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{
"initial_plan": "custom_forward",
"mpc":
{
"weights":
{
"jerk": 1.0,
"vel": [10.0, 100.0],
"zmp": 1000.0
}
},
"stabilizer":
{
"fdqp_weights":
{
"net_wrench": 10000.0,
"ankle_torque": 100.0,
"force_ratio": 1.0
},
"tasks":
{
"com":
{
"stiffness": [1000.0, 1000.0, 100.0],
"weight": 1000.0
},
"contact":
{
"damping": 300.0,
"stiffness": 1.0,
"weight": 10000.0
},
"swing_foot":
{
"stiffness": 2000.0,
"weight": 500.0
}
},
"vdc":
{
"frequency": 1.0,
"stiffness": 1000.0
},
"zmpcc":
{
"integrator_leak_rate": 0.1
}
},
"tasks":
{
"pelvis":
{
"stiffness": 10.0,
"weight": 100.0
},
"posture":
{
"stiffness": 1.0,
"weight": 10.0
},
"torso":
{
"stiffness": 10.0,
"weight": 100.0
}
},
"robot_models":
{
"hrp4":
{
"admittance":
{
"com": [0.0, 0.0],
"cop": [0.01, 0.01],
"dfz": 0.0001,
"dfz_damping": 0.0
},
"com":
{
"active_joints": [
"Root",
"R_HIP_Y", "R_HIP_R", "R_HIP_P", "R_KNEE_P", "R_ANKLE_P", "R_ANKLE_R",
"L_HIP_Y", "L_HIP_R", "L_HIP_P", "L_KNEE_P", "L_ANKLE_P", "L_ANKLE_R"
],
"height": 0.78,
"max_height": 0.85,
"min_height": 0.55
},
"dcm_tracking":
{
"gains":
{
"prop": 5.0,
"integral": 10.0,
"deriv": 0.0
},
"derivator_time_constant": 1.0,
"integrator_time_constant": 10.0
},
"sole":
{
"half_length": 0.112,
"half_width": 0.065,
"friction": 0.7
},
"torso":
{
"max_pitch": 0.4,
"min_pitch": -0.1,
"name": "torso",
"pitch": 0.1
}
},
"hrp2_drc":
{
"admittance":
{
"com": [0.0, 0.0],
"cop": [0.01, 0.01],
"dfz": 0.0001,
"dfz_damping": 0.0
},
"com":
{
"active_joints": [
"Root",
"RLEG_JOINT0", "RLEG_JOINT1", "RLEG_JOINT2", "RLEG_JOINT3", "RLEG_JOINT4", "RLEG_JOINT5",
"LLEG_JOINT0", "LLEG_JOINT1", "LLEG_JOINT2", "LLEG_JOINT3", "LLEG_JOINT4", "LLEG_JOINT5"
],
"height": 0.87,
"max_height": 0.92,
"min_height": 0.6
},
"dcm_tracking":
{
"gains":
{
"prop": 3.0,
"integral": 20.0,
"deriv": 0.5
},
"derivator_time_constant": 5.0,
"integrator_time_constant": 30.0
},
"sole":
{
"half_length": 0.108,
"half_width": 0.07,
"friction": 0.7
},
"torso":
{
"max_pitch": 0.4,
"min_pitch": -0.1,
"name": "CHEST_LINK1",
"pitch": 0.0
}
},
"jvrc1":
{
"admittance":
{
"com": [0.0, 0.0],
"cop": [0.01, 0.01],
"dfz": 0.0001,
"dfz_damping": 0.0
},
"com":
{
"active_joints": [
"Root",
"R_HIP_Y", "R_HIP_R", "R_HIP_P", "R_KNEE", "R_ANKLE_P", "R_ANKLE_R",
"L_HIP_Y", "L_HIP_R", "L_HIP_P", "L_KNEE", "L_ANKLE_P", "L_ANKLE_R"
],
"height": 0.85,
"max_height": 0.90,
"min_height": 0.65
},
"dcm_tracking":
{
"gains":
{
"prop": 5.0,
"integral": 10.0,
"deriv": 0.0
},
"derivator_time_constant": 1.0,
"integrator_time_constant": 10.0
},
"sole":
{
"half_length": 0.11,
"half_width": 0.05,
"friction": 0.7
},
"torso":
{
"max_pitch": 0.4,
"min_pitch": -0.1,
"name": "WAIST_R_S",
"pitch": 0.0
}
}
},
"plans":
{
"hrp4":
{
"ashibumi": // stepping in place
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.035, 0.09, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.035, 0.09, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.035, 0.09, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.035, 0.09, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.035, 0.09, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.035, 0.09, 0.0] }, "surface": "LeftFootCenter" }
]
},
"comanoid_airbus_staircase": // https://youtu.be/vFCFKAunsYM
{
"init_dsp_duration": 0.6,
"single_support_duration": 1.4,
"double_support_duration": 0.2,
"final_dsp_duration": 0.6,
"swing_height": 0.24,
"landing_duration": 0.1,
"takeoff_duration": 0.42,
"torso_pitch": 0.2,
"contacts":
[
{
"pose": { "translation": [-0.04, 0.09, 0.000] },
"surface": "LeftFootCenter"
},
{
"pose": { "translation": [-0.04, -0.09, 0.000] },
"surface": "RightFootCenter",
"swing": { "takeoff_offset": [-0.03, 0.0, 0.0], "takeoff_pitch": 0.6 }
},
{
"pose": { "translation": [0.24, 0.09, 0.185] },
"surface": "LeftFootCenter",
"swing": { "takeoff_offset": [-0.02, 0.0, 0.0] }
},
{
"pose": { "translation": [0.24, -0.09, 0.185] },
"surface": "RightFootCenter",
"swing": { "takeoff_offset": [-0.03, 0.0, 0.0], "takeoff_pitch": 0.6 }
},
{
"pose": { "translation": [0.48, 0.09, 0.370] },
"surface": "LeftFootCenter",
"swing": { "takeoff_offset": [-0.02, 0.0, 0.0] }
},
{
"pose": { "translation": [0.48, -0.09, 0.370] },
"surface": "RightFootCenter",
"swing": { "takeoff_offset": [-0.03, 0.0, 0.0], "takeoff_pitch": 0.6 }
},
{
"pose": { "translation": [0.72, 0.09, 0.555] },
"surface": "LeftFootCenter",
"swing": { "takeoff_offset": [-0.02, 0.0, 0.0] }
},
{
"pose": { "translation": [0.72, -0.09, 0.555] },
"surface": "RightFootCenter",
"swing": { "takeoff_offset": [-0.03, 0.0, 0.0], "takeoff_pitch": 0.6 }
},
{
"pose": { "translation": [0.96, 0.09, 0.740] },
"surface": "LeftFootCenter",
"swing": { "height": 0.2, "takeoff_offset": [-0.02, 0.0, 0.0] }
},
{
"pose": { "translation": [0.96, -0.09, 0.740] },
"surface": "RightFootCenter",
"swing": { "height": 0.2, "takeoff_offset": [-0.03, 0.0, 0.0], "takeoff_pitch": 0.6 }
},
{ "pose": { "translation": [1.20, 0.09, 0.885] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [1.20, -0.09, 0.885] }, "surface": "RightFootCenter" }
],
"mpc":
{
"weights":
{
"jerk": 1.0,
"vel": [10.0, 300.0],
"zmp": 1000.0
}
}
},
"custom_backward":
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"step_length": 0.15,
"swing_height": 0.05,
"contacts":
[
{ "pose": { "translation": [0.0, -0.09, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.09, 0.0] }, "surface": "LeftFootCenter" }
]
},
"custom_forward":
{
"double_support_duration": 0.1,
"single_support_duration": 0.7,
"step_length": 0.2,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.0, -0.09, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.09, 0.0] }, "surface": "LeftFootCenter" }
]
},
"custom_lateral":
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"step_length": 0.1,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.0, -0.09, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.09, 0.0] }, "surface": "LeftFootCenter" }
],
"mpc":
{
"weights":
{
"jerk": 1.0,
"vel": [10.0, 300.0],
"zmp": 1000.0
}
}
},
"kajita_2010":
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.0, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.2, -0.09, 0.0] }, "ref_vel": [0.12, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.45, 0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.725, -0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.975, 0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [1.25, -0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [1.5, 0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [1.775, -0.09, 0.0] }, "ref_vel": [0.12, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [1.975, 0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [1.975, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" }
]
},
"walk_backward_75cm":
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"swing_height": 0.05,
"contacts":
[
{ "pose": { "translation": [0.0, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [-0.15, -0.09, 0.0] }, "ref_vel": [-0.075, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [-0.3, 0.09, 0.0] }, "ref_vel": [-0.15, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [-0.45, -0.09, 0.0] }, "ref_vel": [-0.15, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [-0.6, 0.09, 0.0] }, "ref_vel": [-0.075, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [-0.75, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [-0.75, 0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" }
]
},
"walk_forward_100cm":
{
"double_support_duration": 0.1,
"single_support_duration": 0.7,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.0, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.2, -0.09, 0.0] }, "ref_vel": [0.1, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.4, 0.09, 0.0] }, "ref_vel": [0.2, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.6, -0.09, 0.0] }, "ref_vel": [0.2, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.8, 0.09, 0.0] }, "ref_vel": [0.1, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [1.0, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [1.0, 0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" }
]
},
"warmup":
{
"double_support_duration": 0.1,
"single_support_duration": 0.7,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.035, 0.09, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.035, 0.09, 0.0] }, "surface": "LeftFootCenter" }
]
}
},
"hrp2_drc":
{
"ashibumi": // stepping in place
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" }
]
},
"custom_backward":
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"step_length": 0.15,
"swing_height": 0.05,
"contacts":
[
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" }
]
},
"custom_forward":
{
"double_support_duration": 0.1,
"single_support_duration": 0.7,
"step_length": 0.2,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" }
]
},
"custom_lateral":
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"step_length": 0.1,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" }
],
"mpc":
{
"weights":
{
"jerk": 1.0,
"vel": [10.0, 300.0],
"zmp": 1000.0
}
}
},
"walk_backward_75cm":
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"swing_height": 0.05,
"contacts":
[
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [-0.15, -0.105, 0.0] }, "ref_vel": [-0.075, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [-0.3, 0.105, 0.0] }, "ref_vel": [-0.15, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [-0.45, -0.105, 0.0] }, "ref_vel": [-0.15, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [-0.6, 0.105, 0.0] }, "ref_vel": [-0.075, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [-0.75, -0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [-0.75, 0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" }
]
},
"walk_forward_100cm":
{
"double_support_duration": 0.1,
"single_support_duration": 0.7,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.2, -0.105, 0.0] }, "ref_vel": [0.1, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.4, 0.105, 0.0] }, "ref_vel": [0.2, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.6, -0.105, 0.0] }, "ref_vel": [0.2, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.8, 0.105, 0.0] }, "ref_vel": [0.1, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [1.0, -0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [1.0, 0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" }
]
},
"warmup":
{
"double_support_duration": 0.1,
"single_support_duration": 0.7,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.035, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.035, 0.105, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.035, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.035, 0.105, 0.0] }, "surface": "LeftFootCenter" }
]
}
},
"jvrc1":
{
"ashibumi": // stepping in place
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" }
]
},
"comanoid_airbus_staircase":
{
"com_height": 0.84,
"init_dsp_duration": 0.6,
"single_support_duration": 1.4,
"double_support_duration": 0.2,
"final_dsp_duration": 0.6,
"swing_height": 0.24,
"landing_duration": 0.1,
"takeoff_duration": 0.42,
"torso_pitch": 0.2,
"contacts":
[
{
"pose": { "translation": [-0.02, 0.105, 0.000] },
"surface": "LeftFootCenter"
},
{
"pose": { "translation": [-0.02, -0.105, 0.000] },
"surface": "RightFootCenter",
"swing": { "takeoff_offset": [-0.03, 0.0, 0.0], "takeoff_pitch": 0.6 }
},
{
"pose": { "translation": [0.24, 0.105, 0.185] },
"surface": "LeftFootCenter",
"swing": { "takeoff_offset": [-0.02, 0.0, 0.0] }
},
{
"pose": { "translation": [0.24, -0.105, 0.185] },
"surface": "RightFootCenter",
"swing": { "takeoff_offset": [-0.03, 0.0, 0.0], "takeoff_pitch": 0.6 }
},
{
"pose": { "translation": [0.48, 0.105, 0.370] },
"surface": "LeftFootCenter",
"swing": { "takeoff_offset": [-0.02, 0.0, 0.0] }
},
{
"pose": { "translation": [0.48, -0.105, 0.370] },
"surface": "RightFootCenter",
"swing": { "takeoff_offset": [-0.03, 0.0, 0.0], "takeoff_pitch": 0.6 }
},
{
"pose": { "translation": [0.74, 0.105, 0.555] },
"surface": "LeftFootCenter",
"swing": { "takeoff_offset": [-0.02, 0.0, 0.0] }
},
{
"pose": { "translation": [0.74, -0.105, 0.555] },
"surface": "RightFootCenter",
"swing": { "takeoff_offset": [-0.03, 0.0, 0.0], "takeoff_pitch": 0.6 }
},
{
"pose": { "translation": [1.0, 0.105, 0.740] },
"surface": "LeftFootCenter",
"swing": { "height": 0.2, "takeoff_offset": [-0.02, 0.0, 0.0] }
},
{
"pose": { "translation": [1.0, -0.105, 0.740] },
"surface": "RightFootCenter",
"swing": { "height": 0.2, "takeoff_offset": [-0.03, 0.0, 0.0], "takeoff_pitch": 0.6 }
},
{ "pose": { "translation": [1.25, 0.105, 0.885] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [1.25, -0.105, 0.885] }, "surface": "RightFootCenter" }
],
"mpc":
{
"weights":
{
"jerk": 1.0,
"vel": [10.0, 300.0],
"zmp": 1000.0
}
}
},
"custom_backward":
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"step_length": 0.15,
"swing_height": 0.05,
"contacts":
[
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" }
]
},
"custom_forward":
{
"double_support_duration": 0.1,
"single_support_duration": 0.7,
"step_length": 0.2,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" }
]
},
"custom_lateral":
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"step_length": 0.1,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "surface": "LeftFootCenter" }
],
"mpc":
{
"weights":
{
"jerk": 1.0,
"vel": [10.0, 300.0],
"zmp": 1000.0
}
}
},
"walk_backward_75cm":
{
"double_support_duration": 0.2,
"single_support_duration": 0.8,
"swing_height": 0.05,
"contacts":
[
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [-0.15, -0.105, 0.0] }, "ref_vel": [-0.075, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [-0.3, 0.105, 0.0] }, "ref_vel": [-0.15, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [-0.45, -0.105, 0.0] }, "ref_vel": [-0.15, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [-0.6, 0.105, 0.0] }, "ref_vel": [-0.075, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [-0.75, -0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [-0.75, 0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" }
]
},
"walk_forward_100cm":
{
"double_support_duration": 0.1,
"single_support_duration": 0.7,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.0, -0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.0, 0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.2, -0.105, 0.0] }, "ref_vel": [0.12, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.4, 0.105, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.6, -0.105, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [0.8, 0.105, 0.0] }, "ref_vel": [0.12, 0.0, 0.0], "surface": "LeftFootCenter" },
{ "pose": { "translation": [1.0, -0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
{ "pose": { "translation": [1.0, 0.105, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" }
]
},
"warmup":
{
"double_support_duration": 0.1,
"single_support_duration": 0.7,
"swing_height": 0.04,
"contacts":
[
{ "pose": { "translation": [0.035, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.035, 0.105, 0.0] }, "surface": "LeftFootCenter" },
{ "pose": { "translation": [0.035, -0.105, 0.0] }, "surface": "RightFootCenter" },
{ "pose": { "translation": [0.035, 0.105, 0.0] }, "surface": "LeftFootCenter" }
]
}
}
},
//
// Tasks
//
"constraints":
[
{
"type": "contact"
},
{
"type": "kinematics", // KinematicsConstraint, i.e. joint limits
"damper": [ // see equation (3.6) in Joris Vaillant's thesis
0.1, // interaction distance (d_i)
0.01, // safety distance (d_s)
0.5], // damper offset (xi_off)
"robotIndex": 0, // applies to main robot
}
],
"collisions":
[
{
"type": "collision",
"r1Index": 0,
"r2Index": 0,
"useMinimal": true
}
],
"contacts": [],
"robots":
{
"ground":
{
"module": "env",
"params": ["@AROBASE@MC_ENV_DESCRIPTION@AROBASE@", "ground"]
}
},
//
// Finite state machine
//
"Managed": false,
"StatesFiles": [],
"StatesLibraries": ["@MC_RTC_LIBDIR@/mc_controller/lipm_walking_controller/states"],
"StepByStep": false,
"configs": {},
"init": "Initial",
"states": {},
"transitions":
[
["Initial", "Standing", "Standing"],
["Standing", "DoubleSupport", "DoubleSupport"],
["DoubleSupport", "SingleSupport", "SingleSupport"],
["DoubleSupport", "Standing", "Standing"],
["SingleSupport", "DoubleSupport", "DoubleSupport"]
],
// Set realRobot's joint configuration from encoder readings
"RunObservers": ["Encoder"],
"UpdateObservers": ["Encoder"]
}