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Merge pull request #95 from mmurooka/external-force-stabilizer
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@@ -5,3 +5,4 @@ gem 'jekyll-octicons' | |
| gem 'liquefy' | ||
| gem 'jekyll_inline_highlight' | ||
| gem 'jekyll-toc' | ||
| gem 'neatjson' | ||
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11 changes: 11 additions & 0 deletions
11
doc/_data/schemas/common/LIPMStabilizerTaskConfiguration.json
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| @@ -0,0 +1,11 @@ | ||
| { | ||
| "allOf": | ||
| [ | ||
| { | ||
| "$ref": "/../../common/StabilizerConfiguration.json" | ||
| }, | ||
| { | ||
| "$ref": "/../../common/StabilizerTask_common.json" | ||
| } | ||
| ] | ||
| } |
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| @@ -0,0 +1,31 @@ | ||
| { | ||
| "type": "object", | ||
| "properties": | ||
| { | ||
| "leftFootSurface": { "type": "string" }, | ||
| "rightFootSurface": { "type": "string" }, | ||
| "torsoBodyName": { "type": "string" }, | ||
|
|
||
| "friction": { "type": "number", "minimum": 0, "default": 0.7 }, | ||
| "tasks": | ||
| { | ||
| "type": "object", | ||
| "title": "Tasks configuration", | ||
| "description": "Configuration of the tasks managed by the stabilizer: CoM, left and right contact CoP tasks, and torso and pelvis regularization tasks", | ||
| "properties": | ||
| { | ||
| "com": {"$ref": "/../../common/com.json"}, | ||
| "contact": {"$ref": "/../../common/contact.json"}, | ||
| "pelvis": {"$ref": "/../../common/pelvis.json"}, | ||
| "torso": {"$ref": "/../../common/torso.json"} | ||
| } | ||
| }, | ||
| "safety_thresholds": {"$ref": "/../../common/stabilizer_safety_thresholds.json"}, | ||
| "fdqp_weights": {"$ref": "/../../common/fdqp_weights.json"}, | ||
| "vdc": {"$ref": "/../../common/vdc.json"}, | ||
| "admittance": {"$ref": "/../../common/admittance.json"}, | ||
| "dcm_tracking": {"$ref": "/../../common/dcm_tracking.json"}, | ||
| "dcm_bias": {"$ref": "/../../common/dcm_bias.json"}, | ||
| "external_wrench": {"$ref": "/../../common/external_wrench.json"} | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| { | ||
| "type": "object", | ||
| "title": "mc_rbdyn::lipm_stabilizer::ExternalWrenchConfiguration", | ||
| "description": "Parameters for external wrench compensation. See {% doxygen mc_rbdyn::lipm_stabilizer::ExternalWrenchConfiguration %} for detailed usage.", | ||
| "properties": | ||
| { | ||
| "add_expected_com_offset": { | ||
| "type": "boolean", | ||
| "default": "false", | ||
| "description": "Whether to add the CoM offset expected from the external wrenches." | ||
| }, | ||
| "subtract_measured_value": { | ||
| "type": "boolean", | ||
| "default": "false", | ||
| "description": "Use the measured external wrenches instead of target ones" | ||
| }, | ||
| "modify_com_error": { | ||
| "type": "boolean", | ||
| "default": "false", | ||
| "description": "Modify CoM depending on the error of the external wrenches in target and measurement" | ||
| }, | ||
| "modify_zmp_error": { | ||
| "type": "boolean", | ||
| "default": "false", | ||
| "description": "Modify ZMP depending on the error of the external wrenches in target and measurement" | ||
| }, | ||
| "modify_zmp_error_d": { | ||
| "type": "boolean", | ||
| "default": "false", | ||
| "description": "Modify ZMP velocity depending on the error of the external wrenches in target and measurement" | ||
| }, | ||
|
|
||
| "com_offset_err_com_limit": { | ||
| "type": "number", | ||
| "minimum": 0, | ||
| "default": 0.1, | ||
| "description": "Limit of CoM offset error handled by CoM modification [m]" | ||
| }, | ||
| "com_offset_err_zmp_limit": { | ||
| "type": "number", | ||
| "minimum": 0, | ||
| "default": 0.1, | ||
| "description": "Limit of ZMP offset error handled by ZMP modification [m]" | ||
| }, | ||
| "ext_wrench_sum_cutoff": { | ||
| "type": "number", | ||
| "minimum": 0, | ||
| "default": 0.05, | ||
| "description": "Cutoff period [s] for the low-pass filter of the sum of the measured external wrenches" | ||
| }, | ||
| "com_offset_cutoff": { | ||
| "type": "number", | ||
| "minimum": 0, | ||
| "default": 0.05, | ||
| "description": "Cutoff period [s] for the low-pass filter of CoM offset" | ||
| }, | ||
| "com_offset_com_cutoff": { | ||
| "type": "number", | ||
| "minimum": 0, | ||
| "default": 1.0, | ||
| "description": "Cutoff period [s] for the low-pass filter of CoM offset to extract CoM modification" | ||
| }, | ||
| "derivator_time_constant": { | ||
| "type": "number", | ||
| "minimum": 0, | ||
| "default": 1.0, | ||
| "description": "Time window [s] for the stationary offset filter of the CoM offset derivator" | ||
| } | ||
| } | ||
| } |
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26 changes: 14 additions & 12 deletions
26
doc/_data/schemas/common/stabilizer_safety_thresholds.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,20 +1,22 @@ | ||
| { | ||
| "type": "object", | ||
| "title": "Safety thresholds for the stabilizer parameters", | ||
| "title": "mc_rbyn::lipm_stabilizer::SafetyThresholds", | ||
| "description": "These thresholds are intended to make the stabilizer behaviour safer against invalid parameter choices, and sensor noise. Change these values with caution. See {% doxygen mc_rbdyn::lipm_stabilizer::SafetyThresholds %}", | ||
| "properties": | ||
| { | ||
| "MAX_AVERAGE_DCM_ERROR": { "type": "number", "minimum": 0, "default": 0.05 }, | ||
| "MAX_COP_ADMITTANCE": { "type": "number", "minimum": 0, "default": 0.1 }, | ||
| "MAX_DCM_D_GAIN": { "type": "number", "minimum": 0, "default": 2 }, | ||
| "MAX_DCM_I_GAIN": { "type": "number", "minimum": 0, "default": 100 }, | ||
| "MAX_DCM_P_GAIN": { "type": "number", "minimum": 0, "default": 20 }, | ||
| "MAX_DFZ_ADMITTANCE": { "type": "number", "minimum": 0, "default": 5e-4 }, | ||
| "MAX_DFZ_DAMPING": { "type": "number", "minimum": 0, "default": 10 }, | ||
| "MAX_FDC_RX_VEL": { "type": "number", "minimum": 0, "default": 0.2 }, | ||
| "MAX_FDC_RY_VEL": { "type": "number", "minimum": 0, "default": 0.2 }, | ||
| "MAX_FDC_RZ_VEL": { "type": "number", "minimum": 0, "default": 0.2 }, | ||
| "MIN_DS_PRESSURE": { "type": "number", "minimum": 0, "default": 15 }, | ||
| "MAX_AVERAGE_DCM_ERROR": { "type": "number", "minimum": 0, "default": 0.05, "description": "Maximum average (integral) DCM error in [m]" }, | ||
| "MAX_COP_ADMITTANCE": { "type": "number", "minimum": 0, "default": 0.1, "description": "Maximum CoP admittance for foot damping control" }, | ||
| "MAX_DCM_D_GAIN": { "type": "number", "minimum": 0, "default": 2, "description": "Maximum DCM derivative gain (no unit)" }, | ||
| "MAX_DCM_I_GAIN": { "type": "number", "minimum": 0, "default": 100, "description": "Maximum DCM average integral gain in [Hz]" }, | ||
| "MAX_DCM_P_GAIN": { "type": "number", "minimum": 0, "default": 20, "description": "Maximum DCM proportional gain in [Hz]" }, | ||
| "MAX_COMD_GAIN": { "type": "number", "minimum": 0, "default": 10, "description": "Maximum CoMd gain in [Hz]" }, | ||
| "MAX_ZMPD_GAIN": { "type": "number", "minimum": 0, "default": 10, "description": "Maximum ZMPd gain in [Hz]" }, | ||
| "MAX_DFZ_ADMITTANCE": { "type": "number", "minimum": 0, "default": 5e-4 , "description": "Maximum admittance in [s] / [kg] for foot force difference control" }, | ||
| "MAX_DFZ_DAMPING": { "type": "number", "minimum": 0, "default": 10 , "description": "Maximum normalized damping in [Hz] for foot force difference control" }, | ||
| "MAX_FDC_RX_VEL": { "type": "number", "minimum": 0, "default": 0.2, "description": "Maximum x-axis angular velocity in [rad] / [s] for foot damping control" }, | ||
| "MAX_FDC_RY_VEL": { "type": "number", "minimum": 0, "default": 0.2, "description": "Maximum y-axis angular velocity in [rad] / [s] for foot damping control" }, | ||
| "MAX_FDC_RZ_VEL": { "type": "number", "minimum": 0, "default": 0.2, "description": "Maximum z-axis angular velocity in [rad] / [s] for foot damping control" }, | ||
| "MIN_DS_PRESSURE": { "type": "number", "minimum": 0, "default": 15, "description": "Minimum normal contact force in DSP, used to avoid low-pressure targets when close to contact switches" }, | ||
| "MIN_NET_TOTAL_FORCE_ZMP": { "type": "number", "minimum": 0, "default": 1 } | ||
| } | ||
| } |
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