sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
hip_flexibility_compensation_conf.py
Go to the documentation of this file.
1 # K = 1.02753655126 in mm/Nm
2 # For a lever arm of 1 m/rad -> flexibility = 973.201390037 in Nm/rad
3 
4 flexibility_left = 973.201390037 # Nm/rad
5 flexibility_right = 973.201390037 # Nm/rad
6 angular_saturation = 0.01 # rad
7 rate_limiter = 0.003 # rad/s
8 torque_low_pass_freq = 1 # Hz