Commit c5e8b5cd authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[fullbody] fix reference config and offset to be used by the real robot

parent f9f96f50
......@@ -45,14 +45,36 @@ class Robot (Parent):
rarm = 'RH_HAA'
rhand = 'RH_ADAPTER_TO_FOOT'
referenceConfig =[0.,0.,0.465, 0.,0.,0.,1., # FF
referenceConfig_asymetric =[0.,0.,0.461, 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 = 0.01
octreeSize = 0.002
cType = "_3_DOF"
offset = [0.,0.,-0.006]
offset = [0.,0.,-0.005] # was 0.005
rLegLimbOffset = [0.373, 0.264, 0.]
lLegLimbOffset = [0.373, -0.264,0.]
......
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