Merge pull request #9 from hsp-iit/fix/torso_stiffness_conf

fix: now the pid increase of torso joints is configurable

Author: fbrand-new

src/ergocub_cartesian_control/app/conf/real/common_left.ini

@@ -1,4 +1,30 @@
-[include COMMON "common_left.ini"]
+rate 100.0
+traj_duration 5.0
+rpc_local_port_name /cartesian-control/left_arm/rpc:i
+position_error_th 0.0005
+max_iteration 10000
+module_logging true
+module_verbose true
+qp_verbose false
+
+[IK_PARAM]
+
+limits_param 0.90 # 0 < limits_param < 1
+joint_acc_weight (2.5 0.0) #(cost weight, cost offset)
+position_param (10.0 100.0 25.0) #(cost weight, proportional gain, derivative gain)
+orientation_param (0.1 100.0 25.0) #(cost weight, proportional gain, derivative gain)
+joint_pos_param (0.01 3.0 4.5)  #(cost weight, proportional gain, derivative gain)
+max_joint_position_variation 20.0 #[deg]
+max_joint_position_track_error 1.5 #[deg]
+torso_joints_to_stiffen 3
+#joint_home (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
+# Gain used in the manipulability constraint
+improve_manip_dyn 5.0
+improve_manip_th 0.01
+
+[FSM_PARAM]
+
+stop_vel 0.0175  #[rad] 0.0175 = 1.0 deg; 0.0314159 rad = 2.0 deg;  0.0087 rad = 0.5 deg
 
 [ARM]
 

src/ergocub_cartesian_control/app/conf/real/common_right.ini

@@ -1,4 +1,30 @@
-[include COMMON "common_left.ini"]
+rate 100.0
+traj_duration 5.0
+rpc_local_port_name /cartesian-control/left_arm/rpc:i
+position_error_th 0.0005
+max_iteration 10000
+module_logging true
+module_verbose true
+qp_verbose false
+
+[IK_PARAM]
+
+limits_param 0.90 # 0 < limits_param < 1
+joint_acc_weight (2.5 0.0) #(cost weight, cost offset)
+position_param (10.0 100.0 25.0) #(cost weight, proportional gain, derivative gain)
+orientation_param (0.1 100.0 25.0) #(cost weight, proportional gain, derivative gain)
+joint_pos_param (0.01 3.0 4.5)  #(cost weight, proportional gain, derivative gain)
+max_joint_position_variation 20.0 #[deg]
+max_joint_position_track_error 1.5 #[deg]
+torso_joints_to_stiffen 1
+#joint_home (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
+# Gain used in the manipulability constraint
+improve_manip_dyn 5.0
+improve_manip_th 0.01
+
+[FSM_PARAM]
+
+stop_vel 0.0175  #[rad] 0.0175 = 1.0 deg; 0.0314159 rad = 2.0 deg;  0.0087 rad = 0.5 deg
 
 [ARM]
 

src/ergocub_cartesian_control/app/conf/real/config_left_ergoCub.ini

@@ -1,4 +1,30 @@
-[include COMMON "common_right.ini"]
+rate 100.0
+traj_duration 5.0
+rpc_local_port_name /cartesian-control/right_arm/rpc:i
+position_error_th 0.0005
+max_iteration 10000
+module_logging true
+module_verbose true
+qp_verbose false
+
+[IK_PARAM]
+
+limits_param 0.90 # 0 < limits_param < 1
+joint_acc_weight (2.5 0.0) #(cost weight, cost offset)
+position_param (10.0 100.0 25.0) #(cost weight, proportional gain, derivative gain)
+orientation_param (0.1 100.0 25.0) #(cost weight, proportional gain, derivative gain)
+joint_pos_param (0.01 3.0 4.5)  #(cost weight, proportional gain, derivative gain)
+max_joint_position_variation 20.0 #[deg]
+max_joint_position_track_error 1.5 #[deg]
+joint_home (0.0 0.0 0.1 0.0 0.1 0.0 0.0 0.0)
+torso_joints_to_stiffen 3
+# Gain used in the manipulability constraint
+improve_manip_dyn 5.0
+improve_manip_th 0.01
+
+[FSM_PARAM]
+
+stop_vel 0.001  #[rad] 0.0175 = 1.0 deg; 0.0314159 rad = 2.0 deg;  0.0087 rad = 0.5 deg
 
 [ARM]
 

src/ergocub_cartesian_control/app/conf/real/config_left_r1.ini

@@ -1,4 +1,30 @@
-[include COMMON "common_right.ini"]
+rate 100.0
+traj_duration 5.0
+rpc_local_port_name /cartesian-control/right_arm/rpc:i
+position_error_th 0.0005
+max_iteration 10000
+module_logging true
+module_verbose true
+qp_verbose false
+
+[IK_PARAM]
+
+limits_param 0.90 # 0 < limits_param < 1
+joint_acc_weight (2.5 0.0) #(cost weight, cost offset)
+position_param (10.0 100.0 25.0) #(cost weight, proportional gain, derivative gain)
+orientation_param (0.1 100.0 25.0) #(cost weight, proportional gain, derivative gain)
+joint_pos_param (0.01 3.0 4.5)  #(cost weight, proportional gain, derivative gain)
+max_joint_position_variation 20.0 #[deg]
+max_joint_position_track_error 1.5 #[deg]
+joint_home (0.0 0.0 0.1 0.0 0.1 0.0 0.0 0.0)
+torso_joints_to_stiffen 1
+# Gain used in the manipulability constraint
+improve_manip_dyn 5.0
+improve_manip_th 0.01
+
+[FSM_PARAM]
+
+stop_vel 0.001  #[rad] 0.0175 = 1.0 deg; 0.0314159 rad = 2.0 deg;  0.0087 rad = 0.5 deg
 
 [ARM]
 

src/ergocub_cartesian_control/app/conf/real/config_right_ergoCub.ini

@@ -1,4 +1,30 @@
-[include COMMON "common_left.ini"]
+rate 100.0
+traj_duration 5.0
+rpc_local_port_name /cartesian-control/left_arm/rpc:i
+position_error_th 0.0005
+max_iteration 10000
+module_logging true
+module_verbose true
+qp_verbose false
+
+[IK_PARAM]
+
+limits_param 0.90 # 0 < limits_param < 1
+joint_acc_weight (2.5 0.0) #(cost weight, cost offset)
+position_param (10.0 100.0 25.0) #(cost weight, proportional gain, derivative gain)
+orientation_param (0.1 100.0 25.0) #(cost weight, proportional gain, derivative gain)
+joint_pos_param (0.01 3.0 4.5)  #(cost weight, proportional gain, derivative gain)
+max_joint_position_variation 20.0 #[deg]
+max_joint_position_track_error 1.5 #[deg]
+torso_joints_to_stiffen 3
+#joint_home (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
+# Gain used in the manipulability constraint
+improve_manip_dyn 5.0
+improve_manip_th 0.01
+
+[FSM_PARAM]
+
+stop_vel 0.0175  #[rad] 0.0175 = 1.0 deg; 0.0314159 rad = 2.0 deg;  0.0087 rad = 0.5 deg
 
 [ARM]
 

src/ergocub_cartesian_control/app/conf/real/config_right_r1.ini

@@ -1,4 +1,30 @@
-[include COMMON "common_left.ini"]
+rate 100.0
+traj_duration 5.0
+rpc_local_port_name /cartesian-control/left_arm/rpc:i
+position_error_th 0.0005
+max_iteration 10000
+module_logging true
+module_verbose true
+qp_verbose false
+
+[IK_PARAM]
+
+limits_param 0.90 # 0 < limits_param < 1
+joint_acc_weight (2.5 0.0) #(cost weight, cost offset)
+position_param (10.0 100.0 25.0) #(cost weight, proportional gain, derivative gain)
+orientation_param (0.1 100.0 25.0) #(cost weight, proportional gain, derivative gain)
+joint_pos_param (0.01 3.0 4.5)  #(cost weight, proportional gain, derivative gain)
+max_joint_position_variation 20.0 #[deg]
+max_joint_position_track_error 1.5 #[deg]
+torso_joints_to_stiffen 1
+#joint_home (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
+# Gain used in the manipulability constraint
+improve_manip_dyn 5.0
+improve_manip_th 0.01
+
+[FSM_PARAM]
+
+stop_vel 0.0175  #[rad] 0.0175 = 1.0 deg; 0.0314159 rad = 2.0 deg;  0.0087 rad = 0.5 deg
 
 [ARM]