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set ik_loop_count in stabilizer param for hrp2017 #550

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mmurooka wants to merge 13 commits into from
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set ik_loop_count in stabilizer param for hrp2017 #550

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686b24a
Modified hrp2's eefm parameters
Jul 19, 2016
17a0153
Merge branch 'master' of ssh://github.com/start-jsk/rtmros_tutorials
Aug 16, 2016
339074c
Merge branch 'master' of ssh://github.com/start-jsk/rtmros_tutorials
Aug 17, 2016
ff6aaa0
Merge branch 'master' of ssh://github.com/start-jsk/rtmros_tutorials
Sep 26, 2016
26b4c39
Merge branch 'master' of ssh://github.com/start-jsk/rtmros_tutorials
Oct 20, 2016
1159cc5
Merge branch 'master' of ssh://github.com/start-jsk/rtmros_tutorials
Oct 21, 2016
94c3e8f
Merge branch 'master' of ssh://github.com/start-jsk/rtmros_tutorials
Oct 26, 2016
20509ee
Merge branch 'master' of ssh://github.com/start-jsk/rtmros_tutorials
Dec 21, 2016
a91a1c5
Merge branch 'master' of ssh://github.com/start-jsk/rtmros_tutorials
Dec 30, 2016
63df187
Merge branch 'master' of ssh://github.com/start-jsk/rtmros_tutorials
Apr 16, 2017
faa0edb
Merge branch 'master' of ssh://github.com/start-jsk/rtmros_tutorials
Jun 29, 2018
bca4b68
[src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py] set stp.ik_li…
Jun 29, 2018
c8c4d0d
[hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrp…
Jul 4, 2018
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6 changes: 5 additions & 1 deletion hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py
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Expand Up @@ -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()
Expand Down Expand Up @@ -141,6 +142,9 @@ 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
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@iory iory Jul 4, 2018

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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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@mmurooka mmurooka Jul 4, 2018

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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。

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@iory iory Jul 4, 2018

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なるほど、承知しました。

self.st_svc.setParameter(stp)
# GG parameters
gg=self.abc_svc.getGaitGeneratorParam()[1]
Expand Down