From 15afe7b37a772a4f63a31808f33f4682ff003526 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Fri, 26 Jul 2019 15:25:26 +0200
Subject: [PATCH] constrain the bounds of the x joints for each legs
---
src/hpp/corbaserver/rbprm/anymal/robot.py | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal/robot.py b/src/hpp/corbaserver/rbprm/anymal/robot.py
index 5f543b7..6bf0f23 100644
--- a/src/hpp/corbaserver/rbprm/anymal/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal/robot.py
@@ -164,19 +164,19 @@ class Robot (Parent):
def setVeryConstrainedJointsBounds(self):
- self.setJointBounds('LF_HAA',[-1.,1.])
+ self.setJointBounds('LF_HAA',[-0.4,0.4])
self.setJointBounds('LF_HFE',[0.2,0.95])
self.setJointBounds('LF_KFE',[-2.35,0.])
- self.setJointBounds('RF_HAA',[-1.,1.])
+ self.setJointBounds('RF_HAA',[-0.4,0.4])
self.setJointBounds('RF_HFE',[0.2,0.95])
self.setJointBounds('RF_KFE',[-2.35,0.])
- self.setJointBounds('LH_HAA',[-1.,1.])
+ self.setJointBounds('LH_HAA',[-0.4,0.4])
self.setJointBounds('LH_HFE',[-1.,-0.5])
self.setJointBounds('LH_KFE',[0.,2.35])
- self.setJointBounds('RH_HAA',[-1.,1.])
+ self.setJointBounds('RH_HAA',[-0.4,0.4])
self.setJointBounds('RH_HFE',[-1.,-0.5])
self.setJointBounds('RH_KFE',[0.,2.35])
--
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