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dcm_walking_joint_retargeting.ini
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# Remove this line if you don't want to use the MPC
# use_mpc 1
# Remove this line if you don't want to use the QP-IK
use_QP-IK 1
# Remove this line if you don't want to use osqp to
# solve QP-IK. In this case qpOASES will be used
use_osqp 1
# remove this line if you don't want to save data of the experiment
#dump_data 1
# Limit on the maximum initial velocity. This avoids the robot to jump at startup
max_initial_com_vel 0.05
# Tolerance radius to consider the measured ZMP constant.
constant_ZMP_tolerance 0.0001
# Consecutive times in which the ZMP remains constant. If this limit is reached, the module stops. Use a negative value to disable.
constant_ZMP_counter -1
# Minimum force to consider the ZMP valid.
minimum_normal_force_ZMP 1.0
# Limit to consider the ZMP valid
# |x| |y|
maximum_local_zmp (0.4, 0.3)
# If set to true, the desired ZMP is used directly in the COM/ZMP controller
skip_dcm_controller 0
# general parameters
[GENERAL]
name walking-coordinator
# height of the com
com_height 0.53
# sampling time
sampling_time 0.01
# enable joint retargeting
use_joint_retargeting 1
# enable the virtualizer
use_virtualizer 1
use_com_retargeting 1
# Specify the frame to use to control the robot height. Currently, we support only the following options: com, root_link
height_reference_frame com
# include robot control parameters
[include ROBOT_CONTROL "./dcm_walking/joint_retargeting/robotControl.ini"]
# include trajectory planner parameters
[include TRAJECTORY_PLANNER "./dcm_walking/common/plannerParams.ini"]
# include free space ellipsoid manager parameters
[include FREE_SPACE_ELLIPSE_MANAGER "./dcm_walking/common/freeSpaceEllipseParams.ini"]
# include MPC parameters
[include DCM_MPC_CONTROLLER "./dcm_walking/common/controllerParams.ini"]
# include MPC parameters
[include DCM_REACTIVE_CONTROLLER "./dcm_walking/common/dcmReactiveControllerParams.ini"]
# include MPC parameters
[include ZMP_CONTROLLER "./dcm_walking/common/zmpControllerParams.ini"]
# include inverse kinematcs parameters
[include INVERSE_KINEMATICS_SOLVER "./dcm_walking/joint_retargeting/inverseKinematics.ini"]
# include qp inverse kinematcs parameters
[include INVERSE_KINEMATICS_QP_SOLVER "./dcm_walking/joint_retargeting/qpInverseKinematics.ini"]
# include inverse kinematcs parameters
[include FORWARD_KINEMATICS_SOLVER "./dcm_walking/common/forwardKinematics.ini"]
# include FT sensors parameters
[include FT_SENSORS "./dcm_walking/common/forceTorqueSensors.ini"]
# include Logger parameters
[include WALKING_LOGGER "./dcm_walking/common/walkingLogger.ini"]
# include lower PID parameters
[include PID "./dcm_walking/common/pidParams.ini"]
# retargeting
[include RETARGETING "./dcm_walking/joint_retargeting/jointRetargeting.ini"]