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Add Angular Momentum task & use base-estimator entity to achieve walk in torque control #75

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NoelieRamuzat wants to merge 21 commits into stack-of-tasks:devel from NoelieRamuzat:topic/tsid_am_task

Contributor

NoelieRamuzat commented May 25, 2020 •

edited

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This PR is linked to the one in talos-torque-control (see #10).
Add documentations.

NoelieRamuzat added 6 commits

April 6, 2020 16:33


          [Angular Momentum] Add AM task in inverse-dynamic-balance-controller …

27bac45

…entity

Try to use it with talos-torque-control package and trajectories from multicontact_api. Works with walk on spot trajectories.


          [Inv_Dyn] Update references of contacts when they are added


          [Base-estim] Plug base-estimator to inv_dyn entity to have updates on…

c1671d1

… q/v

Remove useless sendMsg functions


          [Doc] Add documentation for walk and bellStep simulation

e233250


          [Inv_Dyn] Clean useless sendMsg

c05584c


          [DDP] Add ddp files to plugin list

15c85a6

NoelieRamuzat mentioned this pull request

Add Angular Momentum task & use base-estimator entity to achieve walk in torque control stack-of-tasks/talos-torque-control#10

Open

NoelieRamuzat marked this pull request as ready for review

May 25, 2020 13:00

andreadelprete reviewed

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doc/walkRun.md

		@@ -0,0 +1,59 @@
		# Make Pyrene walk in torque control (quasistatic trajectories)

Collaborator

andreadelprete Jun 3, 2020

Wouldn't it be more appropriate to have this documentation in pyrene-torque-control?

Contributor Author

NoelieRamuzat Jul 31, 2020

I also put it in talos-torque-control. But because there were no example of use of sot-torque-control I also put it here.
But I can remove it :)

include/sot/torque_control/imu_offset_compensation.hh

                 /* --- METHODS --- */
                 void update_offset_impl(int iter);
-                void sendMsg(const std::string& msg, MsgType t = MSG_TYPE_INFO, const char* file = "", int line = 0) {
-                  logger_.stream(t) << ("[ImuOffsetCompensation-" + name + "] " + msg, t, file, line);
-                }

Collaborator

andreadelprete Jun 3, 2020

Why did you (re)move the sendMsg methods?

Contributor Author

NoelieRamuzat Jul 31, 2020

The sendMsg method have been move into the logger.h class of dynamic-graph to be used uniformly by all packages.
It is imported by:
#include <dynamic-graph/signal-helper.h> which includes:
#include <dynamic-graph/entity.h>

src/inverse-dynamics-balance-controller.cpp Outdated

               void InverseDynamicsBalanceController::removeRightFootContact(const double& transitionTime) {
                 if (m_contactState == DOUBLE_SUPPORT) {
-                  SEND_MSG("Remove right foot contact in " + toString(transitionTime) + " s", MSG_TYPE_INFO);
+                  SEND_MSG("Remove right foot contact in " + toString(transitionTime) + " s", MSG_TYPE_ERROR);

Collaborator

andreadelprete Jun 3, 2020

This doesn't look like an error msg

Contributor Author

NoelieRamuzat Jul 31, 2020

Yes sorry it was for debug purpose I will change this

src/inverse-dynamics-balance-controller.cpp Outdated

                 }
               }
               void InverseDynamicsBalanceController::removeLeftFootContact(const double& transitionTime) {
                 if (m_contactState == DOUBLE_SUPPORT) {
-                  SEND_MSG("Remove left foot contact in " + toString(transitionTime) + " s", MSG_TYPE_INFO);
+                  SEND_MSG("Remove left foot contact in " + toString(transitionTime) + " s", MSG_TYPE_ERROR);

Collaborator

andreadelprete Jun 3, 2020

Same here

src/inverse-dynamics-balance-controller.cpp

                   bool res = m_invDyn->removeRigidContact(m_contactLF->name(), transitionTime);
                   if (!res) {
                     const HQPData& hqpData = m_invDyn->computeProblemData(m_t, m_q_urdf, m_v_urdf);
                     SEND_MSG("Error while remove right foot contact." + tsid::solvers::HQPDataToString(hqpData, false),
                              MSG_TYPE_ERROR);
                   }
                   const double& w_feet = m_w_feetSIN.accessCopy();
-                  m_invDyn->addMotionTask(*m_taskLF, w_feet, 1);
+                  m_invDyn->addMotionTask(*m_taskLF, w_feet, 0);

Collaborator

andreadelprete Jun 3, 2020

Beware that the more tasks you add as constraints, the more you risk getting an unfeasible problem

Contributor Author

NoelieRamuzat Jul 31, 2020 •

edited

Loading

Yes I agree but I achieve better results with this "priority" level in torque control.
However, when I use DCM control to achieve position control (integrate twice the acceleration), I have to put the CoM tasks (-> one for the height and one for the rest) in the cost function.

src/inverse-dynamics-balance-controller.cpp Outdated

               void InverseDynamicsBalanceController::addRightFootContact(const double& transitionTime) {
                 if (m_contactState == LEFT_SUPPORT) {
-                  SEND_MSG("Add right foot contact in " + toString(transitionTime) + " s", MSG_TYPE_INFO);
+                  SEND_MSG("Add right foot contact in " + toString(transitionTime) + " s", MSG_TYPE_ERROR);

Collaborator

andreadelprete Jun 3, 2020

Same here

src/inverse-dynamics-balance-controller.cpp Outdated

               void InverseDynamicsBalanceController::addLeftFootContact(const double& transitionTime) {
                 if (m_contactState == RIGHT_SUPPORT) {
-                  SEND_MSG("Add left foot contact in " + toString(transitionTime) + " s", MSG_TYPE_INFO);
+                  SEND_MSG("Add left foot contact in " + toString(transitionTime) + " s", MSG_TYPE_ERROR);

Collaborator

andreadelprete Jun 3, 2020

Same here

src/inverse-dynamics-balance-controller.cpp Outdated

+                    assert(v_robot.size() == static_cast<Eigen::VectorXd::Index>(m_robot_util->m_nbJoints + 6));
+                    const dg::Vector& com_measured = m_com_measuredSIN(0);
+                    assert(com_measured.size() == 3);
+                    SEND_MSG("COM_measured: " + toString(com_measured), MSG_TYPE_ERROR);

Collaborator

andreadelprete Jun 3, 2020

Same here

src/simple-inverse-dyn.cpp

		@@ -25,6 +25,8 @@
		#include <dynamic-graph/factory.h>

Collaborator

andreadelprete Jun 3, 2020

Nothing to do with this PR but...what's the difference between the inverse-dynamics-balance-controller and this new simple-inverse-dyn? They look rather similar.

Contributor Author

NoelieRamuzat Jul 31, 2020

Yes they are similar except that there is no possibility to add motion tasks on the hands or feet.
I created this file to have a simpler control scheme.
I use it to understand the huge inverse-dynamics-balance-controller file.
It is used for simple simulations which make the robot moves its CoM (same behaviour as the ex1 and 2 of the jupyter notebooks).

NoelieRamuzat and others added 15 commits

June 16, 2020 10:57


          [Inv_Dyn] Add control mode (vel/torque) and change signal phase (int)

1382c0a

In velocity control use the base estimator to estimate feet positions and CoM position. Use them in the feet and CoM tasks.


          [Inv_Dyn] Wrong init size for m_q_sot (39 -> 38)

30ff3c6


          fix namespace issues

f83a15d

after stack-of-tasks/sot-core#148


          sync submodule

de4ac01


          v1.5.3

a6639c4


          [Angular Momentum] Add AM task in inverse-dynamic-balance-controller …

da0fd7d

…entity

Try to use it with talos-torque-control package and trajectories from multicontact_api. Works with walk on spot trajectories.


          [Inv_Dyn] Update references of contacts when they are added


          [Base-estim] Plug base-estimator to inv_dyn entity to have updates on…

6629e64

… q/v

Remove useless sendMsg functions


          [Doc] Add documentation for walk and bellStep simulation

2e8ba0f


          [Inv_Dyn] Clean useless sendMsg

d5ff701


          [DDP] Add ddp files to plugin list


          [Inv_Dyn] Add control mode (vel/torque) and change signal phase (int)

501baec

In velocity control use the base estimator to estimate feet positions and CoM position. Use them in the feet and CoM tasks.


          [Inv_Dyn] Wrong init size for m_q_sot (39 -> 38)

479e4aa


          Merge remote-tracking branch 'origin/topic/tsid_am_task' into topic/t…

cd75739

…sid_am_task


          [Inv_Dyn] Fix wrong sendMsg type (ERROR to INFO)

d7edbda

Contributor Author

NoelieRamuzat commented Jul 31, 2020

Travis fails on an error of catkin_init_workspace, I don't know why:
./.travis/../travis_custom/custom_build: line 399: catkin_init_workspace: command not found

Member

olivier-stasse commented Jul 31, 2020

Dear @NoelieRamuzat please do not take care of travis output. Right now the output of gitlab.laas.fr is far more informative. During some discussions with @nim65s it is planned to move from travis to github action calling the runner on gitlab.laas.fr
Thanks again for your fixes. I cannot comment them for nom. Maybe @andreadelprete can check your proposal.

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