Commit 9e5379aa authored by Antonio El Khoury's avatar Antonio El Khoury
Browse files

Add position of foot force sensors in hrp2 python class.

parent 94563e6d
......@@ -33,6 +33,16 @@ class Hrp2(AbstractHumanoidRobot):
"""
This class instanciates a Hrp2 robot
"""
forceSensorInLeftAnkle = ((1.,0.,0.,0.),
(0.,1.,0.,0.),
(0.,0.,1.,-0.105),
(0.,0.,0.,1.))
forceSensorInRightAnkle = ((1.,0.,0.,0.),
(0.,1.,0.,0.),
(0.,0.,1.,-0.105),
(0.,0.,0.,1.))
def smallToFull(self, config):
res = (config + 10*(0.,))
return res
......
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