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Miscellaneous fixes #111

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Merged
varunagrawal merged 3 commits into from
Apr 3, 2021
Merged

Miscellaneous fixes #111

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5f45ddf
fetch urdf model without the mesh info
varunagrawal Mar 22, 2021
51039b4
fixes and cmake prettiness
varunagrawal Mar 22, 2021
9b33a5c
keep old URDF of the fetch
varunagrawal Apr 3, 2021
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15 changes: 15 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -119,3 +119,18 @@ option(GTDYNAMICS_BUILD_SCRIPTS "Build all scripts" OFF)
if(GTDYNAMICS_BUILD_SCRIPTS)
add_subdirectory(scripts)
endif()

message(STATUS "===============================================================")
message(STATUS "================ Configuration Options ======================")
message(STATUS "Project : ${PROJECT_NAME}")
message(STATUS "CMAKE_CXX_COMPILER_ID type : ${CMAKE_CXX_COMPILER_ID}")
message(STATUS "CMAKE_CXX_COMPILER_VERSION : ${CMAKE_CXX_COMPILER_VERSION}")
message(STATUS "GTSAM Version : ${GTSAM_VERSION}")
message(STATUS "Boost Version : ${Boost_VERSION}")
message(STATUS "Sdformat Version : ${sdformat8_VERSION}")
message(STATUS "Build Python : ${GTDYNAMICS_BUILD_PYTHON}")
if(GTDYNAMICS_BUILD_PYTHON)
message(STATUS "Python Version : ${WRAP_PYTHON_VERSION}")
endif()
message(STATUS "Build Scripts : ${GTDYNAMICS_BUILD_SCRIPTS}")
message(STATUS "===============================================================")
26 changes: 14 additions & 12 deletions scripts/alejandro_yetong_01_id_four_bar.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,20 +14,21 @@
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/slam/PriorFactor.h>


#include <iostream>
#include <fstream>
#include <iostream>

#include "gtdynamics/dynamics/DynamicsGraph.h"
#include "gtdynamics/universal_robot/RobotModels.h"
#include "gtdynamics/factors/MinTorqueFactor.h"
#include "gtdynamics/universal_robot/RobotModels.h"
#include "gtdynamics/utils/initialize_solution_utils.h"

using namespace gtdynamics;
using namespace gtdynamics;

int main(int argc, char** argv) {
using four_bar_linkage::robot, four_bar_linkage::planar_axis,
four_bar_linkage::joint_angles, four_bar_linkage::joint_vels;
using four_bar_linkage::joint_angles;
using four_bar_linkage::joint_vels;
using four_bar_linkage::planar_axis;
using four_bar_linkage::robot;

gtsam::Vector3 gravity(0, -10, 0);
robot.fixLink("l1");
Expand All @@ -37,9 +38,9 @@ int main(int argc, char** argv) {
std::cout << "-------------" << std::endl;

// Build the dynamics graph.
auto graph_builder = DynamicsGraph();
gtsam::NonlinearFactorGraph graph = graph_builder.dynamicsFactorGraph(
robot, 0, gravity, planar_axis);
auto graph_builder = DynamicsGraph(gravity, planar_axis);
gtsam::NonlinearFactorGraph graph =
graph_builder.dynamicsFactorGraph(robot, 0);

// Inverse dynamics priors. We care about the torques.
gtsam::Vector joint_accels = gtsam::Vector::Zero(robot.numJoints());
Expand All @@ -61,8 +62,8 @@ int main(int argc, char** argv) {
// Add min torque factor to each joint. This factor minimizes torque squared.
for (auto joint : robot.joints())
graph.add(
MinTorqueFactor(TorqueKey(joint->id(), 0),
gtsam::noiseModel::Gaussian::Covariance(gtsam::I_1x1)));
MinTorqueFactor(internal::TorqueKey(joint->id(), 0),
gtsam::noiseModel::Gaussian::Covariance(gtsam::I_1x1)));

// Initialize solution.
gtsam::Values init_values = ZeroValues(robot, 0);
Expand All @@ -79,7 +80,8 @@ int main(int argc, char** argv) {
gtsam::Values results = optimizer.optimize();

std::cout << "\033[1;31mError: " << graph.error(results) << "\033[0m"
<< std::endl << "-------------" << std::endl;
<< std::endl
<< "-------------" << std::endl;

// Save fg visualization.
// graph_builder.saveGraph("../../visualization/factor_graph.json", graph,
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