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Merge pull request #111 from robotology/semifinal-testing
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Semifinal testing
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S-Dafarra authored May 27, 2022
2 parents 98a461f + 74cc188 commit b2e6aa9
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Showing 6 changed files with 30 additions and 16 deletions.
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Expand Up @@ -11,15 +11,15 @@ inner_ellipse_offset 0.5
[ELLIPSE_MANAGER_SETTINGS]
port_name freeSpaceEllipse:in

use_initial_ellipse 0
use_initial_ellipse 1

[INITIAL_ELLIPSE]

#Axis along the x direction
semi_major_axis 1.5

#Axis along the y direction
semi_minor_axis 1.0
semi_minor_axis 1.5

#Rotation around the z axis
angle 0.0
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Expand Up @@ -7,7 +7,7 @@ referencePosition (0.1 0.0)
timeWeight 2.5
positionWeight 1.0
slowWhenTurningGain 4.0
slowWhenBackwardFactor 0.5
slowWhenBackwardFactor 0.7

##Bounds
#Step length
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Expand Up @@ -19,8 +19,8 @@ max-cpu-time 20
#DEGREES
jointRegularization (0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
-3.7, 25.0, -13.0, 40.769, 0, 0, 0,
-3.7, 25.0, -13.0, 40.769, 0, 0, 0,
12.0, 7.0, -12.0, 41.0, -28.3, 0, 0,
12.0, 7.0, -12.0, 41.0, -28.3, 0, 0,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52)

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Expand Up @@ -9,8 +9,8 @@ additional_rotation ((1.0 0.0 0.0),(0.0 1.0 0.0),(0.0 0.0 1.0))
# joint regularization values in degrees
joint_regularization (0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
-3.7, 25.0, -13.0, 40.769, 0, 0, 0,
-3.7, 25.0, -13.0, 40.769, 0, 0, 0,
12.0, 7.0, -12.0, 41.0, -28.3, 0, 0,
12.0, 7.0, -12.0, 41.0, -28.3, 0, 0,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52)

Expand All @@ -30,8 +30,8 @@ joint_regularization_weight_stance (0.0, 0.0, 0.0,

joint_regularization_weight_walking (0.0, 0.0, 0.0,
1.0, 1.0, 1.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 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,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0)

Expand All @@ -45,8 +45,8 @@ joint_retargeting_gains (5.0, 5.0, 5.0,

joint_retargeting_weight_walking (2.0, 2.0, 2.0,
1.0, 1.0, 1.0,
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,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0)

Expand All @@ -69,7 +69,7 @@ k_posHand 2.5
k_attHand 1.0

# use gain scheduling for hand retargeting
smoothing_time 0.5
smoothing_time 4.5

# joint limits
k_joint_limit_lower_bound 1.0
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Expand Up @@ -25,12 +25,19 @@ max-cpu-time 20


#DEGREES
# jointRegularization (7, 0.12, -0.01,
# -3.7, 20.0, -13.0, 40.769,
# -3.7, 20.0, -13.0, 40.769,
# 5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
# 5.76, 1.61, -0.31, -31.64, -20.52, -1.52)

jointRegularization (7, 0.12, -0.01,
-3.7, 20.0, -13.0, 40.769,
-3.7, 20.0, -13.0, 40.769,
12.0, 7.0, -12.0, 40.769,
12.0, 7.0, -12.0, 40.769,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52)


# jointRegularization (7, 0.12, -0.01,
# -70.0, 46.70, 25.0, 40.769,
# -70.0, 46.70, 25.0, 40.769,
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Expand Up @@ -7,12 +7,19 @@ neck_weight 5.0
additional_rotation ((1.0 0.0 0.0),(0.0 1.0 0.0),(0.0 0.0 1.0))

# Joint regularization term
# joint_regularization (7, 0.12, -0.01,
# -3.7, 20.0, -13.0, 40.769,
# -3.7, 20.0, -13.0, 40.769,
# 5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
# 5.76, 1.61, -0.31, -31.64, -20.52, -1.52)

joint_regularization (7, 0.12, -0.01,
-3.7, 20.0, -13.0, 40.769,
-3.7, 20.0, -13.0, 40.769,
12.0, 7.0, -12.0, 40.769,
12.0, 7.0, -12.0, 40.769,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
5.76, 1.61, -0.31, -31.64, -20.52, -1.52)


# joint_regularization (7, 0.12, -0.01,
# -70.0, 46.70, 25.0, 40.769,
# -70.0, 46.70, 25.0, 40.769,
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