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citbrains / GankenKun_pybullet

Walking Pattern Generator
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Gyroセンサのコード #17

Closed yasuohayashibara closed 4 years ago

yasuohayashibara commented 4 years ago

Gyroセンサを作りかけで使用しなかったので，ログを残しておく

yasuohayashibara commented 4 years ago 
    #gyro feedback
#    pos,ori,loc_pos,dummy,dummy,loc_ori,vel,ang_vel = p.getLinkState(RobotId, index[ 'body_link'],1)
#    body_angles = p.getEulerFromQuaternion(loc_ori)
#    self.gyro_pitch = 0.9 * self.gyro_pitch + 0.1 * ang_vel[1] * 0.2 # <- TODO:convert
#    self.gyro_roll  = 0.0 * self.gyro_roll  + 1.0 * ang_vel[0] * 0.05
#    self.joint_angles[index_dof['left_ankle_roll_link' ]] += self.gyro_roll
#    self.joint_angles[index_dof['right_ankle_roll_link']] += self.gyro_roll
yasuohayashibara commented 4 years ago

ログを残したので，issueを閉じます．