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Humanoid Path Planner
talos-rbprm
Commits
a4ff23ce
Commit
a4ff23ce
authored
Sep 03, 2019
by
Pierre Fernbach
Browse files
[fullbody] reduce root z value in reference configuration to match ground at z=0
parent
439a4e9c
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/hpp/corbaserver/rbprm/talos/robot.py
View file @
a4ff23ce
...
...
@@ -48,7 +48,7 @@ class Robot (Parent):
lhand
=
'arm_left_7_joint'
referenceConfig
=
[
0.0
,
0.0
,
1.02
3
27
73
,
0.0
,
0.0
,
0.0
,
1.
,
#Free flyer
0.0
,
0.0
,
1.02
1
27
,
0.0
,
0.0
,
0.0
,
1.
,
#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
...
...
@@ -57,7 +57,7 @@ class Robot (Parent):
0.
,
0.
];
referenceConfig_legsApart
=
[
0.0
,
0.0
,
1.02
3
27
73
,
0.0
,
0.0
,
0.0
,
1.
,
#Free flyer
0.0
,
0.0
,
1.02
1
27
,
0.0
,
0.0
,
0.0
,
1.
,
#Free flyer
0.0
,
0.06
,
-
0.411354
,
0.859395
,
-
0.448041
,
-
0.061708
,
#Left Leg
0.0
,
-
0.06
,
-
0.411354
,
0.859395
,
-
0.448041
,
0.058292
,
#Right Leg
0.0
,
0.006761
,
#Chest
...
...
@@ -66,7 +66,7 @@ class Robot (Parent):
0.
,
0.
]
referenceConfig_armsFront
=
[
0.0
,
0.0
,
1.02
3
27
73
,
0
,
0.0
,
0.0
,
1.0
,
#Free flyer
0.0
,
0.0
,
1.02
1
27
,
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
...
...
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