From 82c15cb6cbb5327f758b9dc8a5f14e0acb0131c2 Mon Sep 17 00:00:00 2001 From: Mansard <nmansard@laas.fr> Date: Fri, 17 Jun 2011 15:11:07 +0200 Subject: [PATCH] added the augmented 10 and 14 model. --- python/robotSpecific.py | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) diff --git a/python/robotSpecific.py b/python/robotSpecific.py index fed647a..b55bcb7 100644 --- a/python/robotSpecific.py +++ b/python/robotSpecific.py @@ -11,17 +11,44 @@ inertiaRotor=dict() pkgDataRootDir['hrp10small'] = "/home/nmansard/compil/devgiri/hpp2/share/hrp2_10-small" pkgDataRootDir['hrp14small'] = "/home/nmansard/compil/devgiri/hpp2/share/hrp2_14" +pkgDataRootDir['hrp14aug'] = "/home/nmansard/compil/devgiri/hpp2/share/hrp2_14_augmented2dof" +pkgDataRootDir['hrp10aug'] = "/home/nmansard/compil/devgiri/hpp2/share/hrp2_10-augmented" + modelName['hrp10small'] = 'HRP2JRLmainSmall.wrl' modelName['hrp14small'] = 'HRP2JRLmainsmall.wrl' +modelName['hrp14aug'] = 'HRP2JRLmainsmall.wrl' +modelName['hrp10aug'] = 'HRP2JRLmainSmall.wrl' robotDimension['hrp14small']=36 +robotDimension['hrp14aug']=38 robotDimension['hrp10small']=38 +robotDimension['hrp10aug']=40 +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 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) +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) +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) 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) +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) -- GitLab