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Stack Of Tasks
sot-torque-control
Commits
ee6d3a7e
Commit
ee6d3a7e
authored
Feb 21, 2018
by
Olivier Stasse
Browse files
[unitTest] Uses simple_humanoid_robot instead of hrp2.
parent
9b4a467d
Changes
1
Hide whitespace changes
Inline
Side-by-side
python/dynamic_graph/sot/torque_control/tests/robot_data_test.py
View file @
ee6d3a7e
# 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_reduce
d.urdf"
nbJoints
=
29
testRobotPath
=
"/opt/openrobots/share/
simple_humanoid
_description/urdf/
simple_humanoi
d.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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