Commit cd8cfaec authored by Pierre Fernbach's avatar Pierre Fernbach Committed by Pierre Fernbach
Browse files

Update reference end effector position in ROM class

parent b115dc35
......@@ -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, -1.0225]
ref_EE_rLeg = [-0.008846952891378526, -0.0848172440888579, -1.01977]
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:
......
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