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Different getting up from back #409

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val-ba wants to merge 5 commits into from
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Different getting up from back #409

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640a64e
use same dynup from backwards as subroutine for side fall
val-ba Jul 5, 2023
d868c08
add arm keyframe
val-ba Jul 5, 2023
744539c
change parameter
val-ba Jul 5, 2023
4ccfbea
update params and add parameter
val-ba Jul 5, 2023
4b26193
Merge branch 'master' into feature/dynup_additional_keyframe_for_arms
val-ba Jul 5, 2023
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22 changes: 12 additions & 10 deletions bitbots_dynup/config/dynup_robot.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ dynup:
com_shift_1: 0.051
com_shift_2: 0.0
foot_angle: 51.76

hands_behind_back_x: 0.162
hands_behind_back_z: 0.183
leg_min_length_back: 0.253
Expand All @@ -27,8 +28,9 @@ dynup:
time_full_squat_legs: 0.196
time_legs_close: 0.068
trunk_height_back: 0.179
trunk_overshoot_angle_back: 5.95
wait_in_squat_back: 1.0
trunk_overshoot_angle_back: 1.0
arm_to_body_time: 1.0
wait_in_squat_back: 3.0

# Front
arm_side_offset_front: 0.13
Expand All @@ -44,11 +46,11 @@ dynup:
time_torso_45: 0.462
trunk_overshoot_angle_front: -10.54
trunk_x_front: 0.091
wait_in_squat_front: 1.2
wait_in_squat_front: 1.5

time_walkready: 2.0
# Rise
rise_time: 1.0
rise_time: 2.0

# Descend
descend_time: 0.25
Expand All @@ -66,19 +68,19 @@ dynup:

dynup_pid_trunk_fused_roll:
ros__parameters:
p: 0.36
i: 0.8674
d: 0.03735
p: 0.0
i: 0.0
d: 0.0
i_clamp: 0
i_clamp_min: 0.0
i_clamp_max: 0.0
antiwindup: True
publish_state: False
dynup_pid_trunk_fused_pitch:
ros__parameters:
p: -0.42
i: -5.31646
d: -0.008295
p: -0.2
i: 0.0
d: 0.0
i_clamp: 0.0
i_clamp_min: 0.0
i_clamp_max: 0.0
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19 changes: 18 additions & 1 deletion bitbots_dynup/src/dynup_engine.cpp
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Expand Up @@ -558,10 +558,27 @@ double DynupEngine::calcBackSplines() {
l_foot_spline_.pitch()->addPoint(time, 0);
l_foot_spline_.yaw()->addPoint(time, 0);

/*
* Pose 4.5: Move hands to body
*/
time += params_["arm_to_body_time"].get_value<double>();
l_hand_spline_.x()->addPoint(time, 0);
l_hand_spline_.y()->addPoint(time, params_["arm_side_offset_back"].get_value<double>());
l_hand_spline_.z()->addPoint(time, -params_["arm_extended_length"].get_value<double>());
l_hand_spline_.roll()->addPoint(time, 0);
l_hand_spline_.pitch()->addPoint(time, M_PI / 2);
l_hand_spline_.yaw()->addPoint(time, 0);
r_hand_spline_.x()->addPoint(time, 0);
r_hand_spline_.y()->addPoint(time, -params_["arm_side_offset_back"].get_value<double>());
r_hand_spline_.z()->addPoint(time, -params_["arm_extended_length"].get_value<double>());
r_hand_spline_.roll()->addPoint(time, 0);
r_hand_spline_.pitch()->addPoint(time, M_PI / 2);
r_hand_spline_.yaw()->addPoint(time, 0);

/*
* Pose 5: Wait in squat to let instabilities settle
*/
time += params_["wait_in_squat_back"].get_value<double>();
time += params_["wait_in_squat_back"].get_value<double>() ;
l_foot_spline_.x()->addPoint(time, 0);
l_foot_spline_.y()->addPoint(time, params_["foot_distance"].get_value<double>());
l_foot_spline_.z()->addPoint(time, 0);
Expand Down
1 change: 1 addition & 0 deletions bitbots_dynup/src/dynup_node.cpp
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Expand Up @@ -35,6 +35,7 @@ namespace bitbots_dynup {
l_wrist_frame_ = this->get_parameter("l_wrist_frame").get_value<std::string>();

param_names_ = {
"arm_to_body_time",
"engine_rate",
"arm_extended_length",
"foot_distance",
Expand Down
8 changes: 4 additions & 4 deletions bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd
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Expand Up @@ -27,10 +27,10 @@ $StartHCM
OKAY --> $PickedUp
PICKED_UP --> @PlayAnimationDynup + direction:walkready, @StayPickedUp
ON_GROUND --> $Fallen
FALLEN_FRONT --> @CancelGoals, @PlayAnimationDynup + direction:front
FALLEN_BACK --> @CancelGoals, @SetFootZero, @PlayAnimationDynup + direction:back
FALLEN_RIGHT --> @CancelGoals, @TurnRightToBack + duration:1.5, @PlayAnimationDynup + direction:back
FALLEN_LEFT --> @CancelGoals, @TurnLeftToBack + duration:1.5, @PlayAnimationDynup + direction:back
FALLEN_FRONT --> @CancelGoals, @PlayAnimationDynup + direction:front + r:false
FALLEN_BACK --> @CancelGoals, @SetFootZero, @PlayAnimationDynup + direction:back + r:false
FALLEN_RIGHT --> @CancelGoals, @TurnRightToBack + duration:1.5 + r:false, @FallingPoseBack + duration:0.5 + r:false, @Wait + time:0.5 + r:false, @PlayAnimationDynup + direction:back + r:false
FALLEN_LEFT --> @CancelGoals, @TurnLeftToBack + duration:1.5 + r:false, @FallingPoseBack + duration:0.5 + r:false, @Wait + time:0.5 + r:false, @PlayAnimationDynup + direction:back + r:false
NOT_FALLEN --> $Falling
FALLING_LEFT --> @CancelGoals, @FallingPoseLeft + duration:0.5
FALLING_RIGHT --> @CancelGoals, @FallingPoseRight + duration:0.5
Expand Down