add reactive_gait

P1terQ · Jun 28, 2023 · fe8ce05 · fe8ce05
1 parent 1afd18a
commit fe8ce05
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Showing 322 changed files with 723,010 additions and 71 deletions.
diff --git a/.gitignore b/.gitignore
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
diff --git a/.vscode/settings.json b/.vscode/settings.json
diff --git a/LICENSE b/LICENSE
diff --git a/README.md b/README.md
diff --git a/cerbrus_interface/CMakeLists.txt b/cerbrus_interface/CMakeLists.txt
diff --git a/cerbrus_interface/cerbrus_interface_plugins.xml b/cerbrus_interface/cerbrus_interface_plugins.xml
diff --git a/cerbrus_interface/include/cerbrus_interface/CerberusVilo.h b/cerbrus_interface/include/cerbrus_interface/CerberusVilo.h
diff --git a/cerbrus_interface/package.xml b/cerbrus_interface/package.xml
diff --git a/cerbrus_interface/src/CerberusVilo.cpp b/cerbrus_interface/src/CerberusVilo.cpp
diff --git a/docs/system_diagram.png b/docs/system_diagram.png
diff --git a/docs/tasks.png b/docs/tasks.png
diff --git a/legged_common/CMakeLists.txt b/legged_common/CMakeLists.txt
diff --git a/legged_common/include/legged_common/hardware_interface/ContactSensorInterface.h b/legged_common/include/legged_common/hardware_interface/ContactSensorInterface.h
diff --git a/legged_common/include/legged_common/hardware_interface/HybridJointInterface.h b/legged_common/include/legged_common/hardware_interface/HybridJointInterface.h
diff --git a/legged_common/include/legged_common/hardware_interface/LowStateInterface.h b/legged_common/include/legged_common/hardware_interface/LowStateInterface.h
diff --git a/legged_common/package.xml b/legged_common/package.xml
diff --git a/legged_control/CMakeLists.txt b/legged_control/CMakeLists.txt
diff --git a/legged_control/package.xml b/legged_control/package.xml
diff --git a/legged_controllers/CMakeLists.txt b/legged_controllers/CMakeLists.txt
diff --git a/legged_controllers/config/a1/gait.info b/legged_controllers/config/a1/gait.info
diff --git a/legged_controllers/config/a1/reference.info b/legged_controllers/config/a1/reference.info
diff --git a/legged_controllers/config/a1/task.info b/legged_controllers/config/a1/task.info
@@ -247,8 +247,8 @@ R
 FootPlacementSoftConstraint
 {
   ; relaxed log barrier parameters 小了过沟的时候过不去，大了上楼梯不好上
-  mu                     1.0
-  delta                  0.001
+  mu                     1.2
+  delta                  0.0005
 }
 
 frictionConeSoftConstraint

diff --git a/legged_controllers/config/aliengo/gait.info b/legged_controllers/config/aliengo/gait.info
@@ -12,6 +12,7 @@ list
   [9] lindyhop
   [10] skipping
   [11] pawup
+  [12] gallop
 }
 
 stance
@@ -275,3 +276,22 @@ pawup
      [1]     2.0
    }
 }
+
+gallop
+{
+  modeSequence
+  {
+    [0]     LF_RF
+    [1]     FLY
+    [2]     LF_RH
+    [3]     FLY
+  }
+  switchingTimes
+  {
+    [0]     0.0
+    [1]     0.28
+    [2]     0.30
+    [3]     0.58
+    [4]     0.60
+  }
+}
diff --git a/legged_controllers/config/aliengo/reference.info b/legged_controllers/config/aliengo/reference.info
diff --git a/legged_controllers/config/aliengo/task.info b/legged_controllers/config/aliengo/task.info
diff --git a/legged_controllers/config/controllers.yaml b/legged_controllers/config/controllers.yaml
diff --git a/legged_controllers/config/joy.yaml b/legged_controllers/config/joy.yaml