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Merge pull request #3 from csiro-robotics/feature/config_update
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Feature/config update
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@benjamin-tam
benjamin-tam authored Jun 12, 2020
2 parents 255b63e + f1a2d7b commit 26c0c71
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16 changes: 16 additions & 0 deletions README.md
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Expand Up @@ -11,6 +11,18 @@ Syropod High-level Controller (SHC) is a versatile controller capable of generat
<a href="https://research.csiro.au/robotics/our-work/research-areas/legged-robots/"><img alt="Gizmo Wizmo Zero" align="center" width="500" src="https://i.imgur.com/HCrmRDS.gif"/></a>
</p>

## Table of Contents

* [Getting Started](#Getting-Started)
* [Features](#Features)
* [Config Files](#Config-Files)
* [Nodes](#Nodes)
* [Changelog](#Changelog)
* [Authors](#Authors)
* [License](#License)
* [Contributing](#Contributing)
* [Issues](#Issues)

## Getting Started

If you haven't looked at the tutorials for using OpenSHC, see [OpenSHC Tutorials](https://github.com/csiro-robotics/shc_tutorials).
Expand Down Expand Up @@ -257,6 +269,10 @@ See [CHANGELOG.md](CHANGELOG.md) for release details.

This project is licensed under the CSIRO Open Source Software Licence Agreement (variation of the BSD / MIT License) - see the [LICENSE](LICENSE) file for details.

## Contributing

Thank you for being interested in contributing. We encourage the community to create new features and to fix bugs. If it is a new feature, please create a new issue via the [Issue Tracker](https://github.com/csiro-robotics/syropod_highlevel_controller/issues) and describe the intended feature so that we can discuss the implementation. Else, search for the existing issue and comment on your proposed work. Please fork the repo, work on your changes and then send a pull request.

## Issues

Please report bugs using [Issue Tracker](https://github.com/csiro-robotics/syropod_highlevel_controller/issues) or contact us via email [[email protected]](mailto:[email protected]).
4 changes: 4 additions & 0 deletions config/auto_pose.yaml
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Expand Up @@ -16,6 +16,7 @@ syropod:

pose_negation_phase_starts: {AR: 1, BR: 11, CR: 9, CL: 3, BL: 5, AL: 7}
pose_negation_phase_ends: {AR: 3, BR: 1, CR: 11, CL: 5, BL: 7, AL: 9}
negation_transition_ratio: {AR: 0, BR: 0, CR: 0, CL: 0, BL: 0, AL: 0}

roll_amplitudes: [-0.015, 0.015, 0.015, 0.015, -0.015, -0.015]
pitch_amplitudes: [ 0.020, -0.020, 0.000, 0.020, -0.020, 0.000]
Expand All @@ -36,6 +37,7 @@ syropod:

pose_negation_phase_starts: {AR: 1, BR: 3, CR: 1, CL: 3, BL: 1, AL: 3}
pose_negation_phase_ends: {AR: 3, BR: 1, CR: 3, CL: 1, BL: 3, AL: 1}
negation_transition_ratio: {AR: 0, BR: 0, CR: 0, CL: 0, BL: 0, AL: 0}

roll_amplitudes: [-0.015, 0.015]
pitch_amplitudes: [0.000, 0.000]
Expand All @@ -56,6 +58,7 @@ syropod:

pose_negation_phase_starts: {AR: 0, BR: 2, CR: 4, CL: 1, BL: 5, AL: 3}
pose_negation_phase_ends: {AR: 2, BR: 4, CR: 0, CL: 3, BL: 1, AL: 5}
negation_transition_ratio: {AR: 0, BR: 0, CR: 0, CL: 0, BL: 0, AL: 0}

roll_amplitudes: [-0.015, 0.015, -0.015, 0.015, -0.015, 0.015]
pitch_amplitudes: [-0.020, 0.020, 0.000, -0.020, 0.020, 0.000]
Expand All @@ -76,6 +79,7 @@ syropod:

pose_negation_phase_starts: {AR: 0, BR: 2, CR: 1, CL: 0, BL: 2, AL: 1}
pose_negation_phase_ends: {AR: 1, BR: 0, CR: 2, CL: 1, BL: 0, AL: 2}
negation_transition_ratio: {AR: 0, BR: 0, CR: 0, CL: 0, BL: 0, AL: 0}

roll_amplitudes: [0.000, 0.000, 0.000]
pitch_amplitudes: [0.000, 0.000, 0.000]
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60 changes: 32 additions & 28 deletions config/default.yaml
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Expand Up @@ -22,30 +22,30 @@ syropod:
########################################################################################################################
# Model parameters
syropod_type: default
leg_id: [AR, BR, CR, CL, BL, AL] # leg_id_name (clockwise from front right leg)
joint_id: [coxa, femur, tibia] # joint_id_name
link_id: [base, coxa, femur, tibia] # link_id_name (always start with base)
leg_DOF: {AL: 3, AR: 3, BL: 3, BR: 3, CL: 3, CR: 3} # leg_id_name: degrees_of_freedom (num joints)
leg_id: [AR, BR, CR, CL, BL, AL] # leg_id_name (clockwise from front right leg)
joint_id: [coxa, femur, tibia] # joint_id_name
link_id: [base, coxa, femur, tibia] # link_id_name (always start with base)
leg_DOF: {AL: 3, AR: 3, BL: 3, BR: 3, CL: 3, CR: 3} # leg_id_name: degrees_of_freedom (num joints)

# Joint parameters:
AR_coxa_joint_parameters: {min: -0.550, max: 0.550, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
AR_femur_joint_parameters: {min: -1.500, max: 1.500, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
AR_tibia_joint_parameters: {min: -2.355, max: -0.100, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
BR_coxa_joint_parameters: {min: -0.550, max: 0.550, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
BR_femur_joint_parameters: {min: -1.500, max: 1.500, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
BR_tibia_joint_parameters: {min: -2.355, max: -0.100, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
CR_coxa_joint_parameters: {min: -0.550, max: 0.550, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
CR_femur_joint_parameters: {min: -1.500, max: 1.500, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
CR_tibia_joint_parameters: {min: -2.355, max: -0.100, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
AL_coxa_joint_parameters: {min: -0.550, max: 0.550, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
AL_femur_joint_parameters: {min: -1.500, max: 1.500, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
AL_tibia_joint_parameters: {min: -2.355, max: -0.100, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
BL_coxa_joint_parameters: {min: -0.550, max: 0.550, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
BL_femur_joint_parameters: {min: -1.500, max: 1.500, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
BL_tibia_joint_parameters: {min: -2.355, max: -0.100, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
CL_coxa_joint_parameters: {min: -0.550, max: 0.550, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
CL_femur_joint_parameters: {min: -1.500, max: 1.500, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
CL_tibia_joint_parameters: {min: -2.355, max: -0.100, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
AR_coxa_joint_parameters: {min: -0.550, max: 0.550, offset: 0.000, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
AR_femur_joint_parameters: {min: -1.500, max: 1.500, offset: 0.000, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
AR_tibia_joint_parameters: {min: -2.355, max: -0.100, offset: 0.000, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
BR_coxa_joint_parameters: {min: -0.550, max: 0.550, offset: 0.000, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
BR_femur_joint_parameters: {min: -1.500, max: 1.500, offset: 0.000, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
BR_tibia_joint_parameters: {min: -2.355, max: -0.100, offset: 0.000, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
CR_coxa_joint_parameters: {min: -0.550, max: 0.550, offset: 0.000, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
CR_femur_joint_parameters: {min: -1.500, max: 1.500, offset: 0.000, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
CR_tibia_joint_parameters: {min: -2.355, max: -0.100, offset: 0.000, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
AL_coxa_joint_parameters: {min: -0.550, max: 0.550, offset: 0.000, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
AL_femur_joint_parameters: {min: -1.500, max: 1.500, offset: 0.000, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
AL_tibia_joint_parameters: {min: -2.355, max: -0.100, offset: 0.000, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
BL_coxa_joint_parameters: {min: -0.550, max: 0.550, offset: 0.000, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
BL_femur_joint_parameters: {min: -1.500, max: 1.500, offset: 0.000, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
BL_tibia_joint_parameters: {min: -2.355, max: -0.100, offset: 0.000, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
CL_coxa_joint_parameters: {min: -0.550, max: 0.550, offset: 0.000, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
CL_femur_joint_parameters: {min: -1.500, max: 1.500, offset: 0.000, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
CL_tibia_joint_parameters: {min: -2.355, max: -0.100, offset: 0.000, packed: 1.200, unpacked: -1.138, max_vel: 5.000}

# Link DH parameters: en.wikipedia.org/wiki/Denavit–Hartenberg_parameters
AR_base_link_parameters: {d: 0.000, theta: -0.523, r: 0.050, alpha: 0.000}
Expand Down Expand Up @@ -79,10 +79,12 @@ syropod:

########################################################################################################################
# Walker parameters
gait_type: tripod_gait
gait_type: tripod_gait
body_clearance: 0.100
step_frequency: {default: 1.000, min: 0.001, max: 2.000, step: 0.100} #Reconfigurable
step_clearance: {default: 0.020, min: 0.010, max: 0.050, step: 0.005} #Reconfigurable
body_clearance: {default: 0.100, min: 0.010, max: 0.150, step: 0.010} #Reconfigurable
swing_height: {default: 0.020, min: 0.010, max: 0.050, step: 0.005} #Reconfigurable
swing_width: {default: 0.000, min: -0.300, max: 0.300, step: 0.010} #Reconfigurable
step_depth: {default: 0.000, min: 0.000, max: 0.000, step: 0.000} #Reconfigurable
stance_span_modifier: {default: 0.000, min: -1.000, max: 1.000, step: 0.100} #Reconfigurable

velocity_input_mode: throttle #real
Expand All @@ -99,9 +101,11 @@ syropod:
BL_stance_position: {x: 0.000, y: 0.150}
AL_stance_position: {x: 0.130, y: 0.075}

gravity_aligned_tips: false
touchdown_threshold: 0.9
liftoff_threshold: 0.1
overlapping_walkspaces: false
force_normal_touchdown: false
gravity_aligned_tips: false
touchdown_threshold: 0.9
liftoff_threshold: 0.1

########################################################################################################################
# Poser parameters
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6 changes: 3 additions & 3 deletions launch/default_rviz.launch
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Expand Up @@ -3,9 +3,9 @@
<launch>
<include file="$(find syropod_remote)/launch/syropod_remote.launch" />

<rosparam file="$(find default_syropod)/config/default.yaml" command="load"/>
<rosparam file="$(find default_syropod)/config/gait.yaml" command="load"/>
<rosparam file="$(find default_syropod)/config/auto_pose.yaml" command="load"/>
<rosparam file="$(find syropod_highlevel_controller)/config/default.yaml" command="load"/>
<rosparam file="$(find syropod_highlevel_controller)/config/gait.yaml" command="load"/>
<rosparam file="$(find syropod_highlevel_controller)/config/auto_pose.yaml" command="load"/>

<node name="syropod_highlevel_controller" pkg="syropod_highlevel_controller" type="syropod_highlevel_controller_node" output="screen"/>

Expand Down

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