From 3088c557e2bd8a8f9a12522c2878f4761492c4d0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 24 Sep 2022 20:09:28 +0200
Subject: [PATCH] Add necessary YAML params
---
...oblem_force_torque_inertial_dynamics_processor_test.yaml | 6 +++++-
...blem_force_torque_inertial_dynamics_simulation_test.yaml | 4 ++++
.../problem_force_torque_inertial_dynamics_solve_test.yaml | 4 ++++
test/yaml/processor_force_torque_inertial.yaml | 1 +
test/yaml/sensor_force_torque_inertial.yaml | 6 +++++-
5 files changed, 19 insertions(+), 2 deletions(-)
diff --git a/test/yaml/problem_force_torque_inertial_dynamics_processor_test.yaml b/test/yaml/problem_force_torque_inertial_dynamics_processor_test.yaml
index d52ed3d..2df498f 100644
--- a/test/yaml/problem_force_torque_inertial_dynamics_processor_test.yaml
+++ b/test/yaml/problem_force_torque_inertial_dynamics_processor_test.yaml
@@ -39,7 +39,11 @@ config:
com: [0,0,0.0341] # center of mass [m]
inertia: [0.017598,0.017957,0.029599] # moments of inertia i_xx, i_yy, i_zz [kg m2]
mass: 1.952 # mass [kg]
-
+ imu_bias_fix: true
+ com_fix: true
+ inertia_fix: true
+ mass_fix: true
+
processors:
-
name: "proc FTID"
diff --git a/test/yaml/problem_force_torque_inertial_dynamics_simulation_test.yaml b/test/yaml/problem_force_torque_inertial_dynamics_simulation_test.yaml
index 3dc2877..f3e25c0 100644
--- a/test/yaml/problem_force_torque_inertial_dynamics_simulation_test.yaml
+++ b/test/yaml/problem_force_torque_inertial_dynamics_simulation_test.yaml
@@ -48,6 +48,10 @@ config:
com: [0.005,0.005,0.01] # center of mass [m]
inertia: [0.015,0.015,0.030] # moments of inertia i_xx, i_yy, i_zz [kg m2]
mass: 2.00 # mass [kg]
+ imu_bias_fix: true
+ com_fix: true
+ inertia_fix: true
+ mass_fix: true
-
name: sensor Pose
diff --git a/test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml b/test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml
index 4b43965..79aaa00 100644
--- a/test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml
+++ b/test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml
@@ -48,6 +48,10 @@ config:
com: [0,0,0.0341] # center of mass [m]
inertia: [0.017598,0.017957,0.029599] # moments of inertia i_xx, i_yy, i_zz [kg m2]
mass: 1.952 # mass [kg]
+ imu_bias_fix: true
+ com_fix: true
+ inertia_fix: true
+ mass_fix: true
processors:
-
diff --git a/test/yaml/processor_force_torque_inertial.yaml b/test/yaml/processor_force_torque_inertial.yaml
index beafed9..84aca5a 100644
--- a/test/yaml/processor_force_torque_inertial.yaml
+++ b/test/yaml/processor_force_torque_inertial.yaml
@@ -10,4 +10,5 @@
max_buff_length: 5 # motion deltas
dist_traveled: 1 # meters
angle_turned: 1 # radians (1 rad approx 57 deg, approx 60 deg)
+
diff --git a/test/yaml/sensor_force_torque_inertial.yaml b/test/yaml/sensor_force_torque_inertial.yaml
index 746d4f5..21d169c 100644
--- a/test/yaml/sensor_force_torque_inertial.yaml
+++ b/test/yaml/sensor_force_torque_inertial.yaml
@@ -9,4 +9,8 @@ gyro_drift_std: 0.00001 # std dev of gyro drift rad/s/sqrt(s)
com: [0,0,0.0341] # center of mass [m]
inertia: [0.017598,0.017957,0.029599] # moments of inertia i_xx, i_yy, i_zz [kg m2]
-mass: 1.952 # mass [kg]
\ No newline at end of file
+mass: 1.952 # mass [kg]
+imu_bias_fix: true
+com_fix: true
+inertia_fix: true
+mass_fix: true
\ No newline at end of file
--
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