From 1f1096745075ec3fae64df8cf66fe88ae2a7ecd6 Mon Sep 17 00:00:00 2001 From: Masaki Murooka Date: Fri, 29 Jun 2018 16:32:36 +0900 Subject: [PATCH 1/2] [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 5ff02be6b8d4bb4865f88b905e97a820a7bbfa07 Mon Sep 17 00:00:00 2001 From: Masaki Murooka Date: Wed, 4 Jul 2018 13:46:28 +0900 Subject: [PATCH 2/2] [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()