0.11 Release Notes

This release features mostly improvements in the planning behaviors.

Unit Test Results

Global build number: 4570
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 cinders when operated by a human.

Valkyrie Hardware Test

The Valkyrie hardware platform is not supported in this release.