From 499f3d40ce7625e84165cc906878a7e1c3a6e2c7 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Fri, 26 Jul 2019 16:42:36 +0200
Subject: [PATCH] fix height of contact point for rbprm
---
src/hpp/corbaserver/rbprm/anymal/robot.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal/robot.py b/src/hpp/corbaserver/rbprm/anymal/robot.py
index 6bf0f23..ba6f63d 100644
--- a/src/hpp/corbaserver/rbprm/anymal/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal/robot.py
@@ -46,7 +46,7 @@ class Robot (Parent):
rhand = 'RH_ADAPTER_TO_FOOT'
- referenceConfig =[0.,0.,0.47, 0.,0.,0.,1., # FF
+ referenceConfig =[0.,0.,0.457, 0.,0.,0.,1., # FF
0.04, 0.611, -1.0452,
0.04, -0.853, 1.0847,
-0.04, 0.74, -1.08,
@@ -63,7 +63,7 @@ class Robot (Parent):
nbSamples = 50000
octreeSize = 0.01
cType = "_3_DOF"
- offset = [0.,0.,-0.016]
+ offset = [0.,0.,-0.006]
rLegLimbOffset = [0.373, 0.264, 0.]
lLegLimbOffset = [0.373, -0.264,0.]
--
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