joint_torque_controller_sim_conf.py

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# -*- coding: utf-8 -*-
"""
Created on Mon Feb  9 13:55:16 2015
@author: adelpret
"""
import numpy as np
 
NJ = 32
 
COULOMB_FRICTION_COMPENSATION_PERCENTAGE = 0.0
k_p_torque = np.array(
    NJ
    * [
        0.5,
    ]
)
# torque control proportional gains
k_d_torque = np.array(
    NJ
    * [
        0.0,
    ]
)
# torque control derivative gains
k_i_torque = np.array(
    NJ
    * [
        3.0,
    ]
)
# torque control integral gains
torque_integral_saturation = np.array(
    NJ
    * [
        0.0,
    ]
)
poly_sign_dq = 3
# order of polynomial to approximate Coulomb friction around zero velocity
k_d_velocity = np.array(
    NJ
    * [
        0.0,
    ]
)
# torque control derivative gains
alpha_leaking = np.array(
    [
        75.0,
        75.0,
        75.0,
        75.0,
        75.0,
        75.0,
        75.0,
        75.0,
        75.0,
        75.0,
        75.0,
        75.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
    ]
)
 
# # PARAMETERS OF R_hip_y JOINT 0
# k_p_torque[0] = 12.0;
# # PARAMETERS OF R_hip_r JOINT 1
# k_p_torque[1] = 5; #15.0 # could easily go up to 20, but it's a bit less stable
# # PARAMETERS OF R_hip_p JOINT 2
# k_p_torque[2] = 6; #with delay 30 ms
# # PARAMETERS OF R_knee JOINT 3
# k_p_torque[3] = 10.0;  # with 12 it starts vibrating at low velocity
# # PARAMETERS OF R_ankle pitch JOINT 4
# k_p_torque[4] = 10.0;  # 10 feels good, but maybe i could go higher
# # PARAMETERS OF R_ankle roll JOINT 5
# k_p_torque[5] = 15.0; # could go higher, but it feels already good
# # PARAMETERS OF Left hip pitch JOINT 8
# k_p_torque[8] = 6.0;   # with delay 20 ms