-
Notifications
You must be signed in to change notification settings - Fork 1.2k
/
run_with_motor.cc
268 lines (221 loc) · 10.1 KB
/
run_with_motor.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
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
/* @file
A Strandbeest demo demonstrating the use of a linear bushing as
a way to model kinematic loops. It shows:
- How to model a parameterized Strandbeest in SDF.
- Use the `multibody::Parser` to load a model from an SDF file into a
MultibodyPlant.
- Model revolute joints with a `multibody::LinearBushingRollPitchYaw` to
model closed kinematic chains.
- Parsing custom drake:linear_bushing_rpy tags.
- Computing inverse kinematics for the Strandbeest model.
Refer to README.md for more details on how to run and modify this example.
*/
#include <fmt/format.h>
#include <gflags/gflags.h>
#include "drake/multibody/inverse_kinematics/inverse_kinematics.h"
#include "drake/multibody/parsing/parser.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/multibody/tree/linear_bushing_roll_pitch_yaw.h"
#include "drake/multibody/tree/revolute_joint.h"
#include "drake/solvers/solve.h"
#include "drake/systems/analysis/simulator.h"
#include "drake/systems/analysis/simulator_gflags.h"
#include "drake/systems/analysis/simulator_print_stats.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/framework/leaf_system.h"
#include "drake/visualization/visualization_config_functions.h"
namespace drake {
using Eigen::Vector3d;
using Eigen::Vector4d;
using Eigen::VectorXd;
using multibody::BodyIndex;
using multibody::ForceElementIndex;
using multibody::InverseKinematics;
using multibody::Joint;
using multibody::LinearBushingRollPitchYaw;
using multibody::MultibodyPlant;
using multibody::Parser;
using multibody::RevoluteJoint;
using multibody::internal::BallConstraintSpec;
using solvers::Solve;
using systems::BasicVector;
using systems::Context;
using systems::DiagramBuilder;
using systems::LeafSystem;
using systems::OutputPort;
using systems::OutputPortIndex;
using systems::Simulator;
namespace examples {
namespace multibody {
namespace strandbeest {
namespace {
DEFINE_double(simulation_time, 20.0, "Duration of the simulation in seconds.");
DEFINE_double(initial_velocity, 5.0,
"Initial velocity of the crossbar_crank joint.");
DEFINE_double(mbt_dt, 5e-2, "Discrete time step.");
DEFINE_double(penetration_allowance, 5.0e-3, "MBP penetration allowance.");
DEFINE_double(stiction_tolerance, 5.0e-2, "MBP stiction tolerance.");
DEFINE_bool(with_constraints, true,
"Use strandbeest model with constraints, otherwise bushing force "
"elements are used.");
// A simple proportional controller to keep the angular velocity of the
// joint at a desired rate.
template <typename T>
class DesiredVelocityMotor final : public LeafSystem<T> {
public:
DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(DesiredVelocityMotor)
DesiredVelocityMotor(const MultibodyPlant<T>& plant, const Joint<T>& joint,
double omega_desired, double proportional)
: velocity_index_(plant.num_positions() + joint.velocity_start()),
omega_desired_(omega_desired),
kProportional_(proportional) {
this->DeclareInputPort("Plant state", systems::kVectorValued,
plant.num_multibody_states());
output_index_ = this->DeclareVectorOutputPort(
"Torque", 1, &DesiredVelocityMotor<T>::CalcTorque)
.get_index();
}
/// Returns the output port on which the sum is presented.
const OutputPort<T>& get_output_port() const {
return LeafSystem<T>::get_output_port(output_index_);
}
private:
int velocity_index_;
double omega_desired_;
OutputPortIndex output_index_;
double kProportional_;
// Calculates the torque on the motor proportional to the difference in
// desired angular velocity and given angular velocity.
void CalcTorque(const Context<T>& context, BasicVector<T>* torque) const {
const T omega = this->get_input_port(0).Eval(context)[velocity_index_];
const T tau = kProportional_ * (omega_desired_ - omega);
(*torque)[0] = tau;
}
};
int do_main() {
DRAKE_DEMAND((FLAGS_with_constraints && FLAGS_mbt_dt > 0) ||
(!FLAGS_with_constraints && FLAGS_mbt_dt == 0));
// Build a generic MultibodyPlant and SceneGraph.
DiagramBuilder<double> builder;
auto [strandbeest, scene_graph] = AddMultibodyPlantSceneGraph(
&builder, std::make_unique<MultibodyPlant<double>>(FLAGS_mbt_dt));
// Make and add the strandbeest model from a URDF model.
const std::string urdf_url =
(FLAGS_with_constraints ? "package://drake/examples/multibody/"
"strandbeest/model/StrandbeestConstraints.urdf"
: "package://drake/examples/multibody/"
"strandbeest/model/StrandbeestBushings.urdf");
if (FLAGS_with_constraints) {
strandbeest.set_discrete_contact_approximation(
drake::multibody::DiscreteContactApproximation::kSap);
}
Parser parser(&strandbeest);
parser.AddModelsFromUrl(urdf_url);
// We are done defining the model. Finalize.
strandbeest.Finalize();
// Calculate the total mass of the model. Do not include the mass of
// BodyIndex(0) a.k.a. the world.
double total_mass = 0;
for (BodyIndex body_index(1); body_index < strandbeest.num_bodies();
++body_index) {
const auto& body = strandbeest.get_body(body_index);
total_mass += body.default_mass();
}
// Set the penetration allowance and stiction tolerance to values that make
// sense for the scale of our simulation.
strandbeest.set_penetration_allowance(FLAGS_penetration_allowance);
strandbeest.set_stiction_tolerance(FLAGS_stiction_tolerance);
visualization::AddDefaultVisualization(&builder);
// Create a DesiredVelocityMotor where the proportional term is directly
// proportional to the mass of the model.
RevoluteJoint<double>& crank_joint_actuated =
strandbeest.GetMutableJointByName<RevoluteJoint>("joint_crossbar_crank");
auto torque_source = builder.AddSystem<DesiredVelocityMotor>(
strandbeest, crank_joint_actuated, FLAGS_initial_velocity, total_mass);
torque_source->set_name("Applied Torque");
builder.Connect(torque_source->get_output_port(),
strandbeest.get_actuation_input_port());
builder.Connect(strandbeest.get_state_output_port(),
torque_source->get_input_port(0));
auto diagram = builder.Build();
// Create a context for the diagram and extract the context for the
// strandbeest model.
std::unique_ptr<Context<double>> diagram_context =
diagram->CreateDefaultContext();
Context<double>& strandbeest_context =
strandbeest.GetMyMutableContextFromRoot(diagram_context.get());
// Set up an initial condition to fix the floating body (crossbar)
// for inverse kinematics.
VectorXd lower = strandbeest.GetPositionLowerLimits();
VectorXd upper = strandbeest.GetPositionUpperLimits();
// Fix the orientation of the floating body (crossbar) to the unit
// quaternion.
lower.head<4>() = Eigen::Vector4d(1, 0, 0, 0);
upper.head<4>() = Eigen::Vector4d(1, 0, 0, 0);
// Fix the translation of the floating body (crossbar) to (-2, 0, 1.35).
// Place the Strandbeest model slightly above the ground plane box so it is
// not in collision and also does not have to fall far to land.
lower.segment<3>(4) = Eigen::Vector3d(-2, 0, 1.35);
upper.segment<3>(4) = Eigen::Vector3d(-2, 0, 1.35);
strandbeest.SetFreeBodyPose(
&strandbeest_context, strandbeest.GetBodyByName("crossbar"),
drake::math::RigidTransformd(Vector3d(-2, 0, 1.35)));
// Fix the crank shaft to top dead center.
const RevoluteJoint<double>& joint_crossbar_crank =
strandbeest.GetJointByName<RevoluteJoint>("joint_crossbar_crank");
const int start_position = joint_crossbar_crank.position_start();
lower[start_position] = 0;
upper[start_position] = 0;
// Create an InverseKinematics program with our strandbeest context but
// without it parsing the default position limits as constraints.
InverseKinematics ik(strandbeest, &strandbeest_context, false);
// Add our custom position constraints that fix the floating body (crossbar).
ik.get_mutable_prog()->AddBoundingBoxConstraint(lower, upper, ik.q());
if (FLAGS_with_constraints) {
for (const auto& [id, spec] : strandbeest.get_ball_constraint_specs()) {
ik.AddPointToPointDistanceConstraint(
strandbeest.get_body(spec.body_A).body_frame(), spec.p_AP,
strandbeest.get_body(spec.body_B).body_frame(), spec.p_BQ, 0, 0);
}
} else {
// Add a position constraint for each bushing element. The origins of the
// two frames defining the bushing should be coincident, so we add an
// equality constraint for those poses. Skip the 0th force element
// (UniformGravity).
for (ForceElementIndex bushing_index(1);
bushing_index < strandbeest.num_force_elements(); ++bushing_index) {
const LinearBushingRollPitchYaw<double>& bushing =
strandbeest.GetForceElement<LinearBushingRollPitchYaw>(bushing_index);
ik.AddPointToPointDistanceConstraint(
bushing.frameA(), Eigen::Vector3d(0, 0, 0), bushing.frameC(),
Eigen::Vector3d(0, 0, 0), 0, 0);
}
}
// Solve the IK. The solved positions will be stored in the context passed
// to the InverseKinematics constructor.
Solve(ik.prog());
// Create a simulator and run the simulation.
std::unique_ptr<Simulator<double>> simulator =
MakeSimulatorFromGflags(*diagram, std::move(diagram_context));
simulator->AdvanceTo(FLAGS_simulation_time);
// Print some useful statistics.
PrintSimulatorStatistics(*simulator);
return 0;
} // namespace
} // namespace
} // namespace strandbeest
} // namespace multibody
} // namespace examples
} // namespace drake
int main(int argc, char* argv[]) {
gflags::SetUsageMessage(
"A demo showing the Strandbeest walking forward with a proportionally "
"controlled motor set to a desired crank velocity. Launch meldis before "
"running this example.");
FLAGS_simulator_target_realtime_rate = 1.0;
FLAGS_simulator_accuracy = 1e-2;
FLAGS_simulator_max_time_step = 1e-1;
FLAGS_simulator_integration_scheme = "implicit_euler";
gflags::ParseCommandLineFlags(&argc, &argv, true);
return drake::examples::multibody::strandbeest::do_main();
}