ADVRHumanoids/casannis_walking

Paper files guide

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IoannisDadiotis commented

  • Sc. 1-3 are run with casannis_walking branch fix-simulation-slip.

  • Sc. 1, 2 start with homing position defined by file open_elbows_homing.yaml and Sc. 3 with file different_homing.yaml in pkg yiannis_centauro_pytools.

  • mat files from simulations for Sc. 1-3 can be found in pkg yiannis_centauro_pytools/mat/0.25_1234/, /mat/19_11_simulations/, /mat/0.2_slope-10_3142.

  • Fig. 3-5 are generated with yiannis_centauro_pytools/src/joint_limits.py

  • For no payload and locomotion-only cases casannis_walking/launch/cartesio.launch WBC is used. For payload-aware casannis_walking/launch/cartesio_with_arm_ee.launch is used.

  • For no payload and payload-aware cases centauro_urdf pkg should be in ioannis-payload branch with ball_hand mass equal to zero. For locomotion-only case centauro_urdf pkg should be in ioannis-payload brach with ball_hand mass equal to 10 kg.

  • Sc. 1: mon launch casannis_walking gait_payload.launch min_force:=100 target_dx:="[0.25, 0.25, 0.25, 0.25]" swing_id:="[1,2,3,4]"

  • Sc. 2: mon launch casannis_walking gait_payload.launch min_force:=100 target_dy:="[0.25, 0.25, 0.25, 0.25]" target_dx:="[0.0, 0.0, 0.0, 0.0]"

  • Sc. 2 mon launch casannis_walking gait_payload.launch min_force:=120 target_dx:="[0.2, 0.2, 0.2, 0.2]" slope_x:=-10

  • Motion of Part 2 in video and Fig. 6 in paper are generated with the branch fix_simulation_slip of casannis_walking.

  • Longitudinal gap is run by casannis_walking/bash/gap0.2.bash

  • Lateral gap was run by commands one by own

  • Positive slope was run by mon launch casannis_walking gait_payload.launch min_force:=120 target_dx:="[0.3, 0.3, 0.3, 0.3]" slope_x:=10

  • Platform step up was run with casannis_walking/bash/loconly_stepup_steps.bash and casannis_walking/bash/stepup_steps.bash

  • Staircase was run by action defined in casannis_walking/src/stairs_action_server.py

  • For experiments centauro_urdf pkg should be in ioannis-payload branch with rod_plates mass equal to zero and rod_plate option set to true (ball hand option set to zero).

Experiments were run with casannis_walking in experiments branch and with homing position defined in /yiannis_centauro_pytools/yaml/rod_plates_homing.py

  • Longitudinal steps: casannis_walking/bash/longitudinal.bash
  • Lateral steps: casannis_walking/bash/lateral.bash (target_dy to 0.2 and not 0.25)
  • Stepup: casannis_walking/bash/slow_stepup.bash

Log files of the included experiments are found in yiannis_centauro_pytools/mat/robot_state/10_11_2021. Fig. 8 is produced by casannis_walking/paper_plots/experiment_forces.py (branch experiments).
Fig. 7 has been produced with yiannis_centauro_pytools/src/comp_rosexecutor_robotstate.py