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Humanoid Path Planner
anymal-rbprm
Commits
15afe7b3
Commit
15afe7b3
authored
Jul 26, 2019
by
Pierre Fernbach
Browse files
constrain the bounds of the x joints for each legs
parent
143640a7
Changes
1
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Inline
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src/hpp/corbaserver/rbprm/anymal/robot.py
View file @
15afe7b3
...
...
@@ -164,19 +164,19 @@ class Robot (Parent):
def
setVeryConstrainedJointsBounds
(
self
):
self
.
setJointBounds
(
'LF_HAA'
,[
-
1.
,
1.
])
self
.
setJointBounds
(
'LF_HAA'
,[
-
0.4
,
0.4
])
self
.
setJointBounds
(
'LF_HFE'
,[
0.2
,
0.95
])
self
.
setJointBounds
(
'LF_KFE'
,[
-
2.35
,
0.
])
self
.
setJointBounds
(
'RF_HAA'
,[
-
1.
,
1.
])
self
.
setJointBounds
(
'RF_HAA'
,[
-
0.4
,
0.4
])
self
.
setJointBounds
(
'RF_HFE'
,[
0.2
,
0.95
])
self
.
setJointBounds
(
'RF_KFE'
,[
-
2.35
,
0.
])
self
.
setJointBounds
(
'LH_HAA'
,[
-
1.
,
1.
])
self
.
setJointBounds
(
'LH_HAA'
,[
-
0.4
,
0.4
])
self
.
setJointBounds
(
'LH_HFE'
,[
-
1.
,
-
0.5
])
self
.
setJointBounds
(
'LH_KFE'
,[
0.
,
2.35
])
self
.
setJointBounds
(
'RH_HAA'
,[
-
1.
,
1.
])
self
.
setJointBounds
(
'RH_HAA'
,[
-
0.4
,
0.4
])
self
.
setJointBounds
(
'RH_HFE'
,[
-
1.
,
-
0.5
])
self
.
setJointBounds
(
'RH_KFE'
,[
0.
,
2.35
])
...
...
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