Feature/fst footstep constraint #719
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stefanfasano
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Mar 12, 2025
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This class already existed and has been tested in ihmc-internal. I am just moving it (and its corresponding unit test) to open-robotics. Let me know if there is another project/package within open-robotics that would be a better home for this class
LuigiPenco93
approved these changes
Mar 13, 2025
Beomyeong
approved these changes
Mar 17, 2025
LuigiPenco93
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May 15, 2025
* setup for tufts demo * fixed transform lever * manual addition scne nodes support * ai2rNode functionality with check points * fix list growing to infinity * typo * started to expand streaming * added status of completed behavior * comment * p-control direction * added goto/navigation behavior * fixed bug, multiple failures not resetting * collision checking in goto action node * adding toolbox for footstep streaming * separating foot step streaming in its own toolbox, wip * pushling input from UI to toolbox * completed rework into toolbox * typo * cleanup simulation ui nadia * active step adjustment with mnaual mode * added direction and stride estimation to toolbox * added parameter for stride length scaling * simplified stride length estimation * A method to predict the footstep from the average velocity of the tracker is added. This method is going on work, not yet finished. * fixed bugs crash and commented code for testing * fixed bugs in FST and fixing KST state initialization message * fixed bugs in KSt and fixing KST logic for init message * readd configuration command * clean up logs and parameters * fixed bugs in footstep placer * step direction estimate working really nice * method for stride estimate * stride estimate tuned * typos * automatic registration tracker * load tracker role at init VR * reassign role to tracker when disconnected and reconnected * trackers get the model of vr headset * force one step at a time in estimate * working on yaw estimate * added yaw estimate * fix merging * added constraints for computed step * Fixing reactive update foot step position while robot doesn't finish its swing. * fixing calmping distance * minor changes * revert multi contact ik controller changes * fixed yaw estimate * debugging multiple unwanted steps at the end * fixed timing steps * stride default scaling factor * added footstep landing heuristic * fixed and tuned footstep estimate, working nicely * use heigthmap to snap footstep center * minor edit * height map fix * better vr teleport location * clean up kinmeaticsStreamingMode and KST parameters * height map added * bug footstep adaptation * minor fix * added arm manager IK * fixed bug last estimate sent multiple times * work in progress chest tracker * arm streaming completed * setting up footstep optimization * setting up optimization of footstep * setting up test for footstep optimization * disbale heightmap * fixed merge * params * added check for different options * added check for intiial solution validity * tuning gradient descent, added better intiialization and gradient delta * gradient descent version * simulated annealing * global optimization * increased alhpa for testing * setting up kernel for optimization * prepared cu file and java CUDA loader * propogate gpu function into placer and streaming * releasing gpu memory * Feature/fst footstep constraint (#719) * added step position limiter based on reachability constraints * manual and VR placed footstep constrain to reachable region and snap to height map * constraint future footsteps based on future stance foot and CoM positions * constraint frame for VR and manual footsep constraint aligns with pelvis yaw * did some renaming * cleaned things up, added safety checks, moved step limiter params * made step limiter robust to footstep plans without alternating footstep sides * Revert "Auxiliary commit to revert individual files from 1a87926" This reverts commit e5d0e89555cdbb0ae29efdb2e43f595078cc4cff. * fixed kernels * fixed a bunch of bugs in the kernels * fixed kernels and CUDA runner * bug fix kernel solution retreived correctly * optimized cuda logic for footstep optimization * cleaning cuda code, but getting a crash at successive compute calls * fixed cuda address violation error * minor edits * disabled swing speedup * fst streamign param , test on robot * increased search radius and set yaw range more properly * more aggressive stepping and secodn footstep for consecutive stepping * added print for capturability status * increasing transfer * fixed bugs kst reinit * dynamic transfer time * adding com shift * Clear com xy control before walking * Add yoTransferDuration * removed unencessary code, hacks * removed com shift * testing arm streaming * added yovariables for logging fst * ocu chnages * Feature/body collision using heightmap (#747) * made a bodycollisionfilter and its test class * added FrameCapsule3D * Passing the kinematic collisions to the Rapid Height Map Manager * added functionality * Got u v calculation working * added CUDA Kernel * added CUDA Kernel to manager * fixed the kernel file * fixed depth input * fixed pointer * removed torso and pelvis * fixed size of pointer * made a bodycollisionfilter and its test class * added FrameCapsule3D * Passing the kinematic collisions to the Rapid Height Map Manager * added functionality * Got u v calculation working * added CUDA Kernel * added CUDA Kernel to manager * fixed the kernel file * merged develop + added optimization step * deleted old files * formatted and addressed a very irritating Nicks comments * formatted and addressed a very irritating Nicks final comments * added to height map * removed cylinder * added sphere functionality and tolerance * Tune parameter to avoid cell at sensor origin * Remove check that wouldn't allow for UI button to be pressed when robot is paused walking * Cleanup --------- Co-authored-by: nkitchel <[email protected]> Co-authored-by: Tomasz Bialek <[email protected]> * reduced map * parameters for successful test on robot * back to working state * readded preview footstep and swing duration * reduced footstep margin * testing changes * param heightmap fst * index bindings * working well rough terrain * bug fix typo * transfer update beomyeong fixes * Revert "transfer update beomyeong fixes" This reverts commit 1e72eff. * undo init transfer change * temporary initial transfer * init transder = default trasnfer * transfer update beomyeong fixes * clean up pr * readded missing things from develop * tomasz clean up cuda file * Feature/fst stable footstep data message changes (#809) * changed fields in FootstepDataMessage so they are not specific to QFP. VR FST can use these to continuously update footstep reference * removed updating footstep reference from transfer state * changed some logic for toggling off swing trajectory damping * VR FST footstep message is set to continuously update footstep reference * tracker roles * fixed transform for index trackers * key beindings * clean up reviews * Update ihmc-perception/src/test/java/us/ihmc/perception/cuda/CUDAFootstepOptimizerTest.java Co-authored-by: Tomasz Bialek <[email protected]> * disable test footstep optimizer * remove unecessary stuff * fixed gradle issue --------- Co-authored-by: lpenco <[email protected]> Co-authored-by: bpark <[email protected]> Co-authored-by: ihmc-rosie <[email protected]> Co-authored-by: Stefan <[email protected]> Co-authored-by: Stephen McCrory <[email protected]> Co-authored-by: Nehar Poddar <[email protected]> Co-authored-by: nkitchel <[email protected]> Co-authored-by: Tomasz Bialek <[email protected]> Co-authored-by: Stefan Fasano <[email protected]> Co-authored-by: LuigiPenco <[email protected]> Co-authored-by: Tomasz Bialek <[email protected]>
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Addition of elliptical kinematic reachability constraint for manual and VR placed footsteps