Merge branch 'auto-stabilizer-archive' of github.com:YutaKojio/rtmros…

…_choreonoid into kindsenior/auto-stabilizer-jaxon-wheel
start-jsk · Apr 22, 2022 · 71c722d · 71c722d
2 parents 3cba190 + 4c7b967
commit 71c722d
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Showing 4 changed files with 9 additions and 6 deletions.
diff --git a/hrpsys_choreonoid_tutorials/launch/jaxon_red_choreonoid.launch b/hrpsys_choreonoid_tutorials/launch/jaxon_red_choreonoid.launch
@@ -13,7 +13,7 @@
   <arg name="GUI" default="true" />
   <arg name="hrpsys_precreate_rtc" default=""/>
   <arg name="hrpsys_opt_rtc_config_args" default="" />
-  <arg name="LAUNCH_FOOTCOORDS" default="true" />
+  <arg name="LAUNCH_FOOTCOORDS" default="false" />
 
   <!-- robot dependant settings -->
   <arg if="$(arg LOAD_OBJECTS)"

diff --git a/hrpsys_choreonoid_tutorials/scripts/jaxon_blue_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/jaxon_blue_rh_setup.py
@@ -51,9 +51,9 @@ def startABSTIMP (self):
         # Suppress limit over message and behave like real robot that always angle-vector is in seq.
         # Latter four 0.0 are for hands.
         self.seq_svc.setJointAngles(self.jaxonResetPose(), 1.0)
-        self.ic_svc.startImpedanceController("larm")
-        self.ic_svc.startImpedanceController("rarm")
         self.abc_svc.startAutoBalancer(['rleg','lleg'])
+        # self.ic_svc.startImpedanceController("larm")
+        # self.ic_svc.startImpedanceController("rarm")
         self.startStabilizer()
 
 if __name__ == '__main__':

diff --git a/hrpsys_choreonoid_tutorials/scripts/jaxon_red_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/jaxon_red_rh_setup.py
@@ -52,8 +52,9 @@ def startABSTIMP (self):
         # Latter four 0.0 are for hands.
         self.seq_svc.setJointAngles(self.jaxonResetPose()+[0.0, 0.0, 0.0, 0.0] , 1.0)
         self.abc_svc.startAutoBalancer(['rleg','lleg'])
-        time.sleep(1)
-        self.abc_svc.startStabilizer()
+        # self.ic_svc.startImpedanceController("larm")
+        # self.ic_svc.startImpedanceController("rarm")
+        self.startStabilizer()
 
 if __name__ == '__main__':
     hcf = JAXON_RED_HrpsysConfigurator("JAXON_RED")

diff --git a/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py b/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py
@@ -52,7 +52,9 @@ def startABSTIMP (self):
         # Latter four 0.0 are for hands.
         self.seq_svc.setJointAngles(self.jaxonResetPose()+[0.0, 0.0, 0.0, 0.0] , 1.0)
         self.abc_svc.startAutoBalancer(['rleg','lleg'])
-        self.abc_svc.startStabilizer()
+        # self.ic_svc.startImpedanceController("larm")
+        # self.ic_svc.startImpedanceController("rarm")
+        self.startStabilizer()
 
 if __name__ == '__main__':
     hcf = JAXON_RED_HrpsysConfigurator("JAXON_RED")