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Implement joint retargeting #41

Merged
merged 59 commits into from
May 13, 2020
Merged

Implement joint retargeting #41

merged 59 commits into from
May 13, 2020

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GiulioRomualdi
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@GiulioRomualdi GiulioRomualdi self-assigned this Sep 26, 2019
@GiulioRomualdi GiulioRomualdi force-pushed the feature/joint_retargeting branch from 09382b3 to a8240c4 Compare October 7, 2019 12:57
@GiulioRomualdi GiulioRomualdi force-pushed the feature/joint_retargeting branch from 5bd420f to d7a2a3d Compare October 28, 2019 10:38
@S-Dafarra S-Dafarra self-requested a review October 29, 2019 09:50
@GiulioRomualdi GiulioRomualdi force-pushed the feature/joint_retargeting branch 2 times, most recently from 676e8ef to 498a344 Compare November 12, 2019 09:50
@GiulioRomualdi
replace the m_jointRegularizationHessian and m_jointRegularizationGra…
82ff0a7 
…dient variables with m_jointRegularizationWeights
@GiulioRomualdi
implement the joint retargeting in the QP inverse kinematics
2a3739d
@GiulioRomualdi
handle the joint retargeting in the Retargeting Client
3d23bde
@GiulioRomualdi
tune gains on iCubGazeboV2_5
69ca702
@GiulioRomualdi
rename iCubGazeboV2_5/dcm_walking_retargeting.ini into iCubGazeboV2_5…
340e68a 
…/dcm_walking_hand_retargeting.ini
@GiulioRomualdi
add parameters of iCubGenova04 (joint retargeting)
9119936
@GiulioRomualdi
rename iCubGenova04/dcm_walking_retargeting.ini into iCubGenova04/dcm…
4fa1409 
…_walking_hand_retargeting.ini
@GiulioRomualdi
tune parameters on iCubGenova04
f29cf01
@GiulioRomualdi
add the lastStepDCMOffsetPercentage parameter please refer to robotol…
41b5976 
…ogy/unicycle-footstep-planner@6b889e4
@GiulioRomualdi
check the worst error before setting the position command only for th…
6c56b8d 
…e danegerous_joints
@GiulioRomualdi
bugfix in Utilis.cpp
e99ff37
@GiulioRomualdi
tune lastStepDCMOffset on iCubGenova04
a10371c
@GiulioRomualdi GiulioRomualdi force-pushed the feature/joint_retargeting branch from d1914f6 to 3298ca5 Compare November 13, 2019 18:32
@GiulioRomualdi GiulioRomualdi force-pushed the feature/joint_retargeting branch from 3298ca5 to d957a2f Compare November 13, 2019 18:55
GiulioRomualdi and others added 11 commits April 30, 2020 11:24
@GiulioRomualdi @S-Dafarra
Fix typos spotted by @S-Dafarra
9f400ea 
Co-Authored-By: Stefano Dafarra <stefano.dafarra@gmail.com>
@GiulioRomualdi @S-Dafarra
Fix typo in RetargetingHelper component
c3143c8 
Co-Authored-By: Stefano Dafarra <stefano.dafarra@gmail.com>
@GiulioRomualdi
Throw a warning if the joint is in compliant mode, but it is also req…
a4621db 
…uested to have good tracking in RobotInterface component
@GiulioRomualdi
Fix documentation in TrajectoryGenerator class
8026c26
@GiulioRomualdi
Update RetargetingHelper component according to @S-Dafarra's suggestion
0acf4fa
@GiulioRomualdi
Remove useless comment in TrajectoryGenerator.cpp
e171fc6
@GiulioRomualdi
Add the com_height_scaling_factor parameter in jointRetargeting.ini c…
d549a26 
…onfiguration file
@GiulioRomualdi
Implement getJointPos method in WalkingFK class
c6cb272
@GiulioRomualdi
Pass the KinDynWrapper to reset the RetargetingHelper
3a1b89f
@GiulioRomualdi
Pass the KinDynWrapper to setRobotState() in QPInverseKinematics class
ab9da12
@GiulioRomualdi
Improve the readibility of evaluateGradientVector() in WalkingQPIK class
f7442cf
@S-Dafarra
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S-Dafarra commented May 4, 2020 •
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By looking at the files, I noticed there were still some old comments (this is the meaning of "Friendly ping"). Probably some of them have been solved already. Feel free to resolve those you think do not apply anymore.

@GiulioRomualdi
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@S-Dafarra, I think I addressed all your comments.

S-Dafarra
S-Dafarra approved these changes May 13, 2020
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Great job!

@GiulioRomualdi
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I'm going to merge the PR.
The latest commit tested on the robot is 169988c. In case of problems we can switch back to that commit

@GiulioRomualdi GiulioRomualdi merged commit 2d0a4a5 into devel May 13, 2020
@GiulioRomualdi GiulioRomualdi mentioned this pull request May 13, 2020
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@GiulioRomualdi GiulioRomualdi deleted the feature/joint_retargeting branch December 11, 2020 10:11
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@S-Dafarra S-Dafarra S-Dafarra approved these changes

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@GiulioRomualdi GiulioRomualdi

@S-Dafarra S-Dafarra

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enhancement New feature or request
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Iteration 43 - End of Research Increment
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@GiulioRomualdi @S-Dafarra