Commit 229b5420 authored by Francois Keith's avatar Francois Keith
Browse files

Default romeo robot has toes.

parent 298e01e7
......@@ -87,10 +87,10 @@ gearRatio['hrp10aug'] = (0,0,0,0,0,0,384.0,240.0,180.0,200.0,180.0,100.0,384.0,2
pkgDataRootDir['romeo'] = "@CMAKE_INSTALL_PREFIX@/share/romeo"
# Romeo data
modelName['romeo'] = 'RomeoNoToes.wrl'
specificitiesName['romeo'] = 'RomeoNoToesSpecificities.xml'
jointRankName['romeo'] = 'RomeoNoToesLinkJointRank.xml'
robotDimension['romeo']=37
modelName['romeo'] = 'Romeo.wrl'
specificitiesName['romeo'] = 'RomeoSpecificities.xml'
jointRankName['romeo'] = 'RomeoLinkJointRank.xml'
robotDimension['romeo'] = 39
initialConfig['romeo'] = (
0, 0, .840252, 0, 0, 0, # FF
0, # TRUNK
......@@ -98,16 +98,16 @@ initialConfig['romeo'] = (
1.5, 0.6, -0.5, -1.05, -0.4, -0.3, -0.2, # LARM
1.5, -0.6, 0.5, 1.05, -0.4, -0.3, -0.2, # RARM
0, 0, -0.3490658, 0.6981317, -0.3490658, 0, # LLEG
#0, # LTOW
0, # LTOW
0, 0, -0.3490658, 0.6981317, -0.3490658, 0, # RLEG
#0, # RTOW
0, # RTOW
)
inertiaRotor['romeo'] = (0,)*6+(5e-4,)*31
gearRatio['romeo'] = (0,)*6+(200,)*31
postureRange['romeo'] = { \
"rleg": range(31,37), \
"rleg": range(32,38), \
"lleg": range(25,31), \
"chest": range(6,7), \
"head": range(7,11), \
......
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