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Increase the frequency of the walking-controller to 500Hz #130

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Increase the frequency of the walking-controller to 500Hz #130

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dcc03f6
Increase the frequency of the walking-controller to 500Hz
GiulioRomualdi Sep 28, 2022
6d6132f
Increased ZMP counter since the frequency is higher
GiulioRomualdi Oct 4, 2022
504a168
Avoid to force the connection to the logger when the dump_data is ena…
GiulioRomualdi Oct 5, 2022
2706da6
Make the walking running at 500Hz while iFeel retargeting is enable
GiulioRomualdi Oct 8, 2022
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4 changes: 2 additions & 2 deletions ...dule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
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Expand Up @@ -7,8 +7,8 @@ kp (5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0)

states ("STANCE", "WALKING")
sampling_time 0.01
settling_time 4.5
sampling_time 0.002
settling_time 3.0

[STANCE]
name "stance"
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6 changes: 3 additions & 3 deletions ...gModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
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Expand Up @@ -7,8 +7,8 @@ kp (5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0)

states ("STANCE", "WALKING")
sampling_time 0.01
settling_time 4.5
sampling_time 0.002
settling_time 3.0

[STANCE]
name "stance"
Expand All @@ -22,7 +22,7 @@ weight (2.0, 2.0, 2.0,
[WALKING]
name "walking"
weight (2.0, 2.0, 2.0,
1.0, 1.0, 1.0,
0.0, 0.0, 0.0,
2.0, 2.0, 2.0, 2.0, 2.0, 5.0, 5.0,
2.0, 2.0, 2.0, 2.0, 2.0, 5.0, 5.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
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4 changes: 2 additions & 2 deletions ...WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini
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Expand Up @@ -4,8 +4,8 @@ kp_angular 5.0


states ("STANCE", "WALKING")
sampling_time 0.01
settling_time 4.5
sampling_time 0.002
settling_time 3.0

[STANCE]
name "stance"
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2 changes: 1 addition & 1 deletion ...WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/regularization.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@ kp (5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0)

states ("stance", "walking")
sampling_time 0.01
sampling_time 0.002
settling_time 0.5

[stance]
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2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ kp_angular 5.0


states ("stance", "walking")
sampling_time 0.01
sampling_time 0.002
settling_time 0.5

[stance]
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6 changes: 3 additions & 3 deletions src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini
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Expand Up @@ -20,7 +20,7 @@ max_initial_com_vel 0.15
constant_ZMP_tolerance 0.000001

# 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 25
constant_ZMP_counter 125

# Minimum force to consider the ZMP valid.
minimum_normal_force_ZMP 1.0
Expand All @@ -39,15 +39,15 @@ goal_port_suffix /goal:i
goal_port_scaling (0.5, 1.0, 0.5)

# How much in advance the planner should be called. The time is in seconds
planner_advance_time_in_s 0.08
planner_advance_time_in_s 0.02

# general parameters
[GENERAL]
name walking-coordinator
# height of the com
com_height 0.565
# sampling time
sampling_time 0.01
sampling_time 0.002
# enable joint retargeting
use_joint_retargeting 1
# enable the virtualizer
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7 changes: 4 additions & 3 deletions src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini
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Expand Up @@ -20,7 +20,7 @@ max_initial_com_vel 0.15
constant_ZMP_tolerance 0.00001

# 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 25
constant_ZMP_counter 125

# Minimum force to consider the ZMP valid.
minimum_normal_force_ZMP 1.0
Expand All @@ -39,18 +39,19 @@ goal_port_suffix /goal:i
goal_port_scaling (0.5, 1.0, 0.5)

# How much in advance the planner should be called. The time is in seconds
planner_advance_time_in_s 0.08
planner_advance_time_in_s 0.02

# general parameters
[GENERAL]
name walking-coordinator
# height of the com
com_height 0.565
# sampling time
sampling_time 0.01
sampling_time 0.002
# Specify the frame to use to control the robot height. Currently, we support only the following options: com, root_link
height_reference_frame root_link


# include robot control parameters
[include ROBOT_CONTROL "./dcm_walking/joypad_control/robotControl.ini"]

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15 changes: 1 addition & 14 deletions src/WalkingModule/src/Module.cpp
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Expand Up @@ -396,7 +396,7 @@ bool WalkingModule::configure(yarp::os::ResourceFinder& rf)
{
yarp::os::Bottle& loggerOptions = rf.findGroup("WALKING_LOGGER");
// open and connect the data logger port
std::string portInput, portOutput;
std::string portOutput;
// open the connect the data logger port
if(!YarpUtilities::getStringFromSearchable(loggerOptions,
"dataLoggerOutputPort_name",
Expand All @@ -405,21 +405,8 @@ bool WalkingModule::configure(yarp::os::ResourceFinder& rf)
yError() << "[WalkingModule::configure] Unable to get the string from searchable.";
return false;
}
if(!YarpUtilities::getStringFromSearchable(loggerOptions,
"dataLoggerInputPort_name",
portInput))
{
yError() << "[WalkingModule::configure] Unable to get the string from searchable.";
return false;
}

m_loggerPort.open("/" + name + portOutput);

if(!yarp::os::Network::connect("/" + name + portOutput, portInput))
{
yError() << "Unable to connect the ports " << "/" + name + portOutput << "and" << portInput;
return false;
}
}

// time profiler
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