Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Humanoid Path Planner
anymal-rbprm
Commits
97341ad6
Commit
97341ad6
authored
Feb 19, 2019
by
Pierre Fernbach
Browse files
change size of contact for TSID
parent
0da8e2ff
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
View file @
97341ad6
...
...
@@ -80,8 +80,8 @@ class Robot (Parent):
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
]}
FOOT_SAFETY_SIZE
=
0.01
# size of the contact surface (x,y)
#
dict_size={rfoot:[0.031 , 0.031], lfoot:[0.031 , 0.031],rhand:[0.031 , 0.031],lhand:[0.031 , 0.031]}
dict_size
=
{
rfoot
:[
0.01
,
0.01
],
lfoot
:[
0.01
,
0.01
],
rhand
:[
0.01
,
0.01
],
lhand
:[
0.01
,
0.01
]}
dict_size
=
{
rfoot
:[
0.031
,
0.031
],
lfoot
:[
0.031
,
0.031
],
rhand
:[
0.031
,
0.031
],
lhand
:[
0.031
,
0.031
]}
#
dict_size={rfoot:[0.01 , 0.01], lfoot:[0.01 , 0.01],rhand:[0.01 , 0.01],lhand:[0.01 , 0.01]}
#various offset used by scripts
MRsole_offset
=
SE3
.
Identity
()
MRsole_offset
.
translation
=
np
.
matrix
(
offset
).
T
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment