Commit 7b40188e authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

[Python] use urdf from example_robot_data instead of talos_data

parent 629a6767
......@@ -3,13 +3,14 @@
Created on Mon Feb 9 13:55:16 2015
@author: adelpret
"""
from rospkg import RosPack
rospack = RosPack()
from os.path import join
from example_robot_data.path import EXAMPLE_ROBOT_DATA_MODEL_DIR
NJ = 32
model_path = [rospack.get_path('talos_data') + "/../"]
urdfFileName = rospack.get_path('talos_data') + "/urdf/talos_reduced.urdf"
model_path = [EXAMPLE_ROBOT_DATA_MODEL_DIR]
urdfFileName = join(EXAMPLE_ROBOT_DATA_MODEL_DIR, "talos_data/robots/talos_reduced.urdf")
ImuJointName = "imu_joint"
mapJointNameToID = {
......@@ -85,10 +86,7 @@ mapJointLimits = {
vfMax = [100.0, 100.0, 300.0, 80.0, 80.0, 30.0]
vfMin = [-100.0, -100.0, -300.0, -80.0, -80.0, -30.0]
mapForceIdToForceLimits = {0: [vfMin, vfMax],
1: [vfMin, vfMax],
2: [vfMin, vfMax],
3: [vfMin, vfMax]}
mapForceIdToForceLimits = {0: [vfMin, vfMax], 1: [vfMin, vfMax], 2: [vfMin, vfMax], 3: [vfMin, vfMax]}
mapNameToForceId = {"rf": 0, "lf": 1, "rh": 2, "lh": 3}
......
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