Upload v3.0 files

config/USER/config_USER_param_template.m

@@ -7,7 +7,7 @@
 %%%%%% 
 %%%%%% Created 2020-07-08
 %%%%%% Warley Ribeiro
-%%%%%% Last update: 2020-10-01
+%%%%%% Last update: 2021-07-26
 %%%%%% Keigo Haji
 %
 %
@@ -18,7 +18,7 @@
 %     OUTPUT
 %         robot_param
 %         environment_param
-%         gait_param
+%         gait_planning_param
 %         control_param
 %         equilibrium_eval_param
 %         ani_settings
@@ -27,12 +27,13 @@
 %         gripper_param
 %         map_param
 %         matching_settings
+%         sensing_camera_param
 %     INPUT
 %         -
 
-function [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings, gripper_param, map_param, matching_settings] = config_USER_param(robot_param, environment_param, gait_param, control_param, ...
-    equilibrium_eval_param, ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings)
+function [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_USER_param(robot_param, environment_param, gait_planning_param, control_param, ...
+    equilibrium_eval_param, ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param)
 %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Robot Parameters %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 
@@ -44,7 +45,12 @@
 
 
 %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Control Parameters %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+if contains(robot_param.robot_type, 'HubRobo_v3')
+    %%% Controller Proportional (P) gain
+    control_param.kp = 10.0;
+    %%% Controller Derivative (D) gain
+    control_param.kd = 0.3;
+end
 
 %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Equilibrium Parameters %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
@@ -67,4 +73,7 @@
 %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Matching Settings %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 
+%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Sensing Camera Parameters %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+
 end

config/config_all_default_param.m

@@ -0,0 +1,51 @@
+%%%%%% Configuration
+%%%%%% config_all_default_param
+%%%%%% 
+%%%%%% Define all default parameters
+%%%%%% 
+%%%%%% Created 2021-03-02
+%%%%%% Keigo Haji
+%%%%%% Last update: 2021-04-24
+%%%%%% Kentaro Uno
+%
+%
+% Define and load configurations for all default parameters. 
+%
+% Function variables:
+%
+%     OUTPUT
+%         robot_param
+%         environment_param
+%         gait_planning_param
+%         control_param
+%         equilibrium_eval_param
+%         ani_settings
+%         save_settings
+%         plot_settings
+%         gripper_param
+%         map_param
+%         matching_settings
+%         sensing_camera_param
+%     INPUT
+%         -
+%
+%
+function [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_all_default_param()
+
+
+% Load all default parameters
+robot_param = config_robot_param();
+environment_param = config_environment_param();
+gait_planning_param = config_gait_planning_param();
+control_param = config_control_param();
+equilibrium_eval_param = config_equilibrium_param();
+ani_settings = config_animation_settings();
+save_settings = config_save_settings(environment_param);
+plot_settings = config_plot_settings();
+[gripper_param, map_param, matching_settings] = config_target_detection_param();
+sensing_camera_param = config_sensing_camera_param();
+
+
+end
+

config/config_simulation.m

@@ -5,8 +5,8 @@
 %%%%%% 
 %%%%%% Created 2020-07-09
 %%%%%% Warley Ribeiro
-%%%%%% Last update: 2020-10-15
-%%%%%% Keentaro Uno
+%%%%%% Last update: 2021-07-08
+%%%%%% Keigo Haji
 %
 %
 % Load configurations for simulation
@@ -16,7 +16,7 @@
 %     OUTPUT
 %         robot_param
 %         environment_param
-%         gait_param
+%         gait_planning_param
 %         control_param
 %         equilibrium_eval_param
 %         ani_settings
@@ -25,48 +25,83 @@
 %         gripper_param
 %         map_param
 %         matching_settings
+%         sensing_camera_param
 %     INPUT
 %         config
 
-function [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings, gripper_param, map_param, matching_settings] = config_simulation(config)
+function [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_simulation(config)
 %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% General settings %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-robot_param = config_robot_param();
-environment_param = config_environment_param();
-gait_param = config_gait_param();
-control_param = config_control_param();
-equilibrium_eval_param = config_equilibrium_param();
+% Load all default parameters
+[robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_all_default_param();
 
-ani_settings = config_animation_settings();
-save_settings = config_save_settings();
-plot_settings = config_plot_settings();
-[gripper_param, map_param, matching_settings] = config_target_detection_param();
 
+% Reads the config file with the specified config name and overwrites the variables
 if strcmp(config,'USER')
-    [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings, gripper_param, map_param, matching_settings] = config_USER_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
-    ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings);
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_USER_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
+    ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param);
+end
+if strcmp(config,'example_demo_1')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_example_demo_1_param(robot_param, environment_param, gait_planning_param, control_param, ...
+    equilibrium_eval_param, ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param);
+end
+if strcmp(config,'example_demo_2')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_example_demo_2_param(robot_param, environment_param, gait_planning_param, control_param, ...
+    equilibrium_eval_param, ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param);
+end
+if strcmp(config,'example_demo_3')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_example_demo_3_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
+    ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param);
 end
 if strcmp(config,'gia_static')
-    [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings] = config_gia_static(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings] = config_gia_static_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
     ani_settings, save_settings, plot_settings);
 end
-if strcmp(config,'uno_crawl_param')
-    [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings] = config_uno_crawl_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
+if strcmp(config,'clawar_2021_dynamic_climbing_demo')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings] = config_clawar_2021_dynamic_climbing_demo_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
     ani_settings, save_settings, plot_settings);
 end
-if strcmp(config,'nonperiodic_demo_param')
-    [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings] = config_nonperiodic_demo_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
+if strcmp(config,'crawl_gait_for_discrete_footholds')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings] = config_crawl_gait_for_discrete_footholds_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
     ani_settings, save_settings, plot_settings);
 end
-if strcmp(config,'iSAIRAS_2020_demo_param')
-    [robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
-    plot_settings, gripper_param, map_param, matching_settings] = config_iSAIRAS_2020_demo_param(robot_param, environment_param, gait_param, control_param, equilibrium_eval_param, ...
+if strcmp(config,'nonperiodic_gait_for_discrete_footholds')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings] = config_nonperiodic_gait_for_discrete_footholds_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
+    ani_settings, save_settings, plot_settings);
+end
+if strcmp(config,'iSAIRAS_2020_demo')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_iSAIRAS_2020_demo_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
+    ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param);
+end
+if strcmp(config,'base_pos_opt_quasistatic')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings] = config_base_pos_opt_quasistatic_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
     ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings);
 end
-
+if strcmp(config,'clawar_2021_dynamic_climbing_demo')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings] = config_clawar_2021_dynamic_climbing_demo_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
+    ani_settings, save_settings, plot_settings);
+end
+if strcmp(config,'clawar_2021_statistical_analysis')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings] = config_clawar_2021_statistical_analysis_param(robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ...
+    ani_settings, save_settings, plot_settings);
+end
+if strcmp(config,'hubrobo_testfield_exp')
+    [robot_param, environment_param, gait_planning_param, control_param, equilibrium_eval_param, ani_settings, save_settings, ...
+    plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param] = config_hubrobo_testfield_exp_param(robot_param, environment_param, gait_planning_param, control_param, ...
+    equilibrium_eval_param, ani_settings, save_settings, plot_settings, gripper_param, map_param, matching_settings, sensing_camera_param);
+end
 end