Commit 360deae1 by Adrian Sieler

Updated configs 16,42,44 and added configs 43,45,46 - All calibrations are…

Updated configs 16,42,44 and added configs 43,45,46 - All calibrations are trained with pre-processed data
parent 739caa2b
actuators:
actuation_ratio: [0.02, 0.02, 0.02, 0.02, 0, 0, 0, 0]
actuation_ratio:
- 0.02
- 0.02
- 0.02
- 0.02
- 0
- 0
- 0
- 0
channels:
mass_observer_deflationpath:
coefficient_Pout: [-0.0009065327102739489, -0.0005108917322928681, 6.804601425599785e-05,
-0.0016059623547539752, -0.0014146467674885817, -0.0007678214598855829, 0, 0]
coefficient_Psupply: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0]
coefficient_bias: [-0.10500384001812257, -0.13929305219148524, -0.13607565832384694,
-0.05884148464968497, 0.06339698682260675, -0.15769850792649187, 0, 0]
coefficient_friction: [0.027061412180897138, 0.008054908139166816, -0.0055017725919307425,
0.006609630182473569, -0.028484890142111363, 0.04939905002557471, 0, 0]
coefficient_injector: [-0.7369793086575851, -0.7573586180628117, -0.7134808385026672,
-0.7624135764784067, -0.7268592882788205, -0.7505031369218657, 0, 0]
minimal_mass_change: [-1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5]
coefficient_Pout:
- -0.0018425819126346211
- -0.0017755447863732584
- -0.0007705302835944286
- -0.002455542757039226
- -0.0010759747246937923
- -0.002071647885862196
- 0
- 0
coefficient_Psupply:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0
- 0
coefficient_bias:
- 0.0361361961586546
- -0.018999200639454372
- -0.012681277016591608
- 0.06549048197715379
- -0.01786792428795536
- 0.05249391813788762
- 0
- 0
coefficient_friction:
- -0.03329761705416206
- -0.04367128429842479
- -0.04525213693754666
- -0.028622568914623295
- -0.057329542151389405
- -0.018243103063820543
- 0
- 0
coefficient_injector:
- -0.7372411291118082
- -0.6802679994376418
- -0.6945519870411474
- -0.720212404188518
- -0.6969107909046544
- -0.7366357669678321
- 0
- 0
minimal_mass_change:
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
mass_observer_inflationpath:
coefficient_Pout: [0.0003880048001538919, 0.0005416874241376338, 0.0006165506054712847,
0.0012523031431909484, 0.0030552568399441343, 0.00038143966691400744, 0, 0]
coefficient_Psupply: [0.018716454232492852, 0.02114239219910441, 0.02303277018246147,
0.021445374581015475, 0.002424313016466957, 0.020758712340535862, 0, 0]
coefficient_bias: [-6.7484585746458094, -7.65818145420903, -8.583632615385026,
-7.939656697769557, -1.1590911938011565, -7.416200372595608, 0, 0]
coefficient_friction: [0.7012587060239943, 0.6955915235133439, 0.6041322051851482,
0.6691971987583134, 0.6237437252061296, 0.759583112129636, 0, 0]
coefficient_injector: [0.379702719638332, 0.38130529444586936, 0.3829067968601311,
0.39522932258224813, 0.4360342957633649, 0.3707223280885048, 0, 0]
minimal_mass_change: [1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5]
coefficient_Pout:
- -0.0014742054921405986
- -0.001354417552240228
- -0.0010049678338526589
- -0.001217387092539389
- -0.0009166741558834585
- -0.00209777706891917
- 0
- 0
coefficient_Psupply:
- 0.003456712329966445
- 0.0037690782859728642
- 0.0038504126708657524
- 0.0017356401521019347
- 0.0016670581393219903
- 0.001534844207523531
- 0
- 0
coefficient_bias:
- -0.5232843969578802
- -0.6276151919976307
- -0.9206323653667212
- 0.12599241597568778
- -0.09236010019912655
- 0.45058864423238276
- 0
- 0
coefficient_friction:
- 0.3585083128426709
- 0.3292973705693029
- 0.29405222227864364
- 0.32620642870384786
- 0.34256032138421566
- 0.3472277608091992
- 0
- 0
coefficient_injector:
- 0.5699267007878357
- 0.5223603426172546
- 0.532438550604908
- 0.5365040876701545
- 0.5541948660988122
- 0.5837969244110809
- 0
- 0
minimal_mass_change:
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
nominal_volume: []
os: {hostname: beagleX.local}
os:
hostname: beagleX.local
valves:
lohm_deflate: []
lohm_inflate: []
minimum_deflation_period: []
minimum_inflation_period: []
nominal_pressure_supply: 280.0
on_off_time_offset: [0, 0, 0, 0, 0, 0, 0, 0]
on_off_time_offset:
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
actuators:
actuation_ratio: [0.02, 0.02, 0.02, 0.02, 0, 0, 0, 0]
actuation_ratio:
- 0.02
- 0.02
- 0.02
- 0.02
- 0
- 0
- 0
- 0
channels:
mass_observer_deflationpath:
coefficient_Pout: [-2.509239386912221e-05, -0.007149149849335734, -0.0020924108226584442,
-0.00559908692167016, -0.013917272719709661, -0.009288531887506578, 0, 0]
coefficient_Psupply: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0]
coefficient_bias: [-0.479312035371219, 0.8141676485960812, -0.014962189546130489,
0.5011735304437313, 1.9959816416884166, 1.0313221437834557, 0, 0]
coefficient_friction: [0.008505196587007602, 0.0833496941435991, 0.05386830009303695,
0.05105242157644474, 0.1730777125453516, 0.0931683128348787, 0, 0]
coefficient_injector: [-0.709913717635056, -0.7908619201044513, -0.7544312497719496,
-0.7565102387835982, -0.8422359643982923, -0.7532239345601164, 0, 0]
minimal_mass_change: [-1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5]
coefficient_Pout:
- -0.0005050104622314013
- -0.0013939664243551853
- -0.002129543084357089
- -0.0008991697558503357
- -0.0024202803786428947
- -0.001250062043144026
- 0
- 0
coefficient_Psupply:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0
- 0
coefficient_bias:
- -0.028964618027403688
- 0.01632569274368123
- 0.05321158081575561
- -0.017534081118762757
- 0.0630051820189994
- -0.0073620153961915236
- 0
- 0
coefficient_friction:
- -0.028943438295030866
- -0.04849374439462069
- -0.02502198929992845
- -0.0320663284616832
- -0.035683322974407974
- -0.0044954627597249015
- 0
- 0
coefficient_injector:
- -0.6877017148095784
- -0.7228192780701677
- -0.7152621988245127
- -0.7188589885068749
- -0.7365326485025463
- -0.7231606640144512
- 0
- 0
minimal_mass_change:
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
mass_observer_inflationpath:
coefficient_Pout: [0.00037633632051633104, 0.005331937182489804, 0.005374939301695317,
0.006878247707133304, 0.001921088628554543, 0.0012751203011881068, 0, 0]
coefficient_Psupply: [-0.0005867836205612625, -0.0011137081078225614, -0.001886475041552066,
0.0077645125912695016, 0.0005348301082901729, 0.0003818429710123056, 0, 0]
coefficient_bias: [1.039006938336696, 0.3593305821719124, 0.25533386565643923,
-3.5602628345955427, 0.3738751863692418, 1.2217371962244528, 0, 0]
coefficient_friction: [0.556771555583839, 0.7032131777813712, 0.567455214660334,
0.4979826396695821, 0.5308554760305757, 0.44860720116534136, 0, 0]
coefficient_injector: [0.4753194562236666, 0.4513073381234441, 0.4738510521906713,
0.4869304385691559, 0.5195981687481432, 0.48607190342332635, 0, 0]
minimal_mass_change: [1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5]
coefficient_Pout:
- -0.0011139062852812502
- -0.0009416456438301522
- -0.0004802329140298038
- -0.001024197900124993
- -0.0013507355721706518
- -0.0017013036390807828
- 0
- 0
coefficient_Psupply:
- 0.0032472561333819526
- 0.003465666712799499
- 0.002016995068883783
- 0.0016240346240812636
- 0.001638296528796132
- 0.002936052196803363
- 0
- 0
coefficient_bias:
- -0.4469173018188357
- -0.5603490315809161
- -0.36760863225390494
- -0.08729438493462638
- 0.10752909215308648
- -0.13401635986140548
- 0
- 0
coefficient_friction:
- 0.3481988298376923
- 0.36554868346242164
- 0.35614972929783995
- 0.3429964466578225
- 0.36273546596705036
- 0.35612935729188266
- 0
- 0
coefficient_injector:
- 0.5666541111145537
- 0.5917539116853986
- 0.5740295232594393
- 0.5586702248361991
- 0.5871120861789095
- 0.5427120738492142
- 0
- 0
minimal_mass_change:
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
nominal_volume: []
os: {hostname: beagleX.local}
os:
hostname: beagleX.local
valves:
lohm_deflate: []
lohm_inflate: []
minimum_deflation_period: []
minimum_inflation_period: []
nominal_pressure_supply: 280.0
on_off_time_offset: [0, 0, 0, 0, 0, 0, 0, 0]
on_off_time_offset:
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
actuators:
actuation_ratio:
- 0.02
- 0.02
- 0.02
- 0.02
- 0
- 0
- 0
- 0
channels:
mass_observer_deflationpath:
coefficient_Pout:
- -0.0013827112312906368
- -0.0017031053408351224
- -0.0018018991681658719
- -0.0024621338235537842
- -0.0008132986576195137
- -0.0005228573316912102
- 0
- 0
coefficient_Psupply:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0
- 0
coefficient_bias:
- 0.030730527750847614
- 0.03552824457156056
- 0.0351356723076961
- 0.0870725951687703
- -0.0024284216073802156
- 0.0023160940008253306
- 0
- 0
coefficient_friction:
- -0.04825867140957227
- -0.08407661627769639
- -0.054324120906841925
- -0.02658727789183875
- -0.028889481910084874
- -0.01736442029419323
- 0
- 0
coefficient_injector:
- -0.7392014789482725
- -0.6814836414560633
- -0.6922965760190325
- -0.7055943655481054
- -0.7143194844753606
- -0.7256569308225739
- 0
- 0
minimal_mass_change:
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
mass_observer_inflationpath:
coefficient_Pout:
- -0.0005110746913590329
- -0.0007564772592199852
- -0.0012600948102325148
- -0.0009120915792251242
- -0.0014243061505006547
- -0.0004805194356791161
- 0
- 0
coefficient_Psupply:
- 0.003134209830583168
- 0.0028787654299602225
- 0.004434955316797501
- 0.004866041232573508
- 0.004746430638870775
- 0.003173253893212757
- 0
- 0
coefficient_bias:
- -0.9732736807961757
- -0.6712514673536418
- -0.8770359835211767
- -1.2308167099946736
- -0.9891362125559962
- -0.8876834674733409
- 0
- 0
coefficient_friction:
- 0.3404094994614185
- 0.37467792199791583
- 0.37234242728687933
- 0.35087805048558524
- 0.35269050984515204
- 0.34707949112312975
- 0
- 0
coefficient_injector:
- 0.5723468220797333
- 0.5693469303164649
- 0.5411955962388928
- 0.5540755905907173
- 0.5454016088481153
- 0.5159179497287
- 0
- 0
minimal_mass_change:
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
nominal_volume: []
os:
hostname: beagleX.local
valves:
lohm_deflate: []
lohm_inflate: []
minimum_deflation_period: []
minimum_inflation_period: []
nominal_pressure_supply: 280.0
on_off_time_offset:
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
actuators:
actuation_ratio: [0.02, 0.02, 0.02, 0.02, 0, 0, 0, 0]
actuation_ratio:
- 0.02
- 0.02
- 0.02
- 0.02
- 0
- 0
- 0
- 0
channels:
mass_observer_deflationpath:
coefficient_Pout: [-0.0016138376119656517, -0.003192755870432551, -0.0027246052955936517,
-0.004287545348540131, -0.003079485227051801, -0.0033152667840779804, 0, 0]
coefficient_Psupply: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0]
coefficient_bias: [-0.023750618271517254, 0.13329462972884265, 0.16369766136611297,
0.2443659588782765, 0.1239926320245015, 0.28796883036306475, 0, 0]
coefficient_friction: [0.03597662264989182, 0.1381822987529322, -0.06398400200268678,
0.08420332978145728, 0.08301938934983194, -0.08466526822581913, 0, 0]
coefficient_injector: [-0.7276429151647772, -0.7919767534814949, -0.7028292852468216,
-0.7682631315425218, -0.756974220292314, -0.6568178065720657, 0, 0]
minimal_mass_change: [-1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5]
coefficient_Pout:
- -0.0014320226073375577
- -0.002574682717415293
- -0.0025443106832007604
- -0.0035327743705357777
- -0.0026769862287749657
- -0.0033827185013274243
- 0
- 0
coefficient_Psupply:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0
- 0
coefficient_bias:
- -0.03419428078139575
- 0.027264102967174964
- 0.1382404650661364
- 0.1149514234165121
- 0.06470934051124999
- 0.30863666497107545
- 0
- 0
coefficient_friction:
- -0.07749620673391135
- -0.052579973602792734
- -0.06723675043658636
- -0.007038395323647641
- -0.04677867207040231
- -0.07664063714745396
- 0
- 0
coefficient_injector:
- -0.681499262523102
- -0.7108720447290455
- -0.7025569533870566
- -0.7307410610556807
- -0.7030648101292926
- -0.6618469532129392
- 0
- 0
minimal_mass_change:
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
mass_observer_inflationpath:
coefficient_Pout: [0.0057426067761001676, 0.008303239950899072, 8.162728921694111e-05,
0.004394653720551802, 0.006559843092908399, -0.0012357965993755327, 0, 0]
coefficient_Psupply: [-0.02217171207511554, -0.03603638367877466, -0.0070109903066997645,
-0.01678961274608178, -0.026354111503867975, 0.0010705949226798355, 0, 0]
coefficient_bias: [8.439278448935022, 14.030456809239528, 3.1000706687380664,
6.468169083091357, 9.99017630857474, -0.25559380980320867, 0, 0]
coefficient_friction: [0.672878687818571, 0.8709396474015825, 0.19283942797958767,
0.5537212919415638, 0.7182918020940005, 0.3206675583350127, 0, 0]
coefficient_injector: [0.40834397347057055, 0.37240925398103725, 0.4369676194816456,
0.44415513496043174, 0.4051280988398018, 0.49274511370125856, 0, 0]
minimal_mass_change: [1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5]
coefficient_Pout:
- -0.0010378596321796204
- -0.00228130004872133
- 0.00013955374692423294
- -0.0008798791061524532
- -0.0012161871898437439
- -0.001374788731381212
- 0
- 0
coefficient_Psupply:
- 0.0027393838992184815
- 0.005004373524951363
- -0.0052179533405216074
- 0.002877512286738701
- 0.0029075542452284215
- 0.0017706534356803267
- 0
- 0
coefficient_bias:
- -0.21207597981349124
- -0.34522981057579827
- 2.359266222034197
- -0.4014267703724741
- -0.23035630831273224
- -0.5105106852139265
- 0
- 0
coefficient_friction:
- 0.36567875448406284
- 0.3392094170263872
- 0.19177361441677512
- 0.33396893226475843
- 0.3594383015600154
- 0.3103563331126551
- 0
- 0
coefficient_injector:
- 0.5508734123826711
- 0.6169244030169443
- 0.4388721720076943
- 0.5479931956991002
- 0.5715155161999288
- 0.49731411636929235
- 0
- 0
minimal_mass_change:
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
nominal_volume: []
os: {hostname: beagleX.local}
os:
hostname: beagleX.local
valves:
lohm_deflate: []
lohm_inflate: []
minimum_deflation_period: []
minimum_inflation_period: []
nominal_pressure_supply: 280.0
on_off_time_offset: [0, 0, 0, 0, 0, 0, 0, 0]
on_off_time_offset:
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
actuators:
actuation_ratio:
- 0.02
- 0.02
- 0.02
- 0.02
- 0
- 0
- 0
- 0
channels:
mass_observer_deflationpath:
coefficient_Pout:
- -0.0019568752626189325
- -0.0014351447565632085
- -0.0008595807155817117
- -0.0035679267173585453
- -0.0010868447884881452
- -0.001073104367868519
- 0
- 0
coefficient_Psupply:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0
- 0
coefficient_bias:
- 0.03161934473230943
- 0.01914601390006787
- -0.013645538233451049
- 0.38809097611795984
- 0.006244183858759911
- 0.005681995786011029
- 0
- 0
coefficient_friction:
- -0.06949886272019075
- -0.065338583937439
- -0.04920594589726427
- -0.09024166387615094
- -0.031533201140930285
- -0.056763667256606795
- 0
- 0
coefficient_injector:
- -0.7124618362429702
- -0.6816891247247078
- -0.7137525342774647
- -0.6778605461699957
- -0.7001591088016743
- -0.6824873018996
- 0
- 0
minimal_mass_change:
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
mass_observer_inflationpath:
coefficient_Pout:
- -0.0004335957274896349
- -0.0003957852324422839
- -0.001695747678593751
- -0.002485209564858864
- -0.0009644702704653242
- -0.00027886043058452287
- 0
- 0
coefficient_Psupply:
- 0.0021820687498340947
- 0.0017495608033694621
- 0.004940214452652108
- -0.003917923803407605
- 0.0036904008557124817
- 0.001563423154420828
- 0
- 0
coefficient_bias:
- -0.500430940741964
- -0.3153591881221587
- -0.8410899530684173
- 2.4454190491668015
- -0.8282979569789628
- -0.2947664963429091
- 0
- 0
coefficient_friction:
- 0.38030848096311626
- 0.37434447297909673
- 0.36841755988908464
- 0.4152152945843884
- 0.3622688963925165
- 0.35408247848430713
- 0
- 0
coefficient_injector:
- 0.5883048749706704