Commit fdc414f9 authored by Pierre Fernbach's avatar Pierre Fernbach Committed by Pierre Fernbach
Browse files

[script] stairs10_path : use reduced rom model

parent d8bc3c9d
......@@ -4,7 +4,8 @@ from hpp.corbaserver import Client
from hpp.corbaserver import ProblemSolver
import time
Robot.urdfName +="_large_reducedROM"
Robot.urdfNameRom = ['talos_lleg_rom_reduced','talos_rleg_rom_reduced']
vMax = 0.3# linear velocity bound for the root
aMax = 0.1 # linear acceleration bound for the root
......@@ -21,9 +22,13 @@ rbprmBuilder.setJointBounds ('torso_2_joint', [0.,0.])
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
rbprmBuilder.setFilter(['talos_lleg_rom','talos_rleg_rom'])
rbprmBuilder.setAffordanceFilter('talos_lleg_rom', ['Support',])
rbprmBuilder.setAffordanceFilter('talos_rleg_rom', ['Support'])
rbprmBuilder.setFilter(Robot.urdfNameRom)
for rom in Robot.urdfNameRom:
rbprmBuilder.setAffordanceFilter(rom, ['Support',])
rbprmBuilder.setReferenceEndEffector('talos_lleg_rom_reduced',rbprmBuilder.ref_EE_lLeg)
rbprmBuilder.setReferenceEndEffector('talos_rleg_rom_reduced',rbprmBuilder.ref_EE_rLeg)
# We also bound the rotations of the torso. (z, y, x)
rbprmBuilder.boundSO3([-4.,4.,-0.1,0.1,-0.1,0.1])
# Add 6 extraDOF to the problem, used to store the linear velocity and acceleration of the root
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment