Commit ef68bc12 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

fix end effetor name

parent c9c3960b
......@@ -28,29 +28,29 @@ class Robot (Parent):
meshPackageName = "anymal_description"
rootJointType = "freeflyer"
urdfName = "anymal"
urdfSuffix = "_reachability"
srdfSuffix = "_reachability"
urdfSuffix = "_reachability_old"
srdfSuffix = ""
## Information about the names of thes joints defining the limbs of the robot
rLegId = 'RFleg'
rleg = 'RF_HAA'
rfoot = 'RF_ADAPTER_TO_FOOT'
rfoot = 'RF_KFE'
lLegId = 'LFleg'
lleg = 'LF_HAA'
lfoot = 'LF_ADAPTER_TO_FOOT'
lfoot = 'LF_KFE'
lArmId = 'LHleg'
larm = 'LH_HAA'
lhand = 'LH_ADAPTER_TO_FOOT'
lhand = 'LH_KFE'
rArmId = 'RHleg'
rarm = 'RH_HAA'
rhand = 'RH_ADAPTER_TO_FOOT'
rhand = 'RH_KFE'
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 :
......@@ -100,6 +100,7 @@ class Robot (Parent):
def loadAllLimbs(self,heuristic, analysis = None, nbSamples = nbSamples, octreeSize = octreeSize):
for id in self.limbs_names:
print "add limb : ",id
eff = self.dict_limb_joint[id]
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 :
......
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