Add and update test for sync sh baseTform #1065
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… for sync sh baseTform
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…asePos and rpy from StateHolder during MODE_IDLE.
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意図したところでエラってくれたのでPR更新しました。 |
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通りましたので，お手すきの時にご確認いただけますと幸いです． |
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ありがとうございます |
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AutoBalancerでstartAutoBalancerしたときに、StateHolder由来のbaseTformと関係ない両足中心座標に遷移してしまっていたのを直しました。
startAutoBalancerしたときに、StateHolderのbaseTformから計算した両足中心座標からはじめるようになります。
まずはテストのみ追加で、エラることを確認します
その後、修正を追加します
よろしくお願いします。