Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Humanoid Path Planner
talos-rbprm
Commits
cd8cfaec
Commit
cd8cfaec
authored
Aug 06, 2020
by
Pierre Fernbach
Committed by
Pierre Fernbach
Jun 22, 2021
Browse files
Update reference end effector position in ROM class
parent
b115dc35
Changes
1
Hide whitespace changes
Inline
Side-by-side
talos_rbprm/talos_abstract.py
View file @
cd8cfaec
...
...
@@ -27,13 +27,16 @@ class Robot(Parent):
ref_height
=
1.0225
# reference position of the end effector position for each ROM
ref_EE_lLeg
=
[
-
0.008846952891378526
,
0.0848172440888579
,
-
1.0225
]
ref_EE_lLeg
=
[
-
0.008846952891378526
,
0.0848172440888579
,
-
1.01977
]
ref_EE_lLeg
[
0
]
=
0.
# assure symetry of dynamic constraints on flat ground
ref_EE_rLeg
=
[
-
0.008846952891378526
,
-
0.0848172440888579
,
-
1.0
225
]
ref_EE_rLeg
=
[
-
0.008846952891378526
,
-
0.0848172440888579
,
-
1.0
1977
]
ref_EE_rLeg
[
0
]
=
0.
ref_EE_lArm
=
[
0.13028765672452458
,
0.44360498616312666
,
-
0.2881211563246389
]
ref_EE_rArm
=
[
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
}
def
__init__
(
self
,
name
=
None
,
load
=
True
,
client
=
None
,
clientRbprm
=
None
):
if
name
is
not
None
:
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment