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(WIP) Velocity softstop #44

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8b67c48
kinematics
wuphilipp Mar 8, 2019
2f02b9e
kin
wuphilipp Mar 9, 2019
ac2f047
updated softstops
brentyi Mar 9, 2019
eb7cc58
velocity softstops
brentyi Mar 11, 2019
de9d2dd
idk whats in this branch but committing :( - brent
brentyi Mar 21, 2019
9893b0f
updates
brentyi Mar 28, 2019
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6 changes: 3 additions & 3 deletions blue_bringup/config/robot_parameters_left.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,9 +22,9 @@ blue_hardware:
joint_torque_directions: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
id_torque_gains: [1.12, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
softstop_min_angles: [-2.2, -2.25, -2.6, -2.25, -2.6, -2.25, -2.6, -1.45]
softstop_max_angles: [3.3, 0.5, 2.6, .5, 2.6, 0.5, 2.6, 1.45]
softstop_tolerance: 0.19
softstop_torque_limit: 95.0
softstop_max_angles: [ 2.8, 0.1, 2.6, 0.1, 2.6, 0.1, 2.6, 1.45]
softstop_tolerance: 0.2
softstop_torque_gains: [65, 20, 20, 10, 10, 4, 4, 0]

### Motor configuration
motor_names:
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4 changes: 2 additions & 2 deletions blue_bringup/config/robot_parameters_right.yaml
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Expand Up @@ -22,9 +22,9 @@ blue_hardware:
joint_torque_directions: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
id_torque_gains: [1.12, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
softstop_min_angles: [-3.3, -2.25, -2.6, -2.25, -2.6, -2.25, -2.6, -1.45]
softstop_max_angles: [2.2, 0.5, 2.6, 0.5, 2.6, 0.2, 2.6, 1.45]
softstop_max_angles: [ 2.2, 0.5, 2.6, 0.5, 2.6, 0.2, 2.6, 1.45]
softstop_tolerance: 0.19
softstop_torque_limit: 95.0
softstop_torque_gains: [65, 20, 20, 10, 10, 4, 4, 0]

### Motor configuration
motor_names:
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2 changes: 1 addition & 1 deletion blue_descriptions/urdf/gripper_v1/gripper.urdf.xacro
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Expand Up @@ -103,7 +103,7 @@
type="revolute">
<origin
xyz="0 0 -0.10"
rpy="1.5 1.5 0" />
rpy="-1.5708 -2.4803E-15 -3.1416" />
<parent
link="${side}_${parent}" />
<child
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2 changes: 1 addition & 1 deletion blue_hardware_interface/include/blue_hardware_interface/blue_hardware_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ typedef struct {

// Soft stops
// TODO: hacky and temporary
double softstop_torque_limit;
std::vector<double> softstop_torque_gains;
std::vector<double> softstop_min_angles;
std::vector<double> softstop_max_angles;
double softstop_tolerance;
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2 changes: 1 addition & 1 deletion blue_hardware_interface/include/blue_hardware_interface/blue_kinematics.h
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Expand Up @@ -55,7 +55,7 @@ class BlueKinematics
// Get desired actuator commands
std::vector<double> getActuatorCommands(
const std::vector<double> &feedforward_torques,
double softstop_torque_limit, // TODO: clean up softstop code
const std::vector<double> &softstop_torque_gains,
const std::vector<double> &softstop_min_angles,
const std::vector<double> &softstop_max_angles,
double softstop_tolerance);
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4 changes: 2 additions & 2 deletions blue_hardware_interface/src/blue_hardware_interface.cpp
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Expand Up @@ -94,7 +94,7 @@ void BlueHW::write() {
// Get actuator commands, using the gravity comp torques as a feedforward
auto actuator_commands = kinematics_.getActuatorCommands(
feedforward_torques,
params_.softstop_torque_limit, // TODO: clean up softstop code
params_.softstop_torque_gains, // TODO: clean up softstop code
params_.softstop_min_angles,
params_.softstop_max_angles,
params_.softstop_tolerance);
Expand Down Expand Up @@ -178,7 +178,7 @@ void BlueHW::loadParams() {

// Soft stops
// TODO: hacky and temporary
getParam("blue_hardware/softstop_torque_limit", params_.softstop_torque_limit);
getParam("blue_hardware/softstop_torque_gains", params_.softstop_torque_gains);
getParam("blue_hardware/softstop_min_angles", params_.softstop_min_angles);
getParam("blue_hardware/softstop_max_angles", params_.softstop_max_angles);
getParam("blue_hardware/softstop_tolerance", params_.softstop_tolerance);
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46 changes: 33 additions & 13 deletions blue_hardware_interface/src/blue_kinematics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -369,7 +369,7 @@ void BlueKinematics::getGravityVectors(

std::vector<double> BlueKinematics::getActuatorCommands(
const std::vector<double> &feedforward_torques,
double softstop_torque_limit, // TODO: clean up softstop code
const std::vector<double> &softstop_torque_gains,
const std::vector<double> &softstop_min_angles,
const std::vector<double> &softstop_max_angles,
double softstop_tolerance) {
Expand All @@ -385,23 +385,43 @@ std::vector<double> BlueKinematics::getActuatorCommands(

// Compute joint commands
for (int i = 0; i < num_joints_; i++) {
// Add feedforward if it exists
if (i < feedforward_torques.size())
joint_cmd_[i] = raw_joint_cmd_[i] + feedforward_torques[i];
else
joint_cmd_[i] = raw_joint_cmd_[i];

joint_cmd_[i] = raw_joint_cmd_[i];
raw_joint_cmd_[i] = 0.0;

// Soft stops
// TODO: hacky and temporary
if(joint_pos_[i] > softstop_max_angles[i] - softstop_tolerance) {
double offset = joint_pos_[i] - softstop_max_angles[i] + softstop_tolerance;
joint_cmd_[i] += -1.0 * softstop_torque_limit * pow(offset, 2);
} else if (joint_pos_[i] < softstop_min_angles[i] + softstop_tolerance) {
double offset = softstop_min_angles[i] + softstop_tolerance - joint_pos_[i];
joint_cmd_[i] += softstop_torque_limit * pow(offset, 2);
double eps_vel = 0.1;
if(joint_pos_[i] > (softstop_max_angles[i] - softstop_tolerance) && joint_vel_[i] > 0) {
double offset = joint_pos_[i] - (softstop_max_angles[i] - softstop_tolerance);
double spring = offset * softstop_torque_gains[i];
double applied = std::min(spring, joint_vel_[i]);
joint_cmd_[i] += -applied;

// if(joint_pos_[i] > softstop_max_angles[i] - softstop_tolerance/2.0) {
// joint_cmd_[i] += -0.5 * softstop_torque_gains[i] * joint_vel_[i];
// } else if (joint_vel_[i] < 0) {
// joint_cmd_[i] += -1.0 * offset * softstop_torque_gains[i] * joint_vel_[i];
// }
// joint_cmd_[i] += -0.2 * softstop_torque_gains[i] * pow(offset, 1);
// joint_cmd_[i] += -0.5 * softstop_torque_gains[i] * joint_vel_[i];

} else if (joint_pos_[i] < (softstop_min_angles[i] + softstop_tolerance) && joint_vel_[i] < 0) {
double offset = (softstop_min_angles[i] + softstop_tolerance) - joint_pos_[i];
double spring = offset * softstop_torque_gains[i];
double applied = std::min(spring, -joint_vel_[i]);
joint_cmd_[i] += applied;
// if(joint_pos_[i] < softstop_min_angles[i] + softstop_tolerance/2.0) {
// joint_cmd_[i] += -0.5 * softstop_torque_gains[i] * joint_vel_[i];
// } else if (joint_vel_[i] > 0) {
// joint_cmd_[i] += -1.0 *offset *softstop_torque_gains[i] * joint_vel_[i];
// }
// joint_cmd_[i] += 0.2 * softstop_torque_gains[i] * pow(offset, 1);
// joint_cmd_[i] += -0.5 * softstop_torque_gains[i] * joint_vel_[i];
}

// Add feedforward if it exists
if (i < feedforward_torques.size())
joint_cmd_[i] = joint_cmd_[i] + feedforward_torques[i];
}

// Propagate through transmissions to compute actuator commands
Expand Down