Humanoid Locomotion

Rough Idea

1. Given start and end position, generate sequence of footsteps
   • Footstep Planning on Uneven Terrain with Mixed-Integer Convex Optimization (Robin Deits and Russ Tedrake)
2. Given sequence of footsteps, generate ZMP trajectory (HumanoidPlanner.py)
   • Whole-body Motion Planning with Centroidal Dynamics and Full Kinematics (Hongkai Dai, Andrés Valenzuela and Russ Tedrake)
3. Given ZMP trajectory and footstep sequence, generate torque outputs (HumanoidController.py)
   • An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion (Scott Kuindersma, Frank Permenter, and Russ Tedrake)
   • Roughly equivalent to InstantaneousQPController

Controller

Disturbance Rejection

1. Run python3 HumanoidController.py

• Formulate-Solve Time: 0.04s
• 20s of simulation takes around 20mins to run

Planner (WIP)

python3 Planner.py

• Takes around 40mins to solve
• Not solved to optimum (some constraints may be violated / may not be physically feasible)

  SNOPTA EXIT  80 -- insufficient storage allocated
  SNOPTA INFO  83 -- not enough integer storage
  

• Decapitated and dismembered to improve solve time...

Troubleshooting

Out of memory when building drake

In CMakeLists.txt, add --jobs 4 after ${BAZEL_TARGETS}

ExternalProject_Add(drake_cxx_python
  SOURCE_DIR "${PROJECT_SOURCE_DIR}"
  CONFIGURE_COMMAND :
  BUILD_COMMAND
    ${BAZEL_ENV}
    "${Bazel_EXECUTABLE}"
    ${BAZEL_STARTUP_ARGS}
    build
    ${BAZEL_ARGS}
    ${BAZEL_TARGETS}
    --jobs 4
  BUILD_IN_SOURCE ON
  BUILD_ALWAYS ON
  INSTALL_COMMAND
    ${BAZEL_ENV}
    "${Bazel_EXECUTABLE}"
    ${BAZEL_STARTUP_ARGS}
    run
    ${BAZEL_ARGS}
    ${BAZEL_TARGETS}
    --
    ${BAZEL_TARGETS_ARGS}
  USES_TERMINAL_BUILD ON
  USES_TERMINAL_INSTALL ON
)

Link error on std::filesystem calls

Error

error: undefined reference to 'std::filesystem::__cxx11::path::_M_find_extension() const'

Use gcc 7 instead of gcc 8

VTK problems when launching drake-visualizer

• ModuleNotFoundError: No module named 'vtkCommonCorePython'
• libvtkxxx.so: No such file or directory

In CMakeLists.txt, add --define="-DUSE_SYSTEM_VTK=OFF" after ${BAZEL_TARGETS}