added the special case for the stairs #1109
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* started working on a fix for pelvis rotationd elays * rolled back on how the time in the phase is found, and started adding a decay factor so the feedforward values dont go to the moon * fixed a bound inclusiveness problem
#1105) * added some changes to prefer previous reachable regions to yield more consistent, smoother results * reverted line change --------- Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>
Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>
Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>
* Make ROS2HeartbeatMonitor garbage free * Add heartbeats to CSG objects * Added destroy method to CSGROS2CommunicationHelper and cleaned up usage in the panel --------- Co-authored-by: Alexander OCU <rosie@ihmc.org> Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>
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| private RobotSide getSideCarryingMostWeight(Footstep leftFootstep, Footstep rightFootstep) |
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This is copied from transfer to standing.
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not sure how critical this method is and how important it is to accurately estimate the side with the most weight, but you can probably do a more accurate load comparison by using controllerToolbox.getFootSwitches().get(side).getMeasuredWrench().getLinearPartZ().
| supportingSide = getSideCarryingMostWeight(footstepLeft, footstepRight); | ||
| supportingSide = supportingSide == null ? RobotSide.LEFT : supportingSide; | ||
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| TransferToAndNextFootstepsData transferToAndNextFootstepsDataForDoubleSupport = walkingMessageHandler.createTransferToAndNextFootstepDataForDoubleSupport(supportingSide.getOppositeSide()); |
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as it was, the hard coding didn't work well when the left foot led.
| extraToeOffHeight = feetManager.getExtraCoMMaxHeightWithToes(); | ||
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| TransferToAndNextFootstepsData transferToAndNextFootstepsDataForDoubleSupport = walkingMessageHandler.createTransferToAndNextFootstepDataForDoubleSupport(supportingSide); | ||
| TransferToAndNextFootstepsData transferToAndNextFootstepsDataForDoubleSupport = walkingMessageHandler.createTransferToAndNextFootstepDataForDoubleSupport(supportingSide.getOppositeSide()); |
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Switched size, based on what I saw in the test.
* fixed the reachability constraint return * properly reset the feedback conditions for the ICP feedback
# Conflicts: # ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/highLevelHumanoidControl/plugin/CSGROS2CommunicationHelper.java # ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/highLevelHumanoidControl/plugin/StepGeneratorCommandInputManager.java # ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/csg/RDXCSGPanel.java
| // by the "from" foot, as the | ||
| // way the phase variable works means we can approach what is meant to be swing on the "to" foot while still in the "from" foot. | ||
| if (Math.abs(transferToPosition.getX()) < 0.1 && endGroundHeight > startGroundHeight) | ||
| if (Math.abs(transferToPosition.getX()) < 0.1 && endGroundHeight > startGroundHeight && transferToPosition.getZ() > transferFromPosition.getZ() + 0.05) |
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0.1 and 0.05 are hard coded values. Need to look at what they actually mean and change it to a variable name
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Changed to have names describing the variables
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| public void testSpecialStairs(boolean goingUp, |
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can you add a description to this test that indicates what makes these stairs special
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their mama told them they were special, stefan. That's all you need to know.
| if (holdDesiredHeightConstantWhenStanding) | ||
| { | ||
| comHeightManager.initializeToNominalDesiredHeight(); | ||
| supportingSide = RobotSide.LEFT; |
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Does Standing mean the doubleSupport?
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it is double support, yes. I'm not completely sure why it used the nomenclature supportSide, but it does
| Footstep footstepRight = walkingMessageHandler.getFootstepAtCurrentLocation(RobotSide.RIGHT); | ||
| RobotSide supportingSide = getSideCarryingMostWeight(footstepLeft, footstepRight); | ||
| supportingSide = getSideCarryingMostWeight(footstepLeft, footstepRight); | ||
| supportingSide = supportingSide == null ? RobotSide.RIGHT : supportingSide; |
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should the default be LEFT since that is usually our convention
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In this case, I don't really want to change what's there, since I'm worried about the other ramifications of that.
stefanfasano
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stefanfasano
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Make sure to test on robot before merge, since minor controller conditions/heuristics were added/changed
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