From 23f18728da03efc6d1a99160274971fbfee0a85e Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Sat, 16 Feb 2019 23:23:41 +0100
Subject: [PATCH] change default order of gait
---
src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
index 006525d..32391e0 100644
--- a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
@@ -73,7 +73,8 @@ class Robot (Parent):
# 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
+ #limbs_names = [lLegId,rArmId,rLegId,lArmId] # default order to try to remove contacts at the beginning of the contact plan
+ limbs_names = [rArmId,lArmId,lLegId,rLegId]
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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