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use falling animation in hcm and change falling thresholds to fit new… #867

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use falling animation in hcm and change falling thresholds to fit new…
ayin21 May 23, 2026
7194043
Merge branch 'main' into use-falling-animation-in-hcm
jaagut May 24, 2026
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8 changes: 4 additions & 4 deletions src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd
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Original file line number Diff line number Diff line change
Expand Up @@ -42,10 +42,10 @@ $StartHCM
STOPPED --> @RobotStateFallen, @CancelGoals, @StopWalking, @Wait
FREE --> @RobotStateFallen, @CancelGoals, @StopWalking, @PlayAnimationWalkReady
NOT_FALLEN --> $Falling
FALLING_LEFT --> @RobotStateFalling, @CancelGoals, @StopWalking, @PlayAnimationWalkReady, @Wait
FALLING_RIGHT --> @RobotStateFalling, @CancelGoals, @StopWalking, @PlayAnimationWalkReady, @Wait
FALLING_FRONT --> @RobotStateFalling, @CancelGoals, @StopWalking, @PlayAnimationWalkReady, @Wait
FALLING_BACK --> @RobotStateFalling, @CancelGoals, @StopWalking, @PlayAnimationWalkReady, @Wait
FALLING_LEFT --> @RobotStateFalling, @CancelGoals, @StopWalking, @PlayAnimationFallingLeft, @Wait
FALLING_RIGHT --> @RobotStateFalling, @CancelGoals, @StopWalking, @PlayAnimationFallingRight, @Wait
FALLING_FRONT --> @RobotStateFalling, @CancelGoals, @StopWalking, @PlayAnimationFallingFront, @Wait
FALLING_BACK --> @RobotStateFalling, @CancelGoals, @StopWalking, @PlayAnimationFallingBack, @Wait
NOT_FALLING --> $PlayingExternalAnimation
ANIMATION_RUNNING --> @StopWalking, @RobotStateAnimationRunning, @Wait
ANIMATION_SERVER_TIMEOUT --> @CancelAnimation
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12 changes: 6 additions & 6 deletions src/bitbots_motion/bitbots_hcm/config/hcm_piplus.yaml
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Expand Up @@ -13,10 +13,10 @@
# Animations
anim_server_wait_time: 10.0 # time the hcm waits for animation server
animations:
falling_back: "falling_back"
falling_front: "falling_front"
falling_left: "falling_left"
falling_right: "falling_right"
falling_back: "falling"
falling_front: "falling"
falling_left: "falling"
falling_right: "falling"
init: "init"
stand_up_back: "stand_up_back"
stand_up_front: "stand_up_front"
Expand All @@ -30,8 +30,8 @@
falling_active: true # Enables the check for falling and corresponding counter measurements
# Threshold tighter --> earlier reaction but more false positives, e.g. while walking
# Threshold softer --> too late reaction
falling_thresh_gyro_pitch: 7.0 # > gyroY
falling_thresh_gyro_roll: 7.0 # > gyroX
falling_thresh_gyro_pitch: 4.0 # > gyroY
falling_thresh_gyro_roll: 4.0 # > gyroX
falling_thresh_orient_roll: 60.0 # > Point of no return in degrees
falling_thresh_orient_pitch: 45.0 # > Point of no return in degrees
# Duration in seconds in which the robot has to be in a falling state to trigger the fall
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28 changes: 4 additions & 24 deletions src/bitbots_robot/piplus_animations/animations/misc/falling.json
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Expand Up @@ -3,37 +3,17 @@
"description": "",
"keyframes": [
{
"duration": 1.0,
"duration": 0.01,
"goals": {
"head_pitch_joint": -50.51,
"head_yaw_joint": 1.84,
"l_ankle_pitch_joint": -42.41,
"l_ankle_roll_joint": 0.58,
"l_calf_joint": -69.73,
"l_elbow_joint": 107.39,
"l_hip_pitch_joint": -23.83,
"l_hip_roll_joint": 3.67,
"l_shoulder_pitch_joint": 109.4,
"l_shoulder_roll_joint": 87.8,
"l_thigh_joint": -0.11,
"l_upper_arm_joint": 1.84,
"r_ankle_pitch_joint": 42.3,
"r_ankle_roll_joint": 8.64,
"r_calf_joint": 73.33,
"r_elbow_joint": -107.24,
"r_hip_pitch_joint": 26.53,
"r_hip_roll_joint": 4.9,
"r_shoulder_pitch_joint": -109.87,
"r_shoulder_roll_joint": -93.38,
"r_thigh_joint": 2.9160000691922616,
"r_upper_arm_joint": -2.02
"head_yaw_joint": 1.84
},
"name": "start frame",
"pause": 0.0,
"pause": 0.2,
"torque": {}
}
],
"last_edited": "2026-05-02 19:17:28.531941",
"name": "falling",
"version": ""
}
}
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