Commit 97f6322f authored by Steve Tonneau's avatar Steve Tonneau
Browse files

added kinematic_constraints_path and relative_feetçconstraints_path variables

parent 3fd8d362
Pipeline #15032 passed with stage
in 1 minute and 35 seconds
......@@ -19,6 +19,11 @@
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody as Parent
from pinocchio import SE3, Quaternion
import numpy as np
from pathlib import Path
def prefix(module):
"""$prefix/lib/pythonX.Y/site-packages/$module/__init__.py: extract prefix from module"""
return Path(module.__file__).parent.parent.parent.parent.parent
class Robot (Parent):
##
......@@ -96,8 +101,10 @@ class Robot (Parent):
lArmLimbOffset = [-0.373, 0.264, 0.]
normal = [0,0,1]
legx = 0.02; legy = 0.02
kinematic_constraints_path="package://anymal-rbprm/com_inequalities/"
import anymal_rbprm
kinematic_constraints_path = str(prefix(anymal_rbprm) / "share/anymal-rbprm/com_inequalities/feet_quasi_flat/anymal_")
relative_feet_constraints_path = str(prefix(anymal_rbprm) / "share/anymal-rbprm/relative_effector_positions/anymal_")
minDist = 0.2
dict_ref_effector_from_root = {rLegId:rLegLimbOffset, lLegId:lLegLimbOffset, rArmId:rArmLimbOffset, lArmId:lArmLimbOffset}
......
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