Commit 54a54d29 authored by Steve Tonneau's avatar Steve Tonneau
Browse files

added dict_ref_effector_from_root to rbprm

parent 1e5be76a
......@@ -47,6 +47,16 @@ class Robot (Parent):
rhand = 'RH_ADAPTER_TO_FOOT'
ref_EE_lLeg =[0.373, 0.264, -0.448]
ref_EE_rLeg = [0.373, -0.264, -0.448]
ref_EE_lArm = [-0.373, 0.264, -0.448]
ref_EE_rArm = [-0.373, -0.264, -0.448]
dict_ref_effector_from_root = {rLegId:ref_EE_rLeg,
lLegId:ref_EE_lLeg,
rArmId:ref_EE_rArm,
lArmId:ref_EE_lArm}
referenceConfig_asymetric =[0.,0.,0.461, 0.,0.,0.,1., # FF
0.0, 0.611, -1.0452,
0.0, -0.853, 1.0847,
......
......@@ -35,6 +35,13 @@ class Robot (Parent):
ref_height = 0.465
# TODO
rLegId = 'anymal_RFleg_rom'
lLegId = 'anymal_LFleg_rom'
rArmId = 'anymal_RHleg_rom'
lArmId = 'anymal_LHleg_rom'
ref_EE_lLeg =[0.373, 0.264, -0.448]
ref_EE_rLeg = [0.373, -0.264, -0.448]
ref_EE_lArm = [-0.373, 0.264, -0.448]
......@@ -43,6 +50,11 @@ class Robot (Parent):
#ref_EE_rLeg = [0.3, -0.165 , -0.44]
#ref_EE_lArm = [-0.3, 0.165 , -0.44]
#ref_EE_rArm = [-0.3, -0.165 , -0.44]
dict_ref_effector_from_root = {rLegId:ref_EE_rLeg,
lLegId:ref_EE_lLeg,
rArmId:ref_EE_rArm,
lArmId:ref_EE_lArm}
def __init__(self, name=None, load=True, client=None, clientRbprm=None):
if name is not None:
......
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