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Paris and minister demo #114

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merged 16 commits into from
Aug 24, 2022
Merged

Paris and minister demo #114

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04731ff
Enable ellipse
Mar 11, 2022
a5653e8
Update the freespace ellipse and the planner parameters
Mar 18, 2022
041edc9
Change the starting position of the walking
GiulioRomualdi Mar 18, 2022
c7983fd
Update the free space ellipse parameters
GiulioRomualdi Mar 20, 2022
74cc188
Change the qp smooting time from 2.5 to 4.5
GiulioRomualdi Mar 20, 2022
8e8fe18
Bumped UnicyclePlanner requested version and bumped minor version.
S-Dafarra Apr 12, 2022
e5b8de9
Using two parameters to set the inner ellipse.
S-Dafarra Apr 12, 2022
1a8b6b5
Change joint regularization for using the trackers without iFeel suit
Apr 6, 2022
aacf3da
Decrease walking velocity
Apr 6, 2022
b78531f
Disable ellipse
Apr 6, 2022
1a33729
Increased turning velocity of iCubGenova09.
Jun 7, 2022
8b2e66f
modify stepDuration and zmpDelta for iCubGenova09
Jul 7, 2022
28fbd90
Restored fast walking velocity and used landing velocity
Jul 12, 2022
68d783f
[iCubGenova09] Update the planner parameters
GiulioRomualdi Jul 15, 2022
80ce9f8
[iCubGenova09] Update the rightZMPDelta
GiulioRomualdi Jul 15, 2022
4532ecb
Change knee low level PID
Jul 19, 2022
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2 changes: 1 addition & 1 deletion cmake/WalkingControllersFindDependencies.cmake
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Expand Up @@ -134,7 +134,7 @@ checkandset_dependency(iDynTree)
find_package(Eigen3 3.2.92 QUIET)
checkandset_dependency(Eigen3)

find_package(UnicyclePlanner 0.4.0 QUIET)
find_package(UnicyclePlanner 0.4.2 QUIET)
checkandset_dependency(UnicyclePlanner)

find_package(osqp QUIET)
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6 changes: 4 additions & 2 deletions src/TrajectoryPlanner/src/TrajectoryGenerator.cpp
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Expand Up @@ -117,7 +117,9 @@ bool TrajectoryGenerator::configurePlanner(const yarp::os::Searchable& config)

yarp::os::Bottle ellipseMethodGroup = config.findGroup("ELLIPSE_METHOD_SETTINGS");
double freeSpaceConservativeFactor = ellipseMethodGroup.check("conservative_factor", yarp::os::Value(2.0)).asFloat64();
double innerEllipseOffset = ellipseMethodGroup.check("inner_ellipse_offset", yarp::os::Value(0.0)).asFloat64();
double innerEllipseSemiMajorOffset = ellipseMethodGroup.check("inner_offset_major", yarp::os::Value(0.0)).asFloat64();
double innerEllipseSemiMinorOffset = ellipseMethodGroup.check("inner_offset_minor", yarp::os::Value(0.0)).asFloat64();


// try to configure the planner
std::shared_ptr<UnicyclePlanner> unicyclePlanner = m_trajectoryGenerator.unicyclePlanner();
Expand All @@ -143,7 +145,7 @@ bool TrajectoryGenerator::configurePlanner(const yarp::os::Searchable& config)
unicyclePlanner->startWithLeft(m_swingLeft);
unicyclePlanner->resetStartingFootIfStill(startWithSameFoot);
ok = ok && unicyclePlanner->setFreeSpaceEllipseConservativeFactor(freeSpaceConservativeFactor);
ok = ok && unicyclePlanner->setInnerFreeSpaceEllipseOffset(innerEllipseOffset);
ok = ok && unicyclePlanner->setInnerFreeSpaceEllipseOffsets(innerEllipseSemiMajorOffset, innerEllipseSemiMinorOffset);

ok = ok && m_trajectoryGenerator.setSwitchOverSwingRatio(switchOverSwingRatio);
ok = ok && m_trajectoryGenerator.setTerminalHalfSwitchTime(lastStepSwitchTime);
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7 changes: 5 additions & 2 deletions src/WalkingModule/app/robots/iCubGazeboV2_5/dcm_walking/common/freeSpaceEllipseParams.ini
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Expand Up @@ -5,8 +5,11 @@
#Greater values make this behavior more sensitive.
conservative_factor 2.0

#This offset is subtracted from the semi_minor_axis and semi_major_axis to obtain the inner ellipse
inner_ellipse_offset 0.5
#This offset is subtracted from the semi_major_axis to obtain the inner ellipse
inner_offset_major 0.5

#This offset is subtracted from the semi_minor_axis to obtain the inner ellipse
inner_offset_minor 1.0

[ELLIPSE_MANAGER_SETTINGS]
port_name freeSpaceEllipse:in
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7 changes: 5 additions & 2 deletions src/WalkingModule/app/robots/iCubGazeboV3/dcm_walking/common/freeSpaceEllipseParams.ini
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Expand Up @@ -5,8 +5,11 @@
#Greater values make this behavior more sensitive.
conservative_factor 2.0

#This offset is subtracted from the semi_minor_axis and semi_major_axis to obtain the inner ellipse
inner_ellipse_offset 0.5
#This offset is subtracted from the semi_major_axis to obtain the inner ellipse
inner_offset_major 0.5

#This offset is subtracted from the semi_minor_axis to obtain the inner ellipse
inner_offset_minor 1.0

[ELLIPSE_MANAGER_SETTINGS]
port_name freeSpaceEllipse:in
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7 changes: 5 additions & 2 deletions src/WalkingModule/app/robots/iCubGenova04/dcm_walking/common/freeSpaceEllipseParams.ini
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Expand Up @@ -5,8 +5,11 @@
#Greater values make this behavior more sensitive.
conservative_factor 2.0

#This offset is subtracted from the semi_minor_axis and semi_major_axis to obtain the inner ellipse
inner_ellipse_offset 0.5
#This offset is subtracted from the semi_major_axis to obtain the inner ellipse
inner_offset_major 0.5

#This offset is subtracted from the semi_minor_axis to obtain the inner ellipse
inner_offset_minor 1.0

[ELLIPSE_MANAGER_SETTINGS]
port_name freeSpaceEllipse:in
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11 changes: 7 additions & 4 deletions src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/freeSpaceEllipseParams.ini
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Expand Up @@ -5,21 +5,24 @@
#Greater values make this behavior more sensitive.
conservative_factor 2.0

#This offset is subtracted from the semi_minor_axis and semi_major_axis to obtain the inner ellipse
inner_ellipse_offset 0.5
#This offset is subtracted from the semi_major_axis to obtain the inner ellipse
inner_offset_major 0.5

#This offset is subtracted from the semi_minor_axis to obtain the inner ellipse
inner_offset_minor 1.0

[ELLIPSE_MANAGER_SETTINGS]
port_name freeSpaceEllipse:in

use_initial_ellipse 0
use_initial_ellipse 0

[INITIAL_ELLIPSE]

#Axis along the x direction
semi_major_axis 1.5

#Axis along the y direction
semi_minor_axis 1.0
semi_minor_axis 1.5

#Rotation around the z axis
angle 0.0
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4 changes: 2 additions & 2 deletions src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini
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Expand Up @@ -15,8 +15,8 @@ useGainScheduling 0
[DEFAULT]
#NAME P I D
#torso_pitch 5.0 1.0 0.5
l_knee -25000.0 -1000.0 0.0
r_knee 25000.0 1000.0 0.0
l_knee -30000.0 -1000.0 0.0
r_knee 30000.0 1000.0 0.0
l_ankle_pitch -15000.0 -1000.0 0.0
r_ankle_pitch 15000.0 1000.0 0.0
l_ankle_roll -8000.0 -1000.0 0.0
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20 changes: 10 additions & 10 deletions src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/plannerParams.ini
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Expand Up @@ -6,39 +6,39 @@ unicycleGain 10.0
referencePosition (0.1 0.0)
timeWeight 2.5
positionWeight 1.0
slowWhenTurningGain 4.0
slowWhenBackwardFactor 0.5
slowWhenTurningGain 2.0
slowWhenBackwardFactor 0.7

##Bounds
#Step length
maxStepLength 0.25
maxStepLength 0.27
minStepLength 0.05
#Width
minWidth 0.16
minWidth 0.12
#Angle Variations in DEGREES
#maxAngleVariation 12.0
maxAngleVariation 15.0
minAngleVariation 8.0
maxAngleVariation 18.0
minAngleVariation 5.0
#Timings
maxStepDuration 1.0
maxStepDuration 1.1
minStepDuration 0.7

##Nominal Values
#Width
nominalWidth 0.17
#Height
stepHeight 0.035
stepLandingVelocity 0.0
stepLandingVelocity -0.15
footApexTime 0.5
comHeightDelta 0.01
#Timings
nominalDuration 0.9
lastStepSwitchTime 0.8
switchOverSwingRatio 0.7
switchOverSwingRatio 0.3

#ZMP Delta
leftZMPDelta (0.01 -0.0)
rightZMPDelta (0.01 -0.0)
rightZMPDelta (0.01 0.01)

#Feet cartesian offset on the yaw
leftYawDeltaInDeg 0.0
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4 changes: 2 additions & 2 deletions ...gModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/inverseKinematics.ini
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Expand Up @@ -19,8 +19,8 @@ max-cpu-time 20
#DEGREES
jointRegularization (0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
-3.7, 25.0, -13.0, 40.769, 0, 0, 0,
-3.7, 25.0, -13.0, 40.769, 0, 0, 0,
12.0, 7.0, -12.0, 41.0, -28.3, 0, 0,
12.0, 7.0, -12.0, 41.0, -28.3, 0, 0,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52)

Expand Down
8 changes: 4 additions & 4 deletions ...odule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/qpInverseKinematics.ini
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Expand Up @@ -9,8 +9,8 @@ additional_rotation ((1.0 0.0 0.0),(0.0 1.0 0.0),(0.0 0.0 1.0))
# joint regularization values in degrees
joint_regularization (0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
-3.7, 25.0, -13.0, 40.769, 0, 0, 0,
-3.7, 25.0, -13.0, 40.769, 0, 0, 0,
12.0, 7.0, -12.0, 41.0, -28.3, 0, 0,
12.0, 7.0, -12.0, 41.0, -28.3, 0, 0,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52)

Expand All @@ -30,7 +30,7 @@ joint_regularization_weight_stance (0.0, 0.0, 0.0,

joint_regularization_weight_walking (0.0, 0.0, 0.0,
1.0, 1.0, 1.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
Expand Down Expand Up @@ -69,7 +69,7 @@ k_posHand 2.5
k_attHand 1.0

# use gain scheduling for hand retargeting
smoothing_time 0.5
smoothing_time 4.5

# joint limits
k_joint_limit_lower_bound 1.0
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11 changes: 9 additions & 2 deletions src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/inverseKinematics.ini
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Expand Up @@ -25,12 +25,19 @@ max-cpu-time 20


#DEGREES
# jointRegularization (7, 0.12, -0.01,
# -3.7, 20.0, -13.0, 40.769,
# -3.7, 20.0, -13.0, 40.769,
# 5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
# 5.76, 1.61, -0.31, -31.64, -20.52, -1.52)

jointRegularization (7, 0.12, -0.01,
-3.7, 20.0, -13.0, 40.769,
-3.7, 20.0, -13.0, 40.769,
12.0, 7.0, -12.0, 40.769,
12.0, 7.0, -12.0, 40.769,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52)


# jointRegularization (7, 0.12, -0.01,
# -70.0, 46.70, 25.0, 40.769,
# -70.0, 46.70, 25.0, 40.769,
Expand Down
11 changes: 9 additions & 2 deletions src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/qpInverseKinematics.ini
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Expand Up @@ -7,12 +7,19 @@ neck_weight 5.0
additional_rotation ((1.0 0.0 0.0),(0.0 1.0 0.0),(0.0 0.0 1.0))

# Joint regularization term
# joint_regularization (7, 0.12, -0.01,
# -3.7, 20.0, -13.0, 40.769,
# -3.7, 20.0, -13.0, 40.769,
# 5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
# 5.76, 1.61, -0.31, -31.64, -20.52, -1.52)

joint_regularization (7, 0.12, -0.01,
-3.7, 20.0, -13.0, 40.769,
-3.7, 20.0, -13.0, 40.769,
12.0, 7.0, -12.0, 40.769,
12.0, 7.0, -12.0, 40.769,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52)


# joint_regularization (7, 0.12, -0.01,
# -70.0, 46.70, 25.0, 40.769,
# -70.0, 46.70, 25.0, 40.769,
Expand Down
7 changes: 5 additions & 2 deletions src/WalkingModule/app/robots/icubGazeboSim/dcm_walking/common/freeSpaceEllipseParams.ini
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Expand Up @@ -5,8 +5,11 @@
#Greater values make this behavior more sensitive.
conservative_factor 2.0

#This offset is subtracted from the semi_minor_axis and semi_major_axis to obtain the inner ellipse
inner_ellipse_offset 0.5
#This offset is subtracted from the semi_major_axis to obtain the inner ellipse
inner_offset_major 0.5

#This offset is subtracted from the semi_minor_axis to obtain the inner ellipse
inner_offset_minor 1.0

[ELLIPSE_MANAGER_SETTINGS]
port_name freeSpaceEllipse:in
Expand Down