From 38bb89b73c722d15c59296040b2cfae44e111b34 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Sun, 15 Sep 2019 23:07:20 +0200
Subject: [PATCH] [demo] maze : adjust com height
---
script/scenarios/sandbox/talos_maze_path.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/script/scenarios/sandbox/talos_maze_path.py b/script/scenarios/sandbox/talos_maze_path.py
index 03bad925..7623739f 100644
--- a/script/scenarios/sandbox/talos_maze_path.py
+++ b/script/scenarios/sandbox/talos_maze_path.py
@@ -15,7 +15,7 @@ mu=0.5# coefficient of friction
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Robot ()
# Define bounds for the root : bounding box of the scenario
-rbprmBuilder.setJointBounds ("root_joint", [0,18.5, 0, 24., 0.98, 0.98])
+rbprmBuilder.setJointBounds ("root_joint", [0,18.5, 0, 24., rbprmBuilder.ref_height, rbprmBuilder.ref_height])
rbprmBuilder.setJointBounds ('torso_1_joint', [0,0])
rbprmBuilder.setJointBounds ('torso_2_joint', [0,0])
@@ -60,7 +60,7 @@ v.addLandmark(v.sceneName,1)
afftool.visualiseAffordances('Support', v, v.color.lightBrown)
q_init = rbprmBuilder.getCurrentConfig ();
-q_init[0:3] = [0.1,3,0.98]
+q_init[0:3] = [0.1,3,rbprmBuilder.ref_height]
q_init[3:7] = [0,0,0,1]
q_init[-6:-3] = [0.05,0,0]
v(q_init)
--
GitLab