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Humanoid Path Planner
anymal-rbprm
Commits
0054e39c
Commit
0054e39c
authored
Feb 15, 2019
by
Pierre Fernbach
Browse files
change defaut order for contact creation
parent
afae3d0b
Changes
1
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src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
View file @
0054e39c
...
...
@@ -69,8 +69,11 @@ class Robot (Parent):
legx
=
0.02
;
legy
=
0.02
kinematicConstraintsPath
=
"package://anymal-rbprm/com_inequalities/"
# data used by scripts :
limbs_names
=
[
rLegId
,
lArmId
,
lLegId
,
rArmId
]
# default order to try to remove contacts at the beginning of the contact plan
minDist
=
0.2
# data used by scripts :,,,
#limbs_names = [rArmId,lLegId,lArmId,rLegId] # reverse default order to try to remove contacts at the beginning of the contact plan
limbs_names
=
[
lLegId
,
rArmId
,
rLegId
,
lArmId
]
# default order to try to remove contacts at the beginning of the contact plan
dict_limb_rootJoint
=
{
rLegId
:
rleg
,
lLegId
:
lleg
,
rArmId
:
rarm
,
lArmId
:
larm
}
dict_limb_joint
=
{
rLegId
:
rfoot
,
lLegId
:
lfoot
,
rArmId
:
rhand
,
lArmId
:
lhand
}
dict_limb_color_traj
=
{
rfoot
:[
0
,
1
,
0
,
1
],
lfoot
:[
1
,
0
,
0
,
1
],
rhand
:[
0
,
0
,
1
,
1
],
lhand
:[
0.9
,
0.5
,
0
,
1
]}
...
...
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