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Enable Wrist teleoperation and prepare the data in vectors collection #165

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9158b32
🤖 [ergoCubSN001] Enable wrist teleoperation
GiulioRomualdi Jan 29, 2024
40d12bc
🤖 [ergoCubSN001] Update the planner parameters
GiulioRomualdi Jan 29, 2024
43d1fdf
Ask for BipedalLocomotionFramework 0.18.0
GiulioRomualdi Feb 16, 2024
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2 changes: 1 addition & 1 deletion cmake/WalkingControllersDependencies.cmake
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Expand Up @@ -9,7 +9,7 @@ find_package(iDynTree REQUIRED)
find_package(Eigen3 3.2.92 REQUIRED)
find_package(UnicyclePlanner 0.6.0 REQUIRED)
find_package(OsqpEigen 0.4.0 REQUIRED)
find_package(BipedalLocomotionFramework 0.16.0
find_package(BipedalLocomotionFramework 0.18.0
COMPONENTS VectorsCollection IK ParametersHandlerYarpImplementation
ContinuousDynamicalSystem ManifConversions Contacts
ParametersHandlerYarpImplementation REQUIRED)
2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/common/plannerParams.ini
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Expand Up @@ -44,7 +44,7 @@ footApexTime 0.5
comHeightDelta 0.01
#Timings
nominalDuration 0.8
lastStepSwitchTime 0.3
lastStepSwitchTime 0.15
switchOverSwingRatio 0.2

#ZMP Delta
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4 changes: 2 additions & 2 deletions ...gModule/app/robots/ergoCubSN001/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,
12.0, 7.0, -12.0, 41.0,
12.0, 7.0, -12.0, 41.0,
12.0, 7.0, -12.0, 41.0, 0.0, 0.0, 0.0,
12.0, 7.0, -12.0, 41.0, 0.0, 0.0, 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)

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4 changes: 2 additions & 2 deletions ...ngModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/jointRetargeting.ini
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Expand Up @@ -11,8 +11,8 @@ hde_port_name /humanState:i
## "joint_retargeting_port_name" port
retargeting_joint_list ("neck_pitch", "neck_roll", "neck_yaw",
"torso_pitch", "torso_roll", "torso_yaw",
"l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow",
"r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow")
"l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_yaw", "l_wrist_roll", "l_wrist_pitch",
"r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_yaw", "r_wrist_roll", "r_wrist_pitch")

smoothing_time_approaching 2.0
smoothing_time_walking 0.03
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12 changes: 6 additions & 6 deletions ...alkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/robotControl.ini
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Expand Up @@ -3,8 +3,8 @@ robot ergocub

joints_list ("neck_pitch", "neck_roll", "neck_yaw",
"torso_pitch", "torso_roll", "torso_yaw",
"l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow",
"r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow",
"l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_yaw", "l_wrist_roll", "l_wrist_pitch",
"r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_yaw", "r_wrist_roll", "r_wrist_pitch",
"l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll",
"r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")

Expand All @@ -22,15 +22,15 @@ wrench_cut_frequency 10.0
# if true the joint is in stiff mode if false the joint is in compliant mode
joint_is_stiff_mode (true, true, true,
true, true, true,
true, true, true, true,
true, true, true, true,
true, true, true, true, true, true, true,
true, true, true, true, true, true, true,
true, true, true, true, true, true,
true, true, true, true, true, true)

# if true a good joint traking is considered mandatory
good_tracking_required (false, false, false
true, true, true,
false, false, true, true,
false, false, true, true,
false, false, true, true, false, false, false,
false, false, true, true, false, false, false,
true, true, true, true, true, true,
true, true, true, true, true, true)
12 changes: 6 additions & 6 deletions ...dule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
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@@ -1,8 +1,8 @@
robot_velocity_variable_name "robot_velocity"
kp (5.0, 5.0, 5.0,
5.0, 5.0, 5.0,
1.0, 1.0, 1.0, 1.0,
1.0, 1.0, 1.0, 1.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0
5.0, 5.0, 5.0, 5.0, 5.0, 5.0)

Expand All @@ -14,8 +14,8 @@ settling_time 5.0
name "stance"
weight (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,
0.0, 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)

Expand All @@ -30,8 +30,8 @@ name "walking"

weight (0.0, 0.0, 0.0,
2.0, 2.0, 2.0,
0.0, 2.0, 0.0, 0.0,
0.0, 2.0, 0.0, 0.0,
0.0, 2.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 2.0, 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)

14 changes: 7 additions & 7 deletions ...gModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
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@@ -1,9 +1,9 @@
robot_velocity_variable_name "robot_velocity"
kp (5.0, 5.0, 5.0,
5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0
5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0)

states ("STANCE", "WALKING")
Expand All @@ -14,8 +14,8 @@ settling_time 5.0
name "stance"
weight (2.0, 2.0, 2.0,
2.0, 2.0, 2.0,
2.0, 2.0, 2.0, 2.0,
2.0, 2.0, 2.0, 2.0,
2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0,
2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0,
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 All @@ -31,7 +31,7 @@ name "walking"

weight (2.0, 2.0, 2.0,
0.0, 0.0, 0.0,
2.0, 0.0, 2.0, 2.0,
2.0, 0.0, 2.0, 2.0,
2.0, 0.0, 2.0, 2.0, 2.0, 2.0, 2.0,
2.0, 0.0, 2.0, 2.0, 2.0, 2.0, 2.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0)