Side step calibration (#94)

etc/configuration/robocup2023_calibration_ABC_walk/default.json

@@ -0,0 +1,134 @@
+{
+  "camera_matrix_parameters": {
+    "vision_top": {
+      "extrinsic_rotations": [
+        -0.029294192790985107,
+        -3.6775660514831543,
+        -0.25999999046325684
+      ]
+    }
+  },
+  "step_planner": {
+		"injected_step": null,
+		"max_step_size": {
+			"forward": 0.054999999701976776,
+			"left": 0.119999997317791,
+			"turn": 1.2000000476837158
+		},
+		"max_step_size_backwards": 0.029999999329447743,
+		"rotation_exponent": 2.0,
+		"translation_exponent": 1.5
+	},
+	"walking_engine": {
+		"additional_kick_foot_lift": 0.009999999776482582,
+		"arm_stiffness": 0.800000011920929,
+		"backward_foot_support_offset": -0.029999999329447743,
+		"base_foot_lift": 0.009999999776482582,
+		"base_step_duration": {
+			"nanos": 240000000,
+			"secs": 0
+		},
+		"emergency_foot_lift": 0.07000000029802322,
+		"emergency_step": {
+			"forward": 0.0,
+			"left": 0.10000000149011612,
+			"turn": 0.0
+		},
+		"emergency_step_duration": {
+			"nanos": 280000000,
+			"secs": 0
+		},
+		"foot_pressure_threshold": 0.20000000298023224,
+		"forward_foot_support_offset": 0.20000000298023224,
+		"gyro_balance_factors": {
+			"ankle_pitch": 0.05000000074505806,
+			"ankle_roll": 0.05000000074505806,
+			"hip_pitch": 0.009999999776482582,
+			"hip_roll": 0.0,
+			"hip_yaw_pitch": 0.0,
+			"knee_pitch": 0.05000000074505806
+		},
+		"gyro_low_pass_factor": 0.30000001192092896,
+		"imu_pitch_low_pass_factor": 0.4000000059604645,
+		"inside_turn_ratio": 0.05000000074505806,
+		"leg_stiffness_stand": 0.6000000238418579,
+		"leg_stiffness_walk": 1.0,
+		"max_forward_acceleration": 0.004999999888241291,
+		"max_leg_adjustment_velocity": {
+			"ankle_pitch": 0.10000000149011612,
+			"ankle_roll": 0.10000000149011612,
+			"hip_pitch": 0.10000000149011612,
+			"hip_roll": 0.10000000149011612,
+			"hip_yaw_pitch": 0.10000000149011612,
+			"knee_pitch": 0.10000000149011612
+		},
+		"max_number_of_timeouted_steps": 3,
+		"max_number_of_unstable_steps": 3,
+		"max_step_adjustment": 0.004000000189989805,
+		"maximal_step_duration": {
+			"nanos": 0,
+			"secs": 1
+		},
+		"minimal_step_duration": {
+			"nanos": 150000000,
+			"secs": 0
+		},
+		"number_of_stabilizing_steps": 3,
+		"stable_step_deviation": {
+			"nanos": 60000000,
+			"secs": 0
+		},
+		"starting_step_duration": {
+			"nanos": 200000000,
+			"secs": 0
+		},
+		"starting_step_foot_lift": 0.008999999612569809,
+		"step_duration_increase": {
+			"forward": 0.20000000298023224,
+			"left": 0.30000001192092896,
+			"turn": 0.10000000149011612
+		},
+		"step_foot_lift_increase": {
+			"forward": 0.019999999552965164,
+			"left": 0.19999998807907104,
+			"turn": 0.010000014677643776
+		},
+		"swing_foot_imu_leveling_factor": 1.0,
+		"swing_foot_pitch_error_leveling_factor": 0.8999999761581421,
+		"swinging_arms": {
+			"debug_pull_back": false,
+			"default_roll": 0.12999999523162842,
+			"pitch_factor": 10.0,
+			"pull_back_joints": {
+				"elbow_roll": 0.0,
+				"elbow_yaw": -1.5700000524520874,
+				"hand": 0.0,
+				"shoulder_pitch": 1.899999976158142,
+				"shoulder_roll": 0.20000000298023224,
+				"wrist_yaw": 0.0
+			},
+			"pull_tight_joints": {
+				"elbow_roll": 0.0,
+				"elbow_yaw": -1.5700000524520874,
+				"hand": 0.0,
+				"shoulder_pitch": 2.4000000953674316,
+				"shoulder_roll": -0.30000001192092896,
+				"wrist_yaw": 0.0
+			},
+			"pulling_back_duration": {
+				"nanos": 0,
+				"secs": 1
+			},
+			"pulling_tight_duration": {
+				"nanos": 0,
+				"secs": 1
+			},
+			"roll_factor": 4.0,
+			"torso_tilt_compensation_factor": -0.029999999329447743
+		},
+		"tilt_shift_low_pass_factor": 0.4000000059604645,
+		"torso_shift_offset": 0.0,
+		"torso_tilt_offset": 0.07999999821186066,
+		"walk_hip_height": 0.1850000023841858
+	}
+}