Remove the need to specify the 'robot_velocity_variable_name' in the …

…QPIK
robotology · Sep 20, 2024 · 04eb0b3 · 04eb0b3
1 parent df77cef
commit 04eb0b3
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Showing 69 changed files with 32 additions and 128 deletions.
diff --git a/...app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini b/...app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini
@@ -4,24 +4,20 @@ use_feedforward_term_for_joint_retargeting      false
 robot_velocity_variable_name    "robot_velocity"
 
 [COM_TASK]
-robot_velocity_variable_name    "robot_velocity"
 kp_linear                       2.0
 mask                            (true, true, false)
 
 [ROOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "root_link"
 kp_linear                       0.5
 mask                            (false, false, true)
 
 [RIGHT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "r_sole"
 kp_linear                       7.0
 kp_angular                      5.0
 
 [LEFT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "l_sole"
 kp_linear                       7.0
 kp_angular                      5.0

diff --git a/...e/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini b/...e/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0,
                                  1.0, 1.0, 1.0, 1.0, 1.0, 5.0, 5.0,

diff --git a/...dule/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini b/...dule/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0,

diff --git a/...kingModule/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini b/...kingModule/app/robots/ergoCubGazeboV1/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "chest"
 kp_angular                      5.0
 

diff --git a/...ngModule/app/robots/ergoCubGazeboV1/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini b/...ngModule/app/robots/ergoCubGazeboV1/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini
@@ -4,24 +4,20 @@ use_joints_limits_task                          false
 robot_velocity_variable_name    "robot_velocity"
 
 [COM_TASK]
-robot_velocity_variable_name    "robot_velocity"
 kp_linear                       0.0
 mask                            (true, true, false)
 
 [ROOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "root_link"
 kp_linear                       1.0
 mask                            (false, false, true)
 
 [RIGHT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "r_sole"
 kp_linear                       7.0
 kp_angular                      5.0
 
 [LEFT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "l_sole"
 kp_linear                       7.0
 kp_angular                      5.0

diff --git a/...kingModule/app/robots/ergoCubGazeboV1/dcm_walking/joypad_control/tasks/regularization.ini b/...kingModule/app/robots/ergoCubGazeboV1/dcm_walking/joypad_control/tasks/regularization.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0,

diff --git a/src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/joypad_control/tasks/torso.ini b/src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/joypad_control/tasks/torso.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "chest"
 kp_angular                      5.0
 

diff --git a/...Module/app/robots/ergoCubGazeboV1_1/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini b/...Module/app/robots/ergoCubGazeboV1_1/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini
@@ -4,24 +4,20 @@ use_joints_limits_task                          false
 robot_velocity_variable_name    "robot_velocity"
 
 [COM_TASK]
-robot_velocity_variable_name    "robot_velocity"
 kp_linear                       0.0
 mask                            (true, true, false)
 
 [ROOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "root_link"
 kp_linear                       1.0
 mask                            (false, false, true)
 
 [RIGHT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "r_sole"
 kp_linear                       7.0
 kp_angular                      5.0
 
 [LEFT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "l_sole"
 kp_linear                       7.0
 kp_angular                      5.0

diff --git a/...ngModule/app/robots/ergoCubGazeboV1_1/dcm_walking/joypad_control/tasks/regularization.ini b/...ngModule/app/robots/ergoCubGazeboV1_1/dcm_walking/joypad_control/tasks/regularization.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0,

diff --git a/src/WalkingModule/app/robots/ergoCubGazeboV1_1/dcm_walking/joypad_control/tasks/torso.ini b/src/WalkingModule/app/robots/ergoCubGazeboV1_1/dcm_walking/joypad_control/tasks/torso.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "chest"
 kp_angular                      5.0
 

diff --git a/...le/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini b/...le/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini
@@ -5,24 +5,20 @@ use_joints_limits_task                          false
 robot_velocity_variable_name    "robot_velocity"
 
 [COM_TASK]
-robot_velocity_variable_name    "robot_velocity"
 kp_linear                       2.0
 mask                            (true, true, false)
 
 [ROOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "root_link"
 kp_linear                       0.5
 mask                            (false, false, true)
 
 [RIGHT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "r_sole"
 kp_linear                       7.0
 kp_angular                      5.0
 
 [LEFT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "l_sole"
 kp_linear                       7.0
 kp_angular                      5.0

diff --git a/...dule/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini b/...dule/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0,
                                  1.0, 1.0, 1.0, 1.0, 1.0, 5.0, 5.0,

diff --git a/...gModule/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini b/...gModule/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0,

diff --git a/...WalkingModule/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini b/...WalkingModule/app/robots/ergoCubSN000/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "chest"
 kp_angular                      5.0
 

diff --git a/...lkingModule/app/robots/ergoCubSN000/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini b/...lkingModule/app/robots/ergoCubSN000/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini
@@ -4,24 +4,20 @@ use_joints_limits_task                          false
 robot_velocity_variable_name    "robot_velocity"
 
 [COM_TASK]
-robot_velocity_variable_name    "robot_velocity"
 kp_linear                       2.0
 mask                            (true, true, false)
 
 [ROOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "root_link"
 kp_linear                       1.0
 mask                            (false, false, true)
 
 [RIGHT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "r_sole"
 kp_linear                       7.0
 kp_angular                      5.0
 
 [LEFT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "l_sole"
 kp_linear                       7.0
 kp_angular                      5.0

diff --git a/...WalkingModule/app/robots/ergoCubSN000/dcm_walking/joypad_control/tasks/regularization.ini b/...WalkingModule/app/robots/ergoCubSN000/dcm_walking/joypad_control/tasks/regularization.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0,

diff --git a/src/WalkingModule/app/robots/ergoCubSN000/dcm_walking/joypad_control/tasks/torso.ini b/src/WalkingModule/app/robots/ergoCubSN000/dcm_walking/joypad_control/tasks/torso.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "chest"
 kp_angular                      5.0
 

diff --git a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/autonomous/qpInverseKinematicsBlf.ini b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/autonomous/qpInverseKinematicsBlf.ini
@@ -5,24 +5,20 @@ use_joints_limits_task                          false
 robot_velocity_variable_name    "robot_velocity"
 
 [COM_TASK]
-robot_velocity_variable_name    "robot_velocity"
 kp_linear                       2.0
 mask                            (true, true, false)
 
 [ROOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "root_link"
 kp_linear                       0.5
 mask                            (false, false, true)
 
 [RIGHT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "r_sole"
 kp_linear                       7.0
 kp_angular                      5.0
 
 [LEFT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "l_sole"
 kp_linear                       7.0
 kp_angular                      5.0

diff --git a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/autonomous/tasks/regularization.ini b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/autonomous/tasks/regularization.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0,
                                  1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,

diff --git a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/autonomous/tasks/retargeting.ini b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/autonomous/tasks/retargeting.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0,

diff --git a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/autonomous/tasks/torso.ini b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/autonomous/tasks/torso.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "chest"
 kp_angular                      5.0
 

diff --git a/...le/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini b/...le/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini
@@ -5,24 +5,20 @@ use_joints_limits_task                          false
 robot_velocity_variable_name    "robot_velocity"
 
 [COM_TASK]
-robot_velocity_variable_name    "robot_velocity"
 kp_linear                       2.0
 mask                            (true, true, false)
 
 [ROOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "root_link"
 kp_linear                       0.5
 mask                            (false, false, true)
 
 [RIGHT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "r_sole"
 kp_linear                       7.0
 kp_angular                      5.0
 
 [LEFT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "l_sole"
 kp_linear                       7.0
 kp_angular                      5.0

diff --git a/...dule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini b/...dule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0,
                                  1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,

diff --git a/...gModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini b/...gModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0,

diff --git a/...WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini b/...WalkingModule/app/robots/ergoCubSN001/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "chest"
 kp_angular                      5.0
 

diff --git a/...lkingModule/app/robots/ergoCubSN001/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini b/...lkingModule/app/robots/ergoCubSN001/dcm_walking/joypad_control/qpInverseKinematicsBlf.ini
@@ -4,24 +4,20 @@ use_joints_limits_task                          false
 robot_velocity_variable_name    "robot_velocity"
 
 [COM_TASK]
-robot_velocity_variable_name    "robot_velocity"
 kp_linear                       2.0
 mask                            (true, true, false)
 
 [ROOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "root_link"
 kp_linear                       1.0
 mask                            (false, false, true)
 
 [RIGHT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "r_sole"
 kp_linear                       7.0
 kp_angular                      5.0
 
 [LEFT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "l_sole"
 kp_linear                       7.0
 kp_angular                      5.0

diff --git a/...WalkingModule/app/robots/ergoCubSN001/dcm_walking/joypad_control/tasks/regularization.ini b/...WalkingModule/app/robots/ergoCubSN001/dcm_walking/joypad_control/tasks/regularization.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0,

diff --git a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/joypad_control/tasks/torso.ini b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/joypad_control/tasks/torso.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "chest"
 kp_angular                      5.0
 

diff --git a/src/WalkingModule/app/robots/ergoCubSN002/dcm_walking/autonomous/qpInverseKinematicsBlf.ini b/src/WalkingModule/app/robots/ergoCubSN002/dcm_walking/autonomous/qpInverseKinematicsBlf.ini
@@ -5,24 +5,20 @@ use_joints_limits_task                          false
 robot_velocity_variable_name    "robot_velocity"
 
 [COM_TASK]
-robot_velocity_variable_name    "robot_velocity"
 kp_linear                       2.0
 mask                            (true, true, false)
 
 [ROOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "root_link"
 kp_linear                       0.5
 mask                            (false, false, true)
 
 [RIGHT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "r_sole"
 kp_linear                       7.0
 kp_angular                      5.0
 
 [LEFT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "l_sole"
 kp_linear                       7.0
 kp_angular                      5.0

diff --git a/src/WalkingModule/app/robots/ergoCubSN002/dcm_walking/autonomous/tasks/regularization.ini b/src/WalkingModule/app/robots/ergoCubSN002/dcm_walking/autonomous/tasks/regularization.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0,
                                  1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,

diff --git a/src/WalkingModule/app/robots/ergoCubSN002/dcm_walking/autonomous/tasks/retargeting.ini b/src/WalkingModule/app/robots/ergoCubSN002/dcm_walking/autonomous/tasks/retargeting.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0,

diff --git a/src/WalkingModule/app/robots/ergoCubSN002/dcm_walking/autonomous/tasks/torso.ini b/src/WalkingModule/app/robots/ergoCubSN002/dcm_walking/autonomous/tasks/torso.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "chest"
 kp_angular                      5.0
 

diff --git a/...le/app/robots/ergoCubSN002/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini b/...le/app/robots/ergoCubSN002/dcm_walking/iFeel_joint_retargeting/qpInverseKinematicsBlf.ini
@@ -5,24 +5,20 @@ use_joints_limits_task                          false
 robot_velocity_variable_name    "robot_velocity"
 
 [COM_TASK]
-robot_velocity_variable_name    "robot_velocity"
 kp_linear                       2.0
 mask                            (true, true, false)
 
 [ROOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "root_link"
 kp_linear                       0.5
 mask                            (false, false, true)
 
 [RIGHT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "r_sole"
 kp_linear                       7.0
 kp_angular                      5.0
 
 [LEFT_FOOT_TASK]
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "l_sole"
 kp_linear                       7.0
 kp_angular                      5.0

diff --git a/...dule/app/robots/ergoCubSN002/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini b/...dule/app/robots/ergoCubSN002/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0,
                                  1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,

diff --git a/...gModule/app/robots/ergoCubSN002/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini b/...gModule/app/robots/ergoCubSN002/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0,

diff --git a/...WalkingModule/app/robots/ergoCubSN002/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini b/...WalkingModule/app/robots/ergoCubSN002/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini
@@ -1,4 +1,3 @@
-robot_velocity_variable_name    "robot_velocity"
 frame_name                      "chest"
 kp_angular                      5.0