From a9e9c81507fbd5c66f2ca7b5321ebb40db62c5b7 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Mon, 9 Jul 2012 15:16:42 +0200
Subject: [PATCH] Add position of foot force sensors in Hrp2 python class.
---
src/dynamic_graph/sot/dynamics/hrp2.py.in | 8 ++++++++
1 file changed, 8 insertions(+)
diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index 89080eb..1e1103c 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -44,6 +44,14 @@ class Hrp2(AbstractHumanoidRobot):
"""
This class instanciates a Hrp2 robot
"""
+ forceSensorInLeftAnkle = ((1.,0.,0.,0.),
+ (0.,1.,0.,0.),
+ (0.,0.,1.,-0.105),
+ (0.,0.,0.,1.))
+ forceSensorInRightAnkle = ((1.,0.,0.,0.),
+ (0.,1.,0.,0.),
+ (0.,0.,1.,-0.105),
+ (0.,0.,0.,1.))
def smallToFull(self, config):
res = (config + 10*(0.,))
return res
--
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