testiiing

ristofer · Jan 29, 2018 · a3c8743 · a3c8743
1 parent 5c192eb
commit a3c8743
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/src/simple_biped/leg_visual.py b/src/simple_biped/leg_visual.py
@@ -18,6 +18,7 @@
 from control_msgs.msg import (FollowJointTrajectoryAction, FollowJointTrajectoryGoal)
 from std_msgs.msg import Float64
 from scipy.interpolate import UnivariateSpline, splev, splrep
+import matplotlib.pyplot as plt
 
 splines_dic = dict()
 for letter in ["A","B","C","D"]:
@@ -178,6 +179,8 @@ def __init__(self):
     print len(thigh_angles)
     print len(phalange_angles)
     rate = rospy.Rate(100)
+    plt.plot(time, ankle_angles, 'g', lw=3)
+    plt.show()
     while not rospy.is_shutdown():
         for i,thetha in enumerate(thigh_angles):
             l_leg.set_angles([ankle_angles[i],phalange_angles[i],thigh_angles[i],tibia_angles[i]])

diff --git a/urdf/structure.xacro b/urdf/structure.xacro
@@ -5,7 +5,7 @@
   <xacro:property name="column_height" value="1.25" />
   <xacro:property name="cross_length" value="0.025" />
   <xacro:property name="beam_height" value="20" />
-  <xacro:property name="support_height" value="1.35" />  
+  <xacro:property name="support_height" value="1.26" />  
   <xacro:macro name="structure" params="parent child body_height body_width body_large">
 
     <xacro:joint_transmission joint="slider_to_support"/>