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Fix foot step placement during rotation #630

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merged 3 commits into from
Dec 5, 2024
Merged

Fix foot step placement during rotation #630

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1675120
Fix foot step placement during rotation
Flova Nov 28, 2024
0c1d9c8
Merge branch 'main' into fix/walk_rotation_foot_placement
Flova Nov 28, 2024
5c08a1f
Merge branch 'main' into fix/walk_rotation_foot_placement
Flova Nov 28, 2024
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19 changes: 15 additions & 4 deletions bitbots_motion/bitbots_quintic_walk/src/walk_engine.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -858,12 +858,23 @@ void WalkEngine::stepFromOrders(const std::vector<double>& linear_orders, double
// No change in forward step and upward step
tmp_diff.getOrigin()[0] = linear_orders[0];
tmp_diff.getOrigin()[2] = linear_orders[2];

// Add lateral foot offset
if (is_left_support_foot_) {
tmp_diff.getOrigin()[1] = config_.foot_distance;
} else {
tmp_diff.getOrigin()[1] = -1 * config_.foot_distance;
// This is normally just the foot distance, but if we turn we need to also move the foot forward/backward
geometry_msgs::msg::Vector3 foot_offset;
foot_offset.x = -sin(angular_z / 2) * config_.foot_distance;
foot_offset.y = cos(angular_z / 2) * config_.foot_distance;

// Invert lateral offset for right foot
if (!is_left_support_foot_) {
foot_offset.x *= -1;
foot_offset.y *= -1;
}

// Add foot offset to step diff
tmp_diff.getOrigin()[0] += foot_offset.x;
tmp_diff.getOrigin()[1] += foot_offset.y;

// Allow lateral step only on external foot
//(internal foot will return to zero pose)
if ((is_left_support_foot_ && linear_orders[1] > 0.0) || (!is_left_support_foot_ && linear_orders[1] < 0.0)) {
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