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Humanoid Path Planner
anymal-rbprm
Commits
c5e8b5cd
Commit
c5e8b5cd
authored
Oct 24, 2019
by
Pierre Fernbach
Browse files
[fullbody] fix reference config and offset to be used by the real robot
parent
f9f96f50
Changes
1
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src/hpp/corbaserver/rbprm/anymal/robot.py
View file @
c5e8b5cd
...
...
@@ -45,14 +45,36 @@ class Robot (Parent):
rarm
=
'RH_HAA'
rhand
=
'RH_ADAPTER_TO_FOOT'
referenceConfig
=
[
0.
,
0.
,
0.46
5
,
0.
,
0.
,
0.
,
1.
,
# FF
referenceConfig
_asymetric
=
[
0.
,
0.
,
0.46
1
,
0.
,
0.
,
0.
,
1.
,
# FF
0.0
,
0.611
,
-
1.0452
,
0.0
,
-
0.853
,
1.0847
,
-
0.0
,
0.74
,
-
1.08
,
-
0.0
,
-
0.74
,
1.08
,
]
"""
referenceConfig=[0,0,0.448,0,0,0,1,
0.079,0.78,-1.1,
0.079,-0.78,1.1,
-0.079,0.78,-1.1,
-0.079,-0.78,1.1
]
"""
"""
referenceConfig=[0,0,0.448,0,0,0,1,
0.095,0.76,-1.074,
0.095,-0.76,1.074,
-0.095,0.76,-1.074,
-0.095,-0.76,1.074
]
"""
referenceConfig
=
[
0
,
0
,
0.47
,
0
,
0
,
0
,
1
,
-
0.12
,
0.724
,
-
1.082
,
-
0.12
,
-
0.724
,
1.082
,
0.12
,
0.724
,
-
1.082
,
0.12
,
-
0.724
,
1.082
]
postureWeights
=
[
0
,
0
,
0
,
0
,
0
,
0
,
#FF
100.
,
1.
,
1.
,
100.
,
1.
,
1.
,
...
...
@@ -61,9 +83,9 @@ class Robot (Parent):
# informations required to generate the limbs databases the limbs :
nbSamples
=
50000
octreeSize
=
0.0
1
octreeSize
=
0.0
02
cType
=
"_3_DOF"
offset
=
[
0.
,
0.
,
-
0.00
6
]
offset
=
[
0.
,
0.
,
-
0.00
5
]
# was 0.005
rLegLimbOffset
=
[
0.373
,
0.264
,
0.
]
lLegLimbOffset
=
[
0.373
,
-
0.264
,
0.
]
...
...
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