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[ergoCubSN001] Add all the configuration files required for the balan…
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25 changes: 25 additions & 0 deletions
25
...ng-position-control/config/robots/ergoCubSN001/blf-balancing-position-control-options.ini
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dt 0.01 # in seconds | ||
contact_force_threshold 0.1 # in Newton | ||
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com_knots_delta_x (0.0, 0.0, 0.04, 0.04, -0.04, -0.04, 0.0, 0.0) # in meter | ||
com_knots_delta_y (0.0, 0.01, 0.01, -0.01, -0.01, 0.01, 0.01, 0.0) # in meter | ||
com_knots_delta_z (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) # in meter | ||
motion_duration 5.0 # in seconds | ||
motion_timeout 5.0 # in seconds | ||
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base_frame l_sole | ||
left_contact_frame l_sole | ||
right_contact_frame r_sole | ||
close_loop_with_zmp true | ||
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[COM_ZMP_CONTROLLER] | ||
com_gain (5.0, 5.0) | ||
zmp_gain (1.0, 1.0) | ||
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[include IK "./blf_balancing_position_control/ik.ini"] | ||
[include ROBOT_CONTROL "./blf_balancing_position_control/robot_control.ini"] | ||
[include SENSOR_BRIDGE "./blf_balancing_position_control/sensor_bridge.ini"] | ||
[include CONTACT_WRENCHES "./blf_balancing_position_control/contact_wrenches.ini"] | ||
[include GLOBAL_COP_EVALUATOR "./blf_balancing_position_control/global_cop_evaluator.ini"] | ||
[include DATA_LOGGING "./blf_balancing_position_control/data_logging.ini"] |
22 changes: 22 additions & 0 deletions
22
...on-control/config/robots/ergoCubSN001/blf_balancing_position_control/contact_wrenches.ini
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left_contact_wrenches_group ("LEFT_FOOT_FRONT", "LEFT_FOOT_REAR") | ||
right_contact_wrenches_group ("RIGHT_FOOT_FRONT", "RIGHT_FOOT_REAR") | ||
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[LEFT_FOOT_FRONT] | ||
description "left_foot_front" | ||
remote_port_name "/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o" | ||
local_port_name_postfix "/left_foot_front/cartesianEndEffectorWrench:i" | ||
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[LEFT_FOOT_REAR] | ||
description "left_foot_rear" | ||
remote_port_name "/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o" | ||
local_port_name_postfix "/left_foot_rear/cartesianEndEffectorWrench:i" | ||
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[RIGHT_FOOT_FRONT] | ||
description "right_foot_front" | ||
remote_port_name "/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o" | ||
local_port_name_postfix "/right_foot_front/cartesianEndEffectorWrench:i" | ||
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[RIGHT_FOOT_REAR] | ||
description "right_foot_rear" | ||
remote_port_name "/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o" | ||
local_port_name_postfix "/right_foot_rear/cartesianEndEffectorWrench:i" |
1 change: 1 addition & 0 deletions
1
...sition-control/config/robots/ergoCubSN001/blf_balancing_position_control/data_logging.ini
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remote "/balancing_position_controller/logger" |
4 changes: 4 additions & 0 deletions
4
...ontrol/config/robots/ergoCubSN001/blf_balancing_position_control/global_cop_evaluator.ini
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minimum_normal_force 10.0 | ||
cop_admissible_limits (0.10, 0.08) | ||
constant_cop_tolerance 0.01 | ||
constant_cop_max_counter -1 |
66 changes: 66 additions & 0 deletions
66
...lancing-position-control/config/robots/ergoCubSN001/blf_balancing_position_control/ik.ini
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tasks ("COM_TASK", "RIGHT_FOOT_TASK", "LEFT_FOOT_TASK", "TORSO_TASK", "JOINT_REGULARIZATION_TASK") | ||
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[VARIABLES] | ||
variables_name ("robot_velocity") | ||
variables_size (29) | ||
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[IK] | ||
robot_velocity_variable_name "robot_velocity" | ||
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[COM_TASK] | ||
name com_task | ||
type CoMTask | ||
robot_velocity_variable_name "robot_velocity" | ||
kp_linear 2.0 | ||
mask (true, true, true) | ||
priority 0 | ||
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[RIGHT_FOOT_TASK] | ||
name right_foot_task | ||
type SE3Task | ||
robot_velocity_variable_name "robot_velocity" | ||
frame_name "r_sole" | ||
kp_linear 7.0 | ||
kp_angular 5.0 | ||
priority 0 | ||
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[LEFT_FOOT_TASK] | ||
name left_foot_task | ||
type SE3Task | ||
robot_velocity_variable_name "robot_velocity" | ||
frame_name "l_sole" | ||
kp_linear 7.0 | ||
kp_angular 5.0 | ||
priority 0 | ||
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[TORSO_TASK] | ||
name torso_task | ||
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robot_velocity_variable_name "robot_velocity" | ||
frame_name "chest" | ||
kp_angular 5.0 | ||
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type SO3Task | ||
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priority 1 | ||
weight (5.0, 5.0, 5.0) | ||
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[JOINT_REGULARIZATION_TASK] | ||
name joint_regularization_task | ||
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robot_velocity_variable_name "robot_velocity" | ||
kp (5.0, 5.0, 5.0, | ||
5.0, 5.0, 5.0, 5.0, | ||
5.0, 5.0, 5.0, 5.0, | ||
5.0, 5.0, 5.0, 5.0, 5.0, 5.0, | ||
5.0, 5.0, 5.0, 5.0, 5.0, 5.0) | ||
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type JointTrackingTask | ||
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priority 1 | ||
weight (1.0, 1.0, 1.0, | ||
2.0, 2.0, 2.0, 2.0, | ||
2.0, 2.0, 2.0, 2.0, | ||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0, | ||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0) |
12 changes: 12 additions & 0 deletions
12
...ition-control/config/robots/ergoCubSN001/blf_balancing_position_control/robot_control.ini
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robot_name ergocub | ||
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joints_list ("torso_pitch", "torso_roll", "torso_yaw", | ||
"l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", | ||
"r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", | ||
"l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", | ||
"r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll") | ||
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remote_control_boards ("torso", "left_arm", "right_arm", "left_leg", "right_leg") | ||
positioning_duration 3.0 #in seconds | ||
positioning_tolerance 0.05 #in seconds | ||
position_direct_max_admissible_error 0.1 #in seconds |
6 changes: 6 additions & 0 deletions
6
...ition-control/config/robots/ergoCubSN001/blf_balancing_position_control/sensor_bridge.ini
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check_for_nan false | ||
stream_joint_states true | ||
stream_cartesian_wrenches true | ||
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[CartesianWrenches] | ||
cartesian_wrenches_list ("left_foot_front", "left_foot_rear", "right_foot_front", "right_foot_rear") |