Init base pose from datastore #12
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…s initial pose in other MCC::Initial
orikuma
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mmurooka
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Apr 11, 2024
| bool exitWhenLimbSwingFinished_ = false; | ||
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| //! Option to save the last pose in datastore for the other motion | ||
| bool saveLastBasePose_ = false; |
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This variable defined in ConfigMotionState seems to be unused.
| { | ||
| exitWhenLimbSwingFinished_ = static_cast<bool>(config_("configs")("exitWhenLimbSwingFinished")); | ||
| } | ||
| if(config_.has("configs") && config_("configs").has("saveLastBasePose")) |
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This variable defined in ConfigMotionState seems to be unused.
| @@ -89,6 +89,9 @@ struct MultiContactController : public mc_control::fsm::Controller | |||
| //! Whether to enable manager update | |||
| bool enableManagerUpdate_ = false; | |||
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| //! Whether to save last base pose when stopping this controller | |||
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Please comment here that the basePose configuration allows you to set the initial value and the saveLastBasePose configuration allows you to save the base pose (if you have a better place to do it, that's fine too).
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I added the comment for constructor, reset, and stop functions in da202a4
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When I start MCC after finishing another controller, the initial pose of the robot can be different from the one assumed in pre-defined motion in MCC. In addition, when I change a controller from MCC to other controllers and go back to MCC, the pose of the base can be modified by other controllers though the actual robot is in the same position.
To solve this initialization problem, I add option to save last pose of the base in datastore and overwrite pose of the base link in reset function. It also can be defined from yaml file as basePose, which is loaded when instantiating MCC.