From fd70c621207b85462cceda17ca075e6dd66a1435 Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Fri, 5 Jul 2019 13:56:31 +0900 Subject: [PATCH] change abcp.default_zmp_offsets --- .../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 3bf0d267..0615d278 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()