Adaptive Constrained Kinematic Control using Partial or Complete Task-Space Measurements

Sample code and minimal example for our TRO2022 paper.

@Article{marinhoandadorno2022adaptive,
  author       = {Marinho, M. M. and Adorno, B. V.},
  title        = {Adaptive Constrained Kinematic Control using Partial or Complete Task-Space Measurements},
  journal      = {IEEE Transactions on Robotics (T-RO)},
  year         = {2022},
  month        = dec,
  doi          = {10.1109/TRO.2022.3181047},
  volume       = {38},
  number       = {6},
  pages        = {3498--3513}
}

Standalone Example

The red object represents the estimated robot, initially very wrong on purpose to evaluate the adaptation.
The estimation usually converges within a few seconds by using measurements from a simulated sensor.
Simultaneously, the robot proceeds through the box, toward the target poses, without collisions.
You can change the pose of the xd0 and xd1 objects in the scene, as long as you do it before the simulation starts.

sample_720p.mp4

Usage

Download & extract the standalone version (only do this once)

cd ~
sudo apt install curl jq -y
wget $(curl -sL https://api.github.com/repos/mmmarinho/tro2022_adaptivecontrol/releases/latest | jq -r '.assets[].browser_download_url')
tar -xvf tro2022_adaptivecontrol_example.tar.xz

Running

Open the example scene, namely tro2022_adaptivecontrol_example/TRO2022_MarinhoAdorno_ReferenceScene.ttt on CoppeliaSim.
Run

cd ~/tro2022_adaptivecontrol_example
./run_example.sh

Troubleshooting

If you have the error below when running the pre-compiled example, please use Ubuntu 22.04 or later.

./run_example.sh
bin/adaptive_control_example: /lib/x86_64-linux-gnu/libc.so.6: version GLIBC_2.32' not found (required by bin/adaptive_control_example) bin/adaptive_control_example: /lib/x86_64-linux-gnu/libc.so.6: version GLIBC_2.34' not found (required by bin/adaptive_control_example)
bin/adaptive_control_example: /lib/x86_64-linux-gnu/libstdc++.so.6: version GLIBCXX_3.4.29' not found (required by bin/adaptive_control_example) bin/adaptive_control_example: /lib/x86_64-linux-gnu/libc.so.6: version GLIBC_2.32' not found (required by lib/libdqrobotics.so)
bin/adaptive_control_example: /lib/x86_64-linux-gnu/libstdc++.so.6: version GLIBCXX_3.4.29' not found (required by lib/libdqrobotics-interface-vrep.so) bin/adaptive_control_example: /lib/x86_64-linux-gnu/libc.so.6: version GLIBC_2.32' not found (required by lib/libdqrobotics-interface-vrep.so)
bin/adaptive_control_example: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.34' not found (required by lib/libdqrobotics-interface-vrep.so)

Known limitations of this example/TODO list/Extra info

The stopping criterium is elapsed time, so it might not converge for all initial parameters.
The initial convergence to measurements mentioned in the paper TODO for this example.
The estimated model is randomized so it might start in an implausible zone. Fixing this is TODO for this example.
Sample code for partial measurements is included, but they have not been tested in this example, only in the physical robot.
The adaptation is supposed to move the parameters of the estimated_robot towards ideal kinematic model, defined by real_robot in the code. The robot model in CoppeliaSim is for visualization only.
A different solver was used in the paper's experiments, in this example we use an open-source solver, so the behavior might be somewhat different.
The final target position is, ON PURPOSE, chosen as somewhere the robot cannot reach. It serves to show that even in such case the robot does not collide with the environment.

Build from source

Just in case

sudo apt install g++ cmake git libeigen3-dev

Download the repo

cd ~
mkdir git
cd git
git clone https://github.com/mmmarinho/tro2022_adaptivecontrol.git --recursive

Build

With all dependencies correctly configured,

cd ~/git/tro2022_adaptivecontrol
chmod +x .build.sh
./.build.sh

Running

Open the example scene, namely TRO2022_MarinhoAdorno_ReferenceScene.ttt on CoppeliaSim.
Run

cd ~/git/tro2022_adaptivecontrol
chmod +x .run.sh
./.run.sh

Example console output of the results

Running on an 8 core Ubuntu VM.

Not considering the setup step prints

Reference timeout for xd0
  Average computational time = 0.00126314 seconds.
  Clock overruns =7 (Too many, i.e. hundreds, indicate that the sampling time is too low for this CPU).
  Final task pose error norm 2.37699e-15 (Dual quaternion norm).
  Final task translation error norm 0 (in meters).
  Final measurement error norm 9.3756e-16 (Dual quaternion norm).
  Final measurement translation error norm 0 (in meters).
Reference timeout for xd1
  Average computational time = 0.000902905 seconds.
  Clock overruns =7 (Too many, i.e. hundreds, indicate that the sampling time is too low for this CPU).
  Final task pose error norm 0.0225817 (Dual quaternion norm).
  Final task translation error norm 0.044178 (in meters).
  Final measurement error norm 0.000940036 (Dual quaternion norm).
  Final measurement translation error norm 0.001836 (in meters).

Tested on

Ubuntu 22.04 5.19.0-41-generic #42~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Apr 18 17:40:00 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
g++ --version g++ (Ubuntu 11.3.0-1ubuntu1~22.04.1) 11.3.0
CoppeliaSim EDU 5.4.1 (rev4)
DQ Robotics cpp as shown in the submodule information.
DQ Robotics cpp-interface-vrep as shown in the submodule information.
DQ Robotics cpp-interface-qpoases as shown in the submodule information.
qpOASES as shown in the submodule information.
sas_core as shown in the submodule information.

Python binding installation

All dependencies MUST be installed as system-wide packages. Also

sudo apt install pybind11-dev

Supposing there is a venv installed as

~/git/tro2022_adaptivecontrol
python3 -m venv venv

Once

At the root of this directory

~/git/tro2022_adaptivecontrol
source venv/bin/activate
python3 -m pip install ./python_wrapper

Using it

python3
>>> from adaptive_control_example import *