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effort feedback - "80% solution" #97

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98f3265
Apply low-pass filter to force output
Jul 6, 2018
4080881
Use GetForce instead of GetForceTorque. GetForce simply returns the p…
Jul 6, 2018
cfe9695
Some (commented) experimental code for future reference.
Jul 6, 2018
affc60b
Apply low-pass filter to Effort Feedback before Controller
Jul 6, 2018
49a1d7f
Add missing variables to header file
Jul 6, 2018
4efbca3
Merge remote-tracking branch 'hebi-repo/develop' into simple_effort_f…
Jul 10, 2018
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6 changes: 3 additions & 3 deletions hebiros_gazebo_plugin/include/hebiros_gazebo_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -366,9 +366,9 @@ double HebirosGazeboController::ComputeForce(std::shared_ptr<HebirosGazeboGroup>
hebiros_joint->temperature.update(power_in, iteration_time.toSec());
hebiros_joint->temperature_safety.update(hebiros_joint->temperature.getMotorWindingTemperature());

//alpha = hebiros_joint->low_pass_alpha;
//force = (force * alpha) + hebiros_joint->prev_force * (1 - alpha);
//hebiros_joint->prev_force = force;
alpha = hebiros_joint->low_pass_alpha;
force = (force * alpha) + hebiros_joint->prev_force * (1 - alpha);
hebiros_joint->prev_force = force;

return force;
}
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3 changes: 3 additions & 0 deletions hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h
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Expand Up @@ -48,6 +48,9 @@ class HebirosGazeboPlugin: public ModelPlugin {
void AddJointToGroup(std::shared_ptr<HebirosGazeboGroup> hebiros_group, std::string joint_name);
void UpdateGroup(std::shared_ptr<HebirosGazeboGroup> hebiros_group, const ros::Duration& iteration_time);

double prev_effort;
double low_pass_alpha;

bool SrvAddGroup(AddGroupFromNamesSrv::Request &req,
AddGroupFromNamesSrv::Response &res);

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14 changes: 11 additions & 3 deletions hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp
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Expand Up @@ -24,6 +24,9 @@ void HebirosGazeboPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) {
this->update_connection = event::Events::ConnectWorldUpdateBegin (
boost::bind(&HebirosGazeboPlugin::OnUpdate, this, _1));

this->prev_effort = 0.0;
this->low_pass_alpha = 0.1;

ROS_INFO("Loaded hebiros gazebo plugin");
}

Expand Down Expand Up @@ -68,9 +71,14 @@ void HebirosGazeboPlugin::UpdateGroup(std::shared_ptr<HebirosGazeboGroup> hebiro
joint->SetProvideFeedback(true);
double position = joint->GetAngle(0).Radian();
double velocity = joint->GetVelocity(0);
physics::JointWrench wrench = joint->GetForceTorque(0);
auto trans = joint->GetChild()->GetInitialRelativePose().rot;
double effort = (-1 * (trans * wrench.body1Torque)).z;
//physics::JointWrench wrench = joint->GetForceTorque(0u); // Net torque (motor + environment). Non-zero values represent transient effects.
//double effort = -1*wrench.body2Torque.z; // reactive torque from motor
//effort = std::max(-20.0, std::min(20.0, effort));
//effort += joint->GetForce(0); // torque from motor
double effort = joint->GetForce(0);
double alpha = this->low_pass_alpha;
effort = (effort * alpha) + this->prev_effort * (1 - alpha);
this->prev_effort = effort;

hebiros_group->feedback.position[i] = position;
hebiros_group->feedback.velocity[i] = velocity;
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