op3_walkingparam_msg
- File:
op3_walking_module_msgs/WalkingParam.msg
] - Message Definition
####### walking init pose #######
float32 init_x_offset
float32 init_y_offset
float32 init_z_offset
float32 init_roll_offset
float32 init_pitch_offset
float32 init_yaw_offset
####### time parameter #####
float32 period_time
float32 dsp_ratio
float32 step_fb_ratio
########## walking parameter ########
float32 x_move_amplitude
float32 y_move_amplitude
float32 z_move_amplitude
float32 angle_move_amplitude
bool move_aim_on
########## balance parameter ##########
bool balance_enable
float32 balance_hip_roll_gain
float32 balance_knee_gain
float32 balance_ankle_roll_gain
float32 balance_ankle_pitch_gain
float32 y_swap_amplitude
float32 z_swap_amplitude
float32 arm_swing_gain
float32 pelvis_offset
float32 hip_pitch_offset
########## gain parameter ##########
int32 p_gain
int32 i_gain
int32 d_gain
- Description These are the parameters used in the Walking Algorithm.
walking init pose
-
` float32 init_x_offset` offset in the x-direction (front and back) [m]
- ` float32 init_y_offset`
offset in the y-direction (left and right) [m]
- ` float32 init_z_offset`
offset in the z-direction (up and down) [m]
- ` float32 init_roll_offset`
roll offset (x-coordinate) [rad]
- ` float32 init_pitch_offset`
pitch offset (y-coordinate) [rad]
- ` float32 init_yaw_offset`
yaw offset (z-coordinate) [rad]
time parameter
- ` float32 period_time`
Time required for ROBOTIS-OP3 to complete two full steps (left and right foot) [ms]
- ` float32 dsp_ratio`
Time ratio of the period when both feet are touching the ground to the period of walking cycle.
walking parameter
- ` float32 x_move_amplitude`
Differential distance (x-direction) between ROBOTIS-OP3’s left and right foot during walk [m]
- ` float32 y_move_amplitude`
Differential distance (y-direction) between ROBOTIS-OP3’s left and right foot during walk [m]
- ` float32 z_move_amplitude`
This is ROBOTIS-OP3’s foot elevation during walk
- ` float32 angle_move_amplitude`
Direction of ROBOTIS-OP3’s stepping (towards left or right). The head also aims at the direction [rad]
balance parameter
-
bool balance_enable
Turn on balance algorithm -
` float32 balance_hip_roll_gain` Gain with respect to the gyroscope roll
-
` float32 balance_knee_gain` Gain with respect to the gyroscope pitch
-
` float32 balance_ankle_roll_gain` Gain with respect to the gyroscope roll
-
` float32 balance_ankle_pitch_gain` Gain with respect to the gyroscope pitch
- ` float32 y_swap_amplitude`
swing to either left or right during walk [m]
- ` float32 z_swap_amplitude`
up and down body swing during walk [m]
-
` float32 arm_swing_gain` Arm swing gain with respect to Step forward/back. If the left foot moves forward then the right arm swings.
- ` float32 pelvis_offset`
roll offset (x-coordinate) at the pelvis level. Values are for DYNAMIXEL position values for hip roll joints [rad]
- ` float32 hip_pitch_offset`
pitch offset (y-coordinate) at the hip level. Values are for DYNAMIXEL position values for hip pitch joints. [rad]
gain parameter
-
` int32 p_gain` not yet implemented
-
` int32 i_gain` not yet implemented
-
` int32 d_gain` not yet implemented