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start-jsk / rtmros_hironx

hironx controller and applications using rtmros packages
http://wiki.ros.org/rtmros_hironx
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[WIP][hironx_clinet.py] Auto-complete impedance parameters. #498

Closed 130s closed 7 years ago

130s commented 7 years ago

DO NOT MERGE YET

Parameters in startImpedance method is very important for the safety, as the robot's behavior can become unexpectable with inappropriate values. In my experience the "good" parameters change per runtime, and can only be figured by carefully observing the F/T sensor's output, and it's the user's responsibility to fill in the parameters.

Clearly all of these processes makes the method call error-prone. This change intends to automatically fill the impedance parameters, in particular reference force "ref_force".

One concern is that this change makes HIRONX class and hironx_client.py module dependent on ROS, although the entire class/module have been ROS-agnostic. This is trivial and ok IMO, since there are other files in hironx_ros_bridge package that depends on ROS (i.e. ROS is everywhere).

130s commented 7 years ago

Closing because this is simply wrong. @7675t figured out that the offset should be passed via offset parameter (can be passed by using robot.rmfo_svc.setForceMomentOffsetParam for maybe older version of hrpsys like 315.1.x), instead of ref_force.