[hrpsys_choreonoid_tutorials] fix HRP2 Customizer params and initial …

…angle-vector
start-jsk · May 16, 2020 · 5fe6f66 · 5fe6f66
1 parent 96a3365
commit 5fe6f66
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Showing 5 changed files with 14 additions and 14 deletions.
diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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,