Feature/alex teleop 2 #1067
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Feature/alex teleop 2 #1067
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| if (controllerRobotDefinition == null) | ||
| { | ||
| controllerRobotDefinition = getSCS1RobotDefinition(); | ||
| controllerRobotDefinition = getSCS1RobotDefinition(true); |
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should this always be true? shouldn't it be based on the robot version
| getClass().getClassLoader(), | ||
| urdfParameters.getURDFModelName(), | ||
| contactPointParameters, | ||
| createContactPoints ? contactPointParameters : null, |
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why would we need this to be null? why not keep it the old way
…real world testing (#1063) * Settup logging to work on both the high and low level process, fixed a couple of bugs in the starting, and naming of the thing * This shouldn't be a hard coded value, neesds to be the cell size from the parameters * Shrink height map to reduce networking lag * Adjust realsense transform, adjust local logging for testing * Tested more of the logging onboard. Update is either the server, or the intraprocess logger, not both. Optimized the IntraprocessYoVariableLogger so now the longest part is compressing the data before it gets written to disk * Fix gradle deploy, remove link in warning prints * Fix VR finger streaming. --------- Co-authored-by: Alexander OCU <rosie@ihmc.org> Co-authored-by: VR-OCU <lpenco@ihmc.org>
# Conflicts: # ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/logging/IntraprocessYoVariableLogger.java # ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/wholeBodyHardwareControl/AvatarMultiThreadingFactory.java # ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/BehaviorTreeNodeDefinitionMessage.msg # ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/BehaviorTreeStateMessage.msg # ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/FootstepPlanActionStateMessage.msg # ihmc-robot-data-visualizer/src/main/java/us/ihmc/robotDataVisualizer/logger/localLogging/LocalLoggingTools.java
LuigiPenco93
commented
Nov 12, 2025
| { | ||
| // TODO Parameter values copied from Valkyrie which has different weight. | ||
| // TODO Needs tune up. | ||
| private final Vector3D linearMomentumWeight = new Vector3D(0.5, 0.5, 0.02); |
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I need to revert this
# Conflicts: # ihmc-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/BehaviorTreeSceneObjectStateMessage.msg # ihmc-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/BehaviorTreeSceneStateMessage.msg # open-alexander/src/main/java/us/ihmc/openAlexander/parameters/controller/OpenAlexanderWalkingControllerParameters.java
This reverts commit ca073ed.
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