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Commit 6d62be2b authored by Pierre Fernbach's avatar Pierre Fernbach
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Merge branch 'ori' into 'master' 

Fitting to the real robot

See merge request anybotics/anymal-rbprm!1
parents 82b1cf7a 5f8683e3
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data/meshes/anymal_all_large_visual.dae
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data/meshes/anymal_trunk.stl
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data/meshes/anymal_trunk_large.stl
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src/hpp/corbaserver/rbprm/anymal/robot.py
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......@@ -28,7 +28,8 @@ class Robot (Parent):
meshPackageName = "anymal_data"
rootJointType = "freeflyer"
urdfName = "anymal"
urdfSuffix = ""
urdfSuffix = "_small_collision_feet"
#urdfSuffix="_ORI"
srdfSuffix = ""
## Information about the names of thes joints defining the limbs of the robot
......@@ -45,25 +46,47 @@ class Robot (Parent):
rarm = 'RH_HAA'
rhand = 'RH_ADAPTER_TO_FOOT'
referenceConfig =[0.,0.,0.457, 0.,0.,0.,1., # FF
0.04, 0.611, -1.0452,
0.04, -0.853, 1.0847,
-0.04, 0.74, -1.08,
-0.04, -0.74, 1.08,
referenceConfig_asymetric =[0.,0.,0.461, 0.,0.,0.,1., # FF
0.0, 0.611, -1.0452,
0.0, -0.853, 1.0847,
-0.0, 0.74, -1.08,
-0.0, -0.74, 1.08,
]
"""
referenceConfig=[0,0,0.448,0,0,0,1,
0.079,0.78,-1.1,
0.079,-0.78,1.1,
-0.079,0.78,-1.1,
-0.079,-0.78,1.1
]
"""
"""
referenceConfig=[0,0,0.448,0,0,0,1,
0.095,0.76,-1.074,
0.095,-0.76,1.074,
-0.095,0.76,-1.074,
-0.095,-0.76,1.074
]
"""
referenceConfig=[0,0,0.47,0,0,0,1,
-0.12,0.724,-1.082,
-0.12,-0.724,1.082,
0.12,0.724,-1.082,
0.12,-0.724,1.082
]
postureWeights=[0,0,0,0,0,0, #FF
100.,1.,1.,
100.,1.,1.,
100.,1.,1.,
100.,1.,1.,]
100.,1.,20.,
100.,1.,20.,
100.,1.,20.,
100.,1.,20.,]
# informations required to generate the limbs databases the limbs :
nbSamples = 50000
octreeSize = 0.01
octreeSize = 0.002
cType = "_3_DOF"
offset = [0.,0.,-0.006]
offset = [0.,0.,-0.005] # was 0.005
rLegLimbOffset = [0.373, 0.264, 0.]
lLegLimbOffset = [0.373, -0.264,0.]
......@@ -113,19 +136,19 @@ class Robot (Parent):
# save original bounds of the urdf for futur reset
self.LF_HAA_bounds = self.getJointBounds('LF_HAA')
self.LF_HFE_bounds = self.getJointBounds('LF_HFE')
self.LF_HAA_bounds = self.getJointBounds('LF_KFE')
self.LF_KFE_bounds = self.getJointBounds('LF_KFE')
self.RF_HAA_bounds = self.getJointBounds('RF_HAA')
self.RF_HFE_bounds = self.getJointBounds('RF_HFE')
self.RF_HAA_bounds = self.getJointBounds('RF_KFE')
self.RF_KFE_bounds = self.getJointBounds('RF_KFE')
self.LH_HAA_bounds = self.getJointBounds('LH_HAA')
self.LH_HFE_bounds = self.getJointBounds('LH_HFE')
self.LH_HAA_bounds = self.getJointBounds('LH_KFE')
self.LH_KFE_bounds = self.getJointBounds('LH_KFE')
self.RH_HAA_bounds = self.getJointBounds('RH_HAA')
self.RH_HFE_bounds = self.getJointBounds('RH_HFE')
self.RH_HAA_bounds = self.getJointBounds('RH_KFE')
self.RH_KFE_bounds = self.getJointBounds('RH_KFE')
def loadAllLimbs(self,heuristic, analysis = None, nbSamples = nbSamples, octreeSize = octreeSize,disableEffectorCollision = False):
if isinstance(heuristic,basestring):#only one heuristic name given assign it to all the limbs
......@@ -145,7 +168,7 @@ class Robot (Parent):
if analysis :
self.runLimbSampleAnalysis(id, analysis, True)
def setConstrainedJointsBounds(self):
def setSlightlyConstrainedJointsBounds(self):
self.setJointBounds('LF_HAA',[-1.,1.])
self.setJointBounds('LF_HFE',[-0.25,2.35])
self.setJointBounds('LF_KFE',[-2.35,0.])
......@@ -163,20 +186,38 @@ class Robot (Parent):
self.setJointBounds('RH_KFE',[0.,2.35])
def setConstrainedJointsBounds(self):
self.setJointBounds('LF_HAA',[-0.6,0.6])
self.setJointBounds('LF_HFE',[0.25,1.])
self.setJointBounds('LF_KFE',[-2.35,0.])
self.setJointBounds('RF_HAA',[-0.6,0.6])
self.setJointBounds('RF_HFE',[0.25,1.])
self.setJointBounds('RF_KFE',[-2.35,0.])
self.setJointBounds('LH_HAA',[-0.6,0.6])
self.setJointBounds('LH_HFE',[-1.05,-0.45])
self.setJointBounds('LH_KFE',[0.,2.35])
self.setJointBounds('RH_HAA',[-0.6,0.6])
self.setJointBounds('RH_HFE',[-1.05,-0.45])
self.setJointBounds('RH_KFE',[0.,2.35])
def setVeryConstrainedJointsBounds(self):
self.setJointBounds('LF_HAA',[-0.4,0.4])
self.setJointBounds('LF_HFE',[0.2,0.95])
self.setJointBounds('LF_HAA',[-0.35,0.05])
self.setJointBounds('LF_HFE',[0.3,0.95])
self.setJointBounds('LF_KFE',[-2.35,0.])
self.setJointBounds('RF_HAA',[-0.4,0.4])
self.setJointBounds('RF_HFE',[0.2,0.95])
self.setJointBounds('RF_HAA',[-0.05,0.35])
self.setJointBounds('RF_HFE',[0.3,0.95])
self.setJointBounds('RF_KFE',[-2.35,0.])
self.setJointBounds('LH_HAA',[-0.4,0.4])
self.setJointBounds('LH_HAA',[-0.35,0.05])
self.setJointBounds('LH_HFE',[-1.,-0.5])
self.setJointBounds('LH_KFE',[0.,2.35])
self.setJointBounds('RH_HAA',[-0.4,0.4])
self.setJointBounds('RH_HAA',[-0.05,0.35])
self.setJointBounds('RH_HFE',[-1.,-0.5])
self.setJointBounds('RH_KFE',[0.,2.35])
......@@ -184,19 +225,19 @@ class Robot (Parent):
def resetJointsBounds(self):
self.setJointBounds('LF_HAA',self.LF_HAA_bounds)
self.setJointBounds('LF_HFE',self.LF_HFE_bounds)
self.setJointBounds('LF_KFE',self.LF_HAA_bounds)
self.setJointBounds('LF_KFE',self.LF_KFE_bounds)
self.setJointBounds('RF_HAA',self.RF_HAA_bounds)
self.setJointBounds('RF_HFE',self.RF_HFE_bounds)
self.setJointBounds('RF_KFE',self.RF_HAA_bounds)
self.setJointBounds('RF_KFE',self.RF_KFE_bounds)
self.setJointBounds('LH_HAA',self.LH_HAA_bounds)
self.setJointBounds('LH_HFE',self.LH_HFE_bounds)
self.setJointBounds('LH_KFE',self.LH_HAA_bounds)
self.setJointBounds('LH_KFE',self.LH_KFE_bounds)
self.setJointBounds('RH_HAA',self.RH_HAA_bounds)
self.setJointBounds('RH_HFE',self.RH_HFE_bounds)
self.setJointBounds('RH_KFE',self.RH_HAA_bounds)
self.setJointBounds('RH_KFE',self.RH_KFE_bounds)
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