Commit 9a628e13 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[script] talos_circle_oriented : add conservativ bounds on leg z joints

parent 04ae09f1
......@@ -27,12 +27,16 @@ fullBody = Robot ()
# Set the bounds for the root
fullBody.setJointBounds ("root_joint", [-2,2, -2, 2, 0.9, 1.05])
## reduce bounds on joints along x, to put conservative condition on the contact generation for sideway steps
joint1L_bounds_prev=fullBody.getJointBounds('leg_left_1_joint')
joint6L_bounds_prev=fullBody.getJointBounds('leg_left_6_joint')
joint2L_bounds_prev=fullBody.getJointBounds('leg_left_2_joint')
joint1R_bounds_prev=fullBody.getJointBounds('leg_right_1_joint')
joint6R_bounds_prev=fullBody.getJointBounds('leg_right_6_joint')
joint2R_bounds_prev=fullBody.getJointBounds('leg_right_2_joint')
fullBody.setJointBounds('leg_left_1_joint',[-0.34,1.4])
fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
fullBody.setJointBounds('leg_left_2_joint',[-0.25,0.25])
fullBody.setJointBounds('leg_right_1_joint',[-1.4,0.34])
fullBody.setJointBounds('leg_right_6_joint',[-0.25,0.25])
fullBody.setJointBounds('leg_right_2_joint',[-0.25,0.25])
# add the 6 extraDof for velocity and acceleration (see *_path.py script)
......@@ -177,8 +181,10 @@ if (not cg_success) or cg_too_many_states:
sys.exit(1)
# put back original bounds for wholebody methods
fullBody.setJointBounds('leg_left_1_joint',joint1L_bounds_prev)
fullBody.setJointBounds('leg_left_6_joint',joint6L_bounds_prev)
fullBody.setJointBounds('leg_left_2_joint',joint2L_bounds_prev)
fullBody.setJointBounds('leg_right_1_joint',joint1R_bounds_prev)
fullBody.setJointBounds('leg_right_6_joint',joint6R_bounds_prev)
fullBody.setJointBounds('leg_right_2_joint',joint2R_bounds_prev)
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