Commit cf3534a9 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

Update some parameters

parent f925c6d7
......@@ -240,6 +240,10 @@ def create_ankle_admittance_controller(gains, robot, side, name):
def create_device_filters(robot, dt):
# robot.pselec = Selec_of_vector("pselec")
# robot.pselec.selec(6, 6+N_JOINTS)
# plug(robot.device.state, robot.pselec.sin)
robot.vselec = Selec_of_vector("vselec")
robot.vselec.selec(6, 6+N_JOINTS)
plug(robot.device.velocity, robot.vselec.sin)
......@@ -255,6 +259,7 @@ def create_device_filters(robot, dt):
filters.gyro_filter = create_chebi1_checby2_series_filter("gyro_filter", dt, 3)
filters.vel_filter = create_butter_lp_filter_Wn_04_N_2("vel_filter", dt, N_JOINTS)
# plug(robot.pselec.sout, filters.joints_kin.x)
plug(robot.device.joint_angles, filters.joints_kin.x)
plug(robot.device.forceRLEG, filters.ft_RF_filter.x)
plug(robot.device.forceLLEG, filters.ft_LF_filter.x)
......@@ -289,6 +294,7 @@ def create_base_estimator(robot, dt, conf, robot_name="robot"):
base_estimator = TalosBaseEstimator('base_estimator')
base_estimator.init(dt, robot_name)
# device.state, device.joint_angles or device.motor_angles ?
#plug(robot.pselec.sout, base_estimator.joint_positions)
plug(robot.device.joint_angles, base_estimator.joint_positions)
plug(robot.device_filters.ft_LF_filter.x_filtered, base_estimator.forceLLEG)
plug(robot.device_filters.ft_RF_filter.x_filtered, base_estimator.forceRLEG)
......
......@@ -6,7 +6,7 @@ std_dev_zmp = 0.02
std_dev_fz = 50.
normal_force_margin = 30.
zmp_margin = 0.002
w_imu = 1.;
w_imu = 100.;
beta = 0.00329
K_fb_feet_poses = -1.; # gain used for updating foot positions
......
......@@ -242,7 +242,7 @@ LeftRollJoint = 5
RightPitchJoint = 10
RightRollJoint = 11
Kp_ankles = [0.]*2
Kp_ankles = [-1e-3]*2
# --- Right ankle
controller = AnkleAdmittanceController("rightController")
......
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