[hrpsys_ros_bridge_tutorials] update JAXON_BLUE configuration #618
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…AXON_BLUE and CHIDORI for choreonoid simulation and real machine
…acoh sensors foot
…r JAXON3 in hrpsys python script
…anning of JAXON BLUE
kindsenior
reviewed
Apr 25, 2023
| stp.joint_servo_control_parameters = map (lambda x : OpenHRP.StabilizerService.JointServoControlParameter(**x), [leg_gains,leg_gains,arm_gains,arm_gains]) | ||
| self.st_svc.setParameter(stp) | ||
| # rh setting | ||
| self.rh_svc.setJointControlMode("all",OpenHRP.RobotHardwareService.TORQUE) |
Contributor
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このパラメータもmasterのhrpsysにはないんじゃないっけ？
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見落としていました。ありがとうございます。
masterの環境でjaxon_blue_choreonoid.launchなどによるシミュレーションができるよう、masterのhrpsysにないパラメータを消しました。
Contributor
|
軽く目を通した範囲では、問題ないように見えます。 |
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JAXON_BLUEの設定ファイルを2023/4月現在使われているものに更新しました。
特に、両足のend-coordsを足先リンク接触面の長方形の中心を指すようにしました。