Closed mmurooka closed 1 year ago
This change is necessary for stepladder climbing with MultiContactController. Prior to this change, the finger joint torque was low and the grasp was broken. I confirmed that this change does not cause any problems in walking or loco-manipulation.
https://user-images.githubusercontent.com/6636600/227840423-618b41c1-cd10-436c-bf14-8af3ea85e3b3.mp4
This change is necessary for stepladder climbing with MultiContactController. Prior to this change, the finger joint torque was low and the grasp was broken. I confirmed that this change does not cause any problems in walking or loco-manipulation.
https://user-images.githubusercontent.com/6636600/227840423-618b41c1-cd10-436c-bf14-8af3ea85e3b3.mp4