{"action":"created","issue":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/689","labels_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/689/labels{/name}","comments_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/689/comments","events_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/689/events","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/689","id":88963176,"number":689,"title":"Add emergency stopper rtc","user":{"login":"mmurooka","id":6636600,"avatar_url":"https://avatars.githubusercontent.com/u/6636600?v=3","gravatar_id":"","url":"https://api.github.com/users/mmurooka","html_url":"https://github.com/mmurooka","followers_url":"https://api.github.com/users/mmurooka/followers","following_url":"https://api.github.com/users/mmurooka/following{/other_user}","gists_url":"https://api.github.com/users/mmurooka/gists{/gist_id}","starred_url":"https://api.github.com/users/mmurooka/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mmurooka/subscriptions","organizations_url":"https://api.github.com/users/mmurooka/orgs","repos_url":"https://api.github.com/users/mmurooka/repos","events_url":"https://api.github.com/users/mmurooka/events{/privacy}","received_events_url":"https://api.github.com/users/mmurooka/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":4,"created_at":"2015-06-17T09:10:38Z","updated_at":"2015-06-17T09:25:40Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/pulls/689","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/689","diff_url":"https://github.com/fkanehiro/hrpsys-base/pull/689.diff","patch_url":"https://github.com/fkanehiro/hrpsys-base/pull/689.patch"},"body":"@snozawa さんと相談しながら\r\n関節角指令の更新を停止するrtcを実装しました．\r\n将来的には，マニピュレーション中などでバランスを崩しそうになったら，\r\n動作を停止して転倒するのを防ぐ用途に使えると考えております．\r\n\r\n`getJointAngleControllerList` の先頭に加えて，\r\n`stopMotion` / `releaseMotion` が呼ばれたら，\r\n指令関節角度の更新を停止 / 再開するようになっています．\r\n\r\nテストプログラム（ https://github.com/fkanehiro/hrpsys-base/blob/110e1b8bb27d3887e7ef3b103a09fb5e5290a169/sample/SampleRobot/samplerobot_emergency_stopper.py ）実行時の様子です．\r\nhttps://drive.google.com/a/jsk.imi.i.u-tokyo.ac.jp/file/d/0B5qanGnXorOuNzZkd3ZUdE1jTVk/view?usp=sharing\r\n"},"comment":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/comments/112733434","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/689#issuecomment-112733434","issue_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/689","id":112733434,"user":{"login":"k-okada","id":493276,"avatar_url":"https://avatars.githubusercontent.com/u/493276?v=3","gravatar_id":"","url":"https://api.github.com/users/k-okada","html_url":"https://github.com/k-okada","followers_url":"https://api.github.com/users/k-okada/followers","following_url":"https://api.github.com/users/k-okada/following{/other_user}","gists_url":"https://api.github.com/users/k-okada/gists{/gist_id}","starred_url":"https://api.github.com/users/k-okada/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/k-okada/subscriptions","organizations_url":"https://api.github.com/users/k-okada/orgs","repos_url":"https://api.github.com/users/k-okada/repos","events_url":"https://api.github.com/users/k-okada/events{/privacy}","received_events_url":"https://api.github.com/users/k-okada/received_events","type":"User","site_admin":false},"created_at":"2015-06-17T09:25:40Z","updated_at":"2015-06-17T09:25:40Z","body":"お，だったら，https://github.com/fkanehiro/hrpsys-base/pull/665\r\nあたりで出来ている気がします．（ちょっと怪しいという噂もあるけど）\r\n\r\n--\r\n◉ Kei Okada\r\n\r\n\r\n2015-06-17 18:24 GMT+09:00 Masaki Murooka <notifications@github.com>:\r\n\r\n> 同じだと思います．\r\n> impedance, auto-balancer, stabilizer あたりの機能は有効にしておきながら，\r\n> 外から来る関節角指令を止めようとしています．\r\n> （@snozawa <https://github.com/snozawa>さん，想定と違うところありましたらご指摘お願いします．）\r\n>\r\n> —\r\n> Reply to this email directly or view it on GitHub\r\n> <https://github.com/fkanehiro/hrpsys-base/pull/689#issuecomment-112733152>\r\n> .\r\n>\r\n"}}