havoc420ubuntu
88f72b3722
- Update detect_horizontal_track_edge_v3 function for better edge detection accuracy. - Refine parameters in follow_left_side_track function to improve stability and responsiveness. - Adjust logging for clarity and maintainability.
87 lines
3.2 KiB
TOML
87 lines
3.2 KiB
TOML
# Gait Params for Low Height Walking
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# 1 - Initial position with low body height
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[[step]]
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type = "usergait"
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body_vel_des = [0.0, 0.0, 0.0]
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body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, -0.1] # Z值为-0.1，降低体高
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landing_pos_des = [0.2, 0.15, 0.0, 0.2, -0.15, 0.0, -0.2, -0.15, 0.0, -0.2, 0.15, 0.0]
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step_height = [0.0, 0.0, 0.0, 0.0] # 初始姿态不抬腿
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weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
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use_mpc_traj = 0
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mu = 0.40
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landing_gain = 1.0
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gait_id = 110
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duration = 500 # 给足够时间降低体高
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# 2 - Moving forward (left front and right back legs)
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[[step]]
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type = "usergait"
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body_vel_des = [0.05, 0.0, 0.0] # 低速前进
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body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, -0.1] # 保持低体高
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landing_pos_des = [0.25, 0.15, 0.0, 0.2, -0.15, 0.0, -0.2, -0.15, 0.0, -0.25, 0.15, 0.0]
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step_height = [0.03, 0.01, 0.01, 0.03] # 减小抬腿高度
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weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
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use_mpc_traj = 0
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mu = 0.40
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landing_gain = 1.0
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gait_id = 110
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duration = 300
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# 3 - Moving forward (right front and left back legs)
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[[step]]
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type = "usergait"
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body_vel_des = [0.05, 0.0, 0.0] # 继续低速前进
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body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, -0.1] # 保持低体高
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landing_pos_des = [0.2, 0.15, 0.0, 0.25, -0.15, 0.0, -0.25, -0.15, 0.0, -0.2, 0.15, 0.0]
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step_height = [0.01, 0.03, 0.03, 0.01] # 减小抬腿高度
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weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
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use_mpc_traj = 0
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mu = 0.40
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landing_gain = 1.0
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gait_id = 110
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duration = 300
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# 4 - Moving forward (left front and right back legs)
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[[step]]
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type = "usergait"
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body_vel_des = [0.05, 0.0, 0.0] # 低速前进
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body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, -0.1] # 保持低体高
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landing_pos_des = [0.25, 0.15, 0.0, 0.2, -0.15, 0.0, -0.2, -0.15, 0.0, -0.25, 0.15, 0.0]
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step_height = [0.03, 0.01, 0.01, 0.03] # 减小抬腿高度
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weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
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use_mpc_traj = 0
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mu = 0.40
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landing_gain = 1.0
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gait_id = 110
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duration = 300
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# 5 - Moving forward (right front and left back legs)
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[[step]]
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type = "usergait"
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body_vel_des = [0.05, 0.0, 0.0] # 继续低速前进
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body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, -0.1] # 保持低体高
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landing_pos_des = [0.2, 0.15, 0.0, 0.25, -0.15, 0.0, -0.25, -0.15, 0.0, -0.2, 0.15, 0.0]
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step_height = [0.01, 0.03, 0.03, 0.01] # 减小抬腿高度
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weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
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use_mpc_traj = 0
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mu = 0.40
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landing_gain = 1.0
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gait_id = 110
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duration = 300
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# 6 - Stop and maintain low position
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[[step]]
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type = "usergait"
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body_vel_des = [0.0, 0.0, 0.0] # 停止
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body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, -0.1] # 保持低体高
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landing_pos_des = [0.2, 0.15, 0.0, 0.2, -0.15, 0.0, -0.2, -0.15, 0.0, -0.2, 0.15, 0.0]
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step_height = [0.0, 0.0, 0.0, 0.0] # 不抬腿
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weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
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use_mpc_traj = 0
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mu = 0.40
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landing_gain = 1.0
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gait_id = 110
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duration = 500
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# End of low height gait # |