Commit b115dc35 authored by Pierre Fernbach's avatar Pierre Fernbach Committed by Pierre Fernbach
Browse files

Add reference position value in fullbody Class

parent 126ad02b
...@@ -393,7 +393,14 @@ class Robot(Parent): ...@@ -393,7 +393,14 @@ class Robot(Parent):
MLhand_offset.translation = np.matrix(lArmOffset).T MLhand_offset.translation = np.matrix(lArmOffset).T
dict_offset = {rfoot: MRsole_offset, lfoot: MLsole_offset, rhand: MRhand_offset, lhand: MLhand_offset} dict_offset = {rfoot: MRsole_offset, lfoot: MLsole_offset, rhand: MRhand_offset, lhand: MLhand_offset}
dict_normal = {rfoot: rLegNormal, lfoot: lLegNormal, rhand: rArmNormal, lhand: lArmNormal} dict_normal = {rfoot: rLegNormal, lfoot: lLegNormal, rhand: rArmNormal, lhand: lArmNormal}
ref_EE_lLeg = np.array([0, 0.0848172440888579, -1.019272022956703])
ref_EE_rLeg = np.array([0, -0.0848172440888579, -1.019272022956703])
ref_EE_lArm = np.array([0.13028765672452458, 0.44360498616312666, -0.2881211563246389])
ref_EE_rArm = np.array([0.13028765672452458, -0.44360498616312666, -0.2881211563246389])
dict_ref_effector_from_root = {rLegId:ref_EE_rLeg, # Effector position in the reference configuration, in the root frame
lLegId:ref_EE_lLeg,
rArmId:ref_EE_rArm,
lArmId:ref_EE_lArm}
# display transform : # display transform :
# MRsole_display = MRsole_offset.copy() # MRsole_display = MRsole_offset.copy()
......
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