Comments (2)
1. Setting up Datadumpers
Use the script https://github.com/jeljaik/extended-kalman-filter/blob/dynamics-tests/EKF_EulerAngle_IROS2015/robotData/dataDumperAppGenerator.py in order to generate the dataDumper
application. Once you launch it, when you run the application all datadumpers (one per port) wait till you connect to actually write to file, and they will stop writing once you stop the application.
Launch as:
python dataDumperAppGenerator.py --ports /icub/left_leg/state:o /icub/right_leg/state:o /icub/torso/state:o /icub/left_foot/analog:o /icub/right_foot/analog:o /icub/left_leg/analog:o /icub/right_leg/analog:o /icub/skin/left_foot /icub/skin/right_foot /icub/inertial --host localhost --name backwardTippingTest3006201501 > application.xml
Note for Naveen: In the folder I sent to you there's this file 'application.xml' which you can launch with yarpmanager
as: yarpmanager --application application.xml
, but it was missing the legs' FT sensors, that I just added to the previous lines, so you better run it again.
2. Skin Calibration!
The skin needs to be calibrated before the robot is put on the ground. To do so, from console
launch the application skinManager + Feet V2.0
or something alike, can't remember the exact name, run it and don't forget to connect
all ports. Then hit the calibrate button before the robot is on the ground. Once you do this, try to be as quick as possible with running the experiment and do it again for every other trial.
3. Sequence
Get the robot in the starting position by leaving the arms in the original home position, and torso and legs as specified next.
Backward Tipping Scenario
torso
from 0 0 20
to 0 0 -18.1
in 1.0 sec
right_leg
fixed at -10 0 0 0 -2 -2
left_leg
fixed at -10 0 0 0 0 0
Note for Naveen Also in the folder I sent you inside every backwardTippingCompliant300620150XX
theres a sequence
directory with these transitions loaded. You need only to load it with yarpmotorgui-gtk
(preferably) by going to the tab all
, followed by load sequence
and to play when you're ready: run sequence (time)
.
4. Macumba
The old "macumba" is now under the name twoFeetStandingIdleAndCalib.sh
and it's installed so you don't need to look for it anywhere in particular.
5. Offsets
Before playing back the tipping sequence you wanna record the FT offsets given by wholeBodyDynamicsTree
by simply launching it (the head IMU does not need to be attached for it to run) and simply copying the last lines. Something like:
Printed output of wholeBodyDynamicsTree
Experiment backwardTipping3006201501
[INFO]wholeBodyDynamicsThread: complete calibration at system time : 30-06-2015 03:16:32
[INFO]wholeBodyDynamicsThread: new calibration for FT l_arm_ft_sensor is 70.361964 5.230722 245.676737 -3.080854 -5.566984 0.917822
[INFO]wholeBodyDynamicsThread: new calibration for FT r_arm_ft_sensor is 129.303830 2.334646 122.035770 -0.914977 -3.123182 0.284610
[INFO]wholeBodyDynamicsThread: new calibration for FT l_leg_ft_sensor is 113.821837 104.494539 -214.493500 -10.198060 1.850435-0.482308
[INFO]wholeBodyDynamicsThread: new calibration for FT l_foot_ft_sensor is -23.237569 -38.295595 332.422470 0.706069 -6.038355-0.497729
[INFO]wholeBodyDynamicsThread: new calibration for FT r_leg_ft_sensor is -51.867380 50.283953 -60.974108 -10.459150 4.045945 0.237656
[INFO]wholeBodyDynamicsThread: new calibration for FT r_foot_ft_sensor is 19.771900 22.325223 -117.840856 0.996938 4.261731-0.213692
from extended-kalman-filter.
NOTE TO SELF I have a local copy of the datasets in extended-kalman-filter/EKF_EulerAngle_IROS2015/robotData
. A copy was sent to Naveen's personal email.
from extended-kalman-filter.
Related Issues (20)
- 5. Adaptive EKF version of the IROS paper.
- 5* Adaptive Kalman Filter research.
- 6. Estimation of gyro bias as part of the state.
- 7. Expand IROS paper work with quaternions.
- 8*. C++ Implementation of the IROS paper.
- 8. C++ implementation for Dynamic Walking 2015.
- 9. Integration with balancing.
- 10. Balancing demo.
- 11. HUMANOIDS paper.
- Run-time error of testEKF_completeLegWithSkin.m HOT 4
- Extend MatrixWrapper for the EKFModule
- Consistency check for the quaternionEKF module
- Interfacing with XSens HOT 1
- Add Kalman Smoother
- Write FindXSens.cmake module HOT 2
- Update Process Covariance each timestep
- Dynamic Walking Paper objectives HOT 2
- Performance Validation
- Typo in matrix construction
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from extended-kalman-filter.