Humanoid walking controller with various baseline methods
Home Page: https://isri-aist.github.io/BaselineWalkingController
License: BSD 2-Clause "Simplified" License
After updating Chorenoid in the apt package (see isri-aist/CnoidRosUtils#1 (comment)), the simulation is not running in CI.
https://github.com/isri-aist/BaselineWalkingController/actions/runs/3754939850/jobs/6379591691
+ choreonoid --start-simulation sim_mc.cnoid
PDcontroller0: onInitialize()
QCursor: Cannot create bitmap cursor; invalid bitmap(s)
QCursor: Cannot create bitmap cursor; invalid bitmap(s)
PDcontroller0: on Activated
[PDcontroller0] Gain file [PDgains_sim.dat] opened
[PDcontroller0] tlimit_ratio is set to 1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
[PDcontroller0] loadGain
[PDcontroller0] R_HIP_P, pgain = 5000, dgain = 30
[PDcontroller0] R_HIP_R, pgain = 5000, dgain = 30
[PDcontroller0] R_HIP_Y, pgain = 5000, dgain = 30
[PDcontroller0] R_KNEE, pgain = 6000, dgain = 50
[PDcontroller0] R_ANKLE_R, pgain = 3000, dgain = 20
[PDcontroller0] R_ANKLE_P, pgain = 3000, dgain = 20
[PDcontroller0] L_HIP_P, pgain = 5000, dgain = 30
[PDcontroller0] L_HIP_R, pgain = 5000, dgain = 30
[PDcontroller0] L_HIP_Y, pgain = 5000, dgain = 30
[PDcontroller0] L_KNEE, pgain = 6000, dgain = 50
[PDcontroller0] L_ANKLE_R, pgain = 3000, dgain = 20
[PDcontroller0] L_ANKLE_P, pgain = 3000, dgain = 20
[PDcontroller0] WAIST_Y, pgain = 5000, dgain = 32
[PDcontroller0] WAIST_P, pgain = 5000, dgain = 32
[PDcontroller0] WAIST_R, pgain = 5000, dgain = 32
[PDcontroller0] NECK_Y, pgain = 1000, dgain = 21
[PDcontroller0] NECK_R, pgain = 1000, dgain = 21
[PDcontroller0] NECK_P, pgain = 1000, dgain = 21
[PDcontroller0] R_SHOULDER_P, pgain = 1100, dgain = 70
[PDcontroller0] R_SHOULDER_R, pgain = 1100, dgain = 70
[PDcontroller0] R_SHOULDER_Y, pgain = 1100, dgain = 70
[PDcontroller0] R_ELBOW_P, pgain = 1200, dgain = 80
[PDcontroller0] R_ELBOW_Y, pgain = 1200, dgain = 80
[PDcontroller0] R_WRIST_R, pgain = 500, dgain = 24
[PDcontroller0] R_WRIST_Y, pgain = 500, dgain = 24
[PDcontroller0] R_UTHUMB, pgain = 30, dgain = 3
[PDcontroller0] R_LTHUMB, pgain = 30, dgain = 3
[PDcontroller0] R_UINDEX, pgain = 30, dgain = 3
[PDcontroller0] R_LINDEX, pgain = 30, dgain = 3
[PDcontroller0] R_ULITTLE, pgain = 30, dgain = 3
[PDcontroller0] R_LLITTLE, pgain = 30, dgain = 3
[PDcontroller0] L_SHOULDER_P, pgain = 1100, dgain = 70
[PDcontroller0] L_SHOULDER_R, pgain = 1100, dgain = 70
[PDcontroller0] L_SHOULDER_Y, pgain = 1100, dgain = 70
[PDcontroller0] L_ELBOW_P, pgain = 1200, dgain = 80
[PDcontroller0] L_ELBOW_Y, pgain = 1200, dgain = 80
[PDcontroller0] L_WRIST_R, pgain = 500, dgain = 24
[PDcontroller0] L_WRIST_Y, pgain = 500, dgain = 24
[PDcontroller0] L_UTHUMB, pgain = 30, dgain = 3
[PDcontroller0] L_LTHUMB, pgain = 30, dgain = 3
[PDcontroller0] L_UINDEX, pgain = 30, dgain = 3
[PDcontroller0] L_LINDEX, pgain = 30, dgain = 3
[PDcontroller0] L_ULITTLE, pgain = 30, dgain = 3
[PDcontroller0] L_LLITTLE, pgain = 30, dgain = 3
+ kill -2 20611
+ kill -2 20556
+ sleep 10s
PDcontroller0: on Deactivated Something wrong with codec, the video can not play with MediaPlayer, but works with Clipchamp
https://github.com/isri-aist/BaselineWalkingController/actions/runs/6210399107/job/16872074562
Restoring BodyRTCItem "BodyRTC"
Cannot find or open "/usr/lib/choreonoid-2.1/rtc/Virtual-JVRC1-RTC.conf".
Error: File "/usr/lib/choreonoid-2.1/rtc/PDcontroller.so" of RTC "PDcontroller" does not exist.
Error: RTC "PDcontroller" cannot be created.
This problem is happening only in the CI for Docker releases.
https://github.com/isri-aist/BaselineWalkingController/actions/runs/6133956095
The robot falls over in CI simulation tests of some conditions. It did not fail last week in scheduled CI runs, but started failing this week. There have been no changes to BWC in the meantime, and no major changes to mc_rtc (mc_rtc is installed from the head repository, not stable).
As noted in the comment at isri-aist/CnoidRosUtils@dc57984 is the version of Choreonoid in apt recently updated? (I just want to know for reference) @gergondet
$ catkin build baseline_walking_controller -DCMAKE_BUILD_TYPE=RelWithDebInfo --catkin-make-args all tests
This will fail to build with the following error:
- ENABLE_QLD: OFF
- ENABLE_QUADPROG: OFF
- ENABLE_LSSOL: OFF
- ENABLE_JRLQP: OFF
- ENABLE_QPOASES: OFF
- ENABLE_OSQP: OFF
- ENABLE_NASOQ: OFF
- ENABLE_HPIPM: OFF
- ENABLE_PROXQP: OFF
- ENABLE_QPMAD: OFF
CMake Error at CMakeLists.txt:93 (message):
None of the QP solvers are enabled. Enable at least one QP solver.
cd /home/rohan/src/bwc_ws/build/qp_solver_collection; catkin build --get-env qp_solver_collection | catkin env -si /usr/local/bin/cmake /home/rohan/src/bwc_ws/src/isri-aist/QpSolverCollection --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/rohan/src/bwc_ws/devel/.private/qp_solver_collection -DCMAKE_INSTALL_PREFIX=/home/rohan/src/bwc_ws/install -DCMAKE_BUILD_TYPE=RelWithDebInfo; cd -
It will succeed if I provide the <qp-solver-flag> as mentioned here.
Hello, Dr. Gergondet (@gergondet),
I apologize for bothering you, but I am experiencing some issues with the controller on my robot. During double foot support periods, the robot loses contact with the floor, and its feet cross the ground. However, during the walking process, this problem disappears. The process unfolds as follows:
1.Initially, the robot is set at the proper height.
2.Upon clicking "Start" to enter the BWC::Main_ state, the ControlRobotModel moves down slowly due to gravity, causing its feet to cross the ground.
3.I set the walking parameters and click "walk," after which the ControlRobotModel quickly returns to its original height and walks normally.
4.Once the walking is finished, the robot's feet cross the ground again.
It seems that there is an issue with the contact setting during the double foot support periods. Could you please provide me with some advice on how to address this problem?
Thank you for your time and assistance.
Best regards,
Ethan
Similar issue as in jrl-umi3218/mc_rtc#449
The two packages have DOXYGEN_HTML_OUTPUT set to different paths. I don't understand it very well, but is this correct?
BaselineWalkingController/CMakeLists.txt
Line 24 in 1f24bf7
Hi. Can the CoM, bwc controllers in the mc_rtc framework be also setup for backward bend bipeds? Will the centroidalcontrol collection and forcecontrolcollection work?
From a few days ago, the following error occurred more frequently in the apt install step of CI. Because many jobs are executed from the strategy matrix, there is more than half a chance that the CI will fail now.
https://github.com/isri-aist/BaselineWalkingController/actions/runs/3880836425/jobs/6619243801
E: Failed to fetch http://azure.archive.ubuntu.com/ubuntu/pool/universe/e/eigen3/libeigen3-dev_3.3.4-4_all.deb 503 Service Unavailable [IP: 40.119.46.219 80]
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?
Error: Process completed with exit code 100.Hello, this is Tsuru.
I am using your Docker image on Ubuntu20.04.
My GPU is RTX3060, NVIDIA Driver is 535.86, and CUDA version is 12.2.
$ docker run --gpus all --rm -it --env="DISPLAY" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" ghcr.io/isri-aist/baseline_walking_controller:latest ./walk_on_plane.bash
docker: Error response from daemon: could not select device driver "" with capabilities: [[gpu]].
If I remove the --gpus all, it runs successfully.
Do you know something about this?
Sorry, I am new about Docker...
Thank you for introducing the standalone build. @gergondet
In the standalone build of the MultiContactController (i.e., BWC dependent controller), the BWC header files are not found, can you please update to install the header files?
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