Adds the expressions for writing planners for a humanoid robot#10

Merged

S-Dafarra merged 106 commits intomainfrom humanoidPlanning_robot_planning

Jan 22, 2024

+3,749-11

Commits on Jan 16, 2024

Added centroidal dynamics from point forces
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Added com dynamics
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Added function to compute the CMM from the robot state.
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Added function to compute CoM position from kinematics
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Added function to compute ppoint position from kinematics
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Added quaternion normalization function
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Added base class for a generic terrain description and a PlanarTerrain
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Small refactor of the terrain descriptor class to allow reusing the functions
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Added expressions for friction and normal force positivity
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Changed expression for the static friction margin
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Added first version of complementarity functions
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Added function to compute two frame relative position
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Added missing options in kinematics and complementarity
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Added contact points centroid function
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Added contact_points_yaw_alignment and swing_height_heuristic
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Added quaternion_error function
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Added ContactPoint variable definition
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Added initial conditions in contact variables.
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Added variables describing a floating base system
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Added f0 initial condition in ContactPoint variable
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Allowing to set the individual name of the variables in the centroidal dynamics function
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Fixed missing input in planar complementarity function
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Added dcc complementarity to flat ground planner
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Added possibility to change the options of a terrain descriptor after its creation
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Added friction expression to planner and fixed the use of dcc expressions
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Added additional constraint for the maximum feet relative height
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Separated quaternion error function
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Moved feet references to custom class and implemented yaw regularization task
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Added contact point regularization
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Refactor variables to extract initial states
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Improved definition of composite types
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Added method to generate the list of contact point descriptor for a rectangular foot
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Fixed initialization of composite variables
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Fixed used of casadi transpose and horzcat
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Multiple bugfixes on expressions
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Exploiting the OverridableVariable mechanism and added HumanoidState
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Added relaxed complementarity margin
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Fixed bug in Humanoid state
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Moved centroidal and quaternion expressions to the expressions folder
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Added possibility to set all contact points position from parent frame transform
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Added static method in FootContactState to set the points transform from the parent transform
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Fixed setting of point_position_name default value
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Added deps folder and imported surf2stl
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Added initial version of HumanStateVisualizer
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Added visualization of the HumanoidState
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Avoiding to convert a rotation matrix to quaternion
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Removed unused import
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Avoid using from_matrix when computing frame relative position
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Added draft to visualize multiple steps in a row
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Added possibility to set time_multiplier in the states visualization
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Changed visualization of arrows
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Added possibility to use the mass regularized version of the centroidal dynamics
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Added possibility to save frames and video in the visualizer
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Added first version of plotter for complementarity
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Added visualization of complementarity.
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Added visualization of complementarity error
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Added possibility to force close the complementarity plots
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Added possibility to plot the contact forces
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Create the frames folder only if saving
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Fixed visualization of forces
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Added possibility to specify the terrain name
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Using the terrain name in the humanoid visualizer and avoid to overwrite if already present
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Extracted function to create video from frames
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Added possibility to visualize multiple states at once
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Added method to convert from list to FootContactState
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Turned FootContactState into an OptimizationObject
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Added conversion from FloatingBaseSystem to FloatingBaseSystemState
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Removed centroidal momentum from the HumanoidState
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Added possibility to move from HumanoidState to ExtendedhumanoidState
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Added first implementation of interpolators to define initial guess
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Added humanoid state interpolator
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Catch ffmpeg exceptions when creating the video
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Robustification of the visualization in case the inputs are not in the correct shape
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Improved the definition of the FootContactPhaseDescriptor
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Interpolators bugfix
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Using __post_init__ in variables differently
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The foot contact state interpolator does not need to start from the first phase
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Allowed interpolating even if the initial time is a swing moment
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Fix creation of ground terrain urdf
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Avoid to use glob when saving video.
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Fixed visualization of the last state.
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Moved PlanarTerrain to a dedicated file
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Added first draft of SmoothTerrain
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Moved terrain visualization to separate file
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Added first test for SmoothTerrain and debugged
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The height offset in the Smooth Terrain is useless
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Using arrow visualization shipped with iDynTree
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Allow visualizing terrain normals
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Allow visualizing terrain frames
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Added computation of SmoothTerrain normals and frames
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Improved the effect of the offset and transformation matrix applied to the SmoothTerrain
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Moved computation of normal and terrain orientation directly in terrain descriptor
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Added possibility to sum smooth terrains
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Removed leftover in humanoid_state_visualizer.py
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Added shortcut functions to create steps, cylinders and planes
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Added possibility to set the name in the terrain descriptor
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Fixed bug in humanoid_state_visualizer.py
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Added a detail on why the rotations are limited in the SmoothTerrain
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Fixed a bug in the footsteps interpolation
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The terrain was not correctly passed in the contact state plotter
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Commits on Jan 17, 2024

Improved documentation of smooth terrain
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Commits

Commits on Jan 16, 2024

Commits on Jan 17, 2024

Commits on Jan 19, 2024