Unverified Commit a91a57e8 authored by Fernbach Pierre's avatar Fernbach Pierre Committed by GitHub
Browse files

Merge pull request #4 from pFernbach/master

use sole frame instead of last joint + transform
parents 820d178c a4ff23ce
......@@ -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'
......@@ -48,7 +48,7 @@ class Robot (Parent):
lhand = 'arm_left_7_joint'
referenceConfig = [
0.0, 0.0, 1.0232773, 0.0 , 0.0, 0.0, 1., #Free flyer
0.0, 0.0, 1.02127, 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, 1.0232773, 0.0 , 0.0, 0.0, 1., #Free flyer
0.0, 0.0, 1.02127, 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
......@@ -66,21 +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, 1.02127, 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
......@@ -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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