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Tuning icub #108

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Tuning icub #108

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2e36e62
tuning icub
jbmouret Jun 8, 2022
f1c5e7c
new test (simpler, more reliable)
jbmouret May 26, 2022
2383adb
remove old tests
jbmouret May 30, 2022
862cfcd
handle collision checks
jbmouret May 30, 2022
6af7e96
test ok on docker clang c++17
dalinel Jun 2, 2022
a75022f
partial fix of error for test_example_project.sh
jbmouret Jun 2, 2022
cdcc0dc
fix the error with arguments in test
jbmouret Jun 2, 2022
44fd0ea
add a new behavior to move the CoM
jbmouret Jun 2, 2022
df6839d
remove the squat and replace it by move_com
jbmouret Jun 2, 2022
85e790b
ok
dalinel Jun 2, 2022
f79ad4f
tuning icub
jbmouret Jun 8, 2022
412f142
icub: renames joints and links to match the new icub.urdf
olivierrochel-inria Jun 28, 2022
9d956e1
Merge branch 'tuning_icub' of github.com:resibots/inria_wbc into tuni…
olivierrochel-inria Jun 28, 2022
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4 changes: 2 additions & 2 deletions etc/icub/configuration.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
<joint name="l_shoulder_pitch" value="-1.02395" />
<joint name="l_shoulder_roll" value="0.511463" />
<joint name="l_shoulder_yaw" value="0.0473993" />
<joint name="l_elbow_joint" value="0.232871" />
<joint name="l_elbow" value="0.232871" />
<joint name="l_wrist_prosup" value="0.0471739" />
<joint name="l_wrist_pitch" value="-0.106723" />
<joint name="l_wrist_yaw" value="0.259116" />
Expand All @@ -30,7 +30,7 @@
<joint name="r_shoulder_pitch" value="-1.02382" />
<joint name="r_shoulder_roll" value="0.511383" />
<joint name="r_shoulder_yaw" value="0.0473731" />
<joint name="r_elbow_joint" value="0.233003" />
<joint name="r_elbow" value="0.233003" />
<joint name="r_wrist_prosup" value="0.0470791" />
<joint name="r_wrist_pitch" value="-0.106679" />
<joint name="r_wrist_yaw" value="0.25915" />
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83 changes: 33 additions & 50 deletions etc/icub/configurations.srdf
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Original file line number Diff line number Diff line change
@@ -1,55 +1,38 @@
<?xml version="1.0" ?>
<robot name="robot">
<group_state name="inria_start" group="all">
<joint name="root_joint" value=" -0.0522203 0.000467603 0.43 0.0001534 0.0526897 -0.000532457 0.998611" />
<joint name="l_hip_pitch" value="0.589391" />
<joint name="r_hip_pitch" value="0.589391" />

<joint name="l_hip_roll" value="0.0969721" />
<joint name="r_hip_roll" value="0.0969721" />

<joint name="l_hip_yaw" value="-0.0496379" />
<joint name="r_hip_yaw" value="-0.0496379" />

<joint name="l_knee" value="-0.873709" />
<joint name="r_knee" value="-0.873709" />

<joint name="l_ankle_pitch" value="-0.392096" />
<joint name="r_ankle_pitch" value="-0.392096" />

<joint name="l_ankle_roll" value="-0.109139" />
<joint name="r_ankle_roll" value="-0.109139" />



<joint name="torso_pitch" value="0.00670584" />
<joint name="torso_roll" value="-0.000253351" />
<joint name="torso_yaw" value="-0.00176508" />

<joint name="l_shoulder_pitch" value="-1.145" />
<joint name="r_shoulder_pitch" value="-1.145" />

<joint name="l_shoulder_roll" value="0.523578" />
<joint name="r_shoulder_roll" value="0.523578" />

<joint name="l_shoulder_yaw" value="0.0647369" />
<joint name="r_shoulder_yaw" value="0.0647369" />

<joint name="l_elbow_joint" value="0.230685" />
<joint name="r_elbow_joint" value="0.230685" />

<joint name="l_wrist_prosup" value="0.0504902" />
<joint name="r_wrist_prosup" value="0.0504902" />

<joint name="l_wrist_pitch" value="-0.105206" />
<joint name="r_wrist_pitch" value="-0.105206" />

<joint name="l_wrist_yaw" value="0.238379" />
<joint name="r_wrist_yaw" value="0.238379" />

<joint name="neck_pitch" value="0.112923" />
<joint name="neck_roll" value="-0.000713353" />
<joint name="neck_yaw" value="-0.000643952" />

<joint name="root_joint" value="-0.0165507 0.00110185 0.436005 0.00143734 -0.144318 -0.00332486 0.989525" />
<joint name="l_hip_pitch" value="0.0765931" />
<joint name="l_hip_roll" value="0.0957478" />
<joint name="l_hip_yaw" value="0.0" />
<joint name="l_knee" value="-0.817699" />
<joint name="l_ankle_pitch" value="-0.452669" />
<joint name="l_ankle_roll" value="-0.0980072" />
<joint name="r_hip_pitch" value="0.0765931" />
<joint name="r_hip_roll" value="0.0957478" />
<joint name="r_hip_yaw" value="0.0" />
<joint name="r_knee" value="-0.817699" />
<joint name="r_ankle_pitch" value="-0.452669" />
<joint name="r_ankle_roll" value="-0.0980072" />
<joint name="torso_pitch" value="0.3951" />
<joint name="torso_roll" value="0.0" />
<joint name="torso_yaw" value="0.0" />
<joint name="l_shoulder_pitch" value="-0.0619188" />
<joint name="l_shoulder_roll" value="0.377713" />
<joint name="l_shoulder_yaw" value="0.280484" />
<joint name="l_elbow" value="0.838804" />
<joint name="l_wrist_prosup" value="-0.174619" />
<joint name="l_wrist_pitch" value="-0.080911" />
<joint name="l_wrist_yaw" value="-0.0313247" />
<joint name="neck_pitch" value="0." />
<joint name="neck_roll" value="0." />
<joint name="neck_yaw" value="0." />
<joint name="r_shoulder_pitch" value="-0.0619188" />
<joint name="r_shoulder_roll" value="0.377713" />
<joint name="r_shoulder_yaw" value="0.280484" />
<joint name="r_elbow" value="0.838804" />
<joint name="r_wrist_prosup" value="-0.174619" />
<joint name="r_wrist_pitch" value="-0.080911" />
<joint name="r_wrist_yaw" value="-0.0313247" />
</group_state>
</robot>
2 changes: 1 addition & 1 deletion etc/icub/squat.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
BEHAVIOR:
name: humanoid::move_com
trajectory_duration: 1.0
targets: [[0, 0, -0.1]]
targets: [[0, 0, -0.15]]
mask: 001
absolute: false
loop: true
94 changes: 47 additions & 47 deletions etc/icub/tasks.yaml
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Original file line number Diff line number Diff line change
@@ -1,57 +1,57 @@
lh:
type: se3
tracked: l_hand
weight: 1.0
kp: 30.0
weight: 150.0
kp: 50.0
mask: 111111 # xyz
rh:
type: se3
tracked: r_hand
weight: 1.0
kp: 30.0
weight: 150.0
kp: 50.0
mask: 111111
lf:
type: se3
tracked: left_foot
tracked: l_foot
weight: 1000.0
kp: 30.0
mask: 111111
rf:
type: se3
tracked: right_foot
weight: 10.0
tracked: r_foot
weight: 1000.0
kp: 30.0
mask: 111111
com:
type: com
weight: 3000.0
kp: 50.0
weight: 10000.0
kp: 250.0
mask: 111
momentum: #!!!!!WARNING IS DISZBLED FOR SINGLE SUPPORT cf parse_stabiliser !!!!!!!!!!!
momentum: #!!!!!WARNING IS DISABLED FOR SINGLE SUPPORT cf parse_stabiliser !!!!!!!!!!!
type: momentum
weight: 1000.0
kp: 30.0
mask: 000110
posture:
type: posture
weight: 0.05
weight: 0.75
kp: 10.0
ref: inria_start
torso:
type: se3
tracked: chest
weight: 1.0
weight: 100.0
kp: 30.0
mask: 000111
mask: 110111
head:
type: se3
tracked: head
weight: 10.0
kp: 30.0
kp: 20.0
mask: 110111
bounds:
type: bounds
weight: 1000.0
weight: 5000.0
contact_lfoot:
type: contact
joint: l_ankle_roll
Expand All @@ -78,35 +78,35 @@ contact_rfoot:
fmax: 1500.0
mu: 0.3
normal: [0, 0, -1]
self_collision-left:
type: self-collision
tracked: l_wrist_yaw
radius: 0.05
avoided:
r_wrist_yaw: 0.05
v_leg_right: 0.08
v_leg_left: 0.08
torso_pitch: 0.11
l_hip_pitch: 0.08
r_hip_pitch: 0.08
l_knee: 0.08
r_knee: 0.08
weight: 500
kp: 700.0
p: 3
self_collision-right:
type: self-collision
tracked: r_wrist_yaw
radius: 0.05
avoided:
l_wrist_yaw: 0.05
v_leg_right: 0.08
v_leg_left: 0.08
torso_pitch: 0.11
l_hip_pitch: 0.08
r_hip_pitch: 0.08
l_knee: 0.08
r_knee: 0.08
weight: 500
kp: 700.0
p: 3
# self_collision-left:
# type: self-collision
# tracked: l_wrist_yaw
# radius: 0.05
# avoided:
# r_wrist_yaw: 0.05
# v_leg_right: 0.08
# v_leg_left: 0.08
# torso_pitch: 0.11
# l_hip_pitch: 0.08
# r_hip_pitch: 0.08
# l_knee: 0.08
# r_knee: 0.08
# weight: 500
# kp: 700.0
# p: 3
# self_collision-right:
# type: self-collision
# tracked: r_wrist_yaw
# radius: 0.05
# avoided:
# l_wrist_yaw: 0.05
# v_leg_right: 0.08
# v_leg_left: 0.08
# torso_pitch: 0.11
# l_hip_pitch: 0.08
# r_hip_pitch: 0.08
# l_knee: 0.08
# r_knee: 0.08
# weight: 500
# kp: 700.0
# p: 3
2 changes: 1 addition & 1 deletion src/controllers/pos_tracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ namespace inria_wbc {

//q_tsid_ for talos is of size 37 (pos+quat+nactuated)
auto ref_map = robot_->model().referenceConfigurations;
IWBC_ASSERT(ref_map.find(ref_config) != ref_map.end(), "The following reference config is not in ref_map : ", ref_config);
IWBC_ASSERT(ref_map.find(ref_config) != ref_map.end(), "The following reference config is not in ref_map : ", ref_config, ",from file : ", p_srdf);
q_tsid_ = ref_map[ref_config];

if (floating_base_) {
Expand Down