{"action":"created","issue":{"url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/213","repository_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid","labels_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/213/labels{/name}","comments_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/213/comments","events_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/213/events","html_url":"https://github.com/start-jsk/rtmros_choreonoid/issues/213","id":185920515,"number":213,"title":"オドメトリをおかしくせずに2足から4足に移行する方法","user":{"login":"mttamtam","id":9166022,"avatar_url":"https://avatars.githubusercontent.com/u/9166022?v=3","gravatar_id":"","url":"https://api.github.com/users/mttamtam","html_url":"https://github.com/mttamtam","followers_url":"https://api.github.com/users/mttamtam/followers","following_url":"https://api.github.com/users/mttamtam/following{/other_user}","gists_url":"https://api.github.com/users/mttamtam/gists{/gist_id}","starred_url":"https://api.github.com/users/mttamtam/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mttamtam/subscriptions","organizations_url":"https://api.github.com/users/mttamtam/orgs","repos_url":"https://api.github.com/users/mttamtam/repos","events_url":"https://api.github.com/users/mttamtam/events{/privacy}","received_events_url":"https://api.github.com/users/mttamtam/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":9,"created_at":"2016-10-28T13:16:11Z","updated_at":"2016-11-03T04:02:12Z","closed_at":null,"body":"@orikuma さんのSLAMを継続的に2足歩行の状態と4足歩行の状態を行き来しながら使えるようにしたいです。\nいま、普通の2足の姿勢から4足の姿勢に移行するときに、hrpsys_ros_bridge_jvrcのgait_controller.lを使っていて、\nhttps://github.com/start-jsk/rtmros_choreonoid/blob/master/hrpsys_ros_bridge_jvrc/euslisp/gait_controller.l#L363-L400\n腰を下ろした姿勢の状態で、一度stとautobalancerを切ってから四足の姿勢になり、そこでstとautobalancerをもう一度入れる、というふうになっていますが、こうすると途中でオドメトリが狂う？（少なくとも、octomapは乱れる)みたいで、オートバランサを入れっぱなしで姿勢変化ができたらうれしいのですが、なかなかうまくいかないです。\nhttps://github.com/mttamtam/rtmros_choreonoid/blob/gctemp/hrpsys_ros_bridge_jvrc/euslisp/gait_controller.l#L363-L407\n例えば、こんな感じに書き換えるとシミュレータでは姿勢変化はうまく行くが、go-posしようとすると、手のcoordsがおかしくなります。\n\n@snozawa さん、先ほど口頭で教えていただいたのにまたわからなくなってしまったのですが、touch-down-poseの状態で、一度オートバランサを切る前に腰の座標をもらってから、それをどこに入れるんでしたっけ？\n"},"comment":{"url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/comments/258060436","html_url":"https://github.com/start-jsk/rtmros_choreonoid/issues/213#issuecomment-258060436","issue_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/213","id":258060436,"user":{"login":"snozawa","id":6102287,"avatar_url":"https://avatars.githubusercontent.com/u/6102287?v=3","gravatar_id":"","url":"https://api.github.com/users/snozawa","html_url":"https://github.com/snozawa","followers_url":"https://api.github.com/users/snozawa/followers","following_url":"https://api.github.com/users/snozawa/following{/other_user}","gists_url":"https://api.github.com/users/snozawa/gists{/gist_id}","starred_url":"https://api.github.com/users/snozawa/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/snozawa/subscriptions","organizations_url":"https://api.github.com/users/snozawa/orgs","repos_url":"https://api.github.com/users/snozawa/repos","events_url":"https://api.github.com/users/snozawa/events{/privacy}","received_events_url":"https://api.github.com/users/snozawa/received_events","type":"User","site_admin":false},"created_at":"2016-11-03T04:02:12Z","updated_at":"2016-11-03T04:02:12Z","body":":angle-vector-sequence-fullのrpy引数は\r\n          :rpy (list (car (send cc :rpy-angle)))\r\n\r\nでなく\r\n          :rpy (list (reverse (car (send cc :rpy-angle))))\r\nを試してもらえるかな？"}}
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