Implement joint torque control device and friction estimation through PINN #866

isorrentino · 2024-07-22T09:51:52Z

No description provided.

GiulioRomualdi

I would avoid to add both the onnx and the config files here. Onnx can be saved on huggingface and the config file in robots' configuration

GiulioRomualdi · 2024-07-22T10:17:39Z

CHANGELOG.md

@@ -227,7 +228,6 @@ All notable changes to this project are documented in this file.
 - Fix `QPTSID` documentation (https://github.com/ami-iit/bipedal-locomotion-framework/pull/634)
 - Fix error messages in `QPTSID` class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/639)
 - Fix compilation failure when using CMake 3.26.1 and pybind11 2.4.3 (https://github.com/ami-iit/bipedal-locomotion-framework/pull/643)
- Fixed changelog checker (https://github.com/ami-iit/bipedal-locomotion-framework/pull/856)


This line shouldn't be removed

GiulioRomualdi · 2024-07-22T10:19:40Z

devices/JointTorqueControlDevice/include/BipedalLocomotion/JointTorqueControlDevice.h

+/**
+ * @file JointTorqueControlDevice.h
+ * @authors Ines Sorrentino
+ * @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and


Suggested change

* @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and

* @copyright 2024 Istituto Italiano di Tecnologia (IIT). This software may be modified and

GiulioRomualdi · 2024-07-22T10:20:04Z

devices/JointTorqueControlDevice/include/BipedalLocomotion/JointTorqueControlDevice.h

+struct CouplingMatrices
+{
+    Eigen::MatrixXd fromJointTorquesToMotorTorques;
+    Eigen::MatrixXd fromMotorTorquesToJointTorques;
+    Eigen::MatrixXd fromJointVelocitiesToMotorVelocities;
+    void reset(int NDOF)
+    {
+        fromJointTorquesToMotorTorques = Eigen::MatrixXd::Identity(NDOF, NDOF);
+        fromMotorTorquesToJointTorques = Eigen::MatrixXd::Identity(NDOF, NDOF);
+        fromJointVelocitiesToMotorVelocities = Eigen::MatrixXd::Identity(NDOF, NDOF);
+    }
+};


Could you comments these?

GiulioRomualdi · 2024-07-22T10:21:58Z

devices/JointTorqueControlDevice/include/BipedalLocomotion/JointTorqueControlDevice.h

+    double kt; ///< motor torque to current gain
+    double kfc; ///< friction compensation weight parameter
+    double kp; ///< proportional gain
+    double maxCurr; ///< maximum current


Comments are like

double kt /**< motor torque to current gain */

devices/JointTorqueControlDevice/include/BipedalLocomotion/JointTorqueControlDevice.h

GiulioRomualdi · 2024-07-22T10:38:16Z

devices/JointTorqueControlDevice/src/JointTorqueControlDevice.cpp

+    double now = yarp::os::Time::now();
+
+    std::lock_guard<std::mutex> lock(globalMutex);
+    if (now - timeOfLastControlLoop >= this->getPeriod())


You can use blf clock and use std::chrono::nanoseconds for handling the time

GiulioRomualdi · 2024-07-22T10:39:17Z

devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml

@@ -7,8 +7,8 @@ BSD-3-Clause license. -->
  <param name="robot">ergocub</param>


I would avoid to touch this config file in this PR

GiulioRomualdi · 2024-07-22T10:39:41Z

devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml

@@ -26,7 +26,7 @@ BSD-3-Clause license. -->
  </group>

  <group name="ExogenousSignals">
-    <param name="vectors_collection_exogenous_inputs">("Walking", "GridTracking","cmw")</param>


I would avoid to touch this config fil here

GiulioRomualdi · 2024-07-22T10:42:04Z

devices/JointTorqueControlDevice/src/PassThroughControlBoard.cpp

+        yError("PassThroughControlBoard error: %d devices passed to attachAll, but only 1 is "
+               "supported. If you want to connect several device to a single "
+               "PassThroughControlBoard, please use a controlboardremapper device in the middle.\n",
+               p.size());
+        return false;


You may use blf::log()->error()

GiulioRomualdi · 2024-07-22T10:42:47Z

devices/JointTorqueControlDevice/src/PassThroughControlBoard.cpp

+    bool legacyOption = false;
+    legacyOption = legacyOption || config.check("proxy_remote");
+    legacyOption = legacyOption || config.check("proxy_local");
+
+    if (legacyOption)
+    {
+        yError("PassThroughControlBoard error: legacy option proxy_remote and proxy_local are not "
+               "supported anymore. Please use the yarprobotinterface to compose devices.\n");
+        return false;
+    }


I think this can be removed.

What do you think @traversaro ?

Yes, it was a leftover from the copy&paste from controlboardwrapper2 or similar I guess.

GiulioRomualdi · 2024-08-19T08:36:45Z

Hi @isorrentino let me know if It is ready for a review

isorrentino · 2024-08-19T11:21:38Z

Hi @isorrentino let me know if It is ready for a review

Hi @GiulioRomualdi, it is ready for review.

devices/JointTorqueControlDevice/src/PINNFrictionEstimator.cpp

Co-authored-by: Giulio Romualdi <[email protected]>

isorrentino · 2024-09-02T05:36:42Z

Hi @GiulioRomualdi do you have time to check if everything is ok now?

GiulioRomualdi · 2024-09-03T16:23:44Z

On windows there is a failure: https://github.com/ami-iit/bipedal-locomotion-framework/actions/runs/10454540285/job/28947375460?pr=866#step:13:496

GiulioRomualdi · 2024-09-04T10:18:03Z

Waiting for the CI

GiulioRomualdi · 2024-09-04T10:56:07Z

843889f should fix the issue

isorrentino · 2024-09-04T11:21:17Z

Thanks

isorrentino self-assigned this Jul 22, 2024

isorrentino requested review from GiulioRomualdi and S-Dafarra as code owners July 22, 2024 09:51

isorrentino force-pushed the friction_estimation branch 5 times, most recently from 329ceef to e33f3b6 Compare July 22, 2024 10:09

GiulioRomualdi requested changes Jul 22, 2024

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isorrentino force-pushed the friction_estimation branch from 1a67586 to 026a82e Compare July 22, 2024 12:59

isorrentino requested a review from GiulioRomualdi July 22, 2024 13:28

isorrentino force-pushed the friction_estimation branch from 55f862f to b75b750 Compare July 26, 2024 08:16

isorrentino added 8 commits July 30, 2024 10:10

Add joint torque control device

2db67b9

Add friction estimation through PINN

2c9a950

Update CHANGELOG

fef7961

Changes after review

cef442f

Remove white spaces

2fb39c6

Replace error logs with blf functions

a585a14

Add new line

cad4b5e

Remove whitespace

b42d4c1

isorrentino force-pushed the friction_estimation branch from df38a34 to b42d4c1 Compare July 30, 2024 08:11

Merge branch 'master' into friction_estimation

331aff4

isorrentino added 3 commits August 19, 2024 10:50

Fix CHANGELOG

3f3f1db

Changes after review

76bf0c0

Changes after review

1fb0a0c

GiulioRomualdi reviewed Aug 19, 2024

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devices/JointTorqueControlDevice/src/PINNFrictionEstimator.cpp Outdated Show resolved Hide resolved

Update devices/JointTorqueControlDevice/src/PINNFrictionEstimator.cpp

14d5c4f

Co-authored-by: Giulio Romualdi <[email protected]>

isorrentino requested a review from GiulioRomualdi August 19, 2024 13:42

Fix log

01f38c1

isorrentino force-pushed the friction_estimation branch from a5a6550 to 30f3ce6 Compare September 4, 2024 09:55

Fix missing include

9c67e80

isorrentino force-pushed the friction_estimation branch from 30f3ce6 to 9c67e80 Compare September 4, 2024 10:09

GiulioRomualdi enabled auto-merge (squash) September 4, 2024 10:17

Update AddBipedalLocomotionYARPDevice.cmake

843889f

Merge branch 'master' into friction_estimation

1da89a6

GiulioRomualdi approved these changes Sep 4, 2024

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GiulioRomualdi merged commit 7ffa8df into ami-iit:master Sep 4, 2024
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Implement joint torque control device and friction estimation through PINN #866

Implement joint torque control device and friction estimation through PINN #866

isorrentino commented Jul 22, 2024

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traversaro Jul 26, 2024

GiulioRomualdi commented Aug 19, 2024

isorrentino commented Aug 19, 2024 •

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isorrentino commented Sep 2, 2024

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isorrentino commented Sep 4, 2024

	* @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and
	* @copyright 2024 Istituto Italiano di Tecnologia (IIT). This software may be modified and

		@@ -7,8 +7,8 @@ BSD-3-Clause license. -->
		<param name="robot">ergocub</param>

Implement joint torque control device and friction estimation through PINN #866

Implement joint torque control device and friction estimation through PINN #866

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isorrentino commented Jul 22, 2024

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GiulioRomualdi commented Aug 19, 2024

isorrentino commented Aug 19, 2024 • edited Loading

isorrentino commented Sep 2, 2024

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isorrentino commented Sep 4, 2024

isorrentino commented Aug 19, 2024 •

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