Created a gait schedule and added a CoM task for the bipedal walking example - [merged]

[wxmerkt]

In GitLab by @cmastalli on Mar 15, 2019, 08:49

Merges topics/bipedal-walking -> devel

In this PR, I improved a bit the quality of the bipedal walking motion (you can see in this video https://youtu.be/MV6cB4V0GX4). The improvements are:

• Defined a swing trajectory with a desired step-height.
• Created multi-phases DDP for solving walking phases (with this method we solve it in few iterations).
• Added a CoM reference to easily decouples the entire walking motion in few DDP problems.
• Fixed a bug in the display.

Please note that I have to modified the log file since the problem has been changed

[wxmerkt]

In GitLab by @nmansard on Mar 20, 2019, 08:06

no show please. Let the user control the windows.

[wxmerkt]

In GitLab by @nmansard on Mar 20, 2019, 08:08

Could you comment the following formula?

[wxmerkt]

In GitLab by @nmansard on Mar 20, 2019, 09:44

Thanks for the work. It is nice to have a nice-looking walk in crocoddyl. Yet this is pretty ad-hoc code, that we are likely not to exploit in the future. The cost design are vary naive compared to the HPP-Loco flow, and are likely very different to how we will use the memory. I believe we should not spend too much time on making these examples more complex.

[wxmerkt]

In GitLab by @cmastalli on Mar 20, 2019, 14:55

changed this line in version 2 of the diff

[wxmerkt]

In GitLab by @cmastalli on Mar 20, 2019, 14:55

changed this line in version 2 of the diff

[wxmerkt]

In GitLab by @cmastalli on Mar 20, 2019, 14:55

added 15 commits

• eb84dcb8...81633240 - 6 commits from branch loco-3d:devel
• 358ace68 - [bugfix] Fixed error with the display
• 9872355a - [talos-leg] Do not use RobotWrapper
• bfcd39cc - [talos-leg] Added CoM task and generated swingTask give a desired step height
• 9ecfcc6b - [talos-legs] Created multiple walking phases
• f2d58070 - [talos-legs] Redefined the walking gait phases and added proper regularization
• e38e240c - [talos-legs] Added plot function
• 88a74d20 - [log] Updated the log file of the bipedal example
• a9ce49bf - [example] It allows the user to render the plot whenever it's needed
• 685a3d3d - [example] Added comment that explains how it's define the swing-task (bipedal)

Compare with previous version

[wxmerkt]

In GitLab by @cmastalli on Mar 20, 2019, 14:57

Now the user can control the rendering of windows. I follow the same standard defined in !142.

[wxmerkt]

In GitLab by @cmastalli on Mar 20, 2019, 14:58

I added an explanation of how it's defined the swing-leg reference motion. I also removed resKnots since it's an useless object which I committed by mistake.

[wxmerkt]

In GitLab by @cmastalli on Mar 20, 2019, 14:58

resolved all discussions

[wxmerkt]

In GitLab by @cmastalli on Mar 20, 2019, 15:10

Indeed, it doesn't follow the Loco3d flow. I did these changes for two reasons:

• preparing a video, and
• understanding the DDP capabilities.

@nmansard -- You can merge it

[wxmerkt]

In GitLab by @nmansard on Mar 21, 2019, 09:22

mentioned in commit 3385da1df207aa21140fa13fbcc692fc3414efa7

[wxmerkt]

In GitLab by @nmansard on Mar 21, 2019, 09:22

merged