-
Notifications
You must be signed in to change notification settings - Fork 1.2k
/
differential_inverse_kinematics.cc
281 lines (243 loc) · 10.9 KB
/
differential_inverse_kinematics.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
269
270
271
272
273
274
275
276
277
278
279
280
281
#include "drake/manipulation/planner/differential_inverse_kinematics.h"
#include <memory>
#include <stdexcept>
#include <string>
#include <fmt/format.h>
#include "drake/solvers/osqp_solver.h"
namespace drake {
namespace manipulation {
namespace planner {
namespace internal {
DifferentialInverseKinematicsResult DoDifferentialInverseKinematics(
const Eigen::Ref<const VectorX<double>>& q_current,
const Eigen::Ref<const VectorX<double>>& v_current,
const math::RigidTransform<double>& X_WE,
const Eigen::Ref<const Matrix6X<double>>& J_WE_W,
const multibody::SpatialVelocity<double>& V_WE_desired,
const DifferentialInverseKinematicsParameters& parameters) {
const math::RotationMatrix<double> R_EW = X_WE.rotation().transpose();
const multibody::SpatialVelocity<double> V_WE_E = R_EW * V_WE_desired;
// Rotate the 6 x n Jacobian from the world frame W to the E frame.
// TODO(Mitiguy) Switch to direct application of RotationMatrix multiplied by
// a `6 x n` array if that becomes available.
const int num_columns = J_WE_W.cols();
Matrix6X<double> J_WE_E{6, num_columns};
J_WE_E.topRows<3>() = R_EW * J_WE_W.topRows<3>();
J_WE_E.bottomRows<3>() = R_EW * J_WE_W.bottomRows<3>();
Vector6<double> V_WE_E_scaled;
MatrixX<double> J_WE_E_scaled{6, num_columns};
int num_cart_constraints = 0;
for (int i = 0; i < 6; i++) {
const double gain{parameters.get_end_effector_velocity_gain()(i)};
if (gain > 0) {
J_WE_E_scaled.row(num_cart_constraints) = gain * J_WE_E.row(i);
V_WE_E_scaled(num_cart_constraints) = gain * V_WE_E[i];
num_cart_constraints++;
}
}
return DoDifferentialInverseKinematics(
q_current, v_current, V_WE_E_scaled.head(num_cart_constraints),
J_WE_E_scaled.topRows(num_cart_constraints), parameters);
}
} // namespace internal
std::ostream& operator<<(std::ostream& os,
const DifferentialInverseKinematicsStatus value) {
switch (value) {
case (DifferentialInverseKinematicsStatus::kSolutionFound):
return os << "Solution found.";
case (DifferentialInverseKinematicsStatus::kNoSolutionFound):
return os << "No solution found.";
case (DifferentialInverseKinematicsStatus::kStuck):
return os << "Stuck!";
}
DRAKE_UNREACHABLE();
}
const std::vector<std::shared_ptr<solvers::LinearConstraint>>&
DifferentialInverseKinematicsParameters::get_linear_velocity_constraints()
const {
return linear_velocity_constraints_;
}
void DifferentialInverseKinematicsParameters::AddLinearVelocityConstraint(
const std::shared_ptr<solvers::LinearConstraint>
constraint) {
if (constraint->num_vars() != get_num_velocities()) {
throw std::invalid_argument(fmt::format(
"Number of variables, {}, does not match number of velocities, {}.",
constraint->num_vars(), get_num_velocities()));
}
linear_velocity_constraints_.push_back(constraint);
}
void DifferentialInverseKinematicsParameters::ClearLinearVelocityConstraints() {
linear_velocity_constraints_.clear();
}
Vector6<double> ComputePoseDiffInCommonFrame(
const math::RigidTransform<double>& X_C0,
const math::RigidTransform<double>& X_C1) {
Vector6<double> diff = Vector6<double>::Zero();
// Linear.
diff.tail<3>() = (X_C1.translation() - X_C0.translation());
// Angular.
AngleAxis<double> rot_err =
(X_C1.rotation() * X_C0.rotation().transpose()).ToAngleAxis();
diff.head<3>() = rot_err.axis() * rot_err.angle();
return diff;
}
DifferentialInverseKinematicsParameters::
DifferentialInverseKinematicsParameters(int num_positions,
int num_velocities)
: num_positions_(num_positions),
num_velocities_(num_velocities),
nominal_joint_position_(VectorX<double>::Zero(num_positions)) {}
DifferentialInverseKinematicsResult DoDifferentialInverseKinematics(
const Eigen::Ref<const VectorX<double>>& q_current,
const Eigen::Ref<const VectorX<double>>& v_current,
const Eigen::Ref<const VectorX<double>>& V,
const Eigen::Ref<const MatrixX<double>>& J,
const DifferentialInverseKinematicsParameters& parameters) {
const int num_positions = parameters.get_num_positions();
const int num_velocities = parameters.get_num_velocities();
const int num_cart_constraints = V.size();
DRAKE_DEMAND(q_current.size() == num_positions);
DRAKE_DEMAND(v_current.size() == num_velocities);
DRAKE_DEMAND(J.rows() == num_cart_constraints);
DRAKE_DEMAND(J.cols() == num_velocities);
const auto identity_num_positions =
MatrixX<double>::Identity(num_positions, num_positions);
solvers::MathematicalProgram prog;
solvers::VectorXDecisionVariable v_next =
prog.NewContinuousVariables(num_velocities, "v_next");
solvers::VectorDecisionVariable<1> alpha =
prog.NewContinuousVariables<1>("alpha");
const solvers::QuadraticCost* cart_cost = nullptr;
if (num_cart_constraints > 0) {
VectorX<double> V_dir = V.normalized();
double V_mag = V.norm();
// Constrain the end effector motion to be in the direction of V,
// and penalize magnitude difference from V.
MatrixX<double> A(num_cart_constraints, num_velocities + 1);
A.leftCols(num_velocities) = J;
A.rightCols(1) = -V_dir;
prog.AddLinearEqualityConstraint(
A, VectorX<double>::Zero(num_cart_constraints), {v_next, alpha});
// TODO(russt): This should not be hard-coded.
const double kCartesianTrackingWeight = 100;
cart_cost =
prog.AddQuadraticErrorCost(Vector1<double>(kCartesianTrackingWeight),
Vector1<double>(V_mag), alpha)
.evaluator()
.get();
// Constrain the unconstrained DoFs velocity to be small, which is used
// to fulfill the regularization cost. We use the svd of J = UΣV', in
// which the columns of V corresponding to the small/zero singular values
// in Σ are the "unconstrained" degrees of freedom. Since JacobiSVD
// always sorts the singular values in decreasing order, we expect these
// to be the last columns. We assume that J is full row-rank, so has
// num_cart_constraints non-zero singular values.
Eigen::JacobiSVD<MatrixX<double>> svd(J, Eigen::ComputeFullV);
if (parameters.get_unconstrained_degrees_of_freedom_velocity_limit()) {
const double uncon_v =
parameters.get_unconstrained_degrees_of_freedom_velocity_limit()
.value();
for (int i = num_cart_constraints; i < num_velocities; i++) {
prog.AddLinearConstraint(svd.matrixV().col(i).transpose(), -uncon_v,
uncon_v, v_next);
}
}
}
for (const auto& constraint : parameters.get_linear_velocity_constraints()) {
prog.AddConstraint(
solvers::Binding<solvers::LinearConstraint>(constraint, v_next));
}
// A bunch of the operations below assume num_positions == num_velocities.
// TODO(russt): Generalize this
DRAKE_DEMAND(num_positions == num_velocities);
// If redundant, add a small regularization term to q_nominal.
const double dt{parameters.get_timestep()};
if (num_cart_constraints < num_velocities) {
prog.AddQuadraticErrorCost(
identity_num_positions * dt * dt,
(parameters.get_nominal_joint_position() - q_current) / dt, v_next);
}
// Add q upper and lower joint limit.
if (parameters.get_joint_position_limits()) {
prog.AddBoundingBoxConstraint(
(parameters.get_joint_position_limits()->first - q_current) / dt,
(parameters.get_joint_position_limits()->second - q_current) / dt,
v_next);
}
// Add v_next constraint.
if (parameters.get_joint_velocity_limits()) {
prog.AddBoundingBoxConstraint(
parameters.get_joint_velocity_limits()->first,
parameters.get_joint_velocity_limits()->second, v_next);
}
// Add vd constraint.
if (parameters.get_joint_acceleration_limits()) {
prog.AddLinearConstraint(
// TODO(russt): This should be num_velocities if we generalize the
// implementation.
identity_num_positions,
parameters.get_joint_acceleration_limits()->first * dt + v_current,
parameters.get_joint_acceleration_limits()->second * dt + v_current,
v_next);
}
// Solve
solvers::OsqpSolver solver;
solvers::MathematicalProgramResult result = solver.Solve(prog, {}, {});
if (!result.is_success()) {
return {std::nullopt,
DifferentialInverseKinematicsStatus::kNoSolutionFound};
}
if (num_cart_constraints) {
VectorX<double> cost(1);
cart_cost->Eval(result.GetSolution(alpha), &cost);
const double kMaxTrackingError = 5;
const double kMinEndEffectorVel = 1e-2;
if (cost(0) > kMaxTrackingError &&
result.GetSolution(alpha)[0] <= kMinEndEffectorVel) {
// Not tracking the desired vel norm (large tracking error) and the
// computed vel is small.
log()->info("v_next = {}", result.GetSolution(v_next).transpose());
log()->info("alpha = {}", result.GetSolution(alpha).transpose());
return {std::nullopt, DifferentialInverseKinematicsStatus::kStuck};
}
}
return {result.GetSolution(v_next),
DifferentialInverseKinematicsStatus::kSolutionFound};
}
DifferentialInverseKinematicsResult DoDifferentialInverseKinematics(
const multibody::MultibodyPlant<double>& plant,
const systems::Context<double>& context,
const Vector6<double>& V_WE_desired,
const multibody::Frame<double>& frame_E,
const DifferentialInverseKinematicsParameters& parameters) {
const math::RigidTransform<double> X_WE =
plant.CalcRelativeTransform(context, plant.world_frame(), frame_E);
MatrixX<double> J_WE(6, plant.num_velocities());
const multibody::Frame<double>& frame_W = plant.world_frame();
plant.CalcJacobianSpatialVelocity(context,
multibody::JacobianWrtVariable::kV,
frame_E, Vector3<double>::Zero(),
frame_W, frame_W, &J_WE);
return internal::DoDifferentialInverseKinematics(
plant.GetPositions(context), plant.GetVelocities(context),
X_WE, J_WE, multibody::SpatialVelocity<double>(V_WE_desired), parameters);
}
DifferentialInverseKinematicsResult DoDifferentialInverseKinematics(
const multibody::MultibodyPlant<double>& plant,
const systems::Context<double>& context,
const math::RigidTransform<double>& X_WE_desired,
const multibody::Frame<double>& frame_E,
const DifferentialInverseKinematicsParameters& parameters) {
const math::RigidTransform<double> X_WE =
plant.EvalBodyPoseInWorld(context, frame_E.body()) *
frame_E.CalcPoseInBodyFrame(context);
const Vector6<double> V_WE_desired =
ComputePoseDiffInCommonFrame(X_WE, X_WE_desired) /
parameters.get_timestep();
return DoDifferentialInverseKinematics(plant, context, V_WE_desired, frame_E,
parameters);
}
} // namespace planner
} // namespace manipulation
} // namespace drake