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Add joint limits task in the IK #189

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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
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
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
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
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"]
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
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
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"]
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
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
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"]
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
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
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
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"]
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
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
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"]
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
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
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
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"]
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
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
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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