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Feature/increase zero position ankles #589
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* 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 <[email protected]> * 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 <[email protected]> Co-authored-by: JorisWeeda <[email protected]>
Release v0.3.0
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Looks fine, although I think you want to merge into master. |
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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