Commit c671e080 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

update urdf name for anymal

parent 96cbe628
......@@ -28,8 +28,8 @@ class Robot (Parent):
meshPackageName = "anymal_description"
rootJointType = "freeflyer"
urdfName = "anymal"
urdfSuffix = "_reachability_old"
srdfSuffix = ""
urdfSuffix = "_reachability"
srdfSuffix = "_reachability"
## Information about the names of thes joints defining the limbs of the robot
rLegId = 'RFleg'
......@@ -47,17 +47,17 @@ class Robot (Parent):
referenceConfig =[0.,0.,0.444, 0.,0.,0.,1., # FF
0.04, 0.74, -1.08,0.34,-0.04,#0.,
0.04, -0.74, 1.08,-0.34,-0.04,#0.,
-0.04, 0.74, -1.08,0.34,0.04, #0.,
-0.04, -0.74, 1.08,-0.34,0.04#,0.
0.04, 0.74, -1.08,0.34,-0.04,0.,
0.04, -0.74, 1.08,-0.34,-0.04,0.,
-0.04, 0.74, -1.08,0.34,0.04, 0.,
-0.04, -0.74, 1.08,-0.34,0.04,0.
]
# informations required to generate the limbs databases the limbs :
nbSamples = 50000
octreeSize = 0.01
cType = "_3_DOF"
offset = [0.,0.,0.]
offset = [0.,0.,-0.33]
normal = [0,0,1]
legx = 0.02; legy = 0.02
kinematicConstraintsPath="package://anymal-rbprm/com_inequalities/"
......@@ -102,6 +102,7 @@ class Robot (Parent):
for id in self.limbs_names:
print "add limb : ",id
eff = self.dict_limb_joint[id]
print "effector name = ",eff
self.addLimb(id,self.dict_limb_rootJoint[id],eff,self.dict_offset[eff].translation.T.tolist()[0],self.dict_normal[eff],self.dict_size[eff][0]/2.,self.dict_size[eff][1]/2.,nbSamples,heuristic,octreeSize,self.cType,kinematicConstraintsPath=self.kinematicConstraintsPath+self.dict_limb_rootJoint[id]+"_com_constraints.obj",kinematicConstraintsMin=self.minDist)
if analysis :
self.runLimbSampleAnalysis(id, analysis, True)
......
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