Code

Humanoid planning planners#12

Code

Merged

S-Dafarra merged 100 commits intomainami-iit/hippopt:mainfrom humanoidPlanning_plannersami-iit/hippopt:humanoidPlanning_plannersCopy head branch name to clipboardFeb 23, 2024

+3,832-8

Commits

Commits on Feb 1, 2024

• Initial drafting of humanoid walking on flat ground

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  9ad4e15

• Moved humanoid_walking_flat_ground planner to dedicated folder

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• Added all dynamics in flat ground planner

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• Added planar complementarity to flat ground planner

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• Added dcc complementarity to flat ground planner

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• Added friction expression to planner and fixed the use of dcc expressions

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• Added bounds on contact point control inputs

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• Added constraints related to kinematics

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• Added names to expressions

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• Added additional constraints

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• Added additional constraint for the maximum feet relative height

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• Added bounds on joint positions and velocities

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• Added contacts centroid cost

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• Separate the inputs needed to the centroidal dynamics

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• Refactoring of planner splitting the init into methods

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• Added frame regularization costs

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• Fixed used of initial conditions in planner

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• Added base quaternion velocity and joints regularization

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• Added cost on force regularization

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• Moved references to dedicated structure

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• Fixed base quaternion cost

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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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• Implemented method to get/set the initial guess and set the references

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• Added possibility to set casadi options to opti in planner

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• Added dt to the settings

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• Refactor variables to extract initial states

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• Moved initial state to dedicated dataclass

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• Improved definition of composite types

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• Specified that references are time varying

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• Some bugfixes (not all) on planner.py

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  9d99a2e

• Fixed used of casadi transpose and horzcat

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• Fixed setting of feet references

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• Bugfix on planner

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• Exploiting the OverridableVariable mechanism and added HumanoidState

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• Fixed regularization of contact forces

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• First draft of HumanoidPoseFinder

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• Added regularization of com position in pose finder

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• Setting the references in the pose finder

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• The humanoid pose finder outputs something

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• Added initial version of HumanStateVisualizer

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• Added gitignore for stl and urdf files in humanoid_pose_finder

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• Fixed setting of contact points in foot frame

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• Added visualization of the HumanoidState

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• Adding rotation error in pose finder

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• Using the trace in the rotation error.

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• Adding visualization of two states

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• Renamed HumanoidWalkingFlatGround to Planner

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• The reference for the pose finder contains HumanoidState instead of inheriting

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• Fixed type hinting in pose finder

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• Fixed typo in message in PoseFinder

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• Setting the initial condition of the flat ground planner from the pose finder

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• Reformat of flat ground planner to ease the conversion of the output to HumanoidState

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• Added draft to set the flat ground planner references.

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• Fixed conversion from ExtendedHumanoid to HumanoidState

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• Fixed bug in feet lateral position

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• First standing result

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• Check that gravity is 6 dimensional in the pose finder

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  416db20

• Fixed setting of references and guesses in flat ground planner

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  3b855bd

• Using the mass regularized version of the dynamics in the planar ground planner

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• First imprecise walking

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• Fixed setting of force derivative bounds.

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• Multiplied the forces times the mass before returning the output solution

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• Added visualization of complementarity.

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• Added possibility to force close the complementarity plots

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• Added visualization of forces in flat ground planner

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• Multiply by the mass in the max centroidal momentum and force derivative constraints

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• Tuning for walking forward

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• Renamed humanoid_walking_flat_ground to humanoid_kinodynamic

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• Renamed main to main_single_step_flat_ground.py

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• Added possibility to visualize multiple states at once

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  47ac899

• Improved conversion of ExtendedHumanoid to HumanoidState

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• Removed centroidal momentum from the HumanoidState

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• Added file to perform periodic motions with the kinodynamic planner

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• Moved kinodynamic planner settings to a different file

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  cee4718

• Moved kinodynamic planner variables to a different file

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• Added possibility to add periodicity constraint on the control inputs

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• Removed force plotters in the periodic step file

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• Added possibility to move from HumanoidState to ExtendedhumanoidState

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• Added __init__.py in humanoid pose finder

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• Specified private functions in pose finder

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• Specified private functions in kinodynamic planner

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• Separated application of mass regularization in kinodynamic planner

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• Using a single function to compute initial and final state

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  a9cb730

• Improved the check on the existence of centroidal_momentum when applying mass regularization

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• The function to convert from HumanoidState to ExtendedHumanoid is now static

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• Specifying a full guess in the periodic step

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• Specify the step length in the periodic step main

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• Specified the reference joint trajectory

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• Fixed small typo in main_periodic_step.py

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• Added first version of file for walking on two steps stairs

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• Intermediate acceptable results of walking on stairs

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  41bf0da

• Some further improvements on the step over stairs

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  7cc1cbf

• Allow using the opti callback in the kinodynamic planner

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• Use the opti callback in the walking over steps. Increase the constraint on the maximum feet height difference

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  698f0aa

• Fine tuning on the walking over steps

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  761cfa1

• Using resolve-robotics-uri-py instead of a parser

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  fb574bc

• Updated README.md

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  1bc1256

• Updated black version

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Commits on Feb 23, 2024

• Fixed setting of initial desired CoM position in the periodic step

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