{"action":"created","issue":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/891","labels_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/891/labels{/name}","comments_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/891/comments","events_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/891/events","html_url":"https://github.com/fkanehiro/hrpsys-base/issues/891","id":119036096,"number":891,"title":"Autobalancerで時間がかかることがある","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":"2015-11-26T12:31:00Z","updated_at":"2015-11-27T05:27:53Z","closed_at":null,"body":"JAXONでの物体押し実験の結果です．\r\n\r\n```\r\nLower joint limit error RARM_JOINT7\r\nLower joint limit error RARM_JOINT7\r\nLower joint limit error RARM_JOINT7\r\nLower joint limit error RARM_JOINT7\r\nLower joint limit error RARM_JOINT7\r\n[abc] Too large IK error (vel_p) = [0.00516131 -0.0217202 -0.0300846][m], count = 300\r\nLower joint limit error RARM_JOINT7\r\nLower joint limit error RARM_JOINT7\r\nLower joint limit error RARM_JOINT7\r\nLower joint limit error [st] getParameterRARM_JOINT7\r\n\r\n...\r\n\r\n[1448538862.411800] Timeover: processing time = 829.65[ms]\r\nRobotHardware0(0.17), seq(0.01), sh(0.06), fk(0.01), kf(0.02), rmfo(0.04), es(0.03), ic(0.10), abc(827.98\\\r\n), st(0.42), co(0.62), hes(0.04), log(0.16),\r\nLower joint limit error RARM_JOINT7\r\n[1448538862.414424] Timeover: processing time = 2.53[ms]\r\nRobotHardware0(0.22), seq(0.03), sh(0.22), fk(0.05), kf(0.05), rmfo(0.12), es(0.10), ic(0.27), abc(0.47),\\\r\n st(0.35), co(0.51), hes(0.05), log(0.10),\r\nLower joint limit error RARM_JOINT7\r\nLower joint limit error RARM_JOINT7\r\nLower joint limit error RARM_JOINT7\r\nLower joint limit error RARM_JOINT7\r\nLower joint limit error RARM_JOINT7\r\nLower joint limit error RARM_JOINT7\r\n\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\n[1448538863.877006] Timeover: processing time = 92.85[ms]\r\nRobotHardware0(0.22), seq(0.02), sh(0.07), fk(0.02), kf(0.03), rmfo(0.05), es(0.04), ic(0.11), abc(91.76)\\\r\n, st(0.14), co(0.32), hes(0.02), log(0.06),\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\n\r\n...\r\n\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\n[abc] Too large IK error (vel_r) = [-0.00494771 -0.00451907 -0.00166506][rad], count = 500\r\nLower joint limit error LARM_JOINT7\r\nLower joint limit error LARM_JOINT7\r\n[st] getParameter\r\n[1448538871.293719] Timeover: processing time = 2311.56[ms]\r\nRobotHardware0(0.22), seq(0.01), sh(0.09), fk(0.03), kf(0.04), rmfo(0.06), es(0.06), ic(0.13), abc(2310.2\\\r\n0), st(0.16), co(0.44), hes(0.03), log(0.09),\r\nLower joint limit error LARM_JOINT7\r\n```"},"comment":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/comments/160046470","html_url":"https://github.com/fkanehiro/hrpsys-base/issues/891#issuecomment-160046470","issue_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/891","id":160046470,"user":{"login":"garaemon","id":40454,"avatar_url":"https://avatars.githubusercontent.com/u/40454?v=3","gravatar_id":"","url":"https://api.github.com/users/garaemon","html_url":"https://github.com/garaemon","followers_url":"https://api.github.com/users/garaemon/followers","following_url":"https://api.github.com/users/garaemon/following{/other_user}","gists_url":"https://api.github.com/users/garaemon/gists{/gist_id}","starred_url":"https://api.github.com/users/garaemon/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/garaemon/subscriptions","organizations_url":"https://api.github.com/users/garaemon/orgs","repos_url":"https://api.github.com/users/garaemon/repos","events_url":"https://api.github.com/users/garaemon/events{/privacy}","received_events_url":"https://api.github.com/users/garaemon/received_events","type":"User","site_admin":false},"created_at":"2015-11-27T05:27:53Z","updated_at":"2015-11-27T05:27:53Z","body":"https://github.com/jsk-ros-pkg/jsk_control/pull/523 のあとでも8msecぐらいかかる時があるのは昨日の晩に見ました"}}