syroco / orca Goto Github PK

As we are declaring per-tasks variables (acceleration , torque and wrench ), we might be able to build the problem dynamically (right now acceleration and torque are fixed ).
Dynamics equation might cause issues.

Hello,

Due to a unrelated issue with my pc i had to reinstall. (I have intsalled ORCA before).
However, using the same installation commands (https://orca-controller.readthedocs.io/en/master/getting_started/install.html),
i find that the installation of ORCA does not work.
After running " sudo cmake --build . --target install " I can see that the executables of the examples are not placed in /orca/build/examples/.. but in /orca/build/lib/orca/examples/..
However, I can not run the examples (error: command not found).

In addition, when using the same CMakeLists file i used before i can not compile the sample programs using the orca name space.
Error: Target "Example00" links to target "orca::orca" but the target was not
found. Perhaps a find_package() call is missing for an IMPORTED target, or
an ALIAS target is missing?

Note that i use the CMakeLists file as defined on https://orca-controller.readthedocs.io/en/master/getting_started/using_the_lib.html

It seems to me that during installation something went wrong. If possible, could you point me in which direction to search for a solution?

thanks in advance

Hello,
I am currently trying to recreate the gazebo-examples. I installed the dependencies and gazebo via the Guide. When trying to build and run examples involving gazebo i get an error stating that certain header files can not be found. For example gazebo/common/common.hh. This has been solved by creating symbolic links in /usr/local/include (for gazebo) to the correct forlder(s). However, if i now try to compile and run a code using #include <orca/gazebo/GazeboServer.h> or #include <orca/gazebo/GazeboModel.h> it does not run. (note " Test01" is the executable).
Via the debugger i extracted the following information:
_terminate called after throwing an instance of 'gazebo::common::Exception'

Thread 1 "Test01" received signal SIGABRT, Aborted.
_GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.

In the CMakeLists.txt i added the following to get gazebo included:
find_package(gazebo REQUIRED)
include_directories(${GAZEBO_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME} ${GAZEBO_LIBRARIES})
link_directories(${GAZEBO_LIBRARY_DIRS})

If more information is needed, please let me know
Please advise how to proceed

Thanks in advance
Greetings

I'm thinking about having 2 functions in orca::robot::RobotModel to differenciate fixed base and floating robots:

robot->setFixedBaseFrame("base_of_the_manipulator"); // robot is fixed somewhere in the world.
// and
robot->setFloatingFrame("pelvis"); // robot can move in the world

@rlober , @iadev , @vpadois ?

Hello,
I need recover the term jdot*qdot to compute energy of the effector. But i didn't find it in RobotDyn Class.
Thank you.
ZHENG Pu

Hello.
I am trying to use the the panda.urdf file (orca/examples/resources) as robot model input for the examples involving Gazebo, in particular the trajectory following example.

However, the robot does not behave as expected, (see images ).
In order to load the model successfully i had to change two things in the example code, and add one thing in the urdf file.

In the example code i changed the link names according to the urdf file:
(line 110) setBaseFrame to " panda_link0"
(line 172) setModelConfiguration { "panda_joint1", "panda_joint3","panda_joint5"}

in the urdf file i added:

Gazebo/Grey

in order for the panda_link0 to be visible.

Are there additional steps i have to take to use panda.urdf with the example codes?
I tried with both gravity compensation true and fale. i.e.
(line 252) removegravityTorquesFromSolution(true) and false.

Thanks in advance!

Greetings
Remco

I am new to ORCA and trying to run the example codes.
When i run 02-using_callbacks.cc I get the error:
/usr/local/include/orca/utils/Utils.h:153: Parameter 'servo_controller' : /usr/local/include/orca/utils/Utils.h:153: Trying to get() but parameter is not set

I tried using the various resource files in /orca/examples/resources but the error comes up with all but one of them (panda.urdf yields a different error regarding the base frame).

I could really use some input on how to solve this. Thanks in advance!

In dev branch, ramping up not satisfied and the task only seem to output data when activated.

Hello,
Can you help me solve my problem with Orca please?
I installed Orca and its dependencies according to the guide.
But I have a problem when I want to use existing examples:
$ 06-trajectory_following /home/nbenhabib/orca/examples/resources/lwr.urdf
06-trajectory_following: command not found
Or :
$ rosrun orca 06-trajectory_following /home/nbenhabib/orca/examples/resources/lwr.urdf
[rosrun] Couldn't find executable named 06-trajectory_following below /home/nbenhabib/orca
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/nbenhabib/orca/build/devel/lib/orca/06-trajectory_following

Executables exist but ubuntu do not consider them as a command.

Thank you!

Hello,
I need recover the term joint acceleration to compute the cartesian acceleration of the effector. But i didn't find it in RobotDyn Class.
Thank you.
ZHENG Pu

Right now tasks are written as || E + f || , and each task can compute it's own quadratic cost (Hessian and gradient).
All task's costs are summed (+) in the Problem to build the global objective.

@iadev you were thinking of another way of writing the math ?