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kuka_simulation.cc
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kuka_simulation.cc
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/// @file
///
/// Implements a simulation of the KUKA iiwa arm. Like the driver for the
/// physical arm, this simulation communicates over LCM using lcmt_iiwa_status
/// and lcmt_iiwa_command messages. It is intended to be a be a direct
/// replacement for the KUKA iiwa driver and the actual robot hardware.
#include <memory>
#include <gflags/gflags.h>
#include "drake/common/drake_assert.h"
#include "drake/common/find_resource.h"
#include "drake/common/text_logging.h"
#include "drake/common/text_logging_gflags.h"
#include "drake/examples/kuka_iiwa_arm/iiwa_common.h"
#include "drake/examples/kuka_iiwa_arm/iiwa_lcm.h"
#include "drake/examples/kuka_iiwa_arm/kuka_torque_controller.h"
#include "drake/lcmt_iiwa_command.hpp"
#include "drake/lcmt_iiwa_status.hpp"
#include "drake/manipulation/util/sim_diagram_builder.h"
#include "drake/multibody/parsers/urdf_parser.h"
#include "drake/multibody/rigid_body_plant/frame_visualizer.h"
#include "drake/multibody/rigid_body_plant/rigid_body_plant.h"
#include "drake/multibody/rigid_body_tree_construction.h"
#include "drake/systems/analysis/simulator.h"
#include "drake/systems/controllers/rbt_inverse_dynamics_controller.h"
#include "drake/systems/controllers/state_feedback_controller_interface.h"
#include "drake/systems/framework/diagram.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/framework/leaf_system.h"
#include "drake/systems/lcm/lcm_interface_system.h"
#include "drake/systems/lcm/lcm_publisher_system.h"
#include "drake/systems/lcm/lcm_subscriber_system.h"
#include "drake/systems/primitives/constant_vector_source.h"
#include "drake/systems/primitives/demultiplexer.h"
#include "drake/systems/primitives/discrete_derivative.h"
DEFINE_double(simulation_sec, std::numeric_limits<double>::infinity(),
"Number of seconds to simulate.");
DEFINE_string(urdf, "", "Name of urdf to load");
DEFINE_bool(visualize_frames, true, "Visualize end effector frames");
DEFINE_double(target_realtime_rate, 1.0,
"Playback speed. See documentation for "
"Simulator::set_target_realtime_rate() for details.");
DEFINE_bool(torque_control, false, "Simulate using torque control mode.");
namespace drake {
namespace examples {
namespace kuka_iiwa_arm {
namespace {
using manipulation::util::SimDiagramBuilder;
using systems::ConstantVectorSource;
using systems::Context;
using systems::Demultiplexer;
using systems::Diagram;
using systems::DiagramBuilder;
using systems::StateInterpolatorWithDiscreteDerivative;
using systems::FrameVisualizer;
using systems::RigidBodyPlant;
using systems::Simulator;
using systems::controllers::rbt::InverseDynamicsController;
using systems::controllers::StateFeedbackControllerInterface;
int DoMain() {
SimDiagramBuilder<double> builder;
systems::DiagramBuilder<double>* base_builder = builder.get_mutable_builder();
// Adds a plant.
RigidBodyPlant<double>* plant = nullptr;
const char* kModelPath =
"drake/manipulation/models/iiwa_description/"
"urdf/iiwa14_polytope_collision.urdf";
const std::string urdf =
(!FLAGS_urdf.empty() ? FLAGS_urdf : FindResourceOrThrow(kModelPath));
{
auto tree = std::make_unique<RigidBodyTree<double>>();
parsers::urdf::AddModelInstanceFromUrdfFileToWorld(
urdf, multibody::joints::kFixed, tree.get());
multibody::AddFlatTerrainToWorld(tree.get(), 100., 10.);
plant = builder.AddPlant(std::move(tree));
}
// Creates and adds LCM publisher for visualization.
auto lcm = base_builder->AddSystem<systems::lcm::LcmInterfaceSystem>();
builder.AddVisualizer(lcm);
builder.get_visualizer()->set_publish_period(kIiwaLcmStatusPeriod);
const RigidBodyTree<double>& tree = plant->get_rigid_body_tree();
const int num_joints = tree.get_num_positions();
DRAKE_DEMAND(num_joints % kIiwaArmNumJoints == 0);
const int num_iiwa = num_joints/kIiwaArmNumJoints;
// Adds a iiwa controller.
StateFeedbackControllerInterface<double>* controller = nullptr;
if (FLAGS_torque_control) {
VectorX<double> stiffness, damping_ratio;
SetTorqueControlledIiwaGains(&stiffness, &damping_ratio);
stiffness = stiffness.replicate(num_iiwa, 1).eval();
damping_ratio = damping_ratio.replicate(num_iiwa, 1).eval();
controller = builder.AddController<KukaTorqueController<double>>(
RigidBodyTreeConstants::kFirstNonWorldModelInstanceId, tree.Clone(),
stiffness, damping_ratio);
} else {
VectorX<double> iiwa_kp, iiwa_kd, iiwa_ki;
SetPositionControlledIiwaGains(&iiwa_kp, &iiwa_ki, &iiwa_kd);
iiwa_kp = iiwa_kp.replicate(num_iiwa, 1).eval();
iiwa_kd = iiwa_kd.replicate(num_iiwa, 1).eval();
iiwa_ki = iiwa_ki.replicate(num_iiwa, 1).eval();
controller = builder.AddController<InverseDynamicsController<double>>(
RigidBodyTreeConstants::kFirstNonWorldModelInstanceId, tree.Clone(),
iiwa_kp, iiwa_ki, iiwa_kd,
false /* without feedforward acceleration */);
}
// Create the command subscriber and status publisher.
auto command_sub = base_builder->AddSystem(
systems::lcm::LcmSubscriberSystem::Make<drake::lcmt_iiwa_command>(
"IIWA_COMMAND", lcm));
command_sub->set_name("command_subscriber");
auto command_receiver =
base_builder->AddSystem<IiwaCommandReceiver>(num_joints);
command_receiver->set_name("command_receiver");
std::vector<int> iiwa_instances =
{RigidBodyTreeConstants::kFirstNonWorldModelInstanceId};
auto external_torque_converter =
base_builder->AddSystem<IiwaContactResultsToExternalTorque>(
tree, iiwa_instances);
auto plant_state_demux = base_builder->AddSystem<Demultiplexer>(
2 * num_joints, num_joints);
plant_state_demux->set_name("plant_state_demux");
auto desired_state_from_position = base_builder->AddSystem<
StateInterpolatorWithDiscreteDerivative>(
num_joints, kIiwaLcmStatusPeriod);
desired_state_from_position->set_name("desired_state_from_position");
auto status_pub = base_builder->AddSystem(
systems::lcm::LcmPublisherSystem::Make<lcmt_iiwa_status>(
"IIWA_STATUS", lcm, kIiwaLcmStatusPeriod /* publish period */));
status_pub->set_name("status_publisher");
auto status_sender = base_builder->AddSystem<IiwaStatusSender>(num_joints);
status_sender->set_name("status_sender");
base_builder->Connect(command_sub->get_output_port(),
command_receiver->get_input_port());
base_builder->Connect(command_receiver->get_commanded_position_output_port(),
desired_state_from_position->get_input_port());
base_builder->Connect(desired_state_from_position->get_output_port(),
controller->get_input_port_desired_state());
base_builder->Connect(plant->get_output_port(0),
plant_state_demux->get_input_port(0));
base_builder->Connect(plant_state_demux->get_output_port(0),
status_sender->get_position_measured_input_port());
base_builder->Connect(plant_state_demux->get_output_port(0),
status_sender->get_velocity_estimated_input_port());
base_builder->Connect(command_receiver->get_commanded_position_output_port(),
status_sender->get_position_commanded_input_port());
base_builder->Connect(controller->get_output_port_control(),
status_sender->get_torque_commanded_input_port());
base_builder->Connect(plant->torque_output_port(),
status_sender->get_torque_measured_input_port());
base_builder->Connect(plant->contact_results_output_port(),
external_torque_converter->get_input_port(0));
base_builder->Connect(external_torque_converter->get_output_port(0),
status_sender->get_torque_external_input_port());
base_builder->Connect(status_sender->get_output_port(),
status_pub->get_input_port());
// Connect the torque input in torque control
if (FLAGS_torque_control) {
KukaTorqueController<double>* torque_controller =
dynamic_cast<KukaTorqueController<double>*>(controller);
DRAKE_DEMAND(torque_controller);
base_builder->Connect(command_receiver->get_commanded_torque_output_port(),
torque_controller->get_input_port_commanded_torque());
}
if (FLAGS_visualize_frames) {
// TODO(sam.creasey) This try/catch block is here because even
// though RigidBodyTree::FindBody returns a pointer and could return
// null to indicate failure, it throws instead. At any rate, warn
// instead of dying if the links aren't named as expected. This
// happens (for example) when loading
// dual_iiwa14_polytope_collision.urdf.
try {
// Visualizes the end effector frame and 7th body's frame.
std::vector<RigidBodyFrame<double>> local_transforms;
local_transforms.push_back(
RigidBodyFrame<double>("iiwa_link_ee", tree.FindBody("iiwa_link_ee"),
Isometry3<double>::Identity()));
local_transforms.push_back(
RigidBodyFrame<double>("iiwa_link_7", tree.FindBody("iiwa_link_7"),
Isometry3<double>::Identity()));
auto frame_viz = base_builder->AddSystem<systems::FrameVisualizer>(
&tree, local_transforms, lcm);
base_builder->Connect(plant->get_output_port(0),
frame_viz->get_input_port(0));
frame_viz->set_publish_period(kIiwaLcmStatusPeriod);
} catch (std::logic_error& ex) {
drake::log()->error("Unable to visualize end effector frames:\n{}\n"
"Maybe use --novisualize_frames?",
ex.what());
return 1;
}
}
auto sys = builder.Build();
Simulator<double> simulator(*sys);
simulator.set_publish_every_time_step(false);
simulator.set_target_realtime_rate(FLAGS_target_realtime_rate);
simulator.Initialize();
command_receiver->set_initial_position(
&sys->GetMutableSubsystemContext(*command_receiver,
&simulator.get_mutable_context()),
VectorX<double>::Zero(tree.get_num_positions()));
// Simulate for a very long time.
simulator.AdvanceTo(FLAGS_simulation_sec);
return 0;
}
} // namespace
} // namespace kuka_iiwa_arm
} // namespace examples
} // namespace drake
int main(int argc, char* argv[]) {
gflags::ParseCommandLineFlags(&argc, &argv, true);
drake::logging::HandleSpdlogGflags();
return drake::examples::kuka_iiwa_arm::DoMain();
}