Commit ee6d3a7e authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[unitTest] Uses simple_humanoid_robot instead of hrp2.

parent 9b4a467d
# TO DO: Checking that this data are making sense
# Right now this is put just to test the various functions
import numpy
class initRobotData:
nbJoints=30
testRobotPath="/opt/openrobots/share/hrp2_14_description/urdf/hrp2_14_reduced.urdf"
nbJoints=29
testRobotPath="/opt/openrobots/share/simple_humanoid_description/urdf/simple_humanoid.urdf"
controlDT=0.005
maxCurrent=5
robotRef= "control-manager-robot"
urdftosot=(12,13,14,15,23,24,25,26,27,28,29,16,17,18,19,20,21,22,6,7,8,9,10,11,0,1,2,3,4,5)
urdftosot=(12,13,14,15,23,24,25,26,27,28,16,17,18,19,20,21,22,6,7,8,9,10,11,0,1,2,3,4,5)
ctrlManagerCurrentToControlGain=1.0
......@@ -26,22 +27,21 @@ class initRobotData:
'lar': 11,
'ty': 12,
'tp': 13,
'hy': 14,
'hp': 15,
'rsp': 16,
'rsr': 17,
'rsy': 18,
're': 19,
'rwy': 20,
'rwp': 21,
'rh': 22,
'lsp': 23,
'lsr': 24,
'lsy': 25,
'le': 26,
'lwy': 27,
'lwp': 28,
'lh': 29
'hp': 14,
'rsp': 15,
'rsr': 16,
'rsy': 17,
're': 18,
'rwy': 19,
'rwp': 20,
'rh': 21,
'lsp': 22,
'lsr': 23,
'lsy': 24,
'le': 25,
'lwy': 26,
'lwp': 27,
'lh': 28
}
mapJointLimits={
......@@ -74,7 +74,6 @@ class initRobotData:
26 : [-2.3911, 0.0349066],
27 : [-1.6057, 1.6057],
28 : [-1.6057, 1.6057],
29 : [-1.0, 1.0]
}
fMax=numpy.array([100.0,100.0,300.0,80.0,80.0,30.0])
......@@ -95,8 +94,8 @@ class initRobotData:
indexOfForceSensors= ()
FootFrameNames= {
"Right": "RLEG_JOINT5",
"Left" : "LLEG_JOINT5"
"Right": "RLEG_ANKLE_R",
"Left" : "LLEG_ANKLE_R"
}
RightFootSensorXYZ = (0.0,0.0,-0.085)
......
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