From 5fe6f665cc11a3ef4835c8ab77b8263294e637f1 Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Sat, 16 May 2020 16:45:37 +0900 Subject: [PATCH] [hrpsys_choreonoid_tutorials] fix HRP2 Customizer params and initial angle-vector --- hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml | 4 ++-- .../config/HRP2JSKNTCustomizer.yaml | 4 ++-- .../config/HRP2JSKNTSCustomizer.yaml | 4 ++-- .../config/HRP2JSKNTS_LOAD_OBJ.cnoid.in | 8 ++++---- .../config/HRP2JSKNT_LOAD_OBJ.cnoid.in | 8 ++++---- 5 files changed, 14 insertions(+), 14 deletions(-) diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml b/hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml index 1194a156..5ad2892e 100644 --- a/hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml +++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml @@ -1,8 +1,8 @@ bush: springT: 3.3e5 dampingT: 3.3e2 - springR: 2.5e3 - dampingR: 2.5 + springR: 1.0e3 + dampingR: 1.0 tilt_laser: TILT_UPPER_BOUND: 1.35 diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTCustomizer.yaml b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTCustomizer.yaml index 1194a156..5ad2892e 100644 --- a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTCustomizer.yaml +++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTCustomizer.yaml @@ -1,8 +1,8 @@ bush: springT: 3.3e5 dampingT: 3.3e2 - springR: 2.5e3 - dampingR: 2.5 + springR: 1.0e3 + dampingR: 1.0 tilt_laser: TILT_UPPER_BOUND: 1.35 diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTSCustomizer.yaml b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTSCustomizer.yaml index 1194a156..5ad2892e 100644 --- a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTSCustomizer.yaml +++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTSCustomizer.yaml @@ -1,8 +1,8 @@ bush: springT: 3.3e5 dampingT: 3.3e2 - springR: 2.5e3 - dampingR: 2.5 + springR: 1.0e3 + dampingR: 1.0 tilt_laser: TILT_UPPER_BOUND: 1.35 diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTS_LOAD_OBJ.cnoid.in b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTS_LOAD_OBJ.cnoid.in index 3dd296d7..bc944028 100644 --- a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTS_LOAD_OBJ.cnoid.in +++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTS_LOAD_OBJ.cnoid.in @@ -27,8 +27,8 @@ items: 0, 1, 0, 0, 0, 1 ] jointPositions: [ - -0.000015, 0.003323, -0.468274, 0.872491, -0.404216, -0.003323, 0.000000, - -0.000015, 0.003323, -0.467353, 0.870656, -0.403303, -0.003323, 0.000000, + 0.000366, 0.002938, -0.383414, 0.868598, -0.485184, -0.002938, 0.000000, + 0.000366, 0.002938, -0.383414, 0.868598, -0.485184, -0.002938, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.174533, -0.174533, 0.000000, -0.436332, 0.000000, 0.000000, -0.174533, 0.261799, 0.174533, 0.174533, 0.000000, -0.436332, 0.000000, 0.000000, -0.174533, -0.261799, @@ -40,8 +40,8 @@ items: 0, 1, 0, 0, 0, 1 ] initialJointPositions: [ - -0.000015, 0.003323, -0.468274, 0.872491, -0.404216, -0.003323, 0.000000, - -0.000015, 0.003323, -0.467353, 0.870656, -0.403303, -0.003323, 0.000000, + 0.000366, 0.002938, -0.383414, 0.868598, -0.485184, -0.002938, 0.000000, + 0.000366, 0.002938, -0.383414, 0.868598, -0.485184, -0.002938, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.174533, -0.174533, 0.000000, -0.436332, 0.000000, 0.000000, -0.174533, 0.261799, 0.174533, 0.174533, 0.000000, -0.436332, 0.000000, 0.000000, -0.174533, -0.261799, diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKNT_LOAD_OBJ.cnoid.in b/hrpsys_choreonoid_tutorials/config/HRP2JSKNT_LOAD_OBJ.cnoid.in index 6d4530b1..f3179a55 100644 --- a/hrpsys_choreonoid_tutorials/config/HRP2JSKNT_LOAD_OBJ.cnoid.in +++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKNT_LOAD_OBJ.cnoid.in @@ -27,8 +27,8 @@ items: 0, 1, 0, 0, 0, 1 ] jointPositions: [ - -0.000015, 0.003323, -0.468274, 0.872491, -0.404216, -0.003323, 0.000000, - -0.000015, 0.003323, -0.467353, 0.870656, -0.403303, -0.003323, 0.000000, + 0.000366, 0.002938, -0.383414, 0.868598, -0.485184, -0.002938, 0.000000, + 0.000366, 0.002938, -0.383414, 0.868598, -0.485184, -0.002938, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.174533, -0.174533, 0.000000, -0.436332, 0.000000, 0.000000, -0.174533, 0.261799, 0.174533, 0.174533, 0.000000, -0.436332, 0.000000, 0.000000, -0.174533, -0.261799, @@ -40,8 +40,8 @@ items: 0, 1, 0, 0, 0, 1 ] initialJointPositions: [ - -0.000015, 0.003323, -0.468274, 0.872491, -0.404216, -0.003323, 0.000000, - -0.000015, 0.003323, -0.467353, 0.870656, -0.403303, -0.003323, 0.000000, + 0.000366, 0.002938, -0.383414, 0.868598, -0.485184, -0.002938, 0.000000, + 0.000366, 0.002938, -0.383414, 0.868598, -0.485184, -0.002938, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.174533, -0.174533, 0.000000, -0.436332, 0.000000, 0.000000, -0.174533, 0.261799, 0.174533, 0.174533, 0.000000, -0.436332, 0.000000, 0.000000, -0.174533, -0.261799,