changed draco urdf in draco_interface back to w/o gripper by default

also updated KF tuning parameters
shbang91 · Aug 19, 2024 · a549961 · a549961
1 parent 6775478
commit a549961
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diff --git a/config/draco/sim/pybullet/ihwbc/pnc.yaml b/config/draco/sim/pybullet/ihwbc/pnc.yaml
@@ -30,11 +30,11 @@ state_estimator:
   foot_reference_frame: 1 #0: left foot, 1: right foot
 
   sigma_base_vel: [0.0, 0.0, 0.0]
-  sigma_base_acc: [0.5, 0.2, 0.2]
+  sigma_base_acc: [0.1, 0.1, 0.1]
   sigma_pos_lfoot: [0.001, 0.001, 0.001]
   sigma_pos_rfoot: [0.001, 0.001, 0.001]
-  sigma_vel_lfoot: [0.005, 0.005, 0.002]
-  sigma_vel_rfoot: [0.005, 0.005, 0.002]
+  sigma_vel_lfoot: [0.001, 0.001, 0.001]
+  sigma_vel_rfoot: [0.001, 0.001, 0.001]
   imu_accel_bias: [0.0, 0.0, 0.0]
   base_accel_time_constant: 0.02
   base_accel_limits: [1., 1., 1.]

diff --git a/controller/draco_controller/draco_interface.cpp b/controller/draco_controller/draco_interface.cpp
@@ -30,9 +30,9 @@ DracoInterface::DracoInterface() : Interface() {
   std::vector<std::string> unactuated_joint_list = {"l_knee_fe_jp",
                                                     "r_knee_fe_jp"};
   robot_ = new PinocchioRobotSystem(
-      // THIS_COM "robot_model/draco/draco_latest_collisions.urdf",
-      // /*This is for draco with grippers*/
-      THIS_COM "robot_model/draco/draco_latest_collisions_with_gripper.urdf",
+       THIS_COM "robot_model/draco/draco_latest_collisions.urdf",
+       /*This is for draco with grippers*/
+//      THIS_COM "robot_model/draco/draco_latest_collisions_with_gripper.urdf",
       THIS_COM "robot_model/draco", false, false, &unactuated_joint_list);
   // robot_ = new PinocchioRobotSystem(
   // THIS_COM "robot_model/draco/draco_modified.urdf",