source/isaaclab/test/controllers/test_ik_configs/README.md

Test Configuration Generation Guide

This document explains how to generate test configurations for the Pink IK controller tests used in test_pink_ik.py.

File Structure

Test configurations are JSON files with the following structure:

{
    "tolerances": {
        "position": ...,
        "pd_position": ...,
        "rotation": ...,
        "check_errors": true
    },
    "allowed_steps_to_settle": ...,
    "tests": {
        "test_name": {
            "left_hand_pose": [...],
            "right_hand_pose": [...],
            "allowed_steps_per_motion": ...,
            "repeat": ...
        }
    }
}

Parameters

Tolerances

• position: Maximum position error in meters
• pd_position: Maximum PD controller error in meters
• rotation: Maximum rotation error in radians
• check_errors: Whether to verify errors (should be true)

Test Parameters

• allowed_steps_to_settle: Initial settling steps (typically 100)
• allowed_steps_per_motion: Steps per motion phase
• repeat: Number of test repetitions
• requires_waist_bending: Whether the test requires waist bending (boolean)

Coordinate System

Robot Reset Pose

From g1_locomanipulation_robot_cfg.py:

• Base position: (0, 0, 0.75) - 75cm above ground
• Base orientation: 90° rotation around X-axis (facing forward)
• Joint positions: Standing pose with slight knee bend

EEF Pose Format

Each pose: [x, y, z, qw, qx, qy, qz]

• Position: Cartesian coordinates relative to robot base frame
• Orientation: Quaternion relative to the world. Typically you want this to start in the same orientation as robot base. (e.g. if robot base is reset to (0.7071, 0.0, 0.0, 0.7071), hand pose should be the same)

Note: The system automatically compensates for hand rotational offsets, so specify orientations relative to the robot's reset orientation.

Creating Configurations

Step 1: Choose Robot Type

• pink_ik_g1_test_configs.json for G1 robot
• pink_ik_gr1_test_configs.json for GR1 robot

Step 2: Define Tolerances

"tolerances": {
    "position": 0.003,
    "pd_position": 0.001,
    "rotation": 0.017,
    "check_errors": true
}

Step 3: Create Test Movements

Common test types:

• stay_still: Same pose repeated
• horizontal_movement: Side-to-side movement
• vertical_movement: Up-and-down movement
• rotation_movements: Hand orientation changes

Step 4: Specify Hand Poses

"horizontal_movement": {
    "left_hand_pose": [
        [-0.18, 0.1, 0.8, 0.7071, 0.0, 0.0, 0.7071],
        [-0.28, 0.1, 0.8, 0.7071, 0.0, 0.0, 0.7071]
    ],
    "right_hand_pose": [
        [0.18, 0.1, 0.8, 0.7071, 0.0, 0.0, 0.7071],
        [0.28, 0.1, 0.8, 0.7071, 0.0, 0.0, 0.7071]
    ],
    "allowed_steps_per_motion": 100,
    "repeat": 2,
    "requires_waist_bending": false
}

Pose Guidelines

Orientation Examples

• Default: [0.7071, 0.0, 0.0, 0.7071] (90° around X-axis)
• Z-rotation: [0.5, 0.0, 0.0, 0.866] (60° around Z)
• Y-rotation: [0.866, 0.0, 0.5, 0.0] (60° around Y)

Testing Process

1. Robot starts in reset pose and settles
2. Moves through each pose in sequence
3. Errors computed and verified against tolerances
4. Sequence repeats specified number of times

Waist Bending Logic

Tests marked with "requires_waist_bending": true will only run if waist joints are enabled in the environment configuration. The test system automatically detects waist capability by checking if waist joints (waist_yaw_joint, waist_pitch_joint, waist_roll_joint) are included in the pink_controlled_joint_names list.

Troubleshooting

• Can't reach target: Check if within safe workspace
• High errors: Increase tolerances or adjust poses
• Test failures: Increase allowed_steps_per_motion