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Update frequency of the WalkingModule to 1 KHz for ergoCubSN000 #196

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Jan 20, 2025
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Update frequency of the WalkingModule to 1 KHz for ergoCubSN000 #196

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2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/ergoCubSN000/dcm_walking/autonomous/tasks/regularization.ini
View file
Original file line number Diff line number Diff line change
@@ -7,7 +7,7 @@ kp (5.0, 5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0)

states ("STANCE", "WALKING")
sampling_time 0.002
sampling_time 0.001
settling_time 5.0

[STANCE]
2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/ergoCubSN000/dcm_walking/autonomous/tasks/retargeting.ini
View file
Original file line number Diff line number Diff line change
@@ -7,7 +7,7 @@ kp (5.0, 5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0)

states ("STANCE", "WALKING")
sampling_time 0.002
sampling_time 0.001
settling_time 5.0

[STANCE]
2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/ergoCubSN000/dcm_walking/autonomous/tasks/torso.ini
View file
Original file line number Diff line number Diff line change
@@ -4,7 +4,7 @@ kp_angular 5.0


states ("STANCE", "WALKING")
sampling_time 0.002
sampling_time 0.001
settling_time 3.0

[STANCE]
2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/ergoCubSN000/dcm_walking/common/plannerParams.ini
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
##Timings
plannerHorizon 20.0
plannerHorizon 5.0

##Unicycle controller. Available types: personFollowing, direct
controlType direct
2 changes: 1 addition & 1 deletion ...dule/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
View file
Original file line number Diff line number Diff line change
@@ -7,7 +7,7 @@ kp (5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0)

states ("STANCE", "WALKING")
sampling_time 0.002
sampling_time 0.001
settling_time 5.0

[STANCE]
2 changes: 1 addition & 1 deletion ...gModule/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
View file
Original file line number Diff line number Diff line change
@@ -7,7 +7,7 @@ kp (5.0, 5.0, 5.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0)

states ("STANCE", "WALKING")
sampling_time 0.002
sampling_time 0.001
settling_time 5.0

[STANCE]
2 changes: 1 addition & 1 deletion ...WalkingModule/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini
View file
Original file line number Diff line number Diff line change
@@ -4,7 +4,7 @@ kp_angular 5.0


states ("STANCE", "WALKING")
sampling_time 0.002
sampling_time 0.001
settling_time 3.0

[STANCE]
2 changes: 1 addition & 1 deletion ...WalkingModule/app/robots/ergoCubSN000/dcm_walking/joypad_control/tasks/regularization.ini
View file
Original file line number Diff line number Diff line change
@@ -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 0.002
sampling_time 0.001
settling_time 0.5

[stance]
2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/ergoCubSN000/dcm_walking/joypad_control/tasks/torso.ini
View file
Original file line number Diff line number Diff line change
@@ -4,7 +4,7 @@ kp_angular 5.0


states ("stance", "walking")
sampling_time 0.002
sampling_time 0.001
settling_time 0.5

[stance]
2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/ergoCubSN000/dcm_walking_autonomous.ini
View file
Original file line number Diff line number Diff line change
@@ -34,7 +34,7 @@ name walking-coordinator
# height of the com
com_height 0.70
# sampling time
sampling_time 0.002
sampling_time 0.001
# enable joint retargeting
use_joint_retargeting 1
# enable the virtualizer
2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/ergoCubSN000/dcm_walking_iFeel_joint_retargeting.ini
View file
Original file line number Diff line number Diff line change
@@ -34,7 +34,7 @@ name walking-coordinator
# height of the com
com_height 0.70
# sampling time
sampling_time 0.002
sampling_time 0.001
# enable joint retargeting
use_joint_retargeting 1
# enable the virtualizer
2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/ergoCubSN000/dcm_walking_with_joypad.ini
View file
Original file line number Diff line number Diff line change
@@ -31,7 +31,7 @@ name walking-coordinator
# height of the com
com_height 0.70
# sampling time
sampling_time 0.002
sampling_time 0.001
# 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