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control_config_sim.yaml
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control_config_sim.yaml
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kinematic_tree_metadata:
body_names:
feet:
r: &R_FOOT_NAME "rightFoot"
l: &L_FOOT_NAME "leftFoot"
pelvis: &PELVIS_NAME pelvis
hands:
r: &R_HAND_NAME rightPalm
l: &L_HAND_NAME leftPalm
joint_group_names:
legs:
r: [rightHipYaw, rightHipRoll, rightHipPitch, rightKneePitch, rightAnklePitch, rightAnkleRoll]
l: [leftHipYaw, leftHipRoll, leftHipPitch, leftKneePitch, leftAnklePitch, leftAnkleRoll]
knees:
r: rightKneePitch
l: leftKneePitch
ankles:
r: [rightAnklePitch, leftAnkleRoll]
l: [leftAnklePitch, rightAnkleRoll]
arms:
r: [rightShoulderPitch, rightShoulderRoll, rightShoulderYaw, rightElbowPitch, rightForearmYaw, rightWristRoll, rightWristPitch]
l: [leftShoulderPitch, leftShoulderRoll, leftShoulderYaw, leftElbowPitch, leftForearmYaw, leftWristRoll, leftWristPitch]
neck: [lowerNeckPitch]
back_bkz: torsoYaw
back_bky: torsoPitch
joint_names:
- torsoYaw
- torsoPitch
- torsoRoll
- lowerNeckPitch
- leftHipYaw
- leftHipRoll
- leftHipPitch
- leftKneePitch
- leftAnklePitch
- leftAnkleRoll
- rightHipYaw
- rightHipRoll
- rightHipPitch
- rightKneePitch
- rightAnklePitch
- rightAnkleRoll
- leftShoulderPitch
- leftShoulderRoll
- leftShoulderYaw
- leftElbowPitch
- leftForearm
- leftWristRoll
- leftWristPitch
- rightShoulderPitch
- rightShoulderRoll
- rightShoulderYaw
- rightElbowPitch
- rightForearm
- rightWristRoll
- rightWristPitch
qp_controller_params:
DEFAULT:
body_specific:
DEFAULT:
Kp: {x: 12, y: 12, z: 12, wx: 12, wy: 12, wz: 12}
damping_ratio: 0.7
accel_bounds:
min: {x: -100, y: -100, z: -100, wx: -50, wy: -50, wz: -50}
max: {x: 100, y: 100, z: 100, wx: 50, wy: 50, wz: 50}
weight: 0.0
*PELVIS_NAME :
Kp: {x: 150, y: 150, z: 150, wx: 200, wy: 200, wz: 200}
weight: 0.01
damping_ratio: 0.6
*R_FOOT_NAME :
weight: 0.01
*L_FOOT_NAME :
weight: 0.01
position_specific:
DEFAULT:
Kp: 150
damping_ratio: 0.6
w_qdd: 0.001
integrator:
gain: 0
clamp: 0
qdd_bounds:
min: -100
max: 100
joint_soft_limits:
enabled: false
lb: -.inf
ub: .inf
kp: 150
damping_ratio: 0.6
weight: 1e-5
disable_when_body_in_support: ""
k_logistic: 20
base_x:
w_qdd: 0
base_y:
w_qdd: 0
base_z:
w_qdd: 0
base_roll:
w_qdd: 0
base_pitch:
w_qdd: 0
base_yaw:
w_qdd: 0
rightKneePitch:
joint_soft_limits:
enabled: true
lb: 0.5
disable_when_body_in_support: *R_FOOT_NAME
leftKneePitch:
joint_soft_limits:
enabled: true
lb: 0.5
disable_when_body_in_support: *L_FOOT_NAME
torsoRoll:
w_qdd: 0.1
Kp: 50
vref_integrator:
zero_ankles_on_contact: false
eta: 0.001
delta_max: 10
integrator:
eta: 0.0
W_kdot: 0
Kp_ang: 0
w_slack: 0.05
slack_limit: 100
w_grf: 0
Kp_accel: 1
contact_threshold: 0.002
min_knee_angle: 0.7
center_of_mass_observer:
enabled: false
l_zmp: 10
l_com: 6.324555320336759 # 2 * sqrt(l_zmp)
input_specific:
DEFAULT:
hardware:
joint_is_force_controlled: true
joint_is_position_controlled: false
k_f_p: 0
k_q_p: 0
k_q_i: 0
k_qd_p: 0
ff_qd: 0
ff_f_d: 0
ff_const: 0
ff_qd_d: 0
base: # automatically inherits from the default =
standing:
manip:
body_specific:
*L_HAND_NAME :
weight: 0.001
*R_HAND_NAME :
weight: 0.001
walking:
body_specific:
DEFAULT:
weight: 0.001
*PELVIS_NAME :
Kp: {x: 0, y: 0, z: 150, wx: 200, wy: 200, wz: 200}
weight: 0.075
*R_FOOT_NAME :
Kp: {x: 100, y: 100, z: 100, wx: 150, wy: 150, wz: 150}
damping_ratio: 0.5
weight: 0.001
*L_FOOT_NAME :
Kp: {x: 100, y: 100, z: 100, wx: 150, wy: 150, wz: 150}
damping_ratio: 0.5
weight: 0.001
position_specific:
DEFAULT:
w_qdd: 0
damping_ratio: 0.5
rightHipYaw: {w_qdd: 1e-6, damping_ratio: 0.5}
rightHipRoll: {w_qdd: 1e-6, damping_ratio: 0.5}
rightHipPitch: {w_qdd: 1e-6, damping_ratio: 0.5}
rightKneePitch: {w_qdd: 1e-6, damping_ratio: 0.5}
rightAnklePitch: {w_qdd: 1e-6, damping_ratio: 0.5}
rightAnkleRoll: {w_qdd: 1e-6, damping_ratio: 0.5}
leftHipYaw: {w_qdd: 1e-6, damping_ratio: 0.5}
leftHipRoll: {w_qdd: 1e-6, damping_ratio: 0.5}
leftHipPitch: {w_qdd: 1e-6, damping_ratio: 0.5}
leftKneePitch: {w_qdd: 1e-6, damping_ratio: 0.5}
leftAnklePitch: {w_qdd: 1e-6, damping_ratio: 0.5}
leftAnkleRoll: {w_qdd: 1e-6, damping_ratio: 0.5}
torsoRoll:
w_qdd: 0.1
Kp: 50
damping_ratio: 0.5
torsoPitch:
w_qdd: 1e-4
damping_ratio: 0.5
torsoYaw:
w_qdd: 1e-4
damping_ratio: 0.5
contact_threshold: 0.001
Kp_accel: 0
recovery:
body_specific:
DEFAULT:
weight: 0.001
*PELVIS_NAME :
Kp: {x: 0, y: 0, z: 150, wx: 200, wy: 200, wz: 200}
weight: 0.075
*R_FOOT_NAME :
Kp: {x: 1000, y: 1000, z: 1000, wx: 1500, wy: 1500, wz: 1500}
damping_ratio: 0.5
weight: 0.001
*L_FOOT_NAME :
Kp: {x: 1000, y: 1000, z: 1000, wx: 1500, wy: 1500, wz: 1500}
damping_ratio: 0.5
weight: 0.001
position_specific:
DEFAULT:
w_qdd: 0
damping_ratio: 0.5
rightHipYaw: {w_qdd: 1e-6, damping_ratio: 0.5}
rightHipRoll: {w_qdd: 1e-6, damping_ratio: 0.5}
rightHipPitch: {w_qdd: 1e-6, damping_ratio: 0.5}
rightKneePitch: {w_qdd: 1e-6, damping_ratio: 0.5}
rightAnklePitch: {w_qdd: 1e-6, damping_ratio: 0.5}
rightAnkleRoll: {w_qdd: 1e-6, damping_ratio: 0.5}
leftHipYaw: {w_qdd: 1e-6, damping_ratio: 0.5}
leftHipRoll: {w_qdd: 1e-6, damping_ratio: 0.5}
leftHipPitch: {w_qdd: 1e-6, damping_ratio: 0.5}
leftKneePitch: {w_qdd: 1e-6, damping_ratio: 0.5}
leftAnklePitch: {w_qdd: 1e-6, damping_ratio: 0.5}
leftAnkleRoll: {w_qdd: 1e-6, damping_ratio: 0.5}
torsoRoll:
w_qdd: 0.1
Kp: 50
damping_ratio: 0.5
torsoPitch:
w_qdd: 1e-4
damping_ratio: 0.5
torsoYaw:
w_qdd: 1e-4
damping_ratio: 0.5
contact_threshold: 0.001
Kp_accel: 0
######################## position control #########################
position_control:
position_specific:
torsoRoll:
integrator:
gain: 0.3
clamp: 0.2
torsoPitch:
integrator:
gain: 0.3
clamp: 0.2
torsoYaw:
integrator:
gain: 0.3
clamp: 0.2
leftHipRoll:
integrator:
gain: 0.3
clamp: 0.1
leftHipPitch:
integrator:
gain: 0.3
clamp: 0.1
leftHipYaw:
integrator:
gain: 0.3
clamp: 0.1
leftKneePitch:
integrator:
gain: 0.3
clamp: 0.1
leftAnkleRoll:
integrator:
gain: 0.3
clamp: 0.1
leftAnklePitch:
integrator:
gain: 0.3
clamp: 0.1
rightHipRoll:
integrator:
gain: 0.3
clamp: 0.1
rightHipPitch:
integrator:
gain: 0.3
clamp: 0.1
rightHipYaw:
integrator:
gain: 0.3
clamp: 0.1
rightKneePitch:
integrator:
gain: 0.3
clamp: 0.1
rightAnkleRoll:
integrator:
gain: 0.3
clamp: 0.1
rightAnklePitch:
integrator:
gain: 0.3
clamp: 0.1
######################## bracing ##################################
bracing:
position_specific:
DEFAULT:
Kp: 170
damping_ratio: 1.1
w_qdd: 1
integrator:
gain: 0
clamp: 0
base_x:
Kp: 0
w_qdd: 1
base_y:
Kp: 0
w_qdd: 1
base_z:
Kp: 0
w_qdd: 1
base_roll:
Kp: 0
w_qdd: 1
base_pitch:
Kp: 0
w_qdd: 1
base_yaw:
Kp: 0
w_qdd: 1
torsoRoll:
Kp: 170
w_qdd: 1
body_specific:
DEFAULT:
Kp: {x: 0, y: 0, z: 0, wx: 0, wy: 0, wz: 0}
damping_ratio: 0