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dcm_walking_with_joypad.ini
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dcm_walking_with_joypad.ini
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# Remove this line if you don't want to use the MPC
# use_mpc 1
# Remove this line if you don't want to use the QP-IK
use_QP-IK 1
# remove this line if you don't want to save data of the experiment
dump_data 1
# Limit on the maximum initial velocity. This avoids the robot to jump at startup
max_initial_com_vel 0.5
# If set to true, the desired ZMP is used directly in the COM/ZMP controller
skip_dcm_controller 1
# Scales the input coming from the goal port
goal_port_scaling (0.5, 1.0, 0.5)
# How much in advance the planner should be called. The time is in seconds
planner_advance_time_in_s 0.02
# How much time (in seconds) before failing due to missing feedback
max_feedback_delay_in_s 1.0
# If set true, we remove the zmp-com offset at startworking and rotate in evaluateZMP
remove_zmp_offset 0
# general parameters
[GENERAL]
name walking-coordinator
# height of the com
com_height 0.7
# sampling time
sampling_time 0.01
# Specify the frame to use to control the robot height. Currently, we support only the following options: com, root_link
height_reference_frame root_link
# include robot control parameters
[include ROBOT_CONTROL "./dcm_walking/joypad_control/robotControl.ini"]
# include trajectory planner parameters
[include TRAJECTORY_PLANNER "./dcm_walking/common/plannerParams.ini"]
# include free space ellipsoid manager parameters
[include FREE_SPACE_ELLIPSE_MANAGER "./dcm_walking/common/freeSpaceEllipseParams.ini"]
# include MPC parameters
[include DCM_MPC_CONTROLLER "./dcm_walking/common/controllerParams.ini"]
# include MPC parameters
[include DCM_REACTIVE_CONTROLLER "./dcm_walking/common/dcmReactiveControllerParams.ini"]
# include MPC parameters
[include ZMP_CONTROLLER "./dcm_walking/common/zmpControllerParams.ini"]
# include inverse kinematcs parameters
[include INVERSE_KINEMATICS_SOLVER "./dcm_walking/joypad_control/inverseKinematics.ini"]
# include qp inverse kinematcs parameters
[include INVERSE_KINEMATICS_QP_SOLVER "./dcm_walking/joypad_control/qpInverseKinematicsBlf.ini"]
# include inverse kinematcs parameters
[include FORWARD_KINEMATICS_SOLVER "./dcm_walking/common/forwardKinematics.ini"]
# include FT sensors parameters
[include FT_SENSORS "./dcm_walking/common/forceTorqueSensors.ini"]
# include CoP evaluator parameters
[include COP_EVALUATOR "./dcm_walking/common/globalCoPEvaluator.ini"]
# include Logger parameters
[include WALKING_LOGGER "./dcm_walking/common/walkingLogger.ini"]
# include lower PID parameters
[include PID "./dcm_walking/common/pidParams.ini"]