Different joint limits for val_simplified, valkyrie_sim

[wxmerkt]

This is due to a work-around to try to make HDRM scale, but didn't work out. We also restricted some joint ranges (neck, torso) to make sampling-based planners more efficient. The wrist joint limits need to be updated to account for the 'wrist breaking' bug fix.

We should open up the joint limits again and match with the latest on the robot:

LOWER rightAnkleRoll valkyrie_sim= [[-1.329]] val_simplified [[-1.05]]
UPPER rightAnkleRoll valkyrie_sim= [[1.181]] val_simplified [[1.05]]
UPPER torsoYaw valkyrie_sim= [[0.666]] val_simplified [[0.3]]
LOWER leftForearmYaw valkyrie_sim= [[-0.62]] val_simplified [[-0.35]]
UPPER leftForearmYaw valkyrie_sim= [[0.625]] val_simplified [[0.35]]
LOWER leftWristRoll valkyrie_sim= [[-0.36]] val_simplified [[-0.6]]
UPPER leftWristRoll valkyrie_sim= [[0.49]] val_simplified [[0.6]]
LOWER upperNeckPitch valkyrie_sim= [[-2.85]] val_simplified [[-1.4]]
UPPER upperNeckPitch valkyrie_sim= [[2.]] val_simplified [[0.7854]]
LOWER rightShoulderPitch valkyrie_sim= [[-1.266]] val_simplified [[0.35]]
LOWER rightShoulderRoll valkyrie_sim= [[-3.1]] val_simplified [[-1.571]]
UPPER rightShoulderRoll valkyrie_sim= [[2.18]] val_simplified [[1.571]]
LOWER rightForearmYaw valkyrie_sim= [[-0.625]] val_simplified [[-0.35]]
UPPER rightForearmYaw valkyrie_sim= [[0.62]] val_simplified [[0.35]]
LOWER rightWristRoll valkyrie_sim= [[-0.49]] val_simplified [[-0.6]]
UPPER rightWristRoll valkyrie_sim= [[0.36]] val_simplified [[0.6]]

[wxmerkt]

Current valkyrie_sim (Exotica) vs latest valkyrie_sim (NASA develop)

A has 33 joints and B has 59
LOWER leftAnklePitch A= -0.8644 B= -0.93
UPPER leftAnklePitch A= 0.875 B= 0.65
LOWER leftAnkleRoll A= -0.349 B= -0.4
UPPER leftAnkleRoll A= 0.348 B= 0.4
LOWER rightAnklePitch A= -0.8644 B= -0.93
UPPER rightAnklePitch A= 0.875 B= 0.65
LOWER rightAnkleRoll A= -0.349 B= -0.4
UPPER rightAnkleRoll A= 0.348 B= 0.4
LOWER leftWristRoll A= -0.62 B= -0.35
UPPER leftWristRoll A= 0.625 B= 0.35
LOWER leftWristPitch A= -0.36 B= -0.6
UPPER leftWristPitch A= 0.49 B= 0.6
LOWER rightWristRoll A= -0.625 B= -0.35
UPPER rightWristRoll A= 0.62 B= 0.35
LOWER rightWristPitch A= -0.49 B= -0.6
UPPER rightWristPitch A= 0.36 B= 0.6

Current valkyrie_sim (Exotica) vs val_simplified (Exotica)

A has 33 joints and B has 33
LOWER torsoYaw A= -1.329 B= -1.05
UPPER torsoYaw A= 1.181 B= 1.05
UPPER torsoPitch A= 0.666 B= 0.3
LOWER leftWristRoll A= -0.62 B= -0.35
UPPER leftWristRoll A= 0.625 B= 0.35
LOWER leftWristPitch A= -0.36 B= -0.6
UPPER leftWristPitch A= 0.49 B= 0.6
LOWER rightShoulderPitch A= -2.85 B= -1.4
UPPER rightShoulderPitch A= 2.0 B= 0.7854
LOWER rightShoulderRoll A= -1.266 B= 0.35
LOWER rightShoulderYaw A= -3.1 B= -1.571
UPPER rightShoulderYaw A= 2.18 B= 1.571
LOWER rightWristRoll A= -0.625 B= -0.35
UPPER rightWristRoll A= 0.62 B= 0.35
LOWER rightWristPitch A= -0.49 B= -0.6
UPPER rightWristPitch A= 0.36 B= 0.6

=> val_simplified has reduced joint limits (need to be fixed) BUT it contains the wrist fixes.

valkyrie_sim_new (NASA) vs val_simplified (Exotica)

A has 59 joints and B has 33
LOWER leftAnklePitch A= -0.93 B= -0.8644
UPPER leftAnklePitch A= 0.65 B= 0.875
LOWER leftAnkleRoll A= -0.4 B= -0.349
UPPER leftAnkleRoll A= 0.4 B= 0.348
LOWER rightAnklePitch A= -0.93 B= -0.8644
UPPER rightAnklePitch A= 0.65 B= 0.875
LOWER rightAnkleRoll A= -0.4 B= -0.349
UPPER rightAnkleRoll A= 0.4 B= 0.348
LOWER torsoYaw A= -1.329 B= -1.05
UPPER torsoYaw A= 1.181 B= 1.05
UPPER torsoPitch A= 0.666 B= 0.3
LOWER rightShoulderPitch A= -2.85 B= -1.4
UPPER rightShoulderPitch A= 2.0 B= 0.7854
LOWER rightShoulderRoll A= -1.266 B= 0.35
LOWER rightShoulderYaw A= -3.1 B= -1.571
UPPER rightShoulderYaw A= 2.18 B= 1.571

==> Ankle, torso, and shoulder limits need to be fixed.

val_D_new (NASA) vs valkyrie_sim (Exotica)

A has 59 joints and B has 33
LOWER leftAnklePitch A= -0.93 B= -0.8644
UPPER leftAnklePitch A= 0.65 B= 0.875
LOWER leftAnkleRoll A= -0.4 B= -0.349
UPPER leftAnkleRoll A= 0.4 B= 0.348
LOWER rightAnklePitch A= -0.93 B= -0.8644
UPPER rightAnklePitch A= 0.65 B= 0.875
LOWER rightAnkleRoll A= -0.4 B= -0.349
UPPER rightAnkleRoll A= 0.4 B= 0.348

val_D_new (NASA) vs val_simplified (Exotica)

A has 59 joints and B has 33
LOWER leftAnklePitch A= -0.93 B= -0.8644
UPPER leftAnklePitch A= 0.65 B= 0.875
LOWER leftAnkleRoll A= -0.4 B= -0.349
UPPER leftAnkleRoll A= 0.4 B= 0.348
LOWER rightAnklePitch A= -0.93 B= -0.8644
UPPER rightAnklePitch A= 0.65 B= 0.875
LOWER rightAnkleRoll A= -0.4 B= -0.349
UPPER rightAnkleRoll A= 0.4 B= 0.348
LOWER torsoYaw A= -1.329 B= -1.05
UPPER torsoYaw A= 1.181 B= 1.05
UPPER torsoPitch A= 0.666 B= 0.3
LOWER leftWristRoll A= -0.62 B= -0.35
UPPER leftWristRoll A= 0.625 B= 0.35
LOWER leftWristPitch A= -0.36 B= -0.6
UPPER leftWristPitch A= 0.49 B= 0.6
LOWER rightShoulderPitch A= -2.85 B= -1.4
UPPER rightShoulderPitch A= 2.0 B= 0.7854
LOWER rightShoulderRoll A= -1.266 B= 0.35
LOWER rightShoulderYaw A= -3.1 B= -1.571
UPPER rightShoulderYaw A= 2.18 B= 1.571
LOWER rightWristRoll A= -0.625 B= -0.35
UPPER rightWristRoll A= 0.62 B= 0.35
LOWER rightWristPitch A= -0.49 B= -0.6
UPPER rightWristPitch A= 0.36 B= 0.6

Latest NASA develop: val_sim_new vs valkyrie_D_new

A has 59 joints and B has 59
LOWER leftWristRoll A= -0.35 B= -0.62
UPPER leftWristRoll A= 0.35 B= 0.625
LOWER leftWristPitch A= -0.6 B= -0.36
UPPER leftWristPitch A= 0.6 B= 0.49
LOWER rightWristRoll A= -0.35 B= -0.625
UPPER rightWristRoll A= 0.35 B= 0.62
LOWER rightWristPitch A= -0.6 B= -0.49
UPPER rightWristPitch A= 0.6 B= 0.36

==> NASA hasn't propagated the updated/fixed joint limits through to simulation, or unclear if it also affected other robots.