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Restructure the balancing position controller:
- Add the possibility to enable and disable the CoM-ZMP controller in the balancing controller - Format the balancing_position_control script with black - Use GlobalCoPEvaluator class to compute the global CoP - 🤖 Update the parameters for ergoCubSN000 and ergoCubGazeboV1
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42 changes: 0 additions & 42 deletions
42
utilities/balancing-position-control/balancing_position_control/zmp.py
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14 changes: 9 additions & 5 deletions
14
...position-control/config/robots/ergoCubGazeboV1/blf-balancing-position-control-options.ini
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@@ -1,19 +1,23 @@ | ||
dt "00:00:00.010000" # Time expressed in RFC 3339 (0.01 seconds) | ||
dt 0.01 # in seconds | ||
contact_force_threshold 0.1 # in Newton | ||
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com_knots_delta_x (0.0, 0.0, 0.03, 0.03, -0.03, -0.03, 0.0, 0.0) # in meter | ||
com_knots_delta_y (0.0, 0.07, 0.07, -0.07, -0.07, 0.07, 0.07, 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 "00:00:10.000000" # Time expressed in RFC 3339 (10 seconds) | ||
motion_timeout "00:00:10.000000" # Time expressed in RFC 3339 (10 seconds) | ||
motion_duration 10.0 # in seconds | ||
motion_timeout 10.0 # in seconds | ||
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base_frame l_sole | ||
left_contact_frame l_sole | ||
right_contact_frame r_sole | ||
close_loop_with_zmp false | ||
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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"] | ||
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[include GLOBAL_COP_EVALUATOR "./blf_balancing_position_control/global_cop_evaluator.ini"] |
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...rol/config/robots/ergoCubGazeboV1/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 |
13 changes: 9 additions & 4 deletions
13
...ng-position-control/config/robots/ergoCubSN000/blf-balancing-position-control-options.ini
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@@ -1,19 +1,24 @@ | ||
dt "00:00:00.010000" # Time expressed in RFC 3339 (0.01 seconds) | ||
dt 0.01 # in seconds | ||
contact_force_threshold 0.1 # in Newton | ||
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com_knots_delta_x (0.0, 0.0, 0.03, 0.03, -0.03, -0.03, 0.0, 0.0) # in meter | ||
com_knots_delta_y (0.0, 0.07, 0.07, -0.07, -0.07, 0.07, 0.07, 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 "00:00:10.000000" # Time expressed in RFC 3339 (10 seconds) | ||
motion_timeout "00:00:10.000000" # Time expressed in RFC 3339 (10 seconds) | ||
motion_duration 10.0 # in seconds | ||
motion_timeout 10.0 # in seconds | ||
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base_frame l_sole | ||
left_contact_frame l_sole | ||
right_contact_frame r_sole | ||
close_loop_with_zmp false | ||
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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"] | ||
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[include GLOBAL_COP_EVALUATOR "./blf_balancing_position_control/global_cop_evaluator.ini"] |
4 changes: 4 additions & 0 deletions
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...ontrol/config/robots/ergoCubSN000/blf_balancing_position_control/global_cop_evaluator.ini
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Original file line number | Diff line number | Diff line change |
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@@ -0,0 +1,4 @@ | ||
minimum_normal_force 10.0 | ||
cop_admissible_limits (0.10, 0.08) | ||
constant_cop_tolerance 0.01 | ||
constant_cop_max_counter -1 |
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