Commit 36325d3a authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

adapt ref config to extradof in foot (z)

parent d89725d8
...@@ -24,33 +24,33 @@ class Robot (Parent): ...@@ -24,33 +24,33 @@ class Robot (Parent):
## ##
# Information to retrieve urdf and srdf files. # Information to retrieve urdf and srdf files.
packageName = "anymal_boxy_description" packageName = "anymal_description"
meshPackageName = "anymal_boxy_description" meshPackageName = "anymal_description"
rootJointType = "freeflyer" rootJointType = "freeflyer"
urdfName = "anymal_reachability" urdfName = "anymal"
urdfSuffix = "" urdfSuffix = "_reachability"
srdfSuffix = "" srdfSuffix = "_reachability"
## Information about the names of thes joints defining the limbs of the robot ## Information about the names of thes joints defining the limbs of the robot
rLegId = 'RFleg' rLegId = 'RFleg'
rleg = 'RF_HAA' rleg = 'RF_HAA'
rfoot = 'RF_CONTACT_2' rfoot = 'RF_ADAPTER_TO_FOOT'
lLegId = 'LFleg' lLegId = 'LFleg'
lleg = 'LF_HAA' lleg = 'LF_HAA'
lfoot = 'LF_CONTACT_2' lfoot = 'LF_ADAPTER_TO_FOOT'
lArmId = 'LHleg' lArmId = 'LHleg'
larm = 'LH_HAA' larm = 'LH_HAA'
lhand = 'LH_CONTACT_2' lhand = 'LH_ADAPTER_TO_FOOT'
rArmId = 'RHleg' rArmId = 'RHleg'
rarm = 'RH_HAA' rarm = 'RH_HAA'
rhand = 'RH_CONTACT_2' rhand = 'RH_ADAPTER_TO_FOOT'
referenceConfig =[0.,0.,0.444, 0.,0.,0.,1., # FF 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.,
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, -0.04, 0.74, -1.08,0.34,0.04, 0.,
-0.04, -0.74, 1.08,-0.34,0.04 -0.04, -0.74, 1.08,-0.34,0.04,0.
] ]
# informations required to generate the limbs databases the limbs : # informations required to generate the limbs databases the limbs :
...@@ -101,7 +101,7 @@ class Robot (Parent): ...@@ -101,7 +101,7 @@ class Robot (Parent):
def loadAllLimbs(self,heuristic, analysis = None, nbSamples = nbSamples, octreeSize = octreeSize): def loadAllLimbs(self,heuristic, analysis = None, nbSamples = nbSamples, octreeSize = octreeSize):
for id in self.limbs_names: for id in self.limbs_names:
eff = self.dict_limb_joint[id] 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 : if analysis :
self.runLimbSampleAnalysis(id, analysis, True) self.runLimbSampleAnalysis(id, analysis, True)
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