From 4c1a65875828d06e824b8857370042b939fcf4ce Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Fri, 31 May 2019 18:36:42 +0200
Subject: [PATCH] change values of additional joints constraints
---
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 dad3378..17cd605 100644
--- a/src/hpp/corbaserver/rbprm/anymal/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal/robot.py
@@ -165,19 +165,19 @@ class Robot (Parent):
def setVeryConstrainedJointsBounds(self):
self.setJointBounds('LF_HAA',[-1.,1.])
- self.setJointBounds('LF_HFE',[0,1.])
+ self.setJointBounds('LF_HFE',[0.2,0.95])
self.setJointBounds('LF_KFE',[-2.35,0.])
self.setJointBounds('RF_HAA',[-1.,1.])
- self.setJointBounds('RF_HFE',[0,1.])
+ self.setJointBounds('RF_HFE',[0.2,0.95])
self.setJointBounds('RF_KFE',[-2.35,0.])
self.setJointBounds('LH_HAA',[-1.,1.])
- self.setJointBounds('LH_HFE',[-1.1,-0.2])
+ self.setJointBounds('LH_HFE',[-1.,-0.5])
self.setJointBounds('LH_KFE',[0.,2.35])
self.setJointBounds('RH_HAA',[-1.,1.])
- self.setJointBounds('RH_HFE',[-1.1,-0.2])
+ self.setJointBounds('RH_HFE',[-1.,-0.5])
self.setJointBounds('RH_KFE',[0.,2.35])
--
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