Adding updating footstep message from VR to TransferToSingSupportState#790
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Beomyeong wants to merge 49 commits intofeature/FSTfrom
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Adding updating footstep message from VR to TransferToSingSupportState#790Beomyeong wants to merge 49 commits intofeature/FSTfrom
Beomyeong wants to merge 49 commits intofeature/FSTfrom
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…e robot, otherwise we will over compensate. (#745) * Need to reset the drift offset when a new footstep plan is sent to the robot, otherwise we will over compensate. * Account for sending a plan with over ride so we can reset the drift tracker * When queuing footsteps only reset the plan offset vector if the robot isn't walking. The upcomingfootstep is removed at start of swing so we are still "walking" when that becomes zero. * Comment * Remove print
* Only allow buttons to publish from the UI if the checkbox is checked * Addability to go backwards from the UI buttons --------- Co-authored-by: Nick Kitchel <nkitchel@ihmc.org>
…isable stuff automatically if the robot falls (#749)
…he use (#752) * Remove shortcut keys * When the spacebar is pressed to pause walking, CH will pause now as well. Just the remaining steps in the queue are left.
* made a bodycollisionfilter and its test class * added FrameCapsule3D * Passing the kinematic collisions to the Rapid Height Map Manager * added functionality * Got u v calculation working * added CUDA Kernel * added CUDA Kernel to manager * fixed the kernel file * fixed depth input * fixed pointer * removed torso and pelvis * fixed size of pointer * made a bodycollisionfilter and its test class * added FrameCapsule3D * Passing the kinematic collisions to the Rapid Height Map Manager * added functionality * Got u v calculation working * added CUDA Kernel * added CUDA Kernel to manager * fixed the kernel file * merged develop + added optimization step * deleted old files * formatted and addressed a very irritating Nicks comments * formatted and addressed a very irritating Nicks final comments * added to height map * removed cylinder * added sphere functionality and tolerance * Tune parameter to avoid cell at sensor origin * Remove check that wouldn't allow for UI button to be pressed when robot is paused walking * Cleanup --------- Co-authored-by: nkitchel <nkitchel@ihmc.org> Co-authored-by: Tomasz Bialek <tbialek@ihmc.org>
#754) Co-authored-by: nkitchel <nkitchel@ihmc.org>
* started converting the ramps test to scs2 * got the chest streaming test passing and the post processing tests passing. Also removed some unused toe off parameters
* fixed empty footstep list bug in WalkingMessageHandler * added test for sending empty FootstepDataListMessage without breaking anything
* moved where some parameters live * upped the reset temperature --------- Co-authored-by: ihmc-rosie <rosie@ihmc.org>
… elevated platform (#760) * Add option to lower the height map when starting on an elevated platform * Reduce default steps to 2 * Little bit slower stepping --------- Co-authored-by: ihmc-rosie <rosie@ihmc.org>
* changed the height offset of the rapid height mapg * Merge in develop, fix merge conflicts --------- Co-authored-by: Robert <rgriffin@ihmc.us> Co-authored-by: ihmc-rosie <rosie@ihmc.org>
* Update parameters and tune for the GPU height map * Set debugging parameter to false * Tune parameters --------- Co-authored-by: ihmc-rosie <rosie@ihmc.org>
* Add a couple parameters to not hard code things * Stub toe down when doing custom waypoints * Add catching an exception in realsense * Turn off debugging visualization * Add parameter to turn off swing collision if needed --------- Co-authored-by: ihmc-rosie <rosie@ihmc.org> Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>
… set things to work from the Autonomy Process for the Simulation UI (#766)
* General cleanup, switch to using new simulated sensor that has noise built in * Don't need to create the mat in that way * Formatting * Add memory test for the flying points filter, add close call on GpuMat to fix memory leak * Need to pas a GpuMat to the GPU, seems like newer GPU's can handle a Mat but its not robust on every machine * Unused imports * Need to close a couple things * Add another method to call the udpate from the simulated sensors * Go back to old simulated sensors * Reduce change of errors happening * Ran formatter, what a noob * Release the RawImage --------- Co-authored-by: ihmc-rosie <rosie@ihmc.org>
…apData is being used (#768) * General cleanup, switch to using new simulated sensor that has noise built in * Don't need to create the mat in that way * Formatting * Add memory test for the flying points filter, add close call on GpuMat to fix memory leak * Need to pas a GpuMat to the GPU, seems like newer GPU's can handle a Mat but its not robust on every machine * Unused imports * Need to close a couple things * Reduce the amount of parameters for the height map * Cleanup more parameters, move the TerrainMapData into the snapping extractor to reduce passing the data around * Add another method to call the udpate from the simulated sensors * Go back to old simulated sensors * Remove the OpenCL tests for the HeightMapUtils.cl * Visualizing the wrong size height map was causing a crash on windows machines --------- Co-authored-by: ihmc-rosie <rosie@ihmc.org>
… the terrain data for better debugging (#744) * fixed some bugs with the way the foothold area is returned, and also fixed a render bug in the log viewer of the unsnapped footstep * did a number of tests and added some hardening against edge cases. also cleaned up some of the method descriptions * did some cleanup * started setting up using the terrain map and interfacing with it as packets * started cleaning up the content of the terrain map data * added in serialization of the terrain map data into the request packet * started adding the hterrain map into the planner ui * hopefully got the polygon cropping part working, but the polygon isnt being down selected in size. * got the cropped foothold working * got the cropping to work * Cleanup, added TODO * added some safety checks on cropping, and made a test showing gift wrapping failing * bug fix * Remove unused imports and extra lines * Regenerate messages after reducing the size of the buffer in the StepConstraintsListMessage * Typo * started making a visualizer for hte gift wrapping algorithm, and found a bug * improved the test somewhat * did more debugging * got hte visualization locked down so everything can go well * Fixed logging the TerrainMapData snapped height map and normal height map. * Commented out the cropping footholds to better debug a snapping issue * Remove unneccessary print * Add test that shows a strange case when snapping * Re-enable foothold cropping to investigate bugs * Format tests * Merge conflicts --------- Co-authored-by: rgriffin@ihmc.org <rgriffin@ihmc.us>
… on a global map for the snapping kernels (#774) * General cleanup, switch to using new simulated sensor that has noise built in * Don't need to create the mat in that way * Formatting * Add memory test for the flying points filter, add close call on GpuMat to fix memory leak * Need to pas a GpuMat to the GPU, seems like newer GPU's can handle a Mat but its not robust on every machine * Unused imports * Need to close a couple things * Reduce the amount of parameters for the height map * Cleanup more parameters, move the TerrainMapData into the snapping extractor to reduce passing the data around * Add another method to call the udpate from the simulated sensors * Go back to old simulated sensors * Remove the OpenCL tests for the HeightMapUtils.cl * Move a couple things around, and make things read only if possible * Remove unused variables * The SnappingHeightMapExtractor doesn't rely on the global height map and only needs a local one * Remove reset for snapping, we don't need it * Moved SnappingHeightMapExtractor to be used in the RapidHeightMapManager * Remove unused code that has been replaced by code with CUDA * Remove duplicate variable that wasn't being used * Add comment * Formatting --------- Co-authored-by: ihmc-rosie <rosie@ihmc.org>
* Fix parameter setting in the visualizer for the height map * Check cuda error after using cuda runtime calal * Update CUDABodyCollisionFilter to try to locate JVM crash, bug still exists but kept the changes * Moved FloatPointer allocation to the constructor, could help with JVM crash but need more testing * Free memory and don't allocate each update loop * More memory nonsense
…o not throw an exception. This removes the need for a null check as the RapidHeightMapManager must now be created(#779) * Pack GpuMats in the body collision and flying points filter * Free memory and remove unnecessary synchronize calls * Remove more old code that has been switched to CUDA * Remove some more of the HumanoidPerceptionModule * Free memory asynchronously to not block the CPU
…ents (#780) * Moved ContinuousHikingLogger into the ContinuousPlannerSchedulingTask * Move the ROSStoredPropertySetsGroup into the ActiveMappingParameterToolBox and added an update to that * Remove un-needed parameters to the constructor
…oidBehaviors package. (#783)
…o the TerrainMapData (#789) * Renamed and started to document the SnappingTerrainExtractor * Disabled the test so it doesn't run on CI * Move comment * Got the steppabilityconnections kernel working and add it to the TerrainMapData * Converted the terrain cost and contact map to CUDA kernels * Delete duplicated code that is now converted to CUDA * Formatting * Add the rest of the terrain maps to the message so they can be logged * The data is being logged and can be loaded without an exception for a few things * Load the terrain map data property from the log * Skip the current cell in FlyingPointFilter.cu * Added bck spatial filtered height to the height map * Change the way loading the TerrainMapData happens, generally cleaned that up to use the same method if its shorts or bytes * General cleanup and formatting
* Alexander lowerbody urdf is replaced with new one. each meshes files are updated. * Add imu for each leg and getter. * Fixing typo for the reft hip x imu reference * Meshes updated and meshs visualizer is fixed. Also, previous updates are neglected. * Delete all the leg IMU sensor variables * Update mesh files
# Conflicts: # ihmc-graphics/build.gradle.kts # ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/vr/RDXVRHandPlacedFootstepMode.java # ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/activeMapping/ContinuousHikingProcess.java # ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/RapidHeightMapUpdateThread.java # ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/StandAloneRealsenseProcess.java # ihmc-perception/src/main/java/us/ihmc/perception/cuda/CUDABodyCollisionFilter.java # ihmc-perception/src/main/java/us/ihmc/perception/gpuHeightMap/RapidHeightMapManager.java # ihmc-sensor-processing/src/main/resources/us/ihmc/sensorProcessing/heightMap/HeightMapParametersGPU.json
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Adding messageHandler update. .