Demo/alex nov 2025 #1121

PotatoPeeler3000 · 2025-11-20T23:24:42Z

No description provided.

…real world testing (#1063) * Settup logging to work on both the high and low level process, fixed a couple of bugs in the starting, and naming of the thing * This shouldn't be a hard coded value, neesds to be the cell size from the parameters * Shrink height map to reduce networking lag * Adjust realsense transform, adjust local logging for testing * Tested more of the logging onboard. Update is either the server, or the intraprocess logger, not both. Optimized the IntraprocessYoVariableLogger so now the longest part is compressing the data before it gets written to disk * Fix gradle deploy, remove link in warning prints * Fix VR finger streaming. --------- Co-authored-by: Alexander OCU <rosie@ihmc.org> Co-authored-by: VR-OCU <lpenco@ihmc.org>

…1070)

# Conflicts: # ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/logging/IntraprocessYoVariableLogger.java # ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/wholeBodyHardwareControl/AvatarMultiThreadingFactory.java # ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/BehaviorTreeNodeDefinitionMessage.msg # ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/BehaviorTreeStateMessage.msg # ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/FootstepPlanActionStateMessage.msg # ihmc-robot-data-visualizer/src/main/java/us/ihmc/robotDataVisualizer/logger/localLogging/LocalLoggingTools.java

# Conflicts: # ihmc-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/BehaviorTreeSceneObjectStateMessage.msg # ihmc-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/BehaviorTreeSceneStateMessage.msg # open-alexander/src/main/java/us/ihmc/openAlexander/parameters/controller/OpenAlexanderWalkingControllerParameters.java

This reverts commit ca073ed.

* started working on a fix for pelvis rotationd elays * rolled back on how the time in the phase is found, and started adding a decay factor so the feedforward values dont go to the moon * fixed a bound inclusiveness problem

#1105) * added some changes to prefer previous reachable regions to yield more consistent, smoother results * reverted line change --------- Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>

Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>

* Make ROS2HeartbeatMonitor garbage free * Add heartbeats to CSG objects * Added destroy method to CSGROS2CommunicationHelper and cleaned up usage in the panel --------- Co-authored-by: Alexander OCU <rosie@ihmc.org> Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>

* fixed the reachability constraint return * properly reset the feedback conditions for the ICP feedback

* set up the buttons for whether the steps are adjustable * added a swing height slider to rdx

…/alex-nov-2025

Co-authored-by: Alexander OCU <rosie@ihmc.org>

* Fix Ability hand VR rotator streaming. * Catch exception in intraprocess writer compression thread and also check that the directory is usable * Minor * Minor * Revert thing * Switch CountDownLatch to object wait/notify --------- Co-authored-by: Duncan Calvert <dcalvert@ihmc.us> Co-authored-by: ihmc-rosie-windows <rosie@ihmc.org>

… up the UI for RDX with CSG, and removed a duplicate updater. (#1116) * Fix Ability hand VR rotator streaming. * Fix the bugs with the CSG and the height map, and more * made csg rdx panel buttons for snapping to heightmap and accounting for ground height drift/footstep z error --------- Co-authored-by: Duncan Calvert <dcalvert@ihmc.us> Co-authored-by: ihmc-rosie <rosie@ihmc.us> Co-authored-by: Alexander OCU <rosie@ihmc.org>

* Add option to parameters to tune the minimum acceptable depth values * Tuned value * Update transform and parameter for swing --------- Co-authored-by: ihmc-rosie-windows <rosie@ihmc.org>

#1120) Co-authored-by: nkitchel <nkitchel@ihmc.org>

…pth image (#1120)" This reverts commit 2cdb895.

PotatoPeeler3000 · 2025-11-21T00:07:58Z

ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/AvatarStepGeneratorThread.java

            pluginFactory.addFootstepValidityIndicator(footstepValidityIndicator);

+         csgCommandInputManager.addCSGParametersCommandConsumer(csgParameters -> environmentalConstraints.setSnapToHeightMap(csgParameters.getRequestSnapToHeightmap()));
+


This allows you to set this option from a message, so from RDX for example

PotatoPeeler3000 · 2025-11-21T00:08:46Z

ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/logging/IntraprocessYoVariableLogger.java

This seemed to work, when I unplugged the USB with the controller running, it printed warnings but didn't crash the controller!

PotatoPeeler3000 · 2025-11-21T00:14:37Z

...ules/src/main/java/us/ihmc/commonWalkingControlModules/capturePoint/ContactStateManager.java

These were intentional spacing changes

PotatoPeeler3000 · 2025-11-21T00:15:09Z

...src/main/java/us/ihmc/commonWalkingControlModules/capturePoint/controller/ICPController.java


-      solver.resetCoPFeedbackConditions();
-      solver.resetFeedbackDirection();
+      solver.resetFeedbackConditions();


One reset now

PotatoPeeler3000 · 2025-11-21T00:17:03Z

...monWalkingControlModules/capturePoint/stepAdjustment/ErrorBasedStepAdjustmentController.java

Changed explained here: #1110

PotatoPeeler3000 · 2025-11-21T00:30:08Z

ihmc-perception/src/main/resources/us/ihmc/perception/gpuMapping/HeightMapExtractor.cu


    // Early exit for invalid depth
-    if (depth < 0.52f)
+    if (depth < params[MIN_DEPTH_TO_ACCEPT])


Tunable parameter now

PotatoPeeler3000 · 2025-11-21T00:31:22Z

...s/ihmc/stateEstimation/humanoid/kinematicsBasedStateEstimation/PelvisLinearStateUpdater.java

Explained here: ahttps://github.com//pull/1107

PotatoPeeler3000 · 2025-11-21T00:31:35Z

open-alexander/src/main/java/us/ihmc/openAlexander/AlexanderSensorInformation.java

   {
-      D457_TO_CHEST_TRANSFORM.getTranslation().set(0.081,  0.09,  0.087);
-      EuclidCoreMissingTools.setYawPitchRollDegrees(D457_TO_CHEST_TRANSFORM.getRotation(), 0.0, 28.0, 0.0);
+      D457_TO_CHEST_TRANSFORM.getTranslation().set(0.081,  0.04,  0.087);


Tuned transform for latest mount on hardware

PotatoPeeler3000 · 2025-11-21T00:31:42Z

...ain/java/us/ihmc/openAlexander/parameters/controller/AlexanderSwingTrajectoryParameters.java

   public double getMinHeightDifferenceForStepUpOrDown()
   {
-      return 0.1;
+      return 0.05;


PotatoPeeler3000 · 2025-11-21T00:31:47Z

...a/us/ihmc/openAlexander/parameters/controller/OpenAlexanderMomentumOptimizationSettings.java


-   // TODO Needs tune up.
-   private final double neckJointspaceWeight = 0.0;
+   private final double neckJointspaceWeight = 50.0;


ds58 · 2025-11-21T15:01:31Z

...nWalkingControlModules/highLevelHumanoidControl/plugin/StepGeneratorCommandInputManager.java

   private final AtomicInteger ticksSinceUpdatingTheEnvironment = new AtomicInteger(0);

+   // ROS 2 stuff
+   // TODO: Destroy these objects properly


Can we address the TODO and shut down the ROS 2 stuff?

ds58 · 2025-11-21T15:02:23Z

ihmc-communication/src/main/java/us/ihmc/communication/ros2/ROS2HeartbeatMonitor.java

   public ROS2HeartbeatMonitor(ROS2Node ros2Node, ROS2Topic<Empty> heartbeatTopic)
   {
-      ros2Node.createSubscription2(heartbeatTopic, this::receivedHeartbeat);
+      ros2Node.createSubscription(heartbeatTopic, this::receivedHeartbeat);


How come we switched this from createSubscription2 to createSubscription?

Also btw this probably does not need to be synchronized. I would remove that

How come we switched this from createSubscription2 to createSubscription?

To make it garbage free, so we can use this class in the controller code (added to CSG in this PR).

And yeah, I don't know why it receiveHeartbeat is synchronized

I agree it doesn't need to be synchronized because timer#reset is effectively atomic

public void reset() { resetTime = Conversions.nanosecondsToSeconds(System.nanoTime()); }

Sounds good

TomaszTB · 2025-11-21T15:40:01Z

.../commonWalkingControlModules/highLevelHumanoidControl/plugin/CSGROS2CommunicationHelper.java

+    */
+   private static final double THROTTLER_THREAD_HERTZ = 11.0;
+
+   public static final ROS2Topic<Empty> CSG_HEARTBEAT_TOPIC = new ROS2Topic<>().withPrefix("ihmc")


There is a situation with the heartbeat where you can't start the CSG in SCS2 without pressing the heart beat as well, probably want to fix that
React

There's a YoBoolean to override the heartbeat requirement. Look here. I haven't actually tested it, but the logic seems sound to me.

TomaszTB · 2025-11-21T15:44:04Z

ihmc-communication/src/main/java/us/ihmc/communication/ros2/ROS2HeartbeatMonitor.java

   public ROS2HeartbeatMonitor(ROS2Node ros2Node, ROS2Topic<Empty> heartbeatTopic)
   {
-      ros2Node.createSubscription2(heartbeatTopic, this::receivedHeartbeat);
+      ros2Node.createSubscription(heartbeatTopic, this::receivedHeartbeat);


How come we switched this from createSubscription2 to createSubscription?

To make it garbage free, so we can use this class in the controller code (added to CSG in this PR).

And yeah, I don't know why it receiveHeartbeat is synchronized

calvertdw · 2025-11-21T16:22:29Z

...c/main/messages/ihmc_interfaces/controller_msgs/msg/ContinuousStepGeneratorStatusMessage.msg

 float64 current_turn_max_angle_inward
 float64 current_turn_max_angle_outward
+
+bool are_steps_adjustable


why does this one have a newline and the other doesn't

Not sure lol

calvertdw

Looks good to me. I didn't review the walking control related parts.

LuigiPenco93 and others added 30 commits September 4, 2025 13:13

alex teleop

4ee5c9f

ghost robot

cc86d62

Merge branch 'develop' into feature/alex-teleop

fb7de0b

fixed a weird constructor in OpenAlexanderRobotModel

a2ec97d

Merge branch 'develop' into feature/alex-teleop-2

7b3f938

Merge remote-tracking branch 'origin/develop' into feature/alex-teleop-2

a9b01d4

tracker roles

d3217fd

disable kst server

5f0e860

Merge branch 'develop' into feature/alex-teleop-2

9a50011

Setup behavior tree scene. (#1065)

3e2708e

added a getter (#1069)

d80337a

Fix sync feedback loop bug with footstep plan action interactables. (#…

e3b0623

…1070)

minor null check in multi thread factory

36c1266

undo robot model stuff

6becff2

remove artifcats from merge

ca073ed

remove artifcats

30a70bf

tuned kst

aaf4047

fixes pr

ed742ed

Revert "remove artifcats from merge"

b28b98b

This reverts commit ca073ed.

fix with develop

d10b9da

Update OpenAlexanderMomentumOptimizationSettings.java

a51932b

Bugfix/fix pelvis rotation on delays (#1106)

e667743

* started working on a fix for pelvis rotationd elays * rolled back on how the time in the phase is found, and started adding a decay factor so the feedforward values dont go to the moon * fixed a bound inclusiveness problem

remove yaw component from angular velocity filtering of the foot (#1107)

be4f008

Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>

add a filter for big downward forces on the second threshold (#1108)

eb91608

Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>

Add null check to ImageSensor

55b0690

rjgriffin42 and others added 10 commits November 18, 2025 15:44

Bugfix/fix capture region and rate limit (#1110)

0eb9c5e

* fixed the reachability constraint return * properly reset the feedback conditions for the ICP feedback

Feature/rdx buttons (#1111)

4b23c38

* set up the buttons for whether the steps are adjustable * added a swing height slider to rdx

Merge remote-tracking branch 'origin/feature/alex-teleop-2' into demo…

2e4cd61

…/alex-nov-2025

Remaking the demopose branch for some conflict reason (#1118)

fc26f51

Co-authored-by: Alexander OCU <rosie@ihmc.org>

upped the icp distance threshold for falling

ba94d85

Feature/height map noise hacking (#1119)

91871e6

* Add option to parameters to tune the minimum acceptable depth values * Tuned value * Update transform and parameter for swing --------- Co-authored-by: ihmc-rosie-windows <rosie@ihmc.org>

Added an option to log a full resolution heartbeat for the depth image (

2cdb895

#1120) Co-authored-by: nkitchel <nkitchel@ihmc.org>

Revert "Added an option to log a full resolution heartbeat for the de…

058da74

…pth image (#1120)" This reverts commit 2cdb895.

PotatoPeeler3000 commented Nov 21, 2025

View reviewed changes

ds58 requested changes Nov 21, 2025

View reviewed changes

TomaszTB approved these changes Nov 21, 2025

View reviewed changes

calvertdw reviewed Nov 21, 2025

View reviewed changes

calvertdw approved these changes Nov 21, 2025

View reviewed changes

Add destroy method to the AvatarStepGeneratorThread

a967749

ds58 self-requested a review November 21, 2025 19:47

ds58 approved these changes Nov 21, 2025

View reviewed changes

PotatoPeeler3000 merged commit 99ba635 into develop Nov 21, 2025
60 of 67 checks passed

PotatoPeeler3000 deleted the demo/alex-nov-2025 branch November 21, 2025 20:22

TomaszTB mentioned this pull request Nov 25, 2025

Fixing demo pose for Alex on Nov 2025 demo #1113

Open

		pluginFactory.addFootstepValidityIndicator(footstepValidityIndicator);

		csgCommandInputManager.addCSGParametersCommandConsumer(csgParameters -> environmentalConstraints.setSnapToHeightMap(csgParameters.getRequestSnapToHeightmap()));

Demo/alex nov 2025 #1121

Demo/alex nov 2025 #1121

Uh oh!

Conversation

PotatoPeeler3000 commented Nov 20, 2025

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

calvertdw left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

9 participants