EricCousineau-TRI/drake_torque_control_study

Testing out controller formulations for intuitive tracking against boundaries for haptic coupling, etc.

Control Study

Trying out various torque control SE(3) controllers.

Setup

Be sure you have poetry: https://python-poetry.org

poetry install

Running

# For each terminal.
poetry shell

# (Separate terminal) Visualizer
python -m pydrake.visualization.meldis -w

# (Main terminal) Running
python -m drake_torque_control_study.main

Using pydrake with Proprietary Solvers

This should only be necessary for GUROBI. Build drake locally (do not redistribute!) with Gurobi enabled, and install somewhere.

Here's a super hacky example, based on Python 3.10, Drake v1.19.0

• https://drake.mit.edu/from_source.html
• https://drake.mit.edu/bazel.html#proprietary-solvers

# In vanilla environment.
cd drake
git checkout v1.19.0
# WARNING: Bazel installation may not be stable. Use CMake to be safe.
bazel run --config=snopt --config=mosek --config=gurobi //:install -- ~/.local/opt/drake/v1.19.0

# In poetry.
poetry shell
fhs_dir=$(poetry env info --path)
pydrake_dir=$(python -c 'import os; import pydrake as m; print(os.path.dirname(m.__file__))')
mv ${pydrake_dir} ${pydrake_dir}_old
ln -s ~/.local/opt/drake/v1.19.0/lib/python3.10/site-packages/pydrake ${pydrake_dir}
ln -s ~/.local/opt/drake/v1.19.0/share/drake ${fhs_dir}/share/

Drake Versions

• v1.17.0 - Snopt works on aggressive singularity cases
• v1.18.0 - Snopt fails towards end of singuarlity + rotation case
• v1.19.0 - Snopt fails similar to OSQP