set ik_loop_count in stabilizer param for hrp2017#550
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mmurooka wants to merge 13 commits intostart-jsk:masterfrom
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set ik_loop_count in stabilizer param for hrp2017#550mmurooka wants to merge 13 commits intostart-jsk:masterfrom
mmurooka wants to merge 13 commits intostart-jsk:masterfrom
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added 12 commits
July 19, 2016 18:54
…mb_parameters[i].ik_loop_count.
…sys_config.py] update hrp2017 default_zmp_offsets x: 0.01 -> 0.02 [m]
iory
reviewed
Jul 4, 2018
| stp.eefm_swing_rot_spring_gain = [[1]*3, [1]*3, [0]*3, [0]*3] | ||
| # IK | ||
| for ikp in stp.ik_limb_parameters: | ||
| ikp.ik_loop_count=1 |
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stabilizer自体のik_loop_countは3ですが、1になっても問題ないでしょうか？
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hrp2017のhrpsysで、ハンドが固まる、hrpsysでTimeoverが出て歩いていてガタガタしだして転びそうになる、ros_bridgeの通信が重くなって力センサのトピックがとれなくなる、などの問題を@snozawaさんに言った時に、体内ローカルに加えてくれた変更で、今までこれがある状態で、デモやみんなの実験ができていたので大丈夫だと思います。この変更はsetStAbcParametershrp2017c内なので、17号機にしか影響しません。
iory
approved these changes
Jul 4, 2018
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test and review passed. could you merge this? |
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move to #551 |
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For real hrp2017 robot.