Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Guilhem Saurel
hpp-rbprm-corba
Commits
efbbffce
Commit
efbbffce
authored
Apr 25, 2019
by
Pierre Fernbach
Browse files
[script] talos_circle : add more conservative bounds on legs x axis
parent
9e3c34d8
Changes
1
Hide whitespace changes
Inline
Side-by-side
script/scenarios/memmo/talos_circle.py
View file @
efbbffce
...
...
@@ -30,10 +30,10 @@ joint6L_bounds_prev=fullBody.getJointBounds('leg_left_6_joint')
joint2L_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_left_2_joint'
)
joint6R_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_right_6_joint'
)
joint2R_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_right_2_joint'
)
fullBody
.
setJointBounds
(
'leg_left_6_joint'
,[
-
0.
3
,
0.
3
])
fullBody
.
setJointBounds
(
'leg_left_2_joint'
,[
-
0.
3
,
0.
3
])
fullBody
.
setJointBounds
(
'leg_right_6_joint'
,[
-
0.
3
,
0.
3
])
fullBody
.
setJointBounds
(
'leg_right_2_joint'
,[
-
0.
3
,
0.
3
])
fullBody
.
setJointBounds
(
'leg_left_6_joint'
,[
-
0.
25
,
0.
25
])
fullBody
.
setJointBounds
(
'leg_left_2_joint'
,[
-
0.
25
,
0.
25
])
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)
fullBody
.
client
.
robot
.
setDimensionExtraConfigSpace
(
tp
.
extraDof
)
fullBody
.
client
.
robot
.
setExtraConfigSpaceBounds
([
-
tp
.
vMax
,
tp
.
vMax
,
-
tp
.
vMax
,
tp
.
vMax
,
0
,
0
,
-
tp
.
aMax
,
tp
.
aMax
,
-
tp
.
aMax
,
tp
.
aMax
,
0
,
0
])
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment