pyproject.toml

+[tool.black]
+exclude = "cmake"

python/sot_talos_balance/talos/admittance_ctrl_conf.py

-from math import sqrt
-import numpy as np
-
-kp_force = 6*(0.0,)
-ki_force = 6*(0.0,)
-kp_vel   = 32*(0.0,)
-ki_vel   = 32*(0.0,)
-force_integral_saturation = (0.0, 0.0, 160.0, 20.0, 20.0, 0.0)
-force_integral_deadzone   = (5.0, 5.0, 5.0, 0.5, 0.5, 0.5)

python/sot_talos_balance/talos/balance_ctrl_sim_conf.py

-
-from balance_ctrl_conf import *
-
-# CONTROLLER GAINS
-kp_posture  = NJ*(400.0,);
-kd_posture  = NJ*(sqrt(kp_posture[0]),);
-kd_constr   = 0.0*2*sqrt(kp_constr);   # constraint derivative feedback gain
-kd_com      = 0.0*2*sqrt(kp_com);
-kd_feet     = 0.0*2*sqrt(kp_feet);

python/sot_talos_balance/talos/base_estimator_conf.py

-''' *********************** USER-PARAMETERS OF BASE ESTIMATOR *********************** '''
-# K                   = (4034, 23770, 239018, 707, 502, 936); #HRP2
-# K                   = (1., 1., 1., 1., 1., 1.);
-K                   = (1e6, 1e6, 1e6, 1e6, 1e6, 1e6);
-std_dev_zmp         = 0.02
-std_dev_fz          = 50.
-normal_force_margin = 30.
-zmp_margin          = 0.002
-w_imu               = 0.0;
-beta                = 0.00329
-K_fb_feet_poses     = 0.0;      # gain used for updating foot positions
-RIGHT_FOOT_SIZES    = (0.130,  -0.100,  0.056,  -0.075); # pos x, neg x, pos y, neg y size 
-LEFT_FOOT_SIZES     = (0.130, -0.100,  0.075, -0.056); # pos x, neg x, pos y, neg y size 
-w_lf_in             = 1.
-w_rf_in             = 1.
-#mu                  = 0.3;          # force friction coefficient