Commit 083d1c2a authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

Adapt root height to the urdf from example_robot_data

parent 5b00f829
......@@ -39,7 +39,7 @@ class Robot(Parent):
referenceConfig = [
0.0,
0.0,
1.02127,
1.0225,
0.0,
0.0,
0.0,
......@@ -81,7 +81,7 @@ class Robot(Parent):
referenceConfig_elbowsUp = [
0.0,
0.0,
1.02127,
1.0225,
0.0,
0.0,
0.0,
......@@ -123,7 +123,7 @@ class Robot(Parent):
referenceConfig_legsApart = [
0.0,
0.0,
1.02127,
1.0225,
0.0,
0.0,
0.0,
......@@ -165,7 +165,7 @@ class Robot(Parent):
referenceConfig_armsFront = [
0.0,
0.0,
1.02127,
1.0225,
0,
0.0,
0.0,
......@@ -207,7 +207,7 @@ class Robot(Parent):
referenceConfig_legsSide = [
0,
0,
0.9832773,
1.,
0,
0.0,
0.0,
......
......@@ -25,12 +25,12 @@ class Robot(Parent):
legX = 0.1
legY = 0.06
ref_height = 1.02127
ref_height = 1.0225
# reference position of the end effector position for each ROM
ref_EE_lLeg = [-0.008846952891378526, 0.0848172440888579, -1.019272022956703]
ref_EE_lLeg = [-0.008846952891378526, 0.0848172440888579, -1.0225]
ref_EE_lLeg[0] = 0. # assure symetry of dynamic constraints on flat ground
ref_EE_rLeg = [-0.008846952891378526, -0.0848172440888579, -1.019272022956703]
ref_EE_rLeg = [-0.008846952891378526, -0.0848172440888579, -1.0225]
ref_EE_rLeg[0] = 0.
ref_EE_lArm = [0.13028765672452458, 0.44360498616312666, -0.2881211563246389]
ref_EE_rArm = [0.13028765672452458, -0.44360498616312666, -0.2881211563246389]
......
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