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Tuning the low level feedback gain for the separate wholebodycontrollercoreThread. #608

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Tuning the low level feedback gain for the separate wholebodycontrollercoreThread. #608

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14 changes: 3 additions & 11 deletions atlas/src/main/java/us/ihmc/atlas/AtlasRobotModel.java
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Original file line number Diff line number Diff line change
Expand Up @@ -427,8 +427,9 @@ private FullHumanoidRobotModel doArmJointRestriction(FullHumanoidRobotModel full
}
else
{
System.out.println(this.getClass().getName() + ", createFullRobotModel(): range not large enough to reduce for side="
+ robotSide.getLowerCaseName() + " joint=" + armJointName.getCamelCaseNameForStartOfExpression());
System.out.println(
this.getClass().getName() + ", createFullRobotModel(): range not large enough to reduce for side=" + robotSide.getLowerCaseName()
+ " joint=" + armJointName.getCamelCaseNameForStartOfExpression());
}
}
}
Expand Down Expand Up @@ -465,15 +466,6 @@ public double getControllerDT()
return CONTROL_DT;
}

@Override
public double getWholeBodyControllerCoreDT()
{
//TODO This is temporaly return values.
// We should figure out the atlas simulation really doesn't need this and then tweak the override structure.
// This is only called in the Nadia and Alexander later.
return 0.0;
}

@Override
public RobotROSClockCalculator getROSClockCalculator()
{
Expand Down
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