From 6f5dd8535e39cb466237e0866c6b2ada717791e7 Mon Sep 17 00:00:00 2001
From: Luca <luca.marchionni@pal-robotics.com>
Date: Tue, 15 Nov 2016 13:04:43 +0100
Subject: [PATCH] Add missing dependency. Walking params and fixed talos motion
---
talos_bringup/config/talos_motions.yaml | 4 ++--
.../config/init_offset_controller.yaml | 4 ++--
talos_controller_configuration/config/offsets.yaml | 8 ++++----
talos_controller_configuration/config/walking_params.yaml | 6 +++---
talos_controller_configuration/package.xml | 1 +
5 files changed, 12 insertions(+), 11 deletions(-)
diff --git a/talos_bringup/config/talos_motions.yaml b/talos_bringup/config/talos_motions.yaml
index f3fcd88..6b4d043 100644
--- a/talos_bringup/config/talos_motions.yaml
+++ b/talos_bringup/config/talos_motions.yaml
@@ -46,7 +46,7 @@ play_motion:
arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
gripper_left_joint, gripper_right_joint]
points:
- - positions: [0.0, 0.0, 0.0, 0.0, 0.31, 0.32, -0.3, -0.80, 0.0, 0.0, 0.0,
+ - positions: [0.0, 0.06, 0.0, 0.0, 0.31, 0.32, -0.3, -0.80, 0.0, 0.0, 0.0,
-0.31, -0.32, 0.3, -0.80, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 0.0
meta:
@@ -116,7 +116,7 @@ play_motion:
time_from_start: 6.0
- positions: [-0.0, -0.0, 0.0, 0.002, -0.0, -0.252, 0.286, -1.588, -1.57, -0.003, 0.001, -0.0, 0.252, -0.286, -1.588, 1.57, 0.003, 0.001, -0.7, -0.7]
time_from_start: 8.0
- - positions: [0.0, 0.0, 0.0, -0.25, -0.0, 0.0, 0.0, 0.0, -0.0, -0.0, 0.25, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0]
+ - positions: [0.0, 0.0, 0.0, 0.0, 0.0, -0.25, -0.0, 0.0, 0.0, 0.0, -0.0, -0.0, 0.25, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0]
time_from_start: 10.0
close_right_gripper:
joints: [gripper_right_joint]
diff --git a/talos_controller_configuration/config/init_offset_controller.yaml b/talos_controller_configuration/config/init_offset_controller.yaml
index 02cef75..6c33936 100644
--- a/talos_controller_configuration/config/init_offset_controller.yaml
+++ b/talos_controller_configuration/config/init_offset_controller.yaml
@@ -17,8 +17,8 @@ init_offset_controller:
right_ft_sensor: right_ankle_ft
base_imu_sensor: base_imu
- hip_spacing_x: -0.03
- hip_spacing_y: 0.08
+ hip_spacing_x: -0.02
+ hip_spacing_y: 0.085
hip_spacing_z: 0.0
femur_length: 0.380
diff --git a/talos_controller_configuration/config/offsets.yaml b/talos_controller_configuration/config/offsets.yaml
index 1384986..6b9882f 100644
--- a/talos_controller_configuration/config/offsets.yaml
+++ b/talos_controller_configuration/config/offsets.yaml
@@ -1,4 +1,4 @@
-{leg_left_1_joint: 0.0, leg_left_2_joint: -0.004349850530396477, leg_left_3_joint: -0.02450394593771094,
- leg_left_4_joint: 0.0, leg_left_5_joint: 0.022705403096746096, leg_left_6_joint: 0.011427034806208974,
- leg_right_1_joint: 0.0, leg_right_2_joint: -0.004349850530396477, leg_right_3_joint: -0.02450394593771094,
- leg_right_4_joint: 0.0, leg_right_5_joint: 0.026302488778675782, leg_right_6_joint: 0.005913731621037103}
+{leg_left_1_joint: 0.0, leg_left_2_joint: -0.013744896206368427, leg_left_3_joint: -0.019587835752816352,
+ leg_left_4_joint: 0.0, leg_left_5_joint: 0.017379989108226523, leg_left_6_joint: 0.021335173195333856,
+ leg_right_1_joint: 0.0, leg_right_2_joint: -0.013744896206368427, leg_right_3_joint: -0.019587835752816352,
+ leg_right_4_joint: 0.0, leg_right_5_joint: 0.02179568239740618, leg_right_6_joint: 0.012978677416071465}
diff --git a/talos_controller_configuration/config/walking_params.yaml b/talos_controller_configuration/config/walking_params.yaml
index 5839578..eabca20 100644
--- a/talos_controller_configuration/config/walking_params.yaml
+++ b/talos_controller_configuration/config/walking_params.yaml
@@ -19,9 +19,9 @@ biped_controller:
z_lipm: 0.95
com_stabilizer:
- ds_x_p: 0.8
+ ds_x_p: 0.7
ds_y_p: 0.6
- ss_x_p: 0.7
+ ss_x_p: 0.6
ss_y_p: 0.5
dead_zone: 0.01
foot_offset_clamp: 0.05
@@ -29,7 +29,7 @@ com_stabilizer:
hip_offset_y_clamp: 0.05
hip_offset_decay: 0.997
-hip_spacing_x: -0.03
+hip_spacing_x: -0.02
hip_spacing_y: 0.085
hip_spacing_z: 0.0
femur_length: 0.380
diff --git a/talos_controller_configuration/package.xml b/talos_controller_configuration/package.xml
index 7e0b78e..34122a2 100644
--- a/talos_controller_configuration/package.xml
+++ b/talos_controller_configuration/package.xml
@@ -18,6 +18,7 @@
<run_depend>walking_controller</run_depend>
<run_depend>head_action</run_depend>
<run_depend>pal_transmissions</run_depend>
+ <run_depend>reemc_init_offset_controller</run_depend>
<export>
</export>
--
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