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Humanoid Path Planner
talos-rbprm
Commits
39b660dd
Commit
39b660dd
authored
Jul 24, 2019
by
Pierre Fernbach
Browse files
fix quaternion convention and small changes in reference configurations for armsFront and legsSide
parent
820d178c
Changes
1
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Inline
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src/hpp/corbaserver/rbprm/talos/robot.py
View file @
39b660dd
...
...
@@ -66,21 +66,21 @@ class Robot (Parent):
0.
,
0.
]
referenceConfig_armsFront
=
[
0.0
,
0.0
,
1.0232773
,
1
,
0.0
,
0.0
,
0
.0
,
#Free flyer
0.0
,
0.0
,
1.0232773
,
0
,
0.0
,
0.0
,
1
.0
,
#Free flyer
0.0
,
0.0
,
-
0.411354
,
0.859395
,
-
0.448041
,
-
0.001708
,
#Left Leg
0.0
,
0.0
,
-
0.411354
,
0.859395
,
-
0.448041
,
-
0.001708
,
#Right Leg
0.0
,
0.006761
,
#Chest
-
0.5
,
0.173046
,
-
0.0002
,
-
0.525366
,
0.0
,
-
0.0
,
0.1
,
-
0.005
,
#Left Arm
0.5
,
-
0.173046
,
0.0002
,
-
0.525366
,
0.0
,
0.0
,
0.1
,
-
0.005
,
#Right Arm
0.
,
0.
]
0.
,
0.
]
referenceConfig_legsSide
=
[
0
.0
,
0.
0
,
0.9832773
,
1
,
0.0
,
0.0
,
0
.0
,
#Free flyer
0
,
0
,
0.9832773
,
0
,
0.0
,
0.0
,
1
.0
,
#Free flyer
1.57
,
0.0
,
-
0.611354
,
1.059395
,
-
0.448041
,
-
0.001708
,
#Left Leg
-
1.57
,
0.0
,
-
0.611354
,
1.059395
,
-
0.448041
,
-
0.001708
,
#Right Leg
0.0
,
0.006761
,
#Chest
-
0.5
,
0.173046
,
-
0.0002
,
-
0.525366
,
0.0
,
-
0.0
,
0.1
,
-
0.005
,
#Left Arm
0.
5
,
-
0.173046
,
0.0002
,
-
0.525366
,
0.0
,
0.0
,
0.1
,
-
0.005
,
#Right Arm
0.25847
,
0.173046
,
-
0.0002
,
-
0.525366
,
0.0
,
-
0.0
,
0.1
,
-
0.005
,
#Left Arm
-
0.
25847
,
-
0.173046
,
0.0002
,
-
0.525366
,
0.0
,
0.0
,
0.1
,
-
0.005
,
#Right Arm
0.0
,
0.0
]
postureWeights
=
[
0
,
0
,
0
,
0
,
0
,
0
,
# freeflyer
...
...
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