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  1. .gitattributes +18 -0
  2. friction_sim_to_real/l_ankle_pitch/config.yaml +11 -0
  3. friction_sim_to_real/l_ankle_pitch/postprocessing/parsed/config.toml +17 -0
  4. friction_sim_to_real/l_ankle_pitch/postprocessing/parsed/robot_logger_device_2024_10_01_14_35_03_resampled_parsed.pickle +3 -0
  5. friction_sim_to_real/l_ankle_pitch/postprocessing/robot_logger_device_2024_10_01_14_35_03_reduced.mat +3 -0
  6. friction_sim_to_real/l_ankle_pitch/postprocessing/robot_logger_device_2024_10_01_14_35_03_resampled.mat +3 -0
  7. friction_sim_to_real/l_ankle_pitch/robot_logger_device_2024_10_01_14_35_03.mat +3 -0
  8. friction_sim_to_real/l_ankle_roll/config.yaml +11 -0
  9. friction_sim_to_real/l_ankle_roll/postprocessing/parsed/config.toml +17 -0
  10. friction_sim_to_real/l_ankle_roll/postprocessing/parsed/robot_logger_device_2024_10_01_15_16_03_resampled_parsed.pickle +3 -0
  11. friction_sim_to_real/l_ankle_roll/postprocessing/robot_logger_device_2024_10_01_15_16_03_reduced.mat +3 -0
  12. friction_sim_to_real/l_ankle_roll/postprocessing/robot_logger_device_2024_10_01_15_16_03_resampled.mat +3 -0
  13. friction_sim_to_real/l_ankle_roll/robot_logger_device_2024_10_01_15_16_03.mat +3 -0
  14. friction_sim_to_real/l_hip_pitch/config.yaml +11 -0
  15. friction_sim_to_real/l_hip_pitch/postprocessing/parsed/config.toml +17 -0
  16. friction_sim_to_real/l_hip_pitch/postprocessing/parsed/robot_logger_device_2024_10_10_12_57_42_resampled_parsed.pickle +3 -0
  17. friction_sim_to_real/l_hip_pitch/postprocessing/robot_logger_device_2024_10_10_12_57_42_reduced.mat +3 -0
  18. friction_sim_to_real/l_hip_pitch/postprocessing/robot_logger_device_2024_10_10_12_57_42_resampled.mat +3 -0
  19. friction_sim_to_real/l_hip_pitch/robot_logger_device_2024_10_10_12_57_42.mat +3 -0
  20. friction_sim_to_real/l_hip_roll/config.yaml +11 -0
  21. friction_sim_to_real/l_hip_roll/postprocessing/parsed/config.toml +17 -0
  22. friction_sim_to_real/l_hip_roll/postprocessing/parsed/robot_logger_device_2024_10_10_11_18_17_resampled_parsed.pickle +3 -0
  23. friction_sim_to_real/l_hip_roll/postprocessing/robot_logger_device_2024_10_10_11_18_17_reduced.mat +3 -0
  24. friction_sim_to_real/l_hip_roll/postprocessing/robot_logger_device_2024_10_10_11_18_17_resampled.mat +3 -0
  25. friction_sim_to_real/l_hip_roll/robot_logger_device_2024_10_10_11_18_17.mat +3 -0
  26. friction_sim_to_real/l_hip_yaw/config.yaml +11 -0
  27. friction_sim_to_real/l_hip_yaw/postprocessing/parsed/config.toml +17 -0
  28. friction_sim_to_real/l_hip_yaw/postprocessing/parsed/robot_logger_device_2024_10_07_14_41_32_resampled_parsed.pickle +3 -0
  29. friction_sim_to_real/l_hip_yaw/postprocessing/robot_logger_device_2024_10_07_14_41_32_reduced.mat +3 -0
  30. friction_sim_to_real/l_hip_yaw/postprocessing/robot_logger_device_2024_10_07_14_41_32_resampled.mat +3 -0
  31. friction_sim_to_real/l_hip_yaw/robot_logger_device_2024_10_07_14_41_32.mat +3 -0
  32. friction_sim_to_real/l_knee/config.yaml +11 -0
  33. friction_sim_to_real/l_knee/postprocessing/parsed/config.toml +17 -0
  34. friction_sim_to_real/l_knee/postprocessing/parsed/robot_logger_device_2024_10_02_12_57_15_resampled_parsed.pickle +3 -0
  35. friction_sim_to_real/l_knee/postprocessing/robot_logger_device_2024_10_02_12_57_15_reduced.mat +3 -0
  36. friction_sim_to_real/l_knee/postprocessing/robot_logger_device_2024_10_02_12_57_15_resampled.mat +3 -0
  37. friction_sim_to_real/l_knee/robot_logger_device_2024_10_02_12_57_15.mat +3 -0
.gitattributes CHANGED
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+ friction_sim_to_real/l_ankle_roll/postprocessing/robot_logger_device_2024_10_01_15_16_03_reduced.mat filter=lfs diff=lfs merge=lfs -text
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+ friction_sim_to_real/l_hip_pitch/postprocessing/robot_logger_device_2024_10_10_12_57_42_resampled.mat filter=lfs diff=lfs merge=lfs -text
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+ friction_sim_to_real/l_hip_pitch/robot_logger_device_2024_10_10_12_57_42.mat filter=lfs diff=lfs merge=lfs -text
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+ friction_sim_to_real/l_hip_roll/postprocessing/robot_logger_device_2024_10_10_11_18_17_reduced.mat filter=lfs diff=lfs merge=lfs -text
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+ friction_sim_to_real/l_hip_roll/postprocessing/robot_logger_device_2024_10_10_11_18_17_resampled.mat filter=lfs diff=lfs merge=lfs -text
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+ friction_sim_to_real/l_hip_yaw/postprocessing/robot_logger_device_2024_10_07_14_41_32_reduced.mat filter=lfs diff=lfs merge=lfs -text
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+ friction_sim_to_real/l_hip_yaw/postprocessing/robot_logger_device_2024_10_07_14_41_32_resampled.mat filter=lfs diff=lfs merge=lfs -text
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+ friction_sim_to_real/l_hip_yaw/robot_logger_device_2024_10_07_14_41_32.mat filter=lfs diff=lfs merge=lfs -text
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+ friction_sim_to_real/l_knee/postprocessing/robot_logger_device_2024_10_02_12_57_15_reduced.mat filter=lfs diff=lfs merge=lfs -text
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+ friction_sim_to_real/l_knee/robot_logger_device_2024_10_02_12_57_15.mat filter=lfs diff=lfs merge=lfs -text
friction_sim_to_real/l_ankle_pitch/config.yaml ADDED
@@ -0,0 +1,11 @@
 
 
 
 
 
 
 
 
 
 
 
 
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+ dataset_folder: "./"
2
+ urdf_uri: package://ergoCub/robots/ergoCubSN001/model.urdf
3
+ moving_joint: l_ankle_pitch
4
+ associated_joints:
5
+ - torso_roll
6
+ - l_hip_pitch
7
+ - l_hip_roll
8
+ - l_hip_yaw
9
+ - l_knee
10
+ - l_ankle_pitch
11
+ - l_ankle_roll
friction_sim_to_real/l_ankle_pitch/postprocessing/parsed/config.toml ADDED
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+ # --- l_knee friction-model configuration --------------------------------
2
+ k_tau = 0.111 # [Nm/A] motor torque constant
3
+ gearbox_ratio = -100 # gear-head (motor → joint)
4
+
5
+ acceleration_threshold = 10.0
6
+ friction_threshold = 6.0
7
+ sign_consistency = true
8
+ motor_inertia = 0.2348e-4
9
+ harmonic_drive_inertia = 0.282e-4
10
+
11
+ #---------
12
+ confidence=0.99
13
+
14
+ # --- training hyper-parameters -----------------------------------------
15
+ batch_size = 4096 # samples per optimization step
16
+ epochs = 10 # number of full passes over the dataset
17
+ lr = 1.0 # Adam learning rate
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+ dataset_folder: "./"
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+ urdf_uri: package://ergoCub/robots/ergoCubSN001/model.urdf
3
+ moving_joint: l_ankle_roll
4
+ associated_joints:
5
+ - torso_roll
6
+ - l_hip_pitch
7
+ - l_hip_roll
8
+ - l_hip_yaw
9
+ - l_knee
10
+ - l_ankle_pitch
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+ - l_ankle_roll
friction_sim_to_real/l_ankle_roll/postprocessing/parsed/config.toml ADDED
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+ # --- l_knee friction-model configuration --------------------------------
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+ k_tau = 0.047 # [Nm/A] motor torque constant
3
+ gearbox_ratio = -160 # gear-head (motor → joint)
4
+
5
+ acceleration_threshold = 10.0
6
+ friction_threshold = 4.0
7
+ sign_consistency = true
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+ motor_inertia = 0.0827e-4
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+ harmonic_drive_inertia = 0.054e-4
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+
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+ #---------
12
+ confidence=0.99
13
+
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+ # --- training hyper-parameters -----------------------------------------
15
+ batch_size = 4096 # samples per optimization step
16
+ epochs = 10 # number of full passes over the dataset
17
+ lr = 1.0 # Adam learning rate
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+ urdf_uri: package://ergoCub/robots/ergoCubSN001/model.urdf
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+ moving_joint: l_hip_pitch
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+ associated_joints:
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+ - l_hip_pitch
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+ - l_hip_roll
8
+ - l_hip_yaw
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+
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+ acceleration_threshold = 10.0
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9
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10
+
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+ #---------
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+ confidence=0.99
13
+
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+ # --- training hyper-parameters -----------------------------------------
15
+ batch_size = 4096 # samples per optimization step
16
+ epochs = 10 # number of full passes over the dataset
17
+ lr = 1.0 # Adam learning rate
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+ urdf_uri: package://ergoCub/robots/ergoCubSN001/model.urdf
3
+ moving_joint: l_hip_roll
4
+ associated_joints:
5
+ - torso_roll
6
+ - l_hip_pitch
7
+ - l_hip_roll
8
+ - l_hip_yaw
9
+ - l_knee
10
+ - l_ankle_pitch
11
+ - l_ankle_roll
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2
+ k_tau = 0.047 # [Nm/A] motor torque constant
3
+ gearbox_ratio = 160 # gear-head (motor → joint)
4
+
5
+ acceleration_threshold = 10.0
6
+ friction_threshold = 4.0
7
+ sign_consistency = true
8
+ motor_inertia = 0.0827e-4
9
+ harmonic_drive_inertia = 0.090e-4
10
+
11
+ #---------
12
+ confidence=0.99
13
+
14
+ # --- training hyper-parameters -----------------------------------------
15
+ batch_size = 4096 # samples per optimization step
16
+ epochs = 10 # number of full passes over the dataset
17
+ lr = 1.0 # Adam learning rate
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2
+ urdf_uri: package://ergoCub/robots/ergoCubSN001/model.urdf
3
+ moving_joint: l_hip_yaw
4
+ associated_joints:
5
+ - torso_roll
6
+ - l_hip_pitch
7
+ - l_hip_roll
8
+ - l_hip_yaw
9
+ - l_knee
10
+ - l_ankle_pitch
11
+ - l_ankle_roll
friction_sim_to_real/l_hip_yaw/postprocessing/parsed/config.toml ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ # --- l_knee friction-model configuration --------------------------------
2
+ k_tau = 0.047 # [Nm/A] motor torque constant
3
+ gearbox_ratio = -100 # gear-head (motor → joint)
4
+
5
+ acceleration_threshold = 10.0
6
+ friction_threshold = 4.0
7
+ sign_consistency = true
8
+ motor_inertia = 0.0827e-4
9
+ harmonic_drive_inertia = 0.090e-4
10
+
11
+ #---------
12
+ confidence=0.99
13
+
14
+ # --- training hyper-parameters -----------------------------------------
15
+ batch_size = 4096 # samples per optimization step
16
+ epochs = 10 # number of full passes over the dataset
17
+ lr = 1.0 # Adam learning rate
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+ dataset_folder: "./"
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+ urdf_uri: package://ergoCub/robots/ergoCubSN001/model.urdf
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+ moving_joint: l_knee
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+ associated_joints:
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+ - torso_roll
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+ - l_hip_pitch
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+ - l_hip_roll
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+ - l_hip_yaw
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+ - l_knee
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+ - l_ankle_pitch
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+ - l_ankle_roll
friction_sim_to_real/l_knee/postprocessing/parsed/config.toml ADDED
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+ # --- l_knee friction-model configuration --------------------------------
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+ k_tau = 0.111 # [Nm/A] motor torque constant
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+ gearbox_ratio = -100 # gear-head (motor → joint)
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+
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+ acceleration_threshold = 10.0
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+ friction_threshold = 6.0
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+ sign_consistency = true
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+ motor_inertia = 0.2348e-4
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+ harmonic_drive_inertia = 0.282e-4
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+
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+ #---------
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+ confidence=0.99
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+
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+ # --- training hyper-parameters -----------------------------------------
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+ batch_size = 4096 # samples per optimization step
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+ epochs = 10 # number of full passes over the dataset
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+ lr = 1.0 # Adam learning rate
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