Updated kinematic and mass model for Centauro #16
Description
I have integrated the new data for Centauro's lower body from @Lorentz (branch name updated_mass). This contains:
- different frame definitions for most of the leg links, so as to improve the uniformity w.r.t. the other centauro-like robots
- slightly more precise mass values for all leg links
- substantial mass increase for the pelvis and torso_yaw links
Note that the upper body is already shared with Pholus and Nexus and, therefore, is correct according to its creator @Lorentz.
This model will become the default after a period of testing!
The new model is tested to be practically identical to the old one in terms of kinematics by an included script which checks that our "control frames", i.e. wheel_X and contact_X behave exactly as before w.r.t. the base_link frame. The output confirms that errors are in the range of 1-2 mm (could probably be zeroed by slightly modifying some of the frame definitions, but for now I keep the errors).
Old mass = 95.02240268 kg, new mass = 112.51670648 kg
Old COM = [ 1.07737153e-01 9.07127697e-05 -2.12252207e-02] m, new COM = [ 0.09225258 0.00097502 -0.02227371] m
Checking joint names...
Checking joint limits...
Joint limits max error is 0
Checking links...
Checking poses...
\>\>\> Pose mismatch in link "wheel_1": error 0.00127549199408 m, 180.0 deg
Old:
translation: [-0.2296, 0.4535, 0.1473]
rotation : [ 0.8356, 0.01218, -0.5229, -0.1681]
New:
translation: [-0.2284, 0.4541, 0.1477]
rotation : [ 0.1681, 0.5229, 0.01218, 0.8356]
\>\>\> Twist mismatch in link "wheel_1": error is 0.0023669615616
Old:
[ 0.24693362 0.69794366 0.3112792 1.66951913 -1.39402297 -1.35250213]
New:
[ 0.24761848 0.70009657 0.31057317 1.66951913 -1.39402297 -1.35250213]
\>\>\> Pose mismatch in link "wheel_2": error 0.000145601370077 m, 179.999999146 deg
Old:
translation: [-0.07366, -0.1156, -0.2556]
rotation : [ 0.7455, -0.1025, -0.1989, 0.6278]
New:
translation: [-0.07358, -0.1156, -0.2555]
rotation : [ 0.1025, 0.7455, -0.6278, -0.1989]
\>\>\> Twist mismatch in link "wheel_2": error is 0.000857478463709
Old:
[1.30253657 0.77610333 0.87646559 0.48620453 1.65305786 0.49752442]
New:
[1.30168516 0.77610397 0.87636378 0.48620453 1.65305786 0.49752442]
\>\>\> Pose mismatch in link "wheel_3": error 0.000461621052344 m, 180.0 deg
Old:
translation: [-0.4539, -0.4286, -0.3229]
rotation : [ 0.1539, -0.4735, -0.2905, 0.8172]
New:
translation: [ -0.454, -0.4285, -0.3233]
rotation : [ 0.8172, -0.2905, 0.4735, -0.1539]
\>\>\> Twist mismatch in link "wheel_3": error is 0.000887070391555
Old:
[ 0.7406322 0.05411322 1.66245409 1.32143126 -0.78636601 0.96555194]
New:
[ 0.73986956 0.05381336 1.66279372 1.32143126 -0.78636601 0.96555194]
\>\>\> Pose mismatch in link "wheel_4": error 0.00147590709483 m, 179.999999146 deg
Old:
translation: [0.1937, 0.181, 0.13]
rotation : [ 0.9483, -0.05941, -0.09304, -0.2976]
New:
translation: [0.1944, 0.1799, 0.1307]
rotation : [ 0.05941, 0.9483, 0.2976, -0.09304]
\>\>\> Twist mismatch in link "wheel_4": error is 0.00248978198223
Old:
[ 0.33216102 1.1998551 1.03250893 1.0704519 0.77022792 -2.22315579]
New:
[ 0.3326195 1.20202097 1.03364813 1.0704519 0.77022792 -2.22315579]
\>\>\> Pose mismatch in link "contact_1": error 0.000849999998148 m, 179.999999146 deg
Old:
translation: [-0.257, 0.4663, 0.2188]
rotation : [ 0.7901, 0.5779, 0.09887, 0.1787]
New:
translation: [-0.2566, 0.4671, 0.2188]
rotation : [-0.5779, 0.7901, -0.1787, 0.09887]
\>\>\> Twist mismatch in link "contact_1": error is 0.000646273062275
Old:
[ 0.11258006 0.7540715 0.21583005 0.85654766 -1.05590563 -1.82658446]
New:
[ 0.11231446 0.75461703 0.21560751 0.85654766 -1.05590563 -1.82658446]
\>\>\> Pose mismatch in link "contact_2": error 0.00084999999898 m, 1.7075472925e-06 deg
Old:
translation: [-0.01636, -0.1346, -0.3044]
rotation : [-0.03504, -0.4285, -0.2261, 0.8741]
New:
translation: [-0.01664, -0.1354, -0.3044]
rotation : [-0.03504, -0.4285, -0.2261, 0.8741]
\>\>\> Twist mismatch in link "contact_2": error is 0.00062890571561
Old:
[ 1.2997714 0.79282142 0.9237349 0.66716712 1.33363335 -0.43264789]
New:
[ 1.30009189 0.79236111 0.92401937 0.66716712 1.33363335 -0.43264789]
\>\>\> Pose mismatch in link "contact_3": error 0.00084999999937 m, 180.0 deg
Old:
translation: [-0.4671, -0.5022, -0.3438]
rotation : [ -0.555, -0.2457, -0.4514, 0.6541]
New:
translation: [-0.4679, -0.5021, -0.3438]
rotation : [-0.2457, 0.555, 0.6541, 0.4514]
\>\>\> Twist mismatch in link "contact_3": error is 0.00119852801415
Old:
[ 0.72515624 -0.0323389 1.72112153 1.30517027 0.02631228 0.38306625]
New:
[ 0.72467124 -0.03327967 1.72055922 1.30517027 0.02631228 0.38306625]
\>\>\> Pose mismatch in link "contact_4": error 0.000849999994953 m, 0.0 deg
Old:
translation: [0.2453, 0.2317, 0.1583]
rotation : [ 0.8164, -0.1049, -0.3482, 0.4486]
New:
translation: [0.2459, 0.2311, 0.1583]
rotation : [ 0.8164, -0.1049, -0.3482, 0.4486]
\>\>\> Twist mismatch in link "contact_4": error is 0.00109253810891
Old:
[ 0.25381502 1.24208232 1.04059492 0.11769627 0.59638085 -1.97408976]
New:
[ 0.25443896 1.24267441 1.04126854 0.11769627 0.59638085 -1.97408976]
NOTE frames orientations are very different, but this should only matter in rare cases (i.e. where explicit references for the wheel full pose are hardcoded)
Tests
- pose consistency check
- poses v2
- rviz markers (manipulation stack)
- rviz markers (car frame stack)
- other?
Notes
The repo now takes care to generate the urdf/srdf for the "car frame" model as well. The repository centauro_cartesio must therefore be switched to the updated_centauro_model branch in order to work well with the new model.
@IoannisDadiotis @liesrock @DavideAntonucci @aled96 @torydebra @FrancescoRuscelli @lucarossini-iit