Commit 2af9cbe6 authored by Francois Keith's avatar Francois Keith
Browse files

Add sole size.

parent ae8869de
......@@ -50,6 +50,12 @@ class Robot (AbstractHumanoidRobot):
self.dynamic.addJointMapping('BODY', 'body')
self.dynamic.loadFromParameterServer()
# complete feet position (TODO: move it into srdf file)
ankle =self.dynamic.getAnklePositionInFootFrame()
self.dynamic.setFootParameters(True , 0.1935, 0.121, ankle)
self.dynamic.setFootParameters(False, 0.1935, 0.121, ankle)
# check half sitting size
self.dimension = self.dynamic.getDimension()
if self.dimension != len(self.halfSitting):
raise RuntimeError("invalid half-sitting pose")
......
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