More tests on iCubGenova09.

robotology · Feb 5, 2021 · e7d635f · e7d635f
1 parent fdc6491
commit e7d635f
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Showing 4 changed files with 13 additions and 13 deletions.
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/controllerParams.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/controllerParams.ini
@@ -4,7 +4,7 @@ stateWeightTriplets     ((0,0,7500), (1,1,7500))
 inputWeightTriplets     ((0,0,9000000), (1,1,9000000))
 
 #Foot Dimensions          x_min   x_max  y_min   y_max
-foot_size               ((-0.02   0.05), (-0.025   0.025))
+foot_size               ((-0.12   0.12), (-0.05   0.05))
 initial_zmp_position    (0.0 0.0)
 
 convex_hull_tolerance   0.05
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini
@@ -15,10 +15,10 @@ useGainScheduling           0
 [DEFAULT]
 #NAME                P     I      D
 #torso_pitch         5.0   1.0    0.5
-l_knee             -12000.0  -1000.0   0.0
-r_knee              12000.0   1000.0   0.0
-l_ankle_pitch      -12000.0  -1000.0   0.0
-r_ankle_pitch       12000.0   1000.0   0.0
+l_knee             -20000.0  -1000.0   0.0
+r_knee              20000.0   1000.0   0.0
+l_ankle_pitch      -15000.0  -1000.0   0.0
+r_ankle_pitch       15000.0   1000.0   0.0
 l_ankle_roll       -10000.0  -2000.0   0.0
 r_ankle_roll        10000.0   2000.0   0.0
 # l_hip_pitch        35.0  0.35   0.35

diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/plannerParams.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/plannerParams.ini
@@ -6,14 +6,14 @@ unicycleGain            10.0
 referencePosition       (0.1 0.0)
 timeWeight              2.5
 positionWeight          1.0
-slowWhenTurningGain     2.0
+slowWhenTurningGain     5.0
 
 ##Bounds
 #Step length
-maxStepLength           0.25
+maxStepLength           0.21
 minStepLength           0.05
 #Width
-minWidth                0.13
+minWidth                0.14
 #Angle Variations in DEGREES
 #maxAngleVariation       12.0
 maxAngleVariation       22.0
@@ -24,9 +24,9 @@ minStepDuration         1.5
 
 ##Nominal Values
 #Width
-nominalWidth            0.16
+nominalWidth            0.17
 #Height
-stepHeight              0.03
+stepHeight              0.035
 stepLandingVelocity     0.0
 footApexTime            0.5
 comHeightDelta          0.01
@@ -37,7 +37,7 @@ switchOverSwingRatio    0.7
 
 #ZMP Delta
 leftZMPDelta           (0.01 -0.0)
-rightZMPDelta          (0.01 0.0)
+rightZMPDelta          (0.01 -0.005)
 
 # Last Step DCM Offset
 # If it is 0.5 the final DCM will be in the middle of the two footsteps;

diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/qpInverseKinematics.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/qpInverseKinematics.ini
@@ -27,9 +27,9 @@ joint_regularization_gains     (5.0, 5.0, 5.0,
 
 # Gains
 k_posCom                        1.0
-k_posFoot                       10.0
+k_posFoot                       7.0
 k_attFoot                       5.0
-k_neck                          1.0
+k_neck                          5.0
 
 # joint limits
 k_joint_limit_lower_bound       1.0