From 0054e39c3fb0193687efa0ab3f654669f2b28fb4 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Fri, 15 Feb 2019 09:33:21 +0100
Subject: [PATCH] change defaut order for contact creation
---
src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
index c3b3734..29fc18f 100644
--- a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
@@ -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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