From 5bd60211dff80d6c916292be875be8eae6012b67 Mon Sep 17 00:00:00 2001 From: Mansard <nmansard@laas.fr> Date: Thu, 17 Jan 2013 16:15:38 +0100 Subject: [PATCH] Minor robot spec modifs. --- python/robotSpecific.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/python/robotSpecific.py b/python/robotSpecific.py index 37b5107..e8231cb 100644 --- a/python/robotSpecific.py +++ b/python/robotSpecific.py @@ -62,6 +62,8 @@ initialConfig['hrp14small'] = ( 0.0274106623863, 0.143843868989, 0.646921914726, initialConfig['hrp10small'] = ( 0.0274106623863, 0.143843868989, 0.646921914726, 0.00221064938462, 0.101393756965, 1.36729741242e-05, -0.00911630330837, -0.0914099637938, -0.471978743283, 0.840380192617, -0.470232799053, 0.0896624078591, 0.00950781802257, 0.0911102868041, -0.469450351848, 0.835307995386, -0.467686190904, -0.0938029466367, -8.75646582964e-05, 0.00326431877374, -7.83380820086e-06, 0.000194742578013, 0.258370257314, -0.175099102142, -6.1173425555e-05, -0.524953548768, 3.1825099713e-06, -0.000257600047423, -3.41210481921e-06, 0, 0.258367271628, 0.174322097546, -8.89023954997e-05, -0.524983690846, -3.46102941488e-07, -0.000265401439772, 0, 1.00498481453e-06 ) halfSittingConfig['hrp14small'] = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.4537856055185257, 0.87266462599716477, -0.41887902047863906, 0.0, 0.0, 0.0, -0.4537856055185257, 0.87266462599716477, -0.41887902047863906, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26179938779914941, -0.17453292519943295, 0.0, -0.52359877559829882, 0.0, 0.0, 0.17453292519943295, 0.26179938779914941, 0.17453292519943295, 0.0, -0.52359877559829882, 0.0, 0.0, 0.17453292519943295) +halfSittingConfig['hrp10small'] = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.4537856055185257, 0.87266462599716477, -0.41887902047863906, 0.0, 0.0, 0.0, -0.4537856055185257, 0.87266462599716477, -0.41887902047863906, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26179938779914941, -0.17453292519943295, 0.0, -0.52359877559829882, 0.0, 0.0, 0.0, 0.17453292519943295, 0.26179938779914941, 0.17453292519943295, 0.0, -0.52359877559829882, 0.0, 0.0, 0.0, 0.17453292519943295) + inertiaRotor['hrp14small'] = (0,0,0,0,0,0,1.01e-4,6.96e-4,1.34e-4,1.34e-4,6.96e-4,6.96e-4,1.01e-4,6.96e-4,1.34e-4,1.34e-4,6.96e-4,6.96e-4,6.96e-4,6.96e-4,1.10e-4,1.10e-4,6.96e-4,6.60e-4,1.00e-4,6.60e-4,1.10e-4,1.00e-4,1.00e-4,6.96e-4,6.60e-4,1.00e-4,6.60e-4,1.10e-4,1.00e-4,1.00e-4) inertiaRotor['hrp10small'] = (0,0,0,0,0,0,1.01e-4,6.96e-4,1.34e-4,1.34e-4,6.96e-4,6.96e-4,1.01e-4,6.96e-4,1.34e-4,1.34e-4,6.96e-4,6.96e-4,6.96e-4,6.96e-4,1.10e-4,1.10e-4,6.96e-4,6.60e-4,1.00e-4,6.60e-4,1.10e-4,1.00e-4,1.00e-4,1.00e-4,6.96e-4,6.60e-4,1.00e-4,6.60e-4,1.10e-4,1.00e-4,1.00e-4,1.00e-4) @@ -82,7 +84,7 @@ gearRatio['hrp10aug'] = (0,0,0,0,0,0,384.0,240.0,180.0,200.0,180.0,100.0,384.0,2 # --- ROMEO ----------------------------------- -pkgDataRootDir['romeo'] = "/home/nmansard/compil/poulou/hpp2/share/romeo" +pkgDataRootDir['romeo'] = "/home/nmansard/compil/poulou/hpp2/share/romeo_hands" # Romeo data modelName['romeo'] = 'RomeoNoToes.wrl' -- GitLab