From 514507042f6bc3bf8ac22dc42ed1e584a0347d6d Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Wed, 7 Aug 2019 16:18:34 +0200
Subject: [PATCH] increase offset of contact generation
---
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 d2feefe..0dc8416 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.,0.462, 0.,0.,0.,1., # FF
+ referenceConfig =[0.,0.,0.465, 0.,0.,0.,1., # FF
0.0, 0.611, -1.0452,
0.0, -0.853, 1.0847,
-0.0, 0.74, -1.08,
@@ -63,7 +63,7 @@ class Robot (Parent):
nbSamples = 50000
octreeSize = 0.01
cType = "_3_DOF"
- offset = [0.,0.,0.0]
+ offset = [0.,0.,-0.006]
rLegLimbOffset = [0.373, 0.264, 0.]
lLegLimbOffset = [0.373, -0.264,0.]
--
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