No need to set foot ref placement in examples & test, default one sufficient

Author: earlaud

examples/go2_fulldynamics.py

@@ -27,10 +27,6 @@
 model_handler.addPointFoot("FR_foot", base_joint_name)
 model_handler.addPointFoot("RL_foot", base_joint_name)
 model_handler.addPointFoot("RR_foot", base_joint_name)
-model_handler.setFootReferencePlacement("FL_foot", pin.XYZQUATToSE3(np.array([ 0.17, 0.15, 0.0, 0,0,0,1])))
-model_handler.setFootReferencePlacement("FR_foot", pin.XYZQUATToSE3(np.array([ 0.17,-0.15, 0.0, 0,0,0,1])))
-model_handler.setFootReferencePlacement("RL_foot", pin.XYZQUATToSE3(np.array([-0.24, 0.15, 0.0, 0,0,0,1])))
-model_handler.setFootReferencePlacement("RR_foot", pin.XYZQUATToSE3(np.array([-0.24,-0.15, 0.0, 0,0,0,1])))
 
 data_handler = RobotDataHandler(model_handler)
 

examples/go2_kinodynamics.py

@@ -18,10 +18,6 @@
 model_handler.addPointFoot("FR_foot", base_joint_name)
 model_handler.addPointFoot("RL_foot", base_joint_name)
 model_handler.addPointFoot("RR_foot", base_joint_name)
-model_handler.setFootReferencePlacement("FL_foot", pin.XYZQUATToSE3(np.array([ 0.17, 0.15, 0.0, 0,0,0,1])))
-model_handler.setFootReferencePlacement("FR_foot", pin.XYZQUATToSE3(np.array([ 0.17,-0.15, 0.0, 0,0,0,1])))
-model_handler.setFootReferencePlacement("RL_foot", pin.XYZQUATToSE3(np.array([-0.24, 0.15, 0.0, 0,0,0,1])))
-model_handler.setFootReferencePlacement("RR_foot", pin.XYZQUATToSE3(np.array([-0.24,-0.15, 0.0, 0,0,0,1])))
 data_handler = RobotDataHandler(model_handler)
 
 nq = model_handler.getModel().nq

examples/talos_centroidal.py

@@ -22,8 +22,6 @@
 model_handler = RobotModelHandler(rmodel, reference_configuration_name, base_joint_name)
 model_handler.addQuadFoot("left_sole_link",  base_joint_name, foot_points)
 model_handler.addQuadFoot("right_sole_link", base_joint_name, foot_points)
-model_handler.setFootReferencePlacement("left_sole_link", pin.XYZQUATToSE3(np.array([ 0.0, 0.1, 0.0, 0,0,0,1])))
-model_handler.setFootReferencePlacement("right_sole_link", pin.XYZQUATToSE3(np.array([ 0.0,-0.1, 0.0, 0,0,0,1])))
 data_handler = RobotDataHandler(model_handler)
 
 nq = model_handler.getModel().nq

examples/talos_fulldynamics.py

@@ -30,8 +30,6 @@
 model_handler = RobotModelHandler(rmodel, reference_configuration_name, base_joint_name)
 model_handler.addQuadFoot("left_sole_link",  base_joint_name, foot_points)
 model_handler.addQuadFoot("right_sole_link", base_joint_name, foot_points)
-model_handler.setFootReferencePlacement("left_sole_link", pin.XYZQUATToSE3(np.array([ 0.0, 0.1, 0.0, 0,0,0,1])))
-model_handler.setFootReferencePlacement("right_sole_link", pin.XYZQUATToSE3(np.array([ 0.0,-0.1, 0.0, 0,0,0,1])))
 
 data_handler = RobotDataHandler(model_handler)
 

examples/talos_kinodynamics.py

@@ -23,8 +23,6 @@
 model_handler = RobotModelHandler(rmodel, reference_configuration_name, base_joint_name)
 model_handler.addQuadFoot("left_sole_link",  base_joint_name, foot_points)
 model_handler.addQuadFoot("right_sole_link", base_joint_name, foot_points)
-model_handler.setFootReferencePlacement("left_sole_link", pin.XYZQUATToSE3(np.array([ 0.0, 0.1, 0.0, 0,0,0,1])))
-model_handler.setFootReferencePlacement("right_sole_link", pin.XYZQUATToSE3(np.array([ 0.0,-0.1, 0.0, 0,0,0,1])))
 data_handler = RobotDataHandler(model_handler)
 
 nq = model_handler.getModel().nq

tests/test_utils.cpp

@@ -92,14 +92,6 @@ RobotModelHandler getSoloHandler()
   model_handler.addPointFoot("FL_FOOT", base_joint);
   model_handler.addPointFoot("HR_FOOT", base_joint);
   model_handler.addPointFoot("HL_FOOT", base_joint);
-  model_handler.setFootReferencePlacement(
-    model_handler.getFootNb("FR_FOOT"), SE3(Eigen::Quaternion(0., 0., 0., 1.), Eigen::Vector3d(0.1, -0.1, 0.)));
-  model_handler.setFootReferencePlacement(
-    model_handler.getFootNb("FL_FOOT"), SE3(Eigen::Quaternion(0., 0., 0., 1.), Eigen::Vector3d(0.1, 0.1, 0.)));
-  model_handler.setFootReferencePlacement(
-    model_handler.getFootNb("HR_FOOT"), SE3(Eigen::Quaternion(0., 0., 0., 1.), Eigen::Vector3d(-0.1, -0.1, 0.)));
-  model_handler.setFootReferencePlacement(
-    model_handler.getFootNb("HL_FOOT"), SE3(Eigen::Quaternion(0., 0., 0., 1.), Eigen::Vector3d(-0.1, 0.1, 0.)));
 
   return model_handler;
 }