all robots config updated

dbdxnuliba · Sep 25, 2018 · 98e5d58 · 98e5d58
1 parent a1bfe34
commit 98e5d58
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Showing 8 changed files with 1,220 additions and 770 deletions.
diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGazeboV2_5/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGazeboV2_5/initCoordinator.m
@@ -153,6 +153,9 @@
 % smoothing time for joints and CoM
 Sm.smoothingTimeCoM_Joints = 3; 
 
+% scale factor smoothing time (YOGA DEMO ONLY)
+Sm.scaleFactorSmoothingTime = 0.9; 
+
 % time between two yoga positions (YOGA DEMO ONLY)
 Sm.joints_pauseBetweenYogaMoves = 0;
 
@@ -172,9 +175,11 @@
 Sm.CoM_delta = [0; 0; 0];
 
 % joint references (YOGA DEMO ONLY)
-Sm.joints_references   = zeros(1,ROBOT_DOF);
-Sm.joints_leftYogaRef  = zeros(1,ROBOT_DOF+1);
-Sm.joints_rightYogaRef = zeros(1,ROBOT_DOF+1);
+Sm.joints_references         = zeros(1,ROBOT_DOF);
+Sm.joints_leftYogaRef        = zeros(1,ROBOT_DOF+1);
+Sm.joints_rightYogaRef       = zeros(1,ROBOT_DOF+1);
+Sm.joints_leftSecondYogaRef  = zeros(1,ROBOT_DOF+1);
+Sm.joints_rightSecondYogaRef = zeros(1,ROBOT_DOF+1);
 
 % configuration parameters for state machine (YOGA DEMO ONLY) 
 Sm.tBalancing               = 1;
@@ -184,6 +189,11 @@
 Sm.demoStartsOnRightSupport = false;
 Sm.yogaAlsoOnRightFoot      = false;
 Sm.yogaInLoop               = false;
+Sm.repeatYogaMoveset        = false;
+
+% smoothing time for the second time the Yoga moveset are performed (YOGA DEMO ONLY)
+Sm.smoothingTimeSecondYogaLeft  = 1;
+Sm.smoothingTimeSecondYogaRight = 1;
 
 %% Constraints for QP for balancing
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGazeboV2_5/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGazeboV2_5/initStateMachineYoga.m
@@ -99,6 +99,12 @@
                                     2;   %% state == 12  LOOKING FOR CONTACT 
                                     10]; %% state == 13  TRANSITION INIT POSITION
 
+% scale factor smoothing time multiplies the smoothing factor during the
+% Yoga (state 4 and 10). The purpose is to reduce the time necessary for 
+% the reference to converge to the next position, but without changing also
+% the valuse stored in Sm.joints_leftYogaRef/Sm.joints_rightYogaRef (YOGA DEMO ONLY)
+Sm.scaleFactorSmoothingTime = 0.9;
+
 % time between two yoga positions (YOGA DEMO ONLY)
 Sm.joints_pauseBetweenYogaMoves  = 5;
 
@@ -143,7 +149,7 @@
 Sm.yogaInLoop                   = false;
 
 % repeat the yoga movements faster. Uneffective if Sm.yogaExtended = false;
-Sm.repeatYogaMoveset            = true;
+Sm.repeatYogaMoveset            = false;
 
 % smoothing time for the second time the Yoga moveset are performed
 Sm.smoothingTimeSecondYogaLeft  = 1.2;

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initCoordinator.m
@@ -153,6 +153,9 @@
 % smoothing time for joints and CoM
 Sm.smoothingTimeCoM_Joints = 3; 
 
+% scale factor smoothing time (YOGA DEMO ONLY)
+Sm.scaleFactorSmoothingTime = 0.9; 
+
 % time between two yoga positions (YOGA DEMO ONLY)
 Sm.joints_pauseBetweenYogaMoves = 0;
 
@@ -172,9 +175,11 @@
 Sm.CoM_delta = [0; 0; 0];
 
 % joint references (YOGA DEMO ONLY)
-Sm.joints_references   = zeros(1,ROBOT_DOF);
-Sm.joints_leftYogaRef  = zeros(1,ROBOT_DOF+1);
-Sm.joints_rightYogaRef = zeros(1,ROBOT_DOF+1);
+Sm.joints_references         = zeros(1,ROBOT_DOF);
+Sm.joints_leftYogaRef        = zeros(1,ROBOT_DOF+1);
+Sm.joints_rightYogaRef       = zeros(1,ROBOT_DOF+1);
+Sm.joints_leftSecondYogaRef  = zeros(1,ROBOT_DOF+1);
+Sm.joints_rightSecondYogaRef = zeros(1,ROBOT_DOF+1);
 
 % configuration parameters for state machine (YOGA DEMO ONLY) 
 Sm.tBalancing               = 1;
@@ -184,6 +189,11 @@
 Sm.demoStartsOnRightSupport = false;
 Sm.yogaAlsoOnRightFoot      = false;
 Sm.yogaInLoop               = false;
+Sm.repeatYogaMoveset        = false;
+
+% smoothing time for the second time the Yoga moveset are performed (YOGA DEMO ONLY)
+Sm.smoothingTimeSecondYogaLeft  = 1;
+Sm.smoothingTimeSecondYogaRight = 1;
 
 %% Constraints for QP for balancing
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initStateMachineYoga.m
@@ -99,6 +99,12 @@
                                     2;    %% state == 12  LOOKING FOR CONTACT 
                                     5];  %% state == 13  TRANSITION INIT POSITION
 
+% scale factor smoothing time multiplies the smoothing factor during the
+% Yoga (state 4 and 10). The purpose is to reduce the time necessary for 
+% the reference to converge to the next position, but without changing also
+% the valuse stored in Sm.joints_leftYogaRef/Sm.joints_rightYogaRef (YOGA DEMO ONLY)
+Sm.scaleFactorSmoothingTime = 0.9;
+
 % time between two yoga positions (YOGA DEMO ONLY)
 Sm.joints_pauseBetweenYogaMoves  = 5;
 
@@ -143,7 +149,7 @@
 Sm.yogaInLoop               = false;
 
 % repeat the yoga movements faster. Uneffective if Sm.yogaExtended = false;
-Sm.repeatYogaMoveset            = true;
+Sm.repeatYogaMoveset        = false;
 
 % smoothing time for the second time the Yoga moveset are performed
 Sm.smoothingTimeSecondYogaLeft  = 0.6;

diff --git a/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initCoordinator.m
@@ -153,6 +153,9 @@
 % smoothing time for joints and CoM
 Sm.smoothingTimeCoM_Joints = 1; 
 
+% scale factor smoothing time (YOGA DEMO ONLY)
+Sm.scaleFactorSmoothingTime = 0.9; 
+
 % time between two yoga positions (YOGA DEMO ONLY)
 Sm.joints_pauseBetweenYogaMoves = 0;
 
@@ -172,9 +175,11 @@
 Sm.CoM_delta = [0; 0; 0];
 
 % joint references (YOGA DEMO ONLY)
-Sm.joints_references   = zeros(1,ROBOT_DOF);
-Sm.joints_leftYogaRef  = zeros(1,ROBOT_DOF+1);
-Sm.joints_rightYogaRef = zeros(1,ROBOT_DOF+1);
+Sm.joints_references         = zeros(1,ROBOT_DOF);
+Sm.joints_leftYogaRef        = zeros(1,ROBOT_DOF+1);
+Sm.joints_rightYogaRef       = zeros(1,ROBOT_DOF+1);
+Sm.joints_leftSecondYogaRef  = zeros(1,ROBOT_DOF+1);
+Sm.joints_rightSecondYogaRef = zeros(1,ROBOT_DOF+1);
 
 % configuration parameters for state machine (YOGA DEMO ONLY) 
 Sm.tBalancing               = 1;
@@ -184,6 +189,11 @@
 Sm.demoStartsOnRightSupport = false;
 Sm.yogaAlsoOnRightFoot      = false;
 Sm.yogaInLoop               = false;
+Sm.repeatYogaMoveset        = false;
+
+% smoothing time for the second time the Yoga moveset are performed (YOGA DEMO ONLY)
+Sm.smoothingTimeSecondYogaLeft  = 1;
+Sm.smoothingTimeSecondYogaRight = 1;
 
 %% Constraints for QP for balancing
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initStateMachineYoga.m
@@ -94,6 +94,12 @@
                                     5;   %% state == 12  LOOKING FOR CONTACT 
                                     4];  %% state == 13  TRANSITION INIT POSITION
 
+% scale factor smoothing time multiplies the smoothing factor during the
+% Yoga (state 4 and 10). The purpose is to reduce the time necessary for 
+% the reference to converge to the next position, but without changing also
+% the valuse stored in Sm.joints_leftYogaRef/Sm.joints_rightYogaRef (YOGA DEMO ONLY)
+Sm.scaleFactorSmoothingTime = 0.9;
+
 % time between two yoga positions (YOGA DEMO ONLY)
 Sm.joints_pauseBetweenYogaMoves = 3;
 

diff --git a/torque-controllers/momentum-based-yoga/initTorqueBalancingYoga.m b/torque-controllers/momentum-based-yoga/initTorqueBalancingYoga.m
@@ -53,6 +53,7 @@
 Config.SCOPES_GAIN_SCHE_INFO = false;
 Config.SCOPES_MAIN           = false;
 Config.SCOPES_QP             = false;
+Config.SCOPES_INERTIA        = false;
 
 % Config.CHECK_LIMITS: if set to true, the controller will stop as soon as 
 % any of the joint limit is touched.