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Commit ec3609f2 authored by Fanny Risbourg's avatar Fanny Risbourg
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[EE Admittance] Weight of the end effector hard coded

parent b47aa4ef
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......@@ -128,7 +128,7 @@ protected:
bool m_removeWeight;
/// Robot Util instance to get the sensor frame
RobotUtil *m_robot_util;
RobotUtilShrPtr m_robot_util;
/// Pinocchio robot model
pinocchio::Model m_model;
/// Pinocchio robot data
......
......@@ -14,8 +14,8 @@ q = [0., 0., 1.018213, 0., 0., 0.] #Base
q += [0., 0., -0.411354, 0.859395, -0.448041, -0.001708] #Left Leg
q += [0., 0., -0.411354, 0.859395, -0.448041, -0.001708] #Right Leg
q += [0.0 , 0.006761] #Chest
q += [0.25847 , 0.173046, -0.0002, -0.525366, 0., 0., 0.1, -0.005] #Left Arm
q += [-0.25847 , -0.0, 0.19 , -1.61, 0., 0., 0.1,-0.005] #Right Arm
q += [ 0.25847, 0.173046, -0.0002, -0.525366, 0., 0., 0.1, -0.005] #Left Arm
q += [-0.25847, -0.0, 0.19, -1.61, 0., 0., 0.1, -0.005] #Right Arm
q += [0., 0.] #Head
robot.device.set(q)
......
......@@ -180,7 +180,13 @@ DEFINE_SIGNAL_INNER_FUNCTION(w_force, dynamicgraph::Vector)
if (m_removeWeight)
{
w_vForce(2) += m_mass * 9.80665 - 1.99325154291384;
double weight = -14.604817920170488;
// Eigen::Vector3d OC(0.02097597, -0.02460337, -0.00272215);
// Vector w_OC = sensorPlacement.rotation() * OC;
w_vForce(2) -= weight;
// w_forceDes(3) += w_OC(1) * weight;
// w_forceDes(4) += -w_OC(0) * weight;
// w_vForce(2) += m_mass * 9.80665 - 1.99325154291384;
}
s = w_vForce;
......
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