[iRonCub-Mk1] Add the configuration files for the walking controller

src/JoypadModule/app/dcmWalkingJoypad/joypad.ini

@@ -21,15 +21,15 @@ disconnectButton  11 # Menu button
 connectPortsSeparately          true
 
 # Port names
-rpcServerPort_name              /walking-coordinator/rpc
-rpcClientPort_name              /rpc
+rpcServerPort_name              /walking-coordinatori-ironCub/rpc
+rpcClientPort_name              /ironcub-joypad/rpc
 
 # The goal is the desired position of the robot CoM. The desired position is a
 # vector containing the x and the y coordinate expressed in a frame rigidly
 # attached to the robot.
 # The x-axis points forward
 # The y-axis points on the left
-robotGoalInputPort_name         /walking-coordinator/goal:i
+robotGoalInputPort_name         /walking-coordinator-ironCub/goal:i
 robotGoalOutputPort_name        /goal:o
 
 [JOYPAD_DEVICE]

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/common/controllerParams.ini

@@ -0,0 +1,10 @@
+controllerHorizon       2
+
+stateWeightTriplets     ((0,0,750), (1,1,750))
+inputWeightTriplets     ((0,0,90000000), (1,1,90000000))
+
+#Foot Dimensions          x_min   x_max  y_min   y_max
+foot_size               ((-0.02   0.05), (-0.045   0.05))
+initial_zmp_position    (0.0 0.0)
+
+convex_hull_tolerance   0.05

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/common/dcmReactiveControllerParams.ini

@@ -0,0 +1 @@
+kDCM                   1.1

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/common/forceTorqueSensors.ini

@@ -0,0 +1,6 @@
+# name of the left and right feet wrench ports
+left_foot_wrench_input_port_name     ("/left_foot/cartesianEndEffectorWrench:i")
+left_foot_wrench_output_port_name    ("/iRonCub-Mk1/wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o")
+
+right_foot_wrench_input_port_name    ("/right_foot/cartesianEndEffectorWrench:i")
+right_foot_wrench_output_port_name   ("/iRonCub-Mk1/wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o")

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/common/forwardKinematics.ini

@@ -0,0 +1,18 @@
+#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_dh_frame
+right_hand_frame        r_hand_dh_frame
+
+head_frame              imu_frame
+
+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

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/common/freeSpaceEllipseParams.ini

@@ -0,0 +1,34 @@
+[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_major_axis to obtain the inner ellipse
+inner_offset_major     0.5
+
+#This offset is subtracted from the semi_minor_axis to obtain the inner ellipse
+inner_offset_minor     1.0
+
+[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

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/common/globalCoPEvaluator.ini

@@ -0,0 +1,14 @@
+# Minimum force to consider the CoP valid.
+minimum_normal_force                1.0
+
+# Limit to consider the CoP valid.
+#                                    |x|  |y|
+cop_admissible_limits               (0.3, 0.2)
+
+# Tolerance radius to consider the measured CoP constant.
+constant_cop_tolerance              0.0001
+
+# Consecutive times in which the CoP remains constant.
+# If this limit is reached, the module stops.
+# Use a negative value to disable.
+constant_cop_max_counter             125

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/common/pidParams.ini

@@ -0,0 +1,58 @@
+# 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
+firmwareDelay               0.01
+smoothingTime               0.05
+
+[DEFAULT]
+#NAME	              P           I           D
+torso_yaw          -6000.0     -7111.0         0.0
+torso_roll         -9000.0     -5666.0         0.0
+torso_pitch        -6000.0     -5222.0         0.0
+l_shoulder_pitch    2000.0      7111.0         0.0
+#l_shoulder_roll     2166.0     10666.0         0.0
+l_shoulder_yaw      1711.1      7111.0         0.0
+r_shoulder_pitch   -2000.0     -7111.0         0.0
+#r_shoulder_roll    -2066.0    -10666.0         0.0
+r_shoulder_yaw     -1711.1     -7111.0         0.0
+l_hip_pitch        -5000.0     -7000.0      -100.0
+l_hip_roll          4500.0      8000.0         0.0
+l_hip_yaw          -3011.0      -100.0         0.0
+l_knee	           -10000.0      -800.0         0.0   
+l_ankle_pitch       4000.0       200.0         0.0
+l_ankle_roll        6000.0       200.0         0.0
+r_hip_pitch         5000.0      7000.0       100.0
+r_hip_roll         -4500.0     -8000.0         0.0
+r_hip_yaw           3011.0       100.0         0.0
+r_knee	            10000.0       800.0         0.0
+r_ankle_pitch      -5000.0      -200.0         0.0
+r_ankle_roll       -6000.0      -200.0         0.0
+
+[PREIMPACT_LEFT]
+activationPhase     SWING_LEFT
+activationOffset    0.3
+#NAME                  P           I            D
+l_ankle_pitch       1000.0       100.0         0.0
+l_ankle_roll        2000.0       100.0         0.0
+
+[PREIMPACT_RIGHT]
+activationPhase     SWING_RIGHT
+activationOffset    0.3
+#NAME                  P           I            D
+r_ankle_pitch      -1000.0      -100.0         0.0
+r_ankle_roll       -2000.0      -100.0         0.0
+
+# The next reset the original gains.
+[AFTER_IMPACT]
+activationPhase     SWITCH
+activationOffset    0.2

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/common/plannerParams.ini

@@ -0,0 +1,88 @@
+##Timings
+plannerHorizon          5.0
+
+##Unicycle controller. Available types: personFollowing, direct
+controlType             direct
+
+##Unicycle Related Quantities
+unicycleGain            10.0
+referencePosition       (0.1 0.0)
+timeWeight              2.5
+positionWeight          1.0
+slowWhenTurningGain     2.0
+slowWhenBackwardFactor  0.4
+slowWhenSidewaysFactor  0.2
+
+# Conservative factors that multiply the unicycle velocity saturations
+# computed from the other parameters, like the minStepDuration.
+# The first number multiplies the saturation for the linear and lateral
+# velocity. The second number multiplies the angular velocity saturation.
+saturationFactors       (0.7, 0.7)
+
+##Bounds
+#Step length
+maxStepLength           0.19
+minStepLength           0.05
+maxLengthBackwardFactor 1.0
+#Width
+minWidth                0.14
+#Angle Variations in DEGREES
+#maxAngleVariation       12.0
+maxAngleVariation       20.0
+minAngleVariation       8.0
+#Timings
+maxStepDuration		    1.2
+minStepDuration         0.9
+
+##Nominal Values
+#Width
+nominalWidth            0.15
+#Height
+stepHeight              0.04
+stepLandingVelocity     -0.1
+footApexTime            0.5
+comHeightDelta          0.0
+#Timings
+nominalDuration         1.0
+lastStepSwitchTime      0.8
+switchOverSwingRatio    0.5
+
+#ZMP Delta
+leftZMPDelta           (0.03 0.02)
+rightZMPDelta          (0.03 -0.0)
+
+#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
+
+# Last Step DCM Stillness Percentage
+# The percentage of the last step duration in which the DCM is still.
+lastStepDCMStillPercentage   0.1
+
+
+#MergePoint
+# The ratios of the double support in which it is present a merge point.
+# The first number is the ratio at which the merge points begin, the second
+# when they ends.
+mergePointRatios       (0.4, 0.4)
+
+# pitch delta
+pitchDelta             0.0
+
+##Should be the first step with the left foot?
+swingLeft               0
+startAlwaysSameFoot     1
+
+##Remove this line if you don't want to use the minimum jerk trajectory in feet interpolation
+#useMinimumJerkFootTrajectory    1
+
+##Remove this line if you want to enable the pause conditon
+isPauseActive           1
+
+additional_chest_rotation        ((0.0 0.0 1.0),(1.0 0.0 0.0),(0.0 1.0 0.0))

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/common/walkingLogger.ini

@@ -0,0 +1 @@
+remote                             "/logger"

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/common/zmpControllerParams.ini

@@ -0,0 +1,18 @@
+# remove the following line if you do not want the gain scheduling
+useGainScheduling      1
+
+smoothingTime          0.1
+
+# if the gain scheduling is off only k*_walking parameters are used
+kZMP_walking           2.5
+kCoM_walking           4.0
+
+kZMP_stance            0.9
+kCoM_stance            4.0
+
+# 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

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/iFeel_joint_retargeting/inverseKinematics.ini

@@ -0,0 +1,28 @@
+#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     ((0.0 0.0 1.0),(1.0 0.0 0.0),(0.0 1.0 0.0))
+
+# solver paramenters
+solver-verbosity        0
+solver_name             mumps
+max-cpu-time            20
+
+#DEGREES
+jointRegularization     (0.0, 0.0, 0.0,
+                         15, 0, 0,
+                         -7, 22, 11, 30,
+                         -7, 22, 11, 30,
+                         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     (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)

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/iFeel_joint_retargeting/jointRetargeting.ini

@@ -0,0 +1,31 @@
+approaching_phase_duration      4.0
+hde_port_name     /humanState:i
+data_arrived_timeout            1.0
+
+[HAND_RETARGETING]
+
+
+[JOINT_RETARGETING]
+## List of the retargeting joint. This list must be the same or a subset of the
+## "joints_list" in robotControl.ini. The order of the joints should be choseen
+## accordingly to the order of the joints received in the
+## "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")
+
+
+joint_retargeting_port_name     /jointPosition:i
+smoothing_time_approaching       2.0
+smoothing_time_walking           0.2
+
+[VIRTUALIZER]
+robot_orientation_port_name     /torsoYaw:o
+
+[COM_RETARGETING]
+com_height_retargeting_port_name /CoM:i
+smoothing_time_approaching       2.0
+smoothing_time_walking           1.0
+com_height_scaling_factor        0.5
+variation_range                  (-0.05 0.0)

src/WalkingModule/app/robots/iRonCub-Mk1/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini

@@ -0,0 +1,31 @@
+use_feedforward_term_for_joint_retargeting      false
+
+[IK]
+robot_velocity_variable_name    "robot_velocity"
+
+[COM_TASK]
+robot_velocity_variable_name    "robot_velocity"
+kp_linear                       2.0
+mask                            (true, true, false)
+
+[RIGHT_FOOT_TASK]
+robot_velocity_variable_name    "robot_velocity"
+frame_name                      "r_sole"
+kp_linear                       7.0
+kp_angular                      5.0
+
+[ROOT_TASK]
+robot_velocity_variable_name    "robot_velocity"
+kp_linear                       2.0
+frame_name                      "root_link"
+mask                            (false, false, true)
+
+[LEFT_FOOT_TASK]
+robot_velocity_variable_name    "robot_velocity"
+frame_name                      "l_sole"
+kp_linear                       7.0
+kp_angular                      5.0
+
+[include TORSO_TASK "./tasks/torso.ini"]
+[include JOINT_REGULARIZATION_TASK "./tasks/regularization.ini"]
+[include JOINT_RETARGETING_TASK "./tasks/retargeting.ini"]