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robotSpecific.py 6.02 KiB
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Modify version to handle both hrp10 and hrp14.
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# --- ROBOT CONFIG -------------------------------------------------------------
# --- ROBOT CONFIG -------------------------------------------------------------
# --- ROBOT CONFIG -------------------------------------------------------------

pkgDataRootDir=dict()
modelName=dict()
robotDimension=dict()
initialConfig=dict()
gearRatio=dict()
inertiaRotor=dict()

pkgDataRootDir['hrp10small'] = "/home/nmansard/compil/devgiri/hpp2/share/hrp2_10-small"
pkgDataRootDir['hrp14small'] = "/home/nmansard/compil/devgiri/hpp2/share/hrp2_14"
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pkgDataRootDir['hrp14aug'] = "/home/nmansard/compil/devgiri/hpp2/share/hrp2_14_augmented2dof"
pkgDataRootDir['hrp10aug'] = "/home/nmansard/compil/devgiri/hpp2/share/hrp2_10-augmented"
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Modify version to handle both hrp10 and hrp14.
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modelName['hrp10small'] = 'HRP2JRLmainSmall.wrl'
modelName['hrp14small'] = 'HRP2JRLmainsmall.wrl'
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modelName['hrp14aug'] = 'HRP2JRLmainsmall.wrl'
modelName['hrp10aug'] = 'HRP2JRLmainSmall.wrl'
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robotDimension['hrp14small']=36
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robotDimension['hrp14aug']=38
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robotDimension['hrp10small']=38
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robotDimension['hrp10aug']=40
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initialConfig['hrp14aug'] = (
 0.0274106623863, 0.143843868989, 0.646921914726, 0.00221064938462, 0.101393756965, 1.36729741242e-05,  # FF
-0.00911630330837, -0.0914099637938, -0.471978743283, 0.840380192617, -0.470232799053, 0.0896624078591, # RLEG
 0.00950781802257, 0.0911102868041, -0.469450351848, 0.835307995386, -0.467686190904, -0.0938029466367, # LLEG
 0.01, 0, 0.01,                                                                                         # CHEST
 0, 0, 0.01,                                                                                            # NECK
 0.26, -0.17, 0.01, -0.51, -0.01, -0.01, 0.3,                                                           # RARM
 0.27, 0.18, 0.01, -0.53, -0.01, -0.01, 0.3,    )                                                       # LARM
initialConfig['hrp10aug'] = (
 0.0274106623863, 0.143843868989, 0.646921914726, 0.00221064938462, 0.101393756965, 1.36729741242e-05,  # FF
-0.00911630330837, -0.0914099637938, -0.471978743283, 0.840380192617, -0.470232799053, 0.0896624078591, # RLEG
 0.00950781802257, 0.0911102868041, -0.469450351848, 0.835307995386, -0.467686190904, -0.0938029466367, # LLEG
 0.01, 0, 0.01,                                                                                         # CHEST
 0, 0, 0.01,                                                                                            # NECK
 0.26, -0.17, 0.01, -0.51, -0.01, -0.01, 0, 0.3,                                                           # RARM
 0.27, 0.18, 0.01, -0.53, -0.01, -0.01, 0, 0.3,    )                                                       # LARM
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initialConfig['hrp14small'] = ( 0.0274106623863, 0.143843868989, 0.646921914726, 0.00221064938462, 0.101393756965, 1.36729741242e-05, -0.00911630330837, -0.0914099637938, -0.471978743283, 0.840380192617, -0.470232799053, 0.0896624078591, 0.00950781802257, 0.0911102868041, -0.469450351848, 0.835307995386, -0.467686190904, -0.0938029466367, -8.75646582964e-05, 0.00326431877374, -7.83380820086e-06, 0.000194742578013, 0.258370257314, -0.175099102142, -6.1173425555e-05, -0.524953548768, 3.1825099713e-06, -0.000257600047423, -3.41210481921e-06, 0.258367271628, 0.174322097546, -8.89023954997e-05, -0.524983690846, -3.46102941488e-07, -0.000265401439772, 1.00498481453e-06 )
initialConfig['hrp10small'] = ( 0.0274106623863, 0.143843868989, 0.646921914726, 0.00221064938462, 0.101393756965, 1.36729741242e-05, -0.00911630330837, -0.0914099637938, -0.471978743283, 0.840380192617, -0.470232799053, 0.0896624078591, 0.00950781802257, 0.0911102868041, -0.469450351848, 0.835307995386, -0.467686190904, -0.0938029466367, -8.75646582964e-05, 0.00326431877374, -7.83380820086e-06, 0.000194742578013, 0.258370257314, -0.175099102142, -6.1173425555e-05, -0.524953548768, 3.1825099713e-06, -0.000257600047423, -3.41210481921e-06, 0, 0.258367271628, 0.174322097546, -8.89023954997e-05, -0.524983690846, -3.46102941488e-07, -0.000265401439772, 0, 1.00498481453e-06 )

inertiaRotor['hrp14small'] = (0,0,0,0,0,0,1.01e-4,6.96e-4,1.34e-4,1.34e-4,6.96e-4,6.96e-4,1.01e-4,6.96e-4,1.34e-4,1.34e-4,6.96e-4,6.96e-4,6.96e-4,6.96e-4,1.10e-4,1.10e-4,6.96e-4,6.60e-4,1.00e-4,6.60e-4,1.10e-4,1.00e-4,1.00e-4,6.96e-4,6.60e-4,1.00e-4,6.60e-4,1.10e-4,1.00e-4,1.00e-4)
inertiaRotor['hrp10small'] = (0,0,0,0,0,0,1.01e-4,6.96e-4,1.34e-4,1.34e-4,6.96e-4,6.96e-4,1.01e-4,6.96e-4,1.34e-4,1.34e-4,6.96e-4,6.96e-4,6.96e-4,6.96e-4,1.10e-4,1.10e-4,6.96e-4,6.60e-4,1.00e-4,6.60e-4,1.10e-4,1.00e-4,1.00e-4,1.00e-4,6.96e-4,6.60e-4,1.00e-4,6.60e-4,1.10e-4,1.00e-4,1.00e-4,1.00e-4)
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inertiaRotor['hrp14aug'] = (0,0,0,0,0,0,1.01e-4,6.96e-4,1.34e-4,1.34e-4,6.96e-4,6.96e-4,1.01e-4,6.96e-4,1.34e-4,1.34e-4,6.96e-4,6.96e-4,6.96e-4,6.96e-4,6.96e-4,1.10e-4,1.10e-4,1.10e-4,6.96e-4,6.60e-4,1.00e-4,6.60e-4,1.10e-4,1.00e-4,1.00e-4,6.96e-4,6.60e-4,1.00e-4,6.60e-4,1.10e-4,1.00e-4,1.00e-4)
inertiaRotor['hrp10aug'] = (0,0,0,0,0,0,1.01e-4,6.96e-4,1.34e-4,1.34e-4,6.96e-4,6.96e-4,1.01e-4,6.96e-4,1.34e-4,1.34e-4,6.96e-4,6.96e-4,6.96e-4,6.96e-4,6.96e-4,1.10e-4,1.10e-4,1.10e-4,6.96e-4,6.60e-4,1.00e-4,6.60e-4,1.10e-4,1.00e-4,1.00e-4,1.00e-4,6.96e-4,6.60e-4,1.00e-4,6.60e-4,1.10e-4,1.00e-4,1.00e-4,1.00e-4)
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Modify version to handle both hrp10 and hrp14.
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gearRatio['hrp14aug'] = (0,0,0,0,0,0,384.0,240.0,180.0,200.0,180.0,100.0,384.0,240.0,180.0,200.0,180.0,100.0,207.69,207.69,381.54,100.0,100.0,100.0,219.23,231.25,266.67,250.0,145.45,350.0,200.0,219.23,231.25,266.67,250.0,145.45,350.0,200.0)
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gearRatio['hrp14small'] = (0,0,0,0,0,0,384.0,240.0,180.0,200.0,180.0,100.0,384.0,240.0,180.0,200.0,180.0,100.0,207.69,381.54,100.0,100.0,219.23,231.25,266.67,250.0,145.45,350.0,200.0,219.23,231.25,266.67,250.0,145.45,350.0,200.0)
gearRatio['hrp10small'] = (0,0,0,0,0,0,384.0,240.0,180.0,200.0,180.0,100.0,384.0,240.0,180.0,200.0,180.0,100.0,207.69,381.54,100.0,100.0,219.23,231.25,266.67,250.0,145.45,350.0,350.0,200.0,219.23,231.25,266.67,250.0,145.45,350.0,350.0,200.0)
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gearRatio['hrp10aug'] = (0,0,0,0,0,0,384.0,240.0,180.0,200.0,180.0,100.0,384.0,240.0,180.0,200.0,180.0,100.0,207.69,207.69,381.54,100.0,100.0,100.0,219.23,231.25,266.67,250.0,145.45,350.0,350.0,200.0,219.23,231.25,266.67,250.0,145.45,350.0,350.0,200.0)