ihmcrobotics/ihmc-open-robotics-software: SRC Finals

This release marks the version used in the NASA Space Robotics Challenge Finals

ihmcrobotics/ihmc-open-robotics-software: 0.11 Release Notes

This release features mostly improvements in the planning behaviors. Unit Test Results https://bamboo.ihmc.us/browse/LIBS-IHMCOPENROBOTICSSOFTWAREFAST-400 3,046 tests in total 1 test failed 20 tests were skipped 311 minutes taken in total. Failing test: VisibilityGraphsFrameworkTest.testDatasetsWithoutOcclusion Atlas Hardware Test Log video: https://youtu.be/rq6zIrvAts4 *** NOTE: The user interface referred to is proprietary software. Please contact IHMC for a license. Robot starts correctly and arm, chest, and head move to their default configurations. LIDAR works in the user interface. REA works and planar regions show up in the user interface. Flat ground walking works well consistently without shaking. Turn in place Walk forwards Walk backwards Walk sideways Chest and head motions can be commanded from the user interface. Arm motions can be commanded from the user interface and arm home options in the interface work as expected. Hands not working Pelvis motions can be commanded from the user interfaces and the center of mass height slider works. Foot motions in the air can be commanded from the user interface. ~1.5 Hz oscillation during single support The robot can run through the final tab motions: Running Man, Karate Kid 1, and Karate Kid 2 repeatedly without falling. Falls over when changing too quickly The robot can reach an object on the ground using the whole body IK from the user interface (F9). When the robot executes a step, the footstep reaches the position specified in the user interface without offset. The robot can walk over the sand test bed. The robot can walk over simple cinders using the planar regions module with a rough terrain footstep planner. The robot can walk over slanted conders when operated by a human. Valkyrie Hardware Test The Valkyrie hardware platform is not supported in this release