5 cm toe kinematic offset, as well as new parameter for foot pitch angle

Author: LievenPetersen

bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_simulator.yaml

@@ -12,7 +12,7 @@ walking:
       kick_vel: 0.2
       kick_phase: 0.75
 
-      double_support_ratio: 0.0264282002140171
+      double_support_ratio: 0.264282002140171
       first_step_swing_factor: 1.80591386587488
       foot_distance: 0.179900277671633
       foot_rise: 0.0819786291304007
@@ -30,6 +30,7 @@ walking:
       foot_apex_phase: 0.5
       foot_overshoot_phase: 1.0
       foot_overshoot_ratio: 0.0
+      foot_pitch_angle: 0.5
       foot_put_down_phase: 1.0
       foot_z_pause: 0.0
       trunk_pause: 0.0

bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_viz.yaml

@@ -19,6 +19,7 @@ walking:
       foot_apex_phase: 0.5
       foot_overshoot_phase: 0.85
       foot_overshoot_ratio: 0.1
+      foot_pitch_angle: 0.5
       foot_put_down_phase: 1.0
       foot_put_down_z_offset: 0.0
       foot_z_pause: 0.0

bitbots_motion/bitbots_quintic_walk/src/parameters.yaml

@@ -90,6 +90,11 @@ walking:
       description: "Foot X/Y overshoot phase (single support cycle phase, [foot_apex_phase:1])"
       validation:
         bounds<>: [0.0, 1.0]
+    foot_pitch_angle:
+      type: double
+      description: "Foot pitch angle before toe-off"
+      validation:
+        bounds<>: [0.0, 1.0]
     trunk_x_offset:
       type: double
       description: "Trunk X offset (in meters)"

bitbots_motion/bitbots_quintic_walk/src/walk_engine.cpp

@@ -518,8 +518,8 @@ void WalkEngine::buildTrajectories(WalkEngine::TrajectoryType type) {
   foot_spline_.pitch()->addPoint(0.0, foot_orientation_pos_at_last_foot_change_.y(),
                                  foot_orientation_vel_at_last_foot_change_.y(),
                                  foot_orientation_acc_at_foot_change_.y());
-  foot_spline_.pitch()->addPoint(double_support_length, 0.1);
-  // foot_spline_.pitch()->addPoint(double_support_length, config_.foot_pitch_angle);
+  foot_spline_.pitch()->addPoint(double_support_length, config_.foot_pitch_angle);
+  // foot_spline_.pitch()->addPoint(double_support_length, 0.1);
   // foot_spline_.pitch()->addPoint(double_support_length + single_support_length * config_.foot_apex_phase, 0.1);
   foot_spline_.pitch()->addPoint(half_period, 0.0);