Commit 439a4e9c authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[fullbody] use sole frame as center of contact instead of last joint + offset

parent e466e0dd
......@@ -33,11 +33,11 @@ class Robot (Parent):
## Information about the names of thes joints defining the limbs of the robot
rLegId = 'talos_rleg_rom'
rleg = 'leg_right_1_joint'
rfoot = 'leg_right_6_joint'
rfoot = 'leg_right_sole_fix_joint'
lLegId = 'talos_lleg_rom'
lleg = 'leg_left_1_joint'
lfoot = 'leg_left_6_joint'
lfoot = 'leg_left_sole_fix_joint'
rArmId = 'talos_rarm_rom'
rarm = 'arm_right_1_joint'
......@@ -104,13 +104,13 @@ class Robot (Parent):
nbSamples = 50000
octreeSize = 0.01
cType = "_6_DOF"
rLegOffset = [0., -0.00018, -0.102]
#rLegOffset[2] += 0.006
rLegOffset = [0., 0., 0.0]
#rLegOffset[2] += 0.005
rLegNormal = [0,0,1]
rLegx = 0.1; rLegy = 0.06
lLegOffset = [0., -0.00018, -0.102]
#lLegOffset[2] += 0.006
lLegOffset = [0., 0., 0.0]
#lLegOffset[2] += 0.005
lLegNormal = [0,0,1]
lLegx = 0.1; lLegy = 0.06
......
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