From dcc03f6833507931e188233a9e2b22cd0ff673a2 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Wed, 28 Sep 2022 17:21:51 +0000 Subject: [PATCH 1/4] Increase the frequency of the walking-controller to 500Hz --- .../dcm_walking/joypad_control/tasks/regularization.ini | 2 +- .../iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini | 2 +- .../iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini | 2 +- .../app/robots/iCubGenova09/dcm_walking_with_joypad.ini | 5 +++-- 4 files changed, 6 insertions(+), 5 deletions(-) diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/regularization.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/regularization.ini index 87c2081f9..4b75c8316 100644 --- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/regularization.ini +++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/regularization.ini @@ -6,7 +6,7 @@ kp (5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0) states ("stance", "walking") -sampling_time 0.01 +sampling_time 0.002 settling_time 0.5 [stance] diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini index 8258c0af5..89f8654e2 100644 --- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini +++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini @@ -4,7 +4,7 @@ kp_angular 5.0 states ("stance", "walking") -sampling_time 0.01 +sampling_time 0.002 settling_time 0.5 [stance] diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini index 8eedaea43..7e24d7989 100644 --- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini +++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini @@ -39,7 +39,7 @@ goal_port_suffix /goal:i goal_port_scaling (0.5, 1.0, 0.5) # How much in advance the planner should be called. The time is in seconds -planner_advance_time_in_s 0.08 +planner_advance_time_in_s 0.02 # general parameters [GENERAL] diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini index e13120db0..8e8260c2b 100644 --- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini +++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini @@ -39,7 +39,7 @@ goal_port_suffix /goal:i goal_port_scaling (0.5, 1.0, 0.5) # How much in advance the planner should be called. The time is in seconds -planner_advance_time_in_s 0.08 +planner_advance_time_in_s 0.02 # general parameters [GENERAL] @@ -47,10 +47,11 @@ name walking-coordinator # height of the com com_height 0.565 # sampling time -sampling_time 0.01 +sampling_time 0.002 # Specify the frame to use to control the robot height. Currently, we support only the following options: com, root_link height_reference_frame root_link + # include robot control parameters [include ROBOT_CONTROL "./dcm_walking/joypad_control/robotControl.ini"] From 6d6132fe1d1ec3520b60a8a749ad0fbda97280e8 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Tue, 4 Oct 2022 09:37:34 +0000 Subject: [PATCH 2/4] Increased ZMP counter since the frequency is higher --- .../robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini | 2 +- .../app/robots/iCubGenova09/dcm_walking_with_joypad.ini | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini index 7e24d7989..788dc698c 100644 --- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini +++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini @@ -20,7 +20,7 @@ max_initial_com_vel 0.15 constant_ZMP_tolerance 0.000001 # Consecutive times in which the ZMP remains constant. If this limit is reached, the module stops. Use a negative value to disable. -constant_ZMP_counter 25 +constant_ZMP_counter 125 # Minimum force to consider the ZMP valid. minimum_normal_force_ZMP 1.0 diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini index 8e8260c2b..e627a1790 100644 --- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini +++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini @@ -20,7 +20,7 @@ max_initial_com_vel 0.15 constant_ZMP_tolerance 0.00001 # Consecutive times in which the ZMP remains constant. If this limit is reached, the module stops. Use a negative value to disable. -constant_ZMP_counter 25 +constant_ZMP_counter 125 # Minimum force to consider the ZMP valid. minimum_normal_force_ZMP 1.0 From 504a168e8faeb764d850f1ddf96508e6d1c0bc2d Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Wed, 5 Oct 2022 12:49:15 +0200 Subject: [PATCH 3/4] Avoid to force the connection to the logger when the dump_data is enabled --- src/WalkingModule/src/Module.cpp | 15 +-------------- 1 file changed, 1 insertion(+), 14 deletions(-) diff --git a/src/WalkingModule/src/Module.cpp b/src/WalkingModule/src/Module.cpp index 085cbade4..ead2de7f5 100644 --- a/src/WalkingModule/src/Module.cpp +++ b/src/WalkingModule/src/Module.cpp @@ -396,7 +396,7 @@ bool WalkingModule::configure(yarp::os::ResourceFinder& rf) { yarp::os::Bottle& loggerOptions = rf.findGroup("WALKING_LOGGER"); // open and connect the data logger port - std::string portInput, portOutput; + std::string portOutput; // open the connect the data logger port if(!YarpUtilities::getStringFromSearchable(loggerOptions, "dataLoggerOutputPort_name", @@ -405,21 +405,8 @@ bool WalkingModule::configure(yarp::os::ResourceFinder& rf) yError() << "[WalkingModule::configure] Unable to get the string from searchable."; return false; } - if(!YarpUtilities::getStringFromSearchable(loggerOptions, - "dataLoggerInputPort_name", - portInput)) - { - yError() << "[WalkingModule::configure] Unable to get the string from searchable."; - return false; - } m_loggerPort.open("/" + name + portOutput); - - if(!yarp::os::Network::connect("/" + name + portOutput, portInput)) - { - yError() << "Unable to connect the ports " << "/" + name + portOutput << "and" << portInput; - return false; - } } // time profiler From 2706da69be1b225377748de762f5c6ffdc8431d3 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Sat, 8 Oct 2022 18:06:42 +0200 Subject: [PATCH 4/4] Make the walking running at 500Hz while iFeel retargeting is enable --- .../iFeel_joint_retargeting/tasks/regularization.ini | 4 ++-- .../iFeel_joint_retargeting/tasks/retargeting.ini | 6 +++--- .../dcm_walking/iFeel_joint_retargeting/tasks/torso.ini | 4 ++-- .../iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini | 2 +- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini index d6fffcaca..6512f6586 100644 --- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini +++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini @@ -7,8 +7,8 @@ kp (5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0) states ("STANCE", "WALKING") -sampling_time 0.01 -settling_time 4.5 +sampling_time 0.002 +settling_time 3.0 [STANCE] name "stance" diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini index 903728e5b..1c4bd7167 100644 --- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini +++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini @@ -7,8 +7,8 @@ kp (5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0) states ("STANCE", "WALKING") -sampling_time 0.01 -settling_time 4.5 +sampling_time 0.002 +settling_time 3.0 [STANCE] name "stance" @@ -22,7 +22,7 @@ weight (2.0, 2.0, 2.0, [WALKING] name "walking" weight (2.0, 2.0, 2.0, - 1.0, 1.0, 1.0, + 0.0, 0.0, 0.0, 2.0, 2.0, 2.0, 2.0, 2.0, 5.0, 5.0, 2.0, 2.0, 2.0, 2.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini index e69638dd4..01d7def3d 100644 --- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini +++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini @@ -4,8 +4,8 @@ kp_angular 5.0 states ("STANCE", "WALKING") -sampling_time 0.01 -settling_time 4.5 +sampling_time 0.002 +settling_time 3.0 [STANCE] name "stance" diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini index 788dc698c..2ead6b990 100644 --- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini +++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini @@ -47,7 +47,7 @@ name walking-coordinator # height of the com com_height 0.565 # sampling time -sampling_time 0.01 +sampling_time 0.002 # enable joint retargeting use_joint_retargeting 1 # enable the virtualizer