Commit 0054e39c authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

change defaut order for contact creation

parent afae3d0b
......@@ -69,8 +69,11 @@ class Robot (Parent):
legx = 0.02; legy = 0.02
kinematicConstraintsPath="package://anymal-rbprm/com_inequalities/"
# data used by scripts :
limbs_names = [rLegId,lArmId,lLegId,rArmId] # default order to try to remove contacts at the beginning of the contact plan
minDist = 0.2
# data used by scripts :,,,
#limbs_names = [rArmId,lLegId,lArmId,rLegId] # reverse default order to try to remove contacts at the beginning of the contact plan
limbs_names = [lLegId,rArmId,rLegId,lArmId] # default order to try to remove contacts at the beginning of the contact plan
dict_limb_rootJoint = {rLegId:rleg, lLegId:lleg, rArmId:rarm, lArmId:larm}
dict_limb_joint = {rLegId:rfoot, lLegId:lfoot, rArmId:rhand, lArmId:lhand}
dict_limb_color_traj = {rfoot:[0,1,0,1], lfoot:[1,0,0,1],rhand:[0,0,1,1],lhand:[0.9,0.5,0,1]}
......
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