Merge pull request #17 from ami-iit/updateUrdfMassValues

Update urdf mass values

code/config.py

@@ -5,7 +5,7 @@
 """ OPTIONS"""
 
 OPT_CHECK_CONSISTENCY_MODEL = True # 'True' or 'False
-OPT_TYPE_MOVEMENT = "physio" # "physio" or "random"
+OPT_TYPE_MOVEMENT = "random" # "physio" or "random"
 OPT_VISUALIZZATION_MOVEMENT = False # 'True' or 'False
 OPT_VISUALIZZATION_MEASUREOFCONTROL = False # 'True' or 'False
 

code/main.py

@@ -105,21 +105,25 @@
  + (linkMass["LowerLeg_mass"] * 2)
  + (linkMass["Foot_mass"] * 2)
  + (linkMass["Toe_mass"] * 2),
+ 2,
  )
  ),
  "Kg",
 )
 print(
  "[INFO] Model height:",
  str(
- linkDimensions["Head_x"]
- + linkDimensions["Neck_z"]
- + linkDimensions["UpperTrunk_z"]
- + linkDimensions["LowerTrunk_z"]
- + linkDimensions["Pelvis_z"]
- + linkDimensions["UpperLeg_z"]
- + linkDimensions["LowerLeg_z"]
- + linkDimensions["Foot_z"]
+ round(
+ linkDimensions["Head_x"]
+ + linkDimensions["Neck_z"]
+ + linkDimensions["UpperTrunk_z"]
+ + linkDimensions["LowerTrunk_z"]
+ + linkDimensions["Pelvis_z"]
+ + linkDimensions["UpperLeg_z"]
+ + linkDimensions["LowerLeg_z"]
+ + linkDimensions["Foot_z"],
+ 2,
+ )
  ),
  "m",
 )
@@ -142,10 +146,6 @@
 
 Links = linkPhysicallyConsistence(dynComp)
 
-print("[INFO] Model links: " + str(len(Links)))
-print("[INFO] Model joints: " + str(NrOfJoints))
-print("[INFO] Model DoFs: " + str(ndofs))
-
 #################################################################
 # PHYSICALLY CONSISTENCE TESTS
 #################################################################