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jgueldensteinjgueldenstein
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first version of sigmaban, loading and displaying but not walking yet
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‎bitbots_misc/bitbots_utils/scripts/motor_goals_viz_helper.py

+46
Original file line numberDiff line numberDiff line change
@@ -77,6 +77,52 @@ def __init__(self):
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0.4,
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float(0),
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]
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elif self.args.robot_type == "sigmaban":
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# List of all joint names. Do not change the order as it is important for Gazebo
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self.joint_names = [
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"HeadPan",
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"HeadTilt",
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"LShoulderPitch",
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"LShoulderRoll",
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"LElbow",
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"RShoulderPitch",
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"RShoulderRoll",
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"RElbow",
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"LHipYaw",
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"LHipRoll",
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"LHipPitch",
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"LKnee",
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"LAnklePitch",
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"LAnkleRoll",
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"RHipYaw",
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"RHipRoll",
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"RHipPitch",
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"RKnee",
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"RAnklePitch",
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"RAnkleRoll",
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]
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self.joint_goals = [ # TODO: Add correct values
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float(0),
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float(0),
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float(0),
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float(0),
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float(0),
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float(0),
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float(0),
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float(0),
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float(0),
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float(0),
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0.7,
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float(-1),
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float(-0.4),
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float(0),
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float(0),
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float(0),
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float(-0.7),
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float(1),
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0.4,
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float(0),
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]
80126
elif self.args.robot_type == "itandroids":
81127
self.joint_names = [
82128
"rightShoulderPitch[shoulder]",

‎bitbots_motion/bitbots_quintic_walk/config/walking_sigmaban_robot.yaml

+101
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,101 @@
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/**:
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ros__parameters:
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use_sim_time: true
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walking:
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ros__parameters:
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engine:
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foot_put_down_z_offset: 0.0
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trunk_x_offset_p_coef_forward: 0.0
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trunk_x_offset_p_coef_turn: 0.0
10+
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kick_length: 0.12
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kick_vel: 0.2
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kick_phase: 0.28
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kick_put_down_phase: 0.8
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kick_rise_factor: 1.5
16+
17+
double_support_ratio: 0.0264282002140171
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first_step_swing_factor: 2.9
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foot_distance: 0.179900277671633
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foot_rise: 0.0819786291304007
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freq: 1.2
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trunk_height: 0.394780002666927
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trunk_phase: -0.151653984431689
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trunk_pitch: 0.105566178884548
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trunk_pitch_p_coef_forward: -0.186068274875133
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trunk_pitch_p_coef_turn: -0.457339940581988
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trunk_swing: 0.154856652745882
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trunk_x_offset: 0.00885762700992359
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trunk_y_offset: 0.00369752824507733
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trunk_z_movement: 0.0155005052923747
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first_step_trunk_phase: -0.5
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foot_apex_phase: 0.5
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foot_apex_pitch: 0.1
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foot_overshoot_phase: 1.0
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foot_overshoot_ratio: 0.0
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foot_put_down_phase: 1.0
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foot_z_pause: 0.0
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trunk_pause: 0.0
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40+
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node:
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# update frequency of the engine
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engine_freq: 125.0
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# parameters for bioIK
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ik:
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timeout: 0.01
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reset: True
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debug_active: False
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max_step_x: 10000.0
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max_step_y: 10000.0
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max_step_xy: 10000.0
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max_step_z: 100000.0
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max_step_angular: 10000.0
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x_speed_multiplier: 1.0
59+
y_speed_multiplier: 1.0
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yaw_speed_multiplier: 1.0
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stability_stop:
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imu:
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active: False
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pitch:
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threshold: 0.19
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vel_threshold: 1.3
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roll:
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threshold: 0.4
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vel_threshold: 5.7
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pause_duration: 3.0
72+
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imu_y_acc_tau: 0.1
74+
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phase_reset:
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min_phase: 0.90
77+
foot_pressure:
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active: True
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ground_min_pressure: 1.5
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effort:
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active: False
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joint_min_effort: 30.0
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imu:
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active: False
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y_acceleration_threshold: 1.4
86+
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trunk_pid:
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pitch:
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p: 0.0035
90+
i: 0.0
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d: 0.004
92+
i_clamp_min: 0.0
93+
i_clamp_max: 0.0
94+
antiwindup: false
95+
roll:
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p: 0.0
97+
i: 0.0
98+
d: 0.0
99+
i_clamp_min: 0.0
100+
i_clamp_max: 0.0
101+
antiwindup: False

‎bitbots_motion/bitbots_quintic_walk/config/walking_sigmaban_simulator.yaml

+101
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,101 @@
1+
/**:
2+
ros__parameters:
3+
use_sim_time: true
4+
walking:
5+
ros__parameters:
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engine:
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foot_put_down_z_offset: 0.0
8+
trunk_x_offset_p_coef_forward: 0.0
9+
trunk_x_offset_p_coef_turn: 0.0
10+
11+
kick_length: 0.12
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kick_vel: 0.2
13+
kick_phase: 0.28
14+
kick_put_down_phase: 0.8
15+
kick_rise_factor: 1.5
16+
17+
double_support_ratio: 0.0264282002140171
18+
first_step_swing_factor: 2.9
19+
foot_distance: 0.179900277671633
20+
foot_rise: 0.0819786291304007
21+
freq: 1.2
22+
trunk_height: 0.394780002666927
23+
trunk_phase: -0.151653984431689
24+
trunk_pitch: 0.105566178884548
25+
trunk_pitch_p_coef_forward: -0.186068274875133
26+
trunk_pitch_p_coef_turn: -0.457339940581988
27+
trunk_swing: 0.154856652745882
28+
trunk_x_offset: 0.00885762700992359
29+
trunk_y_offset: 0.00369752824507733
30+
trunk_z_movement: 0.0155005052923747
31+
first_step_trunk_phase: -0.5
32+
foot_apex_phase: 0.5
33+
foot_apex_pitch: 0.1
34+
foot_overshoot_phase: 1.0
35+
foot_overshoot_ratio: 0.0
36+
foot_put_down_phase: 1.0
37+
foot_z_pause: 0.0
38+
trunk_pause: 0.0
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40+
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node:
42+
# update frequency of the engine
43+
engine_freq: 125.0
44+
45+
# parameters for bioIK
46+
ik:
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timeout: 0.01
48+
reset: True
49+
50+
debug_active: False
51+
52+
max_step_x: 10000.0
53+
max_step_y: 10000.0
54+
max_step_xy: 10000.0
55+
max_step_z: 100000.0
56+
max_step_angular: 10000.0
57+
58+
x_speed_multiplier: 1.0
59+
y_speed_multiplier: 1.0
60+
yaw_speed_multiplier: 1.0
61+
62+
stability_stop:
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imu:
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active: False
65+
pitch:
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threshold: 0.19
67+
vel_threshold: 1.3
68+
roll:
69+
threshold: 0.4
70+
vel_threshold: 5.7
71+
pause_duration: 3.0
72+
73+
imu_y_acc_tau: 0.1
74+
75+
phase_reset:
76+
min_phase: 0.90
77+
foot_pressure:
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active: True
79+
ground_min_pressure: 1.5
80+
effort:
81+
active: False
82+
joint_min_effort: 30.0
83+
imu:
84+
active: False
85+
y_acceleration_threshold: 1.4
86+
87+
trunk_pid:
88+
pitch:
89+
p: 0.0035
90+
i: 0.0
91+
d: 0.004
92+
i_clamp_min: 0.0
93+
i_clamp_max: 0.0
94+
antiwindup: false
95+
roll:
96+
p: 0.0
97+
i: 0.0
98+
d: 0.0
99+
i_clamp_min: 0.0
100+
i_clamp_max: 0.0
101+
antiwindup: False

‎bitbots_motion/bitbots_quintic_walk/config/walking_sigmaban_viz.yaml

+101
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,101 @@
1+
/**:
2+
ros__parameters:
3+
use_sim_time: true
4+
walking:
5+
ros__parameters:
6+
engine:
7+
foot_put_down_z_offset: 0.0
8+
trunk_x_offset_p_coef_forward: 0.0
9+
trunk_x_offset_p_coef_turn: 0.0
10+
11+
kick_length: 0.12
12+
kick_vel: 0.2
13+
kick_phase: 0.28
14+
kick_put_down_phase: 0.8
15+
kick_rise_factor: 1.5
16+
17+
double_support_ratio: 0.0264282002140171
18+
first_step_swing_factor: 2.9
19+
foot_distance: 0.179900277671633
20+
foot_rise: 0.0819786291304007
21+
freq: 1.2
22+
trunk_height: 0.394780002666927
23+
trunk_phase: -0.151653984431689
24+
trunk_pitch: 0.105566178884548
25+
trunk_pitch_p_coef_forward: -0.186068274875133
26+
trunk_pitch_p_coef_turn: -0.457339940581988
27+
trunk_swing: 0.154856652745882
28+
trunk_x_offset: 0.00885762700992359
29+
trunk_y_offset: 0.00369752824507733
30+
trunk_z_movement: 0.0155005052923747
31+
first_step_trunk_phase: -0.5
32+
foot_apex_phase: 0.5
33+
foot_apex_pitch: 0.1
34+
foot_overshoot_phase: 1.0
35+
foot_overshoot_ratio: 0.0
36+
foot_put_down_phase: 1.0
37+
foot_z_pause: 0.0
38+
trunk_pause: 0.0
39+
40+
41+
node:
42+
# update frequency of the engine
43+
engine_freq: 125.0
44+
45+
# parameters for bioIK
46+
ik:
47+
timeout: 0.01
48+
reset: True
49+
50+
debug_active: False
51+
52+
max_step_x: 10000.0
53+
max_step_y: 10000.0
54+
max_step_xy: 10000.0
55+
max_step_z: 100000.0
56+
max_step_angular: 10000.0
57+
58+
x_speed_multiplier: 1.0
59+
y_speed_multiplier: 1.0
60+
yaw_speed_multiplier: 1.0
61+
62+
stability_stop:
63+
imu:
64+
active: False
65+
pitch:
66+
threshold: 0.19
67+
vel_threshold: 1.3
68+
roll:
69+
threshold: 0.4
70+
vel_threshold: 5.7
71+
pause_duration: 3.0
72+
73+
imu_y_acc_tau: 0.1
74+
75+
phase_reset:
76+
min_phase: 0.90
77+
foot_pressure:
78+
active: True
79+
ground_min_pressure: 1.5
80+
effort:
81+
active: False
82+
joint_min_effort: 30.0
83+
imu:
84+
active: False
85+
y_acceleration_threshold: 1.4
86+
87+
trunk_pid:
88+
pitch:
89+
p: 0.0035
90+
i: 0.0
91+
d: 0.004
92+
i_clamp_min: 0.0
93+
i_clamp_max: 0.0
94+
antiwindup: false
95+
roll:
96+
p: 0.0
97+
i: 0.0
98+
d: 0.0
99+
i_clamp_min: 0.0
100+
i_clamp_max: 0.0
101+
antiwindup: False

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