updated coupling matrices and reduction ratio

dbdxnuliba · Sep 20, 2018 · ac77b99 · ac77b99
1 parent 453f765
commit ac77b99
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Showing 12 changed files with 132 additions and 25 deletions.
diff --git a/torque-controllers/momentum-based-standup/app/robots/iCubGenova02/initCoordinator.m b/torque-controllers/momentum-based-standup/app/robots/iCubGenova02/initCoordinator.m
@@ -93,6 +93,11 @@
 % transmission ratio
 Config.Gamma = 0.01*eye(ROBOT_DOF);
 
+% modify the value of the transmission ratio for the hip pitch. 
+% TODO: avoid to hard-code the joint numbering
+Config.Gamma(end-5, end-5)  = 0.0067;
+Config.Gamma(end-11,end-11) = 0.0067;
+
 % motors inertia (Kg*m^2)
 legsMotors_I_m           = 0.0827*1e-4;
 torsoPitchRollMotors_I_m = 0.0827*1e-4;
@@ -103,8 +108,12 @@
                                  armsMotors_I_m*ones(8,1);
                                  legsMotors_I_m*ones(12,1)]);
 
-% parameters for coupling matrices                            
-t  = 0.625;
+% parameters for coupling matrices. Updated according to the wiki:
+%
+% http://wiki.icub.org/wiki/ICub_coupled_joints 
+%
+% and corrected according to https://github.com/robotology/robots-configuration/issues/39
+t  = 0.615;
 r  = 0.022;
 R  = 0.04;
 

diff --git a/torque-controllers/momentum-based-standup/app/robots/iCubGenova02/initStateMachineStandup.m b/torque-controllers/momentum-based-standup/app/robots/iCubGenova02/initStateMachineStandup.m
@@ -124,6 +124,11 @@
 % transmission ratio
 Config.Gamma = 0.01*eye(ROBOT_DOF);
 
+% modify the value of the transmission ratio for the hip pitch. 
+% TODO: avoid to hard-code the joint numbering
+Config.Gamma(end-5, end-5)  = 0.0067;
+Config.Gamma(end-11,end-11) = 0.0067;
+
 % motors inertia (Kg*m^2)
 legsMotors_I_m           = 0.0827*1e-4;
 torsoPitchRollMotors_I_m = 0.0827*1e-4;
@@ -134,8 +139,12 @@
                                  armsMotors_I_m*ones(8,1);
                                  legsMotors_I_m*ones(12,1)]);
 
-% parameters for coupling matrices                            
-t  = 0.625;
+% parameters for coupling matrices. Updated according to the wiki:
+%
+% http://wiki.icub.org/wiki/ICub_coupled_joints 
+%
+% and corrected according to https://github.com/robotology/robots-configuration/issues/39
+t  = 0.615;
 r  = 0.022;
 R  = 0.04;
 

diff --git a/torque-controllers/momentum-based-standup/app/robots/icubGazeboSim/initCoordinator.m b/torque-controllers/momentum-based-standup/app/robots/icubGazeboSim/initCoordinator.m
@@ -93,6 +93,11 @@
 % transmission ratio
 Config.Gamma = 0.01*eye(ROBOT_DOF);
 
+% modify the value of the transmission ratio for the hip pitch. 
+% TODO: avoid to hard-code the joint numbering
+Config.Gamma(end-5, end-5)  = 0.0067;
+Config.Gamma(end-11,end-11) = 0.0067;
+
 % motors inertia (Kg*m^2)
 legsMotors_I_m           = 0.0827*1e-4;
 torsoPitchRollMotors_I_m = 0.0827*1e-4;
@@ -103,8 +108,12 @@
                                  armsMotors_I_m*ones(8,1);
                                  legsMotors_I_m*ones(12,1)]);
 
-% parameters for coupling matrices                            
-t  = 0.625;
+% parameters for coupling matrices. Updated according to the wiki:
+%
+% http://wiki.icub.org/wiki/ICub_coupled_joints 
+%
+% and corrected according to https://github.com/robotology/robots-configuration/issues/39
+t  = 0.615;
 r  = 0.022;
 R  = 0.04;
 

diff --git a/torque-controllers/momentum-based-standup/app/robots/icubGazeboSim/initStateMachineStandup.m b/torque-controllers/momentum-based-standup/app/robots/icubGazeboSim/initStateMachineStandup.m
@@ -124,6 +124,11 @@
 % transmission ratio
 Config.Gamma = 0.01*eye(ROBOT_DOF);
 
+% modify the value of the transmission ratio for the hip pitch. 
+% TODO: avoid to hard-code the joint numbering
+Config.Gamma(end-5, end-5)  = 0.0067;
+Config.Gamma(end-11,end-11) = 0.0067;
+
 % motors inertia (Kg*m^2)
 legsMotors_I_m           = 0.0827*1e-4;
 torsoPitchRollMotors_I_m = 0.0827*1e-4;
@@ -134,8 +139,12 @@
                                  armsMotors_I_m*ones(8,1);
                                  legsMotors_I_m*ones(12,1)]);
 
-% parameters for coupling matrices                            
-t  = 0.625;
+% parameters for coupling matrices. Updated according to the wiki:
+%
+% http://wiki.icub.org/wiki/ICub_coupled_joints 
+%
+% and corrected according to https://github.com/robotology/robots-configuration/issues/39
+t  = 0.615;
 r  = 0.022;
 R  = 0.04;
 

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
@@ -82,6 +82,11 @@
 % transmission ratio
 Config.Gamma = 0.01*eye(ROBOT_DOF);
 
+% modify the value of the transmission ratio for the hip pitch. 
+% TODO: avoid to hard-code the joint numbering
+Config.Gamma(end-5, end-5)  = 0.0067;
+Config.Gamma(end-11,end-11) = 0.0067;
+
 % motors inertia (Kg*m^2)
 legsMotors_I_m           = 0.0827*1e-4;
 torsoPitchRollMotors_I_m = 0.0827*1e-4;
@@ -92,8 +97,12 @@
                                  armsMotors_I_m*ones(8,1);
                                  legsMotors_I_m*ones(12,1)]);
 
-% parameters for coupling matrices                            
-t  = 0.625;
+% parameters for coupling matrices. Updated according to the wiki:
+%
+% http://wiki.icub.org/wiki/ICub_coupled_joints 
+%
+% and corrected according to https://github.com/robotology/robots-configuration/issues/39
+t  = 0.615;
 r  = 0.022;
 R  = 0.04;
 

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
@@ -381,6 +381,11 @@
 % transmission ratio
 Config.Gamma = 0.01*eye(ROBOT_DOF);
 
+% modify the value of the transmission ratio for the hip pitch. 
+% TODO: avoid to hard-code the joint numbering
+Config.Gamma(end-5, end-5)  = 0.0067;
+Config.Gamma(end-11,end-11) = 0.0067;
+
 % motors inertia (Kg*m^2)
 legsMotors_I_m           = 0.0827*1e-4;
 torsoPitchRollMotors_I_m = 0.0827*1e-4;
@@ -391,8 +396,12 @@
                                  armsMotors_I_m*ones(8,1);
                                  legsMotors_I_m*ones(12,1)]);
 
-% parameters for coupling matrices                            
-t  = 0.625;
+% parameters for coupling matrices. Updated according to the wiki:
+%
+% http://wiki.icub.org/wiki/ICub_coupled_joints 
+%
+% and corrected according to https://github.com/robotology/robots-configuration/issues/39
+t  = 0.615;
 r  = 0.022;
 R  = 0.04;
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initCoordinator.m
@@ -82,6 +82,11 @@
 % transmission ratio
 Config.Gamma = 0.01*eye(ROBOT_DOF);
 
+% modify the value of the transmission ratio for the hip pitch. 
+% TODO: avoid to hard-code the joint numbering
+Config.Gamma(end-5, end-5)  = 0.0067;
+Config.Gamma(end-11,end-11) = 0.0067;
+
 % motors inertia (Kg*m^2)
 legsMotors_I_m           = 0.0827*1e-4;
 torsoPitchRollMotors_I_m = 0.0827*1e-4;
@@ -92,8 +97,12 @@
                                  armsMotors_I_m*ones(8,1);
                                  legsMotors_I_m*ones(12,1)]);
 
-% parameters for coupling matrices                            
-t  = 0.625;
+% parameters for coupling matrices. Updated according to the wiki:
+%
+% http://wiki.icub.org/wiki/ICub_coupled_joints 
+%
+% and corrected according to https://github.com/robotology/robots-configuration/issues/39
+t  = 0.615;
 r  = 0.022;
 R  = 0.04;
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initStateMachineYoga.m
@@ -384,6 +384,11 @@
 % transmission ratio
 Config.Gamma = 0.01*eye(ROBOT_DOF);
 
+% modify the value of the transmission ratio for the hip pitch. 
+% TODO: avoid to hard-code the joint numbering
+Config.Gamma(end-5, end-5)  = 0.0067;
+Config.Gamma(end-11,end-11) = 0.0067;
+
 % motors inertia (Kg*m^2)
 legsMotors_I_m           = 0.0827*1e-4;
 torsoPitchRollMotors_I_m = 0.0827*1e-4;
@@ -394,8 +399,12 @@
                                  armsMotors_I_m*ones(8,1);
                                  legsMotors_I_m*ones(12,1)]);
 
-% parameters for coupling matrices                            
-t  = 0.625;
+% parameters for coupling matrices. Updated according to the wiki:
+%
+% http://wiki.icub.org/wiki/ICub_coupled_joints 
+%
+% and corrected according to https://github.com/robotology/robots-configuration/issues/39
+t  = 0.615;
 r  = 0.022;
 R  = 0.04;
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initCoordinator.m
@@ -82,6 +82,11 @@
 % transmission ratio
 Config.Gamma = 0.01*eye(ROBOT_DOF);
 
+% modify the value of the transmission ratio for the hip pitch. 
+% TODO: avoid to hard-code the joint numbering
+Config.Gamma(end-5, end-5)  = 0.0067;
+Config.Gamma(end-11,end-11) = 0.0067;
+
 % motors inertia (Kg*m^2)
 legsMotors_I_m           = 0.0827*1e-4;
 torsoPitchRollMotors_I_m = 0.0827*1e-4;
@@ -92,8 +97,12 @@
                                  armsMotors_I_m*ones(8,1);
                                  legsMotors_I_m*ones(12,1)]);
 
-% parameters for coupling matrices                            
-t  = 0.625;
+% parameters for coupling matrices. Updated according to the wiki:
+%
+% http://wiki.icub.org/wiki/ICub_coupled_joints 
+%
+% and corrected according to https://github.com/robotology/robots-configuration/issues/39
+t  = 0.615;
 r  = 0.022;
 R  = 0.04;
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initStateMachineYoga.m
@@ -380,10 +380,14 @@
 Config.frequencyOfOscillation  = 0.0;
 
 %% Parameters for motors reflected inertia
-
 % transmission ratio
 Config.Gamma = 0.01*eye(ROBOT_DOF);
 
+% modify the value of the transmission ratio for the hip pitch. 
+% TODO: avoid to hard-code the joint numbering
+Config.Gamma(end-5, end-5)  = 0.0067;
+Config.Gamma(end-11,end-11) = 0.0067;
+
 % motors inertia (Kg*m^2)
 legsMotors_I_m           = 0.0827*1e-4;
 torsoPitchRollMotors_I_m = 0.0827*1e-4;
@@ -394,8 +398,12 @@
                                  armsMotors_I_m*ones(8,1);
                                  legsMotors_I_m*ones(12,1)]);
 
-% parameters for coupling matrices                            
-t  = 0.625;
+% parameters for coupling matrices. Updated according to the wiki:
+%
+% http://wiki.icub.org/wiki/ICub_coupled_joints 
+%
+% and corrected according to https://github.com/robotology/robots-configuration/issues/39
+t  = 0.615;
 r  = 0.022;
 R  = 0.04;
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initCoordinator.m
@@ -82,6 +82,11 @@
 % transmission ratio
 Config.Gamma = 0.01*eye(ROBOT_DOF);
 
+% modify the value of the transmission ratio for the hip pitch. 
+% TODO: avoid to hard-code the joint numbering
+Config.Gamma(end-5, end-5)  = 0.0067;
+Config.Gamma(end-11,end-11) = 0.0067;
+
 % motors inertia (Kg*m^2)
 legsMotors_I_m           = 0.0827*1e-4;
 torsoPitchRollMotors_I_m = 0.0827*1e-4;
@@ -92,8 +97,12 @@
                                  armsMotors_I_m*ones(8,1);
                                  legsMotors_I_m*ones(12,1)]);
 
-% parameters for coupling matrices                            
-t  = 0.625;
+% parameters for coupling matrices. Updated according to the wiki:
+%
+% http://wiki.icub.org/wiki/ICub_coupled_joints 
+%
+% and corrected according to https://github.com/robotology/robots-configuration/issues/39
+t  = 0.615;
 r  = 0.022;
 R  = 0.04;
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initStateMachineYoga.m
@@ -276,6 +276,11 @@
 % transmission ratio
 Config.Gamma = 0.01*eye(ROBOT_DOF);
 
+% modify the value of the transmission ratio for the hip pitch. 
+% TODO: avoid to hard-code the joint numbering
+Config.Gamma(end-5, end-5)  = 0.0067;
+Config.Gamma(end-11,end-11) = 0.0067;
+
 % motors inertia (Kg*m^2)
 legsMotors_I_m           = 0.0827*1e-4;
 torsoPitchRollMotors_I_m = 0.0827*1e-4;
@@ -286,8 +291,12 @@
                                  armsMotors_I_m*ones(8,1);
                                  legsMotors_I_m*ones(12,1)]);
 
-% parameters for coupling matrices                            
-t  = 0.625;
+% parameters for coupling matrices. Updated according to the wiki:
+%
+% http://wiki.icub.org/wiki/ICub_coupled_joints 
+%
+% and corrected according to https://github.com/robotology/robots-configuration/issues/39
+t  = 0.615;
 r  = 0.022;
 R  = 0.04;