Footstep planning.

[jeljaik]

• [x] Describe plan for next two weeks in this issue.

[jeljaik]

cc @luca-fiorio @francesco-romano

[jeljaik]

Details on Joint Limits Right leg

• (5) ankle_roll_r = [-25.4 26.6](-1deg when hitting ankle_pitch_r limits)
• (4) ankle_pitch_r = [-39.6 42.0]
• (3) knee_r = [-114.3 3.5]
• (2) hip_yaw_r = [as they were]
• (1) hip_roll_r = [-22.3 84.0]
• (0) hip_pitch_r = [-36.4 80.6]

Left leg

• (5) ankle_roll_l = [-26.2 25.6]
• (4) ankle_pitch_l = [-37.6 40.7]
• (3) knee_l = [-115.6 4.5]
• (2) hip_yaw_l = [as they were]
• (1) hip_roll_r = [-20.3 76.9]
• (0) hip_pitch_r = [-36.2 79.8]

Torso

• (0) torso_yaw = [-64.1 58.9]
• (1) torso_roll = [-30.5 30.5]
• (2) torso_pitch = [-21.8 70]

[fiorisi]

From Black iCub: DEGREES leg

• (5) ankle_roll = [-25 25]
• (4) ankle_pitch = [-35 40]
• (3) knee = [-114 3]
• (2) hip_yaw = [as they were]
• (1) hip_roll = [-20 75]
• (0) hip_pitch = [-35 78]

Torso

• (0) torso_yaw = [-64 58]
• (1) torso_roll = [-30 30]
• (2) torso_pitch = [-20 69]

RADIANTS leg

• (5) ankle_roll = [-0.4363 0.4363]
• (4) ankle_pitch = [-0.6109 0.6981]
• (3) knee = [-1.9897 0.0524]
• (2) hip_yaw = [as they were]
• (1) hip_roll = [-0.3491 1.3090]
• (0) hip_pitch = [-0.6109 1.3614]

Torso

• (0) torso_yaw = [-1.1170 1.0123]
• (1) torso_roll = [-0.5236 0.5236]
• (2) torso_pitch = [-0.3491 1.2043]

[jeljaik]

As of today, iCub is able to walk in a new open loop fashion with the capture point approach in Simulation!!! thanks to the trajectories generated by @luca-fiorio and the help of @jeljaik and @francesco-romano. This post serves as a log entry for future references to replicate our results. We have experienced in the past that things work on one computer only (right @DanielePucci?) and this is not desirable at all. I will try to be as detailed as possible. In case I'm missing something you may consider relevant, ask away!

PC Specifications

• Lenovo X220 Memory: 7,7 GiB, Intel Core ® i5-2520M CPU @ 2.5 GHZ. Graphics: Intel ® Sandybridge Mobile. OS Type: 64 bit. OS: Ubuntu 14.04 LTS.

Module Specifications

• For playing back the trajectories the walkPlayer module was used and it can be found here: https://github.com/robotology/codyco-modules/tree/new_wbi_ID/src/modules/walkPlayer
• Update codyco-modules in the branch new_wbi_ID and install the walkPlayer.
• To launch it do: walkPlayer --robot icubGazeboSim --filename2 softTouchDown --execute
• To play, in another terminal do: yarp rpc /walkPlayer/rpc followed by start. stop is another accepted command.
• Version of the walkPlayer: https://github.com/robotology/codyco-modules/commit/e788c8573230b8afa1ee559f9959766eb509dd05

Dependencies and miscellaneous Specifications

• Gazebo Version: 4.1.0
• yarp version: https://github.com/robotology/yarp/commit/317184603fe38d89b84a0b6162cac979dcca69f7
• iCub version: https://github.com/robotology/icub-main/commit/aec92a3326b3d6a29af95864ae7bceade425c193
• gazebo-yarp-plugins version: https://github.com/robotology/gazebo-yarp-plugins/commit/f92a8f2772e3931a9686a573e3947ae3cb082ca9
• Sequences used: https://github.com/robotology/codyco-modules/commit/8bd75f433a3cf79b4338eddaf11679adf14dd9b2
• icub-gazebo version (walking branch): https://github.com/robotology-playground/icub-gazebo/commit/480ad3897afb9e9b819fdb963943fb61160afe3d

Notes Bear in mind that this walking cannot be used with the real robot, because the real joint limits, in particular the feet pitch lower limits have been increased and we cannot reach them with the real iCub. A new trajectory that respects these limits is the current work in progress.

[traversaro]

The iCub sdf is the one in https://github.com/robotology-playground/icub-gazebo ?

On Thu, Jan 8, 2015 at 2:14 PM, Jorhabib Eljaik notifications@github.com wrote:

As of today, iCub is able to walk in a new open loop fashion with the capture point approach in Simulation!!! thanks to the trajectories generated by @luca-fiorio https://github.com/luca-fiorio and the help of @jeljaik https://github.com/jeljaik and @francesco-romano https://github.com/francesco-romano. This post serves as a log entry for future references to replicate our results. We have experienced in the past that things work on one computer only (right @DanielePucci https://github.com/DanielePucci?) and this is not desirable at all. I will try to be as detailed as possible. In case I'm missing something you may consider relevant, ask away!

PC Specifications

• Lenovo X220 Memory: 7,7 GiB, Intel Core ® i5-2520M CPU @ 2.5 GHZ. Graphics: Intel ® Sandybridge Mobile. OS Type: 64 bit. OS: Ubuntu 14.04 LTS.

Module Specifications

• For playing back the trajectories the walkPlayer module was used and it can be found here: https://github.com/robotology/codyco-modules/tree/new_wbi_ID/src/modules/walkPlayer
• Update codyco-modules and install walkPlayer.
• To launch it do: walkPlayer --robot icubGazeboSim --filename2 softTouchDown --execute
• Version of the walkPlayer: robotology/codyco-modules@e788c85 https://github.com/robotology/codyco-modules/commit/e788c8573230b8afa1ee559f9959766eb509dd05

Dependencies Specifications

• Gazebo Version: 4.1.0
• yarp version: robotology/yarp@3171846 https://github.com/robotology/yarp/commit/317184603fe38d89b84a0b6162cac979dcca69f7
• iCub version: robotology/icub-main@aec92a3 https://github.com/robotology/icub-main/commit/aec92a3326b3d6a29af95864ae7bceade425c193
• gazebo-yarp-plugins version: robotology/gazebo-yarp-plugins@f92a8f2 https://github.com/robotology/gazebo-yarp-plugins/commit/f92a8f2772e3931a9686a573e3947ae3cb082ca9
• asd

— Reply to this email directly or view it on GitHub https://github.com/jeljaik/WB-Team-Issues/issues/15#issuecomment-69177229 .

[jeljaik]

Not exactly, I just created a branch called walking. In this branch I've just changed the lower joint limit of the feet pitch to -0.8 and the PID gains have been increased 10 times except for the knees.
https://github.com/robotology-playground/icub-gazebo/commit/480ad3897afb9e9b819fdb963943fb61160afe3d

[jeljaik]

However, the joint limits written above have been updated in https://github.com/robotology-playground/icub-gazebo/commit/ea66269a9d80f289d764076189608d897a8d847d

[jeljaik]

Pending Task:

• [ ] Generate H_dot_des for the future torque-based walking