Commit 657921d8 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[fullbody] reduce values of joints limits in setConstrainedJointBounds

parent 02288aaf
......@@ -167,7 +167,7 @@ class Robot (Parent):
if analysis :
self.runLimbSampleAnalysis(id, analysis, True)
def setConstrainedJointsBounds(self):
def setSlightlyConstrainedJointsBounds(self):
self.setJointBounds('LF_HAA',[-1.,1.])
self.setJointBounds('LF_HFE',[-0.25,2.35])
self.setJointBounds('LF_KFE',[-2.35,0.])
......@@ -185,20 +185,38 @@ class Robot (Parent):
self.setJointBounds('RH_KFE',[0.,2.35])
def setConstrainedJointsBounds(self):
self.setJointBounds('LF_HAA',[-0.6,0.6])
self.setJointBounds('LF_HFE',[0.25,1.])
self.setJointBounds('LF_KFE',[-2.35,0.])
self.setJointBounds('RF_HAA',[-0.6,0.6])
self.setJointBounds('RF_HFE',[0.25,1.])
self.setJointBounds('RF_KFE',[-2.35,0.])
self.setJointBounds('LH_HAA',[-0.6,0.6])
self.setJointBounds('LH_HFE',[-1.05,-0.45])
self.setJointBounds('LH_KFE',[0.,2.35])
self.setJointBounds('RH_HAA',[-0.6,0.6])
self.setJointBounds('RH_HFE',[-1.05,-0.45])
self.setJointBounds('RH_KFE',[0.,2.35])
def setVeryConstrainedJointsBounds(self):
self.setJointBounds('LF_HAA',[-0.4,0.4])
self.setJointBounds('LF_HFE',[0.2,0.95])
self.setJointBounds('LF_HAA',[-0.35,0.05])
self.setJointBounds('LF_HFE',[0.3,0.95])
self.setJointBounds('LF_KFE',[-2.35,0.])
self.setJointBounds('RF_HAA',[-0.4,0.4])
self.setJointBounds('RF_HFE',[0.2,0.95])
self.setJointBounds('RF_HAA',[-0.05,0.35])
self.setJointBounds('RF_HFE',[0.3,0.95])
self.setJointBounds('RF_KFE',[-2.35,0.])
self.setJointBounds('LH_HAA',[-0.4,0.4])
self.setJointBounds('LH_HAA',[-0.35,0.05])
self.setJointBounds('LH_HFE',[-1.,-0.5])
self.setJointBounds('LH_KFE',[0.,2.35])
self.setJointBounds('RH_HAA',[-0.4,0.4])
self.setJointBounds('RH_HAA',[-0.05,0.35])
self.setJointBounds('RH_HFE',[-1.,-0.5])
self.setJointBounds('RH_KFE',[0.,2.35])
......
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