talos-rbprm merge requestshttps://gitlab.laas.fr/humanoid-path-planner/talos-rbprm/-/merge_requests2019-10-21T11:56:45Zhttps://gitlab.laas.fr/humanoid-path-planner/talos-rbprm/-/merge_requests/9Fix for python32019-10-21T11:56:45ZJason CheminFix for python3Fix to import talos and talos abstract robot from python3Fix to import talos and talos abstract robot from python3https://gitlab.laas.fr/humanoid-path-planner/talos-rbprm/-/merge_requests/8[rom] move rom to be valid when rbprm height is the same as fb height2019-10-14T20:24:43ZGuilhem Saurel[rom] move rom to be valid when rbprm height is the same as fb height*Created by: pFernbach*
Move down the ROM origin in order to use the same root z position for guide planning and contact planning. *Created by: pFernbach*
Move down the ROM origin in order to use the same root z position for guide planning and contact planning. https://gitlab.laas.fr/humanoid-path-planner/talos-rbprm/-/merge_requests/7add ref_height and default_com_height2019-10-14T07:47:25ZGuilhem Saureladd ref_height and default_com_height*Created by: pFernbach*
Add two new members in Robot class :
* In rbprmBuilder : `ref_height` default root z value, with floor at z=0
* In fullBody : `DEFAULT_COM_HEIGHT` z value of the com position in reference configuration, with...*Created by: pFernbach*
Add two new members in Robot class :
* In rbprmBuilder : `ref_height` default root z value, with floor at z=0
* In fullBody : `DEFAULT_COM_HEIGHT` z value of the com position in reference configuration, with floor at z=0
Other changes :
* Slightly change the rleg_rom height to be symetric with the left one
* Reduce the max distance between the feet in the 'relative_constraints' : from 0.35 to 0.32
* referenceConfig_elbowsUp : lift more the arms and turn them toward the torsohttps://gitlab.laas.fr/humanoid-path-planner/talos-rbprm/-/merge_requests/6[rom] cut the heights of the ROMs for the legs2019-09-10T15:08:13ZGuilhem Saurel[rom] cut the heights of the ROMs for the legs*Created by: pFernbach*
*rom_full.stl now contain the previous shape of the rom.
The default shape is now truncated in order to avoid having intersection between the ROM and surfaces which are too high with respect to the root. *Created by: pFernbach*
*rom_full.stl now contain the previous shape of the rom.
The default shape is now truncated in order to avoid having intersection between the ROM and surfaces which are too high with respect to the root. https://gitlab.laas.fr/humanoid-path-planner/talos-rbprm/-/merge_requests/5LP constraints2019-09-07T09:49:18ZGuilhem SaurelLP constraints*Created by: pFernbach*
Add constraints used by the LP formulation and scripts to generate them
Update ROM script to add missing members in the Robot class
Add new reference configuration in fullBody script : with the elbows bende...*Created by: pFernbach*
Add constraints used by the LP formulation and scripts to generate them
Update ROM script to add missing members in the Robot class
Add new reference configuration in fullBody script : with the elbows bended up
Add new weight vector : with high weights on x and y orientation of the root (instead of 0)https://gitlab.laas.fr/humanoid-path-planner/talos-rbprm/-/merge_requests/4use sole frame instead of last joint + transform2019-09-03T14:34:46ZGuilhem Saureluse sole frame instead of last joint + transform*Created by: pFernbach*
Main change : now use the `leg_***_sole_fix_joint` as the center of contact instead of ` leg_****_6_joint` with a transform. This doesn't change anything in the scripts using this class.
Other change :
* Inc...*Created by: pFernbach*
Main change : now use the `leg_***_sole_fix_joint` as the center of contact instead of ` leg_****_6_joint` with a transform. This doesn't change anything in the scripts using this class.
Other change :
* Increase the vertical size (toward the ground) of the trunk_large bounding box
* Reduce the root z value of the references configuration to be in contact (without collisions) with a floor at z = 0https://gitlab.laas.fr/humanoid-path-planner/talos-rbprm/-/merge_requests/3update ROMs and script2019-06-20T09:52:20ZGuilhem Saurelupdate ROMs and script*Created by: pFernbach*
This PR should not change anything in existing RBPRM scripts, except the *_path scripts using "trunk_large" model (but I think I updated all of them).
## Abstract shape :
* slightly reduce the size of the l...*Created by: pFernbach*
This PR should not change anything in existing RBPRM scripts, except the *_path scripts using "trunk_large" model (but I think I updated all of them).
## Abstract shape :
* slightly reduce the size of the legs ROM along z axis
* greatly increase the size of the trunk hip along y axis for "large" model
* Fix visual of "large" model to fit the collision model
## Python class :
* Add method to set constrained joints bounds during contact generation, and reset their original value after
* Add class for talos with a fixed upper body
https://gitlab.laas.fr/humanoid-path-planner/talos-rbprm/-/merge_requests/2add cmake submodule2019-04-24T11:06:34ZGuilhem Saureladd cmake submodule*Created by: pFernbach*
*Created by: pFernbach*
https://gitlab.laas.fr/humanoid-path-planner/talos-rbprm/-/merge_requests/1Add a method to load all joints with default parameters2019-04-24T10:48:25ZGuilhem SaurelAdd a method to load all joints with default parameters*Created by: pFernbach*
* Add a method to load all limbs with default settings
* Add predefined weights for postural task
* Add knee joint id (helper needed by some scripts)
* Fix feet contact offset along z axis
*Created by: pFernbach*
* Add a method to load all limbs with default settings
* Add predefined weights for postural task
* Add knee joint id (helper needed by some scripts)
* Fix feet contact offset along z axis