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@@ -1369,3 +1369,13 @@ TSID_pole/2024_10_16_tsid_pole/robot_logger_device_2024_10_16_13_07_30.mat filte
 TSID_pole/2024_10_16_tsid_pole/robot_logger_device_2024_10_16_13_08_26.mat filter=lfs diff=lfs merge=lfs -text
 TSID_pole/2024_10_16_tsid_pole/robot_logger_device_2024_10_16_13_09_53.mat filter=lfs diff=lfs merge=lfs -text
 TSID_pole/2024_10_16_tsid_pole/robot_logger_device_2024_10_16_13_10_53.mat filter=lfs diff=lfs merge=lfs -text
+tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_17_12_21_39.mat filter=lfs diff=lfs merge=lfs -text
+tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_17_12_28_37.mat filter=lfs diff=lfs merge=lfs -text
+tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_17_12_40_25.mat filter=lfs diff=lfs merge=lfs -text
+tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_17_13_07_16.mat filter=lfs diff=lfs merge=lfs -text
+tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_17_13_18_48.mat filter=lfs diff=lfs merge=lfs -text
+tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_17_13_32_13.mat filter=lfs diff=lfs merge=lfs -text
+tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_18_10_27_43.mat filter=lfs diff=lfs merge=lfs -text
+tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_18_11_03_18.mat filter=lfs diff=lfs merge=lfs -text
+tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_18_11_09_38.mat filter=lfs diff=lfs merge=lfs -text
+tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_18_11_24_14.mat filter=lfs diff=lfs merge=lfs -text

tsid_balancing_torque_control/2024_10_17_tsid_balancing/plot_data.asv

@@ -0,0 +1,108 @@
+close all;
+clear;
+
+dataset = 'robot_logger_device_2024_10_17_13_32_13.mat';
+
+load(dataset);
+
+jnt_list = robot_logger_device.tsid_fixed_cartesian.joints_state.torques.tsid.elements_names;
+
+time_des = squeeze(robot_logger_device.balancing_tsid.desired_torque.timestamps)';
+time_meas = squeeze(robot_logger_device.joints_state. ...
+    torques.timestamps)';
+trq_meas = squeeze(robot_logger_device.joints_state.torques.data)';
+[~, start_idx] = min(abs(time_meas - time_des(1)));
+time_meas = time_meas(start_idx:end);
+trq_meas = trq_meas(start_idx:end, :);
+time_end = min(time_meas(end), time_des(end));
+time_meas = time_meas(time_meas <= time_end);
+time_des = time_des(time_des <= time_end);
+trq_meas = trq_meas(1:length(time_meas), :);
+time_start = time_meas(1);
+time_meas = time_meas - time_start;
+time_des = time_des - time_start;
+time_des = time_des - time_des(1);
+
+trq_des = squeeze(robot_logger_device.balancing_tsid.desired_torque.timestamps.data)';
+trq_des = trq_des(:, end-11:end);
+trq_meas = trq_meas(:, end-11:end);
+
+com_des = squeeze(robot_logger_device.balancing_tsid.com_reference.data)';
+com_meas = squeeze(robot_logger_device.balancing_tsid.com_from_measured)';
+
+% Plot trq_meas vs trq_des in 6 subplots in 1 figure and the other 6 in a new figure
+figure;
+for i=1:6
+    subplot(3,2,i);
+    plot(time_meas, trq_meas(:, i), 'LineWidth', 2);
+    hold on;
+    plot(time_des, trq_des(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    legend('Measured', 'Commanded');
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel('Torque [Nm]', 'FontSize', 12);
+    % Disable latex interpreter for titles
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end
+
+figure;
+for i=7:12
+    subplot(3,2,i-6);
+    plot(time_meas, trq_meas(:, i), 'LineWidth', 2);
+    hold on;
+    plot(time_des, trq_des(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    legend('Measured', 'Commanded');
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel('Torque [Nm]', 'FontSize', 12);
+    % Disable latex interpreter for titles
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end
+
+
+% Plot tracking error of torques
+% Align data to the same time vector time_des
+trq_meas = interp1(time_meas, trq_meas, time_des);
+
+trq_err = trq_meas - trq_des;
+figure;
+for i=1:6
+    subplot(3,2,i);
+    plot(time_des, trq_err(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel('Error [Nm]', 'FontSize', 12);
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end
+
+figure;
+for i=7:12
+    subplot(3,2,i-6);
+    plot(time_des, trq_err(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel('Error [Nm]', 'FontSize', 12);
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end
+
+
+% Plot com_des vs com_meas in 6 subplots in 1 figure and the other 6 in a new figure
+labels = ['CoM_x', 'CoM_y', 'CoM_z'];
+figure;
+for i=1:3
+    subplot(3,1,i);
+    plot(time_des, com_des(:, i), 'LineWidth', 2);
+    hold on;
+    plot(time_meas, com_meas(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    legend('Desired', 'Measured');
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel(labels[, 'FontSize', 12);
+    % Disable latex interpreter for titles
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end

tsid_balancing_torque_control/2024_10_17_tsid_balancing/plot_data.m

@@ -0,0 +1,120 @@
+close all;
+clear;
+
+dataset = 'robot_logger_device_2024_10_17_13_32_13.mat';
+
+load(dataset);
+
+jnt_list = robot_logger_device.balancing_tsid.desired_torque.elements_names;
+
+time_des = squeeze(robot_logger_device.balancing_tsid.desired_torque.timestamps)';
+time_meas = squeeze(robot_logger_device.joints_state. ...
+    torques.timestamps)';
+trq_meas = squeeze(robot_logger_device.joints_state.torques.data)';
+[~, start_idx] = min(abs(time_meas - time_des(1)));
+time_meas = time_meas(start_idx:end);
+trq_meas = trq_meas(start_idx:end, :);
+time_end = min(time_meas(end), time_des(end));
+time_meas = time_meas(time_meas <= time_end);
+time_des = time_des(time_des <= time_end);
+trq_meas = trq_meas(1:length(time_meas), :);
+time_start = time_meas(1);
+time_meas = time_meas - time_start;
+time_des = time_des - time_start;
+time_des = time_des - time_des(1);
+
+trq_des = squeeze(robot_logger_device.balancing_tsid.desired_torque.data)';
+trq_des = trq_des(:, end-11:end);
+trq_meas = trq_meas(:, end-11:end);
+
+com_des = squeeze(robot_logger_device.balancing_tsid.com_reference.data)';
+com_meas = squeeze(robot_logger_device.balancing_tsid.com_from_measured.data)';
+
+% Plot trq_meas vs trq_des in 6 subplots in 1 figure and the other 6 in a new figure
+figure;
+for i=1:6
+    subplot(3,2,i);
+    plot(time_meas, trq_meas(:, i), 'LineWidth', 2);
+    hold on;
+    plot(time_des, trq_des(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    legend('Desired', 'Measured');
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel('Torque [Nm]', 'FontSize', 12);
+    % Disable latex interpreter for titles
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end
+
+figure;
+for i=7:12
+    subplot(3,2,i-6);
+    plot(time_meas, trq_meas(:, i), 'LineWidth', 2);
+    hold on;
+    plot(time_des, trq_des(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    legend('Desired', 'Measured');
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel('Torque [Nm]', 'FontSize', 12);
+    % Disable latex interpreter for titles
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end
+
+
+% Plot tracking error of torques
+% Align data to the same time vector time_des
+trq_meas = interp1(time_meas, trq_meas, time_des);
+
+trq_err = trq_meas - trq_des;
+figure;
+for i=1:6
+    subplot(3,2,i);
+    plot(time_des, trq_err(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel('Error [Nm]', 'FontSize', 12);
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end
+
+figure;
+for i=7:12
+    subplot(3,2,i-6);
+    plot(time_des, trq_err(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel('Error [Nm]', 'FontSize', 12);
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end
+
+
+% Plot com_des vs com_meas in 6 subplots in 1 figure and the other 6 in a new figure
+labels = {'CoM_x', 'CoM_y', 'CoM_z'};
+figure;
+for i=1:3
+    subplot(3,1,i);
+    plot(time_des, com_des(:, i), 'LineWidth', 2);
+    hold on;
+    plot(time_des, com_meas(:, i), 'LineWidth', 2);
+    legend('Desired', 'Measured');
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel(labels{i}, 'FontSize', 12);
+    % Disable latex interpreter for titles
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+    ylim([max(com_des(:, i))-0.12, max(com_des(:, i))+0.12])
+end
+
+labels = {'Error CoM_x', 'Error CoM_y', 'Error CoM_z'};
+figure;
+for i=1:3
+    subplot(3,1,i);
+    plot(time_des, com_des(:, i) - com_meas(:, i), 'LineWidth', 2);
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel(labels{i}, 'FontSize', 12);
+    % Disable latex interpreter for titles
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end

tsid_balancing_torque_control/2024_10_17_tsid_balancing/readme.txt

@@ -0,0 +1,16 @@
+- robot_logger_device_2024_10_17_13_18_48
+
+	kp 0.5 ankle joints e hip yaw
+	kp 0.2 hip pitch e roll
+
+	kd 0 per joints regularization
+
+	ci sono diversi giunti che fanno quello che vogliono
+	
+	
+- robot_logger_device_2024_10_17_13_32_13
+
+	kp committati in robots-configuration
+	max torque friction hip yaw abbassata a 8 Nm
+
+	guarda i plot dei tracking

tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_17_12_21_39.mat

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tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_17_13_07_16.mat

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tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_18_11_03_18.mat

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tsid_balancing_torque_control/2024_10_17_tsid_balancing/robot_logger_device_2024_10_18_11_24_14.mat

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