Commit 4b613b65 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[transition check] add com inequalities meshs and install them

parent a5b6fd0e
......@@ -338,6 +338,12 @@ install(FILES
data/meshes/robot_test/Rleg_rom.stl
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/robot_test
)
install(FILES
data/com_inequalities/LLEG_JOINT0_com_constraints.obj
data/com_inequalities/RLEG_JOINT0_com_constraints.obj
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/com_inequalities
)
install(DIRECTORY data/hyq_description
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/../
......
# Blender v2.75 (sub 0) OBJ File: ''
# www.blender.org
mtllib LL_com_reduced.mtl
o foo.002
v -0.250120 0.158023 -0.364683
v 0.717843 -0.004910 -0.135614
v -0.380747 0.183491 0.756766
v 0.063473 0.322760 0.808248
v 0.269019 -0.435441 0.721752
v -0.106945 -0.185523 0.859904
v 0.829164 -0.221420 0.076849
v 0.789266 0.035256 0.394108
v -0.561084 0.272869 0.549676
v -0.768777 0.082023 0.344492
v 0.451464 -0.103734 0.755431
v -0.282708 -0.621223 0.558964
v 0.359984 -0.566028 0.517478
v -0.735097 -0.355842 0.222979
v 0.734397 0.200722 0.290739
v -0.565813 -0.166929 0.656603
v 0.512341 0.241489 0.651948
v -0.193583 -0.216025 -0.328067
v 0.682485 -0.353585 0.430667
v -0.547390 -0.160604 -0.229184
v -0.635448 0.055101 -0.180362
vn -0.406200 -0.046300 0.912600
vn 0.926800 -0.226300 0.299700
vn -0.764300 0.160100 0.624700
vn -0.703900 0.174900 0.688400
vn 0.178100 0.040200 0.983200
vn 0.106800 -0.815500 0.568900
vn -0.969300 -0.006300 -0.245900
vn -0.853700 -0.244400 -0.459900
vn -0.024200 0.990900 -0.132700
vn -0.353800 0.905500 -0.234100
vn 0.060100 0.986100 -0.154600
vn 0.209700 -0.212200 0.954500
vn 0.030500 -0.802800 -0.595400
vn 0.152800 -0.904600 -0.397900
vn 0.247700 0.868800 -0.428700
vn -0.436800 0.025200 -0.899200
vn 0.750000 -0.145300 0.645300
vn -0.303300 0.750000 0.587800
vn 0.711700 0.083600 0.697500
vn -0.884900 -0.186500 0.426700
vn 0.295200 -0.587600 -0.753400
vn -0.161000 0.153100 0.975000
vn 0.355200 0.210400 0.910800
vn -0.382400 -0.415700 0.825200
vn -0.060200 -0.550700 0.832500
vn 0.960800 0.261800 -0.091000
vn 0.758600 0.507100 0.409100
vn 0.529600 -0.842900 -0.095300
vn -0.263800 -0.840900 -0.472600
vn -0.560500 0.807500 -0.183800
vn -0.286400 -0.136100 -0.948400
vn 0.219900 -0.062100 -0.973500
vn 0.935600 0.302300 -0.182100
vn -0.203200 -0.882700 -0.423700
vn 0.543700 -0.576000 0.610400
vn 0.580300 -0.391700 0.714100
vn -0.683300 -0.533100 0.499000
vn 0.177500 0.984100 -0.001900
usemtl None
s off
f 16//1 6//1 3//1
f 7//2 8//2 19//2
f 9//3 10//3 16//3
f 9//4 16//4 3//4
f 4//5 6//5 11//5
f 12//6 13//6 5//6
f 14//7 10//7 21//7
f 14//8 21//8 20//8
f 1//9 9//9 4//9
f 1//10 21//10 9//10
f 1//11 4//11 15//11
f 11//12 6//12 5//12
f 12//13 7//13 13//13
f 12//14 18//14 7//14
f 2//15 1//15 15//15
f 20//16 21//16 1//16
f 11//17 19//17 8//17
f 3//18 4//18 9//18
f 8//19 17//19 11//19
f 10//20 14//20 16//20
f 2//21 7//21 18//21
f 3//22 6//22 4//22
f 4//23 11//23 17//23
f 6//24 16//24 12//24
f 6//25 12//25 5//25
f 15//26 8//26 7//26
f 15//27 17//27 8//27
f 19//28 13//28 7//28
f 20//29 18//29 14//29
f 10//30 9//30 21//30
f 20//31 1//31 18//31
f 1//32 2//32 18//32
f 7//33 2//33 15//33
f 12//34 14//34 18//34
f 5//35 13//35 19//35
f 19//36 11//36 5//36
f 16//37 14//37 12//37
f 4//38 17//38 15//38
# Blender v2.75 (sub 0) OBJ File: ''
# www.blender.org
mtllib RL_com_reduced.mtl
o foo.004
v -0.325493 -0.214793 -0.265308
v -0.678230 0.241759 -0.044310
v -0.706928 -0.006358 -0.099920
v -0.789614 0.190640 0.233476
v -0.194926 -0.297588 0.795328
v 0.815343 0.252410 0.039174
v 0.531932 0.425178 0.566213
v -0.259345 0.192635 -0.330241
v -0.590102 0.456238 0.428759
v -0.703925 -0.170592 0.469094
v 0.817195 -0.161765 0.390793
v 0.297224 -0.325438 0.720658
v 0.687599 -0.036520 -0.116464
v -0.416736 0.378568 0.721617
v 0.190517 0.616873 0.554612
v 0.303062 0.166857 0.833147
v -0.080051 0.027048 0.885275
v -0.235982 -0.038733 -0.390456
vn -0.923700 0.182300 -0.336800
vn -0.553400 -0.091300 0.827900
vn -0.491600 -0.066600 0.868300
vn 0.115300 0.871600 -0.476500
vn 0.490000 0.871400 -0.022100
vn -0.128500 0.918100 -0.374900
vn -0.155200 0.910300 -0.383800
vn -0.066900 -0.995300 -0.069500
vn -0.958300 -0.276000 -0.074600
vn 0.922200 -0.247900 -0.296800
vn -0.211400 -0.976100 -0.050200
vn 0.024800 0.530600 0.847300
vn -0.022900 0.403800 0.914500
vn 0.206500 -0.936300 -0.283900
vn 0.285100 0.555000 0.781500
vn 0.875000 0.315600 0.367100
vn 0.299700 0.268500 -0.915500
vn 0.264100 0.364300 -0.893100
vn 0.167400 -0.962500 -0.213700
vn -0.725000 0.668000 -0.167800
vn 0.220600 -0.637100 -0.738500
vn 0.133900 -0.222300 0.965700
vn 0.247200 -0.339000 0.907700
vn -0.800900 0.182100 0.570500
vn -0.244900 0.891400 0.381400
vn -0.496900 0.244100 -0.832700
vn -0.514900 -0.307100 -0.800400
vn -0.543700 0.159500 -0.824000
vn -0.541700 -0.808400 -0.230500
vn 0.567900 -0.189800 0.801000
vn -0.823600 0.184100 0.536400
vn 0.691300 0.123200 0.712000
usemtl None
s off
f 2//1 3//1 4//1
f 14//2 10//2 5//2
f 14//3 5//3 17//3
f 6//4 8//4 15//4
f 6//5 15//5 7//5
f 9//6 15//6 8//6
f 9//7 8//7 2//7
f 12//8 5//8 1//8
f 10//9 4//9 3//9
f 11//10 13//10 6//10
f 1//11 5//11 10//11
f 14//12 16//12 15//12
f 14//13 17//13 16//13
f 13//14 11//14 1//14
f 16//15 7//15 15//15
f 7//16 11//16 6//16
f 18//17 8//17 6//17
f 18//18 6//18 13//18
f 1//19 11//19 12//19
f 9//20 2//20 4//20
f 13//21 1//21 18//21
f 5//22 12//22 16//22
f 5//23 16//23 17//23
f 4//24 10//24 9//24
f 14//25 15//25 9//25
f 18//26 3//26 2//26
f 18//27 1//27 3//27
f 18//28 2//28 8//28
f 10//29 3//29 1//29
f 11//30 16//30 12//30
f 14//31 9//31 10//31
f 7//32 16//32 11//32
......@@ -35,7 +35,7 @@ r = tp.Viewer (ps,viewerClient=tp.r.client,displayArrows = True, displayCoM = Tr
q_init =[0.1, -0.82, 0.648702, 1.0, 0.0 , 0.0, 0.0,0.0, 0.0, 0.0, 0.0,0.261799388, 0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.261799388, -0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0,0,0,0,0,0]; r (q_init)
q_ref = q_init[::]
fullBody.setCurrentConfig (q_init)
fullBody.setReferenceConfig (q_ref)
#~ AFTER loading obstacles
rLegId = 'hrp2_rleg_rom'
......@@ -62,7 +62,7 @@ lLegx = 0.09; lLegy = 0.05
fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 100000, "dynamicWalk", 0.01,"_6_DOF",limbOffset=lLegLimbOffset)
fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(lLegId, "./db/hrp2_lleg_db.db")
fullBody.setReferenceConfig (q_ref)
## Add arms (not used for contact) :
......
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