From 9f8332ff92ca45153d4b0114c4f533dcfc64d01c Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Wed, 14 Sep 2011 14:27:48 +0200
Subject: [PATCH] Less demanding version.

---
 python/mocap/planche.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/python/mocap/planche.py b/python/mocap/planche.py
index 35f9a01..c287625 100644
--- a/python/mocap/planche.py
+++ b/python/mocap/planche.py
@@ -260,9 +260,13 @@ history = History(dyn,1,zmp.zmp)
 DEG = 180.0/pi
 
 # Angles for both knee, plus angle for the chest wrt the world.
-MAX_EXT = 35/DEG
+#MAX_EXT = 35/DEG
+#MAX_SUPPORT_EXT = 45/DEG
+#CHEST = 60/DEG # 80 ... 90?
+
+MAX_EXT = 45/DEG
 MAX_SUPPORT_EXT = 45/DEG
-CHEST = 60/DEG # 80 ... 90?
+CHEST = 50/DEG # 80 ... 90?
 
 sot.clear()
 contact(contactLF)
-- 
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