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Tsid balancing/tuning #904

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Tsid balancing/tuning #904

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62bca49
balancing only with legs
LoreMoretti Oct 16, 2024
9598122
prepare config files for ergocubSN001
LoreMoretti Oct 16, 2024
4b0511a
update logger of ergoCubSN001
LoreMoretti Oct 16, 2024
65cc719
update tsid gains and joint regularization task setpoint
Oct 17, 2024
b97eba0
chage tsid gains
Oct 18, 2024
ee7b624
Tune gains for balancing torque control
Oct 21, 2024
e5d17e6
add initial position of fixed joints
LoreMoretti Oct 22, 2024
ba4c488
log desired contact wrenches computed by TSID
LoreMoretti Oct 22, 2024
c522128
clip tsid computed torques
LoreMoretti Oct 22, 2024
4cdfc38
Add torso torque controlled. Remove torso task.
Oct 23, 2024
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9 changes: 8 additions & 1 deletion devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml
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Expand Up @@ -17,7 +17,7 @@ BSD-3-Clause license. -->
</group>

<group name="ExogenousSignals">
<param name="vectors_collection_exogenous_inputs">("Walking", "CurrentControl")</param>
<param name="vectors_collection_exogenous_inputs">("Walking", "CurrentControl", "BalancingTSID")</param>
<param name="vectors_exogenous_inputs">()</param>

<group name="Walking">
Expand All @@ -33,6 +33,13 @@ BSD-3-Clause license. -->
<param name="signal_name">"current_control"</param>
<param name="carrier">"udp"</param>
</group>

<group name="BalancingTSID">
<param name="local">"/yarp-robot-logger/exogenous_signals/balancing_tsid"</param>
<param name="remote">"/balancing_torque_controller/logger"</param>
<param name="signal_name">"balancing_tsid"</param>
<param name="carrier">"udp"</param>
</group>
</group>

<group name="RobotCameraBridge">
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4 changes: 2 additions & 2 deletions ...RobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/ft_clients.xml
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Expand Up @@ -4,7 +4,7 @@
<?xml version="1.0" encoding="UTF-8" ?>

<devices>
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_ft_client" type="multipleanalogsensorsclient">
<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/ergocub/left_arm/FT</param>
<param name="local">/yarp_robot_logger/left_arm</param>
<param name="timeout">0.5</param>
Expand All @@ -16,7 +16,7 @@
<param name="local">/yarp_robot_logger/right_arm</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>
</device> -->

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/ergocub/left_leg/FT</param>
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4 changes: 2 additions & 2 deletions ...obotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml
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Expand Up @@ -21,7 +21,7 @@
</device>


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_imu_client" type="multipleanalogsensorsclient">
<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_imu_client" type="multipleanalogsensorsclient">
<param name="remote">/ergocub/left_arm/imu</param>
<param name="local">/yarp_robot_logger/left_arm/imu</param>
<param name="timeout">0.5</param>
Expand All @@ -33,7 +33,7 @@
<param name="local">/yarp_robot_logger/right_arm/imu</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>
</device> -->

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_imu_client" type="multipleanalogsensorsclient">
<param name="remote">/ergocub/left_foot_heel_tiptoe/imu</param>
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20 changes: 10 additions & 10 deletions ...botLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml
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Expand Up @@ -6,34 +6,34 @@
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper">
<param name="period">10</param>
<param name="ThreeAxisGyroscopesNames">
(waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
</param>
<param name="ThreeAxisLinearAccelerometersNames">
(waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
</param>
<param name="ThreeAxisMagnetometersNames">
(waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
</param>
<param name="OrientationSensorsNames">
(waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
</param>
<param name="SixAxisForceTorqueSensorsNames">
(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft)
(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft)
</param>
<param name="TemperatureSensorsNames">
(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft)
(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft)
</param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="left_arm_ft_client">left_arm_ft_client</elem>
<elem name="right_arm_ft_client">right_arm_ft_client</elem>
<!-- <elem name="left_arm_ft_client">left_arm_ft_client</elem>
<elem name="right_arm_ft_client">right_arm_ft_client</elem> -->
<elem name="left_leg_ft_client">left_leg_ft_client</elem>
<elem name="right_leg_ft_client">right_leg_ft_client</elem>
<!--elem name="head_imu_acc">head_imu_acc</elem-->
<elem name="waist_imu_client">waist_imu_client</elem>
<elem name="left_arm_imu_client">left_arm_imu_client</elem>
<elem name="right_arm_imu_client">right_arm_imu_client</elem>
<!-- <elem name="left_arm_imu_client">left_arm_imu_client</elem>
<elem name="right_arm_imu_client">right_arm_imu_client</elem> -->
<elem name="left_foot_imu_client">left_foot_imu_client</elem>
<elem name="right_foot_imu_client">right_foot_imu_client</elem>
<elem name="left_leg_imu_client">left_leg_imu_client</elem>
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16 changes: 8 additions & 8 deletions ...tLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/wrench_clients.xml
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Expand Up @@ -5,17 +5,17 @@

<devices>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_wrench_client" type="genericSensorClient">
<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/left_arm_wrench</param>
<param name="carrier">udp</param>
</device>
</device> -->

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_wrench_client" type="genericSensorClient">
<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/left_leg_wrench</param>
<param name="carrier">udp</param>
</device>
</device> -->

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_front_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o</param>
Expand All @@ -29,17 +29,17 @@
<param name="carrier">udp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_wrench_client" type="genericSensorClient">
<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/right_arm_wrench</param>
<param name="carrier">udp</param>
</device>
</device> -->

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_wrench_client" type="genericSensorClient">
<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/right_leg_wrench</param>
<param name="carrier">udp</param>
</device>
</device> -->

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_front_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o</param>
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2 changes: 1 addition & 1 deletion devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/launch-yarp-robot-logger.xml
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Expand Up @@ -13,7 +13,7 @@ BSD-3-Clause license. -->
<xi:include href="blf-yarp-robot-logger-interfaces/ft_clients.xml" />
<xi:include href="blf-yarp-robot-logger-interfaces/mas-remapper.xml" />
<xi:include href="blf-yarp-robot-logger-interfaces/wrench_clients.xml" />
<xi:include href="blf-yarp-robot-logger-interfaces/webcams.xml" />
<!-- <xi:include href="blf-yarp-robot-logger-interfaces/webcams.xml" /> -->
<xi:include href="./yarp-robot-logger.xml" />
</devices>
</robot>
44 changes: 29 additions & 15 deletions devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
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Expand Up @@ -5,7 +5,7 @@ BSD-3-Clause license. -->
<?xml version="1.0" encoding="UTF-8" ?>
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="yarp-robot-logger" type="YarpRobotLoggerDevice">
<param name="robot">ergocub</param>
<param name="sampling_period_in_s">0.01</param>
<param name="sampling_period_in_s">0.001</param>

<param name="rgb_cameras_fps">(20)</param>
<param name="rgb_cameras_rgb_save_mode">("video")</param>
Expand All @@ -30,7 +30,7 @@ BSD-3-Clause license. -->
</group>

<group name="ExogenousSignals">
<param name="vectors_collection_exogenous_inputs">("Walking", "GridTracking","cmw", "Balancing", "CurrentControl")</param>
<param name="vectors_collection_exogenous_inputs">("Walking", "GridTracking","cmw", "Balancing", "CurrentControl", "TSID", "BalancingTSID")</param>
<param name="vectors_exogenous_inputs">()</param>

<group name="Walking">
Expand Down Expand Up @@ -61,6 +61,20 @@ BSD-3-Clause license. -->
<param name="carrier">"udp"</param>
</group>

<group name="TSID">
<param name="local">"/yarp-robot-logger/exogenous_signals/tsid_fixed_cartesian"</param>
<param name="remote">"/tsid-fixed-cartesian/logger"</param>
<param name="signal_name">"tsid_fixed_cartesian"</param>
<param name="carrier">"udp"</param>
</group>

<group name="BalancingTSID">
<param name="local">"/yarp-robot-logger/exogenous_signals/balancing_tsid"</param>
<param name="remote">"/balancing_torque_controller/logger"</param>
<param name="signal_name">"balancing_tsid"</param>
<param name="carrier">"udp"</param>
</group>

<group name="RobotDynamicsEstimator">
<param name="local">"/yarp-robot-logger/exogenous_signals/rde"</param>
<param name="remote">"/robot-dynamics-estimator/logger"</param>
Expand All @@ -77,7 +91,7 @@ BSD-3-Clause license. -->
</group>

<group name="RobotCameraBridge">
<param name="stream_cameras">true</param>
<param name="stream_cameras">false</param>
<group name="Cameras">
<param name="rgb_cameras_list">("jabra")</param>
<param name="rgbd_cameras_list">()</param>
Expand All @@ -100,22 +114,22 @@ BSD-3-Clause license. -->
</group>

<group name="SixAxisForceTorqueSensors">
<param name="sixaxis_forcetorque_sensors_list">(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft)</param>
<param name="sixaxis_forcetorque_sensors_list">(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft)</param>
</group>

<group name="TemperatureSensors">
<param name="temperature_sensors_list">(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft)</param>
<param name="temperature_sensors_list">(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft)</param>
</group>

<group name="CartesianWrenches">
<param name="cartesian_wrenches_list">("left_front_wrench_client", "left_rear_wrench_client", "right_front_wrench_client", "right_rear_wrench_client", "left_arm_wrench_client", "right_arm_wrench_client", "left_leg_wrench_client", "right_leg_wrench_client")</param>
<param name="cartesian_wrenches_list">("left_front_wrench_client", "left_rear_wrench_client", "right_front_wrench_client", "right_rear_wrench_client")</param>
</group>

<group name="InertialSensors">
<param name="accelerometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param>
<param name="gyroscopes_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param>
<param name="magnetometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param>
<param name="orientation_sensors_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param>
<param name="accelerometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
<param name="gyroscopes_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
<param name="magnetometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
<param name="orientation_sensors_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
</group>

</group>
Expand All @@ -128,13 +142,13 @@ BSD-3-Clause license. -->
<elem name="left_rear_wrench_client">left_rear_wrench_client</elem>
<elem name="right_front_wrench_client">right_front_wrench_client</elem>
<elem name="right_rear_wrench_client">right_rear_wrench_client</elem>
<elem name="right_leg_wrench_client">right_leg_wrench_client</elem>
<elem name="left_leg_wrench_client">left_leg_wrench_client</elem>
<elem name="right_arm_wrench_client">right_arm_wrench_client</elem>
<elem name="left_arm_wrench_client">left_arm_wrench_client</elem>
<!-- <elem name="right_leg_wrench_client">right_leg_wrench_client</elem> -->
<!-- <elem name="left_leg_wrench_client">left_leg_wrench_client</elem> -->
<!-- <elem name="right_arm_wrench_client">right_arm_wrench_client</elem>
<elem name="left_arm_wrench_client">left_arm_wrench_client</elem> -->
<elem name="mas-remapper">mas-remapper</elem>
<!-- <elem name="realsense">realsense</elem> -->
<elem name="jabra">jabra</elem>
<!-- <elem name="jabra">jabra</elem> -->
</paramlist>
</action>

Expand Down
24 changes: 24 additions & 0 deletions ...g-torque-control/config/robots/ergoCubGazeboV1_1/blf-balancing-torque-control-options.ini
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dt 0.01 # (0.01 seconds)
contact_force_threshold 0.1 # in Newton


com_knots_delta_x (0.0, 0.0, 0.03, 0.03, -0.03, -0.03, 0.0, 0.0) # in meter
com_knots_delta_y (0.0, 0.05, 0.05, -0.05, -0.05, 0.05, 0.05, 0.0) # in meter
com_knots_delta_z (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) # in meter

; com_knots_delta_x (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) # in meter
; com_knots_delta_y (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) # in meter
; com_knots_delta_z (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) # in meter

motion_duration 10.0 # (10 seconds)
motion_timeout 10.0 # (10 seconds)

base_frame l_sole
left_contact_frame l_sole
right_contact_frame r_sole

[include TSID "./blf_balancing_torque_control/tsid.ini"]
[include ROBOT_CONTROL "./blf_balancing_torque_control/robot_control.ini"]
[include SENSOR_BRIDGE "./blf_balancing_torque_control/sensor_bridge.ini"]
[include CONTACT_WRENCHES "./blf_balancing_torque_control/contact_wrenches.ini"]
[include DATA_LOGGING "./blf_balancing_torque_control/data_logging.ini"]
22 changes: 22 additions & 0 deletions ...control/config/robots/ergoCubGazeboV1_1/blf_balancing_torque_control/contact_wrenches.ini
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left_contact_wrenches_group ("LEFT_FOOT_FRONT", "LEFT_FOOT_REAR")
right_contact_wrenches_group ("RIGHT_FOOT_FRONT", "RIGHT_FOOT_REAR")

[LEFT_FOOT_FRONT]
description "left_foot_front"
remote_port_name "/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o"
local_port_name_postfix "/left_foot_front/cartesianEndEffectorWrench:i"

[LEFT_FOOT_REAR]
description "left_foot_rear"
remote_port_name "/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o"
local_port_name_postfix "/left_foot_rear/cartesianEndEffectorWrench:i"

[RIGHT_FOOT_FRONT]
description "right_foot_front"
remote_port_name "/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o"
local_port_name_postfix "/right_foot_front/cartesianEndEffectorWrench:i"

[RIGHT_FOOT_REAR]
description "right_foot_rear"
remote_port_name "/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o"
local_port_name_postfix "/right_foot_rear/cartesianEndEffectorWrench:i"
1 change: 1 addition & 0 deletions ...que-control/config/robots/ergoCubGazeboV1_1/blf_balancing_torque_control/data_logging.ini
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remote "/balancing_torque_controller/logger"
34 changes: 34 additions & 0 deletions ...ue-control/config/robots/ergoCubGazeboV1_1/blf_balancing_torque_control/robot_control.ini
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robot_name ergocubSim

joints_list ("l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll",
"r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")

joint_torque_lower_limits (-10.0, -15.0, -3.0, -5.0, -15.0, -15.0,
-10.0, -15.0, -3.0, -5.0, -15.0, -15.0)

joint_torque_upper_limits ( 30.0, 15.0, 3.0, 30.0, 15.0, 15.0,
30.0, 15.0, 3.0, 30.0, 15.0, 15.0)

remote_control_boards ("left_leg", "right_leg")

positioning_duration 3.0 #in seconds
positioning_tolerance 0.05 #in radians
position_direct_max_admissible_error 0.1 #in radians

# List of the names of the fixed joints. Specify here the joints that you will consider as fixed.
# The joints in this list cannot be part of the controlled joints list (joints_list).
# If a joint is present in both lists, an error will occur. The purpose of this list is to define a
# specific configuration for the fixed joints that differs from the default value (0.0 deg).
# If a joint is not included in this list or the controlled joints list, it will be considered fixed with a default value of 0.0 deg.
#
# Below is an example of how to specify a fixed joint with a value other than 0.0 deg:
#
# fixed_joint_list_names ("torso_pitch") # List of the fixed joint names
# fixed_joint_list_values (10.0) # List of the fixed joint values (in degrees)

fixed_joint_list_names ("torso_pitch", "torso_roll", "torso_yaw",
"l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow",
"r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow")
fixed_joint_list_values (7.955, 0.051, -0.008,
-3.778, 19.433, -12.942, 40.664,
-3.780, 19.428, -12.942, 40.665)
7 changes: 7 additions & 0 deletions ...ue-control/config/robots/ergoCubGazeboV1_1/blf_balancing_torque_control/sensor_bridge.ini
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check_for_nan false
stream_joint_states true
stream_joint_accelerations false
stream_cartesian_wrenches true

[CartesianWrenches]
cartesian_wrenches_list ("left_foot_front", "left_foot_rear", "right_foot_front", "right_foot_rear")
15 changes: 15 additions & 0 deletions ...trol/config/robots/ergoCubGazeboV1_1/blf_balancing_torque_control/tasks/base_dynamics.ini
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name "joint_dynamics_task"
type "JointDynamicsTask"
priority 0

robot_acceleration_variable_name "robot_acceleration"
joint_torques_variable_name "joint_torques"
max_number_of_contacts 2

[CONTACT_0]
variable_name "lf_wrench"
frame_name "l_sole"

[CONTACT_1]
variable_name "rf_wrench"
frame_name "r_sole"
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