diff --git a/animations/.json b/animations/.json deleted file mode 100644 index 9608ced3d..000000000 --- a/animations/.json +++ /dev/null @@ -1,61 +0,0 @@ -{ - "author": "", - "description": "", - "keyframes": [ - { - "duration": 1.0, - "goals": { - "LAnklePitch": -55.99, - "LAnkleRoll": 2.99, - "LElbow": -86.22, - "LHipPitch": 71.75, - "LHipRoll": 6.86, - "LHipYaw": -2.72, - "LKnee": 139.37, - "LShoulderPitch": -173.58, - "LShoulderRoll": 19.35, - "RAnklePitch": 51.44, - "RAnkleRoll": -12.66, - "RElbow": 82.66, - "RHipPitch": -71.54, - "RHipRoll": -13.54, - "RHipYaw": 1.23, - "RKnee": -134.74, - "RShoulderPitch": 172.35, - "RShoulderRoll": -12.66 - }, - "name": "start frame", - "pause": 0.0, - "torque": {} - }, - { - "duration": 1.0, - "goals": { - "LAnklePitch": -57.48, - "LAnkleRoll": 11.96, - "LElbow": -86.22, - "LHipPitch": 121.61, - "LHipRoll": 14.250000000000002, - "LHipYaw": -3.08, - "LKnee": 160.21, - "LShoulderPitch": -58.89, - "LShoulderRoll": 19.35, - "RAnklePitch": 58.480000000000004, - "RAnkleRoll": -20.39, - "RElbow": 82.66, - "RHipPitch": -118.74, - "RHipRoll": -18.19, - "RHipYaw": 17.5, - "RKnee": -157.68, - "RShoulderPitch": 56.54, - "RShoulderRoll": -12.66 - }, - "name": "start frame_copy_1", - "pause": 0.0, - "torque": {} - } - ], - "last_edited": "2024-10-30 18:41:18.125291", - "name": "", - "version": "" -} \ No newline at end of file diff --git a/bitbots_motion/bitbots_dynup/config/dynup_sim.yaml b/bitbots_motion/bitbots_dynup/config/dynup_sim.yaml index f7e1ef994..aef9cb53e 100644 --- a/bitbots_motion/bitbots_dynup/config/dynup_sim.yaml +++ b/bitbots_motion/bitbots_dynup/config/dynup_sim.yaml @@ -29,7 +29,7 @@ dynup: wait_in_squat_front: 0.032 rise: - rise_time: 0.4 + rise_time: 2.0 stabilizer: end_pause: diff --git a/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp b/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp index 7453e5b46..02712ef0c 100644 --- a/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp +++ b/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp @@ -595,18 +595,18 @@ double DynupEngine::calcWalkreadySplines(double time, double travel_time) { r_foot_spline_.pitch()->addPoint(time, -params_.end_pose.trunk_pitch * M_PI / 180); r_foot_spline_.yaw()->addPoint(time, 0); - // l_hand_spline_.x()->addPoint(time, 0); - // l_hand_spline_.y()->addPoint(time, 0); - // l_hand_spline_.z()->addPoint(time, params_.end_pose.hand_walkready_height); - // l_hand_spline_.roll()->addPoint(time, 0); - // l_hand_spline_.pitch()->addPoint(time, params_.end_pose.hand_walkready_pitch * M_PI / 180); - // l_hand_spline_.yaw()->addPoint(time, 0); - // r_hand_spline_.x()->addPoint(time, 0); - // r_hand_spline_.y()->addPoint(time, 0); - // r_hand_spline_.z()->addPoint(time, params_.end_pose.hand_walkready_height); - // r_hand_spline_.roll()->addPoint(time, 0); - // r_hand_spline_.pitch()->addPoint(time, params_.end_pose.hand_walkready_pitch * M_PI / 180); - // r_hand_spline_.yaw()->addPoint(time, 0); + l_hand_spline_.x()->addPoint(time, 0); + l_hand_spline_.y()->addPoint(time, 0); + l_hand_spline_.z()->addPoint(time, params_.end_pose.hand_walkready_height); + l_hand_spline_.roll()->addPoint(time, 0); + l_hand_spline_.pitch()->addPoint(time, params_.end_pose.hand_walkready_pitch * M_PI / 180); + l_hand_spline_.yaw()->addPoint(time, 0); + r_hand_spline_.x()->addPoint(time, 0); + r_hand_spline_.y()->addPoint(time, 0); + r_hand_spline_.z()->addPoint(time, params_.end_pose.hand_walkready_height); + r_hand_spline_.roll()->addPoint(time, 0); + r_hand_spline_.pitch()->addPoint(time, params_.end_pose.hand_walkready_pitch * M_PI / 180); + r_hand_spline_.yaw()->addPoint(time, 0); return time; } diff --git a/animations/grab_ball.json b/bitbots_robot/wolfgang_animations/animations/throw_in/grab_ball.json similarity index 71% rename from animations/grab_ball.json rename to bitbots_robot/wolfgang_animations/animations/throw_in/grab_ball.json index 97105be0f..9e71ab502 100644 --- a/animations/grab_ball.json +++ b/bitbots_robot/wolfgang_animations/animations/throw_in/grab_ball.json @@ -39,7 +39,7 @@ "LHipYaw": -3.08, "LKnee": 160.21, "LShoulderPitch": -58.89, - "LShoulderRoll": 19.35, + "LShoulderRoll": 5.0, "RAnklePitch": 58.480000000000004, "RAnkleRoll": -20.39, "RElbow": 82.66, @@ -48,7 +48,33 @@ "RHipYaw": 17.5, "RKnee": -157.68, "RShoulderPitch": 56.54, - "RShoulderRoll": -12.66 + "RShoulderRoll": -5.0 + }, + "name": "start frame_copy_1", + "pause": 0.0, + "torque": {} + }, + { + "duration": 1.2, + "goals": { + "LAnklePitch": -57.48, + "LAnkleRoll": 11.96, + "LElbow": -86.22, + "LHipPitch": 121.61, + "LHipRoll": 14.250000000000002, + "LHipYaw": -3.08, + "LKnee": 160.21, + "LShoulderPitch": -58.89, + "LShoulderRoll": 15.0, + "RAnklePitch": 58.480000000000004, + "RAnkleRoll": -20.39, + "RElbow": 82.66, + "RHipPitch": -118.74, + "RHipRoll": -18.19, + "RHipYaw": 17.5, + "RKnee": -157.68, + "RShoulderPitch": 56.54, + "RShoulderRoll": -15.0 }, "name": "start frame_copy_1", "pause": 0.0, @@ -64,8 +90,8 @@ "LHipRoll": 13.37, "LHipYaw": 1.23, "LKnee": 142.19, - "LShoulderPitch": -164.79, - "LShoulderRoll": 19.35, + "LShoulderPitch": -164.0, + "LShoulderRoll": 12.66, "RAnklePitch": 59.71, "RAnkleRoll": -15.560000000000002, "RElbow": 82.66, @@ -84,4 +110,4 @@ "last_edited": "2024-10-30 19:16:16.384874", "name": "grab_ball", "version": "" -} \ No newline at end of file +} diff --git a/animations/throw.json b/bitbots_robot/wolfgang_animations/animations/throw_in/throw.json similarity index 98% rename from animations/throw.json rename to bitbots_robot/wolfgang_animations/animations/throw_in/throw.json index b0e9fcfea..3a3500b36 100644 --- a/animations/throw.json +++ b/bitbots_robot/wolfgang_animations/animations/throw_in/throw.json @@ -3,7 +3,7 @@ "description": "", "keyframes": [ { - "duration": 1.0, + "duration": 0.0, "goals": { "HeadPan": 0.0, "HeadTilt": 0.0, @@ -70,4 +70,4 @@ "last_edited": "2024-10-30 19:13:18.833923", "name": "throw", "version": "" -} \ No newline at end of file +} diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang.proto index 53ad73c84..e2d546987 100644 --- a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang.proto +++ b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang.proto @@ -483,6 +483,7 @@ PROTO Wolfgang [ RotationalMotor { name "RShoulderRoll" maxVelocity IS MX64-vel + minPosition -0.4 maxPosition 3.14159 maxTorque IS MX64-torque controlPID IS pid @@ -1041,6 +1042,7 @@ PROTO Wolfgang [ name "LShoulderRoll" maxVelocity IS MX64-vel minPosition -3.14159 + maxPosition 0.4 maxTorque IS MX64-torque controlPID IS pid } @@ -1135,7 +1137,7 @@ PROTO Wolfgang [ RotationalMotor { name "LElbow" maxVelocity IS MX64-vel - minPosition -1.5708 + minPosition -1.7 maxPosition 1.0472 maxTorque IS MX64-torque controlPID IS pid @@ -1735,6 +1737,7 @@ PROTO Wolfgang [ name "RKnee" maxVelocity IS XH540W270-vel minPosition -2.96706 + maxPosition 0.2 maxTorque IS XH540W270-torque controlPID IS pid } @@ -1826,7 +1829,7 @@ PROTO Wolfgang [ name "RAnklePitch" maxVelocity IS MX106-vel minPosition -1.74533 - maxPosition 1.22173 + maxPosition 1.45 maxTorque IS MX106-torque controlPID IS pid } @@ -3154,6 +3157,7 @@ PROTO Wolfgang [ RotationalMotor { name "LKnee" maxVelocity IS XH540W270-vel + minPosition -0.2 maxPosition 2.96706 maxTorque IS XH540W270-torque controlPID IS pid @@ -3245,7 +3249,7 @@ PROTO Wolfgang [ RotationalMotor { name "LAnklePitch" maxVelocity IS MX106-vel - minPosition -1.22173 + minPosition -1.45 maxPosition 1.74533 maxTorque IS MX106-torque controlPID IS pid