Commit efc71c70 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[python] Avoid using np if not needed

parent 39d14be0
......@@ -3,7 +3,6 @@
Created on Mon Feb 9 13:55:16 2015
@author: adelpret
"""
import numpy as np
from rospkg import RosPack
rospack = RosPack()
......@@ -83,9 +82,13 @@ mapJointLimits = {
31: [-1.308996939, 1.308996939]
}
vfMax = np.array([100.0, 100.0, 300.0, 80.0, 80.0, 30.0])
vfMin = -vfMax
mapForceIdToForceLimits = {0: [vfMin, vfMax], 1: [vfMin, vfMax], 2: [vfMin, vfMax], 3: [vfMin, vfMax]}
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]}
mapNameToForceId = {"rf": 0, "lf": 1, "rh": 2, "lh": 3}
......@@ -96,5 +99,5 @@ footFrameNames = {"Right": "leg_right_6_joint", "Left": "leg_left_6_joint"}
rightFootSensorXYZ = (0.0, 0.0, -0.085)
rightFootSoleXYZ = (0.0, 0.0, -0.105)
urdftosot = (0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
29, 30, 31)
urdftosot = (0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18,\
19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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