From 36325d3a51bee9c109815896645c99877ba6f53b Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Wed, 13 Feb 2019 14:02:19 +0100
Subject: [PATCH] adapt ref config to extradof in foot (z)
---
src/hpp/corbaserver/rbprm/anymal/robot.py | 28 +++++++++++------------
1 file changed, 14 insertions(+), 14 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal/robot.py b/src/hpp/corbaserver/rbprm/anymal/robot.py
index ddfc0d1..6394bf9 100644
--- a/src/hpp/corbaserver/rbprm/anymal/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal/robot.py
@@ -24,33 +24,33 @@ class Robot (Parent):
##
# Information to retrieve urdf and srdf files.
- packageName = "anymal_boxy_description"
- meshPackageName = "anymal_boxy_description"
+ packageName = "anymal_description"
+ meshPackageName = "anymal_description"
rootJointType = "freeflyer"
- urdfName = "anymal_reachability"
- urdfSuffix = ""
- srdfSuffix = ""
+ urdfName = "anymal"
+ urdfSuffix = "_reachability"
+ srdfSuffix = "_reachability"
## Information about the names of thes joints defining the limbs of the robot
rLegId = 'RFleg'
rleg = 'RF_HAA'
- rfoot = 'RF_CONTACT_2'
+ rfoot = 'RF_ADAPTER_TO_FOOT'
lLegId = 'LFleg'
lleg = 'LF_HAA'
- lfoot = 'LF_CONTACT_2'
+ lfoot = 'LF_ADAPTER_TO_FOOT'
lArmId = 'LHleg'
larm = 'LH_HAA'
- lhand = 'LH_CONTACT_2'
+ lhand = 'LH_ADAPTER_TO_FOOT'
rArmId = 'RHleg'
rarm = 'RH_HAA'
- rhand = 'RH_CONTACT_2'
+ rhand = 'RH_ADAPTER_TO_FOOT'
referenceConfig =[0.,0.,0.444, 0.,0.,0.,1., # FF
- 0.04, 0.74, -1.08,0.34,-0.04,
- 0.04, -0.74, 1.08,-0.34,-0.04,
- -0.04, 0.74, -1.08,0.34,0.04,
- -0.04, -0.74, 1.08,-0.34,0.04
+ 0.04, 0.74, -1.08,0.34,-0.04,0.,
+ 0.04, -0.74, 1.08,-0.34,-0.04,0.,
+ -0.04, 0.74, -1.08,0.34,0.04, 0.,
+ -0.04, -0.74, 1.08,-0.34,0.04,0.
]
# informations required to generate the limbs databases the limbs :
@@ -101,7 +101,7 @@ class Robot (Parent):
def loadAllLimbs(self,heuristic, analysis = None, nbSamples = nbSamples, octreeSize = octreeSize):
for id in self.limbs_names:
eff = self.dict_limb_joint[id]
- self.addLimb(id,self.dict_limb_rootJoint[id],eff,self.dict_offset[eff].translation.T.tolist(),self.dict_normal[eff],self.dict_size[eff][0],self.dict_size[eff][1],nbSamples,heuristic,octreeSize,self.cType,kinematicConstraintsPath=self.kinematicConstraintsPath+self.dict_limb_rootJoint[id]+"_com_constraints.obj",kinematicConstraintsMin=self.minDist)
+ self.addLimb(id,self.dict_limb_rootJoint[id],eff,self.dict_offset[eff].translation.T.tolist()[0],self.dict_normal[eff],self.dict_size[eff][0]/2.,self.dict_size[eff][1]/2.,nbSamples,heuristic,octreeSize,self.cType,kinematicConstraintsPath=self.kinematicConstraintsPath+self.dict_limb_rootJoint[id]+"_com_constraints.obj",kinematicConstraintsMin=self.minDist)
if analysis :
self.runLimbSampleAnalysis(id, analysis, True)
--
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