From 657921d884ac303c4b7661bbb4a4230b098454d8 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Thu, 24 Oct 2019 11:12:37 +0100
Subject: [PATCH] [fullbody] reduce values of joints limits in
setConstrainedJointBounds
---
src/hpp/corbaserver/rbprm/anymal/robot.py | 32 ++++++++++++++++++-----
1 file changed, 25 insertions(+), 7 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal/robot.py b/src/hpp/corbaserver/rbprm/anymal/robot.py
index cb99f1b..f6c98a7 100644
--- a/src/hpp/corbaserver/rbprm/anymal/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal/robot.py
@@ -167,7 +167,7 @@ class Robot (Parent):
if analysis :
self.runLimbSampleAnalysis(id, analysis, True)
- def setConstrainedJointsBounds(self):
+ def setSlightlyConstrainedJointsBounds(self):
self.setJointBounds('LF_HAA',[-1.,1.])
self.setJointBounds('LF_HFE',[-0.25,2.35])
self.setJointBounds('LF_KFE',[-2.35,0.])
@@ -185,20 +185,38 @@ class Robot (Parent):
self.setJointBounds('RH_KFE',[0.,2.35])
+ def setConstrainedJointsBounds(self):
+ self.setJointBounds('LF_HAA',[-0.6,0.6])
+ self.setJointBounds('LF_HFE',[0.25,1.])
+ self.setJointBounds('LF_KFE',[-2.35,0.])
+
+ self.setJointBounds('RF_HAA',[-0.6,0.6])
+ self.setJointBounds('RF_HFE',[0.25,1.])
+ self.setJointBounds('RF_KFE',[-2.35,0.])
+
+ self.setJointBounds('LH_HAA',[-0.6,0.6])
+ self.setJointBounds('LH_HFE',[-1.05,-0.45])
+ self.setJointBounds('LH_KFE',[0.,2.35])
+
+ self.setJointBounds('RH_HAA',[-0.6,0.6])
+ self.setJointBounds('RH_HFE',[-1.05,-0.45])
+ self.setJointBounds('RH_KFE',[0.,2.35])
+
+
def setVeryConstrainedJointsBounds(self):
- self.setJointBounds('LF_HAA',[-0.4,0.4])
- self.setJointBounds('LF_HFE',[0.2,0.95])
+ self.setJointBounds('LF_HAA',[-0.35,0.05])
+ self.setJointBounds('LF_HFE',[0.3,0.95])
self.setJointBounds('LF_KFE',[-2.35,0.])
- self.setJointBounds('RF_HAA',[-0.4,0.4])
- self.setJointBounds('RF_HFE',[0.2,0.95])
+ self.setJointBounds('RF_HAA',[-0.05,0.35])
+ self.setJointBounds('RF_HFE',[0.3,0.95])
self.setJointBounds('RF_KFE',[-2.35,0.])
- self.setJointBounds('LH_HAA',[-0.4,0.4])
+ self.setJointBounds('LH_HAA',[-0.35,0.05])
self.setJointBounds('LH_HFE',[-1.,-0.5])
self.setJointBounds('LH_KFE',[0.,2.35])
- self.setJointBounds('RH_HAA',[-0.4,0.4])
+ self.setJointBounds('RH_HAA',[-0.05,0.35])
self.setJointBounds('RH_HFE',[-1.,-0.5])
self.setJointBounds('RH_KFE',[0.,2.35])
--
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