From efbbffce179c277e0c91d4940f43e93eee25ebdb Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Thu, 25 Apr 2019 15:05:43 +0200
Subject: [PATCH] [script] talos_circle : add more conservative bounds on legs
x axis
---
script/scenarios/memmo/talos_circle.py | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/script/scenarios/memmo/talos_circle.py b/script/scenarios/memmo/talos_circle.py
index 7d846cbc..0dc20679 100644
--- a/script/scenarios/memmo/talos_circle.py
+++ b/script/scenarios/memmo/talos_circle.py
@@ -30,10 +30,10 @@ joint6L_bounds_prev=fullBody.getJointBounds('leg_left_6_joint')
joint2L_bounds_prev=fullBody.getJointBounds('leg_left_2_joint')
joint6R_bounds_prev=fullBody.getJointBounds('leg_right_6_joint')
joint2R_bounds_prev=fullBody.getJointBounds('leg_right_2_joint')
-fullBody.setJointBounds('leg_left_6_joint',[-0.3,0.3])
-fullBody.setJointBounds('leg_left_2_joint',[-0.3,0.3])
-fullBody.setJointBounds('leg_right_6_joint',[-0.3,0.3])
-fullBody.setJointBounds('leg_right_2_joint',[-0.3,0.3])
+fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
+fullBody.setJointBounds('leg_left_2_joint',[-0.25,0.25])
+fullBody.setJointBounds('leg_right_6_joint',[-0.25,0.25])
+fullBody.setJointBounds('leg_right_2_joint',[-0.25,0.25])
# add the 6 extraDof for velocity and acceleration (see *_path.py script)
fullBody.client.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.client.robot.setExtraConfigSpaceBounds([-tp.vMax,tp.vMax,-tp.vMax,tp.vMax,0,0,-tp.aMax,tp.aMax,-tp.aMax,tp.aMax,0,0])
--
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