[hrpsys_ros_bridge_tutorials] fix hand_force_calib_offset_HRP2JSKNT*#585
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Naoki-Hiraoka wants to merge 1 commit intostart-jsk:masterfrom
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[hrpsys_ros_bridge_tutorials] fix hand_force_calib_offset_HRP2JSKNT*#585Naoki-Hiraoka wants to merge 1 commit intostart-jsk:masterfrom
Naoki-Hiraoka wants to merge 1 commit intostart-jsk:masterfrom
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#591 に含めました |
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HRP2JSKNTとHRP2JSKNTSについて、
rmfo.rtcに読み込ませる6軸力センサの先についているリンクの質量のcalib設定にHRP3Handの質量が含まれておらず、
シミュレーション時に物体操作力の大きさを正しく計算できない問題がありました。
HRP3Handの質量と重心位置を
によってモデルから計算し、calib設定を変更しました。
実機では別のcalib設定ファイルを読み込むため、実機への影響はありません。