sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
base_estimator_conf.py
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1 """ ********************* USER-PARAMETERS OF BASE ESTIMATOR *********************** """
2 
3 # K = (4034, 23770, 239018, 707, 502, 936); #HRP2
4 # K = (1., 1., 1., 1., 1., 1.);
5 K = (1e8, 1e8, 1e8, 1e8, 1e8, 1e8)
6 std_dev_zmp = 0.02
7 std_dev_fz = 50.0
8 normal_force_margin = 30.0
9 zmp_margin = 0.002
10 w_imu = 1.0
11 beta = 0.00329
12 K_fb_feet_poses = -1.0
13 # gain used for updating foot positions
14 
15 # --- Real sizes
16 # RIGHT_FOOT_SIZES = (0.100, -0.100, 0.06, -0.06) # pos x, neg x, pos y, neg y size
17 # LEFT_FOOT_SIZES = (0.100, -0.100, 0.06, -0.06) # pos x, neg x, pos y, neg y size
18 
19 # --- Sizes employed by estimator (weight tuning)
20 RIGHT_FOOT_SIZES = (0.150, -0.150, 0.11, -0.11) # pos x, neg x, pos y, neg y size
21 LEFT_FOOT_SIZES = (0.150, -0.150, 0.11, -0.11) # pos x, neg x, pos y, neg y size
22 
23 w_lf_in = 0.0
24 w_rf_in = 1.0
25 # mu = 0.3; # force friction coefficient