Commit c662bcc6 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

Update height values of CoM and contact points

parent 1b96ff24
......@@ -49,19 +49,25 @@ class Robot (Parent):
rarm = 'HR_HAA'
rhand = 'HR_FOOT'
referenceConfig = [0., 0., 0.235, 0., 0., 0., 1., # freeflyer
referenceConfig = [0., 0., 0.241, 0., 0., 0., 1., # freeflyer
0., 0.8, -1.6, # FL
0., 0.8, -1.6, # FR
0., -0.8, 1.6, # HL
0., -0.8, 1.6] # HR
DEFAULT_COM_HEIGHT = 0.211
postureWeights=[0,0,0,0,0,0, #FF
100.,1.,20.,
100.,1.,20.,
100.,1.,20.,
100.,1.,20.,]
DEFAULT_COM_HEIGHT = 0.2
# informations required to generate the limbs databases the limbs :
nbSamples = 50000 # Number of sampled configuration for each limb in the database
octreeSize = 0.002 # Resolution of the octree leaf (as a cube, in meter)
cType = "_3_DOF" # 6_dof constraints the orientation of the contacts, 3_dof only constraint the position
offset = [0.,0.,-0.005] # Offset applied to the contact position wrt to the frame position
offset = [0.,0.,-0.018] # Contact position in the effector frame
# Position on the first joint of each limb (in the root frame) in the 'reference' configration,
# Used by some heuristic when sorting candidates contacts positions
......@@ -106,10 +112,10 @@ class Robot (Parent):
rArmId:ref_EE_rArm,
lArmId:ref_EE_lArm}
# display transform :
MRsole_display = SE3.Identity()
MLsole_display = SE3.Identity()
MRhand_display = SE3.Identity()
MLhand_display = SE3.Identity()
MRsole_display = MRsole_offset.copy()
MLsole_display = MLsole_offset.copy()
MRhand_display = MRhand_offset.copy()
MLhand_display = MLhand_offset.copy()
dict_display_offset = {rfoot:MRsole_display, lfoot:MLsole_display, rhand:MRhand_display, lhand:MLhand_display}
kneeIds = {"LF":9,"LH":12,"RF":15,"HR":18}
......
......@@ -34,7 +34,7 @@ class Robot (Parent):
srdfSuffix = ""
name = urdfName
ref_height = 0.235
ref_height = 0.241
rLegId = 'solo_RFleg_rom'
lLegId = 'solo_LFleg_rom'
......
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