From 686b24a14592deba041aec98b20b3cb27a8103c2 Mon Sep 17 00:00:00 2001 From: grxuser Date: Tue, 19 Jul 2016 18:54:53 +0900 Subject: [PATCH 1/3] Modified hrp2's eefm parameters --- .../hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py index b3920bea..175ae8b9 100755 --- a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py +++ b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py @@ -73,13 +73,14 @@ def setStAbcParametershrp2017c(self): # ABC parameters abcp=self.abc_svc.getAutoBalancerParam()[1] #abcp.default_zmp_offsets = [[0.015, -0.01, 0], [0.015, 0.01, 0], [0, 0, 0], [0, 0, 0]] - abcp.default_zmp_offsets = [[0.015, 0.01, 0], [0.015, -0.01, 0], [0, 0, 0], [0, 0, 0]] + #abcp.default_zmp_offsets = [[0.015, 0.01, 0], [0.015, -0.01, 0], [0, 0, 0], [0, 0, 0]] + abcp.default_zmp_offsets = [[0.01, 0.01, 0], [0.01, -0.01, 0], [0, 0, 0], [0, 0, 0]] self.abc_svc.setAutoBalancerParam(abcp) # ST parameters stp=self.st_svc.getParameter() #stp.st_algorithm=OpenHRP.StabilizerService.EEFM #stp.st_algorithm=OpenHRP.StabilizerService.TPCC - stp.st_algorithm=OpenHRP.StabilizerService.EEFMQP + stp.st_algorithm=OpenHRP.StabilizerService.EEFMQPCOP # eefm st params #stp.eefm_body_attitude_control_gain=[5, 5] stp.eefm_body_attitude_control_gain=[1.5, 1.5] @@ -93,8 +94,10 @@ def setStAbcParametershrp2017c(self): #stp.eefm_rot_damping_gain=20*1.4 #stp.eefm_pos_damping_gain=3500*1.0 # EEFM parameters for 4 limbs - stp.eefm_rot_damping_gain = [[20*1.6, 20*1.6, 1e5]]*4 - stp.eefm_pos_damping_gain = [[3500*50, 3500*50, 3500*1.0]]*4 + #stp.eefm_rot_damping_gain = [[20*1.6, 20*1.6, 1e5]]*4 + #stp.eefm_pos_damping_gain = [[3500*50, 3500*50, 3500*1.0]]*4 + stp.eefm_rot_damping_gain = [[35, 35, 1e5]]*4 + stp.eefm_pos_damping_gain = [[3500*50, 3500*50, 3700*1.0]]*4 stp.eefm_rot_time_const = [[1.5, 1.5, 1.5]]*4 stp.eefm_pos_time_const_support = [[1.5, 1.5, 1.5]]*4 stp.eefm_wrench_alpha_blending = 0.6 From bca4b682bfd5ef3effccec233fa08810976b9f49 Mon Sep 17 00:00:00 2001 From: grxuser Date: Fri, 29 Jun 2018 16:32:36 +0900 Subject: [PATCH 2/3] [src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py] set stp.ik_limb_parameters[i].ik_loop_count. --- .../src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py index 3bf0d267..c36deb6e 100755 --- a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py +++ b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py @@ -141,6 +141,9 @@ def setStAbcParametershrp2017c(self): # for swing stp.eefm_swing_pos_spring_gain = [[1]*3, [1]*3, [0]*3, [0]*3] 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 self.st_svc.setParameter(stp) # GG parameters gg=self.abc_svc.getGaitGeneratorParam()[1] From c8c4d0de4477f98f84276dd72559327b845e0212 Mon Sep 17 00:00:00 2001 From: grxuser Date: Wed, 4 Jul 2018 13:46:28 +0900 Subject: [PATCH 3/3] [hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py] update hrp2017 default_zmp_offsets x: 0.01 -> 0.02 [m] --- .../src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py index c36deb6e..b2e145ba 100755 --- a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py +++ b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py @@ -75,7 +75,8 @@ def setStAbcParametershrp2017c(self): abcp=self.abc_svc.getAutoBalancerParam()[1] #abcp.default_zmp_offsets = [[0.015, -0.01, 0], [0.015, 0.01, 0], [0, 0, 0], [0, 0, 0]] #abcp.default_zmp_offsets = [[0.015, 0.01, 0], [0.015, -0.01, 0], [0, 0, 0], [0, 0, 0]] - abcp.default_zmp_offsets = [[0.01, 0.01, 0], [0.01, -0.01, 0], [0, 0, 0], [0, 0, 0]] + #abcp.default_zmp_offsets = [[0.01, 0.01, 0], [0.01, -0.01, 0], [0, 0, 0], [0, 0, 0]] # before 2018/07/01 murooka + abcp.default_zmp_offsets = [[0.02, 0.01, 0], [0.02, -0.01, 0], [0, 0, 0], [0, 0, 0]] # after 2018/07/01 murooka self.abc_svc.setAutoBalancerParam(abcp) # ST parameters stp=self.st_svc.getParameter()