Merge pull request #38 from Simple-Robotics/topic/update_benchmark

New benchmark for go2 + update talos benchmark

benchmark/CMakeLists.txt

@@ -16,3 +16,4 @@ function(create_bench exfile)
 endfunction()
 
 create_bench("talos.cpp")
+create_bench("go2.cpp")

benchmark/go2.cpp

@@ -0,0 +1,154 @@
+#include "simple-mpc/fulldynamics.hpp"
+#include "simple-mpc/mpc.hpp"
+#include "simple-mpc/ocp-handler.hpp"
+#include "simple-mpc/robot-handler.hpp"
+#include <pinocchio/algorithm/model.hpp>
+#include <pinocchio/fwd.hpp>
+#include <pinocchio/parsers/srdf.hpp>
+#include <pinocchio/parsers/urdf.hpp>
+
+using simple_mpc::ContactMap;
+using simple_mpc::RobotDataHandler;
+using simple_mpc::RobotModelHandler;
+using PoseVec = aligator::StdVectorEigenAligned<Eigen::Vector3d>;
+using simple_mpc::FullDynamicsOCP;
+using simple_mpc::FullDynamicsSettings;
+using simple_mpc::MPC;
+using simple_mpc::MPCSettings;
+using simple_mpc::OCPHandler;
+
+int main()
+{
+  // Load pinocchio model from example robot data
+  pinocchio::Model model;
+  std::string urdf_path = EXAMPLE_ROBOT_DATA_MODEL_DIR "/go2_description/urdf/go2.urdf";
+  std::string srdf_path = EXAMPLE_ROBOT_DATA_MODEL_DIR "/go2_description/srdf/go2.srdf";
+  std::string base_joint_name = "root_joint";
+
+  pinocchio::urdf::buildModel(urdf_path, pinocchio::JointModelFreeFlyer(), model);
+  pinocchio::srdf::loadReferenceConfigurations(model, srdf_path, false);
+  // pinocchio::srdf::loadRotorParameters(model, srdf_path, false);
+
+  simple_mpc::RobotModelHandler model_handler = simple_mpc::RobotModelHandler(model, "standing", base_joint_name);
+
+  /// Add reference foot for walking
+  pinocchio::SE3 ref_FL_foot = pinocchio::SE3::Identity();
+  pinocchio::SE3 ref_FR_foot = pinocchio::SE3::Identity();
+  pinocchio::SE3 ref_RL_foot = pinocchio::SE3::Identity();
+  pinocchio::SE3 ref_RR_foot = pinocchio::SE3::Identity();
+  ref_FL_foot.translation() = Eigen::Vector3d(0.17, 0.15, 0.0);
+  ref_FR_foot.translation() = Eigen::Vector3d(0.17, -0.15, 0.0);
+  ref_RL_foot.translation() = Eigen::Vector3d(-0.24, 0.15, 0.0);
+  ref_RR_foot.translation() = Eigen::Vector3d(-0.24, -0.15, 0.0);
+  model_handler.addFoot("FL_foot", base_joint_name, ref_FL_foot);
+  model_handler.addFoot("FR_foot", base_joint_name, ref_FR_foot);
+  model_handler.addFoot("RL_foot", base_joint_name, ref_RL_foot);
+  model_handler.addFoot("RR_foot", base_joint_name, ref_RR_foot);
+
+  RobotDataHandler data_handler(model_handler);
+
+  int nu = model_handler.getModel().nv - 6;
+  int nv = model_handler.getModel().nv;
+  int ndx = nv * 2;
+  Eigen::Vector3d gravity;
+  gravity << 0., 0., -9.81;
+
+  // Define settings for OCP
+  simple_mpc::FullDynamicsSettings problem_settings;
+
+  Eigen::VectorXd w_x_vec(ndx);
+  w_x_vec << 0, 0, 0, 0., 0., 0,  // Base pos/ori
+    10., 10., 10., 10., 10., 10., // FL FR leg
+    10., 10., 10., 10., 10., 10., // RL RR leg
+    10., 10., 10., 10., 10., 10., // Base vel
+    .1, .1, .1, .1, .1, .1,       // FL FR vel
+    .1, .1, .1, .1, .1, .1;       // RL RR vel
+  Eigen::VectorXd w_cent(6);
+  w_cent << 0, 0, 0, 0, 0, 0;
+  Eigen::VectorXd w_forces(3);
+  w_forces << 0.0001, 0.0001, 0.0001;
+
+  Eigen::VectorXd u0 = Eigen::VectorXd::Zero(nu);
+
+  problem_settings.timestep = 0.01;
+  problem_settings.w_x = Eigen::MatrixXd::Zero(ndx, ndx);
+  problem_settings.w_x.diagonal() = w_x_vec;
+  problem_settings.w_u = Eigen::MatrixXd::Identity(nu, nu) * 1e-4;
+  problem_settings.w_cent = Eigen::MatrixXd::Zero(6, 6);
+  problem_settings.w_cent.diagonal() = w_cent;
+  problem_settings.gravity = gravity;
+  problem_settings.force_size = 3;
+  problem_settings.Kp_correction = Eigen::VectorXd::Zero(3);
+  problem_settings.Kd_correction = Eigen::VectorXd::Zero(3);
+  problem_settings.w_forces = Eigen::MatrixXd::Zero(3, 3);
+  problem_settings.w_forces.diagonal() = w_forces;
+  problem_settings.w_frame = Eigen::MatrixXd::Identity(3, 3) * 1000;
+  problem_settings.umin = -model_handler.getModel().effortLimit.tail(nu);
+  problem_settings.umax = model_handler.getModel().effortLimit.tail(nu);
+  problem_settings.qmin = model_handler.getModel().lowerPositionLimit.tail(nu);
+  problem_settings.qmax = model_handler.getModel().upperPositionLimit.tail(nu);
+  problem_settings.mu = 0.8;
+  problem_settings.Lfoot = 0.01;
+  problem_settings.Wfoot = 0.01;
+  problem_settings.torque_limits = false;
+  problem_settings.kinematics_limits = false;
+  problem_settings.force_cone = false;
+
+  std::shared_ptr<simple_mpc::OCPHandler> ocpPtr =
+    std::make_shared<simple_mpc::FullDynamicsOCP>(problem_settings, model_handler);
+
+  // Create an OCP problem with horizon size T
+  size_t T = 50;
+  ocpPtr->createProblem(model_handler.getReferenceState(), T, 3, gravity[2], false);
+
+  // Define settings for MPC
+  int T_fly = 30;
+  int T_contact = 5;
+  simple_mpc::MPCSettings mpc_settings;
+  mpc_settings.ddpIteration = 1;
+  mpc_settings.support_force = -gravity[2] * model_handler.getMass();
+  mpc_settings.TOL = 1e-4;
+  mpc_settings.mu_init = 1e-8;
+  mpc_settings.max_iters = 1;
+  mpc_settings.num_threads = 1;
+  mpc_settings.swing_apex = 0.2;
+  mpc_settings.T_fly = T_fly;
+  mpc_settings.T_contact = T_contact;
+  mpc_settings.timestep = 0.01;
+
+  std::shared_ptr<simple_mpc::MPC> mpc = std::make_shared<simple_mpc::MPC>(mpc_settings, ocpPtr);
+
+  // Define the walking gait
+  std::vector<std::map<std::string, bool>> contact_states;
+  std::map<std::string, bool> contact_state_quadru;
+  std::map<std::string, bool> contact_phase_lift_FL_RR;
+  std::map<std::string, bool> contact_phase_lift_RL_FR;
+
+  contact_state_quadru.insert({"FL_foot", true});
+  contact_state_quadru.insert({"FR_foot", true});
+  contact_state_quadru.insert({"RL_foot", true});
+  contact_state_quadru.insert({"RR_foot", true});
+
+  contact_phase_lift_FL_RR.insert({"FL_foot", false});
+  contact_phase_lift_FL_RR.insert({"FR_foot", true});
+  contact_phase_lift_FL_RR.insert({"RL_foot", true});
+  contact_phase_lift_FL_RR.insert({"RR_foot", false});
+
+  contact_phase_lift_RL_FR.insert({"FL_foot", true});
+  contact_phase_lift_RL_FR.insert({"FR_foot", false});
+  contact_phase_lift_RL_FR.insert({"RL_foot", false});
+  contact_phase_lift_RL_FR.insert({"RR_foot", true});
+
+  for (int i = 0; i < T_contact; i++)
+    contact_states.push_back(contact_state_quadru);
+  for (int i = 0; i < T_fly; i++)
+    contact_states.push_back(contact_phase_lift_FL_RR);
+  for (int i = 0; i < T_contact; i++)
+    contact_states.push_back(contact_state_quadru);
+  for (int i = 0; i < T_fly; i++)
+    contact_states.push_back(contact_phase_lift_RL_FR);
+
+  mpc->generateCycleHorizon(contact_states);
+
+  return 0;
+}

benchmark/talos.cpp

@@ -79,6 +79,7 @@ int main()
 
   RobotDataHandler data_handler(model_handler);
 
+  // Define settings for OCP
   size_t T = 100;
 
   FullDynamicsSettings problem_settings;
@@ -125,10 +126,14 @@ int main()
   problem_settings.mu = 0.8;
   problem_settings.Lfoot = 0.1;
   problem_settings.Wfoot = 0.075;
+  problem_settings.torque_limits = false;
+  problem_settings.kinematics_limits = false;
+  problem_settings.force_cone = false;
 
-  std::shared_ptr<OCPHandler> ocpPtr = std::make_shared<FullDynamicsOCP>(problem_settings, model_handler, data_handler);
+  std::shared_ptr<OCPHandler> ocpPtr = std::make_shared<FullDynamicsOCP>(problem_settings, model_handler);
   ocpPtr->createProblem(model_handler.getReferenceState(), T, 6, problem_settings.gravity[2], true);
 
+  // Define settings for MPC
   MPCSettings mpc_settings;
   mpc_settings.support_force = -problem_settings.gravity[2] * model_handler.getMass();
   mpc_settings.TOL = 1e-4;
@@ -138,6 +143,7 @@ int main()
 
   MPC mpc{mpc_settings, ocpPtr};
 
+  // Define the walking gait
   std::vector<std::map<std::string, bool>> contact_states;
   // std::vector<std::vector<bool>> contact_states;
   for (std::size_t i = 0; i < 10; i++)