This repository has been archived by the owner on Dec 1, 2020. It is now read-only.
Feature/increase zero position ankles #589
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
* Feature: sound interface (#436) * Added sound_play sounds to safety * Removed sound scheduler * Add sound_play_node to launch file * Several small fixes * Fix clang format * Remove sound scheduler exec depend * Clang tidy fixes * Feature/pm246 stairs in sim (#439) * Fix undefined value in xacro when launching on exo. * Add stairs to simulation Co-authored-by: Olav de Haas <olavh@protonmail.com> * Feature/pm 249 add rockerswitch input (#438) * Added rocker switch variable to the gait instruction msg generated by the (mock) input device. The message can send a 1 which means that the rocker switch has been incremented and a -1 which means that the rocker switch has been decremented. * Added two more variables to the gait instruction message to distinguish increment or decrement of the rocker switch. * Removed the rocker switch argument and created the increment and decrement possibilities as instruction types. Co-authored-by: Roelemans <47626418+Roelemans@users.noreply.github.com> Co-authored-by: JorisWeeda <45165354+JorisWeeda@users.noreply.github.com>
Release v0.3.0
|
Looks fine, although I think you want to merge into master. |
Sign up for free
to subscribe to this conversation on GitHub.
Already have an account?
Sign in.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
The new shoes have a much less flexible sole. Because of this, the ankles need to bend forward more to compensate. The easiest way to this is by changing zero positions by modifying the values in the URDF. This PR increases the zero positions by 4 degrees.
This has the downside that some gaits may have target positions outside of the soft limits. This will be cut off by the safety controller, but it is not ideal. We tested last Tuesday if it was possible to push the ankle through its soft error limits, but Nadine could only give a third of the necessary force by putting her entire weight onto exo.
Changes
Testing