From 229b54203e7c18f1cf3bf038a77de49a06388bca Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Sat, 16 Feb 2013 23:17:22 +0100
Subject: [PATCH] Default romeo robot has toes.
---
python/robot_specific.py.cmake | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/python/robot_specific.py.cmake b/python/robot_specific.py.cmake
index ff0f4e4..e13046d 100644
--- a/python/robot_specific.py.cmake
+++ b/python/robot_specific.py.cmake
@@ -87,10 +87,10 @@ gearRatio['hrp10aug'] = (0,0,0,0,0,0,384.0,240.0,180.0,200.0,180.0,100.0,384.0,2
pkgDataRootDir['romeo'] = "@CMAKE_INSTALL_PREFIX@/share/romeo"
# Romeo data
-modelName['romeo'] = 'RomeoNoToes.wrl'
-specificitiesName['romeo'] = 'RomeoNoToesSpecificities.xml'
-jointRankName['romeo'] = 'RomeoNoToesLinkJointRank.xml'
-robotDimension['romeo']=37
+modelName['romeo'] = 'Romeo.wrl'
+specificitiesName['romeo'] = 'RomeoSpecificities.xml'
+jointRankName['romeo'] = 'RomeoLinkJointRank.xml'
+robotDimension['romeo'] = 39
initialConfig['romeo'] = (
0, 0, .840252, 0, 0, 0, # FF
0, # TRUNK
@@ -98,16 +98,16 @@ initialConfig['romeo'] = (
1.5, 0.6, -0.5, -1.05, -0.4, -0.3, -0.2, # LARM
1.5, -0.6, 0.5, 1.05, -0.4, -0.3, -0.2, # RARM
0, 0, -0.3490658, 0.6981317, -0.3490658, 0, # LLEG
-#0, # LTOW
+0, # LTOW
0, 0, -0.3490658, 0.6981317, -0.3490658, 0, # RLEG
-#0, # RTOW
+0, # RTOW
)
inertiaRotor['romeo'] = (0,)*6+(5e-4,)*31
gearRatio['romeo'] = (0,)*6+(200,)*31
postureRange['romeo'] = { \
- "rleg": range(31,37), \
+ "rleg": range(32,38), \
"lleg": range(25,31), \
"chest": range(6,7), \
"head": range(7,11), \
--
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