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Humanoid Path Planner
talos-rbprm
Commits
f7076ee6
Unverified
Commit
f7076ee6
authored
Sep 15, 2020
by
Guilhem Saurel
Committed by
GitHub
Sep 15, 2020
Browse files
Merge pull request #15 from pFernbach/topic/example_robot_data
Update value for use of example-robot-data
parents
5b00f829
55530b62
Pipeline
#11745
passed with stage
in 40 seconds
Changes
2
Pipelines
3
Hide whitespace changes
Inline
Side-by-side
talos_rbprm/talos.py
View file @
f7076ee6
...
...
@@ -39,7 +39,7 @@ class Robot(Parent):
referenceConfig
=
[
0.0
,
0.0
,
1.02
127
,
1.02
25
,
0.0
,
0.0
,
0.0
,
...
...
@@ -81,7 +81,7 @@ class Robot(Parent):
referenceConfig_elbowsUp
=
[
0.0
,
0.0
,
1.02
127
,
1.02
25
,
0.0
,
0.0
,
0.0
,
...
...
@@ -123,7 +123,7 @@ class Robot(Parent):
referenceConfig_legsApart
=
[
0.0
,
0.0
,
1.02
127
,
1.02
25
,
0.0
,
0.0
,
0.0
,
...
...
@@ -165,7 +165,7 @@ class Robot(Parent):
referenceConfig_armsFront
=
[
0.0
,
0.0
,
1.02
127
,
1.02
25
,
0
,
0.0
,
0.0
,
...
...
@@ -207,7 +207,7 @@ class Robot(Parent):
referenceConfig_legsSide
=
[
0
,
0
,
0.9832773
,
1.
,
0
,
0.0
,
0.0
,
...
...
@@ -336,13 +336,13 @@ class Robot(Parent):
octreeSize
=
0.01
cType
=
"_6_DOF"
rLegOffset
=
[
0.
,
0.
,
0.0
]
#
rLegOffset[2]
+
= 0.005
rLegOffset
[
2
]
-
=
0.005
rLegNormal
=
[
0
,
0
,
1
]
rLegx
=
0.1
rLegy
=
0.06
lLegOffset
=
[
0.
,
0.
,
0.0
]
#
lLegOffset[2]
+
= 0.005
lLegOffset
[
2
]
-
=
0.005
lLegNormal
=
[
0
,
0
,
1
]
lLegx
=
0.1
lLegy
=
0.06
...
...
talos_rbprm/talos_abstract.py
View file @
f7076ee6
...
...
@@ -25,12 +25,12 @@ class Robot(Parent):
legX
=
0.1
legY
=
0.06
ref_height
=
1.02
127
ref_height
=
1.02
25
# reference position of the end effector position for each ROM
ref_EE_lLeg
=
[
-
0.008846952891378526
,
0.0848172440888579
,
-
1.0
19272022956703
]
ref_EE_lLeg
=
[
-
0.008846952891378526
,
0.0848172440888579
,
-
1.0
225
]
ref_EE_lLeg
[
0
]
=
0.
# assure symetry of dynamic constraints on flat ground
ref_EE_rLeg
=
[
-
0.008846952891378526
,
-
0.0848172440888579
,
-
1.0
19272022956703
]
ref_EE_rLeg
=
[
-
0.008846952891378526
,
-
0.0848172440888579
,
-
1.0
225
]
ref_EE_rLeg
[
0
]
=
0.
ref_EE_lArm
=
[
0.13028765672452458
,
0.44360498616312666
,
-
0.2881211563246389
]
ref_EE_rArm
=
[
0.13028765672452458
,
-
0.44360498616312666
,
-
0.2881211563246389
]
...
...
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