Hugging Face's logo

apirrone
/
microduck-footsteps

Reinforcement Learning
Microduck
ONNX
robotics
footstep-planning
Model card Files
xet
 Community
apirrone commited on
Commit
a4a487e
·
verified ·
1 Parent(s): 7a9f8a8

printable A4 footstep patterns + the JSON robotctl walks

Browse files
Files changed (7) hide show
  1. patterns/arc_left_45.json +45 -0
  2. patterns/backward_10cm.json +45 -0
  3. patterns/footstep_patterns.pdf +0 -0
  4. patterns/forward_15cm.json +45 -0
  5. patterns/side_left_6cm.json +45 -0
  6. patterns/turn_left_90.json +57 -0
  7. patterns/turn_right_90.json +63 -0
patterns/arc_left_45.json ADDED
@@ -0,0 +1,45 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "arc_left_45",
3
+ "planner": "footstepnet_5cm.onnx",
4
+ "frame": "start stance: origin midway between the start sole centres, x forward, y left; m, rad",
5
+ "start": [
6
+ {
7
+ "foot": "left",
8
+ "x": 0.0,
9
+ "y": 0.042,
10
+ "yaw": 0.0
11
+ },
12
+ {
13
+ "foot": "right",
14
+ "x": 0.0,
15
+ "y": -0.042,
16
+ "yaw": 0.0
17
+ }
18
+ ],
19
+ "steps": [
20
+ {
21
+ "foot": "left",
22
+ "x": 0.030674940180864245,
23
+ "y": 0.050693247834328076,
24
+ "yaw": 0.409049778321036
25
+ },
26
+ {
27
+ "foot": "right",
28
+ "x": 0.10018095212356384,
29
+ "y": -0.018754821254640442,
30
+ "yaw": 0.7580298883291606
31
+ },
32
+ {
33
+ "foot": "left",
34
+ "x": 0.06638037082116541,
35
+ "y": 0.07182682922539876,
36
+ "yaw": 0.8504225117536907
37
+ },
38
+ {
39
+ "foot": "right",
40
+ "x": 0.13777849374866447,
41
+ "y": 0.00915859131790904,
42
+ "yaw": 0.8504225117536907
43
+ }
44
+ ]
45
+ }
patterns/backward_10cm.json ADDED
@@ -0,0 +1,45 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "backward_10cm",
3
+ "planner": "footstepnet_5cm.onnx",
4
+ "frame": "start stance: origin midway between the start sole centres, x forward, y left; m, rad",
5
+ "start": [
6
+ {
7
+ "foot": "left",
8
+ "x": 0.0,
9
+ "y": 0.042,
10
+ "yaw": 0.0
11
+ },
12
+ {
13
+ "foot": "right",
14
+ "x": 0.0,
15
+ "y": -0.042,
16
+ "yaw": 0.0
17
+ }
18
+ ],
19
+ "steps": [
20
+ {
21
+ "foot": "left",
22
+ "x": -0.04762859269976616,
23
+ "y": 0.04896805544570088,
24
+ "yaw": -0.04293408244848251
25
+ },
26
+ {
27
+ "foot": "right",
28
+ "x": -0.08543442626294431,
29
+ "y": -0.0345324438159062,
30
+ "yaw": 0.21956536918878553
31
+ },
32
+ {
33
+ "foot": "left",
34
+ "x": -0.10043731718672072,
35
+ "y": 0.045801737387935894,
36
+ "yaw": -0.023216210305690797
37
+ },
38
+ {
39
+ "foot": "right",
40
+ "x": -0.10264265904287861,
41
+ "y": -0.04917266162199455,
42
+ "yaw": -0.023216210305690797
43
+ }
44
+ ]
45
+ }
patterns/footstep_patterns.pdf ADDED
Binary file (52.5 kB). View file
 
patterns/forward_15cm.json ADDED
@@ -0,0 +1,45 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "forward_15cm",
3
+ "planner": "footstepnet_5cm.onnx",
4
+ "frame": "start stance: origin midway between the start sole centres, x forward, y left; m, rad",
5
+ "start": [
6
+ {
7
+ "foot": "left",
8
+ "x": 0.0,
9
+ "y": 0.042,
10
+ "yaw": 0.0
11
+ },
12
+ {
13
+ "foot": "right",
14
+ "x": 0.0,
15
+ "y": -0.042,
16
+ "yaw": 0.0
17
+ }
18
+ ],
19
+ "steps": [
20
+ {
21
+ "foot": "left",
22
+ "x": 0.04309989344210214,
23
+ "y": 0.05086197772514345,
24
+ "yaw": 0.25944930945826294
25
+ },
26
+ {
27
+ "foot": "right",
28
+ "x": 0.10430812546582661,
29
+ "y": -0.03839103814521548,
30
+ "yaw": -0.05147338758291475
31
+ },
32
+ {
33
+ "foot": "left",
34
+ "x": 0.1468612185696449,
35
+ "y": 0.04753686970450348,
36
+ "yaw": 0.07466425646959074
37
+ },
38
+ {
39
+ "foot": "right",
40
+ "x": 0.15394773438899473,
41
+ "y": -0.047198452607409846,
42
+ "yaw": 0.07466425646959074
43
+ }
44
+ ]
45
+ }
patterns/side_left_6cm.json ADDED
@@ -0,0 +1,45 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "side_left_6cm",
3
+ "planner": "footstepnet_5cm.onnx",
4
+ "frame": "start stance: origin midway between the start sole centres, x forward, y left; m, rad",
5
+ "start": [
6
+ {
7
+ "foot": "left",
8
+ "x": 0.0,
9
+ "y": 0.042,
10
+ "yaw": 0.0
11
+ },
12
+ {
13
+ "foot": "right",
14
+ "x": 0.0,
15
+ "y": -0.042,
16
+ "yaw": 0.0
17
+ }
18
+ ],
19
+ "steps": [
20
+ {
21
+ "foot": "left",
22
+ "x": 0.013973270349482935,
23
+ "y": 0.07201872881156447,
24
+ "yaw": 0.06950065673611408
25
+ },
26
+ {
27
+ "foot": "right",
28
+ "x": -0.003497513310749961,
29
+ "y": -0.006612224624798553,
30
+ "yaw": 0.08443799069920864
31
+ },
32
+ {
33
+ "foot": "left",
34
+ "x": -0.0022193771743547717,
35
+ "y": 0.10200553748310255,
36
+ "yaw": 0.021197365734971444
37
+ },
38
+ {
39
+ "foot": "right",
40
+ "x": -0.00020577823194076585,
41
+ "y": 0.007026879778862974,
42
+ "yaw": 0.021197365734971448
43
+ }
44
+ ]
45
+ }
patterns/turn_left_90.json ADDED
@@ -0,0 +1,57 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "turn_left_90",
3
+ "planner": "footstepnet_5cm.onnx",
4
+ "frame": "start stance: origin midway between the start sole centres, x forward, y left; m, rad",
5
+ "start": [
6
+ {
7
+ "foot": "left",
8
+ "x": 0.0,
9
+ "y": 0.042,
10
+ "yaw": 0.0
11
+ },
12
+ {
13
+ "foot": "right",
14
+ "x": 0.0,
15
+ "y": -0.042,
16
+ "yaw": 0.0
17
+ }
18
+ ],
19
+ "steps": [
20
+ {
21
+ "foot": "left",
22
+ "x": 0.0025619180644000697,
23
+ "y": 0.04430637959782909,
24
+ "yaw": 0.47078112048844084
25
+ },
26
+ {
27
+ "foot": "right",
28
+ "x": 0.047476708782786904,
29
+ "y": -0.040927291692937504,
30
+ "yaw": 0.983594211766517
31
+ },
32
+ {
33
+ "foot": "left",
34
+ "x": -0.01801321919464489,
35
+ "y": 0.034908521409635365,
36
+ "yaw": 1.423464761039181
37
+ },
38
+ {
39
+ "foot": "right",
40
+ "x": 0.058123123937208906,
41
+ "y": 0.003570575036385887,
42
+ "yaw": 1.6973987838670095
43
+ },
44
+ {
45
+ "foot": "left",
46
+ "x": -0.04515560683392417,
47
+ "y": -0.0013107144195191175,
48
+ "yaw": 1.5731200820251783
49
+ },
50
+ {
51
+ "foot": "right",
52
+ "x": 0.049844136673868666,
53
+ "y": -0.0010899578713174315,
54
+ "yaw": 1.5731200820251783
55
+ }
56
+ ]
57
+ }
patterns/turn_right_90.json ADDED
@@ -0,0 +1,63 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "turn_right_90",
3
+ "planner": "footstepnet_5cm.onnx",
4
+ "frame": "start stance: origin midway between the start sole centres, x forward, y left; m, rad",
5
+ "start": [
6
+ {
7
+ "foot": "left",
8
+ "x": 0.0,
9
+ "y": 0.042,
10
+ "yaw": 0.0
11
+ },
12
+ {
13
+ "foot": "right",
14
+ "x": 0.0,
15
+ "y": -0.042,
16
+ "yaw": 0.0
17
+ }
18
+ ],
19
+ "steps": [
20
+ {
21
+ "foot": "left",
22
+ "x": 0.019716073861078046,
23
+ "y": 0.06064796372732106,
24
+ "yaw": -0.43753631820759037
25
+ },
26
+ {
27
+ "foot": "right",
28
+ "x": 0.005940809718305611,
29
+ "y": -0.028285250812279596,
30
+ "yaw": -0.8295947636506502
31
+ },
32
+ {
33
+ "foot": "left",
34
+ "x": 0.06352659996341149,
35
+ "y": 0.032773528746294515,
36
+ "yaw": -1.256839838870525
37
+ },
38
+ {
39
+ "foot": "right",
40
+ "x": -0.03394927610823615,
41
+ "y": -0.016275252031920193,
42
+ "yaw": -1.618502509801642
43
+ },
44
+ {
45
+ "foot": "left",
46
+ "x": 0.04481477192269273,
47
+ "y": 0.001090409534400958,
48
+ "yaw": -1.693838317899958
49
+ },
50
+ {
51
+ "foot": "right",
52
+ "x": -0.04563081690904808,
53
+ "y": 0.0008956637708603665,
54
+ "yaw": -1.5731062190821328
55
+ },
56
+ {
57
+ "foot": "left",
58
+ "x": 0.049368929649951626,
59
+ "y": 0.0006762241987134372,
60
+ "yaw": -1.5731062190821328
61
+ }
62
+ ]
63
+ }