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Add joint limits task in the IK #189

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df77cef
Add joint limits task in the IK
GiulioRomualdi Sep 18, 2024
04eb0b3
Remove the need to specify the 'robot_velocity_variable_name' in the …
GiulioRomualdi Sep 20, 2024
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4 changes: 0 additions & 4 deletions ...app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,24 +4,20 @@ use_feedforward_term_for_joint_retargeting false
robot_velocity_variable_name "robot_velocity"

[COM_TASK]
robot_velocity_variable_name "robot_velocity"
kp_linear 2.0
mask (true, true, false)

[ROOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "root_link"
kp_linear 0.5
mask (false, false, true)

[RIGHT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "r_sole"
kp_linear 7.0
kp_angular 5.0

[LEFT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "l_sole"
kp_linear 7.0
kp_angular 5.0
Expand Down
1 change: 0 additions & 1 deletion ...e/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
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, 5.0, 5.0,
Expand Down
1 change: 0 additions & 1 deletion ...dule/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
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,
Expand Down
1 change: 0 additions & 1 deletion ...kingModule/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
robot_velocity_variable_name "robot_velocity"
frame_name "chest"
kp_angular 5.0

Expand Down
15 changes: 11 additions & 4 deletions ...ngModule/app/robots/ergoCubGazeboV1/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,28 +1,35 @@
use_joints_limits_task false

[IK]
robot_velocity_variable_name "robot_velocity"

[COM_TASK]
robot_velocity_variable_name "robot_velocity"
kp_linear 0.0
mask (true, true, false)

[ROOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "root_link"
kp_linear 1.0
mask (false, false, true)

[RIGHT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "r_sole"
kp_linear 7.0
kp_angular 5.0

[LEFT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "l_sole"
kp_linear 7.0
kp_angular 5.0

[JOINT_LIMITS_TASK]
sampling_time 0.01
klim (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, 1.0)
use_model_limits true

[include TORSO_TASK "./tasks/torso.ini"]
[include JOINT_REGULARIZATION_TASK "./tasks/regularization.ini"]
1 change: 0 additions & 1 deletion ...kingModule/app/robots/ergoCubGazeboV1/dcm_walking/joypad_control/tasks/regularization.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
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,
Expand Down
1 change: 0 additions & 1 deletion src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/joypad_control/tasks/torso.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
robot_velocity_variable_name "robot_velocity"
frame_name "chest"
kp_angular 5.0

Expand Down
15 changes: 11 additions & 4 deletions ...Module/app/robots/ergoCubGazeboV1_1/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,28 +1,35 @@
use_joints_limits_task false

[IK]
robot_velocity_variable_name "robot_velocity"

[COM_TASK]
robot_velocity_variable_name "robot_velocity"
kp_linear 0.0
mask (true, true, false)

[ROOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "root_link"
kp_linear 1.0
mask (false, false, true)

[RIGHT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "r_sole"
kp_linear 7.0
kp_angular 5.0

[LEFT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "l_sole"
kp_linear 7.0
kp_angular 5.0

[JOINT_LIMITS_TASK]
sampling_time 0.01
klim (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, 1.0)
use_model_limits true

[include TORSO_TASK "./tasks/torso.ini"]
[include JOINT_REGULARIZATION_TASK "./tasks/regularization.ini"]
1 change: 0 additions & 1 deletion ...ngModule/app/robots/ergoCubGazeboV1_1/dcm_walking/joypad_control/tasks/regularization.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
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,
Expand Down
1 change: 0 additions & 1 deletion src/WalkingModule/app/robots/ergoCubGazeboV1_1/dcm_walking/joypad_control/tasks/torso.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
robot_velocity_variable_name "robot_velocity"
frame_name "chest"
kp_angular 5.0

Expand Down
15 changes: 11 additions & 4 deletions ...le/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,31 +1,38 @@
use_feedforward_term_for_joint_retargeting false
use_joints_limits_task false

[IK]
robot_velocity_variable_name "robot_velocity"

[COM_TASK]
robot_velocity_variable_name "robot_velocity"
kp_linear 2.0
mask (true, true, false)

[ROOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "root_link"
kp_linear 0.5
mask (false, false, true)

[RIGHT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "r_sole"
kp_linear 7.0
kp_angular 5.0

[LEFT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "l_sole"
kp_linear 7.0
kp_angular 5.0

[JOINT_LIMITS_TASK]
sampling_time 0.002
klim (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, 1.0, 1.0, 1.0, 1.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
use_model_limits true

[include TORSO_TASK "./tasks/torso.ini"]
[include JOINT_REGULARIZATION_TASK "./tasks/regularization.ini"]
[include JOINT_RETARGETING_TASK "./tasks/retargeting.ini"]
1 change: 0 additions & 1 deletion ...dule/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
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, 5.0, 5.0,
Expand Down
1 change: 0 additions & 1 deletion ...gModule/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
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,
Expand Down
1 change: 0 additions & 1 deletion ...WalkingModule/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
robot_velocity_variable_name "robot_velocity"
frame_name "chest"
kp_angular 5.0

Expand Down
15 changes: 11 additions & 4 deletions ...lkingModule/app/robots/ergoCubSN000/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,28 +1,35 @@
use_joints_limits_task false

[IK]
robot_velocity_variable_name "robot_velocity"

[COM_TASK]
robot_velocity_variable_name "robot_velocity"
kp_linear 2.0
mask (true, true, false)

[ROOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "root_link"
kp_linear 1.0
mask (false, false, true)

[RIGHT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "r_sole"
kp_linear 7.0
kp_angular 5.0

[LEFT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "l_sole"
kp_linear 7.0
kp_angular 5.0

[JOINT_LIMITS_TASK]
sampling_time 0.002
klim (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, 1.0)
use_model_limits true

[include TORSO_TASK "./tasks/torso.ini"]
[include JOINT_REGULARIZATION_TASK "./tasks/regularization.ini"]
1 change: 0 additions & 1 deletion ...WalkingModule/app/robots/ergoCubSN000/dcm_walking/joypad_control/tasks/regularization.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
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,
Expand Down
1 change: 0 additions & 1 deletion src/WalkingModule/app/robots/ergoCubSN000/dcm_walking/joypad_control/tasks/torso.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
robot_velocity_variable_name "robot_velocity"
frame_name "chest"
kp_angular 5.0

Expand Down
16 changes: 12 additions & 4 deletions src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/autonomous/qpInverseKinematicsBlf.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,31 +1,39 @@
use_feedforward_term_for_joint_retargeting false
use_joints_limits_task false

[IK]
robot_velocity_variable_name "robot_velocity"

[COM_TASK]
robot_velocity_variable_name "robot_velocity"
kp_linear 2.0
mask (true, true, false)

[ROOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "root_link"
kp_linear 0.5
mask (false, false, true)

[RIGHT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "r_sole"
kp_linear 7.0
kp_angular 5.0

[LEFT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "l_sole"
kp_linear 7.0
kp_angular 5.0

[JOINT_LIMITS_TASK]
sampling_time 0.001
klim (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, 1.0, 1.0, 1.0, 1.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
use_model_limits true


[include TORSO_TASK "./tasks/torso.ini"]
[include JOINT_REGULARIZATION_TASK "./tasks/regularization.ini"]
[include JOINT_RETARGETING_TASK "./tasks/retargeting.ini"]
1 change: 0 additions & 1 deletion src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/autonomous/tasks/regularization.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
robot_velocity_variable_name "robot_velocity"
kp (5.0, 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,
Expand Down
1 change: 0 additions & 1 deletion src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/autonomous/tasks/retargeting.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
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,
Expand Down
1 change: 0 additions & 1 deletion src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/autonomous/tasks/torso.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
robot_velocity_variable_name "robot_velocity"
frame_name "chest"
kp_angular 5.0

Expand Down
15 changes: 11 additions & 4 deletions ...le/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,31 +1,38 @@
use_feedforward_term_for_joint_retargeting false
use_joints_limits_task false

[IK]
robot_velocity_variable_name "robot_velocity"

[COM_TASK]
robot_velocity_variable_name "robot_velocity"
kp_linear 2.0
mask (true, true, false)

[ROOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "root_link"
kp_linear 0.5
mask (false, false, true)

[RIGHT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "r_sole"
kp_linear 7.0
kp_angular 5.0

[LEFT_FOOT_TASK]
robot_velocity_variable_name "robot_velocity"
frame_name "l_sole"
kp_linear 7.0
kp_angular 5.0

[JOINT_LIMITS_TASK]
sampling_time 0.001
klim (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, 1.0, 1.0, 1.0, 1.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
use_model_limits true

[include TORSO_TASK "./tasks/torso.ini"]
[include JOINT_REGULARIZATION_TASK "./tasks/regularization.ini"]
[include JOINT_RETARGETING_TASK "./tasks/retargeting.ini"]
1 change: 0 additions & 1 deletion ...dule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
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,
Expand Down
1 change: 0 additions & 1 deletion ...gModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
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,
Expand Down
1 change: 0 additions & 1 deletion ...WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
robot_velocity_variable_name "robot_velocity"
frame_name "chest"
kp_angular 5.0

Expand Down
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