search

icub-tech-iit / ergocub-software

Main collector of ergoCub specific SW
https://icub-tech-iit.github.io/ergocub-software/
BSD 3-Clause "New" or "Revised" License
13 stars 18 forks source link

ergoCubSN001/GazeboV1_1*: add ft imu via `sensor` #222

Closed Nicogene closed 6 months ago

Nicogene commented 6 months ago

They have been added by @GiulioRomualdi in;

Using xmlBlob due to a bug in creo2urdf that has been fixed:

Moreover seems that the ones adde in #217 were wrong:

GiulioRomualdi commented 6 months ago

Hi @Nicogene I visualized the frames and they are placed where expected as you can notice the in following picture

image

Now I will do a check similarly to https://github.com/icub-tech-iit/ergocub-software/pull/217#issuecomment-1941379516

GiulioRomualdi commented 6 months ago

I checked the IMU data with https://github.com/ami-iit/xcub-sensors-check and all of the readouts are correct. I added the gazebo model with the root fixed and I moved the robot from the motorgui 

🧪 Running 12 tests...
├── Running test L_FOOT_FRONT_ORIENTATION...
├── Running test L_FOOT_REAR_ORIENTATION...
├── Running test L_FOOT_FRONT_GYRO...
├── Running test L_FOOT_REAR_GYRO...
├── Running test L_FOOT_REAR_ACC...
├── Running test L_FOOT_FRONT_ACC...
├── Running test R_FOOT_FRONT_ORIENTATION...
├── Running test R_FOOT_REAR_ORIENTATION...
├── Running test R_FOOT_FRONT_GYRO...
├── Running test R_FOOT_REAR_GYRO...
├── Running test R_FOOT_REAR_ACC...
└── Running test R_FOOT_FRONT_ACC...

📊 Test outcomes:
├── 🟢 Test L_FOOT_FRONT_ORIENTATION: Passed
├── 🟢 Test L_FOOT_REAR_ORIENTATION: Passed
├── 🟢 Test L_FOOT_FRONT_GYRO: Passed
├── 🟢 Test L_FOOT_REAR_GYRO: Passed
├── 🟢 Test L_FOOT_REAR_ACC: Passed
├── 🟢 Test L_FOOT_FRONT_ACC: Passed
├── 🟢 Test R_FOOT_FRONT_ORIENTATION: Passed
├── 🟢 Test R_FOOT_REAR_ORIENTATION: Passed
├── 🟢 Test R_FOOT_FRONT_GYRO: Passed
├── 🟢 Test R_FOOT_REAR_GYRO: Passed
├── 🟢 Test R_FOOT_REAR_ACC: Passed
└── 🟢 Test R_FOOT_FRONT_ACC: Passed
Signal Acc Gyro Orientation
r_foot_front R_FOOT_FRONT_ACC R_FOOT_FRONT_GYRO R_FOOT_FRONT_ORIENTATION
r_foot_rear R_FOOT_REAR_ACC R_FOOT_REAR_GYRO R_FOOT_REAR_ORIENTATION
l_foot_front L_FOOT_FRONT_ACC L_FOOT_FRONT_GYRO L_FOOT_FRONT_ORIENTATION
l_foot_rear L_FOOT_REAR_ACC L_FOOT_REAR_GYRO L_FOOT_REAR_ORIENTATION

Here you can find the dataset and the config file to run the tests config_dataset_test_imu.zip

GiulioRomualdi commented 6 months ago

I conducted a test on the model using an updated version of the walking controller, which aims to utilize the IMUs to enhance the system's overall robustness. The test yielded the expected results.

https://github.com/icub-tech-iit/ergocub-software/assets/16744101/1899e1fb-3eab-48c3-9995-5afd4609437d

The only adjustment I made was increasing the frequency of the wrappers to match that of the robot (from 100Hz to 500Hz). However, this adjustment may warrant further discussion in a separate issue.

🟢 flag! @Nicogene you can merge it. Thank you very much for handling this 🚀