sigmaban sim walk params

Author: jgueldenstein

Diff for: bitbots_motion/bitbots_quintic_walk/config/walking_sigmaban_simulator.yaml

@@ -4,39 +4,39 @@
 walking:
   ros__parameters:
     engine:
-      foot_put_down_z_offset: 0.0
-      trunk_x_offset_p_coef_forward: 0.0
-      trunk_x_offset_p_coef_turn: 0.0
 
       kick_length: 0.12
       kick_vel: 0.2
       kick_phase: 0.28
       kick_put_down_phase: 0.8
       kick_rise_factor: 1.5
 
-      double_support_ratio: 0.0264282002140171
-      first_step_swing_factor: 2.9
-      foot_distance: 0.15
-      foot_rise: 0.06
-      freq: 2.0
-      trunk_height: 0.36
-      trunk_phase: -0.151653984431689
-      trunk_pitch: 0.1
-      trunk_pitch_p_coef_forward: -0.186068274875133
-      trunk_pitch_p_coef_turn: -0.457339940581988
-      trunk_swing: 0.15
-      trunk_x_offset: 0.05
-      trunk_y_offset: 0.0
-      trunk_z_movement: 0.0155005052923747
-      first_step_trunk_phase: -0.8
-      foot_apex_phase: 0.5
       foot_apex_pitch: 0.1
+
+      double_support_ratio: 0.0085326863851045
+      first_step_swing_factor: 0.5415048620158085
+      first_step_trunk_phase: -0.4352503029548156
+      foot_distance: 0.1561113210950061
+      foot_rise: 0.0728706006380927
+      freq: 1.979765668883117
+      trunk_height: 0.3554770930537789
+      trunk_phase: -0.1033838610895926
+      trunk_pitch: 0.1290723087735749
+      trunk_pitch_p_coef_forward: 1.5694128054394745
+      trunk_pitch_p_coef_turn: 0.0526016795229514
+      trunk_swing: 0.1900724789745863
+      trunk_x_offset: 0.0022559144103051
+      trunk_y_offset: -0.0070751233393761
+      trunk_z_movement: 0.0100382031380867
+      foot_apex_phase: 0.5
       foot_overshoot_phase: 1.0
       foot_overshoot_ratio: 0.0
       foot_put_down_phase: 1.0
+      foot_put_down_z_offset: 0.0
       foot_z_pause: 0.0
       trunk_pause: 0.0
-
+      trunk_x_offset_p_coef_forward: 0.0
+      trunk_x_offset_p_coef_turn: 0.0
 
     node:
       # update frequency of the engine

Diff for: bitbots_motion/bitbots_quintic_walk/src/parameters.yaml

@@ -49,12 +49,12 @@ walking:
       type: double
       description: "Trunk pitch orientation proportional to forward/backward step (in rad/m)"
       validation:
-        bounds<>: [-1.0, 1.0]
+        bounds<>: [-2.0, 2.0]
     trunk_pitch_p_coef_turn:
       type: double
       description: "Trunk pitch orientation proportional to turn step (in rad/rad)"
       validation:
-        bounds<>: [-1.0, 1.0]
+        bounds<>: [-2.0, 2.0]
     trunk_phase:
       type: double
       description: "Phase offset of trunk oscillation (half cycle phase, [-1:1])"