111 lines
3.3 KiB
YAML
111 lines
3.3 KiB
YAML
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# Paths are resolved relative to the code/ directory by legacy entry points.
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master_urdf: "config/master_7dof.urdf"
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slave_urdf: "config/real_slave_7dof.urdf"
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m_base_frame: master_base
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m_shoulder_frame: master_shoulder
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m_elbow_frame: master_forearm
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m_wrist_frame: master_wrist
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m_ee_frame: master_ee
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s_base_frame: PELVIS_S
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s_shoulder_frame: R_SHOULDER_R_S
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s_elbow_frame: R_ELBOW_R_S
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s_wrist_frame: R_WRIST_R_S
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# The physical URDF has no calibrated TCP/FT frame yet. R_WRIST_R_S is the
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# chain-end frame; the new simulator adds a documented R_EE_SIM frame at run
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# time. Replace it with the measured TCP before hardware experiments.
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s_ee_frame: R_WRIST_R_S
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master_joint_names: [
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"master_shoulder_pitch_joint",
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"master_shoulder_yaw_joint",
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"master_shoulder_roll_joint",
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"master_elbow_flex_joint",
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"master_wrist_roll_joint",
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"master_wrist_yaw_joint",
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"master_wrist_pitch_joint",
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]
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sew_mapper:
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slave_joint_names: [
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"R_SHOULDER_P",
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"R_SHOULDER_R",
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"R_SHOULDER_Y",
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"R_ELBOW_R",
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"R_WRIST_P",
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"R_WRIST_Y",
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"R_WRIST_R",
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]
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shoulder_axis_order: "yxy"
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shoulder_signs: [-1.0, 1.0, -1.0]
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wrist_axis_order: "yzx"
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wrist_signs: [-1.0, 1.0, 1.0]
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elbow_axis_local: [1.0, 0.0, 0.0]
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up_dir: [0, 0, 1.0]
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eps_clip: 0.001
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fd_eps: 0.0001
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interaction_est:
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lambda_damp: 0.001
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haptic_render:
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feedback_strength: 1.2
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E_init: 1.0
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E_max: 8.0
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alpha_floor: 0.0
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alpha_ceil: 1.0
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E0: 1.0
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simulation:
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dt: 0.002
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duration: 4.0
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mapping_hz: 50.0
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seed: 7
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# Independent forward/return channels. G0c may override these with a
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# frozen trace; the defaults reproduce the former fixed-return-delay case.
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forward_delay_s: 0.0
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feedback_delay_s: 0.080
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forward_jitter_s: 0.0
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return_jitter_s: 0.0
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forward_packet_loss: 0.0
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return_packet_loss: 0.0
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forward_timeout_s: 0.20
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return_timeout_s: 0.20
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# A small smooth 3-cycle contact probe exposes delayed-channel activity
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# without causing joint, torque, or position-limit events.
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contact_probe_fraction: 0.03
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contact_probe_cycles: 3.0
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slave_tcp_frame: R_EE_SIM
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slave_tcp_offset: [-0.01212, -0.17655, 0.07506]
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wall_fraction: 0.55
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wall_stiffness: 800.0
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wall_damping: 45.0
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wall_force_limit: 80.0
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wall_transition_depth: 0.0001
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master_kp: [196.0, 196.0, 144.0, 256.0, 100.0, 100.0, 81.0]
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master_kd: [28.0, 28.0, 24.0, 32.0, 20.0, 20.0, 18.0]
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slave_kp: [900.0, 900.0, 676.0, 1156.0, 400.0, 324.0, 324.0]
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slave_kd: [54.0, 54.0, 46.8, 61.2, 36.0, 32.4, 32.4]
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master_acceleration_limits: [100.0, 100.0, 120.0, 120.0, 160.0, 160.0, 160.0]
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slave_acceleration_limits: [120.0, 120.0, 150.0, 150.0, 180.0, 180.0, 180.0]
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master_tracking_effort_fraction: 0.65
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slave_tracking_effort_fraction: 0.70
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velocity_limit_fraction: 0.80
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soft_limit_buffer: 0.12
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feedback_strength: 0.50
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haptic_filter_alpha: 0.222
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haptic_torque_limits: [6.0, 6.0, 4.0, 3.0, 1.0, 1.0, 1.0]
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haptic_rate_limits: [150.0, 150.0, 100.0, 80.0, 30.0, 30.0, 30.0]
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energy_min: 0.050
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energy_max: 0.055
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energy_initial: 0.050
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sensor_noise_std: 0.001
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# G0c numerical scaling only. Replace with a calibration-selected value
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# before locked hardware experiments.
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wrench_characteristic_length_m: 0.30
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wrench_scaled_damping: 0.001
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sensor_bias: [0.080, -0.050, 0.035, -0.025, 0.015, -0.010, 0.020]
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bias_calibration_samples: 200
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joint_limit_margin: 0.00001
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differential_step: 0.0001
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