From d89725d8b4dea9fbf2c83067024f4102dcf89672 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Wed, 13 Feb 2019 13:51:16 +0100
Subject: [PATCH] update reference position for end effector
---
src/hpp/corbaserver/rbprm/anymal_abstract/robot.py | 12 ++++++++----
1 file changed, 8 insertions(+), 4 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal_abstract/robot.py b/src/hpp/corbaserver/rbprm/anymal_abstract/robot.py
index 6481338..77f4ffd 100644
--- a/src/hpp/corbaserver/rbprm/anymal_abstract/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal_abstract/robot.py
@@ -32,10 +32,14 @@ class Robot (Parent):
srdfSuffix = ""
# TODO
- ref_EE_lLeg = [0.3735, 0.207 , -0.57697]
- ref_EE_rLeg = [0.3735, -0.207 , -0.57697]
- ref_EE_lArm = [-0.3735, 0.207 , -0.57697]
- ref_EE_rArm = [-0.3735, -0.207 , -0.57697]
+ ref_EE_lLeg =[0.373, 0.264, -0.448]
+ ref_EE_rLeg = [0.373, -0.264, -0.448]
+ ref_EE_lArm = [-0.373, 0.264, -0.448]
+ ref_EE_rArm = [-0.373, -0.264, -0.448]
+ #ref_EE_lLeg = [0.3, 0.165 , -0.44]
+ #ref_EE_rLeg = [0.3, -0.165 , -0.44]
+ #ref_EE_lArm = [-0.3, 0.165 , -0.44]
+ #ref_EE_rArm = [-0.3, -0.165 , -0.44]
def __init__ (self, name = None, load = True):
Parent.__init__ (self,load)
--
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