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Merge pull request #3 from csiro-robotics/feature/config_update
Feature/config update
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‎README.md‎

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@@ -11,6 +11,18 @@ Syropod High-level Controller (SHC) is a versatile controller capable of generat
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<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>
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</p>
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## Table of Contents
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* [Getting Started](#Getting-Started)
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* [Features](#Features)
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* [Config Files](#Config-Files)
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* [Nodes](#Nodes)
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* [Changelog](#Changelog)
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* [Authors](#Authors)
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* [License](#License)
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* [Contributing](#Contributing)
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* [Issues](#Issues)
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## Getting Started
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If you haven't looked at the tutorials for using OpenSHC, see [OpenSHC Tutorials](https://github.com/csiro-robotics/shc_tutorials).
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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.
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## Contributing
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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.
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## Issues
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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]).

‎config/auto_pose.yaml‎

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pose_negation_phase_starts: {AR: 1, BR: 11, CR: 9, CL: 3, BL: 5, AL: 7}
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pose_negation_phase_ends: {AR: 3, BR: 1, CR: 11, CL: 5, BL: 7, AL: 9}
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negation_transition_ratio: {AR: 0, BR: 0, CR: 0, CL: 0, BL: 0, AL: 0}
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roll_amplitudes: [-0.015, 0.015, 0.015, 0.015, -0.015, -0.015]
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pitch_amplitudes: [ 0.020, -0.020, 0.000, 0.020, -0.020, 0.000]
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pose_negation_phase_starts: {AR: 1, BR: 3, CR: 1, CL: 3, BL: 1, AL: 3}
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pose_negation_phase_ends: {AR: 3, BR: 1, CR: 3, CL: 1, BL: 3, AL: 1}
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negation_transition_ratio: {AR: 0, BR: 0, CR: 0, CL: 0, BL: 0, AL: 0}
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roll_amplitudes: [-0.015, 0.015]
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pitch_amplitudes: [0.000, 0.000]
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pose_negation_phase_starts: {AR: 0, BR: 2, CR: 4, CL: 1, BL: 5, AL: 3}
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pose_negation_phase_ends: {AR: 2, BR: 4, CR: 0, CL: 3, BL: 1, AL: 5}
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negation_transition_ratio: {AR: 0, BR: 0, CR: 0, CL: 0, BL: 0, AL: 0}
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roll_amplitudes: [-0.015, 0.015, -0.015, 0.015, -0.015, 0.015]
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pitch_amplitudes: [-0.020, 0.020, 0.000, -0.020, 0.020, 0.000]
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pose_negation_phase_starts: {AR: 0, BR: 2, CR: 1, CL: 0, BL: 2, AL: 1}
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pose_negation_phase_ends: {AR: 1, BR: 0, CR: 2, CL: 1, BL: 0, AL: 2}
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negation_transition_ratio: {AR: 0, BR: 0, CR: 0, CL: 0, BL: 0, AL: 0}
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roll_amplitudes: [0.000, 0.000, 0.000]
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pitch_amplitudes: [0.000, 0.000, 0.000]

‎config/default.yaml‎

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########################################################################################################################
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# Model parameters
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syropod_type: default
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leg_id: [AR, BR, CR, CL, BL, AL] # leg_id_name (clockwise from front right leg)
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joint_id: [coxa, femur, tibia] # joint_id_name
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link_id: [base, coxa, femur, tibia] # link_id_name (always start with base)
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leg_DOF: {AL: 3, AR: 3, BL: 3, BR: 3, CL: 3, CR: 3} # leg_id_name: degrees_of_freedom (num joints)
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leg_id: [AR, BR, CR, CL, BL, AL] # leg_id_name (clockwise from front right leg)
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joint_id: [coxa, femur, tibia] # joint_id_name
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link_id: [base, coxa, femur, tibia] # link_id_name (always start with base)
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leg_DOF: {AL: 3, AR: 3, BL: 3, BR: 3, CL: 3, CR: 3} # leg_id_name: degrees_of_freedom (num joints)
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# Joint parameters:
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AR_coxa_joint_parameters: {min: -0.550, max: 0.550, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
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AR_femur_joint_parameters: {min: -1.500, max: 1.500, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
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AR_tibia_joint_parameters: {min: -2.355, max: -0.100, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
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BR_coxa_joint_parameters: {min: -0.550, max: 0.550, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
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BR_femur_joint_parameters: {min: -1.500, max: 1.500, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
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BR_tibia_joint_parameters: {min: -2.355, max: -0.100, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
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CR_coxa_joint_parameters: {min: -0.550, max: 0.550, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
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CR_femur_joint_parameters: {min: -1.500, max: 1.500, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
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CR_tibia_joint_parameters: {min: -2.355, max: -0.100, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
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AL_coxa_joint_parameters: {min: -0.550, max: 0.550, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
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AL_femur_joint_parameters: {min: -1.500, max: 1.500, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
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AL_tibia_joint_parameters: {min: -2.355, max: -0.100, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
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BL_coxa_joint_parameters: {min: -0.550, max: 0.550, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
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BL_femur_joint_parameters: {min: -1.500, max: 1.500, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
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BL_tibia_joint_parameters: {min: -2.355, max: -0.100, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
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CL_coxa_joint_parameters: {min: -0.550, max: 0.550, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
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CL_femur_joint_parameters: {min: -1.500, max: 1.500, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
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CL_tibia_joint_parameters: {min: -2.355, max: -0.100, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
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AR_coxa_joint_parameters: {min: -0.550, max: 0.550, offset: 0.000, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
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AR_femur_joint_parameters: {min: -1.500, max: 1.500, offset: 0.000, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
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AR_tibia_joint_parameters: {min: -2.355, max: -0.100, offset: 0.000, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
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BR_coxa_joint_parameters: {min: -0.550, max: 0.550, offset: 0.000, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
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BR_femur_joint_parameters: {min: -1.500, max: 1.500, offset: 0.000, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
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BR_tibia_joint_parameters: {min: -2.355, max: -0.100, offset: 0.000, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
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CR_coxa_joint_parameters: {min: -0.550, max: 0.550, offset: 0.000, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
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CR_femur_joint_parameters: {min: -1.500, max: 1.500, offset: 0.000, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
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CR_tibia_joint_parameters: {min: -2.355, max: -0.100, offset: 0.000, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
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AL_coxa_joint_parameters: {min: -0.550, max: 0.550, offset: 0.000, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
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AL_femur_joint_parameters: {min: -1.500, max: 1.500, offset: 0.000, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
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AL_tibia_joint_parameters: {min: -2.355, max: -0.100, offset: 0.000, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
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BL_coxa_joint_parameters: {min: -0.550, max: 0.550, offset: 0.000, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
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BL_femur_joint_parameters: {min: -1.500, max: 1.500, offset: 0.000, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
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BL_tibia_joint_parameters: {min: -2.355, max: -0.100, offset: 0.000, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
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CL_coxa_joint_parameters: {min: -0.550, max: 0.550, offset: 0.000, packed: -1.571, unpacked: 0.000, max_vel: 5.000}
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CL_femur_joint_parameters: {min: -1.500, max: 1.500, offset: 0.000, packed: 1.900, unpacked: 0.785, max_vel: 5.000}
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CL_tibia_joint_parameters: {min: -2.355, max: -0.100, offset: 0.000, packed: 1.200, unpacked: -1.138, max_vel: 5.000}
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# Link DH parameters: en.wikipedia.org/wiki/Denavit–Hartenberg_parameters
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AR_base_link_parameters: {d: 0.000, theta: -0.523, r: 0.050, alpha: 0.000}
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########################################################################################################################
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# Walker parameters
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gait_type: tripod_gait
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gait_type: tripod_gait
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body_clearance: 0.100
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step_frequency: {default: 1.000, min: 0.001, max: 2.000, step: 0.100} #Reconfigurable
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step_clearance: {default: 0.020, min: 0.010, max: 0.050, step: 0.005} #Reconfigurable
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body_clearance: {default: 0.100, min: 0.010, max: 0.150, step: 0.010} #Reconfigurable
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swing_height: {default: 0.020, min: 0.010, max: 0.050, step: 0.005} #Reconfigurable
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swing_width: {default: 0.000, min: -0.300, max: 0.300, step: 0.010} #Reconfigurable
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step_depth: {default: 0.000, min: 0.000, max: 0.000, step: 0.000} #Reconfigurable
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stance_span_modifier: {default: 0.000, min: -1.000, max: 1.000, step: 0.100} #Reconfigurable
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velocity_input_mode: throttle #real
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BL_stance_position: {x: 0.000, y: 0.150}
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AL_stance_position: {x: 0.130, y: 0.075}
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gravity_aligned_tips: false
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touchdown_threshold: 0.9
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liftoff_threshold: 0.1
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overlapping_walkspaces: false
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force_normal_touchdown: false
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gravity_aligned_tips: false
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touchdown_threshold: 0.9
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liftoff_threshold: 0.1
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########################################################################################################################
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# Poser parameters

‎launch/default_rviz.launch‎

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<launch>
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<include file="$(find syropod_remote)/launch/syropod_remote.launch" />
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<rosparam file="$(find default_syropod)/config/default.yaml" command="load"/>
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<rosparam file="$(find default_syropod)/config/gait.yaml" command="load"/>
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<rosparam file="$(find default_syropod)/config/auto_pose.yaml" command="load"/>
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<rosparam file="$(find syropod_highlevel_controller)/config/default.yaml" command="load"/>
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<rosparam file="$(find syropod_highlevel_controller)/config/gait.yaml" command="load"/>
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<rosparam file="$(find syropod_highlevel_controller)/config/auto_pose.yaml" command="load"/>
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<node name="syropod_highlevel_controller" pkg="syropod_highlevel_controller" type="syropod_highlevel_controller_node" output="screen"/>
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