balance_ctrl_conf.py

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from math import sqrt
 
import numpy as np
 
""" *********************** USER-PARAMETERS *********************** """
 
COM_DES = (0.00, 0.0, 0.81)
 
# CONTROLLER GAINS
NJ = 32
kp_posture = NJ * (100.0,)
# proportional gain of postural task
kd_posture = NJ * (0 * sqrt(kp_posture[0]),)
kp_pos = NJ * (0.0,)
# proportional gain of position controller
kd_pos = NJ * (0 * sqrt(kp_pos[0]),)
kp_constr = 0.0 * 1.0
# constraint proportional feedback gain
kd_constr = 0 * sqrt(kp_constr)
# constraint derivative feedback gain
kp_com = 0.0 * 30.0
kd_com = 0.0
kp_feet = 0.0 * 30.0
kd_feet = 0.0
kp_admittance = (0, 0, 0, 0.0 * 1, 0.0 * 1, 0.0)
ki_admittance = 6 * (0.0,)
constraint_mask = np.array([True, True, True, True, True, True]).T
ee_mask = np.array([True, True, True, True, True, True]).T
 
# CONTROLLER WEIGTHS
w_com = 0.0 * 1.0
w_feet = 0.0 * 1.0
w_posture = 1e-3
# weight of postural task
w_forces = 0.0 * 1e-6
w_base_orientation = 0.0
w_torques = 0.0
 
# CONTACT PARAMETERS
RIGHT_FOOT_SIZES = (0.100, -0.100, 0.060, -0.060)
# pos x, neg x, pos y, neg y size
LEFT_FOOT_SIZES = (0.100, -0.100, 0.060, -0.060)
# pos x, neg x, pos y, neg y size
 
RIGHT_FOOT_CONTACT_POINTS = (
    (
        RIGHT_FOOT_SIZES[0],
        RIGHT_FOOT_SIZES[0],
        RIGHT_FOOT_SIZES[1],
        RIGHT_FOOT_SIZES[1],
    ),
    (
        RIGHT_FOOT_SIZES[3],
        RIGHT_FOOT_SIZES[2],
        RIGHT_FOOT_SIZES[3],
        RIGHT_FOOT_SIZES[2],
    ),
    (-0.105, -0.105, -0.105, -0.105),
)
# contact points in local reference frame
 
LEFT_FOOT_CONTACT_POINTS = np.matrix(
    [
        [LEFT_FOOT_SIZES[0], LEFT_FOOT_SIZES[3], -0.105],
        [LEFT_FOOT_SIZES[0], LEFT_FOOT_SIZES[2], -0.105],
        [LEFT_FOOT_SIZES[1], LEFT_FOOT_SIZES[3], -0.105],
        [LEFT_FOOT_SIZES[1], LEFT_FOOT_SIZES[2], -0.105],
    ]
).T  # contact points in local reference frame
FOOT_CONTACT_NORMAL = (0.0, 0.0, 1.0)
mu = np.array([0.3, 0.1])
# force and moment friction coefficient
fMin = 1.0
# minimum normal force
fMax = 1e3
# maximum normal force
 
RF_FORCE_DES = (0, 0, 300, 0, 0, 0.0)
LF_FORCE_DES = (0, 0, 300, 0, 0, 0.0)