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GiulioRomualdiGiulioRomualdi
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Remove the need to specify the 'robot_velocity_variable_name' in the QPIK
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69 files changed

+32
-128
lines changed

‎src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini‎

Lines changed: 0 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -4,24 +4,20 @@ use_feedforward_term_for_joint_retargeting false
44
robot_velocity_variable_name "robot_velocity"
55

66
[COM_TASK]
7-
robot_velocity_variable_name "robot_velocity"
87
kp_linear 2.0
98
mask (true, true, false)
109

1110
[ROOT_TASK]
12-
robot_velocity_variable_name "robot_velocity"
1311
frame_name "root_link"
1412
kp_linear 0.5
1513
mask (false, false, true)
1614

1715
[RIGHT_FOOT_TASK]
18-
robot_velocity_variable_name "robot_velocity"
1916
frame_name "r_sole"
2017
kp_linear 7.0
2118
kp_angular 5.0
2219

2320
[LEFT_FOOT_TASK]
24-
robot_velocity_variable_name "robot_velocity"
2521
frame_name "l_sole"
2622
kp_linear 7.0
2723
kp_angular 5.0

‎src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,3 @@
1-
robot_velocity_variable_name "robot_velocity"
21
kp (5.0, 5.0, 5.0,
32
5.0, 5.0, 5.0,
43
1.0, 1.0, 1.0, 1.0, 1.0, 5.0, 5.0,

‎src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,3 @@
1-
robot_velocity_variable_name "robot_velocity"
21
kp (5.0, 5.0, 5.0,
32
5.0, 5.0, 5.0,
43
5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0,

‎src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,3 @@
1-
robot_velocity_variable_name "robot_velocity"
21
frame_name "chest"
32
kp_angular 5.0
43

‎src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini‎

Lines changed: 0 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -4,24 +4,20 @@ use_joints_limits_task false
44
robot_velocity_variable_name "robot_velocity"
55

66
[COM_TASK]
7-
robot_velocity_variable_name "robot_velocity"
87
kp_linear 0.0
98
mask (true, true, false)
109

1110
[ROOT_TASK]
12-
robot_velocity_variable_name "robot_velocity"
1311
frame_name "root_link"
1412
kp_linear 1.0
1513
mask (false, false, true)
1614

1715
[RIGHT_FOOT_TASK]
18-
robot_velocity_variable_name "robot_velocity"
1916
frame_name "r_sole"
2017
kp_linear 7.0
2118
kp_angular 5.0
2219

2320
[LEFT_FOOT_TASK]
24-
robot_velocity_variable_name "robot_velocity"
2521
frame_name "l_sole"
2622
kp_linear 7.0
2723
kp_angular 5.0

‎src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/joypad_control/tasks/regularization.ini‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,3 @@
1-
robot_velocity_variable_name "robot_velocity"
21
kp (5.0, 5.0, 5.0,
32
5.0, 5.0, 5.0, 5.0,
43
5.0, 5.0, 5.0, 5.0,

‎src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/joypad_control/tasks/torso.ini‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,3 @@
1-
robot_velocity_variable_name "robot_velocity"
21
frame_name "chest"
32
kp_angular 5.0
43

‎src/WalkingModule/app/robots/ergoCubGazeboV1_1/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini‎

Lines changed: 0 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -4,24 +4,20 @@ use_joints_limits_task false
44
robot_velocity_variable_name "robot_velocity"
55

66
[COM_TASK]
7-
robot_velocity_variable_name "robot_velocity"
87
kp_linear 0.0
98
mask (true, true, false)
109

1110
[ROOT_TASK]
12-
robot_velocity_variable_name "robot_velocity"
1311
frame_name "root_link"
1412
kp_linear 1.0
1513
mask (false, false, true)
1614

1715
[RIGHT_FOOT_TASK]
18-
robot_velocity_variable_name "robot_velocity"
1916
frame_name "r_sole"
2017
kp_linear 7.0
2118
kp_angular 5.0
2219

2320
[LEFT_FOOT_TASK]
24-
robot_velocity_variable_name "robot_velocity"
2521
frame_name "l_sole"
2622
kp_linear 7.0
2723
kp_angular 5.0

‎src/WalkingModule/app/robots/ergoCubGazeboV1_1/dcm_walking/joypad_control/tasks/regularization.ini‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,3 @@
1-
robot_velocity_variable_name "robot_velocity"
21
kp (5.0, 5.0, 5.0,
32
5.0, 5.0, 5.0, 5.0,
43
5.0, 5.0, 5.0, 5.0,

‎src/WalkingModule/app/robots/ergoCubGazeboV1_1/dcm_walking/joypad_control/tasks/torso.ini‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,3 @@
1-
robot_velocity_variable_name "robot_velocity"
21
frame_name "chest"
32
kp_angular 5.0
43

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