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loco-3d
sot-talos-balance
Commits
7b40188e
Commit
7b40188e
authored
Aug 28, 2020
by
Guilhem Saurel
Browse files
[Python] use urdf from example_robot_data instead of talos_data
parent
629a6767
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/dynamic_graph/sot_talos_balance/talos/parameter_server_conf.py
View file @
7b40188e
...
...
@@ -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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