Refactor balancing torque control configuration and model

- Updated the balancing torque control options to simplify CoM knot deltas and extended motion duration and timeout.
- Changed the remote logger path in data logging configuration.
- Adjusted joint velocity filter cutoff frequency for improved performance.
- Modified TSID configuration parameters including gains and weights for various tasks.
- Introduced a new URDF model for the robot with detailed inertial and visual properties.
- Fixed method calls in the main application script for consistency and clarity.
- Enhanced profiling setup for better performance monitoring during execution.

Author: lowerbodyqdd

utilities/balancing-torque-control/config/robots/lowerbodyqdd/blf-balancing-torque-control-options.ini

@@ -2,12 +2,12 @@ dt                       0.001   # (0.01 seconds)
 contact_force_threshold  0.1    # in Newton
 
 
-com_knots_delta_x        (0.0, 0.0,  0.03,  0.03, -0.03, -0.03, 0.0,  0.0)    # in meter
-com_knots_delta_y        (0.0, 0.05, 0.05, -0.05, -0.05,  0.05, 0.05, 0.0)    # in meter
-com_knots_delta_z        (0.0, 0.0,  0.0,   0.0,   0.0,   0.0,  0.0,  0.0)    # in meter
+com_knots_delta_x        (0.0, 0.0)    # in meter
+com_knots_delta_y        (0.0, 0.0)    # in meter
+com_knots_delta_z        (0.0, 0.0)    # in meter
 
-motion_duration          10.0   # (10 seconds)
-motion_timeout           10.0   # (10 seconds)
+motion_duration          10000.0   # (10 seconds)
+motion_timeout           10000.0   # (10 seconds)
 
 base_frame               l_sole
 left_contact_frame       l_sole

utilities/balancing-torque-control/config/robots/lowerbodyqdd/blf_balancing_torque_control/data_logging.ini

@@ -1 +1 @@
-remote "/balancing_torque_controller/logger"
+remote "/balancing/logger"

utilities/balancing-torque-control/config/robots/lowerbodyqdd/blf_balancing_torque_control/joint_velocity_filter.ini

@@ -1,3 +1,3 @@
 sampling_time 0.001
-cutoff_frequency 20.0
+cutoff_frequency 3.0
 order 2

utilities/balancing-torque-control/config/robots/lowerbodyqdd/blf_balancing_torque_control/tsid.ini

@@ -15,12 +15,12 @@ contact_wrench_variables_name     ("lf_wrench", "rf_wrench")
 [COM_TASK]
 name                              com_task
 type                              CoMTask
-robot_acceleration_variable_name  "robot_acceleration"
-kp_linear                         10.0
-kd_linear                         2.0
+robot_acceleration_variable_name  "robot_acceleration"y
+kp_linear                         50.0
+kd_linear                         5.0
 mask                              (true, true, true)
-priority                          1
-weight                            (10.0, 10.0, 10.0)
+priority                          0
+; weight                            (10000.0, 10000.0, 10000.0)
 
 [RIGHT_FOOT_TASK]
 name                              right_foot_task
@@ -32,6 +32,7 @@ kp_angular                        0.0
 kd_linear                         0.0
 kd_angular                        0.0
 priority                          0
+weight                            (100.0, 100.0, 100.0, 100.0, 100.0, 100.0)
 
 [LEFT_FOOT_TASK]
 name                              left_foot_task
@@ -43,16 +44,17 @@ kp_angular                        0.0
 kd_linear                         0.0
 kd_angular                        0.0
 priority                          0
+weight                            (100.0, 100.0, 100.0, 100.0, 100.0, 100.0)
 
 [JOINT_REGULARIZATION_TASK]
 name                             joint_regularization_task
 type                             JointTrackingTask
 robot_acceleration_variable_name "robot_acceleration"
-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)
+kp                               (50.0, 50.0, 50.0, 50.0, 50.0, 50.0,
+                                  50.0, 50.0, 50.0, 50.0, 50.0, 50.0)
 
-kd                               (1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
-                                  1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
+kd                               (2.0, 2.0, 2.0, 2.0, 2.0, 2.0,
+                                  2.0, 2.0, 2.0, 2.0, 2.0, 2.0)
 
 priority                         1
 weight                           (1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
@@ -86,12 +88,16 @@ max_admissible_normal_force     1000.0
 
 [LF_WRENCH_REG_TASK]
 name                             "lf_wrench_regularization_task"
+variable_name                    "lf_wrench"
+variable_size                    6
 type                             "VariableRegularizationTask"
 priority                         1
 weight                           (1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
 
 [RF_WRENCH_REG_TASK]
 name                             "rf_wrench_regularization_task"
+variable_name                    "rf_wrench"
+variable_size                     6 
 type                             "VariableRegularizationTask"
 priority                         1
 weight                           (1.0, 1.0, 1.0, 1.0, 1.0, 1.0)