Commit 953c7304 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

add 'shoulders' in hrp2 red shape

parent 54391eb0
......@@ -68,6 +68,7 @@ install(FILES
install(FILES
data/urdf/hrp2_trunk.urdf
data/urdf/hrp2_trunk_flexible.urdf
data/urdf/hrp2_trunk_arms_flexible.urdf
data/urdf/hrp2_rom.urdf
data/urdf/hrp2_larm_rom.urdf
data/urdf/hrp2_rarm_rom.urdf
......@@ -135,6 +136,7 @@ install(FILES
install(FILES
data/srdf/hrp2_trunk.srdf
data/srdf/hrp2_trunk_flexible.srdf
data/srdf/hrp2_trunk_arms_flexible.srdf
data/srdf/hrp2_rom.srdf
data/srdf/hrp2_larm_rom.srdf
data/srdf/hrp2_rarm_rom.srdf
......@@ -209,7 +211,9 @@ install(FILES
data/meshes/hrp2_trunk.stl
data/meshes/hrp2_trunk_body.stl
data/meshes/hrp2_trunk_torso.stl
data/meshes/hrp2_trunk_torso_arms.stl
data/meshes/hrp2_trunk_body_view.dae
data/meshes/hrp2_trunk_torso_arms_view.dae
data/meshes/hrp2_trunk_torso_view.dae
data/meshes/hrp2_rom.stl
data/meshes/hrp2_larm_rom.stl
......
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08</authoring_tool>
</contributor>
<created>2017-08-16T18:03:10</created>
<modified>2017-08-16T18:03:10</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images/>
<library_effects>
<effect id="Material_001_003-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0 0 0 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.7523814 0.09877083 0.07423038 1</color>
</diffuse>
<specular>
<color sid="specular">0.03125 0.03125 0.03125 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
<effect id="Material_001_006-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0 0 0 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.1614244 0.4390815 0.1495206 1</color>
</diffuse>
<specular>
<color sid="specular">0.09375 0.09375 0.09375 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<transparency>
<float sid="transparency">0.3</float>
</transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Material_001_003-material" name="Material_001_003">
<instance_effect url="#Material_001_003-effect"/>
</material>
<material id="Material_001_006-material" name="Material_001_006">
<instance_effect url="#Material_001_006-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Hrp2_Trunk_Torso-mesh" name="Hrp2 Trunk Torso">
<mesh>
<source id="Hrp2_Trunk_Torso-mesh-positions">
<float_array id="Hrp2_Trunk_Torso-mesh-positions-array" count="72">-0.2305709 -0.3519188 0.1428202 -0.2305709 -0.3519188 0.3428203 -0.2305709 -0.2119188 0.1428202 -0.2305709 -0.2119188 0.3428203 0.1456803 -0.3519188 0.1428202 0.1456803 -0.3519188 0.3428203 0.1456803 -0.2119188 0.1428202 0.1456803 -0.2119188 0.3428203 0.1461952 -0.2137138 -0.08586442 0.1461952 0.2137138 -0.08586442 0.1461952 0.2137138 0.3436692 0.1461952 -0.2137138 0.3436692 -0.2305862 -0.2137138 0.3436692 -0.2305862 -0.2137138 -0.08586442 -0.2305862 0.2137138 0.3436692 -0.2305862 0.2137138 -0.08586442 -0.2305709 0.211104 0.1423666 -0.2305709 0.211104 0.3423666 -0.2305709 0.3511041 0.1423666 -0.2305709 0.3511041 0.3423666 0.1456803 0.211104 0.1423666 0.1456803 0.211104 0.3423666 0.1456803 0.3511041 0.1423666 0.1456803 0.3511041 0.3423666</float_array>
<technique_common>
<accessor source="#Hrp2_Trunk_Torso-mesh-positions-array" count="24" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Hrp2_Trunk_Torso-mesh-normals">
<float_array id="Hrp2_Trunk_Torso-mesh-normals-array" count="18">0 1 0 -1 0 0 0 0 1 0 0 -1 0 -1 0 1 0 0</float_array>
<technique_common>
<accessor source="#Hrp2_Trunk_Torso-mesh-normals-array" count="6" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Hrp2_Trunk_Torso-mesh-vertices">
<input semantic="POSITION" source="#Hrp2_Trunk_Torso-mesh-positions"/>
</vertices>
<polylist material="Material_001_003-material" count="36">
<input semantic="VERTEX" source="#Hrp2_Trunk_Torso-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Hrp2_Trunk_Torso-mesh-normals" offset="1"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>19 0 23 0 22 0 17 1 19 1 18 1 5 2 7 2 3 2 0 3 2 3 6 3 5 4 1 4 0 4 7 5 5 5 4 5 15 3 8 3 13 3 16 3 18 3 22 3 13 1 14 1 15 1 10 2 14 2 12 2 11 5 9 5 10 5 21 2 23 2 19 2 1 1 2 1 0 1 23 5 21 5 20 5 10 0 15 0 14 0 21 4 17 4 16 4 8 4 12 4 13 4 3 0 7 0 6 0 8 4 11 4 12 4 10 0 9 0 15 0 1 1 3 1 2 1 11 5 8 5 9 5 13 1 12 1 14 1 3 0 6 0 2 0 7 5 4 5 6 5 5 4 0 4 4 4 0 3 6 3 4 3 5 2 3 2 1 2 17 1 18 1 16 1 19 0 22 0 18 0 23 5 20 5 22 5 21 4 16 4 20 4 16 3 22 3 20 3 21 2 19 2 17 2 15 3 9 3 8 3 10 2 12 2 11 2</p>
</polylist>
</mesh>
</geometry>
<geometry id="Hrp2_Larm_Rom_001-mesh" name="Hrp2 Larm Rom.001">
<mesh>
<source id="Hrp2_Larm_Rom_001-mesh-positions">
<float_array id="Hrp2_Larm_Rom_001-mesh-positions-array" count="42">0.439864 0.637045 0.24533 0.593106 0.211423 0.08924996 0.312723 0.530876 -0.224341 0.2111229 0.097907 -0.355679 -0.1392419 0.530835 -0.304322 -0.372701 -0.04507184 -0.08649098 -0.433176 0.598014 -0.0496568 -0.271482 0.141507 -0.313739 -0.04104197 0.001539826 0.69441 -0.1258389 0.358289 0.756349 0.002592921 0.830119 0.06887596 0.06682896 0.722281 0.511808 0.450362 -0.04421699 0.356894 0.380882 0.328039 0.618482</float_array>
<technique_common>
<accessor source="#Hrp2_Larm_Rom_001-mesh-positions-array" count="14" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Hrp2_Larm_Rom_001-mesh-normals">
<float_array id="Hrp2_Larm_Rom_001-mesh-normals-array" count="72">0.8456926 0.4235463 -0.3246735 0.1687157 0.2496539 -0.953524 -0.8932018 -0.05845916 -0.44584 -0.8785048 -0.2764598 0.3896144 -0.2799258 0.7980596 -0.5336127 -0.60815 0.2249792 -0.761274 -0.5090176 0.8164511 0.2725964 0.4791758 -0.4430158 0.7577122 0.3372099 0.9247844 0.176248 0.1145384 0.7532953 -0.647632 -0.6432335 0.6314267 0.4330716 -0.04019641 -0.9962562 0.07653808 -0.9391915 -0.1070097 0.3262948 0.7559002 0.02111244 -0.6543464 0.9220789 0.2136583 0.3226776 0.9151669 -0.1030245 0.3896867 0.4870099 0.8142662 -0.3158991 0.1276124 -0.9635744 -0.2350312 -0.1243054 -0.7390131 -0.6621236 0.2551395 -0.1062135 0.9610529 0.6152331 -0.7075369 -0.3476777 -0.0818094 0.05186164 -0.9952977 0.2601308 0.439809 0.859593 0.5520892 0.5972243 0.5818253</float_array>
<technique_common>
<accessor source="#Hrp2_Larm_Rom_001-mesh-normals-array" count="24" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Hrp2_Larm_Rom_001-mesh-vertices">
<input semantic="POSITION" source="#Hrp2_Larm_Rom_001-mesh-positions"/>
</vertices>
<polylist material="Material_001_006-material" count="24">
<input semantic="VERTEX" source="#Hrp2_Larm_Rom_001-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Hrp2_Larm_Rom_001-mesh-normals" offset="1"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 0 1 0 2 0 3 1 4 1 2 1 5 2 6 2 7 2 5 3 8 3 9 3 4 4 6 4 10 4 4 5 7 5 6 5 10 6 6 6 11 6 12 7 13 7 8 7 11 8 0 8 10 8 10 9 2 9 4 9 6 10 9 10 11 10 8 11 5 11 12 11 6 12 5 12 9 12 1 13 3 13 2 13 1 14 0 14 13 14 12 15 1 15 13 15 0 16 2 16 10 16 5 17 3 17 12 17 5 18 7 18 3 18 9 19 8 19 13 19 1 20 12 20 3 20 4 21 3 21 7 21 13 22 11 22 9 22 13 23 0 23 11 23</p>
</polylist>
</mesh>
</geometry>
<geometry id="Hrp2_Rarm_Rom_001-mesh" name="Hrp2 Rarm Rom.001">
<mesh>
<source id="Hrp2_Rarm_Rom_001-mesh-positions">
<float_array id="Hrp2_Rarm_Rom_001-mesh-positions-array" count="69">-0.484998 -0.361069 -0.06250095 -0.227895 -0.544572 -0.253332 -0.263697 -0.71246 -0.007870972 0.2241529 -0.641849 -0.1899549 0.01971596 -0.825769 0.220196 0.169411 -0.325861 -0.37396 0.06107079 -0.106306 -0.365101 0.483026 -0.252203 -0.1525509 0.202123 0.08479595 0.498577 0.262664 0.03809595 -0.162232 -0.07566398 0.07967996 -0.103448 0.009790956 -0.550246 0.672945 0.290578 -0.694041 0.418498 0.341262 -0.264824 0.6556749 0.509741 -0.523217 0.1455219 -0.1662639 -0.715171 0.403539 0.261758 -0.749461 0.08581197 -0.429784 -0.06195795 -0.11855 -0.289342 -0.204064 -0.309328 -0.06053996 -0.09935796 0.7192559 0.555669 -0.100986 0.273656 -0.209901 -0.27658 0.643304 0.491068 -0.40242 0.448786</float_array>
<technique_common>
<accessor source="#Hrp2_Rarm_Rom_001-mesh-positions-array" count="23" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Hrp2_Rarm_Rom_001-mesh-normals">
<float_array id="Hrp2_Rarm_Rom_001-mesh-normals-array" count="126">-0.7162341 -0.5229203 -0.462129 -0.02522611 -0.9074153 -0.4194774 0.5077874 0.2833953 -0.813535 0.1115167 0.9919566 -0.05988574 0.4465123 -0.4725773 0.759801 0.7514706 -0.4532381 -0.4794446 0.004583537 -0.8541979 0.5199278 0.6764654 -0.6501602 -0.3459572 -0.2930364 0.6507613 -0.7004566 -0.2595895 0.7178932 -0.6459433 -5.3084e-4 0.8149396 -0.5795457 0.3304168 0.4931136 0.8047757 0.6362048 0.5123766 0.5768133 0.5165204 0.3662722 -0.7739842 -0.186746 -0.1921352 -0.9634366 0.7573776 0.5639376 -0.3291714 0.08472639 -0.924266 -0.3722282 -0.4360363 -0.8946461 0.09736979 -0.4455807 0.8730305 0.1981812 -0.7827801 0.5022575 0.3674136 -0.3710471 0.9059357 0.203972 0.03426629 -0.8534163 0.5201023 0.4544085 0.8905388 -0.02130389 -0.6173112 -0.4237698 0.662832 -0.3069131 -0.1444935 0.9407051 -0.843175 -0.5004873 0.1963887 -0.8782119 -0.2937203 0.3774549 -0.9156202 0.2307154 0.3292573 0.6636861 -0.7450389 0.06661719 0.9872868 -0.06312197 -0.1458783 -0.6823673 -0.2368654 -0.6915705 -0.09529358 -0.8151121 -0.5714117 -0.1480641 -0.03318023 -0.9884211 0.5520258 -0.4522743 0.7005109 0.8412891 0.1252319 0.52588 0.01338011 -0.5014385 -0.8650898 0.3598235 -0.9248905 0.1229008 0.9828234 -0.1424956 0.117275 0.5951933 -0.3248803 -0.7349815 -0.7931959 0.03246974 -0.6081004 0.7793557 -0.5641305 0.2726935 0.1225421 -0.08246922 0.989031</float_array>
<technique_common>
<accessor source="#Hrp2_Rarm_Rom_001-mesh-normals-array" count="42" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Hrp2_Rarm_Rom_001-mesh-vertices">
<input semantic="POSITION" source="#Hrp2_Rarm_Rom_001-mesh-positions"/>
</vertices>
<polylist material="Material_001_006-material" count="42">
<input semantic="VERTEX" source="#Hrp2_Rarm_Rom_001-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Hrp2_Rarm_Rom_001-mesh-normals" offset="1"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 0 1 0 2 0 2 1 3 1 4 1 5 2 6 2 7 2 8 3 9 3 10 3 11 4 12 4 13 4 14 5 3 5 7 5 15 6 4 6 11 6 3 7 14 7 16 7 17 8 6 8 18 8 17 9 10 9 6 9 6 10 10 10 9 10 13 11 8 11 19 11 13 12 20 12 8 12 7 13 6 13 9 13 1 14 18 14 5 14 9 15 20 15 7 15 16 16 4 16 3 16 2 17 4 17 15 17 19 18 8 18 10 18 19 19 17 19 21 19 19 20 10 20 17 20 12 21 11 21 4 21 8 22 20 22 9 22 11 23 21 23 15 23 21 24 11 24 19 24 0 25 2 25 15 25 0 26 15 26 21 26 0 27 21 27 17 27 16 28 14 28 12 28 7 29 20 29 14 29 0 30 18 30 1 30 3 31 2 31 1 31 6 32 5 32 18 32 22 33 13 33 12 33 20 34 13 34 22 34 3 35 1 35 5 35 12 36 4 36 16 36 22 37 14 37 20 37 5 38 7 38 3 38 18 39 0 39 17 39 22 40 12 40 14 40 19 41 11 41 13 41</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Hrp2_Trunk_Torso" name="Hrp2_Trunk_Torso" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Hrp2_Trunk_Torso-mesh" name="Hrp2_Trunk_Torso">
<bind_material>
<technique_common>
<instance_material symbol="Material_001_003-material" target="#Material_001_003-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
<node id="Hrp2_Larm_Rom" name="Hrp2_Larm_Rom" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Hrp2_Larm_Rom_001-mesh" name="Hrp2_Larm_Rom">
<bind_material>
<technique_common>
<instance_material symbol="Material_001_006-material" target="#Material_001_006-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
<node id="Hrp2_Rarm_Rom" name="Hrp2_Rarm_Rom" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Hrp2_Rarm_Rom_001-mesh" name="Hrp2_Rarm_Rom">
<bind_material>
<technique_common>
<instance_material symbol="Material_001_006-material" target="#Material_001_006-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
\ No newline at end of file
<?xml version="1.0"?>
<robot name="hrp2_trunk_flexible">
<handle name="handle">
<position> 0 0 0 1 0 0 0 </position>
<link name="base_link"/>
</handle>
<handle name="handle2">
<position> 0 0 0
0 0 0.7071067811865476 0.7071067811865476 </position>
<link name="base_link"/>
</handle>
<contact name="box_surface">
<link name="base_link"/>
<point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025
+0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point>
<triangle> 0 2 1 4 5 6</triangle>
</contact>
<disable_collisions link1="BODY"
link2="torso" />
<disable_collisions link1="torso"
link2="HEAD_LINK0" />
<disable_collisions link1="torso"
link2="HEAD_LINK1" />
<disable_collisions link1="HEAD_LINK0"
link2="HEAD_LINK1" />
</robot>
<robot name="hrp2_trunk_flexible">
<link name="base_link"/>
<joint name="WAIST" type="fixed">
<parent link="base_link"/>
<child link="BODY"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="BODY">
<inertial>
<mass value="58.0"/>
<inertia ixx="1." ixy="0.0" ixz="0.0" iyy="1." iyz="0.0" izz="1."/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_body_view.dae"/>
</geometry>
<material name="red">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_body.stl"/>
</geometry>
</collision>
</link>
<!-- Chest -->
<joint name="CHEST_JOINT0" type="revolute">
<parent link="BODY"/>
<child link="CHEST_LINK0"/>
<origin rpy="0 0 0" xyz="0.032 0 0.3507"/>
<axis xyz="0 0 1"/>
<limit effort="151.1" lower="-0.785398" upper="0.785398" velocity="4.40217"/>
</joint>
<link name="CHEST_LINK0">
</link>
<joint name="CHEST_JOINT1" type="revolute">
<parent link="CHEST_LINK0"/>
<child link="torso"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
</joint>
<link name="torso">
<visual>
<origin xyz="0 0 0" rpy="0 0 0.003" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso_arms_view.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0.003" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso_arms.stl"/>
</geometry>
</collision>
</link>
<!-- Head -->
<joint name="HEAD_JOINT0" type="revolute">
<parent link="torso"/>
<child link="HEAD_LINK0"/>
<origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
<axis xyz="0 0 1"/>
<limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
</joint>
<link name="HEAD_LINK0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hrp2_14_description/meshes/HEAD_LINK0.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hrp2_14_description/meshes/convex/HEAD_LINK0.dae"/>
</geometry>
</collision>
</link>
<joint name="HEAD_JOINT1" type="revolute">
<parent link="HEAD_LINK0"/>
<child link="HEAD_LINK1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
</joint>
<!-- VRML link name="HEAD_LINK1" -->
<link name="HEAD_LINK1">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hrp2_14_description/meshes/HEAD_LINK1.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hrp2_14_description/meshes/convex/HEAD_LINK1.dae"/>
</geometry>
</collision>
</link>
</robot>
......@@ -31,7 +31,7 @@ class Robot (Parent):
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfName = 'hrp2_trunk_arms_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
......@@ -56,6 +56,7 @@ extraDof = 6
rbprmBuilder.setJointBounds ("base_joint_xyz", [-5.5,5.5, -2.5, 2.5, 0.55, 0.6])
rbprmBuilder.setJointBounds('CHEST_JOINT0',[-0.05,0.05])
rbprmBuilder.setJointBounds('CHEST_JOINT1',[-0.05,0.05])
# We also bound the rotations of the torso. (z, y, x)
rbprmBuilder.boundSO3([-math.pi,math.pi,-0.1,0.1,-0.1,0.1])
rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof)
......
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