Unverified Commit f7076ee6 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
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
......@@ -39,7 +39,7 @@ class Robot(Parent):
referenceConfig = [
0.0,
0.0,
1.02127,
1.0225,
0.0,
0.0,
0.0,
......@@ -81,7 +81,7 @@ class Robot(Parent):
referenceConfig_elbowsUp = [
0.0,
0.0,
1.02127,
1.0225,
0.0,
0.0,
0.0,
......@@ -123,7 +123,7 @@ class Robot(Parent):
referenceConfig_legsApart = [
0.0,
0.0,
1.02127,
1.0225,
0.0,
0.0,
0.0,
......@@ -165,7 +165,7 @@ class Robot(Parent):
referenceConfig_armsFront = [
0.0,
0.0,
1.02127,
1.0225,
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
......
......@@ -25,12 +25,12 @@ class Robot(Parent):
legX = 0.1
legY = 0.06
ref_height = 1.02127
ref_height = 1.0225
# reference position of the end effector position for each ROM
ref_EE_lLeg = [-0.008846952891378526, 0.0848172440888579, -1.019272022956703]
ref_EE_lLeg = [-0.008846952891378526, 0.0848172440888579, -1.0225]
ref_EE_lLeg[0] = 0. # assure symetry of dynamic constraints on flat ground
ref_EE_rLeg = [-0.008846952891378526, -0.0848172440888579, -1.019272022956703]
ref_EE_rLeg = [-0.008846952891378526, -0.0848172440888579, -1.0225]
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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