experimental 5 cm foot pitch rigging offset

Author: LievenPetersen

bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_viz.yaml

@@ -1,7 +1,7 @@
 walking:
   ros__parameters:
     engine:
-      double_support_ratio: 0.05
+      double_support_ratio: 0.30
       foot_distance: 0.2
       foot_rise: 0.05
       freq: 0.5
@@ -11,7 +11,7 @@ walking:
       trunk_pitch_p_coef_forward: 0.0
       trunk_pitch_p_coef_turn: 0.0
       trunk_swing: 0.25
-      trunk_x_offset: 0.0
+      trunk_x_offset: -0.05
       trunk_y_offset: 0.005
       trunk_z_movement: 0.0
       first_step_swing_factor: 1.0

bitbots_motion/bitbots_quintic_walk/src/walk_engine.cpp

@@ -518,6 +518,9 @@ 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 + single_support_length * config_.foot_apex_phase, 0.1);
   foot_spline_.pitch()->addPoint(half_period, 0.0);
 
   foot_spline_.yaw()->addPoint(0.0, foot_orientation_pos_at_last_foot_change_.z(),

bitbots_wolfgang/wolfgang_description/urdf/robot.urdf

@@ -1985,7 +1985,7 @@
     </inertial>
   </link>
   <joint name="r_sole_frame" type="fixed">
-    <origin rpy="-4.1858e-16 2.36866e-15 1.5708" xyz="0.0152219 0.0907683 -0.0529"/>
+    <origin rpy="-4.1858e-16 2.36866e-15 1.5708" xyz="0.0152219 0.1407683 -0.0529"/>
     <axis xyz="0.0 0.0 0.0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
@@ -3134,7 +3134,7 @@
     </inertial>
   </link>
   <joint name="l_sole_frame" type="fixed">
-    <origin rpy="-5.77818e-15 -6.98371e-15 1.5708" xyz="-0.0152219 0.0907683 -0.0529"/>
+    <origin rpy="-5.77818e-15 -6.98371e-15 1.5708" xyz="-0.0152219 0.1407683 -0.0529"/>
     <axis xyz="0.0 0.0 0.0"/>
     <parent link="l_foot"/>
     <child link="l_sole"/>