robotology · GiulioRomualdi · Feb 10, 2023 · Feb 10, 2023
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+controllerHorizon       2
+
+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               ((-0.12   0.12), (-0.05   0.05))
+initial_zmp_position    (0.0 0.0)
+
+convex_hull_tolerance   0.05
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+kDCM                    1.2
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+# name of the left and right feet wrench ports
+left_foot_wrench_input_port_name     ("/left_foot_front/cartesianEndEffectorWrench:i",
+                                      "/left_foot_rear/cartesianEndEffectorWrench:i")
+left_foot_wrench_output_port_name    ("/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o",
+                                      "/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o")
+
+right_foot_wrench_input_port_name     ("/right_foot_front/cartesianEndEffectorWrench:i",
+                                      "/right_foot_rear/cartesianEndEffectorWrench:i")
+right_foot_wrench_output_port_name    ("/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o",
+                                      "/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o")
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+#the x axis pointing forward the z axis pointing upward and the y concludes a right-handed frame
+left_foot_frame         l_sole
+right_foot_frame        r_sole
+
+# hand frames
+left_hand_frame         l_hand_palm
+right_hand_frame        r_hand_palm
+
+head_frame              head
+
+root_frame              root_link
+torso_frame             neck_2
+
+# filters
+# if it is equal to 0 the low pass filters are not used
+use_filters             0
+                        #Hz
+cut_frequency           10.0
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+[ELLIPSE_METHOD_SETTINGS]
+#This factor affects the reference of the unicycle. It allows switching between the specified ellipse and a smaller one to
+#take into account the robot dimensions. If 0, it always considers only the specified ellipse. If greater than zero, the reference
+#to the unicycle will be projected in a smaller ellipse as soon as the unicycle is no more perpendicular to the ellipse.
+#Greater values make this behavior more sensitive.
+conservative_factor    2.0
+
+#This offset is subtracted from the semi_minor_axis and semi_major_axis to obtain the inner ellipse
+inner_ellipse_offset   0.5
+
+[ELLIPSE_MANAGER_SETTINGS]
+port_name              freeSpaceEllipse:in
+
+use_initial_ellipse    0
+
+[INITIAL_ELLIPSE]
+
+#Axis along the x direction
+semi_major_axis        1.0
+
+#Axis along the y direction
+semi_minor_axis        1.0
+
+#Rotation around the z axis
+angle                  0.0
+
+#x coordinate of the center
+center_x               0.1
+
+#y coordinate of the center
+center_y               0.0
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+# PID handling file
+
+# All the following phases are those of the left foot. In a specific phase, a joint will have the PIDs specified in the corresponding section. If not, the default will be used (if specified, the original PID otherwise).
+
+# Possible phases: SWING_LEFT, SWING_RIGHT, SWITCH
+
+# Each group, except DEFAULT, contains:
+#    -the field activationPhase with one of the possible phases defined above,
+#    -the field activationOffset which specified the time advance/delay (if the sign is + it will be a delay) wrt the begin of the phase (OPTIONAL, default 0.0)
+#    -the field smoothingTime which defines the smoothing time with which the PIDs will be changed (OPTIONAL, default 1.0)
+
+# if 0 only the default group will be taken into consideration
+useGainScheduling           0
+
+[DEFAULT]
+#NAME                P     I      D
+torso_pitch        40.0  0.35   0.35
+torso_roll         40.0  0.35   0.35
+torso_yaw          40.0  0.35   0.35
+l_knee             40.0  0.35   0.35
+r_knee             40.0  0.35   0.35
+l_ankle_pitch      40.0  0.35   0.35
+r_ankle_pitch      40.0  0.35   0.35
+l_ankle_roll       40.0  0.35   0.35
+r_ankle_roll       40.0  0.35   0.35
+l_hip_pitch        40.0  0.35   0.35
+r_hip_pitch        40.0  0.35   0.35
+l_hip_roll         40.0  0.35   0.35
+r_hip_roll         40.0  0.35   0.35
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+##Timings
+plannerHorizon          10.0
+
+##Unicycle Related Quantities
+unicycleGain            10.0
+referencePosition       (0.1 0.0)
+timeWeight              2.5
+positionWeight          1.0
+slowWhenTurningGain     5.0
+slowWhenBackwardFactor  1.0
+
+##Bounds
+#Step length
+maxStepLength           0.21
+minStepLength           0.05
+#Width
+minWidth                0.12
+#Angle Variations in DEGREES
+#maxAngleVariation       12.0
+maxAngleVariation       22.0
+minAngleVariation       8.0
+#Timings
+maxStepDuration         1.3
+minStepDuration         1.1
+
+##Nominal Values
+#Width
+nominalWidth            0.16
+#Height
+stepHeight              0.02
+stepLandingVelocity     0.0
+footApexTime            0.7
+comHeightDelta          0.0
+#Timings
+nominalDuration         1.2
+lastStepSwitchTime      0.8
+switchOverSwingRatio    1.0
+
+#ZMP Delta
+leftZMPDelta           (-0.015 -0.01)
+rightZMPDelta          (-0.015  0.01)
+
+#Feet cartesian offset on the yaw
+leftYawDeltaInDeg      0.0
+rightYawDeltaInDeg     0.0
+
+# Last Step DCM Offset
+# If it is 0.5 the final DCM will be in the middle of the two footsteps;
+# If it is 0 the DCM position coincides with the stance foot ZMP;
+# If it is 1 the DCM position coincides with the next foot ZMP position.
+lastStepDCMOffset      0.25
+
+#MergePoint
+mergePointRatio         0.4
+
+# pitch delta
+pitchDelta		0.0
+
+##Should be the first step with the left foot?
+swingLeft               1
+startAlwaysSameFoot     1
+
+##Remove this line if you don't want to use the minimum jerk trajectory in feet interpolation
+# useMinimumJerkFootTrajectory    1
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+dataLoggerOutputPort_name         /logger/data:o
+dataLoggerRpcOutputPort_name      /logger/rpc:o
+
+dataLoggerInputPort_name          /yarp-robot-logger/exogenous_signals/walking:i
+dataLoggerRpcInputPort_name       /logger/rpc:i
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+# remove the following line if you do not want the gain scheduling
+useGainScheduling      1
+
+smoothingTime          0.05
+
+# if the gain scheduling is off only k*_walking parameters are used
+kZMP_walking           1.0
+# kZMP_stance            1.0
+kCoM_walking           3.0
+
+kZMP_stance            1.0
+# kZMP_stance            1.0
+kCoM_stance            3.0
+
+# old parameters
+#kZMP                    2.0 low velocity reactive
+#kZMP                    1.9 low velocity MPC
+
+#kCoM                    10.0 low velocity reactive
+#kCoM                    8.0 low velocity MPC
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+#The left_foot_frame is supposed to have the same orientation of the Inertia frame, which have the z axis pointing upwards,
+#the x axis pointing forward and and the y concludes a right-handed frame
+left_foot_frame         l_sole
+right_foot_frame        r_sole
+
+# #Remove the following line in order not to consider the
+# #additional frame
+additional_frame        chest
+
+# #The additional rotation is defined (by rows) in the Inertia frame.
+#Remove the following line to keep the identity as additional rotation
+additional_rotation     ((1.0 0.0 0.0),(0.0 1.0 0.0),(0.0 0.0 1.0))
+
+# solver paramenters
+solver-verbosity        1
+solver_name             ma27
+max-cpu-time            20
+
+
+# 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"
+
+
+#DEGREES
+jointRegularization     (7, 0.12, -0.01,
+                         -3.7, 20.0, -13.0, 40.769,
+                         -3.7, 20.0, -13.0, 40.769,
+                         5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
+                         5.76, 1.61, -0.31, -31.64, -20.52, -1.52)
+
+#jointRegularization     (0, 15, 0, 0, -29.794, 29.97, 0.00, 44.977, -29.794, 29.97, 0.00, 44.977, 5.082, 0.406, -0.131, -45.249, -26.454, -0.351, 5.082, 0.406, -0.131, -45.249, -26.454, -0.351)
+#jointRegularization     (15, 0, 0, 5.082, 0.406, -0.131, -45.249, -26.454, -0.351, 5.082, 0.406, -0.131, -45.249, -26.454, -0.351)
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+# CoM
+use_com_as_constraint           1
+# comWeightTriplets              ((0,0,100), (1,1,100), (2,2,100))
+
+
+# weight matrices related to the neck
+neck_weight                     5.0
+additional_rotation             ((1.0 0.0 0.0),(0.0 1.0 0.0),(0.0 0.0 1.0))
+
+# Joint regularization term
+joint_regularization     (7, 0.12, -0.01,
+                         -3.7, 20.0, -13.0, 40.769,
+                         -3.7, 20.0, -13.0, 40.769,
+                         5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
+                         5.76, 1.61, -0.31, -31.64, -20.52, -1.52)
+
+joint_regularization_weights     (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)
+
+joint_regularization_gains     (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)
+
+# Gains
+k_posCom                        1.0
+k_posFoot                       7.0
+k_attFoot                       5.0
+k_neck                          5.0
+
+# joint limits
+k_joint_limit_lower_bound       1.0
+k_joint_limit_upper_bound       1.0
+
+# use_joint_limits_constraint   1
@@ -0,0 +1,32 @@
+robot                   ergocubSim
+
+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")
+
+remote_control_boards   ("torso", "left_arm", "right_arm", "left_leg", "right_leg")
+
+# filters
+# if use_*_filter is equal to 0 the low pass filters are not used
+use_joint_velocity_filter          0
+joint_velocity_cut_frequency       10.0
+
+use_wrench_filter                  0
+wrench_cut_frequency               10.0
+
+
+# if true the joint is in stiff mode if false the joint is in compliant mode
+joint_is_stiff_mode     (true, true, true,
+                         true, true, true, true,
+                         true, true, true, true,
+                         true, true, true, true, true, true,
+                         true, true, true, true, true, true)
+
+# if true a good joint traking is considered mandatory
+good_tracking_required  (true, true, true,
+                         true, true, true, true,
+                         true, true, true, true,
+                         true, true, true, true, true, true,
+                         true, true, true, true, true, true)
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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 use osqp to
+# solve QP-IK. In this case qpOASES will be used
+use_osqp                           1
+
+# remove this line if you don't want to save data of the experiment
+dump_data                          0
+
+# Limit on the maximum initial velocity. This avoids the robot to jump at startup
+max_initial_com_vel                 0.5
+
+# Tolerance radius to consider the measured ZMP constant.
+constant_ZMP_tolerance              0.0001
+
+# Consecutive times in which the ZMP remains constant. If this limit is reached, the module stops. Use a negative value to disable.
+constant_ZMP_counter                -1
+
+# Minimum force to consider the ZMP valid.
+minimum_normal_force_ZMP            1.0
+
+# Limit to consider the ZMP valid
+#                                    |x|  |y|
+maximum_local_zmp                   (0.4, 0.3)
+
+# If set to true, the desired ZMP is used directly in the COM/ZMP controller
+skip_dcm_controller                  0
+
+# general parameters
+[GENERAL]
+name                    walking-coordinator
+# height of the com
+com_height              0.72
+# 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  com
+
+# 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/qpInverseKinematics.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 Logger parameters
+[include WALKING_LOGGER "./dcm_walking/common/walkingLogger.ini"]
+
+# include lower PID parameters
+[include PID "./dcm_walking/common/pidParams.ini"]