Add the possibility to use BLF IK in walking module #118

GiulioRomualdi · 2022-09-07T19:39:00Z

This requires ami-iit/bipedal-locomotion-framework#557

…g with with joypad

…eting

…tance phase

…argeting in the BLF-IK

GiulioRomualdi · 2022-09-21T08:43:55Z

@S-Dafarra I think you can review the PR

S-Dafarra

Mostly minor comments. Let me know if something would require too much of rework

src/YarpUtilities/thrifts/WalkingControllers/YarpUtilities/HumanState.thrift

src/WalkingModule/app/robots/iCubGazeboV3/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini

src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini

src/WalkingModule/app/robots/iCubGazeboV3/dcm_walking/joypad_control/tasks/torso.ini

src/RetargetingHelper/include/WalkingControllers/RetargetingHelper/Helper.h

S-Dafarra · 2022-09-21T09:42:49Z

src/WalkingModule/app/robots/iCubGazeboV3/dcm_walking/joypad_control/tasks/regularization.ini

+[stance]
+name    "stance"


Aren't these two a bit redundant?

Actually, this is the way in which the MultiStateWeightProvider works. The provider wants a vector named stances that contains the name of the groups associated to each state. Then for each state, we specify a name and the weight itself.

Can the name of the group be different from the name parameter? Do you envision some case where this could be useful?

Can the name of the group be different from the name parameter?

Yes

Do you envision some case where this could be useful?

For the time being, I don't see the reason why they should be different.

2cf39b7 and 85c278f changes the names of the groups using uppercase. This should reduce the misunderstanding

src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini

src/WholeBodyControllers/include/WalkingControllers/WholeBodyControllers/IntegrationBasedIK.h

S-Dafarra · 2022-09-21T09:50:07Z

src/WholeBodyControllers/src/IntegrationBasedIK.cpp

+    m_usejointRetargeting = false;
+    int usejointRetargeting = 0;
+    ptr->getParameter("use_joint_retargeting", usejointRetargeting);
+    m_usejointRetargeting = usejointRetargeting != 0;


Why is this casting needed here?

use_joint_retargeting is actually a number stored in the main configuration file.

ptr->getParameter("use_joint_retargeting", m_usejointRetargeting);

will fail since m_usejointRetargeting is a bool and the check inside blf fails. We should change the code in blf

But why this works instead?

walking-controllers/src/WholeBodyControllers/src/IntegrationBasedIK.cpp

Lines 52 to 53 in 20b1e8f

m_useRootLinkForHeight = false;

ptr->getParameter("use_root_link_for_height", m_useRootLinkForHeight);

Because the parameter use_root_link_for_height is a boolean. By the way, this ami-iit/bipedal-locomotion-framework#566 should remove this limitation of blf

Fixed here: 97b6c70

…LFIK.cpp

… for iCubGazeboV3

… for iCubGenova09

GiulioRomualdi force-pushed the feature/blf_ik branch 2 times, most recently from cae1e49 to 08d8772 Compare September 10, 2022 15:29

GiulioRomualdi added 7 commits September 12, 2022 10:48

Store the kindyn object as shared_ptr in the KinDynWrapper class

7df90ba

Implement the integration based ik class

98f648b

Add the possibility to use blf IK in walking module

6a15681

Find BLF components in CMakeLists

3fb8708

[iCubGazeboV3] Add BLF IK configuartion file

b09e3be

Add the possibility to use the root link height in blf ik

94e2ad7

[iCubGazeboV3] Add the possibility to control the root height

5c35a3f

GiulioRomualdi force-pushed the feature/blf_ik branch from 08d8772 to 5c35a3f Compare September 12, 2022 09:05

GiulioRomualdi added 3 commits September 14, 2022 14:37

🤖 [iCubGenova09] Add the configuration files to use blf-IK for walkin…

36ea7f0

…g with with joypad

[iCubGenova09] Add config files to use blf-IK with iFeel joint retarg…

737b26b

…eting

Fix the option to enable joint retargeting in BLF-IK

35ee076

GiulioRomualdi force-pushed the feature/blf_ik branch from c591e97 to 35ee076 Compare September 16, 2022 16:34

GiulioRomualdi added 2 commits September 19, 2022 09:22

Consider the retargeting joint velocity in BLF-IK

6cad59a

[iCubGenova09] Set the torso weight equal to 0 when the robot is in s…

ef6a08e

…tance phase

GiulioRomualdi force-pushed the feature/blf_ik branch from bbb343f to ef6a08e Compare September 19, 2022 11:22

GiulioRomualdi added 2 commits September 20, 2022 13:22

Add the HumanState msg inside the walking-controllers project

a317723

Directly connect the HDE data to the walking controller

0c3ef4b

GiulioRomualdi mentioned this pull request Sep 20, 2022

Avoid to use the XsensRetargetingModule in the Xprize-KynDynRetargeting.xml application robotology/walking-teleoperation#105

Merged

GiulioRomualdi and others added 5 commits September 20, 2022 16:59

Log the retargeting velocity in WalkingModule

8d2cd7d

Increase the PID the shoulder yaw

2e88845

Decrease the smoothing time of the joint retargeting while walking

09dae03

Add the possibility to disable the feedforward term for the joint ret…

2068582

…argeting in the BLF-IK

Fix some typos in Module.cpp

20b1e8f

GiulioRomualdi requested a review from S-Dafarra September 21, 2022 08:43

GiulioRomualdi self-assigned this Sep 21, 2022

S-Dafarra reviewed Sep 21, 2022

View reviewed changes

Add newline at end of file for iCubGazeboV3 config files

2bc1118

GiulioRomualdi added 7 commits September 21, 2022 14:42

Add newline at end of file for iCubGenova09 config files

65e566e

Add newline at end of file in HumanState.thrift

98311c0

Fix typos in RetargetingClient::Phase enum class

6ddd1a0

Rename IntegrationBasedIK class into BLFIK

8858faf

Avoid to perform the casting for use_joint_retargeting parameter in B…

97b6c70

…LFIK.cpp

Use uppercase for the group names associated to the IK weights states…

2cf39b7

… for iCubGazeboV3

Use uppercase for the group names associated to the IK weights states…

85c278f

… for iCubGenova09

S-Dafarra approved these changes Sep 21, 2022

View reviewed changes

GiulioRomualdi merged commit cf5385a into master Sep 21, 2022

GiulioRomualdi deleted the feature/blf_ik branch September 21, 2022 14:47

traversaro mentioned this pull request Sep 24, 2022

RetargetingHelper: Remove spurious blf include #125

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Add the possibility to use BLF IK in walking module #118

Add the possibility to use BLF IK in walking module #118

GiulioRomualdi commented Sep 7, 2022 •

edited

Loading

GiulioRomualdi commented Sep 21, 2022

S-Dafarra left a comment

S-Dafarra Sep 21, 2022

GiulioRomualdi Sep 21, 2022

S-Dafarra Sep 21, 2022

GiulioRomualdi Sep 21, 2022

GiulioRomualdi Sep 21, 2022

S-Dafarra Sep 21, 2022

GiulioRomualdi Sep 21, 2022

S-Dafarra Sep 21, 2022 •

edited

Loading

GiulioRomualdi Sep 21, 2022

GiulioRomualdi Sep 21, 2022

	m_useRootLinkForHeight = false;
	ptr->getParameter("use_root_link_for_height", m_useRootLinkForHeight);

Add the possibility to use BLF IK in walking module #118

Add the possibility to use BLF IK in walking module #118

Conversation

GiulioRomualdi commented Sep 7, 2022 • edited Loading

GiulioRomualdi commented Sep 21, 2022

S-Dafarra left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

S-Dafarra Sep 21, 2022 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

GiulioRomualdi commented Sep 7, 2022 •

edited

Loading

S-Dafarra Sep 21, 2022 •

edited

Loading