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[hrpsys_ros_bridge_tutorials] update JAXON_BLUE configuration #618

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[hrpsys_ros_bridge_tutorials] update JAXON_BLUE configuration #618

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a1b7ab6
[hrpsys_ros_bridge_tutorials] update abc default zmp offsets of jaxon…
kindsenior Jan 22, 2018
0be504b
[hrpsys_ros_bridge_tutorials] update kf sensor rpy offset of jaxon blue
kindsenior Jan 22, 2018
2693bc5
[hrpsys_ros_bridge_tutorials/model/CHIDORI.PDgains*] add torque gains
hikun5296 Oct 31, 2016
86eba5e
[hrpsys_ros_bridge_tutorials] add torque gain to servo gain file of J…
kindsenior Jan 26, 2018
648fbaf
[hrpsys_ros_bridge_tutorials] add setting for support and landing phase
kindsenior Feb 19, 2018
5b15c01
[hrpsys_ros_bridge_tutorials] set end effectors height of jaxon3 to w…
kindsenior Nov 13, 2018
e1f9817
[hrpsys_ros_bridge_tutorials] update st LIP feedback gain JAXON3 for …
kindsenior Nov 13, 2018
eb407b5
[hrpsys_ros_bridge_tutorials] debug function of reset landing pose fo…
kindsenior Nov 13, 2018
c39798f
[hrpsys_ros_bridge_tutorials] set reset landing pose of JAXON3
kindsenior Nov 13, 2018
964e437
[hrpsys_ros_bridge_tutorials] set default joint control mode TORQUE i…
kindsenior Nov 13, 2018
31425af
[hrpsys_ros_bridge_tutorials] add end-coords settings for footstep pl…
kindsenior Nov 30, 2018
6329f02
(jaxon blue local diff)
kindsenior Dec 21, 2018
06683be
Merge remote-tracking branch 't-hiraoka/master' into PR-jaxon-blue
Takuma-Hiraoka Apr 25, 2023
a41ad77
[hrpsys_ros_bridge_tutorials] update end-coords
Takuma-Hiraoka Apr 25, 2023
fcfe33d
remove parameters for hrpsys master
Takuma-Hiraoka Apr 26, 2023
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9 changes: 7 additions & 2 deletions hrpsys_ros_bridge_tutorials/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -402,12 +402,13 @@ compile_rbrain_model_for_closed_robots(JAXON_BLUE JAXON_BLUE JAXON_BLUE
## KAWADA foot
--conf-file-option "# end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT2,0.0,0.055,-0.217,0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT2,0.0,-0.055,-0.217,0,1.0,0.0,1.5708,"
## KAWADA foot with rubber shoes
--conf-file-option "end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.1,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.1,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT2,0.0,0.0,-0.220,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT2,0.0,0.0,-0.220,0.0,1.0,0.0,1.5708,"
--conf-file-option "end_effectors: rleg,RLEG_JOINT5,WAIST,0.05,0.0,-0.124,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.05,0.0,-0.124,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT2,0.0,0.0,-0.220,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT2,0.0,0.0,-0.220,0.0,1.0,0.0,1.5708,"
## KAWADA foot with rubber shoes + hand contact end-coords
--conf-file-option "# end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.1,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.1,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT2,0.0,0.0,-0.238,0.0,0.0,-1.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT2,0.0,0.0,-0.238,0.0,0.0,1.0,1.5708,# KAWADA foot with rubber shoes + hand contact end-coords"
## JSK foot : mechanical 103.5mm, sole rubber 2mm
--conf-file-option "# end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.1055,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.1055,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT2,0.0,0,-0.217,0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT2,0.0,0,-0.217,0,1.0,0.0,1.5708,"
--conf-file-option "collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST CHEST_JOINT2:RARM_JOINT3 CHEST_JOINT2:RARM_JOINT4 CHEST_JOINT2:RARM_JOINT5 CHEST_JOINT2:RARM_JOINT6 CHEST_JOINT2:LARM_JOINT3 CHEST_JOINT2:LARM_JOINT4 CHEST_JOINT2:LARM_JOINT5 CHEST_JOINT2:LARM_JOINT6 CHEST_JOINT2:LARM_JOINT2 CHEST_JOINT2:RARM_JOINT2"
# --conf-file-option "collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST CHEST_JOINT2:RARM_JOINT3 CHEST_JOINT2:RARM_JOINT4 CHEST_JOINT2:RARM_JOINT5 CHEST_JOINT2:RARM_JOINT6 CHEST_JOINT2:LARM_JOINT3 CHEST_JOINT2:LARM_JOINT4 CHEST_JOINT2:LARM_JOINT5 CHEST_JOINT2:LARM_JOINT6 CHEST_JOINT2:LARM_JOINT2 CHEST_JOINT2:RARM_JOINT2"
--conf-file-option "collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5"
--conf-file-option "collision_model: convex hull"
--conf-file-option "# SequencePlayer optional data (contactStates x 4 + controlSwingTime x 4 (4 is rfsensor, lfsensor, rhsensor, lhsensor)"
--conf-file-option "seq_optional_data_dim: 8"
Expand Down Expand Up @@ -754,6 +755,10 @@ if(${jsk_models_FOUND})
attach_sensor_and_endeffector_to_staro_urdf(TABLIS TABLIS.urdf TABLIS_SENSORS.urdf tablis.yaml)
endif()

if(${jsk_models_FOUND})
attach_sensor_and_endeffector_to_staro_urdf(JAXON_BLUE JAXON_BLUE.urdf JAXON_BLUE_SENSORS.urdf jaxon_blue.yaml)
endif()

# for SampleRobot
attach_sensor_and_endeffector_to_hrp2jsk_urdf(SampleRobot SampleRobot.urdf
SampleRobot_WH_SENSORS.urdf samplerobot.yaml)
Expand Down
24 changes: 12 additions & 12 deletions hrpsys_ros_bridge_tutorials/models/CHIDORI.PDgains_sim.dat
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@@ -1,12 +1,12 @@
33000 240
83000 240
33000 240
33000 240
47000 240
33000 240
33000 240
83000 240
33000 240
33000 240
47000 240
33000 240
33000 240 1 0
83000 240 1 0
33000 240 1 0
33000 240 1 0
47000 240 1 0
33000 240 1 0
33000 240 1 0
83000 240 1 0
33000 240 1 0
33000 240 1 0
47000 240 1 0
33000 240 1 0
62 changes: 31 additions & 31 deletions hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains_sim.dat
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Original file line number Diff line number Diff line change
@@ -1,31 +1,31 @@
33000 240
83000 240
33000 240
33000 240
47000 240
33000 240
33000 240
83000 240
33000 240
33000 240
47000 240
33000 240
83000 240
83000 240
83000 240
10000 200
10000 200
20000 320
20000 320
20000 320
20000 320
20000 320
20000 320
20000 320
20000 320
20000 320
20000 320
20000 320
20000 320
20000 320
20000 320
33000 240 1 0
83000 240 1 0
33000 240 1 0
33000 240 1 0
47000 240 1 0
33000 240 1 0
33000 240 1 0
83000 240 1 0
33000 240 1 0
33000 240 1 0
47000 240 1 0
33000 240 1 0
83000 240 1 0
83000 240 1 0
83000 240 1 0
10000 200 1 0
10000 200 1 0
20000 320 1 0
20000 320 1 0
20000 320 1 0
20000 320 1 0
20000 320 1 0
20000 320 1 0
20000 320 1 0
20000 320 1 0
20000 320 1 0
20000 320 1 0
20000 320 1 0
20000 320 1 0
20000 320 1 0
20000 320 1 0
4 changes: 2 additions & 2 deletions hrpsys_ros_bridge_tutorials/models/jaxon_blue.yaml
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Expand Up @@ -69,10 +69,10 @@ larm-end-coords:
## KAWADA FOOT : CAD -> -0.096; gomugutsu+midori -> -0.004
rleg-end-coords:
parent: RLEG_LINK5
translate : [0, 0, -0.100]
translate : [0.05, 0, -0.124]
lleg-end-coords:
parent: LLEG_LINK5
translate : [0, 0, -0.100]
translate : [0.05, 0, -0.124]
## JSK FOOT
# rleg-end-coords:
# parent: RLEG_LINK5
Expand Down
24 changes: 17 additions & 7 deletions hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py
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Original file line number Diff line number Diff line change
Expand Up @@ -326,12 +326,13 @@ def setStAbcIcParametersJAXON(self, foot="KAWADA"):
def setStAbcIcParametersJAXON_BLUE(self, foot="KAWADA"):
# abc setting
abcp=self.abc_svc.getAutoBalancerParam()[1]
abcp.default_zmp_offsets=[[0.05, 0.0, 0.0], [0.05, 0.0, 0.0], [0, 0, 0], [0, 0, 0]];
abcp.default_zmp_offsets=[[0.0, 0.02, 0.0], [0.0, -0.02, 0.0], [0, 0, 0], [0, 0, 0]];
abcp.move_base_gain=0.8
self.abc_svc.setAutoBalancerParam(abcp)
# kf setting
kfp=self.kf_svc.getKalmanFilterParam()[1]
kfp.R_angle=1000
kfp.sensorRPY_offset=[0.7*3.14/180, 0, 0]
self.kf_svc.setKalmanFilterParam(kfp)
# st setting
stp=self.st_svc.getParameter()
Expand Down Expand Up @@ -387,11 +388,20 @@ def setStAbcIcParametersJAXON_BLUE(self, foot="KAWADA"):
larm_vertices = lleg_vertices
stp.eefm_support_polygon_vertices_sequence = map (lambda x : OpenHRP.StabilizerService.SupportPolygonVertices(vertices=x), [rleg_vertices, lleg_vertices, rarm_vertices, larm_vertices])
stp.eefm_cogvel_cutoff_freq = 4.0
# for only leg
stp.eefm_k1=[-1.36334,-1.36334]
stp.eefm_k2=[-0.343983,-0.343983]
stp.eefm_k3=[-0.161465,-0.161465]
# for leg + body
stp.eefm_k1 = [-1.40928, -1.40928]
stp.eefm_k2 = [-0.398194, -0.398194]
stp.eefm_k3 = [-0.178433, -0.178433]
stp.joint_control_mode = OpenHRP.RobotHardwareService.TORQUE
stp.swing2landing_transition_time = 0.05
stp.landing_phase_time = 0.1
stp.landing2support_transition_time = 0.5
leg_gains = {"support_pgain":[5,30,10,5,0.5,0.1], "support_dgain":[70,70,50,10,1,3], "landing_pgain":[5,30,10,1,0.5,0.1], "landing_dgain":[70,70,50,10,1,3]}
arm_gains = {"support_pgain":[100,100,100,100,100,100,100], "support_dgain":[100,100,100,100,100,100,100], "landing_pgain":[100,100,100,100,100,100,100], "landing_dgain":[100,100,100,100,100,100,100]}
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)
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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。

# Abc setting
#gg=self.abc_svc.getGaitGeneratorParam()[1]
#gg.stride_parameter=[0.1,0.05,10.0]
Expand Down Expand Up @@ -818,7 +828,7 @@ def jaxonResetLandingPose (self):
return [0.004318,0.005074,-0.134838,1.18092,-0.803855,-0.001463,0.004313,0.005079,-0.133569,1.18206,-0.806262,-0.001469,0.003782,-0.034907,0.004684,0.0,0.0,0.0,0.698132,-0.349066,-0.087266,-1.39626,0.0,0.0,-0.349066,0.0,0.698132,0.349066,0.087266,-1.39626,0.0,0.0,-0.349066]

def jaxonBlueResetLandingPose (self):
return self.jaxonBlueResetPose()
return [0.0,0.0,-0.73796,1.45379,-0.715828,0.0, 0.0,0.0,-0.73796,1.45379,-0.715828,0.0, 0.0,0.0,0.0, 0.0,0.0, 0.698132,-0.349066,-0.087266,-1.39626,0.0,0.0,0.0, 0.698132,0.349066,0.087266,-1.39626,0.0,0.0,0.0]

# handmade
def chidoriResetLandingPose (self):
Expand Down Expand Up @@ -889,7 +899,7 @@ def setCollisionFreeResetPose(self):
self.seq_svc.setJointAngles(self.jaxonCollisionFreeResetPose(), 10.0)

def setResetLandingPose(self):
if self.ROBOT_NAME == 0:
if self.ROBOT_NAME == "JAXON_BLUE":
self.seq_svc.setJointAngles(self.jaxonBlueResetLandingPose(), 5.0)
if self.ROBOT_NAME.find("JAXON") == 0:
self.seq_svc.setJointAngles(self.jaxonResetLandingPose(), 5.0)
Expand Down