luccapirovano/naowalk
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

adjusted walk for carpet to minimize falls

Browse Source
This commit is contained in:
Lucca Pirovano
2026-07-15 14:15:42 -04:00
parent 9ba030869f
commit b03ffbd253
1 changed files with 21 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
naowalk.py
+21 -7
View File
@@ -131,9 +131,21 @@ class NaoTeleop:
self.motion.wakeUp()
self.posture.goToPosture("StandInit", 0.5)
# Turn natural arm swinging back on so his walk looks normal!
# 1. SETTLE DELAY: Let his internal gyroscopes adapt to the squishy carpet
time.sleep(1.0)
self.motion.setMoveArmsEnabled(True, True)
# 2. CARPET GAIT CONFIGURATION
# StepHeight: Lifts the foot 2.8cm (higher than default) to clear fibers
# MaxStepFrequency: 0.6 slows the step rhythm down for better balance
# TorsoWy: 0.05 leans his torso just slightly forward for better momentum
carpet_config = [
["StepHeight", 0.028],
["MaxStepFrequency", 0.6],
["TorsoWy", 0.05]
]
print("🎮 Controls:")
print(" WASD / Arrows = Walk")
print(" I J K L = Head")
@@ -141,7 +153,6 @@ class NaoTeleop:
print(" ESC = Quit")
while self.running:
# Zero-impact battery checker
self.check_battery()
for event in pygame.event.get():
@@ -156,13 +167,16 @@ class NaoTeleop:
# Walking
keys = pygame.key.get_pressed()
x = y = theta = 0.0
if keys[pygame.K_w] or keys[pygame.K_UP]: x = 0.9
if keys[pygame.K_s] or keys[pygame.K_DOWN]: x = -0.9
if keys[pygame.K_a] or keys[pygame.K_LEFT]: theta = 0.7
if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -0.7
# 3. SAFER TOP SPEED: Dropped from 0.9 (sprinting) to 0.6 (safe walking)
if keys[pygame.K_w] or keys[pygame.K_UP]: x = 0.6
if keys[pygame.K_s] or keys[pygame.K_DOWN]: x = -0.6
if keys[pygame.K_a] or keys[pygame.K_LEFT]: theta = 0.5
if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -0.5
if abs(x) > 0.1 or abs(theta) > 0.1:
self.motion.moveToward(x, y, theta)
# Pass the custom carpet gait to the walk engine
self.motion.moveToward(x, y, theta, carpet_config)
else:
self.motion.stopMove()