[script] talos_circle : add more conservative bounds on legs x axis

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])