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[CI] Run simulation of JVRC1 stepladder climbing #3

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[CI] Run simulation of JVRC1 stepladder climbing #3

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d01d274
[cnoid] Add MCC_JVRC1_SampleStepladder.in.cnoid
mmurooka Mar 27, 2023
7d3d5b0
[description] Add SampleStepladder.urdf
mmurooka Mar 27, 2023
17062f3
[cnoid, description] Update ampleStepladder.
mmurooka Mar 27, 2023
83922b9
[CI] Add MotionSampleStepladder.yaml
mmurooka Mar 27, 2023
3403810
[cnoid] Update the camera pose of MCC_JVRC1_SampleStepladder.in.cnoid
mmurooka Mar 27, 2023
2f33979
[CI] Update config/MotionSampleStepladder.yaml
mmurooka Mar 27, 2023
62c6481
[CI] Update config/MotionSampleStepladder.yaml
mmurooka Mar 27, 2023
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360 changes: 360 additions & 0 deletions .github/workflows/config/MotionSampleStepladder.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,360 @@
transitions:
- [MCC::Initial_, OK, MCC::ConfigMotion1_, Auto]
- [MCC::ConfigMotion1_, OK, MCC::ConfigMotion2_, Auto]

states:
MCC::Initial_:
base: MCC::Initial
configs:
autoStartTime: 2.0

MCC::ConfigMotion1_:
base: MCC::ConfigMotion
configs:
baseTime: Relative
stepCommandList:
- limb: LeftHand
pose:
translation: [0.5215390309173472, 0.3, 1.2]
rotation: [0.0, -1.3089969389957472, 0.0]
swingCommand:
type: Add
startTime: 3.0
endTime: 7.0
config:
approachDurationRatio: 0.15
approachOffset: [0, 0, 0.03]
swingOffset: [0, 0, 0.12]
contactCommandList:
- time: 7.0
constraint:
type: Empty
- time: 8.0
constraint:
type: Grasp
fricCoeff: 1.0
gripperCommandList:
- time: 2.0
name: l_gripper
config:
opening: 1.0
- time: 7.0
name: l_gripper
config:
opening: 0.0
- limb: RightHand
pose:
translation: [0.5215390309173472, -0.3, 1.2]
rotation: [0.0, -1.3089969389957472, 0.0]
swingCommand:
type: Add
startTime: 3.0
endTime: 7.0
config:
approachDurationRatio: 0.15
approachOffset: [0, 0, 0.03]
swingOffset: [0, 0, 0.12]
contactCommandList:
- time: 7.0
constraint:
type: Empty
- time: 8.0
constraint:
type: Grasp
fricCoeff: 1.0
gripperCommandList:
- time: 2.0
name: r_gripper
config:
opening: 1.0
- time: 7.0
name: r_gripper
config:
opening: 0.0
- limb: LeftFoot
type: Add
startTime: 9.0
endTime: 11.0
pose:
translation: [0.19358983848622455, 0.11, 0.2]
constraint:
type: Surface
fricCoeff: 0.5
verticesName: LeftFootOnStep
swingConfig:
withdrawDurationRatio: 0.3
withdrawOffset: [-0.03, 0, 0.1]
approachDurationRatio: 0.2
approachOffset: [0, 0, 0.02]
swingOffset: [-0.05, 0, 0.1]
- limb: RightFoot
type: Add
startTime: 12.0
endTime: 14.0
pose:
translation: [0.19358983848622455, -0.11, 0.2]
constraint:
type: Surface
fricCoeff: 0.5
verticesName: RightFootOnStep
swingConfig:
withdrawDurationRatio: 0.3
withdrawOffset: [-0.03, 0, 0.1]
approachDurationRatio: 0.2
approachOffset: [0, 0, 0.02]
swingOffset: [-0.05, 0, 0.1]
nominalCentroidalPoseList:
- time: 9.0
pose:
translation: [-0.1, 0.0, 0.85]
- time: 11.5
pose:
translation: [-0.07320508075688774, 0.0, 0.925]
- time: 14.0
pose:
translation: [-0.026410161513775465, 0.0, 1.05]

MCC::ConfigMotion2_:
base: MCC::ConfigMotion
configs:
baseTime: Relative
stepCommandList:
- limb: LeftHand
pose:
translation: [0.57512886940357176, 0.3, 1.4]
rotation: [0.0, -1.3089969389957472, 0.0]
swingCommand:
type: Add
startTime: 3.0
endTime: 6.0
config:
withdrawDurationRatio: 0.25
withdrawOffset: [0, 0, 0.02]
approachDurationRatio: 0.25
approachOffset: [0, 0, 0.02]
swingOffset: [0, 0, 0.05]
contactCommandList:
- time: 2.0
constraint:
type: Empty
- time: 3.0
constraint: {}
- time: 6.0
constraint:
type: Empty
- time: 7.0
constraint:
type: Grasp
fricCoeff: 1.0
gripperCommandList:
- time: 2.0
name: l_gripper
config:
opening: 1.0
- time: 6.0
name: l_gripper
config:
opening: 0.0
- limb: RightHand
pose:
translation: [0.57512886940357176, -0.3, 1.4]
rotation: [0.0, -1.3089969389957472, 0.0]
swingCommand:
type: Add
startTime: 9.0
endTime: 12.0
config:
withdrawDurationRatio: 0.25
withdrawOffset: [0, 0, 0.02]
approachDurationRatio: 0.25
approachOffset: [0, 0, 0.02]
swingOffset: [0, 0, 0.05]
contactCommandList:
- time: 8.0
constraint:
type: Empty
- time: 9.0
constraint: {}
- time: 12.0
constraint:
type: Empty
- time: 13.0
constraint:
type: Grasp
fricCoeff: 1.0
gripperCommandList:
- time: 8.0
name: r_gripper
config:
opening: 1.0
- time: 12.0
name: r_gripper
config:
opening: 0.0
- limb: LeftFoot
type: Add
startTime: 14.0
endTime: 16.0
pose:
translation: [0.24717967697244908, 0.11, 0.4]
constraint:
type: Surface
fricCoeff: 0.5
verticesName: LeftFootOnStep
swingConfig:
withdrawDurationRatio: 0.3
withdrawOffset: [-0.05, 0, 0.1]
approachDurationRatio: 0.2
approachOffset: [0, 0, 0.02]
swingOffset: [-0.06, 0, 0.1]
- limb: RightFoot
type: Add
startTime: 17.0
endTime: 19.0
pose:
translation: [0.24717967697244908, -0.11, 0.4]
constraint:
type: Surface
fricCoeff: 0.5
verticesName: RightFootOnStep
swingConfig:
withdrawDurationRatio: 0.3
withdrawOffset: [-0.05, 0, 0.1]
approachDurationRatio: 0.2
approachOffset: [0, 0, 0.02]
swingOffset: [-0.06, 0, 0.1]
nominalCentroidalPoseList:
- time: 14.0
pose:
translation: [-0.046410161513775465, 0.0, 1.05]
- time: 16.5
pose:
translation: [-0.019615242270663205, 0.0, 1.125]
- time: 19.0
pose:
translation: [0.0271796769724490755, 0.0, 1.25]

LimbTaskList:
- type: firstOrderImpedance
limb: LeftFoot
frame: LeftFootCenter
cutoffPeriod: 0.01
weight: 1000.0
- type: firstOrderImpedance
limb: RightFoot
frame: RightFootCenter
cutoffPeriod: 0.01
weight: 1000.0
- type: firstOrderImpedance
limb: LeftHand
frame: LeftHandGraspFrame
cutoffPeriod: 0.01
weight: 1000.0
- type: firstOrderImpedance
limb: RightHand
frame: RightHandGraspFrame
cutoffPeriod: 0.01
weight: 1000.0

LimbManagerSet:
LimbManager:
Hand:
impedanceGains:
MultiContact:
damper:
linear: [5e4, 5e4, 5e4]
angular: [100, 100, 100]
spring:
linear: [0, 0, 0]
angular: [0, 0, 2000]
wrench:
linear: [1, 1, 1]
angular: [1, 1, 0]

CentroidalManager:
nominalCentroidalPoseBaseFrame: World
mpcWeightParam:
runningPos: [10.0, 10.0, 10.0]
terminalPos: [10.0, 10.0, 10.0]

OverwriteConfigList:
NoSensors:
LimbManagerSet:
LimbManager:
Hand:
impedanceGains:
SingleContact:
wrench:
linear: [0, 0, 0]
angular: [0, 0, 0]
MultiContact:
wrench:
linear: [0, 0, 0]
angular: [0, 0, 0]
Swing:
wrench:
linear: [0, 0, 0]
angular: [0, 0, 0]

robots:
# Environment models
sample_stepladder:
module: MCC/SampleStepladder
init_pos:
translation: [0.2, 0.0, 0.0]

# Robot-specific configurations
jvrc1:
frames:
- name: LeftHandGraspFrame
parent: l_wrist
X_p_f:
translation: [0.0, -0.0085, -0.08]
- name: RightHandGraspFrame
parent: r_wrist
X_p_f:
translation: [0.0, 0.0085, -0.08]

PostureTask:
jointWeights:
WAIST_R: 1000
WAIST_P: 1000
WAIST_Y: 1000
target:
R_SHOULDER_P: [0.2617993877991494] # 15
R_ELBOW_P: [-1.5707963267948966] # -90
R_ELBOW_Y: [1.5707963267948966] # 90
R_WRIST_Y: [-1.5707963267948966] # -90
L_SHOULDER_P: [0.2617993877991494] # 15
L_ELBOW_P: [-1.5707963267948966] # -90
L_ELBOW_Y: [-1.5707963267948966] # -90
L_WRIST_Y: [1.5707963267948966] # 90

CentroidalManager:
nominalCentroidalPose:
translation: [0.0, 0.0, 0.85]

Contacts:
Surface:
- name: LeftFoot
vertices: [[-0.1, -0.04, 0.0], [-0.1, 0.04, 0.0], [0.1, 0.04, 0.0], [0.1, -0.04, 0.0]]
- name: RightFoot
vertices: [[-0.1, -0.04, 0.0], [-0.1, 0.04, 0.0], [0.1, 0.04, 0.0], [0.1, -0.04, 0.0]]
- name: LeftFootOnStep
vertices: [[0.03, -0.04, 0.0], [0.03, 0.04, 0.0], [0.08, 0.04, 0.0], [0.08, -0.04, 0.0]]
- name: RightFootOnStep
vertices: [[0.03, -0.04, 0.0], [0.03, 0.04, 0.0], [0.08, 0.04, 0.0], [0.08, -0.04, 0.0]]

Grasp:
- name: LeftHand
vertices:
- translation: [0.0, 0.015, 0]
rotation: [1.5707963267948966, 0, 0]
- translation: [0.0, -0.015, 0]
rotation: [-1.5707963267948966, 0, 0]
- name: RightHand
vertices:
- translation: [0.0, 0.015, 0]
rotation: [1.5707963267948966, 0, 0]
- translation: [0.0, -0.015, 0]
rotation: [-1.5707963267948966, 0, 0]
6 changes: 6 additions & 0 deletions cnoid/model/MCC_materials.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,9 @@ materials:
-
name: Field
roughness: 1.0
-
name: Stepladder
roughness: 1.0

contactMaterials:
-
Expand All @@ -19,3 +22,6 @@ contactMaterials:
-
materials: [ Field, Floor ]
friction: 0.5
-
materials: [ Stepladder, Floor ]
friction: 0.5
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