dcm_walking_with_joypad.ini

# 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 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                 0.02

# If set to true, the desired ZMP is used directly in the COM/ZMP controller
skip_dcm_controller                  0

# The goal port receives 2 or 3 doubles according to the selected planner controller
goal_port_suffix                    /goal:i

# Scales the input coming from the goal port
goal_port_scaling                   (10.0, 10.0, 1.0)

# How much in advance the planner should be called. The time is in seconds
planner_advance_time_in_s           0.18

# How much time (in seconds) before failing due to missing feedback
max_feedback_delay_in_s             1.0

# If set true, we remove the zmp-com offset at startworking and rotate in evaluateZMP
remove_zmp_offset                   0

# general parameters
[GENERAL]
name                    walking-coordinator
# height of the com
com_height              0.53
# sampling time
sampling_time           0.01
# Specify the frame to use to control the robot height. Currently, we support only the following options: com, root_link
height_reference_frame  com

# comment out the following line if the position of the base is not provided by an
# external software(here Gazebo)
# use_external_robot_base            1

# include robot control parameters
[include ROBOT_CONTROL "./dcm_walking/joypad_control/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 kinematics parameters
[include INVERSE_KINEMATICS_SOLVER "./dcm_walking/joypad_control/inverseKinematics.ini"]

# include qp inverse kinematcs parameters
[include INVERSE_KINEMATICS_QP_SOLVER "./dcm_walking/joypad_control/qpInverseKinematicsBlf.ini"]

# include forward kinematics 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 CoP evaluator parameters
[include COP_EVALUATOR "./dcm_walking/common/globalCoPEvaluator.ini"]

# include lower PID parameters
[include PID "./dcm_walking/common/pidParams.ini"]