From a9fca9e3bcd470fe1bf2c90c6d34ca6e24be8a3e Mon Sep 17 00:00:00 2001 From: kindsenior Date: Mon, 13 Nov 2017 14:22:25 +0900 Subject: [PATCH] [hrpsys_ros_bridge_tutorials] modify JAXON3's conf code miner change --- .../src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py index a694bec0..a204bf35 100755 --- a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py +++ b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py @@ -320,7 +320,7 @@ def setStAbcIcParametersJAXON_BLUE(self, foot="KAWADA"): #stp.st_algorithm=OpenHRP.StabilizerService.EEFM #stp.st_algorithm=OpenHRP.StabilizerService.EEFMQP stp.st_algorithm=OpenHRP.StabilizerService.EEFMQPCOP - stp.emergency_check_mode=OpenHRP.StabilizerService.CP # enable EmergencyStopper for JAXON @ 2015/11/19 + stp.emergency_check_mode=OpenHRP.StabilizerService.CP stp.cp_check_margin=[0.05, 0.045, 0, 0.095] stp.k_brot_p=[0, 0] stp.k_brot_tc=[1000, 1000] @@ -355,8 +355,8 @@ def setStAbcIcParametersJAXON_BLUE(self, foot="KAWADA"): # foot margin param stp.eefm_leg_inside_margin=0.05 stp.eefm_leg_outside_margin=0.05 - stp.eefm_leg_front_margin=0.12 - stp.eefm_leg_rear_margin=0.09 + stp.eefm_leg_front_margin=0.16 + stp.eefm_leg_rear_margin=0.06 rleg_vertices = [OpenHRP.StabilizerService.TwoDimensionVertex(pos=[stp.eefm_leg_front_margin, stp.eefm_leg_inside_margin]), OpenHRP.StabilizerService.TwoDimensionVertex(pos=[stp.eefm_leg_front_margin, -1*stp.eefm_leg_outside_margin]), OpenHRP.StabilizerService.TwoDimensionVertex(pos=[-1*stp.eefm_leg_rear_margin, -1*stp.eefm_leg_outside_margin]),