Firenzo Demo 17/05/24 Wrap-Up meeting

[SimoneMic]

Demo attendees:
HSP
@SimoneMic
@steb6
@andrearosasco
@randaz81

TBD
Things that went well:

Things to improve:

• Remember to always bring walkie-talkie
• Always bring a back-up laptop set up for streaming video (of whatever application running) with the video direction of the event (one laptop is not able to stream to multiple screens)

Here there are the plannerParams.ini used in the walking-controllers:

##Timings
plannerHorizon          10.0

##Unicycle controller. Available types: personFollowing, direct
controlType             direct

##Unicycle Related Quantities
unicycleGain            10.0
referencePosition       (0.1 0.0)
timeWeight              2.5
positionWeight          1.0
slowWhenTurningGain     2.0
slowWhenBackwardFactor  0.4
slowWhenSidewaysFactor  0.2

# Conservative factors that multiply the unicycle velocity saturations
# computed from the other parameters, like the minStepDuration.
# The first number multiplies the saturation for the linear and lateral
# velocity. The second number multiplies the angular velocity saturation.
saturationFactors       (0.7, 0.7)

##Bounds
#Step length
maxStepLength           0.25
minStepLength           0.01
maxLengthBackwardFactor 0.8
#Width
minWidth                0.14
#Angle Variations in DEGREES
#maxAngleVariation       12.0
maxAngleVariation       18.0
minAngleVariation       5.0
#Timings
maxStepDuration         1.3
minStepDuration         0.6

##Nominal Values
#Width
nominalWidth            0.20
#Height
stepHeight              0.03
stepLandingVelocity     -0.1
footApexTime            0.5
comHeightDelta          0.01
#Timings
nominalDuration         0.8
lastStepSwitchTime      0.15
switchOverSwingRatio    0.2

#ZMP Delta
leftZMPDelta           (-0.00 -0.005)
rightZMPDelta          (-0.00 0.005)

#Feet cartesian offset on the yaw
leftYawDeltaInDeg      0.0
rightYawDeltaInDeg     0.0

# Last Step DCM Offset
# If it is 0.5 the final DCM will be in the middle of the two footsteps;
# If it is 0 the DCM position coincides with the stance foot ZMP;
# If it is 1 the DCM position coincides with the next foot ZMP position.
lastStepDCMOffset      0.5

# Last Step DCM Stillness Percentage
# The percentage of the last step duration in which the DCM is still.
lastStepDCMStillPercentage   0.1

#MergePoint
# The ratios of the double support in which it is present a merge point.
# The first number is the ratio at which the merge points begin, the second
# when they ends.
mergePointRatios       (0.4, 0.4)

# pitch delta
pitchDelta              0.0

##Should be the first step with the left foot?
swingLeft               0
startAlwaysSameFoot     1

##Remove this line if you don't want to use the minimum jerk trajectory in feet interpolation
# useMinimumJerkFootTrajectory    1

##Remove this line if you want to enable the pause conditon
isPauseActive           1

additional_chest_rotation     ((1.0 0.0 0.0),(0.0 1.0 0.0),(0.0 0.0 1.0))