Commit efbbffce authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[script] talos_circle : add more conservative bounds on legs x axis

parent 9e3c34d8
......@@ -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])
......
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