total_time " << total_time << '\n';
std::cout << "time log size " << time_log.size() << '\n';
std::cout << "torqueMat.cols " << torqueMat.cols() << '\n';
}
// Print the last computed solution (just for fun)
const Eigen::VectorXd& full_solution = controller.getSolution();
const Eigen::VectorXd& trq_cmd = controller.getJointTorqueCommand();
const Eigen::VectorXd& trq_acc = controller.getJointAccelerationCommand();
LOG_INFO << "Full solution : " << full_solution.transpose();
LOG_INFO << "Joint Acceleration command : " << trq_acc.transpose();
LOG_INFO << "Joint Torque command : " << trq_cmd.transpose();
// At some point you want to close the controller nicely
controller.deactivateTasksAndConstraints();
// Let all the tasks ramp down to zero
while(!controller.tasksAndConstraintsDeactivated())
{
current_time += dt;
controller.print();
controller.update(current_time,dt);
}
// Plot data
for (size_t i = 0; i < torqueMat.rows(); i++)
{
std::vector<double> trq(time_log.size());
Eigen::VectorXd::Map(trq.data(),time_log.size()) = torqueMat.row(i);
plt::plot(time_log,trq);
}
plt::show();
return 0;
}
|