diff --git a/cmake/WalkingControllersDependencies.cmake b/cmake/WalkingControllersDependencies.cmake index 1b426766..c5526351 100644 --- a/cmake/WalkingControllersDependencies.cmake +++ b/cmake/WalkingControllersDependencies.cmake @@ -9,7 +9,7 @@ find_package(iDynTree REQUIRED) find_package(Eigen3 3.2.92 REQUIRED) find_package(UnicyclePlanner 0.6.0 REQUIRED) find_package(OsqpEigen 0.4.0 REQUIRED) -find_package(BipedalLocomotionFramework 0.16.0 +find_package(BipedalLocomotionFramework 0.18.0 COMPONENTS VectorsCollection IK ParametersHandlerYarpImplementation ContinuousDynamicalSystem ManifConversions Contacts ParametersHandlerYarpImplementation REQUIRED) diff --git a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/common/plannerParams.ini b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/common/plannerParams.ini index 90157522..3eda63e5 100644 --- a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/common/plannerParams.ini +++ b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/common/plannerParams.ini @@ -44,7 +44,7 @@ footApexTime 0.5 comHeightDelta 0.01 #Timings nominalDuration 0.8 -lastStepSwitchTime 0.3 +lastStepSwitchTime 0.15 switchOverSwingRatio 0.2 #ZMP Delta diff --git a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/inverseKinematics.ini b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/inverseKinematics.ini index 62cabf90..2d9b1857 100644 --- a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/inverseKinematics.ini +++ b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/inverseKinematics.ini @@ -19,8 +19,8 @@ max-cpu-time 20 #DEGREES jointRegularization (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 12.0, 7.0, -12.0, 41.0, - 12.0, 7.0, -12.0, 41.0, + 12.0, 7.0, -12.0, 41.0, 0.0, 0.0, 0.0, + 12.0, 7.0, -12.0, 41.0, 0.0, 0.0, 0.0, 5.76, 1.61, -0.31, -31.64, -20.52, -1.52, 5.76, 1.61, -0.31, -31.64, -20.52, -1.52) diff --git a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/jointRetargeting.ini b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/jointRetargeting.ini index c10d50e1..e834f11b 100644 --- a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/jointRetargeting.ini +++ b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/jointRetargeting.ini @@ -11,8 +11,8 @@ hde_port_name /humanState:i ## "joint_retargeting_port_name" port retargeting_joint_list ("neck_pitch", "neck_roll", "neck_yaw", "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_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_yaw", "l_wrist_roll", "l_wrist_pitch", + "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_yaw", "r_wrist_roll", "r_wrist_pitch") smoothing_time_approaching 2.0 smoothing_time_walking 0.03 diff --git a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/robotControl.ini b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/robotControl.ini index d26b6939..7c38fb40 100644 --- a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/robotControl.ini +++ b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/robotControl.ini @@ -3,8 +3,8 @@ robot ergocub joints_list ("neck_pitch", "neck_roll", "neck_yaw", "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_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_yaw", "l_wrist_roll", "l_wrist_pitch", + "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_yaw", "r_wrist_roll", "r_wrist_pitch", "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") @@ -22,15 +22,15 @@ 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, 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 (false, false, false true, true, true, - false, false, true, true, - false, false, true, true, + false, false, true, true, false, false, false, + false, false, true, true, false, false, false, true, true, true, true, true, true, true, true, true, true, true, true) diff --git a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini index e7b95d7e..62002a70 100644 --- a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini +++ b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini @@ -1,8 +1,8 @@ robot_velocity_variable_name "robot_velocity" kp (5.0, 5.0, 5.0, 5.0, 5.0, 5.0, - 1.0, 1.0, 1.0, 1.0, - 1.0, 1.0, 1.0, 1.0, + 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, + 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0 5.0, 5.0, 5.0, 5.0, 5.0, 5.0) @@ -14,8 +14,8 @@ settling_time 5.0 name "stance" weight (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) @@ -30,8 +30,8 @@ name "walking" weight (0.0, 0.0, 0.0, 2.0, 2.0, 2.0, - 0.0, 2.0, 0.0, 0.0, - 0.0, 2.0, 0.0, 0.0, + 0.0, 2.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0) diff --git a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini index 981cc5bb..d3fa0c2d 100644 --- a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini +++ b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini @@ -1,9 +1,9 @@ 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, 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) states ("STANCE", "WALKING") @@ -14,8 +14,8 @@ settling_time 5.0 name "stance" weight (2.0, 2.0, 2.0, 2.0, 2.0, 2.0, - 2.0, 2.0, 2.0, 2.0, - 2.0, 2.0, 2.0, 2.0, + 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 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) @@ -31,7 +31,7 @@ name "walking" weight (2.0, 2.0, 2.0, 0.0, 0.0, 0.0, - 2.0, 0.0, 2.0, 2.0, - 2.0, 0.0, 2.0, 2.0, + 2.0, 0.0, 2.0, 2.0, 2.0, 2.0, 2.0, + 2.0, 0.0, 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)