Commit 952d28ce authored by Francois Keith's avatar Francois Keith
Browse files

Minor modification for ros-dynromeo.py

Add a task for the right foot,
Remove the com at the beginning of the simu.
parent 7e64c1de
......@@ -66,10 +66,14 @@ robot.device.control.unplug()
task=MetaTaskDyn6d('rh',robot.dynamic,'task')
task.ref = ((0,0,-1,0.2),(0,1,0,-0.2),(1,0,0,1.00),(0,0,0,1))
# Task LFoot: Move the right foot up.
# Task LFoot: Move the left foot up.
taskLF=MetaTaskDyn6d('lf',robot.dynamic,'lf','left-ankle')
taskLF.ref = ((1,0,0,0.0),(0,1,0,+0.29),(0,0,1,.15),(0,0,0,1))
# Task RFoot: Move the right foot up.
taskRF=MetaTaskDyn6d('rf',robot.dynamic,'rf','right-ankle')
taskRF.ref = ((1,0,0, 0.0102),(0,1,0,-0.096),(0,0,1,0.1),(0,0,0,1))
# --- TASK COM ------------------------------------------------------
robot.dynamic.setProperty('ComputeCoM','true')
......@@ -127,10 +131,10 @@ sot.addContactFromTask(contactRF.task.name,'RF')
sot._RF_p.value = contactRF.support
# add the com task.
sot.push('taskCom')
# sot.push('taskCom')
# add a task for the left hand.
sot.push('taskrh')
# sot.push('taskrh')
# Start the simulation
# go
......
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